Vehicle display control device, vehicle display control method and vehicle display control program

Abstract

To provide a vehicle display control device, a vehicle display control method and a vehicle display control program which reduce a sense of discomfort of a passenger in an own vehicle when presenting an image of a surrounding situation of the own vehicle to the passenger thereof while the own vehicle is traveling on an inclined road.SOLUTION: A vehicle display control device: acquires inclination information of a road on which an own vehicle is traveling; and, when displaying an image simulating the own vehicle viewed from a virtual view point and an image simulating a road surface on which the own vehicle is traveling on a display section, displays the images simulating the own vehicle and the road surface, on the display section, by modifying them in accordance with the inclination information as if the images are inclined.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a vehicle control device that includes a display unit that displays images, a recognition unit that recognizes objects, including other vehicles, present in the vicinity of the host vehicle, a driving control unit that generates a target trajectory for the host vehicle based on the state of the object recognized by the recognition unit and controls one or both of the speed and steering of the host vehicle based on the generated target trajectory, and an image that resembles the other vehicle recognized as an object by the recognition unit that is superimposed on an image that resembles the road on which the host vehicle is located, and that displays the image on the display unit as an image seen from behind the host vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 07086798 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if an image of the vehicle traveling on a flat road is displayed on the display unit inside the vehicle while the vehicle is traveling on an inclined road, the occupants of the vehicle may feel uncomfortable.

[0005] The vehicle control device disclosed in Patent Document 1 displays an image of another vehicle on a display unit as an image seen from behind the vehicle, superimposed on an image of the road on which the vehicle is traveling. However, Patent Document 1 does not take into consideration cases where the road surface on which the vehicle is traveling is inclined.

[0006] The present invention aims to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that reduce the discomfort felt by occupants of a vehicle when an image showing the situation around the vehicle is presented to the occupants while the vehicle is traveling on an inclined road surface. [Means for solving the problem]

[0007] A vehicle control device according to a first aspect is a display control device for a vehicle that includes an acquisition unit that acquires inclination angle information of a road surface on which the host vehicle is traveling, and a display control unit that, when displaying an image that resembles the host vehicle and an image that resembles the road surface on which the host vehicle is traveling on a display unit when the host vehicle is viewed from a virtual viewpoint, changes the image that resembles the host vehicle and the image that resembles the road surface to appear tilted in accordance with the inclination angle information acquired by the acquisition unit and displays them on the display unit.

[0008] A vehicle control device according to a first aspect acquires inclination angle information of a road surface on which the host vehicle is traveling. When displaying an image of the host vehicle and an image of the road surface on which the host vehicle is traveling on a display unit as viewed from a virtual viewpoint, the vehicle control device changes the image of the host vehicle and the image of the road surface to make them appear inclined according to the acquired inclination angle information, and displays the changed image of the host vehicle and the image of the road surface on the display unit. This reduces the discomfort felt by the occupant of the host vehicle when an image representing the situation around the host vehicle is presented to the occupant when the vehicle is traveling on an inclined road surface.

[0009] The display control unit of the vehicle control device according to the second aspect of the present invention is the vehicle control device according to the first aspect of the present invention, and changes the position and orientation of the virtual viewpoint in accordance with the tilt angle information, and causes the display unit to display an image that simulates the host vehicle and an image that simulates the road surface as seen from the virtual viewpoint whose position and orientation have been changed. This makes it possible to easily represent the tilt of the host vehicle and the road surface simply by changing the virtual viewpoint.

[0010] The acquisition unit of the vehicle control device according to the third aspect, in the vehicle control devices of the first to second aspects, acquires inclination angle information of the surrounding vehicles calculated from image processing of images of the surrounding vehicles of the host vehicle as inclination angle information of the road surface, and the display control unit changes the image imitating the surrounding vehicles and the image imitating the road surface at the position of the image imitating the surrounding vehicles to appear inclined according to the inclination angle information of the road surface, and displays them on the display unit. As a result, when the host vehicle is traveling on an inclined road surface, the surrounding vehicles (e.g., the vehicle ahead) also incline, allowing an occupant of the host vehicle to more realistically recognize that the road surface is inclined.

