| 摘要 |
A driving support system includes a rotation amount setting means and a bird's eye view image generating means. The rotation amount setting means sets a previously-set inclination angle of the image pickup device to a horizontal plane at a rotation angle during coordinate transformation for the image within a range where a distance from the vehicle is not more than a predetermined threshold in the taken image, while computing and setting the rotation angle during the coordinate transformation based on the previously-set inclination angle of the image pickup device to the horizontal plane and the distance from the vehicle for the image within a range where the distance from the vehicle is more than the predetermined threshold in the taken image. The bird's eye view image generating means generates 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 set by the rotation amount setting means for the image corresponding to the coordinate.
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