Controller, display system, and display method

Abstract

To provide a controller for making a user easily confirm a situation around an own vehicle in each state of a traction state and a non-traction state.SOLUTION: A controller 1 comprises: a state determination unit 11 for determining that an own vehicle 6 is in a traction state of pulling an object 7 to be pulled; and an image creation unit 12 that from a peripheral image obtained by imaging the periphery of the own vehicle 6 using a plurality of cameras 21 to 24 for imaging the periphery of the own vehicle 6, creates an overlooking image obtained by viewing the own vehicle 6 and the periphery of the own vehicle 6 from above and makes the overlooking image be displayed on a display unit 4. The image creation unit 12 makes a first overlooking image be displayed on the display unit when the own vehicle is in a non-traction state which is not the traction state and, when the own vehicle is in the traction state, performs changeover so as to make a second overlooking image having a peripheral region, a region in the periphery of the own vehicle to be displayed, larger than that of the first overlooking image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The disclosure herein relates to a control device, a display system, and a display method. [Background technology]

[0002] Patent Document 1 discloses a surroundings monitoring device that generates an overhead image showing the surrounding conditions of a towing vehicle and displays it on a display device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-287792 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the area around the vehicle displayed in the bird's-eye view image does not change between towing and non-towing. As a result, the area displayed is not optimal in each of the towing and non-towing states. As a result, it is difficult for the user to check the situation around the vehicle in either the towing or non-towing state. One disclosed objective is to provide a control device that makes it easy for the user to check the situation around the vehicle in each of the towing and non-towing states. [Means for solving the problem]

[0005] The control device disclosed herein comprises: a state determination unit (11) that determines whether the host vehicle (6) is in a towing state in which the host vehicle (6) is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and its surroundings from a peripheral image captured by a plurality of cameras (21-24) that capture the surroundings of the host vehicle, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in a towing state, the first overhead view image (P1) is displayed on the display unit; When the vehicle is being towed, the display unit is switched to display a second overhead image (P2) in which a surrounding area (E) that is an area around the vehicle that is displayed is larger than that in the first overhead image.

[0006] The display system disclosed herein comprises: A display system for use in a vehicle (6), The vehicle is equipped with a plurality of cameras (21-24) for photographing the surroundings of the vehicle and a control device (1), The control device a state determination unit (11) that determines whether the vehicle is in a towing state in which the vehicle is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and its surroundings from a bird's-eye view from above based on surrounding images of the host vehicle captured by a plurality of cameras, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in a towing state, the first overhead view image (P1) is displayed on the display unit; When the vehicle is being towed, the display unit is switched to display a second overhead image (P2) in which a surrounding area (E) that is an area around the vehicle that is displayed is larger than that in the first overhead image.

[0007] The display method disclosed herein is A display method used in a vehicle (6), A plurality of cameras (21 to 24) capture images of the surroundings of the vehicle (S10), and acquire images of the surroundings of the vehicle. It is determined whether the vehicle is in a towing state in which it is towing a towed object (7) (S11), When the host vehicle is not in a towing state, a first overhead image (P1) is generated from the peripheral image, which is an overhead image (P) of the host vehicle and its surroundings viewed from above (S12); The first overhead image (P1) is displayed on the display unit (4) (S13). When the vehicle is in a towing state, a second overhead image (P2) is generated (S15), which is an overhead image (P) and has a larger surrounding area (E) around the vehicle than the first overhead image. The second overhead image (P2) is displayed on the display unit (S16). The process executed by at least one processor (13) includes the steps of:

[0008] According to these, when the host vehicle is in a towing state, the display switches to a second overhead image, which displays a larger area around the host vehicle than the first overhead image. This makes it easier for the user to check the situation around the host vehicle when the host vehicle is not in a towing state, and makes it easier for the user to check the situation around the host vehicle and the towed object when the host vehicle is in a towing state. Therefore, the user can easily check the situation around the host vehicle in both the towing state and the non-towing state.

