Vehicle surrounding environment display device and control method for the same

Abstract

To provide a vehicle surrounding environment display device capable of suppressing the continuation of a state that a detection display is cut off from both a first display and a second display.SOLUTION: A vehicle surrounding environment display device having a first display and a second display is configured to: display an own vehicle icon corresponding to an own vehicle and detection display indicating an object around the own vehicle; display the detection display around the own vehicle icon corresponding to a position of the object relative to the own vehicle based on detection information from an external sensor; be able to change a display range of a first image on the first display according to an operation by a user of the own vehicle and a display range of a second image on the second display according to the operation by the user; and change the display ranges so that the detection display appears on at least one of the first display and the second display when the detection display is cut off from both the first display and the second display during display.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a vehicle surrounding environment display device and a method for controlling the vehicle surrounding environment display device. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2013-109505 is a known technical document relating to a vehicle surroundings environment display device. This publication describes a device that displays an image of the vehicle's surroundings captured by a surroundings monitoring camera on a display, and when the driver's intention to drive the vehicle is detected, the image is reduced and displayed on the display. This device reduces the image of the surroundings when the driver begins to drive the vehicle, and stops displaying the reduced image of the surroundings when the driver's driving operation is completed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-109505 Summary of the Invention [Problem to be solved by the invention]

[0004] When another vehicle approaches the vehicle, a detection display may be displayed at a position corresponding to the other vehicle in the surrounding surveillance video on the display. However, there is a problem that the detection display may be cut off when the display range is changed by user operation or automatic operation. [Means for solving the problem]

[0005] One aspect of the present invention is a vehicle surrounding environment display device that generates a first image and a second image corresponding to the surrounding environment of the vehicle based on detection information from an external sensor of the vehicle, and has a first display on which the first image is displayed and a second display on which the second image is displayed, wherein the first image and the second image respectively display a vehicle icon corresponding to the vehicle and a detection display related to objects around the vehicle, and the detection display is displayed around the vehicle icon to correspond to the position of the object relative to the vehicle based on the detection information from the external sensor, the display range of the first image on the first display can be changed by operation of the user of the vehicle, and the display range of the second image on the second display can be changed by operation of the user, and when the detection display is cut off from both the first display and the second display while it is being displayed, the display range is changed so that the detection display appears on at least one of the first display and the second display.

[0006] In one embodiment of the vehicle surrounding environment display device of the present invention, if the detection display is cut off from both the first display and the second display while it is being displayed, the display range may be changed so that the detection display appears on the screen of the first display or the second display that has the oldest user's last operation record.

[0007] In one embodiment of the vehicle surrounding environment display device of the present invention, the device has a function of detecting the user's line of sight using an in-vehicle camera of the vehicle, and if the detection display is cut off from both the first display and the second display while it is being displayed, the display range may be changed so that the detection display appears on the screen of the first display or the second display that is not being viewed by the user.

[0008] Another aspect of the present invention is a control method for a vehicle surrounding environment display device that generates a first image and a second image corresponding to the surrounding environment of the vehicle based on detection information from an external sensor of the vehicle, and has a first display on which the first image is displayed and a second display on which the second image is displayed, wherein the first image and the second image respectively display a vehicle icon corresponding to the vehicle and a detection display related to objects around the vehicle, the detection display is displayed around the vehicle icon to correspond to the position of the object relative to the vehicle based on the detection information from the external sensor, the display range of the first image on the first display can be changed by operation of the user of the vehicle, and the display range of the second image on the second display can be changed by operation of the user, and when the detection display is cut off from both the first display and the second display while it is being displayed, the display range is changed so that the detection display appears on at least one of the first display and the second display. [Effects of the Invention]

