Peripheral monitoring method and environment monitoring device

摘要

Providing a peripheral monitoring method and periphery monitoring device capable of reducing the distortion of the display image in the case where there is a position displacement of the camera, and occurs with positional displacement of the camera. Periphery monitoring device, movement is detected (108), vehicle speed, shift lever, the steering angle deviation information acquisition unit is outputted as the camera position shift information by obtaining the positional shift amount of each camera, and outputs a mobile state (110), the image synthesis parameter choice to select a shape parameter and the reference image synthesis parameter depending on the mobile state coordinate transformation parameter selection unit for selecting a coordinate transformation parameters accordingly (109), the camera position displacement information body state detector (112), and, in response to the transformed image synthesis parameter coordinate transformation unit for coordinate transformation using the coordinate transformation parameters the image coordinates of the captured images included (113), the reference image synthesis parameter unit, and outputs the converted image synthesis parameter and an image synthesizing unit for generating and outputting a composite image Te (104).