[0011] The acquisition unit of the vehicle control device according to a fourth aspect is the vehicle control device of any one of the first to third aspects, in which the acquisition unit acquires inclination angle information of the road surface based on at least one of an image captured by a camera mounted on the host vehicle and point cloud information detected by a radar device, and the display control unit changes the image simulating the host vehicle and the image simulating the road surface to appear inclined in accordance with the inclination angle information of the road surface, and displays them on the display unit. This makes it possible to reproduce the inclination of the road surface in more detail based on the image captured by the camera mounted on the host vehicle and the point cloud information detected by the radar device.

[0012] The display control unit of the vehicle control device according to a fifth aspect, in the vehicle control devices of the first to fourth aspects, displays an object displayed between the image representing the host vehicle and the image representing a preceding vehicle traveling ahead of the host vehicle as if it is tilted in accordance with the inclination angle information of the road surface. This makes it possible to tilt the object positioned between the image representing the host vehicle and the image representing the preceding vehicle, allowing the occupant of the host vehicle to more realistically recognize that the road surface is tilted. This makes it possible to appropriately represent the actual inclination of the road surface on the image.

[0013] The display control unit of the vehicle control device according to a sixth aspect, in the vehicle control devices of the first to fifth aspects, changes the image simulating the host vehicle and the image simulating the road surface so that they appear tilted when the tilt angle indicated by the tilt angle information acquired in a predetermined traveling section is greater than a preset threshold value. This prevents the image simulating the road surface from being tilted when there is a slight tilt or a simple uneven road surface, thereby preventing the occupants from experiencing motion sickness and annoyance.

[0014] The display control unit of the vehicle control device according to a seventh aspect, in the vehicle control devices of the first to sixth aspects, causes the display unit to display, without tilting, at least a part of the road surface behind the image of the host vehicle in the image simulating the road surface, thereby more clearly indicating that the road surface on which the host vehicle is traveling is inclined.

[0015] A vehicular display control method according to an eighth aspect acquires inclination angle information of a road surface on which the host vehicle is traveling, and when displaying an image that resembles the host vehicle and an image that resembles the road surface on which the host vehicle is traveling on a display unit as viewed from a virtual viewpoint, changes the image that resembles the host vehicle and the image that resembles the road surface to appear tilted according to the acquired inclination angle information and displays them on the display unit. This makes it possible to reduce the discomfort felt by the occupant of the host vehicle when an image that represents the surrounding situation of the host vehicle is presented to the occupant in a situation where the vehicle is traveling on an inclined road surface.

[0016] A vehicular display control program according to a ninth aspect acquires inclination angle information of a road surface on which the host vehicle is traveling, and when displaying an image of the host vehicle and an image of the road surface on which the host vehicle is traveling on a display unit as viewed from a virtual viewpoint, changes the image of the host vehicle and the image of the road surface to appear tilted according to the acquired inclination angle information and displays them on the display unit. This makes it possible to reduce the discomfort felt by the occupant of the host vehicle when an image showing the surrounding situation of the host vehicle is presented to the occupant in a situation where the host vehicle is traveling on an inclined road surface. [Effects of the Invention]

[0017] As described above, the vehicle display control device, vehicle display control method, and vehicle display control program disclosed herein can reduce the discomfort felt by occupants of a vehicle when an image showing the situation around the vehicle is presented to the occupants while the vehicle is traveling on an inclined road surface. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram illustrating a vehicle display control system according to an embodiment; [Figure 2] FIG. 2 is a diagram illustrating an example of an image displayed on a display unit. [Figure 3] 1 is a block diagram showing a hardware configuration of a vehicle display control device according to an embodiment; [Figure 4] 1 is a block diagram showing a functional configuration of a vehicle display control device according to an embodiment; [Figure 5] FIG. 2 is a diagram showing an example of an image showing the surroundings of the vehicle; [Figure 6] FIG. 10 is a diagram showing a case where the host vehicle and a vehicle ahead are traveling up a slope. [Figure 7] FIG. 10 is a diagram illustrating a case where the host vehicle and a preceding vehicle are traveling down a slope. [Figure 8] FIG. 2 is a diagram illustrating an example of a flowchart executed by the vehicle display control device. [Figure 9] FIG. 10 is a diagram for explaining a change in the position of a virtual viewpoint. [Figure 10] 1 is a diagram for explaining generation of an image showing the surrounding situation of a vehicle based on an image captured by a camera and point cloud information detected by a radar device. FIG. [Figure 11] FIG. 10 is a diagram for explaining a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0019] First Embodiment 1 is a diagram illustrating a vehicle display control system 10 according to a first embodiment. Note that 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 vertical direction and the left-right direction refer to the up and down in the vehicle vertical direction and the left and right in the vehicle width direction, respectively.

