US 12,136,272 B2
Image presentation device, image presentation method, and non-transitory computer-readable medium storing program
Ryoma Oami, Tokyo (JP); Hideki Amemiya, Tokyo (JP); Kazuki Ogata, Tokyo (JP); and Koyo Shibata, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/603,663
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Apr. 17, 2019, PCT No. PCT/JP2019/016531
§ 371(c)(1), (2) Date Oct. 14, 2021,
PCT Pub. No. WO2020/213105, PCT Pub. Date Oct. 22, 2020.
Prior Publication US 2022/0198809 A1, Jun. 23, 2022
Int. Cl. G06V 20/58 (2022.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01); G08G 1/16 (2006.01)
CPC G06V 20/58 (2022.01) [G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06T 11/00 (2013.01); G08G 1/16 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/30252 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An image presentation device comprising:
at least one memory storing instructions; and
at least one processor configured to execute the instructions to:
acquire a vehicle speed of a vehicle;
calculate a pre-stop moving range based on the vehicle speed, the pre-stop moving range being a range within which the vehicle moves before coming to a stop;
acquire object detection information regarding a plurality of objects detected by a sensor in surroundings of the vehicle;
perform tracking of the objects included in the object detection information to generate object tracking information including, for each object, a relative position and a relative speed of each object with respect to the vehicle;
predict a position where each object is located after a pre-stop elapsed time that elapses before the vehicle comes to the stop, based on the pre-stop elapsed time and the relative position and the relative speed of each object;
calculate, based on the predicted position of each object and the calculated pre-stop moving range, a collision possibility index indicating a degree of a possibility that each object will collide with the vehicle;
superpose the pre-stop moving range and a current position of each object on top of each other on a screen;
identify, among the objects, a first object having a possibility of overlapping the pre-stop moving range and for which the calculated collision possibility index is greatest;
generate a superposed image displaying the current position of the first object more saliently than the current position of each object other than the first object; and
display the generated superposed image.