Vehicle

Abstract

The present disclosure relates to a vehicle including: an assistance unit that, when the vehicle is in a driving assistance mode, performs assistance processing for assisting at least one of acceleration, deceleration and steering of the vehicle on the basis of a result of recognition of a target by a target recognition unit; and a display control unit that causes the display unit to display the target recognized by the target recognition unit when the vehicle is in a manual driving mode in which the assist unit does not perform the assist processing.

Description

Technical Field

[0001] This disclosure pertains to vehicles. Background Technology

[0002] Japanese Patent Application Publication No. 2022-41288 describes the following: In the execution of part or all of automatic driving (assisted processing) that automatically performs operations such as accelerator, brake, direction indicator, and steering wheel, other vehicles and other objects are displayed on the display unit.

[0003] In the technology described in Japanese Patent Application Publication No. 2022-41288, when no auxiliary processing is performed (when the vehicle is in manual driving mode), other vehicles and other targets are not displayed on the display unit, which may cause unease to the occupants. Summary of the Invention

[0004] This disclosure provides a vehicle that enables occupants to recognize that object identification is being performed on the vehicle side, even when the vehicle is in manual driving mode.

[0005] The first method is a vehicle, comprising: an assistance unit that, when the vehicle is in driving assistance mode, performs assistance processing to assist the vehicle in at least one of acceleration, deceleration, and steering based on the recognition result of a target object by a target object recognition unit; and a display control unit that, when the vehicle is in manual driving mode where the assistance unit does not perform the assistance processing, causes the display unit to display the target object recognized by the target object recognition unit.

[0006] In the first approach, when the vehicle is in driver assistance mode, assistance is provided for at least one of the vehicle's acceleration, deceleration, and steering; when the vehicle is in manual driving mode, no assistance is provided. On the other hand, when the vehicle is in manual driving mode, the display control unit causes the display unit to show the target object identified by the target object recognition unit. Therefore, when the vehicle is in manual driving mode, the occupants are aware that target object recognition is being performed at the vehicle side, providing them with a sense of security.

[0007] The second method is that, in the first method, when the vehicle is in the manual driving mode, the target displayed on the display unit can be a surrounding target that exists in a lane other than the lane in which the vehicle is traveling.

[0008] In the second approach, since the display unit shows surrounding objects that exist in lanes other than the current lane, the occupants can be made aware in manual driving mode that surrounding object identification is being performed on the vehicle side.

[0009] The third method is a vehicle comprising: an assistance unit that, when the vehicle is in driving assistance mode, performs assistance processing for at least one of the acceleration, deceleration, and steering of the vehicle based on the recognition result of a target object by a target object recognition unit; and a display control unit that, according to an input instruction, switches the screen displayed on the display unit to a surrounding monitoring screen or another screen, and, even when the vehicle is in manual driving mode where the assistance unit does not perform the assistance processing, displays the target object recognized by the target object recognition unit.

[0010] In the third approach, similar to the first approach, when the vehicle is in driver assistance mode, assistance processing is performed on at least one of the vehicle's acceleration, deceleration, and steering; when the vehicle is in manual driving mode, no assistance processing is performed. Furthermore, in the third approach, the screen displayed on the display unit can be switched to a peripheral monitoring screen or another screen. Even when the vehicle is in manual driving mode, the display unit displays the target object identified by the target object recognition unit, even when the vehicle is in manual driving mode. Therefore, even when the vehicle is in manual driving mode, without switching to driver assistance mode and activating assistance processing, simply switching the screen displayed on the display unit to a peripheral monitoring screen allows the display unit to show the target object identified by the target object recognition unit, enabling the occupants to recognize that target object recognition is being performed on the vehicle side.

[0011] The fourth approach is, in the third approach, where the display control unit, while displaying the other screens, also displays information about the operation status of the auxiliary processing, and on the other hand, does not display the target object identified by the target object recognition unit.

[0012] In the fourth method, when the vehicle is in manual driving mode, the occupant can grasp the status of the auxiliary processing by switching the screen displayed on the display unit to another screen. On the other hand, the complexity of the display can be reduced by not displaying the target object.

