Peripheral situation display device and peripheral status display method

摘要

PPROBLEM TO BE SOLVED: To provide a peripheral condition display device and a peripheral condition display method which efficiently show to the driver the positional relation between an obstacle and own vehicle. PSOLUTION: Coordinates in an image a1-a4 obtained by photographing the periphery of the vehicle by a camera, which correspond to a vehicle-side boundary of the obstacle detected by an obstacle sensor 106, are registered in a line insertion table b. Respective pixel coordinates of a viewpoint conversion image d1 are converted into pixel coordinates of the image a1-a4, according to a mapping table c1 corresponding to a set viewpoint; and pixels in corresponding pixel coordinates of the viewpoint conversion image d1 are drawn in pixel colors of converted pixel coordinates of the image a1-a4, when the converted pixel coordinates are not registered in the line insertion table; and pixels in corresponding pixel coordinates of the viewpoint conversion image d1 are drawn in a prescribed line drawing color, when the converted pixel coordinates are registered in the line insertion table. PCOPYRIGHT: (C)2007,JPO&INPIT