Vehicle surrounding environment display device and control method for the same

Abstract

To provide a vehicle surrounding environment display device that enables a user to grasp a shape of an own vehicle icon while allowing the user to grasp an object icon on the back side of the own vehicle icon.SOLUTION: A vehicle surrounding environment display device generates a virtual space corresponding to a surrounding environment of an own vehicle based on detection information from an external sensor mounted on the own vehicle and displays, on a display, an image in the virtual space as viewed from a virtual viewpoint operated by a user of the own vehicle. An own vehicle icon includes a transparent portion and a characteristic portion. The transparent portion is a portion displayed while being transmitted when an object icon is present on the back side of the own vehicle icon as viewed from the virtual viewpoint. The characteristic portion is displayed without being transmitted when, with the object icon present on the back side of the own vehicle icon as viewed from the virtual viewpoint, the characteristic portion is located in front of the own vehicle icon as viewed from the virtual viewpoint, and is a portion at least partially transmitted when the characteristic portion is located on the back side of the own vehicle icon as viewed from the virtual viewpoint.SELECTED DRAWING: Figure 2

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. 2018-056951 is a known technical document relating to a vehicle surroundings environment display device. This publication describes a display control device that switches the transmittance of three-dimensional vehicle shape data based on predetermined data when vehicle shape data is superimposed on display data showing the surroundings of a vehicle based on captured image data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-056951 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, there is a technology that displays a three-dimensional host vehicle icon in addition to object icons of other vehicles and the like in a virtual space in order to indicate the positional relationship between the host vehicle and objects around the host vehicle, such as other vehicles and white lines. In this case, if the host vehicle icon is made completely transparent so that the user can see the object icons behind the host vehicle icon, there is a problem that the outline of the host vehicle icon cannot be grasped. Furthermore, if the transparency of the entire host vehicle icon is reduced, the object icons become difficult to see. [Means for solving the problem]

[0005] One aspect of the present invention is a vehicle surrounding environment display device that generates a virtual space corresponding to the surrounding environment of the vehicle based on detection information from external sensors of the vehicle, and displays on a display an image of the virtual space as seen from a virtual viewpoint operated by the user of the vehicle. The virtual space is arranged with a three-dimensional vehicle icon corresponding to the vehicle and object icons corresponding to objects around the vehicle, and the vehicle icon includes a transparent portion and a characteristic portion. The transparent portion is a portion that is displayed transparently when an object icon is located behind the vehicle icon as seen from the virtual viewpoint. The characteristic portion is a portion that constitutes part of the outer surface of the vehicle icon, and when an object icon is located behind the vehicle icon as seen from the virtual viewpoint, the characteristic portion is displayed non-transparently when the object icon is located in front of the vehicle icon as seen from the virtual viewpoint, and is displayed at least partially transparently when the characteristic portion is located behind the vehicle icon as seen from the virtual viewpoint.

[0006] In one aspect of the vehicle surrounding environment display device of the present invention, when an object icon is present behind a characteristic feature as viewed from a virtual viewpoint, and the characteristic feature is located behind the vehicle icon as viewed from the virtual viewpoint, only the outline of the characteristic feature may be displayed.

[0007] In one embodiment of the vehicle surrounding environment display device of the present invention, the characteristic part is at least one of the bumper, tires, side mirrors, and lighting fixtures of the vehicle icon, and the transparent part may be a part of the vehicle icon other than the characteristic part.

[0008] In one aspect of the vehicle surrounding environment display device of the present invention, the characteristic part is the tire of the host vehicle icon, and the wheel part of the tire located behind the host vehicle icon when viewed from the virtual viewpoint may be displayed transparently.