[0013] According to the above method, even when the vehicle is in manual driving mode, the occupants of this disclosed vehicle are able to recognize that object identification is being performed on the vehicle side. Attached Figure Description

[0014] The exemplary embodiments will now be described in detail with reference to the accompanying drawings, wherein: Figure 1 This is a block diagram illustrating the general configuration of the vehicle system involved in the implementation method; Figure 2 This is a flowchart illustrating an example of screen display processing; Figure 3 This is a schematic diagram illustrating an example of a peripheral monitoring screen displayed on the display unit when the vehicle is in driver assistance mode; Figure 4 This is a schematic diagram illustrating an example of a peripheral monitoring screen displayed on the display unit when the vehicle is in manual driving mode; Figure 5 This is a schematic diagram illustrating an example of the instrument panel display when the vehicle is in manual driving mode; Figure 6 This is a schematic diagram illustrating an example of a driving mode display screen shown on the display unit when the vehicle is in manual driving mode. Detailed Implementation

[0015] Hereinafter, an example of an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. Figure 1 As shown, the vehicle system 10 involved in this embodiment is mounted on a vehicle 11 and includes a communication bus 12. The communication bus 12 is connected to a surrounding environment acquisition device group 14, a vehicle driving status detection sensor group 26, a target object recognition ECU (Electronic Control Unit) 60, an ADAS (Advanced Driver-Assistance Systems) ECU 34, and a display control ECU 42. Furthermore, Figure 1 Only a portion of the in-vehicle system 10 is shown. Furthermore, the vehicle 11 equipped with the in-vehicle system 10 will be referred to hereinafter as this vehicle 11. This vehicle 11 is an example of a vehicle involved in this disclosure.

[0016] The surrounding environment acquisition equipment group 14 includes a GNSS (Global Navigation Satellite System) device 16, an onboard communicator 18, a navigation system 20, a radar device 22, and a camera unit 24, etc., as a device for acquiring information indicating the surrounding environment of the vehicle 11.

[0017] The GNSS device 16 receives GNSS signals from multiple GNSS satellites to locate the position of the vehicle 11. The onboard communicator 18 performs at least one type of communication: vehicle-to-vehicle communication with other vehicles and road-to-road communication with roadside units. The navigation system 20 includes a map information storage unit 20A that stores map information. Based on the position information obtained from the GNSS device 16 and the map information stored in the map information storage unit 20A, the system performs processes such as displaying the position of the vehicle 11 on the map, determining the route to the destination, and providing guidance.

[0018] Radar device 22 detects other vehicles, pedestrians, and other objects present around vehicle 11 as point cloud information, and obtains the relative position and relative speed of the detected objects with respect to vehicle 11. Furthermore, based on changes in relative position and relative speed with each object, radar device 22 excludes noise, roadside objects such as guardrails, and other roadside obstacles from the monitored objects, and outputs information such as the relative position and relative speed between the radar device and other monitored objects (target objects). Camera unit 24 uses multiple cameras to capture images of the area around vehicle 11 and outputs the captured images.

[0019] In addition, the vehicle driving status detection sensor group 26 includes a steering angle sensor 28 for detecting the steering angle of the vehicle 11, a vehicle speed sensor 30 for detecting the driving speed of the vehicle 11, and an acceleration sensor 32 for detecting the acceleration applied to the vehicle 11, serving as multiple sensors for obtaining the driving status of the vehicle 11.

[0020] Although not illustrated, the target object recognition ECU 60 incorporates a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and storage units such as HDD (Hard Disk Drive) and SSD (Solid State Drive). These storage units contain a pre-defined program that enables the CPU of the target object recognition ECU 60 to function as the target object recognition unit 62. The target object recognition unit 62 identifies the boundary line of the lane in which the vehicle 11 is traveling (the lane itself) based on an image of the front of the vehicle 11 captured by the camera unit 24. Furthermore, regardless of whether the driving mode of the vehicle 11 is manual driving mode or driving assistance mode, the target recognition unit 62 identifies targets (vehicles traveling in the same lane, vehicles traveling in adjacent lanes, etc.) that exist around the vehicle 11 in the image captured by the camera unit 24, identifies the type of target (e.g., whether it is a regular car or a large car), and detects and outputs the distance between the vehicle 11 and the target. Alternatively, the target recognition unit 62 detects the depth to the target obtained by the radar device 22 and the orientation of the target detected by the camera, calculates the distance, and outputs it.

