Vehicle display control device, vehicle display control method, and recording medium in which vehicle display control program is recorded

Abstract

The invention provides a vehicle display control device, a vehicle display control method, and a recording medium on which a vehicle display control program is recorded. A display control device for a vehicle acquires tilt angle information of a road surface on which the vehicle is traveling. When an image simulating the host vehicle and an image simulating a road surface on which the host vehicle travels are displayed on a display unit when the host vehicle is viewed from a virtual viewpoint, the vehicle display control device displays the image on the display unit on the basis of the tilt angle information. Therefore, the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner and displayed on a display part.

Description

Technical Field

[0001] The present disclosure relates to a vehicle display control device, a vehicle display control method, and a recording medium recording a vehicle display control program. Background Art

[0002] Japanese Patent Gazette No. 07086798 discloses a vehicle control device comprising: a display unit that displays an image; a recognition unit that recognizes objects, including other vehicles, present in the vicinity of the vehicle; a driving control unit that generates a target trajectory for the vehicle based on the state of the objects recognized by the recognition unit, and controls one or both of the speed and steering of the vehicle based on the generated target trajectory; and a display control unit that superimposes an image simulating other vehicles recognized as objects by the recognition unit on an image simulating a road on which the vehicle is present, and displays the image on the display unit as an image viewed from behind the vehicle.

[0003] However, if an image as if the host vehicle is traveling on a flat road is displayed on a display unit in the host vehicle while the host vehicle is traveling on a sloped road, the occupants of the host vehicle may feel uncomfortable.

[0004] The vehicle control device disclosed in Japanese Patent No. 07086798 superimposes an image simulating another vehicle on an image simulating the road on which the vehicle is traveling, and displays the image on a display unit as viewed from behind the vehicle. However, Japanese Patent No. 07086798 does not take into account the situation where the road surface on which the vehicle is traveling is inclined.

[0005] The purpose of the present disclosure is to provide a vehicle display control device, a vehicle display control method, and a recording medium having a vehicle display control program recorded thereon, which can reduce the discomfort felt by passengers of the vehicle when the vehicle is traveling on an inclined road and presents an image showing the surrounding conditions of the vehicle to the passengers. Summary of the Invention

[0006] The vehicle control device involved in the first embodiment is a vehicle display control device as follows, which includes: an acquisition unit that acquires the inclination angle information of the road surface on which the vehicle is traveling; a display control unit that, when displaying an image simulating the vehicle and an image simulating the road surface on which the vehicle is traveling when the vehicle is observed from an imaginary viewpoint on the display unit, changes the image simulating the vehicle and the image simulating the road surface in an inclined manner and displays them on the display unit according to the inclination angle information acquired by the acquisition unit.

[0007] A vehicle control device according to a first embodiment obtains information about the inclination angle of the road on which the vehicle is traveling. When displaying an image simulating the vehicle and the road on which the vehicle is traveling on a display unit, based on the obtained inclination angle information, the vehicle control device causes the image simulating the vehicle and the road to tilt, and displays the modified image simulating the vehicle and the road on the display unit. This reduces the discomfort felt by occupants of the vehicle when an image depicting the surrounding conditions of the vehicle is presented to them while the vehicle is traveling on an inclined road.

[0008] In the display control unit of the vehicle control device according to the second aspect, in the vehicle control device according to the first aspect, the position and orientation of the virtual viewpoint are changed based on the tilt angle information, and an image simulating the vehicle and the road surface as viewed from the changed virtual viewpoint is displayed on the display unit. Thus, the tilt of the vehicle and the road surface can be easily expressed simply by changing the virtual viewpoint.

[0009] In the vehicle control device according to the third aspect, the acquisition unit acquires tilt angle information of the surrounding vehicles calculated by image processing of the images of the surrounding vehicles of the host vehicle as the tilt angle information of the road surface, and the display control unit causes the images simulating the surrounding vehicles and the image of the road surface simulating the positions of the simulated images of the surrounding vehicles to change in an inclined manner and display them on the display unit based on the tilt angle information of the road surface. Thus, when the host vehicle is traveling on an inclined road surface, the surrounding vehicles (e.g., the vehicle ahead) are also inclined, allowing passengers in the host vehicle to more realistically recognize the inclined road surface.

[0010] In the vehicle control device according to the fourth aspect, the acquisition unit acquires the road surface inclination angle information based on at least one of an image captured by a camera mounted on the vehicle and point cloud information detected by a radar device in the vehicle control device according to the first to third aspects. The display control unit causes an image simulating the vehicle and an image simulating the road surface to be tilted based on the road surface inclination angle information and displays them on the display unit. This allows for more detailed reproduction of the road surface inclination based on the image captured by the camera mounted on the vehicle and the point cloud information detected by the radar device.