[0020] As shown in Fig. 1, an instrument panel 14 is provided in the front part of the interior of the vehicle 12. A steering wheel 16 is provided on the right side of the instrument panel 14. In this embodiment, a case will be described in which the driver's seat of the vehicle 12 is located on the right side of the vehicle. However, the location of the driver's seat is not limited to this, and the vehicle display control system 10 may also be applied to a vehicle in which the driver's seat is located on the left side of the vehicle.

[0021] A windshield glass 18 is provided at the front end of the instrument panel 14. The right end of the windshield glass 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. In addition, the front ends of front side windows 22 are fixed to the outer end of the front pillar 20 in the vehicle width direction.

[0022] The instrument panel 14 is provided with a first display unit 24 having an image display area V1. The first display unit 24 is configured as a meter display provided 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 meter devices mounted on the vehicle 12, and is provided in a position that is within the driver's field of view when the driver is looking ahead of the vehicle.

[0023] The instrument panel 14 is provided with a second display unit 25 having an image display area V2. The second display unit 25 is configured by a center display disposed in the center of the instrument panel 14 in the vehicle width direction.

[0024] The windshield glass 18 is provided with a third display unit 26 having an image display area V3. The third display unit 26 is set above the third display unit 24 and is configured as a projection surface onto which an image is projected by a head-up display device (not shown) serving as a display device. Specifically, a head-up display device (not shown) capable of projecting an image is provided on the vehicle front side of the instrument panel 14, and an image is projected from this head-up display device (not shown) onto the third display unit 26 of the windshield glass 18. In other words, the third display unit 26 is configured as part of the windshield glass 18 that serves as the projection surface for the head-up display device (not shown).

[0025] 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 of 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 showing the surrounding situation of the vehicle as seen from a virtual viewpoint in at least one of display areas V1, V2, and V3 around the driver's seat.

[0026] The following describes a case where an image is displayed on the first display unit 24 of the vehicle 12. Fig. 2 is a diagram showing an example of an image displayed in the display area V1 of the first display unit 24.

[0027] The vehicle display control device 28 displays an image showing the surrounding conditions of the vehicle 12 in an area D, which is a portion of the display area V1. The area D is an area that can be seen by the driver in the driver's seat through the opening 17 of the steering wheel 16. Specifically, as shown in FIG. 2, the area D is the center of the area that can be seen between the ridge line L1 at the upper edge and the ridge line L2 at the lower edge of the opening 17 of the steering wheel 16. On the left and right of the area D, meter displays M1 and M2 that show the meters of the measuring instruments of the vehicle 12 are displayed.

[0028] (Hardware configuration of the vehicle display control device 28) 3, the vehicle display control device 28 includes a CPU (Central Processing Unit: processor) 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. Each component is connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0029] The CPU 30 is a central processing unit that executes various programs and controls each part. That is, the CPU 30 reads programs from the ROM 32 or storage 36 and executes the programs using the RAM 34 as a work area. The CPU 30 also controls the above-mentioned components and performs various arithmetic processing in accordance with the programs recorded in the ROM 32 or storage 36.

[0030] The ROM 32 stores various programs and various data. The RAM 34 temporarily stores programs or data as a working area. The storage 36 is configured by an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and is a non-temporary recording medium that stores various programs including an operating system and various data. In this embodiment, the ROM 32 or the storage 36 stores a display program for performing display processing and the like.

[0031] The communication interface 38 is an interface that enables the vehicle display control device 28 to communicate with a server and other devices, and is realized according to technology using standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), or Wi-Fi (registered trademark).

[0032] A camera 44, a radar device 46, an inclination angle sensor 48, a first display unit 24, a second display unit 25, and a head-up display device (not shown) are connected to the input / output interface 40. An image is projected onto the third display unit 26 by the head-up display device (not shown).

[0033] The camera 44 captures images of the surroundings of the vehicle 12 and outputs the captured images.

[0034] The radar device 46 detects objects such as surrounding vehicles present around the vehicle 12 as point cloud information.

[0035] The inclination angle sensor 48 is mounted on the host vehicle 12 and successively detects the inclination angle of the host vehicle 12 .

[0036] The camera 44, radar device 46, and tilt angle sensor 48 are realized by known techniques.

[0037] (Functional configuration of the vehicle display control device 28) The vehicular display control device 28 uses the above hardware resources to realize various functions. The functional configuration realized by the vehicular display control device 28 will be described with reference to FIG.