[0009] Another aspect of the present invention is a control method for a vehicle surrounding environment display device that generates a virtual space corresponding to the surrounding environment of a vehicle based on detection information from an external sensor of the vehicle, and displays on a display an image of the virtual space as seen from a virtual viewpoint operated by a user of the vehicle, wherein a three-dimensional vehicle icon corresponding to the vehicle and object icons corresponding to objects around the vehicle are arranged in the virtual space, the vehicle icon including a transparent portion and a characteristic portion, the transparent portion being a portion that is displayed transparently when an object icon is present behind the vehicle icon as seen from the virtual viewpoint, and the characteristic portion being a portion that constitutes a part of the outer surface of the vehicle icon and that is visible from the virtual viewpoint. a control method for a vehicle surrounding environment display device, in which, when an object icon exists behind the host vehicle icon as viewed from the virtual viewpoint, the transparent portion of the host vehicle icon is displayed transparently when located in front of the host vehicle icon as viewed from the virtual viewpoint, and at least a portion of the characteristic portion located behind the host vehicle icon as viewed from the virtual viewpoint is displayed transparently when located in front of the host vehicle icon as viewed from the virtual viewpoint, and at least a portion of the characteristic portion located behind the host vehicle icon as viewed from the virtual viewpoint is displayed transparently when an object icon exists behind the host vehicle icon as viewed from the virtual viewpoint. [Effects of the Invention]

[0010] According to each aspect of the present invention, by displaying the transparent parts of the vehicle icon in a transparent manner, the user can grasp the object icon behind the vehicle icon, and by not displaying the characteristic parts that make up part of the outer surface of the vehicle icon in a transparent manner depending on how they appear, the user can grasp the shape of the vehicle icon compared to when the entire vehicle icon is displayed in a transparent manner. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a vehicle surrounding environment display device according to an embodiment; [Figure 2] 1A is a diagram showing an example of a host vehicle icon in a virtual space, and FIG. 1B is a diagram showing an example of a host vehicle icon being displayed transparently. [Figure 3] FIG. 10 is a diagram showing another example of a host vehicle icon being displayed transparently. [Figure 4] 10A is a flowchart illustrating an example of a control method for a vehicle surrounding environment display device, and FIG. 10B is a flowchart illustrating an example of a process for determining transparency of a characteristic portion. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] 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 vehicle surrounding environment display device 100 displays the environment surrounding the host vehicle on a display as a so-called 3D view.

[0014] 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 operate the vehicle through remote assistance equipment installed outside the vehicle and capable of communicating with 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.

[0015] [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 performs overall management of 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, and a display 4.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] The display 4 is, for example, a center display mounted on the dashboard of the vehicle. The display 4 may be a display of a tablet computer that can be installed in the vehicle, or may be a HUD (Head Up Display). The display 4 is not limited to being mounted on the vehicle. The display 4 may be a display for an operator of a remote assistance system installed in a facility away from the vehicle. The display 4 may be a display of a mobile terminal carried by the user, or may be a display of the user's tablet computer or desktop computer.

[0021] 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 and an image display unit 12. 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.

[0022] 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 in 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 alongside the vehicle.

[0023] 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.

[0024] 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 depending on the vehicle model. The host vehicle icon is configured to include transparent parts and characteristic parts. The transparent parts and characteristic parts will be described in detail below.

[0025] 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 places 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 the 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.

[0026] 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.

[0027] The virtual space generation unit 11 arranges 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.

[0028] 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.

[0029] Furthermore, the virtual space generation unit 11 may predict the behavior of other vehicles based on image information captured by the external camera 1 or object detection information from the radar sensor 2, and may display the predicted results of the behavior of other vehicles in association with other vehicle icons (object icons). For example, the virtual space generation unit 11 may display the predicted path of other vehicles using an arrow icon or the like, or may display the predicted stopping position of other decelerating vehicles using a block icon extending in the lane width direction or the like. Similarly, the virtual space generation unit 11 may display the predicted results of pedestrian behavior in association with pedestrian icons (object icons).

[0030] 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.

[0031] The image display unit 12 displays on the display 4 an image of the virtual space as seen from a virtual viewpoint operated by the user in the virtual space generated by the virtual space generation unit 11. The image display unit 12 moves the virtual viewpoint in response to a user operation input to the user operation reception unit 3.

[0032] Fig. 2(a) is a diagram showing an example of a host vehicle icon in a virtual space. Fig. 2(a) shows a host vehicle icon M and an object icon P. The object icon P is, for example, a pylon used in road construction. The host vehicle icon M and object icon P shown in Fig. 2(a) are arranged in the virtual space so as to correspond to the positional relationship between the host vehicle and the pylon in the real space.

