Display control device

Abstract

The present application relates to a display control device. An instrument ECU is provided with: an acquisition section for acquiring a surrounding situation of a vehicle; and a control section which, when an image representing the surrounding situation of the vehicle is displayed on a display provided in the vicinity of a driver's seat of the vehicle, displays the image representing the target object fixed at the center of the image representing the lane on which the target object is traveling in a case where only either of rear end points on both sides of the target object located in the vicinity of the vehicle is recognized.

Description

Technical Field

[0001] This invention relates to a display control device. Background Technology

[0002] Japanese Patent Application Publication No. 2022-066952 discloses the following technology: when other vehicles are present in a distant area in front of the vehicle's direction of travel that is outside the display range of the screen, a mark indicating the presence of other vehicles in a distant area in front of the vehicle's direction of travel that is outside the display range of the screen is displayed at a fixed position on the driving lane. Summary of the Invention

[0003] According to the technology described in Japanese Patent Application Publication No. 2022-066952, the display position of a target object is determined based on the positions of the rear endpoints of both sides of the target object located around the vehicle. However, when only one of the rear endpoints of the two sides of the target object can be identified, the reliability of the data is low compared to when both rear endpoints can be identified, and sometimes the actual position of the target object is easily deviated from the display position. That is, when only one rear endpoint can be identified, for example, sometimes the target object is displayed centered on the identified one rear endpoint, which sometimes causes the actual position of the target object to deviate from the display position.

[0004] The purpose of this invention is to provide a display control device that can suppress the deviation between the actual position and the displayed position of a target object, even when only one of the rear ends of the two rear ends of a target object located around the vehicle can be identified.

[0005] The display control device according to the first method includes: an acquisition unit for acquiring the surrounding conditions of the vehicle; and a display control unit that, when displaying an image representing the surrounding conditions of the vehicle on a display unit provided around the driver's seat of the vehicle, if only one of the rear endpoints of the two sides of a target located around the vehicle is identified, fixes the display position of the image representing the target at the center of the image representing the lane in which the target is traveling.

[0006] According to the display control device of the first method, even if only one of the rear ends of the two rear ends of the target object located around the vehicle can be identified, the deviation between the actual position and the display position of the target object can be suppressed.

[0007] In the second embodiment of the display control device, in the first embodiment, the display control unit, when identifying a rear endpoint on the side away from the vehicle, fixes the display position of the image representing the target object at the center of the image representing the lane in which the target object is traveling, and when identifying a rear endpoint on the side close to the vehicle, displays the image representing the target object based on the offset of the image representing the target object in the lane width direction determined according to the category of the target object.

[0008] According to the display control device involved in the second method, the data of the rear end point closer to the vehicle side is more reliable than the rear end point on the side farther away from the vehicle. Therefore, by determining the offset, a higher suppression effect can be obtained.

[0009] In the third method, the offset is set to half the width of the image representing the target object in the lane width direction, as determined according to the category of the target object.

[0010] According to the display control device involved in the third method, the deviation between the actual position and the display position of the target object can be suppressed without any sense of incongruity.

[0011] The display control device of the fourth method, in addition to the display control device of the second or third method, includes: a determination unit that determines whether the position of the image of the target object after the offset is appropriate based on the identification position of the rear end point of the target object on the side close to the vehicle and the identification position of the center of the rear part of the target object.

[0012] According to the display control device involved in the fourth method, it is possible to check whether the position of the image representing the offset target object is appropriate.

[0013] In the display control device of the fifth method, when it is determined that the position of the image representing the shifted target is inappropriate, the display control unit fixes the display position of the image representing the target at the center of the image representing the lane in which the target is traveling.

[0014] According to the display control device involved in the fifth method, even if the position of the image representing the offset target object is inappropriate, the deviation between the actual position and the display position of the target object can be suppressed.

[0015] As explained above, according to the present invention, even when only one of the rear ends of the two rear ends of a target located around the vehicle can be identified, the deviation between the actual position and the displayed position of the target can be suppressed. Attached Figure Description

[0016] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0017] Figure 1 It is a block diagram representing the hardware structure of a vehicle.

[0018] Figure 2A It is a diagram used to illustrate the positional relationship between a vehicle and a vehicle in front, which is an example of an object.

[0019] Figure 2B It means Figure 2A The image shown represents the positional relationship between the vehicle and the vehicle in front.

[0020] Figure 3A This is a diagram that shows the driving status of only the vehicle at the second rear end point closest to the vehicle and the vehicle in front.