[0021] The ADAS-ECU 34 is connected to a throttle valve ACT 36 that changes the throttle opening of the vehicle 11, a brake ACT 38 that changes the braking force generated by the braking device of the vehicle 11, and a steering ACT 40 that changes the steering amount generated by the steering device of the vehicle 11.

[0022] Although not illustrated, the ADAS-ECU 34 includes a CPU, ROM, RAM, and other memory, HDD, SSD, and other storage units, as well as a communication I / F (Interface). The storage units contain a prescribed program for enabling the CPU of the ADAS-ECU 34 to function as the auxiliary unit 35. Based on information obtained from the surrounding environment acquisition device group 14 and the vehicle driving status detection sensor group 26, and the target object recognition results from the target object recognition unit 62, the auxiliary unit 35 controls the throttle valve ACT 36, the brake ACT 38, and the steering ACT 40 to perform at least one of the following auxiliary processing: acceleration / deceleration and steering of the vehicle 11.

[0023] In this embodiment, the driving assistance functions implemented through the aforementioned auxiliary processing are ACC (Adaptive Cruise Control), which enables the vehicle 11 to follow a vehicle traveling in front in its lane, and LKA (Lane Keeping Assist), which assists steering to keep the vehicle 11 centered in its lane. Although not illustrated, the vehicle system 10 according to this embodiment is provided with a first switch for turning ACC on / off and a second switch for turning LKA on / off. In this embodiment, if at least one of ACC and LKA is turned on by operating at least one of the first and second switches, the driving mode of the vehicle 11 changes from manual driving mode to driving assistance mode, and the assistance unit 35 performs assistance processing. Furthermore, if both ACC and LKA are turned off, the driving mode of the vehicle 11 changes from driving assistance mode to manual driving mode.

[0024] The display control ECU 42 includes a CPU 44, a memory 46 such as ROM and RAM, a storage unit 48 such as HDD and SSD, and a communication I / F 50. The CPU 44, memory 46, storage unit 48, and communication I / F 50 are interconnected via an internal bus 52. The storage unit 48 stores a display control program 54. The display control ECU 42 reads the display control program 54 from the storage unit 48, expands it in the memory 46, and executes the expanded display control program 54 in the memory 46 by the CPU 44, thereby functioning as a display control unit 64 and performing the screen display processing described later.

[0025] The display control ECU 42 is connected to an AR (Augmented Reality) head-up display (hereinafter referred to as AR-HUD) 56 and an instrument display 58. The AR-HUD 56 of this embodiment is a small HUD that uses a portion of the forward field of vision of the occupants of the vehicle 11 as a display area (imaged below the foreground) through reflections onto the windshield, etc. The instrument display 58 is a display installed on the dashboard of the vehicle 11. The display control ECU 42 controls the display of information to the AR-HUD 56 and the instrument display 58. Furthermore, the AR-HUD 56 and the instrument display 58 are examples of display units in this disclosure.

[0026] Next, as for the purpose of this embodiment, refer to Figure 2 The screen display processing repeatedly executed by the display control ECU 42 (display control unit 64) during the period when the ignition switch of the vehicle 11 is turned on will be explained.

[0027] In step 150 of the display processing, the display control unit 64 obtains the object recognition result from the object recognition unit 62. Here, the obtained recognition result includes the recognition result of a vehicle traveling in front of the vehicle 11 and in the current lane (ahead object) and the recognition result of a vehicle traveling in the adjacent lane (surrounding object). Additionally, in step 152, the display control unit 64 obtains the operating status of ACC and LKA from the auxiliary unit 35.

[0028] In step 154, the display control unit 64 acquires the current driving mode of the vehicle 11 and branches according to the acquired current driving mode. If the current driving mode of the vehicle 11 is driving assistance mode, it jumps from step 154 ​​to step 158. Then, in step 158, as an example, ... Figure 3 As shown, the display control unit 64 generates a screen that displays all the surrounding targets identified by the target recognition unit 62 as a surrounding monitoring screen 70 when the driving mode of the vehicle 11 is driving assistance mode, and displays it on the display unit (e.g., instrument display 58).