[0011] In the display control unit of the vehicle control device according to the fifth aspect, in the vehicle control devices of the first to fourth aspects, a display object displayed between an image simulating the host vehicle and an image simulating a preceding vehicle traveling ahead of the host vehicle is tilted according to the road surface inclination angle information. This allows the display object between the image simulating the host vehicle and the image simulating the preceding vehicle to be tilted, allowing passengers in the host vehicle to more realistically perceive the road surface inclination. This allows the actual road surface inclination to be appropriately represented in the image.

[0012] In the display control unit of the vehicle control device according to the sixth aspect, in the vehicle control devices according to the first to fifth aspects, when the tilt angle indicated by the tilt angle information obtained within a predetermined driving section is greater than a preset threshold value, the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner. This prevents the image simulating the road surface from being displayed in an inclined manner when the road surface is slightly tilted or only slightly uneven, thereby preventing the occupant from experiencing motion sickness or irritation.

[0013] In the display control unit of the vehicle control device according to the seventh aspect, in the vehicle control devices according to the first to sixth aspects, at least a portion of the road surface behind the image simulating the host vehicle in the image simulating the road surface is displayed on the display unit without being tilted. This makes it possible to more easily understand that the road surface on which the host vehicle is traveling is tilted.

[0014] An eighth aspect of a vehicle display control method includes obtaining information about the inclination angle of a road on which a host vehicle is traveling, and when displaying an image simulating the host vehicle and the road on which the host vehicle is traveling on a display unit, the image simulating the host vehicle and the road on which the host vehicle is traveling are tilted according to the obtained inclination angle information. This method reduces the discomfort felt by occupants of the host vehicle when an image depicting the surrounding conditions of the host vehicle is presented to them while the host vehicle is traveling on an inclined road.

[0015] A vehicle display control program according to a ninth aspect includes the following: obtaining information about the inclination angle of a road on which a host vehicle is traveling; and when displaying an image simulating the host vehicle and an image simulating the road on which the host vehicle is traveling on a display unit as if the host vehicle were viewed from a virtual viewpoint, the program causes the image simulating the host vehicle and the image simulating the road to be tilted, based on the obtained inclination angle information, and displays the images on the display unit. This reduces the discomfort felt by occupants of the host vehicle when an image display depicting the surrounding conditions of the vehicle is presented to them when the host vehicle is traveling on an inclination.

[0016] As described above, according to the vehicle display control device, vehicle display control method, and recording medium recording the vehicle display control program involved in the present disclosure, it is possible to reduce the discomfort felt by the occupants of the vehicle when an image showing the surrounding conditions of the vehicle is presented to the occupants of the vehicle when the vehicle is traveling on an inclined road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a diagram for explaining the vehicle display control system according to the embodiment.

[0018] Figure 2 A diagram showing an example of an image displayed on the display unit.

[0019] Figure 3 It is a block diagram showing the hardware configuration of the vehicle display control device according to the embodiment.

[0020] Figure 4 It is a block diagram showing the functional configuration of a vehicle display control device according to an embodiment.

[0021] Figure 5 A diagram showing an example of an image expressing the surrounding conditions of the vehicle.

[0022] Figure 6 This is a diagram showing a situation where the host vehicle and the vehicle ahead are traveling uphill.

[0023] Figure 7 This is a diagram showing a situation where the host vehicle and the vehicle ahead are traveling downhill.

[0024] Figure 8 A diagram showing an example of a flowchart executed by the vehicle display control device.

[0025] Figure 9 A diagram for explaining changes in the position of a virtual viewpoint.

[0026] Figure 10 A diagram for explaining the generation of an image representing the surrounding conditions of a vehicle based on an image captured by a camera and point cloud information detected by a radar device.

[0027] Figure 11 A diagram for explaining a modification example. DETAILED DESCRIPTION

[0028] <First embodiment>

[0029] Figure 1 , which is a diagram for explaining the vehicle display control system 10 according to the first embodiment. Figure 1 The arrow UP in FIG. 1 indicates the upper side in the vehicle vertical direction, and the arrow RH indicates the right side in the vehicle width direction. In the following description, the up-down direction and the left-right direction refer to the up-down direction and the left-right direction, respectively.

[0030] like Figure 1 As shown, an instrument panel 14 is provided in the front portion of the vehicle interior of the vehicle 12. A steering wheel 16 is provided to the right of the instrument panel 14. In this embodiment, the driver's seat of the vehicle 12 is arranged on the right side of the vehicle as an example for description. However, the arrangement of the driver's seat is not limited to this, and the vehicle display control system 10 can also be applied to vehicles in which the driver's seat is arranged on the left side of the vehicle.