[0009] According to each aspect of the present invention, it is possible to prevent the detection display from being cut off from both the first display and the second display. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a vehicle surrounding environment display device according to an embodiment; [Figure 2] 10A and 10B are diagrams illustrating examples of displays on a first display and a second display. [Figure 3] FIG. 10 is a diagram showing an example in which a detection display appears. [Figure 4] FIG. 10 is a diagram showing an example in which the detection display is cut off. [Figure 5] 10A and 10B are diagrams illustrating an example in which cut-off of the detection display is eliminated. [Figure 6] 10 is a flowchart showing an example of a control for eliminating cut-off of a detection display by the vehicle surrounding environment display device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] FIG. 1 is a block diagram showing a vehicle surrounding environment display device 100 according to one embodiment. The vehicle surrounding environment display device 100 shown in FIG. 1 is mounted on a vehicle such as a passenger car or freight vehicle (hereinafter referred to as the host vehicle) and is a device for supporting the user in recognizing the environment surrounding the vehicle. The vehicle surrounding environment display device 100 generates a virtual space that reflects the environment surrounding the host vehicle, and displays an image of the virtual space as seen from a virtual viewpoint operated by the user on a display. The virtual viewpoint is a viewpoint operated by the user in the virtual space. The vehicle surrounding environment display device 100 displays the environment surrounding the host vehicle on a display as a so-called 3D view.

[0013] The user may be the driver of the vehicle, a passenger of the vehicle, or the owner of the vehicle. The user may also be an operator who remotely supports the vehicle using a remote assistance system. In the remote assistance system, the operator can make decisions about the vehicle's driving (decisions about proceeding, turning right or left, stopping, etc.) or drive the vehicle through remote assistance equipment installed outside the vehicle and capable of communicating with the vehicle. During remote assistance, the operator is the user of the vehicle. The vehicle is not limited to vehicles that can be remotely supported by the remote assistance system. The vehicle may be a vehicle with an autonomous driving function or a vehicle without an autonomous driving function.

[0014] [Configuration of vehicle surrounding environment display device] As shown in FIG. 1, the vehicle surrounding environment display device 100 includes an ECU (Electronic Control Unit) 10 that manages the device. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit) and a storage unit. The storage unit is configured, for example, with a ROM (Read Only Memory), a RAM (Random Access Memory), and an EEPROM (Electrically Erasable Programmable Read-Only Memory). The ECU 10 realizes various functions by, for example, executing programs stored in the storage unit in the CPU. The ECU 10 may be configured with multiple electronic units. The ECU 10 is connected to an external camera 1 (external sensor), a radar sensor 2 (external sensor), a user operation reception unit 3, a driver monitor camera 4, a first display 5, and a second display 6.

[0015] The external camera 1 is an imaging device that captures images of the external situation of the vehicle. The external camera 1 includes, for example, a front camera that captures images in front of the vehicle, a back camera that captures images behind the vehicle, and side cameras that capture images on the left and right sides of the vehicle. The number of cameras in the external camera 1 is not particularly limited, and may be one. The external camera 1 transmits captured image information to the ECU 10.

[0016] The radar sensor 2 is a detection device that detects objects around the vehicle using radio waves (e.g., millimeter waves) or light. The radar sensor 2 can be configured to include a millimeter-wave radar or a LIDAR (Light Detection and Ranging). The radar sensor 2 transmits object detection information relating to the detected objects to the ECU 10. The radar sensor 2 and the external camera 1 constitute an external sensor for detecting the environment around the vehicle. The object detection information of the radar sensor 2 or the captured image information of the external camera 1 corresponds to the detection information of the external sensor.

[0017] The user operation reception unit 3 is a device that receives operations of the virtual viewpoint by the user. The user operation reception unit 3 can be, for example, an input unit of an HMI (Human Machine Interface) provided in the vehicle. The input unit includes, for example, a touch panel display, buttons, levers, switches, etc. The user operation reception unit 3 may also be capable of receiving operations by voice recognition or gestures.