[0033] The image display unit 12 displays the host vehicle icon M in a partially transparent manner according to how the host vehicle icon M and the object icon P appear from a virtual viewpoint in the virtual space. The host vehicle icon M includes transparent portions and characteristic portions. In this embodiment, portions other than the characteristic portions are considered to be transparent portions.

[0034] When an object icon P exists behind the host vehicle icon M as viewed from the virtual viewpoint, the image display unit 12 displays differently the transparent portion and the characteristic portion of the host vehicle icon M. When the object icon P exists behind the host vehicle icon M as viewed from the virtual viewpoint, the object icon P is visible through the host vehicle icon M as viewed from the virtual viewpoint.

[0035] The transparent part is a part that is displayed transparently when an object icon P exists behind the host vehicle icon M when viewed from the virtual viewpoint. The transparent part may include, for example, the body and windows of the host vehicle icon M. The transparent part may be all parts of the host vehicle icon M other than the characteristic parts. Note that the host vehicle icon M may have parts other than the transparent parts and the characteristic parts.

[0036] The characteristic part is a part that constitutes a part of the outer surface of the host vehicle icon M. Specifically, the characteristic part can be at least one of the bumper, tires, side mirrors, and lighting fixtures of the host vehicle icon M. Even if an object icon P exists behind the host vehicle icon M as seen from the virtual viewpoint, the characteristic part is displayed without being transparent when the characteristic part is located in front of the host vehicle icon M as seen from the virtual viewpoint. Furthermore, when an object icon P exists behind the host vehicle icon M as seen from the virtual viewpoint, the characteristic part is displayed at least partially transparent when the characteristic part is located behind the host vehicle icon M as seen from the virtual viewpoint.

[0037] An example of a case where at least a part of a characteristic part is transparent is when only the outline of the characteristic part is displayed. Everything other than the outline is displayed transparently. The outline is a line that is displayed along the outline of the characteristic part. The user can recognize the outline of a characteristic part such as a tire by viewing the outline. For example, when the characteristic part is a tire, the image display unit 12 can display the outline of the tire and also display the wheel part of the tire transparently. Note that when the characteristic part is located behind the host vehicle icon M as viewed from the virtual viewpoint, the characteristic part may be displayed as a silhouette, as described below.

[0038] Here, Fig. 2(b) is a diagram showing an example of the host vehicle icon M being displayed transparently. Fig. 3 is a diagram showing another example of the host vehicle icon M being displayed transparently. Fig. 2(b) shows a situation in which the host vehicle icon M is viewed from a virtual viewpoint from the same direction as Fig. 2(a). Fig. 3 shows a situation in which the host vehicle icon M is viewed from a virtual viewpoint located diagonally rearward and to the left of the host vehicle icon M.

[0039] 2(b) and 3 show the four tires TA to TD, the front lamp LF, the rear lamp LR, the right side mirror MR, the left side mirror ML, and the front bumper BF, which are characteristic parts. Here, the parts of the host vehicle icon M other than the characteristic parts are transparent.

[0040] As shown in FIGS. 2(b) and 3, when an object icon P is present behind the host vehicle icon M as viewed from the virtual viewpoint, the image display unit 12 displays the transparent portion of the host vehicle icon M in a transparent manner. FIGS. 2(b) and 3 show a situation in which the transparent portion of the host vehicle icon M is displayed as a silhouette. The image display unit 12 may adjust the transmittance of the transparent portion to display the transparent portion as a silhouette. Alternatively, the image display unit 12 may display the transparent portion of the host vehicle icon M as a silhouette by differentiating the chromaticity or brightness of the transparent portion from that of the background. The image display unit 12 may display the transparent portion as a silhouette by increasing the transmittance of the transparent portion and hatching the transparent portion. The image display unit 12 may set the transmittance of the transparent portion to 100% or 50%. The image display unit 12 may increase the transmittance of the transparent portion compared to normal. The image display unit 12 may display the outer edge of the host vehicle icon M on the screen of the display 4 with a thin line.

[0041] As shown in Fig. 2(b), the image display unit 12 does not display at least a portion of the characteristic parts of the host vehicle icon M transparently. Specifically, in Fig. 2(b), the image display unit 12 displays the entire left front tire TA and left rear tire TB, which are the characteristic parts of the tires TA to TD, in a non-transparent manner and are located on the near side as seen from the virtual viewpoint. Displaying the entire left front tire TA means performing normal display according to the initial setting with a transparency of 0%.