[0038] 4, the vehicular display control device 28 includes, as functional components, an acquisition unit 280 and a display control unit 282. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0039] The acquisition unit 280 acquires the images captured by the camera 44 and the point cloud information detected by the radar device 46.

[0040] The display control unit 282 generates an image representing the surrounding conditions of the vehicle 12 based on the various information acquired by the acquisition unit 280. Then, the display control unit 282 causes the image representing the surrounding conditions of the vehicle 12 to be displayed in the area D of the first display unit 24.

[0041] Fig. 5 is a diagram showing an example of an image showing the surrounding conditions of the host vehicle 12, which is displayed in the area D of the first display unit 24. As shown in Fig. 5, the image 58 displays an image 64 that resembles the host vehicle, an image 66 that resembles the road surface on which the host vehicle is traveling, and images 70 and 72 that resemble surrounding vehicles that are present around the host vehicle.

[0042] The acquisition unit 280 acquires 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.

[0043] Next, the display control unit 282 controls the first display unit 24 to display an image 64 that resembles the host vehicle 12 when viewed from a virtual viewpoint and an image 66 that resembles the road surface on which the host vehicle 12 is traveling. If there are surrounding vehicles, the display control unit 282 controls the first display unit 24 to display images 70 and 72 that resemble the surrounding vehicles.

[0044] The display control unit 282 changes the image 64 that resembles the vehicle 12 and the image 66 that resembles the road surface so that they appear tilted, according to the tilt angle information acquired by the acquisition unit 280, and displays the changed image 64 that resembles the vehicle 12 and the image 66 that resembles the road surface on the first display unit 24. When a nearby vehicle is present, the display control unit 282 also changes the images 70, 72 that resemble the nearby vehicles so that they appear tilted, and performs control so that the tilted images 70, 72 are displayed on the first display unit 24.

[0045] FIG. 6 is a diagram for explaining a process of changing an image 64 that resembles the host vehicle 12 and an image 66 that resembles a road surface so that they appear tilted. FIG. 6 is a diagram of the host vehicle 12 and the preceding vehicle 13 as viewed from the side of the host vehicle 12. The X-axis shown in FIG. 6 corresponds to the road surface. The X-axis direction shown in FIG. 6 represents the traveling direction of the host vehicle 12. The Z-axis direction shown in FIG. 6 is a direction perpendicular to the traveling direction of the host vehicle 12 and corresponds to the up-down direction of the vehicle. Note that FIG. 6 only shows the preceding vehicle 13, and does not show surrounding vehicles other than the preceding vehicle 13.

[0046] The view of the host vehicle 12 seen from the virtual viewpoint C shown in Fig. 6(A) corresponds to the image 58 shown in Fig. 5. Specifically, when the host vehicle 12, the road surface, and the forward vehicle 13 are seen from viewpoint C, the images are arranged as shown in Fig. 5. The forward vehicle 13 in Fig. 5 corresponds to the image 70 in Fig. 5.

[0047] As shown in FIG. 6(B), the display control unit 282 tilts the image 64 representing the host vehicle 12 and the image 66 representing the road surface in accordance with the tilt angle information acquired by the acquisition unit 280. The Z' axis in FIG. 6(B) is an axis obtained by tilting the Z axis in FIG. 6(A) in accordance with the tilt angle information, and the X' axis in FIG. 6(B) is an axis obtained by tilting the X axis in FIG. 6(A) in accordance with the tilt angle information. Note that FIG. 6(B) illustrates an example in which the host vehicle 12 and the preceding vehicle 13 are traveling uphill. On the other hand, FIG. 7(A) illustrates an example in which the host vehicle 12 and the preceding vehicle 13 are traveling on a flat road surface, and FIG. 7(B) illustrates an example in which the host vehicle 12 and the preceding vehicle 13 are traveling downhill.

[0048] In this way, the display control unit 282 changes the image 64 that resembles the vehicle 12, the image 66 that resembles the road surface, and the images 70 and 72 that resemble the surrounding vehicles so that they are tilted in the pitch angle direction (or the direction opposite to the pitch angle direction) according to the tilt angle of the road surface on which the vehicle 12 is actually traveling. This makes it possible to appropriately represent the tilt of the actual road surface on the image 58.