[0018] A mobile terminal or a computer input device connected to the vehicle may be used as the user operation reception unit 3. Alternatively, an operator terminal of the remote assistance system may be used as the user operation reception unit 3.

[0019] The driver monitor camera 4 is a camera for capturing an image of the driver as a user. The driver monitor camera 4 can be a digital camera having an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The driver monitor camera 4 is provided, for example, on the cover of the steering column in front of the driver, and captures an image of the driver's head, including his / her face, at a predetermined frame rate. The driver monitor camera 4 transmits the captured image of the driver to the ECU 10.

[0020] The camera capturing an image of the user is not limited to a driver monitor camera, but may be an in-vehicle camera capturing an image of a passenger in the vehicle. If the user is an operator providing remote assistance, a camera that is provided in the operator's equipment of the remote assistance system and captures an image of the operator may be used. If the first display 5 or the second display 6 described below is a display of a portable computer, a camera mounted on the computer may be used.

[0021] The first display 5 is an image display device for displaying image information to the user. The first display 5 can be, for example, a center display mounted on the dashboard of the vehicle. The first display 5 may be the screen of a tablet computer that can be installed in the front of the vehicle interior, or may be a HUD (Head Up Display). The first display 5 may be a display for an operator of a remote assistance system installed in a facility away from the vehicle. The first display 5 may be a display of a mobile terminal carried by the user, or may be the display of the user's tablet computer or desktop computer.

[0022] The second display 6 is an image display device for displaying image information to the user. The second display 6 may be a display integrated with the first display 5. The first display 5 and the second display 6 may correspond to respective screens displayed in a split screen on a single image display device. The second display 6 may be a display separate from the first display 5. Any of the selectable aspects of the first display 5 described above can be adopted as the second display 6.

[0023] Next, a description will be given of the functional configuration of the ECU 10. As shown in Fig. 1, the ECU 10 has a virtual space generation unit 11, a gaze detection unit 12, and an image display unit 13. Some of the functions of the ECU 10 described below may be executed by a server (e.g., a server of a remote assistance system), a mobile terminal, or a computer (e.g., a tablet computer or a desktop computer) that can communicate with the vehicle.

[0024] The virtual space generation unit 11 generates a virtual space corresponding to the surrounding environment of the vehicle, for example, based on image information captured by the external camera 1. The surrounding environment of the vehicle includes, for example, the position of the white lines of the lane on which the vehicle is traveling. The surrounding environment of the vehicle may also include the status (position, traveling direction, etc.) of other vehicles, such as a preceding vehicle or an adjacent vehicle traveling parallel to the vehicle.

[0025] The virtual space is generated, for example, as a 3D image obtained by combining multiple images. The method of combining the images is not particularly limited. For example, the virtual space generation unit 11 generates the virtual space as a 3D image by projecting each image onto a global coordinate system that serves as the reference for the virtual space and associating overlapping pixels with each other.

[0026] The virtual space generation unit 11 places a host vehicle icon corresponding to the host vehicle in the virtual space. The host vehicle icon is placed as a three-dimensional icon in the shape of a car. The host vehicle icon can be formed using polygons, voxels, or other CG processing. The virtual space generation unit 11 may generate a host vehicle icon that reflects the state of the host vehicle. The virtual space generation unit 11 may reflect the lighting status of the host vehicle's lights (the lighting status of headlights, turn signals, brake lights, etc.) in the lighting status of the host vehicle icon, and may reflect the steering angle of the host vehicle's tires in the tires of the host vehicle icon. The shape and size of the host vehicle icon are set in advance according to the vehicle model.

[0027] When an object around the vehicle is recognized based on the image information captured by the external camera 1, the virtual space generation unit 11 may place an object icon corresponding to the object in the virtual space. The surroundings of the vehicle may be within a certain distance from the vehicle, or may be a range detected by the vehicle's external sensors (external camera 1 and radar sensor 2). The object may include at least one of other vehicles, pedestrians, bicycles, walls, guardrails, utility poles, road signs, and construction-related structures. The object may also include white lines on the road and road markings.