[0021] Figure 3B This is a diagram that shows the driving status of vehicles at the second rear end point on the side furthest from the vehicle and the vehicles in front of it.

[0022] Figure 4A This is a diagram illustrating an example of the driving status of the vehicle and the vehicle in front involved in the implementation method.

[0023] Figure 4B This is a diagram illustrating an example of the display position of the image of the vehicle ahead according to the embodiment.

[0024] Figure 5 This is a diagram used to illustrate the method of checking the appropriateness of the offset position.

[0025] Figure 6 This is a flowchart illustrating an example of the display control processing performed by the instrument ECU. Detailed Implementation

[0026] Figure 1 This is a block diagram representing the hardware structure of vehicle 10. For example... Figure 1 As shown, vehicle 10 includes an Electronic Control Unit (ECU) 20. Vehicle 10 is an example of a "vehicle" in this invention, and the ECU 20 is an example of a "display control device" in this invention.

[0027] The instrument cluster ECU 20 is configured to include a central processing unit (CPU) 21, a read-only memory (ROM) 22, a random access memory (RAM) 23, a storage device 24, an in-vehicle communication interface (I / F) 25, an input / output interface (I / F) 26, and a wireless communication interface (I / F) 27. These components are communicatively connected to each other via an internal bus 28.

[0028] CPU 21 is the central processing unit, which executes various programs or controls various parts. That is, CPU 21 reads programs from ROM 22 or storage device 24 and uses RAM 23 as its working area to execute the programs. CPU 21 performs control of the above-mentioned structures and various arithmetic operations according to the programs recorded in ROM 22 or storage device 24.

[0029] ROM22 stores various programs and data. RAM23 serves as a temporary storage area for programs or data.

[0030] The storage device 24 is composed of a storage medium such as an embedded Multi Media Card (eMMC) or Universal Flash Storage (UFS), and stores various programs and data. The storage device 24 stores an information processing program 24A. The information processing program 24A is a program used to cause the CPU 21 to execute the display control processing involved in this embodiment.

[0031] The in-vehicle communication I / F25 is an interface for connecting with other ECUs 30, using a communication standard based on the Controller Area Network (CAN) protocol. The in-vehicle communication I / F25 connects to the external bus 29. Furthermore, although not illustrated, the ECU is not limited to ECU 30; multiple ECUs may be present depending on the various functions within the vehicle 10.

[0032] The input / output I / F26 is an interface used to communicate with the on-board equipment 40 mounted on the vehicle 10.

[0033] The vehicle-mounted equipment 40 refers to various devices mounted on the vehicle 10. As an example of the vehicle-mounted equipment 40, the vehicle 10 includes a sensor group 42 and a display 44.

[0034] The sensor group 42 is configured to include various sensors and camera devices for detecting the state of the vehicle 10 and the surrounding conditions of the vehicle 10. Specifically, the sensor group 42 includes, for example, various sensors such as 3D-LiDAR sensors, millimeter-wave sensors, infrared sensors, turn signal sensors, throttle position sensors, vehicle speed sensors, wheel angle sensors, angular velocity sensors, Global Positioning System (GPS) sensors, illuminance sensors, gyroscope sensors, steering wheel angle sensors, and acceleration sensors, as well as multiple cameras for capturing images of the surroundings of the vehicle 10. The sensor group 42 outputs the detection results of each sensor and the image captured by each camera to the specified electronic control units such as the instrument cluster ECU 20 and ECU 30.

[0035] Display 44 is an instrument display provided on the instrument panel located in front of the driver's seat of vehicle 10 and used to display operating suggestions related to the functions of vehicle 10 and images related to the explanation of those functions. Display 44 is an example of a "display unit" in this invention.

[0036] The I / F27 wireless communication module is a wireless communication module used for communicating with external devices. This module can use communication standards such as 5G, LTE, Wi-Fi (registered trademark), and Bluetooth (registered trademark).

[0037] Furthermore, the CPU 21 of the instrument ECU 20 has an acquisition unit 21A and a control unit 21B as its functional structure. Each functional structure is implemented by the CPU 21 reading and executing the information processing program 24A stored in the storage device 24.

[0038] The acquisition unit 21A acquires various types of information that can be obtained in the vehicle 10. Specifically, the acquisition unit 21A acquires detection information such as detection results from various sensors constituting the sensor group 42 and camera images from each camera as various types of information. The acquisition unit 21A also acquires peripheral information indicating the surrounding conditions of the vehicle 10.