[0031] A windshield 18 is provided at the front end of the instrument panel 14. The vehicle-right end of the windshield 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vehicle vertical direction, and the windshield 18 is fixed to the vehicle-width-direction inner end of the front pillar 20. Furthermore, the front end of a front side glass 22 is fixed to the vehicle-width-direction outer end of the front pillar 20.

[0032] The instrument panel 14 is provided with a first display unit 24 having a display area V1 for displaying images. The first display unit 24 is configured as an instrument display located in front of the driver's seat on the right side of the instrument panel 14. The first display unit 24 is connected to various instrument devices installed in the vehicle 12 and is located in a position within the driver's field of view when the driver is looking forward.

[0033] A second display unit 25 having an image display area V2 is provided on the instrument panel 14. The second display unit 25 is composed of a central display arranged at the center of the instrument panel 14 in the vehicle width direction.

[0034] The windshield 18 is provided with a third display unit 26 having an image display area V3. The third display unit 26 is located above the first display unit 24 in the vehicle and comprises a projection surface projected by a head-up display device (not shown). Specifically, a head-up display device (not shown) capable of projecting images is provided on the vehicle front side of the instrument panel 14. The head-up display device (not shown) is configured to project images onto the third display unit 26 on the windshield 18. In other words, the third display unit 26 is provided as a portion of the windshield 18, serving as the projection surface for the head-up display device (not shown).

[0035] The vehicle 12 is equipped with a vehicle display control device 28 that constitutes the vehicle display control system 10. The vehicle display control device 28 in this embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls. The vehicle display control device 28 is configured to display an image representing the surrounding conditions of the vehicle, as viewed from a virtual viewpoint, in at least one of the display areas V1, V2, and V3 located around the driver's seat.

[0036] Hereinafter, a case where an image is displayed on the first display unit 24 of the host vehicle 12 will be described. Figure 2 3 is a diagram showing an example of an image displayed in the display area V1 of the first display unit 24 .

[0037] The vehicle display control device 28 displays an image showing the surrounding conditions of the vehicle 12 in area D, which is a part of the display area V1. Area D is an area that the driver in the driver's seat can visually check through the opening 17 of the steering wheel 16. Specifically, Figure 2 As shown, the center of the area exposed between the upper edge ridgeline L1 and the lower edge ridgeline L2 of the opening 17 of the steering wheel 16 is area D. On the left and right of area D, meter displays M1 and M2 representing meters of the vehicle 12 are displayed.

[0038] (Hardware Configuration of Vehicle Display Control Device 28)

[0039] like Figure 3As shown, the vehicle display control device 28 is configured to include a CPU (Central Processing Unit) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. These components are connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0040] The CPU 30 is a central processing unit (CPU) that executes various programs and controls various components. Specifically, the CPU 30 reads programs from the ROM 32 or storage 36 and executes them using the RAM 34 as a work area. Furthermore, the CPU 30 controls the various components described above and performs various calculations according to the programs stored in the ROM 32 or storage 36.

[0041] ROM 32 stores various programs and data. RAM 34 temporarily stores programs and data as a work area. Storage 36 is a non-transitory storage medium composed of an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various programs, including the operating system, and various data. In this embodiment, a display program for performing display processing, etc., is stored in ROM 32 or storage 36.

[0042] The communication interface 38 is an interface for communicating between the vehicle display control device 28 and servers and other devices, and is implemented based on, for example, standard technologies such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0043] The camera 44, radar device 46, tilt angle sensor 48, first display unit 24, second display unit 25, and head-up display device (not shown) are connected to the input / output interface 40. The head-up display device (not shown) projects images onto the third display unit 26.

[0044] The camera 44 captures images of the surroundings of the host vehicle 12 and outputs the captured images.

[0045] The radar device 46 detects objects such as surrounding vehicles existing around the host vehicle 12 as point cloud information.

[0046] The tilt angle sensor 48 is mounted on the host vehicle 12 and sequentially detects the tilt angle of the host vehicle 12 .

[0047] The camera 44 , the radar device 46 , and the tilt angle sensor 48 are implemented by well-known technologies.

[0048] (Functional Structure of Vehicle Display Control Device 28)

[0049] The vehicle display control device 28 uses the above hardware resources to realize various functions. Figure 4 To explain.

[0050] like Figure 4 As shown, the vehicle display control device 28 is configured to include, as functional components, an acquisition unit 280 and a display control unit 282. Each functional component is implemented by the CPU 30 reading and executing a program stored in the ROM 32 or the memory 36.