[0049] If the inclination angle indicated by the inclination angle information acquired in a predetermined traveling section is greater than a preset threshold, the display control unit 282 changes the image 64 representing the vehicle 12 and the image 66 representing the road surface to appear tilted. The inclination angle information acquired by the inclination angle sensor 48 may contain noise. Furthermore, minute irregularities may exist on the road surface, and these irregularities may be detected as an inclination angle. Therefore, if the image 64 representing the vehicle 12 and the image 66 representing the road surface are changed to appear tilted every time inclination angle information is acquired by the inclination angle sensor 48, the actual inclination of the road surface may not be represented on the image 58.

[0050] For this reason, for example, the display control unit 282 calculates the average inclination angle acquired in a predetermined traveling section based on the time series of inclination angle information acquired in the predetermined traveling section. Then, if the average inclination angle is greater than a preset threshold, the display control unit 282 changes the image 64 simulating the vehicle 12 and the image 66 simulating the road surface to appear tilted. This allows the actual inclination of the road surface to be appropriately represented on the image 58. Furthermore, the image simulating the road surface is prevented from being tilted in the case of a slight inclination or a simple uneven road surface, thereby preventing the occupants from feeling motion sickness or annoyance.

[0051] (action) Next, the operation of the vehicle display control system 10 of this embodiment will be described.

[0052] (Vehicle display control processing) An example of a vehicular display control process for displaying a predetermined image in area D of first display unit 24 will be described with reference to the flowchart shown in Fig. 8. This vehicular display control process is executed by CPU 30 reading a vehicular display control program from ROM 32 or storage 36, expanding the program into RAM 34, and executing it.

[0053] In step S100, the acquisition unit 280 acquires the tilt angle information detected by the tilt angle sensor .

[0054] In step S102, the display control unit 282 changes the image 64 that resembles the vehicle 12 and the image 66 that resembles the road surface so that they appear tilted, in accordance with the tilt angle information acquired in step S100. The display control unit 282 also changes the images 70 and 72 that resemble the surrounding vehicles so that they appear tilted, in accordance with the tilt angle information acquired in step S100.

[0055] In step S104, the display control unit 282 causes the first display unit 24 to display the image 64 that resembles the changed host vehicle 12, the images 70 and 72 that resemble the surrounding vehicles, and the image 66 that resembles the road surface.

[0056] As described above, the vehicular display control device of the first embodiment acquires inclination angle information of the road surface on which the host vehicle is traveling. Then, when displaying an image simulating the host vehicle and an image simulating the road surface on which the host vehicle is traveling on a display unit as viewed from a virtual viewpoint, the vehicular display control device changes the image simulating the host vehicle and the image simulating the road surface to make them appear inclined according to the acquired inclination angle information, and displays the changed image simulating the host vehicle and the image simulating the road surface on the display unit. This reduces the discomfort felt by the occupants of the host vehicle when the host vehicle is traveling on an inclined road surface. More specifically, compared to a case where an image simulating a flat road surface and an image simulating the host vehicle traveling on a flat road surface are always displayed while the host vehicle is traveling on an inclined road surface, the discomfort felt by the occupants of the host vehicle can be reduced.

[0057] Second Embodiment Next, a 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 vehicle 12 and the image 66 simulating the road surface are made to appear tilted by changing the position and orientation of the virtual viewpoint.

[0058] The configuration of the vehicle display control system of the second embodiment is similar to that of the vehicle display control system 10 of the first embodiment, and therefore a description thereof will be omitted.

[0059] Figure 9 is a diagram for explaining changes in the position and orientation of the virtual viewpoint. Figure 9(A) is the same as Figure 6(B). Figure 9(C) is the same as Figure 6(A) and Figure 7(A). Figure 9(F) is the same as Figure 7(B).

[0060] As shown in Figure 9(A), when the X axis is tilted toward the X' axis and the Z axis is tilted toward the Z' axis, vehicle 12 and preceding vehicle 13 appear to be climbing a slope from the position and orientation of virtual viewpoint C in Figure 9(A). Here, as shown in Figure 9(B), when the X' axis is tilted again so that it is horizontal and the Z' axis is tilted again so that it is vertical, while maintaining the relationship between the position and orientation of virtual viewpoint C in Figure 9(A) and the X' axis and Z' axis, virtual viewpoint C becomes virtual viewpoint C2 in Figure 9(E). When viewed from the position and orientation of virtual viewpoint C2, host vehicle 12 and preceding vehicle 13 appear to be climbing a slope.

