A rear view image display system configured to display a rear view image that is an image representing a rear view of a tractor configured to pull a trailer, the rear view image display system comprising:
- a tractor rear camera mounted on a rear portion of the tractor, the tractor rear camera configured to capture an image of a rear view from the rear portion of the tractor;
- a trailer rear camera mounted on a rear portion of the trailer, the trailer rear camera configured to capture an image of a rear view from the rear portion of the trailer;
- a trailer right camera mounted on a right side portion of the trailer, the trailer right camera configured to capture an image of a surrounding view of the trailer from the right side portion of the trailer;
- a trailer left camera mounted on a left side portion of the trailer, the trailer left camera configured to capture an image of a surrounding view of the trailer from the left side portion of the trailer;
- a hitch angle sensor configured to detect a hitch angle of the trailer;
- and
- a processor configured to generate the rear view image in accordance with a program readably stored in a memory,
- wherein the processor calculates, based on the hitch angle detected by the hitch angle sensor,
- a positional relationship between the tractor rear camera and each of the trailer rear camera, the trailer right camera, and the trailer left camera, and
- the processor sets, in accordance with the calculated positional relationship,
- a first viewing point transform function for transforming a trailer right view image to an image captured from a position of the tractor rear camera,
- a second viewing point transform function for transforming a trailer left view image to an image captured from the position of the tractor rear camera, and
- a third viewing point transform function for transforming a trailer rear view image to an image captured from the position of the tractor rear camera,
- wherein the processor calculates, based on the hitch angle detected by the hitch angle sensor,
- a shielded direction range that is a direction range seen from the tractor rear camera, the rear view in the shielded direction range being shielded against the tractor rear camera by the trailer,
- a right replacement direction range in the shielded direction range, the right replacement direction range being a direction range seen from the tractor rear camera and fully unshielded against the trailer right camera by the trailer,
- a left replacement direction range in the shielded direction range, left replacement direction range being a direction range seen from the tractor rear camera and fully unshielded against the trailer left camera by the trailer, and
- a rear replacement direction range other than the right replacement direction range and the left replacement direction range in the shielded direction range, the rear replacement direction range being a direction range unshielded against the trailer rear camera by the trailer, and
- wherein the processor generates the rear view image by:
- replacing a part of a tractor rear view image captured by the tractor rear camera, the part corresponding to the right replacement direction range, with a part of the trailer right view image, corresponding to the right replacement direction range, extracted from an image obtained by transforming an image captured by the trailer right camera from a same viewing point as that of the tractor rear view image using the first viewing point transform function,
- replacing a part of the tractor rear view image corresponding to the left replacement direction range with a part of the trailer left view image, corresponding to the left replacement direction range, extracted from an image obtained by transforming an image captured by the trailer left camera from the same viewing point as that of the tractor rear view image using the second viewing point transform function,
- replacing a part of the tractor rear view image corresponding to the rear replacement direction range with a part of the trailer rear view image, corresponding to the rear replacement direction range, extracted from an image obtained by transforming an image captured by the trailer rear camera from the same viewing point as that of the tractor rear view image using the third viewing point transform function, and
- synthesizing the extracted part of the trailer right view image, the extracted part of the trailer left view image, and the extracted part of the trailer rear view image, with the tractor rear view image.