[0051] The acquisition unit 280 acquires the image captured by the camera 44 and the point cloud information detected by the radar device 46 .

[0052] The display control unit 282 generates an image representing the surrounding conditions of the host vehicle 12 based on the various information acquired by the acquisition unit 280 . The display control unit 282 also displays the image representing the surrounding conditions of the host vehicle 12 in the area D of the first display unit 24 .

[0053] Figure 5 2 is a diagram showing an example of an image showing the surrounding conditions of the vehicle 12 displayed in the area D of the first display unit 24. Figure 5 As shown in FIG, the image 58 displays an image 64 simulating the host vehicle, an image 66 simulating the road surface on which the host vehicle is traveling, and images 70 and 72 simulating surrounding vehicles existing around the host vehicle.

[0054] The acquisition unit 280 acquires the inclination angle information of the road surface on which the host vehicle 12 is traveling. Specifically, the acquisition unit 280 acquires the inclination angle of the host vehicle 12 detected by the inclination angle sensor 48 as the inclination angle information of the road surface.

[0055] Next, the display control unit 282 controls the first display unit 24 so that an image 64 simulating the host vehicle 12 when viewed from a virtual viewpoint and an image 66 simulating the road surface on which the host vehicle 12 is traveling are displayed. Furthermore, if there are surrounding vehicles, the display control unit 282 controls the first display unit 24 so that images 70 and 72 simulating the surrounding vehicles are displayed.

[0056] Furthermore, the display control unit 282 changes the image 64 simulating the host vehicle 12 and the image 66 simulating the road surface so as to tilt based on the tilt angle information acquired by the acquisition unit 280, and displays the changed image 64 simulating the host vehicle 12 and the image 66 simulating the road surface on the first display unit 24. If there are surrounding vehicles, the display control unit 282 also changes the images 70 and 72 simulating the surrounding vehicles so as to tilt, and controls the display of the tilted images 70 and 72 on the first display unit 24.

[0057] Figure 6 3 and 4 are diagrams for explaining a process of changing an image 64 simulating the host vehicle 12 and an image 66 simulating the road surface so as to be inclined. Figure 6 1 is a diagram showing the vehicle 12 and the preceding vehicle 13 as viewed from the side of the vehicle 12 . Figure 6 The X-axis shown in FIG corresponds to the road surface. Figure 6 The X-axis direction shown in represents the traveling direction of the vehicle 12. Figure 6 The Z-axis direction shown in is a direction perpendicular to the traveling direction of the vehicle 12 and corresponds to the up-down direction of the vehicle. Figure 6 In FIG, only the front vehicle 13 is shown, and surrounding vehicles other than the front vehicle 13 are not shown.

[0058] from Figure 6 The scenery when the vehicle 12 is viewed from the imaginary viewpoint C shown in (A) is equivalent to Figure 5 Specifically, when observing the vehicle 12, the road surface, and the vehicle 13 ahead from the viewpoint C, as shown in FIG. Figure 5 As shown in , each image is configured. Figure 6 The front vehicle 13 of (A) is equivalent to Figure 5 Image 70.

[0059] like Figure 6 As shown in FIG. 2(B), the display control unit 282 changes the image 64 simulating the host vehicle 12 and the image 66 simulating the road surface so as to be inclined based on the inclination angle information acquired by the acquisition unit 280. Figure 6 The Z' axis of (B) is, Figure 6 The Z axis of (A) is tilted according to the tilt angle information. Figure 6 The X' axis of (B) is, Figure 6 The X-axis of (A) is an axis tilted according to the tilt angle information. Figure 6 (B) is an example of a case where the host vehicle 12 and the preceding vehicle 13 are traveling uphill. Figure 7 (A) is an example of a case where the host vehicle 12 and the preceding vehicle 13 are traveling on a flat road. Figure 7 (B) is an example of a case where the host vehicle 12 and the preceding vehicle 13 are traveling downhill.

[0060] In this manner, the display control unit 282 changes the image 64 simulating the host vehicle 12, the image 66 simulating the road surface, and the images 70 and 72 simulating the surrounding vehicles so as to tilt in the pitch angle direction (or in the direction opposite to the pitch angle direction) according to the inclination angle of the road surface on which the host vehicle 12 is actually traveling. This allows the actual road surface inclination to be appropriately represented on the image 58.

[0061] Furthermore, if the tilt angle represented by the tilt angle information acquired within the predetermined driving range exceeds a preset threshold, the display control unit 282 causes the image 64 simulating the vehicle 12 and the image 66 simulating the road surface to tilt. The tilt angle information acquired by the tilt angle sensor 48 may contain noise, etc. Furthermore, because the road surface may have minute irregularities, these irregularities may be detected as tilt angles. Therefore, if the image 64 simulating the vehicle 12 and the image 66 simulating the road surface were to tilt each time the tilt angle information was acquired by the tilt angle sensor 48, the actual tilt of the road surface might not be represented on the image 58.