[0061] Therefore, when the road surface is inclined and the host vehicle 12 and the preceding vehicle 13 are going up a slope, the position and direction of the virtual viewpoint are adjusted to C2 in Fig. 9(E), which makes the host vehicle 12 and the preceding vehicle 13 appear to be going up a slope.

[0062] On the other hand, when the road surface is flat, the position and orientation of the virtual viewpoint are as shown in C1 in FIG. 9(E).

[0063] If the road surface is inclined and the host vehicle 12 and the preceding vehicle 13 are descending a slope, the position and orientation of the virtual viewpoint are adjusted to C3 in FIG. 9(E). Specifically, as shown in FIG. 9(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 descending a slope from the position and orientation of the virtual viewpoint C. Here, as shown in FIG. 9(G), when the X'-axis is tilted again so that it is horizontal and the Z'-axis is tilted again so that it is vertical, while maintaining the relationship between the position and orientation of the virtual viewpoint C in FIG. 9(F) and the X'-axis and Z'-axis, the virtual viewpoint C becomes the virtual viewpoint C3 in FIG. 9(E). As a result, the host vehicle 12 and the preceding vehicle 13 appear to be descending a slope.

[0064] In this way, the display control unit 282 changes the position and orientation of the virtual viewpoint according to the tilt angle information acquired by the acquisition unit 280, and causes the first display unit 24 to display an image 64 that resembles the vehicle 12 and an image 66 that resembles the road surface as seen from the virtual viewpoint whose position and orientation have been changed.

[0065] As described above, the vehicular display control device of the second embodiment acquires inclination angle information of the road surface on which the host vehicle is traveling. Then, the vehicular display control device changes the position and orientation of the virtual viewpoint according to the acquired inclination angle information, and displays on the display unit an image simulating the host vehicle and an image simulating the road surface as seen from the virtual viewpoint whose position and orientation have been changed. This reduces the discomfort felt by the occupants of the host vehicle when the host vehicle is traveling on an inclined road surface. More specifically, the inclination of the host vehicle and the road surface can be easily expressed simply by changing the virtual viewpoint.

[0066] <Third embodiment> Next, a third embodiment will be described. The vehicle display control system of the third embodiment differs from the first and second embodiments in that image processing is performed on an image of a surrounding vehicle captured by a camera 44, and tilt angle information is obtained from the result of the image processing.

[0067] The configuration of the vehicle display control system of the third embodiment is similar to that of the vehicle display control system 10 of the first embodiment, and therefore a description thereof will be omitted.

[0068] The vehicle display control device of the first embodiment acquires inclination angle information from the inclination angle sensor 48, but is also capable of calculating the inclination angle of the road surface based on the posture information of surrounding vehicles while they are traveling.

[0069] Therefore, the acquisition unit 280 of the third embodiment acquires the inclination 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 acquires the inclination angle information of the surrounding vehicles as inclination angle information of the road surface.

[0070] Then, the display control unit 282 acquires the inclination angle information of the surrounding vehicles as inclination angle information of the road surface, and changes the image 64 imitating the vehicle 12, the images 70 and 72 imitating the surrounding vehicles, and the image 66 imitating the road surface at the position of the image imitating the surrounding vehicles so that they appear tilted according to the inclination angle information of the road surface.

[0071] As described above, the vehicular display control device of the third embodiment acquires, as road surface inclination angle information, inclination angle information of surrounding vehicles calculated from image processing of images of the surrounding vehicles of the host vehicle. Then, the vehicular display control device changes the images simulating the surrounding vehicles and the image simulating the road surface at the position of the images simulating the surrounding vehicles so that they appear inclined, according to the road surface inclination angle information. This reduces the sense of discomfort felt by the occupants of the host vehicle when the host vehicle is traveling on an inclined road surface. More specifically, when the host vehicle 12 is traveling on an inclined road surface, the images 70, 72 simulating the surrounding vehicles (e.g., the image 70 simulating the forward vehicle) also incline, allowing the occupants of the host vehicle to more realistically recognize that the road surface is inclined.

[0072] <Fourth embodiment> Next, a fourth embodiment will be described. The vehicle display control system of the fourth embodiment differs from the first to third embodiments in that road surface inclination angle information is acquired based on an image captured by a camera 44 and point cloud information detected by a radar device 46.

[0073] The configuration of the vehicle display control system of the fourth embodiment is similar to that of the vehicle display control system 10 of the first embodiment, and therefore a description thereof will be omitted.