[0029] like Figure 3As shown, in the surrounding monitoring screen 70 when the vehicle 11 is in driving assistance mode, a surrounding situation image 72 indicating the surrounding conditions of the vehicle is displayed in the center of the left-right direction of the surrounding monitoring screen 70. The surrounding situation image 72 in the surrounding monitoring screen 70 includes at least an icon 74 representing the vehicle, a boundary line 76 indicating the boundary of the lane, and a strip image 78 that fills the center of the lane with a certain width. Furthermore, when the driving mode is driving assistance mode, the boundary line 76 and the strip image 78 are highlighted with a relatively conspicuous first predetermined color (e.g., green) to clearly indicate that ACC (Adaptive Cruise Control) is in operation. Additionally, when there is a forward object (e.g., a vehicle being followed in ACC) in front of the vehicle, a forward object image 80 is added to the surrounding situation image 72 in the surrounding monitoring screen 70; when there is a surrounding object in an adjacent lane, a surrounding object image 82 is added to the surrounding situation image 72 in the surrounding monitoring screen 70. Furthermore, in Figure 3 In the surrounding target image 82, the type of surrounding target is shown as a large vehicle such as a truck or bus. Furthermore, in the surrounding monitoring screen 70, an icon group 84 indicating the operation status of ACC and LKA is displayed near the time display. When the driving mode is in driver assistance mode, the icon group 84 is also highlighted in a first predetermined color to clearly indicate that ACC and other functions are in operation.

[0030] exist Figure 3 When the surrounding monitoring screen 70 is displayed on the display unit, the occupants can intuitively understand that ACC and other functions are in operation based on the fact that the boundary line 76, the strip image 78, and the icon group 84 are highlighted in a first predetermined color. In addition, by displaying the forward target image 80 and the surrounding target image 82 in the surrounding situation image 72 within the surrounding monitoring screen 70, the occupants can intuitively understand that the vehicle 11 is identifying the target corresponding to these images 80 and 82.

[0031] Furthermore, if the current driving mode of this vehicle 11 is manual driving mode, the process jumps from step 154 ​​to step 156. In this embodiment, in manual driving mode, a screen to be displayed on the display unit can be selected from various screens. In step 156, the display control unit 64 determines the screen to be displayed on the display unit and branches according to the determination result. If the screen to be displayed on the display unit is a surrounding monitoring screen, the process jumps from step 156 to step 160. Then, in step 160, for example, as shown... Figure 4As shown, the display control unit 64 generates a screen that displays all the surrounding targets identified by the target object recognition unit 62 as a surrounding monitoring screen 86 when the driving mode of the vehicle 11 is manual driving mode, and displays it on the display unit (e.g., instrument display 58).

[0032] like Figure 4 As shown, in the surrounding monitoring screen 86 of manual driving mode, similarly to the surrounding monitoring screen 70 of driving assistance mode, a surrounding condition image 72, including at least an icon 74, a boundary line 76, and a strip image 78, is displayed in the center of the left-right direction of the surrounding monitoring screen 86. Furthermore, when the driving mode is manual, the boundary line 76 and the strip image 78 are displayed in a relatively inconspicuous second predetermined color (e.g., white) to clearly indicate that ACC (Adaptive Cruise Control) and other actions are not in progress. Additionally, if a forward object is present in front of the vehicle, a forward object image 80 is added to the surrounding condition image 72; if a surrounding object is present in an adjacent lane, a surrounding object image 82 is added to the surrounding condition image 72. Furthermore, in Figure 4 In, with Figure 3 Similarly, the image 82 shows that the surrounding objects represent large vehicles such as trucks and buses. Furthermore, in the surrounding monitoring screen 86, an icon group 84 indicating the operation status of ACC and LKA is displayed near the time display. When the driving mode is manual, the icon group 84 is also displayed in a second predetermined color to clearly indicate that ACC and other controls are not in operation.

[0033] To make the display unit show Figure 4 In the case of the surrounding monitoring screen 86 shown, the occupant can intuitively understand that ACC and other functions have not been activated based on the fact that the boundary line 76, the strip image 78, and the icon group 84 are displayed in the second predetermined color. In addition, by displaying the forward target image 80 and the surrounding target image 82 in the surrounding situation image 72 in the surrounding monitoring screen 86, the occupant can intuitively understand that the vehicle 11 is identifying the target corresponding to these images 80 and 82. Furthermore, when the vehicle 11 is in manual driving mode and the instrument screen 88 (described later) or the driving mode display screen 94 is displayed on the display unit, even without switching to the driving assistance mode, simply switching the screen displayed on the display unit to the surrounding monitoring screen 86 will allow the display unit to display the target identified by the target object recognition unit 62.