[0028] The object icon may have the same shape as the real object, or may be an abstract icon. The object icon may be a three-dimensional icon generated from the real object based on image information captured by the external camera 1. The object icon may be an abstract icon registered in advance according to the type of object. The object type may be a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, a bicycle, a structure, or the like. The object icon may have a different shape for large and standard four-wheeled vehicles, or may have a different shape depending on the vehicle type. The virtual space generation unit 11 may recognize objects based on object detection information from the radar sensor 2, rather than image information captured by the external camera 1, or may recognize objects using both the external camera 1 and the radar sensor 2.

[0029] The virtual space generation unit 11 may arrange an object icon in the virtual space according to the position of the object in the real space. The virtual space generation unit 11 arranges the object icon in the virtual space so as to correspond to the relative position of the object with respect to the host vehicle. In other words, the positional relationship between the host vehicle icon and the object icon in the virtual space corresponds to the positional relationship between the host vehicle and the object in the real space.

[0030] The virtual space generation unit 11 may recognize objects around the vehicle using information about the surrounding environment recognized by other vehicles through vehicle-to-vehicle communication.The virtual space generation unit 11 may also acquire image information from cameras installed on the road and various types of traffic information by communicating with a traffic information management server managed by the government, for example, and recognize objects using this information.

[0031] The method for generating the virtual space is not limited to the method of combining multiple images from the external camera 1. The virtual space generation unit 11 does not need to generate the virtual space as a 3D image as long as the user can recognize the surrounding environment of the host vehicle. Instead of an image, the virtual space generation unit 11 may generate a digital virtual space by arranging a host vehicle icon, white lines, and other vehicle icons so that the positional relationship of the host vehicle to the white lines and other vehicles can be seen.

[0032] The gaze detection unit 12 detects the gaze of the user (driver) based on an image of the driver captured by the driver monitor camera 4. If the user is not the driver, the gaze of the user is detected from an image captured by an appropriate camera. The gaze detection unit 12 determines whether the user is gazing at the first display 5 based on the result of the user's gaze detection and pre-stored position information of the first display 5. The gaze detection unit 12 also determines whether the user is gazing at the second display 6 based on the result of the user's gaze detection and pre-stored position information of the second display 6.

[0033] Image display unit 13 displays on first display 5 a first image, which is an image of the virtual space as seen from a first virtual viewpoint operated by the user in the virtual space generated by virtual space generation unit 11. Image display unit 13 may set the position of the first virtual viewpoint as an initial setting so that the entire host vehicle icon M is displayed. Image display unit 13 changes the display range of the first image on first display 5 by moving the first virtual viewpoint in accordance with a user operation input to user operation reception unit 3.

[0034] Similarly, the image display unit 13 displays on the second display 6 a second image, which is an image of the virtual space as seen from a second virtual viewpoint operated by the user in the virtual space generated by the virtual space generation unit 11. The image display unit 13 may set the position of the second virtual viewpoint as an initial setting so that the entire host vehicle icon M is displayed. The image display unit 13 changes the display range of the second image on the second display 6 by moving the second virtual viewpoint in accordance with a user operation input to the user operation reception unit 3.

[0035] The user operation reception unit 3 may be an input device common to the first display 5 and the second display 6, or may be a different input device. If common, the user operation reception unit 3 is configured to be able to switch the operation target between the first display 5 and the second display 6. The second virtual viewpoint may have a limited movement range or orientation compared to the first virtual viewpoint. The orientation of the second virtual viewpoint may be limited so that the host vehicle icon is viewed from directly above.