[0062] For example, the display control unit 282 calculates the average value of the tilt angles obtained within a predetermined driving section based on the time series of tilt angle information obtained within the predetermined driving section. Then, if the average tilt angle exceeds a predetermined threshold, the display control unit 282 changes the image 64 simulating the vehicle 12 and the image 66 simulating the road surface to tilt. This allows the image 58 to appropriately represent the actual road surface tilt. Furthermore, this prevents the image 64 simulating the road surface from being displayed tilted when the road surface is slightly tilted or has only minor bumps, thereby preventing the occupants from experiencing motion sickness or irritation.

[0063] (effect)

[0064] Next, the operation of the vehicle display control system 10 according to the present embodiment will be described.

[0065] (Vehicle Display Control Processing)

[0066] As an example of the vehicle display control process for displaying a predetermined image in the area D of the first display unit 24, the following example is used. Figure 8 The vehicle display control process is executed by the CPU 30 reading a vehicle display control program from the ROM 32 or the memory 36 , expanding the program in the RAM 34 , and executing the program.

[0067] In step S100 , the acquisition unit 280 acquires the inclination angle information detected by the inclination angle sensor 48 .

[0068] In step S102, the display control unit 282 changes the image 64 representing the vehicle 12 and the image 66 representing the road surface to be tilted based on the tilt angle information obtained in step S100. Furthermore, the display control unit 282 changes the images 70 and 72 representing the surrounding vehicles to be tilted based on the tilt angle information obtained in step S100.

[0069] In step S104 , the display control unit 282 causes the first display unit 24 to display the changed image 64 simulating the host vehicle 12 , the images 70 and 72 simulating the surrounding vehicles, and the image 66 simulating the road surface.

[0070] As described above, the vehicle display control device of the first embodiment obtains the inclination angle information of the road surface on which the vehicle is traveling. Then, when the image simulating the vehicle and the image simulating the road surface on which the vehicle is traveling are displayed on the display unit when the vehicle is viewed from an imaginary viewpoint, the vehicle display control device changes the image simulating the vehicle and the image simulating the road surface in an inclined manner according to the obtained inclination angle information, and displays the changed image simulating the vehicle and the image simulating the road surface on the display unit. As a result, it is possible to reduce the discomfort felt by the occupants of the vehicle when the vehicle is traveling on an inclined road surface. More specifically, compared to the situation where an image simulating a flat road surface and an image simulating the vehicle traveling on a flat road surface are always displayed while the vehicle is traveling on an inclined road surface, it is possible to suppress the discomfort felt by the occupants of the vehicle.

[0071] <Second embodiment>

[0072] Next, the second embodiment will be described. The vehicle display control system of the second embodiment differs from the first embodiment in that the image 64 simulating the host vehicle 12 and the image 66 simulating the road surface are tilted by changing the position and orientation of the virtual viewpoint.

[0073] Note that the configuration of the vehicle display control system according to the second embodiment is the same as that of the vehicle display control system 10 according to the first embodiment, and therefore, description thereof will be omitted.

[0074] Figure 9 3 is a diagram for explaining changes in the position and orientation of a virtual viewpoint. Figure 9 (A) is, and Figure 6 The same figure as (B). In addition, Figure 9 (C) is, and Figure 6 (A) and Figure 7 The same figure as (A). Figure 9 (F) is, and Figure 7 (B) The same figure.

[0075] like Figure 9 As shown in (A), when the X axis is tilted toward the X' axis and the Z axis is tilted toward the Z' axis, Figure 9 From the position and direction of the imaginary viewpoint C in (A), the vehicle 12 and the preceding vehicle 13 appear to be going uphill. Figure 9 As shown in (B), while maintaining Figure 9 When the position and orientation of the virtual viewpoint C in (A) and the relationship between the X' axis and the Z' axis remain unchanged, and the X' axis is tilted again to become horizontal and the Z' axis is tilted again to become vertical, the virtual viewpoint C becomes Figure 9 When viewed from the position and orientation of the virtual viewpoint C2, the host vehicle 12 and the preceding vehicle 13 appear to be ascending a slope.

[0076] Therefore, when the road surface is inclined and the host vehicle 12 and the preceding vehicle 13 are traveling uphill, the position and orientation of the virtual viewpoint are adjusted to Figure 9 Thus, the host vehicle 12 and the preceding vehicle 13 appear to be going uphill.