[0074] 10A and 10B are diagrams for explaining the processing of the vehicular display control device of the fourth embodiment. As shown in Fig. 10A, 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 image displayed on the first display unit 24 also changes from a flat road surface to an inclined road surface.

[0075] Therefore, the vehicle display control device of the fourth embodiment acquires road surface inclination angle information 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.

[0076] Therefore, the acquisition unit 280 of the fourth embodiment acquires road surface inclination angle information based on the image captured by the camera 44 and the point cloud information detected by the radar device 46.

[0077] For example, the acquisition unit 280 of the fourth embodiment identifies the position of the preceding vehicle 13 and calculates the inclination angle information of the road surface based on the position of the preceding vehicle 13.

[0078] Alternatively, for example, the acquisition unit 280 of the fourth embodiment identifies position 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. Then, the acquisition unit 280 connects the plurality of points and performs interpolation processing to acquire inclination angle information of the road surface.

[0079] Then, the display control unit 282 of the fourth embodiment changes the image 64 that resembles the vehicle 12, the image 66 that resembles the road surface, and the images 70 and 72 that resemble surrounding vehicles to appear tilted in accordance with the inclination angle information of the road surface, and displays each of the changed images on the first display unit 24.

[0080] For example, the display control unit 282 of the fourth embodiment may calculate an 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 depict the plane.

[0081] FIG. 10(B) is a view of the host vehicle 12 and the preceding vehicle 13 under the circumstances shown in FIG. 10(A) as seen from the side of the vehicle. FIG. 10(C) is a view showing an example of an image showing the surroundings of the host vehicle 12, displayed on the first display unit 24. The image showing the surroundings of the host vehicle 12 in FIG. 10(C) is an image showing the scenery when the host vehicle 12 and the preceding vehicle 13 are viewed from viewpoint C in FIG. 10(B). The image in FIG. 10(C) shows that an image 70 simulating the preceding vehicle 13 is already traveling on an inclined road surface. In addition, in FIGS. 10(B) and 10(C), the position of an inflection point P between a flat road surface and an inclined road surface is visualized, allowing the occupants of the host vehicle 12 to more realistically recognize the inclination of the road surface.

[0082] In addition, the display control unit 282 of the fourth embodiment displays the display object displayed between the image 64 representing the vehicle 12 and the image 70 representing the vehicle 13 ahead traveling ahead of the vehicle 12 as if it were tilted according to the inclination angle information of the road surface.

[0083] For example, the display object H shown in Fig. 10(C) is a trajectory located between an image 64 that resembles the host vehicle 12 and an image that resembles a preceding vehicle 13 traveling ahead of the host vehicle 12. As shown in Fig. 10(C), by depicting the trajectory as if it is also inclined, the occupants of the host vehicle 12 can more realistically recognize the inclination of the road surface.

[0084] As described above, the vehicle display control device of the fourth embodiment acquires 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. The vehicle display control device changes the image simulating the vehicle and the image simulating the road surface to make them appear tilted in accordance with the road surface inclination angle information, 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 occupants when the vehicle is traveling on an inclined road surface. Furthermore, it is possible to reproduce the road surface in more detail based on the image captured by the camera mounted on the vehicle and the point cloud information detected by the radar device. More specifically, it is possible to tilt displayed objects located between the image 64 simulating the vehicle 12 and the image simulating the vehicle 13 traveling ahead of the vehicle 12, allowing the vehicle occupants to more realistically recognize that the road surface is inclined.

[0085] Although the vehicle display control system 10 according to each embodiment has been described above, it goes without saying that the present invention can be embodied in various forms without departing from the spirit and scope of the present invention.

[0086] For example, the display control unit may cause the display unit to display, without tilting at least a portion of the road surface behind the image simulating the host vehicle, of the image simulating the road surface. FIG. 11 is a diagram for explaining a modification of each of the above-described embodiments. As shown in FIG. 11, when the image simulating the host vehicle and the image simulating the road surface are changed to appear tilted in accordance with the road surface inclination angle information, a portion of the image simulating the road surface (for example, the portion behind the host vehicle 12) may be made horizontal (in FIG. 11, this is indicated as "horizontal portion (on the X-axis)"). By making a portion of the inclined road surface horizontal in this way, the inclined and horizontal portions of the road surface are displayed simultaneously, making it easier to understand that the road surface on which the host vehicle 12 is traveling is inclined.