[0036] FIG. 2 is a diagram showing an example of the display of the first display 5 and the second display 6. Here, the example shows a case where the first display 5 and the second display 6 are displayed as separate screens on a single center display by screen division. FIG. 2 shows a first image D1 on the first display 5 and a second image D2 on the second display 6. The first image D1 and the second image D2 each display a host vehicle icon M and a white line. FIG. 2 shows a situation where the host vehicle is parked in a parking lot. In addition, a text field T is provided at the bottom of the first image D1 to notify the user. Note that the text field T is not essential.

[0037] The image display unit 13 displays a detection display relating to an object around the host vehicle on the first image D1 and the second image D2 based on the detection results of the external sensor. The detection display is a display for making the user aware of an object around the host vehicle. The detection display is displayed around the host vehicle icon M so as to correspond to the position of the object relative to the host vehicle. For example, when there is a moving object (such as another vehicle or a pedestrian) approaching the host vehicle, the image display unit 13 displays the detection display around the host vehicle icon M in the direction in which the moving object is approaching.

[0038] FIG. 3 is a diagram showing an example in which a detection display is displayed. A detection display W is shown in a first image D1 and a second image D2 in FIG. 3. A host vehicle icon M corresponding to the host vehicle and a detection display W relating to an object around the host vehicle are displayed in the first image D1 and the second image D2, respectively. The detection display W is, for example, a wedge-shaped display indicating that another vehicle is approaching from the right front of the host vehicle. Note that the display shape of the detection display W is not limited to a wedge shape. The display shape of the detection display W may be an arrow or another shape, as long as it can alert the user to the approach of a moving object.

[0039] The detection indication W may be in a flashing mode, or may be displayed in a conspicuous color such as yellow or red. The detection indication W may have a different display shape depending on the type of approaching moving object. If the moving object is a pedestrian, the detection indication W may be displayed as a pedestrian icon, and may flash at a slower rate than when the moving object is another vehicle. The detection indication W may be displayed in a different mode depending on the approaching speed of the moving object. The faster the approaching speed of the moving object, the faster the flashing rate of the detection indication W. Note that the detection indication W may be generated in the virtual space by the virtual space generation unit 11, rather than by the image display unit 13.

[0040] When the detection display W is cut off from both the first display 5 and the second display 6 while the detection display W is being displayed, the image display unit 13 changes the display range so that the detection display W appears on at least one of the first display 5 and the second display 6.

[0041] A case where the detection display W is cut off refers to a state where at least a part of the detection display W is outside the display range of the first display 5. Note that a case where the detection display W is cut off may also refer to a case where the entire detection display W is outside the display range. FIG. 4 is a diagram showing an example of a case where the detection display W is cut off. In FIG. 4, the user has operated the first virtual viewpoint of the first image D1 so that the host vehicle icon M is viewed from the left side, and the user has operated the second virtual viewpoint of the second image D2 so that only the rear of the host vehicle icon M is displayed. Therefore, in FIG. 4, the detection display W to the right front of the host vehicle icon M is not displayed on either the first display 5 or the second display 6.

[0042] When the detection indication W is not visible from both the first display 5 and the second display 6 as shown in FIG. 4 , the image display unit 13 determines whether the user is viewing either the first display 5 or the second display 6 based on the detection result of the gaze detection unit 12. When the user is viewing either the first display 5 or the second display 6, the image display unit 13 changes the display range so that the detection indication W appears on the screen that the user is not viewing. When the user is viewing the first display 5, the image display unit 13 automatically changes the display range of the second display 6 so that the detection indication W appears. Alternatively, when the user is viewing the second display 6, the image display unit 13 automatically changes the display range of the first display 5 so that the detection indication W appears.

[0043] Specifically, the image display unit 13 changes the display range so that the detection indication W appears by automatically moving the first virtual viewpoint or the second virtual viewpoint to, for example, an initial setting position. The image display unit 13 may automatically move the first virtual viewpoint or the second virtual viewpoint to a position where the detection indication W appears, regardless of the initial setting. The image display unit 13 may change the display range by orienting the first virtual viewpoint or the second virtual viewpoint toward the host vehicle icon M, and then moving the first virtual viewpoint or the second virtual viewpoint away from the host vehicle icon M until the detection indication W appears.