[0077] On the other hand, when the road surface is flat, the position and orientation of the virtual viewpoint are Figure 9 (E) The position and orientation of C1.

[0078] Furthermore, when the road surface is inclined and the host vehicle 12 and the preceding vehicle 13 are going downhill, the position and orientation of the virtual viewpoint are adjusted to Figure 9Specifically, Figure 9 As shown in (F), when the X-axis is tilted toward the X' axis and the Z-axis is tilted toward the Z' axis, the vehicle 12 and the preceding vehicle 13 appear to be going downhill from the position and orientation of the imaginary viewpoint C. Figure 9 As shown in (G), while maintaining Figure 9 When the position and orientation of the virtual viewpoint C of (F) and the relationship between the X' axis and the Z' axis remain unchanged, and the X' axis is tilted again to become horizontal and the Z' axis is tilted again to become vertical, the virtual viewpoint C becomes Figure 9 As a result, the host vehicle 12 and the preceding vehicle 13 appear to be going downhill.

[0079] In this way, the display control unit 282 changes the position and orientation of the imaginary viewpoint according to the tilt angle information obtained by the acquisition unit 280, and displays the image 64 simulating the vehicle 12 and the image 66 simulating the road surface observed from the imaginary viewpoint whose position and orientation have been changed in the first display unit 24.

[0080] As described above, the vehicle display control device of the second embodiment obtains information about the inclination angle of the road on which the vehicle is traveling. The vehicle display control device then changes the position and orientation of the virtual viewpoint based on the obtained inclination angle information, and displays an image simulating the vehicle and the road as viewed from the changed virtual viewpoint on the display unit. This reduces the discomfort experienced by the vehicle's occupants when the vehicle is traveling on an inclined road. More specifically, simply by changing the virtual viewpoint, the inclination of the vehicle and the road can be easily represented.

[0081] <Third embodiment>

[0082] The vehicle display control system of the third embodiment differs from the first and second embodiments in that image processing is performed on images of surrounding vehicles captured by the camera 44 and tilt angle information is acquired based on the results.

[0083] Note that the configuration of the vehicle display control system according to the third embodiment is the same as that of the vehicle display control system 10 according to the first embodiment, and therefore, description thereof will be omitted.

[0084] The vehicle display control device of the first embodiment acquires the tilt angle information from the tilt angle sensor 48 , but may calculate the tilt angle of the road surface based on the posture information of the surrounding vehicles while they are traveling.

[0085] Therefore, the acquisition unit 280 of the third embodiment acquires the tilt angle information of the surrounding vehicles by performing known image processing on the images of the surrounding vehicles captured by the camera 44. The acquisition unit 280 also acquires the tilt angle information of the surrounding vehicles as the tilt angle information of the road surface.

[0086] Then, the display control unit 282 obtains the tilt angle information of the surrounding vehicles as the tilt angle information of the road surface, and according to the tilt angle information of the road surface, changes the image 64 simulating the own vehicle 12, the images 70 and 72 simulating the surrounding vehicles, and the image 66 simulating the road surface at the position where the images of the simulated surrounding vehicles are located in a tilted manner.

[0087] As described above, the vehicle display control device of the third embodiment obtains the tilt angle information of the surrounding vehicles calculated based on the image processing of the images of the surrounding vehicles of the vehicle as the tilt angle information of the road surface. Then, the vehicle display control device changes the images simulating the surrounding vehicles and the images of the road surface simulating the positions of the images of the simulated surrounding vehicles in an inclined manner according to the tilt angle information of the road surface. As a result, it is possible to reduce the discomfort felt by the occupants of the vehicle when the vehicle is traveling on an inclined road surface. More specifically, when the vehicle 12 is traveling on an inclined road surface, since the images 70 and 72 simulating the surrounding vehicles (for example, the image 70 simulating the vehicle in front) are also tilted, the occupants of the vehicle can more realistically recognize the tilt of the road surface.

[0088] <Fourth embodiment>

[0089] Next, the fourth embodiment will be described. The vehicle display control system of the fourth embodiment differs from the first to third embodiments in that it acquires road surface inclination angle information based on images captured by a camera 44 and point cloud information detected by a radar device 46 .

[0090] Note that the configuration of the vehicle display control system according to the fourth embodiment is the same as that of the vehicle display control system 10 according to the first embodiment, and therefore, description thereof will be omitted.

[0091] Figure 10 , which is a diagram for explaining the processing of the vehicle display control device according to the fourth embodiment. Figure 10 As shown in (A) of FIG. 1 , when the road surface on which the vehicle 12 is traveling changes from a flat road surface to an inclined road surface, it is preferable that the change from the flat road surface to the inclined road surface be displayed even on the image displayed on the first display unit 24 .