[0039] The control unit 21B performs display control related to the display on the display 44. For example, as part of this display control, the control unit 21B, based on the detection information acquired by the acquisition unit 21A, displays the surrounding conditions of the vehicle 10 as observed from the virtual viewpoint and a vehicle image of the vehicle 10 (see reference). Figure 2B(etc.) are displayed on the display 44. Here, "virtual viewpoint" refers to a viewpoint set in a three-dimensional virtual space with the position of the vehicle image as the origin. This virtual viewpoint is defined by specified viewpoint coordinates and viewpoint angle (orientation) in the virtual space. As an example, this virtual viewpoint is a viewpoint that looks down on the vehicle 10 and its surroundings from a specific viewpoint coordinate located above the vehicle image in the virtual space at a specific viewpoint angle. The control unit 21B is an example of the "display control unit" and "determination unit" in this invention.

[0040] Figure 2A This is a diagram used to illustrate the positional relationship between vehicle 10 and, as an example, the preceding vehicle 10A, which is the target object. Figure 2A In this configuration, vehicle 10 travels in lane 102, defined by a first lane marking 101L1 and a second lane marking 101R1 located on either side of vehicle 10. The first lane marking 101L1 is located on the left side of vehicle 10, and the second lane marking 101R1 is located on the right side of vehicle 10. An adjacent lane 103A is located on the left side of lane 102, and an adjacent lane 103B is located on the right side. Adjacent lane 103A is defined by the first lane marking 101L1 and the third lane marking 101L2, and adjacent lane 103B is defined by the second lane marking 101R1 and the fourth lane marking 101R2. Unless otherwise specified, these first lane markings 101L1, second lane marking 101R1, third lane marking 101L2, and fourth lane marking 101R2 are simply referred to as lane markings 101. The preceding vehicle 10A is traveling in the adjacent lane 103B of the preceding vehicle 10. The preceding vehicle 10A includes a first rear end point P1 and a second rear end point P2, which is different from the first rear end point P1. The first rear end point P1 represents the left rear end of the preceding vehicle 10A, and the second rear end point P2 represents the right rear end of the preceding vehicle 10A. The control unit 21B determines the position for displaying an image of the preceding vehicle 10A on the display 44 based on the positions of the first rear end point P1 and the second rear end point P2 of the preceding vehicle 10A identified by the sensor group 42. Figure 2B It means Figure 2A The diagram shown is a display image 60 illustrating the positional relationship between vehicle 10 and the vehicle 10A in front. Additionally, for ease of explanation, the display image 60, including the vehicle image 61, is shown in a two-dimensional format. Figure 2B As shown, the control unit 21B will indicate Figure 2AThe display image 60 showing the positional relationship of the vehicles 10 is displayed in a designated display area of ​​the display 44. This designated display area is a portion of the display 44 and is configured so that the driver, seated in the driver's seat, can visually recognize it through the opening in the steering wheel. The display image 60 includes a vehicle image 61 representing the vehicle 10, a forward vehicle image 62 representing the vehicle 10A ahead, a first zone line image 63L1 representing the first zone line 101L1, a second zone line image 63R1 representing the second zone line 101R1, a third zone line image 63L2 representing the third zone line 101L2, a fourth zone line image 63R2 representing the fourth zone line 101R2, a lane image 64 representing lane 102, an adjacent lane image 65A representing adjacent lane 103A, and an adjacent lane image 65B representing adjacent lane 103B. The first lane marking image 63L1 is the lane marking image located to the left of the vehicle image 61, and the second lane marking image 63R1 is the lane marking image located to the right of the vehicle image 61. Unless otherwise specified, these first lane marking images 63L1, second lane marking image 63R1, third lane marking image 63L2, and fourth lane marking image 63R2 are simply referred to as lane marking images 63. Furthermore, above the lane image 64, an image 66 indicating the vehicle 10's speed and an image 67 indicating the vehicle 10's gear shift position are displayed.