[0087] In addition, for example, in each of the above embodiments, an image simulating the host vehicle, which is an example of an image showing the surrounding conditions of the host vehicle 12, and an image simulating the road surface on which the host vehicle is traveling are displayed on the first display unit 24. However, this is not limited to this. For example, an image simulating the host vehicle and an image simulating the road surface on which the host vehicle is traveling may be displayed on the second display unit 25 or the third display unit 26.

[0088] Furthermore, the processing performed by the CPU 30 after reading the program in the above embodiment may be performed by various processors other than the CPU 30. Examples of such processors include dedicated electrical circuits, such as programmable logic devices (PLDs) (such as field-programmable gate arrays (FPGAs)) whose circuit configuration can be changed after fabrication, and application-specific integrated circuits (ASICs) that are processors with circuit configurations specifically designed to perform specific processing. 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, such as multiple FPGAs or a combination of a CPU and an FPGA. The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0089] In the above embodiment, various data is stored in the storage 36, but this is not limiting. 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.

[0090] 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 changed within the scope of the gist. [Explanation of symbols]

[0091] 10. Vehicle display control system 12 Vehicle 13 Front vehicle 24 1st display section 25 2nd display section 26 Third display 28 Vehicle display control device 44 Camera 46 Radar Equipment 48 Inclination sensor 280 Acquisition Department 282 Display control unit C. Virtual Viewpoint

Claims

1. an acquisition unit that acquires inclination angle information of a road surface on which the host vehicle is traveling; When an image simulating the host vehicle and an image simulating the road surface on which the host vehicle is traveling are displayed on a display unit when the host vehicle is viewed from a virtual viewpoint, a display control unit that changes the image that resembles the host vehicle and the image that resembles the road surface so that they appear to be tilted in accordance with the tilt angle information acquired by the acquisition unit, and displays them on the display unit; A vehicle display control device comprising:

2. the display control unit changes the position and orientation of the virtual viewpoint in accordance with the tilt angle information, and causes the display unit to display an image imitating the host vehicle and an image imitating the road surface as viewed from the virtual viewpoint whose position and orientation have been changed. The vehicle display control device according to claim 1 .

3. the acquisition unit acquires, as the road surface inclination angle information, inclination angle information of the surrounding vehicle calculated from image processing of an image of the surrounding vehicle of the host vehicle; the display control unit changes the image imitating the nearby vehicle and the image imitating the road surface at a position of the image imitating the nearby vehicle so that they are inclined according to the inclination angle information of the road surface, and displays them on the display unit. The vehicle display control device according to claim 1 or 2.

4. the acquisition unit acquires 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; the display control unit changes the image imitating the host vehicle and the image imitating the road surface so that they appear to be inclined in accordance with the inclination angle information of the road surface, and displays them on the display unit. The vehicle display control device according to claim 1 or 2.

5. the display control unit displays an object displayed between the image representing the host vehicle and the image representing a forward vehicle traveling ahead of the host vehicle as if the object is tilted in accordance with the inclination angle information of the road surface. The vehicle display control device according to claim 1 or 2.

6. When the tilt angle indicated by the tilt angle information acquired in a predetermined traveling section is greater than a preset threshold, the display control unit changes the image imitating the host vehicle and the image imitating the road surface to appear tilted and displays them on the display unit. The vehicle display control device according to claim 1 or 2.

7. the display control unit causes the display unit to display, without tilting, at least a part of a road surface behind the image simulating the host vehicle, out of the image simulating a road surface. The vehicle display control device according to claim 1 or 2.

8. Obtaining inclination angle information of the road surface on which the vehicle is traveling, When an image simulating the host vehicle and an image simulating the road surface on which the host vehicle is traveling are displayed on a display unit when the host vehicle is viewed from a virtual viewpoint, and displaying the image simulating the host vehicle and the image simulating the road surface on the display unit while changing the image simulating the host vehicle and the image simulating the road surface to appear tilted in accordance with the acquired tilt angle information. A vehicle display control method in which processing is executed by a computer.

9. Obtaining inclination angle information of the road surface on which the vehicle is traveling, When an image simulating the host vehicle and an image simulating the road surface on which the host vehicle is traveling are displayed on a display unit when the host vehicle is viewed from a virtual viewpoint, and displaying the image simulating the host vehicle and the image simulating the road surface on the display unit while changing the image simulating the host vehicle and the image simulating the road surface to appear tilted in accordance with the acquired tilt angle information. A vehicle display control program for causing a computer to execute processing.

Images