[0009] The various aspects disclosed in this specification employ different technical means to achieve their respective objectives. The reference numerals in parentheses in the claims and in this section are intended to exemplify correspondences with the following embodiments and are not intended to limit the technical scope. The objectives, features, and advantages disclosed in this specification will become more apparent by reference to the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 illustrates a display system. [Figure 2] FIG. 2 is a diagram of a vehicle and a towed object. [Figure 3] FIG. 10 is a diagram showing a first overhead image. [Figure 4] FIG. 10 is a diagram showing a second overhead image. [Figure 5] FIG. 10 is a diagram showing the first overhead image before transition to the second overhead image. [Figure 6] FIG. 10 is a diagram showing an overhead image displayed on a display screen. [Figure 7] FIG. 10 is a diagram showing a second overhead image. [Figure 8] FIG. 10 is a diagram showing a second overhead image. [Figure 9] FIG. 10 is a flowchart illustrating a display process. [Figure 10] 10A and 10B are diagrams showing a first overhead image and a second overhead image of a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Display system 100> The display system 100 shown in Figs. 1 and 2 is mounted on the host vehicle 6. The display system 100 is a system that captures images of the surroundings of the host vehicle using multiple cameras 21-24, converts the captured images, and displays them on the display 4. The host vehicle 6 is, for example, a towing vehicle such as a pickup truck. A towing vehicle is a vehicle that tows a towed object 7 such as a boat trailer or a camper trailer. The host vehicle 6 tows the towed object 7 by connecting a hitch 6a provided at the rear of the host vehicle to a coupling of the towed object 7.

[0012] The display system 100 includes a plurality of cameras 21-24, a shift position sensor 3, a steering angle sensor 5, a traction sensor 8, a display 4, and a periphery monitoring ECU (Electronic Control Unit) 1. The minimum components included in the display system 100 are the periphery monitoring ECU 1 and the cameras 21-24.

[0013] The cameras 21 to 24 are mounted on the host vehicle 6 with their imaging surfaces facing in different directions. The cameras 21 to 24 are each capable of capturing images of the surroundings of the host vehicle 6. The front camera 21 is attached to the front end of the host vehicle 6 with its imaging surface facing forward of the host vehicle 6. The rear camera 22 is attached to the rear end of the host vehicle 6 with its imaging surface facing rearward of the host vehicle 6. The right camera 23 is attached near the right side mirror with its imaging surface facing right of the host vehicle 6. The left camera 24 is attached near the left side mirror with its imaging surface facing left of the host vehicle 6. Each of the cameras 21 to 24 captures images of the surroundings of the host vehicle to generate surrounding images, which are then sequentially output to the surroundings monitoring ECU 1. The surrounding images are images that include part of the body of the host vehicle 6. The surrounding images include obstacles, other vehicles, pedestrians, etc. that exist around the vehicle.

[0014] The shift position sensor 3 is a sensor that detects the position of the shift lever. The steering angle sensor 5 is a sensor that detects the steering angle. The towing sensor 8 is a sensor that detects whether the host vehicle 6 is in a towing state. A towing state is a state in which the host vehicle 6 is towing the towed object 7. A non-towing state is a state in which the host vehicle 6 is not in a towing state. The towing sensor 8 is, for example, a circuit that detects when a towing button provided on the host vehicle 6 is pressed. The towing sensor 8 may also be a circuit that detects when the electrical system of the towed object 7 is connected to the host vehicle 6.

[0015] The shift position sensor 3, the steering angle sensor 5, and the traction sensor 8 (hereinafter referred to as each sensor) output signals indicating the current values ​​of the physical state quantities to be detected (i.e., detection results) to communication lines of a LAN (Local Area Network). The signals of each sensor are acquired by the periphery monitoring ECU 1 and the like via the communication lines of the LAN.

[0016] The display 4 is a display unit that displays a predetermined image to the driver of the vehicle 6. The display 4 is a liquid crystal display, an organic EL display, or the like. The display 4 is a center display that is located in the center of the instrument panel. The display 4 notifies the driver of the vehicle 6 of predetermined information by displaying an image. The display 4 outputs visual information to the driver based on image data input from the periphery monitoring ECU 1. The image data is data related to the overhead image P output by the image generation unit 12, which will be described later.

[0017] The display 4 has a touch panel function. The display 4 detects operations by the user. For example, the display 4 detects touch operations and swipe operations on the display screen 4a by the user. The display 4 detects information input by the user. The display 4 detects size information of the towed object 7 input by the user. The display 4 transmits the detected user operation or size information input by the user to the periphery monitoring ECU 1.

[0018] <Periphery monitoring ECU 1> The periphery monitoring ECU 1 executes a display process to generate an overhead image P from the peripheral images acquired from the multiple cameras 21 to 24 and display it on the display 4. At this time, the periphery monitoring ECU 1 switches the overhead image P to be displayed on the display 4 based on whether the host vehicle 6 is in a towing state or not.