[0041] However, as mentioned above, the display position of the foreground vehicle 10A is determined based on the positions of the rear endpoints on both sides of the foreground vehicle 10A, but if... Figure 3A and Figure 3B As shown, when only one of the rear endpoints of the two rear endpoints of the vehicle 10A in front can be identified, the reliability of the data is lower compared to when both rear endpoints can be identified. Sometimes the actual position of the vehicle 10A in front is prone to deviating from the displayed position. That is, when only one rear endpoint can be identified, for example, the target object is displayed centered on the identified one rear endpoint, which sometimes causes the actual position of the target object to deviate from the displayed position. Figure 3A This diagram represents the driving status of only the second rear end point P2 near the vehicle 10 and the vehicle 10A in front of it. Figure 3B This diagram shows the driving status of only vehicle 10, which is located at the second rear end point P2 on the side furthest from vehicle 10, and the vehicle 10A in front of it. Additionally, in Figure 3B The diagram illustrates a situation where the first rear end point P1 of the vehicle 10A ahead cannot be identified due to a blind spot caused by another vehicle 10B traveling in lane 102.

[0042] Therefore, when the control unit 21B of this embodiment displays an image 60 showing the surrounding conditions of the vehicle 10 on a display 44 provided around the driver's seat of the vehicle 10, if only one of the first rear endpoints P1 and the second rear endpoints P2 on either side of the vehicle 10A in front of the vehicle 10A located around the vehicle 10 is identified, the display position of the image 62 of the vehicle in front corresponding to the vehicle 10A is fixed at the center of the adjacent lane image 65B of the adjacent lane 103B in which the vehicle 10A is traveling. Accordingly, even if only one of the rear endpoints of the vehicle 10A in front located around the vehicle 10 can be identified, the deviation between the actual position and the displayed position of the vehicle 10A in front can be suppressed.

[0043] Furthermore, the control unit 21B can fix the display position of the forward vehicle image 62 in the center of the adjacent lane image 65B when the rear endpoint on the side away from vehicle 10 is identified, and when the rear endpoint on the side close to vehicle 10 is identified, the forward vehicle image 62 is displayed based on the offset of the forward vehicle image 62 in the lane width direction determined according to the category of the forward vehicle 10A. Compared with the rear endpoint on the side away from vehicle 10, the data of the rear endpoint on the side close to vehicle 10 is more reliable, so by determining the offset, a higher display position deviation suppression effect can be obtained. In addition, the position of the forward vehicle image 62 in the lane width direction refers to the direction that intersects (e.g., orthogonally) with the driving direction of the forward vehicle 10A (indicated by the arrow), that is, the position in the left-right direction (lane width direction) when viewed from the forward vehicle 10A. The category of the forward vehicle 10A is identified, for example, by an object detection model (illustration omitted). The category of the forward vehicle 10A is identified, for example, as a regular car, light car, bus, truck, two-wheeled vehicle (motorcycle), etc. The category of the vehicle 10A in front is pre-associated with the total length and width of the vehicle 10A in front, and the center position of the vehicle 10A in front is determined based on the total length and width of the vehicle 10A in front. The offset refers to the offset relative to the rear end point of the vehicle image 62 in front, and it is reflected in the vehicle image 62 in front when the vehicle image 62 corresponding to the vehicle 10A in front is displayed.

[0044] Figure 4A This diagram illustrates an example of the driving state of the vehicle 10 and the vehicle 10A ahead, as described in this embodiment. Figure 4A In the middle, vehicle 10 is traveling in lane 102, and the vehicle in front, 10A, is traveling in the adjacent lane 103A or the adjacent lane 103B. Figure 4B This diagram illustrates an example of the display position of the forward vehicle image 62 according to this embodiment. Figure 4BIn the diagram, the solid line representing the forward vehicle image 62 indicates a display position where there is central fixation or offset, while the dashed line representing the forward vehicle image 62 indicates a display position where there is no central fixation or offset. When only the second rear endpoint P2 on one side of the forward vehicle 10A can be identified, such as... Figure 4B As shown by the dashed line, the image 62 of the vehicle ahead is displayed centered on the second rear endpoint P2 of the identified single side, causing a deviation between the actual position of the vehicle ahead 10A and its displayed position. Therefore, when the control unit 21B only identifies the second rear endpoint P2 (the rear endpoint on the side away from vehicle 10) of the vehicle ahead 10A traveling in the adjacent lane 103B on the right side as viewed from vehicle 10, it fixes the display position of the image 62 of the vehicle ahead 62 in the center of the adjacent lane image 65B. On the other hand, when the control unit 21B only identifies the second rear endpoint P2 (the rear endpoint on the side closer to vehicle 10) of the vehicle ahead 10A traveling in the adjacent lane 103A on the left side as viewed from vehicle 10, it determines the offset of the image 62 of the vehicle ahead 62 in the lane width direction according to the category of the vehicle ahead 10A, and displays the image 62 of the vehicle ahead 62 based on the offset. In addition, the offset is preferably set to, for example, half the width of the image 62 of the vehicle ahead 62 in the lane width direction as determined according to the category of the vehicle ahead 10A. Accordingly, the deviation between the actual position and the displayed position of the vehicle 10A ahead can be suppressed without any sense of incongruity. However, the control unit 21B can fix the display position of the vehicle image 62 in the center of the adjacent lane image 65A when it only recognizes the second rear end point P2 (the rear end point on the side closer to the vehicle 10) of the vehicle 10A traveling in the adjacent lane 103A on the left side when viewed from the vehicle 10.

