| 摘要 |
A history image that a storage processing unit cuts out from recognition memory is of a size greater than or equal to a minimum rectangle. Relative to a pair of sides of the minimum rectangle that are parallel to the width direction of a vehicle, one end of the side toward to the vehicle lies on the inner circumferential circle of movement locus of a history area over which the vehicle moves by turning clockwise with the minimum radius of rotation, and the other end lies on the inner circumferential circle of the movement locus of the history area over which the vehicle moves by turning counterclockwise with the minimum radius of rotation. The length of the minimum rectangle in the longitudinal direction of the vehicle equals a movement length of the history area resulting from the movement of the vehicle from when a captured image corresponding to a bird's-eye image from which the history image was extracted was captured in the previous instance until a captured image corresponding to a bird's-eye image from which the history image will be extracted is captured in the present instance. |