[0019] The timing at which the periphery monitoring ECU 1 performs the display process (hereinafter referred to as the display timing) is, for example, immediately after the engine is started. Alternatively, the display timing may be when a view button provided on the vehicle 6 is pressed. The display timing may be when the shift position is switched to the reverse position. The display timing may be any timing.

[0020] The periphery monitoring ECU 1 is mainly composed of a microcomputer equipped with a processor 13, memory, I / O, and a bus connecting these. The periphery monitoring ECU 1 corresponds to a control device. The periphery monitoring ECU 1 performs various processes by having the processor 13 execute a control program stored in the memory.

[0021] The periphery monitoring ECU 1 includes a state determination unit 11 and an image generation unit 12. The state determination unit 11 determines the state of the host vehicle 6 based on information acquired from each sensor. The state determination unit 11 determines whether the shift lever is set to a forward position or a reverse position based on a signal from the shift position sensor 3. The state determination unit 11 determines the steering angle of the host vehicle 6 based on a signal from the steering angle sensor 5.

[0022] The state determination unit 11 determines that the host vehicle 6 is in a towing state in which it is towing the towed object 7. The state determination unit 11 determines whether the host vehicle 6 is in a towing state based on a signal from the towing sensor 8. Alternatively, the state determination unit 11 may determine whether the host vehicle 6 is in a towing state by image recognition. For example, if the state determination unit 11 detects the towed object 7 based on a surrounding image captured by the rear camera 22, it determines that the host vehicle 6 is in a towing state. The state determination unit 11 may determine whether the host vehicle 6 is in a towing state by a method other than image recognition. If the state determination unit 11 determines that the host vehicle 6 is not in a towing state, it determines that the host vehicle 6 is in a non-towing state.

[0023] The image generation unit 12 generates an overhead image P of the host vehicle 6 and its surroundings from a bird's-eye view from above, based on surrounding images of the host vehicle taken by multiple cameras 21-24 that capture the surroundings of the host vehicle. The image generation unit 12 transmits image data including the generated overhead image P to the display 4. The image generation unit 12 controls the display 4 to display the overhead image P. As shown in FIG. 3 and other figures, the overhead image P includes a surrounding area E that is the area around the host vehicle. As shown in FIG. 4, the surrounding area E also includes the towed object 7 and the area around the towed object 7. The surrounding area E is indicated by hatching in FIGS. 3, 4, and 5.

[0024] The image generation unit 12 generates an overhead image P based on the surrounding image and a host vehicle image 60, which is an image showing the host vehicle 6. The host vehicle image 60 is stored in advance in a memory. The image generation unit 12 acquires the image of the host vehicle image 60 from the memory. The overhead image P is also an overhead view showing the positional relationship between the host vehicle 6 and the surroundings of the host vehicle, as seen from a virtual viewpoint above the host vehicle 6.

[0025] As shown in FIG. 6, the overhead image P is displayed in a portion of the display screen 4a. A navigation screen or the like may be displayed in the area of ​​the display screen 4a other than the overhead image P. The position at which the overhead image P is displayed on the display screen 4a may be arbitrary. The image size of the overhead image P is set to a fixed value. The image size of the overhead image P is defined by a width L1 and a height L2. The width L1 and height L2 of the overhead image P are set to fixed values.

[0026] Here, the first overhead image P1 and the second overhead image P2 included in the overhead image P will be explained mainly with reference to FIGS. 3, 4, and 5. FIG. 1 will also be referenced as appropriate. The image generation unit 12 switches the overhead image P to be displayed on the display 4 depending on whether the host vehicle 6 is in a non-towing state or a towing state. When the host vehicle 6 is in a non-towing state, the image generation unit 12 generates the first overhead image P1 (FIG. 3). When the host vehicle 6 is in a towing state, the image generation unit 12 generates the second overhead image P2, which displays a larger peripheral area E than the first overhead image P1 (FIG. 4). Then, the image generation unit 12 switches the overhead image P to be displayed on the display 4 to the second overhead image P2. The image sizes of the first overhead image P1 and the second overhead image P2 are set to be the same. The width L1a of the first overhead image P1 and the width L1b of the second overhead image P2 are the same value, and the height L2a of the first overhead image P1 and the height L2b of the second overhead image P2 are the same value.