[0092] Therefore, the vehicle display control device of the fourth embodiment obtains the inclination angle information of the road surface based on the image captured by the camera 44 and the point cloud information detected by the radar device 46, and generates an image representing the surrounding conditions of the vehicle 12 based on the inclination angle information.

[0093] Therefore, the acquisition unit 280 of the fourth embodiment acquires the inclination angle information of the road surface based on the image captured by the camera 44 and the point cloud information detected by the radar device 46 .

[0094] For example, the acquisition unit 280 of the fourth embodiment identifies the position of the leading vehicle 13 and calculates the inclination angle information of the road surface based on the position of the leading vehicle 13 .

[0095] Alternatively, for example, the acquisition unit 280 of the fourth embodiment specifies positional information of a plurality of points on the road surface based on the image captured by the camera 44 and the point cloud information detected by the radar device 46. The acquisition unit 280 then connects these plurality of points and performs interpolation processing to obtain road surface inclination angle information.

[0096] Then, the display control unit 282 of the fourth embodiment changes the image 64 simulating the own vehicle 12, the image 66 simulating the road surface, and the images 70 and 72 simulating the surrounding vehicles in an inclined manner according to the inclination angle information of the road surface, and displays the changed images on the first display unit 24.

[0097] For example, the display control unit 282 of the fourth embodiment may calculate the inclined road surface as a plane using a known mathematical formula based on position information of a plurality of points on the road surface, and draw the plane.

[0098] Figure 10 (B) is when viewed from the side of the vehicle Figure 10 FIG. 1 is a diagram showing the host vehicle 12 and the preceding vehicle 13 in the situation shown in FIG. 1 (A). Figure 10 (C) is a diagram showing an example of an image displayed on the first display unit 24, showing the surrounding conditions of the vehicle 12. Figure 10 The image (C) showing the surrounding conditions of the vehicle 12 is as follows: Figure 10 The image of the scenery when the viewpoint C of (B) observes the host vehicle 12 and the front vehicle 13. Figure 10 In the image (C), there is a point where the image 70 simulating the vehicle 13 ahead is traveling on a sloping road. Figure 10In (B) and (C), the positions of the inflection points P of the flat road surface and the inclined road surface are visualized, so that the occupant of the host vehicle 12 can recognize the inclination of the road surface more realistically.

[0099] Furthermore, the display control unit 282 of the fourth embodiment displays the display object between the image 64 simulating the host vehicle 12 and the image 70 simulating the preceding vehicle 13 traveling ahead of the host vehicle 12 in a manner inclined according to the inclination angle information of the road surface.

[0100] For example, Figure 10 The display object H shown in (C) is a track located between the image 64 simulating the host vehicle 12 and the image simulating the preceding vehicle 13 traveling in front of the host vehicle 12. Figure 10 By drawing the trajectory so as to be inclined as shown in (C) of FIG. 1 , the occupant of the host vehicle 12 can more realistically recognize the inclination of the road surface.

[0101] As described above, the vehicle display control device of the fourth embodiment obtains road surface inclination angle information based on at least one of an image captured by a camera mounted on the vehicle and point cloud information detected by a radar device. Based on the road surface inclination angle information, the vehicle display control device causes the image simulating the vehicle and the image simulating the road surface to change in an inclined manner, and displays the changed image simulating the vehicle and the image simulating the road surface on the display unit. This reduces the discomfort felt by the vehicle's occupants when the vehicle is traveling on an inclined road surface. Furthermore, based on the image captured by the camera mounted on the vehicle and the point cloud information detected by the radar device, a more detailed inclination of the road surface can be reproduced. More specifically, since the display object located between the image 64 simulating the vehicle 12 and the image simulating the preceding vehicle 13 traveling ahead of the vehicle 12 can also be tilted, the vehicle's occupants can more realistically perceive the road surface inclination.

[0102] Although the vehicle display control system 10 according to each embodiment has been described above, it is apparent that the vehicle display control system 10 can be implemented in various forms without departing from the gist of the present disclosure.

[0103] For example, the display control unit may display at least a portion of the road surface behind the image simulating the host vehicle in the image simulating the road surface on the display unit without tilting. Figure 11 , which are figures for explaining the modified examples of the above-mentioned embodiments. Figure 11As shown in FIG, when the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner according to the inclination angle information of the road surface, a part of the image simulating the road surface (for example, the rear part of the vehicle 12) may be made horizontal (at Figure 11 In this manner, by making a portion of the inclined road surface horizontal, the inclined portion and the horizontal portion of the road surface are displayed simultaneously, and the fact that the road surface on which the host vehicle 12 is traveling is inclined can be more easily understood.