[0044] When the image display unit 13 determines based on the detection result of the gaze detection unit 12 that the user is not viewing either the first display 5 or the second display 6, it changes the display range so that the detection indication W appears on the screen of the first display 5 or the second display 6, whichever has the oldest last operation record of the user. The display with the oldest last operation record of the user means the display with the longest elapsed time since the user last performed an operation on that display. The operation on that display may be limited to an operation to change the display range of that display.

[0045] If the user's last operation record on the first display 5 is older, the image display unit 13 automatically changes the display range of the first display 5 so that the detection indication W appears. If the user's last operation record on the second display 6 is older, the image display unit 13 automatically changes the display range of the second display 6 so that the detection indication W appears.

[0046] Fig. 5 shows an example of how to resolve the problem of cut-off of the detection display W. In Fig. 5, the display range of the first display 5 is changed so that the detection display W appears because the user's last operation record on the first display 5 is older or because the user is viewing the second display 6.

[0047] [program] The program causes the ECU 10 to function as the above-described virtual space generation unit 11, gaze detection unit 12, and image display unit 13. The program is provided by a non-transitory recording medium such as a ROM or a semiconductor memory. Alternatively, the program may be provided via communication such as a network.

[0048] [Method for controlling vehicle surrounding environment display device] Next, a control method for the vehicle surrounding environment display device 100 according to this embodiment will be described with reference to the drawings. Fig. 6 is a flowchart showing an example of the control method for the vehicle surrounding environment display device 100.

[0049] 6, the ECU 10 of the vehicle surrounding environment display device 100 determines whether or not there is a detection indication W relating to an object around the vehicle in S10. If it is determined that there is a detection indication W (S10: YES), the ECU 10 proceeds to S11. If it is not determined that there is a detection indication W (S10: NO), the ECU 10 ends this processing.

[0050] In S11, the ECU 10 determines whether the detection indication W is cut off on both the first display 5 and the second display 6. If the ECU 10 determines that the detection indication W is cut off on both the first display 5 and the second display 6 (S11: YES), the ECU 10 proceeds to S12. If the ECU 10 does not determine that the detection indication W is cut off on both the first display 5 and the second display 6 (S11: NO), the ECU 10 ends this processing.

[0051] In S12, the ECU 10 determines whether the user is viewing either the first display 5 or the second display 6. If the ECU 10 determines that the user is viewing either the first display 5 or the second display 6 (S12: YES), the ECU 10 proceeds to S13. If the ECU 10 does not determine that the user is viewing either the first display 5 or the second display 6 (S12: NO), the ECU 10 proceeds to S14.

[0052] In S13, ECU 10 changes the display range so that detection display W appears on the screen that the user is not viewing. The image display unit 13 changes the display range so that detection display W appears, for example, by automatically moving the first virtual viewpoint or the second virtual viewpoint to an initial setting position. Then, ECU 10 ends this processing.

[0053] In S14, the ECU 10 changes the display range so that the detection indication W appears on the screen of the first display 5 or the second display 6, whichever has the oldest last operation record by the user. Then, the ECU 10 ends this processing.

[0054] According to the vehicle surrounding environment display device 100 and the control method for the vehicle surrounding environment display device 100 of this embodiment described above, if the detection display W is cut off from both the first display 5 and the second display 6 while being displayed, the display range is changed so that the detection display W appears on at least one of the first display 5 and the second display 6, thereby preventing the detection display W from being cut off from both the first display 5 and the second display 6 for a long period of time.

[0055] Furthermore, in the vehicle surrounding environment display device 100, when the detection display W is cut off, the display range of the display that the user is not viewing is changed, thereby avoiding the inconvenience to the user caused by changing the display range of the display while the user is checking.In the vehicle surrounding environment display device 100, when the detection display W is cut off, the display range of the display with the oldest user operation record is changed, thereby avoiding the inconvenience to the user caused by changing the display range of the display that the user is aware of.