[0027] The first overhead image P1 is an overhead view seen from a first virtual viewpoint above the host vehicle 6 (FIG. 3). The first overhead image P1 has the host vehicle image 60 at the center of the image.

[0028] The second overhead image P2 is an overhead view seen from a second virtual viewpoint higher than the first virtual viewpoint (FIG. 4). The surrounding area E displayed in the second overhead image P2 is larger than the surrounding area E displayed in the first overhead image P1. In other words, the surrounding area E included in the surrounding area E displayed in the second overhead image P2 is larger than the surrounding area E included in the surrounding area E displayed in the first overhead image P1.

[0029] In both the vertical and horizontal directions of the image, the peripheral area E displayed in the second overhead image P2 is larger than the peripheral area E displayed in the first overhead image P1. In particular, the peripheral area E displayed in the second overhead image P2 is larger in the horizontal direction.

[0030] The first overhead image P1 and the second overhead image P2 have the same image size, so the first overhead image is also an overhead view that is larger than the second overhead image.

[0031] The image generation unit 12 sets the surrounding area E displayed by the second overhead image P2 based on size information, which is information relating to the size of the towed object 7. The larger the size of the towed object 7, the larger the surrounding area E displayed by the second overhead image P2 is made by the image generation unit 12. Conversely, the smaller the size of the towed object 7, the smaller the surrounding area E displayed by the second overhead image P2 is made by the image generation unit 12.

[0032] The image generation unit 12 generates the second overhead image P2 so that the rear end of the towed object 7 fits within the second overhead image P2. The position of the rear end of the towed object 7 is calculated based on size information of the towed object 7. The image generation unit 12 sets the surrounding area E displayed by the second overhead image P2 so that the towed object 7 fits within the second overhead image P2 even when the steering wheel is turned.

[0033] The image generation unit 12 acquires information input by the user as size information. The image generation unit 12 causes the display 4 to display a message prompting the user to input size information. The size information is information relating to the size of the towed object 7, such as the overall length, overall width, and overall height of the towed object 7. The size information may also be the type of towed object 7. The image generation unit 12 may acquire the size information by image recognition using a peripheral image.

[0034] The image generation unit 12 sets the peripheral area E displayed by the second overhead image P2 based on an operation by the user. The image generation unit 12 causes the display 4 to display a screen for setting the size of the peripheral area E of the second overhead image P2. The image generation unit 12 displays, for example, a scroll bar as the setting screen. The image generation unit 12 sets the peripheral area E displayed by the second overhead image P2 based on the operation by the user at that time. In addition to the scroll bar, the image generation unit 12 may also display selection buttons such as large, medium, and small on the display 4.

[0035] When the host vehicle 6 is in a towing state, the image generation unit 12 displays the second overhead image P2. At this time, the image generation unit 12 first displays the first overhead image P1 on the display 4. Then, the image generation unit 12 may display an animation in which the image displayed on the display 4 gradually switches to the second overhead image P2. FIG. 5 is a diagram showing the host vehicle 6 in a towing state. For example, the image generation unit 12 may display an animation in which the image gradually switches from the first overhead image P1 shown in FIG. 5 to the second overhead image P2 shown in FIG. 4 on the display 4.

[0036] The image generation unit 12 performs a change process to change the surrounding area E displayed by the second overhead image P2 depending on whether the shift lever provided on the vehicle 6 is set to a forward position or a reverse position.

[0037] When the shift lever is set to the forward position, the image generator 12 sets the surrounding area Ea to be displayed in the second overhead image P2a to be closer to the front of the vehicle 6 (solid line in FIG. 7). On the other hand, when the shift lever is set to the reverse position, the image generator 12 sets the surrounding area Eb to be displayed in the second overhead image P2b to be closer to the rear of the vehicle 6 (dashed line in FIG. 7).

[0038] The surrounding area Ea displayed by the second overhead image P2a includes a larger area in front of the host vehicle 6 than the surrounding area Eb displayed by the second overhead image P2b. Therefore, the second overhead image P2a is an image that makes it easier to check the area in front of the host vehicle 6 than the second overhead image P2b. The surrounding area Ea displayed by the second overhead image P2b includes a larger area behind the host vehicle 6 than the surrounding area Eb displayed by the second overhead image P2a. Therefore, the second overhead image P2b is an image that makes it easier to check the area around the towed object 7 than the second overhead image P2a.