[0034] Additionally, if the screen to be displayed on the display unit is an instrument screen, the process jumps from step 156 to step 162. Then, in step 162, for example, ... Figure 5As shown, the display control unit 64 generates a screen showing the operation status of ACC / LKA when the driving mode of the vehicle 11 is manual driving mode, and displays it on the display unit (e.g., instrument display 58).

[0035] like Figure 5 As shown, in the instrument panel 88 in manual driving mode, a speedometer image 90, simulating a simulated speedometer, is displayed on the right side of the instrument panel 88, and a tachometer image 92, simulating a simulated tachometer, is displayed on the left side of the instrument panel 88. Additionally, a surrounding environment image 72, including an icon 74 representing the vehicle, a boundary line 76, and a forward target image 80, is displayed in an area slightly below the center of the speedometer image 90. Furthermore, when the driving mode is manual driving mode, the surrounding environment image 72 displayed on the instrument panel 88... Figure 3 , 4 The surrounding monitoring screens 70 and 86 shown are different; the image 82 of surrounding objects is not displayed. Additionally, in the area slightly above the center of the speedometer image 90, near the time display, an icon group 84 indicating the operation status of ACC and LKA is displayed. When the driving mode is manual, the icon group 84 is also displayed in a second specified color to clearly indicate that ACC and other controls are not in operation.

[0036] To make the display unit show Figure 5 When the instrument panel 88 is displayed, the occupant can intuitively understand that ACC and other functions have not been activated based on the icon group 84 displayed in the second specified color. Furthermore, when the driving mode is manual, the surrounding object image 82 is not displayed in the surrounding environment image 72 within the instrument panel 88. Therefore, when the display unit shows… Figure 4 If you feel bored with the display of the image 82 of the surrounding target object while the surrounding monitoring screen 86 is displayed, you can reduce the boredom caused by switching the screen displayed on the display unit to the instrument screen 88 (or the driving mode display screen 94 described below).

[0037] Additionally, if the screen instructed to be displayed on the display unit is the driving mode display screen, the process jumps from step 156 to step 164. Then, in step 164, for example, ... Figure 6 As shown, the display control unit 64 generates a screen that does not display surrounding targets and displays the operation status of ACC / LKA as a driving mode display screen 94 in manual driving mode, and displays it on the display unit (e.g., instrument display 58).

[0038] like Figure 6As shown, in the driving mode display screen 94 of manual driving mode, a vehicle image 96, mimicking a side view of the vehicle 11, is displayed in approximately the center of the driving mode display screen 94. Additionally, to the left of the display position of the vehicle image 96, the current driving mode of the vehicle 11 is displayed, along with a setting image 98 indicating the ability to change the driving mode. Furthermore, to the right of the display position of the vehicle image 96, a surrounding environment image 72 is displayed, including an icon 74, a boundary line 76, and a forward target image 80. Moreover, in the surrounding environment image 72 displayed on the driving mode display screen 94, [the image is displayed alongside...]. Figure 3 , 4 The surrounding monitoring screens 70 and 86 shown are different, and the surrounding target image 82 is not displayed. In addition, when the driving mode is manual driving mode, the ACC and other functions are not activated by displaying the icon 74, the boundary line 76, and the forward target image 80 in a second specified color.

[0039] To make the display unit show Figure 6 When the driving mode display screen 94 is displayed, the occupant can intuitively understand that ACC and other functions are not activated based on the second specified color display of icon 74, boundary line 76, and forward target image 80. Furthermore, when the driving mode is manual driving mode, the surrounding situation image 72 in the driving mode display screen 94 does not display the surrounding target image 82. Therefore, when the display unit shows... Figure 4 If you feel bored with the display of the image 82 of the surrounding target object while the surrounding monitoring screen 86 is displayed, you can reduce the boredom caused by switching the screen displayed on the display unit to the driving mode display screen 94 (or the aforementioned instrument screen 88).

[0040] In addition, after generating and displaying the screen in any of steps 158, 160, 162, or 164, the screen display process ends.