[0104] Furthermore, while the above-described embodiments illustrate the case where an image simulating the vehicle and an image simulating the road surface on which the vehicle is traveling are displayed on the first display unit 24 as an example of an image representing the surrounding conditions of the vehicle 12, the present invention is not limited thereto. For example, an image simulating the vehicle and an image simulating the road surface on which the vehicle is traveling may also be displayed on the second display unit 25 or the third display unit 26.

[0105] Furthermore, the processing executed by the CPU 30 in the above-described embodiment by reading a program may also be performed by various processors other than the CPU 30. Examples of such processors include a PLD (Programmable Logic Device) (PLD) whose circuit structure can be changed after manufacture, such as an FPGA (Field-Programmable Gate Array), and a processor with a circuit structure specifically designed to execute specific processing, i.e., a dedicated circuit, such as an ASIC (Application Specific Integrated Circuit). Furthermore, the processing may be performed by one of these various processors, or by a combination of two or more processors of the same or different types. For example, the processing may be performed by multiple FPGAs, or by a combination of a CPU and an FPGA. More specifically, the hardware structure of these various processors is a circuit that combines circuit elements such as semiconductor elements.

[0106] Furthermore, while the above embodiment uses a configuration in which the storage 36 stores various data, the present invention is not limited thereto. For example, a non-transitory recording medium such as a CD (Compact Disk), a DVD (Digital Versatile Disk), or a USB (Universal Serial Bus) memory may be used as the storage unit. In this case, various programs and data are stored in these recording media.

[0107] Furthermore, the processing flow described in the above embodiment is an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be replaced without departing from the scope of the present invention.

Claims

1. A vehicle display control device comprising a memory and a processor connected to the memory, wherein: The processor is configured to obtain inclination angle information of the road surface on which the vehicle is traveling, and when displaying an image simulating the vehicle when the vehicle is observed from an imaginary viewpoint and an image simulating the road surface on which the vehicle is traveling on the display unit, the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner and displayed on the display unit based on the obtained inclination angle information.

2. The vehicle display control device according to claim 1, wherein: The processor is configured to change the position and orientation of the virtual viewpoint according to the tilt angle information, and to display on the display unit an image simulating the vehicle and an image simulating the road surface as viewed from the virtual viewpoint with the changed position and orientation.

3. The vehicle display control device according to claim 1 or claim 2, wherein: The processor is configured to obtain tilt angle information of the surrounding vehicles calculated based on image processing of the images of the surrounding vehicles of the vehicle as tilt angle information of the road surface, and based on the tilt angle information of the road surface, change the image of the simulated surrounding vehicles and the image of the road surface simulating the position of the simulated image of the surrounding vehicles in an inclined manner and display them on the display unit.

4. The vehicle display control device according to claim 1 or claim 2, wherein: The processor is configured to obtain inclination angle information of the road surface based on at least one of an image captured by a camera mounted on the vehicle and point cloud information detected by a radar device, and to change an image simulating the vehicle and an image simulating the road surface in an inclined manner and display them on the display unit according to the inclination angle information of the road surface.

5. The vehicle display control device according to claim 1 or claim 2, wherein: The processor is configured to display a display object displayed between an image simulating the host vehicle and an image simulating a preceding vehicle traveling in front of the host vehicle so as to be tilted according to the inclination angle information of the road surface.

6. The vehicle display control device according to claim 1 or claim 2, wherein: The processor is configured to change the image simulating the vehicle and the image simulating the road surface in an inclined manner and display them on the display unit when the inclination angle represented by the inclination angle information obtained within a predetermined driving section is greater than a preset threshold value.

7. The vehicle display control device according to claim 1 or claim 2, wherein: The processor is configured to display at least a portion of the road surface behind the image simulating the host vehicle in the image simulating the road surface on the display unit without tilting.

8. A vehicle display control method, wherein: The processor performs the following processing, namely: Obtain the inclination angle information of the road on which the vehicle is traveling. When an image simulating the vehicle and an image simulating the road surface on which the vehicle is traveling are displayed on a display unit when the vehicle is observed from an imaginary viewpoint, the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner and displayed on the display unit based on the obtained inclination angle information.

9. A non-transitory recording medium storing a vehicle display control program, wherein: The vehicle display control program causes the processor to execute the following processing, namely: Obtain the inclination angle information of the road on which the vehicle is traveling. When an image simulating the vehicle and an image simulating the road surface on which the vehicle is traveling are displayed on a display unit when the vehicle is observed from an imaginary viewpoint, the image simulating the vehicle and the image simulating the road surface are changed in an inclined manner and displayed on the display unit based on the obtained inclination angle information.

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