[0045] Figure 5 This is a diagram illustrating a method for checking the appropriateness of an offset position. Figure 5 In the image, the vehicle ahead (10A) indicates its actual position and is traveling in the adjacent lane (103A). For example... Figure 5As shown, the control unit 21B determines whether the display position of the offset forward vehicle image 62 is appropriate based on the recognition position of the second rear endpoint P2 of the forward vehicle 10A on the side closest to vehicle 10 and the recognition position of the rear center D1 of the forward vehicle 10A. Specifically, when the position of the rear center D1 of the forward vehicle 10A is set to M1, the actual position of the second rear endpoint P2 of the forward vehicle 10A with the first zone line 101L1 as the reference is set to M2, the actual position of the second rear endpoint P2 of the forward vehicle 10A with the second zone line 101R1 as the reference is set to M3, and the lane width is set to W, it determines whether the following conditions (1) or (2) are met. However, the yaw angle of the forward vehicle 10A is small, so the influence of the yaw angle is ignored. The position M1 is the distance from the center of the lane 102 to the rear center D1 of the forward vehicle 10A, and is the distance in the lane width direction when the curve shape is converted into a straight line. Position M2 is the distance from zone 1 line 101L1 to the actual second rear endpoint P2 of the vehicle ahead 10A, and position M3 is the distance from zone 2 line 101R1 to the actual second rear endpoint P2 of the vehicle ahead 10A. Lane width W is, for example, the usual lane width, i.e., 3.6m.

[0046] M1>M2+W / 2(1)

[0047] M1>M3-W / 2(2)

[0048] Based on this, it is possible to check whether the display position of the offset forward vehicle image 62 is appropriate. Here, if the control unit 21B determines that the display position of the offset forward vehicle image 62 is inappropriate, that is, if the above conditions (1) or (2) are not met, the display position of the forward vehicle image 62 is fixed in the center of the adjacent lane image 65A corresponding to the adjacent lane 103A. Based on this, even if the display position of the offset forward vehicle image 62 is inappropriate, the deviation between the actual position and the display position of the forward vehicle 10A can be suppressed. Specifically, when applying the above condition (1), for example, if M1=3.9m, M2=1.7m, W / 2=1.8m, then 3.9m>1.7m+1.8m, which is deemed appropriate; if M1=2.7m, M2=1.7m, W / 2=1.8m, then 2.7m<1.7m+1.8m, which is deemed inappropriate. On the other hand, when applying the above condition (2), for example, if M1=3.9m, M3=5.3m, W / 2=1.8m, then 3.9m>5.3m-1.8m, which is appropriate; if M1=2.7m, M3=5.3m, W / 2=1.8m, then 2.7m<5.3m-1.8m, which is inappropriate.

[0049] Figure 6 This is a flowchart illustrating an example of the display control processing performed by the instrument ECU 20. The CPU 21 reads the information processing program 24A from the storage device 24 and loads it into the RAM 23 for execution, thereby performing the display control processing. As an example, the display control processing is executed automatically and repeatedly at predetermined time intervals.

[0050] exist Figure 6 In step S101, CPU21 acquires ambient information representing the surrounding conditions of vehicle 10. Specifically, as described above, vehicle 10 is equipped with a sensor group 42 capable of detecting the surrounding conditions, and the information detected by these sensor groups 42 is acquired as ambient information.

[0051] In S102, CPU21 determines, based on the surrounding information acquired in S101, whether the first rear endpoints P1 and the second rear endpoints P2 on both sides of the vehicle 10A in front can be identified. If it is determined that the first rear endpoints P1 and the second rear endpoints P2 on both sides cannot be identified, that is, only the first rear endpoint P1 or the second rear endpoint P2 on one side is identified (in the case of negative determination), the process proceeds to S103. If it is determined that the first rear endpoints P1 and the second rear endpoints P2 on both sides can be identified (in the case of positive determination), the process proceeds to S108.

