Image forming device and image forming method

An image forming method for forming an image for assisting driving of a vehicle, the method comprising:

• acquiring a plurality of camera images obtained by a plurality of cameras, which are configured to photograph a periphery of the vehicle;
• projecting data of the plurality of camera images on a virtual projection surface, which corresponds to the periphery of the vehicle, and forming a synthetic image showing the periphery of the vehicle, which is viewed from a virtual view point, by using the data projected on the projection surface;
• determining whether a travelling environment of the vehicle is an off-road or an on-road based on a signal from an other on-board device of the vehicle;
• and
• changing a shape of the projection surface, which is for forming the synthetic image, according to determination whether the travelling environment is an on-road.

An image forming device for a vehicle, comprising:

• at least one processor configured to:
• acquire a plurality of camera images obtained by a plurality of cameras, which are configured to photograph a periphery of the vehicle;
• project data of the plurality of camera images on a virtual projection surface and form a synthetic image showing the periphery of the vehicle, which is viewed from a virtual view point, by using the data projected on the projection surface;
• determine whether a travelling environment of the vehicle is an off-road or an on-road;
• and
• change a shape of the projection surface according to determination whether the travelling environment is an off-road.