[0041] In this embodiment, when the vehicle 11 is in driving assistance mode, the assistance unit 35 performs assistance processing for at least one of the acceleration, deceleration, and steering of the vehicle 11 based on the target object recognition result obtained by the target object recognition unit 62. Furthermore, when the vehicle 11 is in manual driving mode where the assistance unit 35 does not perform assistance processing, the display control unit 64 displays the target object (forward target object image 80 and surrounding target object image 82) identified by the target object recognition unit 62. Therefore, when the vehicle 11 is in manual driving mode, the occupants are aware that target object recognition is being performed on the side of the vehicle 11, providing them with a sense of security.

[0042] Furthermore, in this embodiment, when the vehicle 11 is in manual driving mode, the target object displayed on the display unit is a surrounding target object existing in a lane other than the lane in which the vehicle is traveling (surrounding target object image 82). Therefore, in manual driving mode, the occupants can be aware that surrounding target object identification is being performed on the vehicle 11 side.

[0043] Furthermore, in this embodiment, when the vehicle 11 is in driving assistance mode, the assistance unit 35 performs assistance processing for at least one of the acceleration, deceleration, and steering of the vehicle 11 based on the target object recognition result obtained by the target object recognition unit 62. Additionally, the display control unit 64 switches the screen displayed on the display unit to the surrounding monitoring screen 70, 86, or other screens (instrument screen 88 or driving mode display screen 94) according to the input instruction. Even when the vehicle 11 is in manual driving mode where the assistance unit 35 is not performing assistance processing, the display unit still displays the target object recognized by the target object recognition unit 62 while the surrounding monitoring screen 70 or 86 is displayed. Therefore, even when the vehicle 11 is in manual driving mode, without switching to driving assistance mode and activating assistance processing, simply switching the screen displayed on the display unit to the surrounding monitoring screen 86 allows the display unit to show the target object recognized by the target object recognition unit 62, enabling the occupants to recognize that target object recognition is being performed on the vehicle 11 side.

[0044] Furthermore, in this embodiment, while the display control unit 64 is displaying other screens (instrument display screen 88 or driving mode display screen 94), it displays information including the operation status of the auxiliary processing. On the other hand, it does not display the target object identified by the target object recognition unit 62. As a result, the occupant can grasp the operation status of the auxiliary processing, and the complexity of the display is reduced by not displaying the target object.

[0045] Furthermore, in the above embodiments, ACC and LKA were described as examples of driving assistance functions implemented through the assistance unit 35. However, the driving assistance functions implemented through assistance processing are not limited to these; for example, they could be functions that enable hands-free driving in traffic jams, or automatic driving functions that automatically accelerate, decelerate, and steer the vehicle.

[0046] Furthermore, in the above embodiment, it was explained that the display control unit 64 causes the display unit to display. Figures 3-6 The way each screen is shown. However, Figures 3-6 The screens shown are merely examples. Of course, the screens can be appropriately modified without departing from the scope of this disclosure. For example, the icon group 84 can be displayed in place of the surrounding situation image 72 in the driving mode display screen 94.

[0047] Furthermore, in the above embodiment, the method of pre-storing (installing) the display control program 54, which enables the display control ECU 42 to function as the display control unit 64, in the storage unit 48 has been described. However, the display control program 54 can also be provided in a non-temporary storage medium such as an HDD, SSD, or DVD.

Claims

1. A vehicle comprising: The assistance unit, when the vehicle is in driving assistance mode, performs assistance processing on at least one of the vehicle's acceleration / deceleration and steering based on the object recognition result obtained by the object recognition unit; and When the vehicle is in manual driving mode where the assistance unit does not perform the assistance processing, the display control unit causes the display unit to display the target object identified by the target object recognition unit.

2. The vehicle according to claim 1, wherein, When the vehicle is in manual driving mode, the target object displayed on the display unit is a surrounding target object that exists in a lane other than the lane in which the vehicle is traveling.

3. A vehicle comprising: The assistance unit, when the vehicle is in driving assistance mode, performs assistance processing on at least one of the vehicle's acceleration / deceleration and steering based on the object recognition result obtained by the object recognition unit; and The display control unit switches the screen displayed on the display unit to a surrounding monitoring screen or other screens according to the input instructions. Even when the vehicle is in manual driving mode where the assistance unit is not performing the assistance processing, the display unit displays the target object identified by the target object recognition unit.

4. The vehicle according to claim 3, wherein, When the display control unit causes the display unit to display the other screens, it also causes the display unit to display information containing the operation status of the auxiliary processing. On the other hand, it prevents the display unit from displaying the target object identified by the target object recognition unit.

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