[0056] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be embodied in various forms, including the above-described embodiments, with various modifications and improvements made based on the knowledge of those skilled in the art.

[0057] The ECU 10 of the vehicle surrounding environment display device 100 does not necessarily need to be provided with the gaze detection unit 12. The ECU 10 may determine the display whose display range is to be changed so that the detection indication W appears, regardless of whether the user is looking at it or not. The vehicle surrounding environment display device 100 may determine the display whose display range is to be changed so that the detection indication W appears, regardless of the age of the user's operation record.

[0058] The vehicle surrounding environment display device 100 may have three or more displays. Even if the vehicle surrounding environment display device 100 has three or more displays, it may change the display range of the first display 5 or the second display 6 when the detection indication W is out of view on both the first display 5 and the second display 6. Alternatively, if the vehicle surrounding environment display device 100 has three or more displays, it may change the display range so that the detection indication W appears on one of the displays when the detection indication W is out of view on all displays. In this case, the vehicle surrounding environment display device 100 may be configured to prioritize changing the display range of a display that the user is not viewing, or may be configured to prioritize changing the display range of a display for which the user's last operation record is the oldest. [Explanation of symbols]

[0059] 1...external camera, 2...radar sensor, 3...user operation reception unit, 4...driver monitor camera, 5...first display, 6...second display, 10...ECU, 11...virtual space generation unit, 12...gaze detection unit, 13...image display unit, 100...vehicle surrounding environment display device, M...host vehicle icon, W...detection display.

Claims

1. A vehicle surrounding environment display device that generates a first image and a second image corresponding to a surrounding environment of a host vehicle based on detection information from an external sensor of the host vehicle, and has a first display on which the first image is displayed and a second display on which the second image is displayed, a host vehicle icon corresponding to the host vehicle and a detection display relating to an object around the host vehicle are displayed on the first image and the second image, respectively; the detection indication is displayed around the host vehicle icon so as to correspond to a position of the object relative to the host vehicle based on the detection information of the external sensor; a display range of the first image on the first display can be changed by an operation of a user of the host vehicle, and a display range of the second image on the second display can be changed by an operation of the user, A vehicle surrounding environment display device that, when the detection display is cut off from both the first display and the second display while the detection display is being displayed, changes the display range so that the detection display appears on at least one of the first display and the second display.

2. 2. The vehicle surrounding environment display device according to claim 1, wherein, when the detection display is cut off from both the first display and the second display while the detection display is being displayed, the display range is changed so that the detection display appears on the screen of the first display or the second display that has the oldest last operation record of the user.

3. a gaze detection unit that detects the gaze of the user, 2. The vehicle surrounding environment display device according to claim 1, wherein, when the detection display is cut off from both the first display and the second display while the detection display is being displayed, the display range is changed so that the detection display appears on the screen of the first display or the second display that is not being viewed by the user.

4. A method for controlling a vehicle surrounding environment display device that generates a first image and a second image corresponding to a surrounding environment of a host vehicle based on detection information from an external sensor of the host vehicle, and has a first display on which the first image is displayed and a second display on which the second image is displayed, a host vehicle icon corresponding to the host vehicle and a detection display relating to an object around the host vehicle are displayed on the first image and the second image, respectively; the detection indication is displayed around the host vehicle icon so as to correspond to a position of the object relative to the host vehicle based on the detection information of the external sensor; a display range of the first image on the first display can be changed by an operation of a user of the host vehicle, and a display range of the second image on the second display can be changed by an operation of the user, A control method for a vehicle surrounding environment display device, which, when the detection display is cut off from both the first display and the second display while the detection display is being displayed, changes the display range so that the detection display appears on at least one of the first display and the second display.

Images