[0042] Meanwhile, the image display unit 12 transparently displays everything except the contours of the right front tire TC and right rear tire TD, which are located on the far side when viewed from the virtual viewpoint. That is, the image display unit 12 displays the outlines of the right front tire TC and right rear tire TD. Here, the wheel portions of the right front tire TC and right rear tire TD are displayed transparently so that they are not visible. By displaying the wheel portions transparently, when an object icon P exists behind the right front tire TC and right rear tire TD, the user can easily view part of the object icon P.

[0043] The image display unit 12 may display only the wheel portions of the right front tire TC and the right rear tire TD in a transparent manner, and display the rest in a normal manner. The wheel portions may be completely transparent or displayed in silhouette.

[0044] The image display unit 12 can also display the front lamps LF, rear lamps LR, right side mirror MR, left side mirror ML, and front bumper BF in the same way as the tires TA to TD. For example, the image display unit 12 may display the front lamps LF normally when they are located in front of the host vehicle icon M as seen from the virtual viewpoint, and may display them as outlines when they are located behind the host vehicle icon M. The characteristic parts may also include the rear bumper.

[0045] 3, the image display unit 12 displays the right front tire TC and the right rear tire TD, which are on the front side of the host vehicle icon M as seen from the virtual viewpoint, in their entirety without being transparent (performs normal display). On the other hand, the image display unit 12 displays the outline of the left front tire TA and the left rear tire TB, which are on the back side of the host vehicle icon M as seen from the virtual viewpoint.

[0046] [program] The program causes the ECU 10 to function as the virtual space generation unit 11 and the image display unit 12. 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.

[0047] [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. 4(a) is a flowchart showing an example of a control method for the vehicle surrounding environment display device 100 according to this embodiment.

[0048] 4(a), the ECU 10 of the vehicle surrounding environment display device 100 determines in S10 whether or not an object icon P exists behind the host vehicle icon M as viewed from the virtual viewpoint using the image display unit 12. If it is determined that the object icon P exists behind the host vehicle icon M as viewed from the virtual viewpoint (S10: YES), the ECU 10 proceeds to S11. If it is not determined that the object icon P exists behind the host vehicle icon M as viewed from the virtual viewpoint (S10: NO), the ECU 10 ends this processing.

[0049] In S11, the ECU 10 displays the host vehicle icon M partially transparently on the image display unit 12. The image display unit 12 displays the transparent portions of the host vehicle icon M transparently and also displays at least the outline of the characteristic portions (see FIG. 2(b)). The image display unit 12 may also display the characteristic portions other than the outline transparently. Thereafter, the ECU 10 ends the current processing.

[0050] FIG. 4(b) is a flowchart showing an example of a characteristic portion transparency determination process. The characteristic portion transparency determination process is performed, for example, as part of the process of S11 in the flowchart of FIG. 4(a). The characteristic portion transparency determination process is performed for each characteristic portion. As shown in FIG. 4(b), the ECU 10 determines, in S20, whether the characteristic portion is located behind the host vehicle icon M as seen from the virtual viewpoint using the image display unit 12. If the ECU 10 determines that the characteristic portion is located behind the host vehicle icon M as seen from the virtual viewpoint (S20: YES), the ECU 10 proceeds to S21. If the ECU 10 does not determine that the characteristic portion is located behind the host vehicle icon M as seen from the virtual viewpoint (S20: NO), the ECU 10 proceeds to S22.

[0051] In S21, the ECU 10 performs an outline display on the image display unit 12, which displays the characteristic parts transparently except for the outlines of the characteristic parts. The image display unit 12 performs a display like the right front tire TC in Fig. 2(b), for example. After that, the ECU 10 ends the current process.

[0052] In S22, the ECU 10 performs normal display, in which the entire characteristic portion is displayed opaquely on the image display unit 12. The image display unit 12 displays, for example, the left front tire TA in FIG. 2(b). Then, the ECU 10 ends this processing.