[0052] In S103, as an example, as described above Figure 4A As shown, CPU21 determines whether the first rear endpoint P1 or the second rear endpoint P2 identified in S102 is a rear endpoint on the side away from vehicle 10. If it is determined to be a rear endpoint on the side away from vehicle 10 (in the case of affirmative determination), it proceeds to S104; if it is determined to be a rear endpoint on the side closer to vehicle 10 rather than a rear endpoint on the side away from vehicle 10 (in the case of negative determination), it proceeds to S105.

[0053] In S104, as an example, as described above Figure 4B As shown, the CPU 21 fixes the image 62 of the vehicle ahead corresponding to the vehicle ahead 10A in the center of the adjacent lane image 65B representing the adjacent lane 103B in which the vehicle ahead 10A is traveling and displays it on the display 44, and then returns to S101 to repeat the processing.

[0054] In S105, CPU21 determines the offset of the forward vehicle image 62 based on the category of the forward vehicle 10A, targeting the rear end point near the side of vehicle 10. Furthermore, the offset is preferably set, for example, to half the width of the forward vehicle image 62 in the lane width direction, determined according to the category of the forward vehicle 10A.

[0055] In S106, as an example, as described above Figure 5As shown, CPU21 determines whether the display position of the forward vehicle image 62 after offset according to the offset determined in S105 is appropriate. If it is determined that the display position of the forward vehicle image 62 after offset is appropriate (in the case of affirmative determination), it proceeds to S107; if it is determined that the display position of the forward vehicle image 62 after offset is inappropriate (in the case of negative determination), it proceeds to S104.

[0056] In S107, as an example, as described above... Figure 4B As shown, CPU21 displays the image 62 of the vehicle ahead on display 44 based on the offset determined in S105, and returns to S101 to repeat the processing.

[0057] On the other hand, in S108, the CPU21 displays the image 62 of the vehicle in front on the display 44 based on the first rear endpoint P1 and the second rear endpoint P2 on both sides, and returns to S101 to repeat the processing.

[0058] As explained above, according to this embodiment, even when only one of the rear endpoints of the two rear endpoints of a target located around the vehicle can be identified, the deviation between the actual position and the displayed position of the target can be suppressed.

[0059] Furthermore, in the above embodiments, various processors other than the CPU can execute various processes performed by the software (program) read and executed by the CPU 21. Examples of processors in this case include programmable logic devices (PLDs) such as Field-Programmable Gate Arrays (FPGAs) whose circuit structure can be modified after manufacturing, and dedicated circuits such as Application-Specific Integrated Circuits (ASICs) that have circuit structures specifically designed for executing specific processes. Furthermore, various processes can be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs or a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is a circuit composed of combined semiconductor elements and other circuit elements.

[0060] Furthermore, while the above embodiment describes the information processing program 24A being pre-stored (installed) in the storage device 24, it is not a limitation. The information processing program 24A can be provided on recording media such as a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), or a universal serial bus (USB) memory. Additionally, the information processing program 24A can also be downloaded from an external device via a network. Moreover, the technology of this invention can also be applied to programs and program products.

Claims

1. A display control device, characterized in that, have: Acquisition unit, used to acquire information about the vehicle's surroundings; and When the display control unit displays an image showing the surrounding conditions of the vehicle on a display unit located around the driver's seat of the vehicle, if only one of the rear endpoints of the two sides of a target located around the vehicle is identified, the display position of the image showing the target is fixed at the center of the image showing the lane in which the target is traveling.

2. The display control device according to claim 1, characterized in that, When the display control unit identifies a rear endpoint on the side away from the vehicle, it fixes the display position of the image representing the target object at the center of the image representing the lane in which the target object is traveling and displays it. When it identifies a rear endpoint on the side close to the vehicle, it displays the image representing the target object based on the offset of the image representing the target object in the lane width direction, which is determined according to the category of the target object.

3. The display control device according to claim 2, characterized in that, The offset is set to half the width of the image representing the target object in the lane width direction, as determined according to the category of the target object.

4. The display control device according to claim 1, characterized in that, It also has: The determination unit determines whether the position of the image of the target object after the offset is appropriate, based on the identification position of the rear end point of the target object on the side closest to the vehicle and the identification position of the center of the rear of the target object.

5. The display control device according to claim 4, characterized in that, If it is determined that the position of the image representing the offset target is inappropriate, the display control unit fixes the display position of the image representing the target at the center of the image representing the lane in which the target is traveling.

Images