| 摘要 |
Upon detection of an obstacle that exists in a camera-installation direction in vehicle surroundings and that has a predicted contact portion at a certain height above a road surface, the predicted contact portion being a portion with which the vehicle may make contact when the vehicle moves, a virtual projection surface is set to a position at a height where the predicted contact portion exists and viewpoint conversion processing is performed so as to project pixels of a captured image onto the virtual projection plane. Thus, the height of the projection plane and the height of the predicted contact portion match each other and the distance between the predicted contact portion at the height and the vehicle is accurately expressed on a bird's eye image resulting from the viewpoint conversion. |