[0053] 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, the transparent parts of the vehicle icon M are displayed transparently, allowing the user to grasp the object icons behind the vehicle icon M, and by not making the characteristic parts that make up part of the outer surface of the vehicle icon M transparent depending on how they appear, the user can grasp the shape of the vehicle icon M compared to when the entire vehicle icon M is transparent.

[0054] Furthermore, in the vehicle surrounding environment display device 100, when an object icon P is present behind a characteristic feature as viewed from the virtual viewpoint, the characteristic feature on the front side of the vehicle icon M as viewed from the virtual viewpoint is displayed normally without being transparent, and only the outline of the characteristic feature on the back side of the vehicle icon M as viewed from the virtual viewpoint is displayed (everything other than the outline is transparent), thereby allowing the user to easily understand whether the characteristic feature is located in front of or behind the vehicle icon M that is being displayed transparently.

[0055] 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. [Explanation of symbols]

[0056] 1...external camera, 2...radar sensor, 3...user operation reception unit, 4...display, 10...ECU, 11...virtual space generation unit, 12...image display unit, 100...vehicle surrounding environment display device, M...own vehicle icon, P...object icon.

Claims

1. A vehicle surrounding environment display device that generates a virtual space corresponding to a surrounding environment of a vehicle based on detection information from an external sensor of the vehicle, and displays an image of the virtual space seen from a virtual viewpoint operated by a user of the vehicle on a display, a three-dimensional host vehicle icon corresponding to the host vehicle and object icons corresponding to objects around the host vehicle are arranged in the virtual space; the host vehicle icon includes a transparent portion and a characteristic portion; the transparent portion is a portion that is displayed transparently when the object icon is located behind the host vehicle icon as viewed from the virtual viewpoint, The characteristic feature is a part that constitutes part of the outer surface of the vehicle icon, and when an object icon is present behind the vehicle icon as viewed from the virtual viewpoint, the characteristic feature is displayed without being transparent when located in front of the vehicle icon as viewed from the virtual viewpoint, and is displayed at least partially transparent when the characteristic feature is located behind the vehicle icon as viewed from the virtual viewpoint.

2. 2. The vehicle surrounding environment display device according to claim 1, wherein when an object icon is present behind the characteristic feature as viewed from the virtual viewpoint, and the characteristic feature is located behind the vehicle icon as viewed from the virtual viewpoint, only the outline of the characteristic feature is displayed.

3. the characteristic part is at least one of a bumper, a tire, a side mirror, and a lighting device of the host vehicle icon; The vehicle surrounding environment display device according to claim 1 or 2, wherein the transparent portion is a portion of the host vehicle icon other than the characteristic portion.

4. the characteristic portion is a tire of the host vehicle icon, The vehicle surrounding environment display device according to claim 3 , wherein a wheel portion of a tire located on the rear side of the host vehicle icon as viewed from the virtual viewpoint is displayed transparently.

5. A control method for a vehicle surrounding environment display device that generates a virtual space corresponding to a surrounding environment of a vehicle based on detection information from an external sensor of the vehicle, and displays an image of the virtual space seen from a virtual viewpoint operated by a user of the vehicle on a display, comprising: a three-dimensional host vehicle icon corresponding to the host vehicle and object icons corresponding to objects around the host vehicle are arranged in the virtual space; the host vehicle icon includes a transparent portion and a characteristic portion; the transparent portion is a portion that is displayed transparently when the object icon is located behind the host vehicle icon as viewed from the virtual viewpoint, the characteristic portion is a portion that constitutes a part of the outer surface of the host vehicle icon, and when an object icon is present behind the host vehicle icon as viewed from the virtual viewpoint, the characteristic portion is displayed without being transparent when located in front of the host vehicle icon as viewed from the virtual viewpoint, and is displayed with at least a portion being transparent when located behind the host vehicle icon as viewed from the virtual viewpoint; A control method for a vehicle surrounding environment display device, in which, when the object icon is located behind the host vehicle icon as viewed from the virtual viewpoint, the transparent parts of the host vehicle icon are displayed transparently, the characteristic parts located in front of the host vehicle icon as viewed from the virtual viewpoint are displayed non-transparently, and at least a part of the characteristic parts located behind the host vehicle icon as viewed from the virtual viewpoint are displayed transparently.

Images