[0039] The image generation unit 12 sets whether or not to perform the change processing based on an operation by the user. The image generation unit 12 displays a screen for setting the change processing on the display 4. The image generation unit 12 displays, for example, a button for selecting whether or not to perform the change processing. Based on the operation by the user at that time, the image generation unit 12 sets whether or not to perform the change processing.

[0040] The image generation unit 12 changes the surrounding area E displayed by the second overhead image P2 in accordance with the steering angle of the vehicle 6. The image generation unit 12 changes the surrounding area E displayed by the second overhead image P2 so as to include more of the area in the direction in which the vehicle 6 is turning.

[0041] When the steering angle of the host vehicle 6 is 0 degrees, the image generator 12 sets the surrounding area Ec so that the surrounding area Ea displayed in the second overhead image P2a includes the areas on both the left and right of the host vehicle 6 to the same extent (solid line in FIG. 8). In contrast, when the steering angle of the host vehicle 6 is equal to or greater than a predetermined value and the host vehicle 6 is turning left, the image generator 12 changes the surrounding area Ed so that the surrounding area Ec displayed in the second overhead image P2a includes more of the area on the left side of the host vehicle 6 (dashed line in FIG. 8).

[0042] The periphery monitoring ECU 1 corresponds to a parking assistance ECU that assists or automatically executes driving control for parking. The periphery monitoring ECU 1 is not limited to a parking assistance ECU, but may also be an automatic driving ECU having an automatic driving function.

[0043] <Display process flowchart> The periphery monitoring ECU 1 starts when the ignition switch of the host vehicle 6 is turned on, and ends the processing when the ignition switch is turned off. The display processing shown in Fig. 9 starts when the display timing occurs while the periphery monitoring ECU 1 is running. The execution of the processing from S10 to S16 by the processor 13 corresponds to the execution of the display method.

[0044] In S10, the image generation unit 12 acquires peripheral images from the multiple cameras 21 to 24. In S11, the state determination unit 11 determines whether or not the vehicle is in a towing state. If the result in S11 is No, the process proceeds to S12.

[0045] In S12, image generation unit 12 generates a first overhead image P1. In S13, image generation unit 12 transmits the first overhead image P1 as image data to display 4. Image generation unit 12 controls display 4 to display first overhead image P1. Display 4 displays first overhead image P1.

[0046] If the answer is Yes in S11, the process proceeds to S14. If the change process is set to ON, in S14 the state determination unit 11 determines whether the shift lever is set to the forward position or the reverse position based on the signal from the shift position sensor 3. The state determination unit 11 determines the steering angle of the host vehicle 6 based on the signal from the steering angle sensor 5.

[0047] In S15, image generation unit 12 generates second overhead image P2. At this time, if size information has been acquired in advance, image generation unit 12 sets the surrounding area E to be displayed in second overhead image P2 based on the size information. Image generation unit 12 also performs a change process to change the surrounding area E to be displayed in second overhead image P2 depending on whether the shift lever is set to the forward position or the reverse position.

[0048] Furthermore, the image generator 12 changes the surrounding area E displayed by the second overhead image P2 in accordance with the steering angle of the vehicle 6. In this manner, the surrounding area E is determined, and the second overhead image P2 is generated.

[0049] In S16, the image generation unit 12 transmits image data including the second overhead image P2 to the display 4. The image generation unit 12 controls the display 4 to display the second overhead image P2. The display 4 displays the second overhead image P2.

[0050] If the change process is set to OFF, the process of determining the state of the shift lever may be omitted in S14. Similarly, the change process may be omitted in S15.

[0051] <Summary of the embodiment> According to this embodiment, when the host vehicle 6 is in a towing state, the image switches to the second overhead image P2, which displays a larger area around the host vehicle than the first overhead image P1. This makes it easier for the user to check the situation around the host vehicle when the vehicle is not being towed, and makes it easier for the user to check the situation around the host vehicle 6 and the towed object 7 when the vehicle is being towed. Therefore, the user can easily check the situation around the host vehicle in both the towing state and the non-towing state.

[0052] The image generation unit 12 sets the surrounding area E displayed in the second overhead image P2 based on size information, which is information about the size of the towed object 7. As a result, the surrounding area E displayed in the second overhead image P2 becomes an appropriate range based on the size of the towed object 7. This improves visibility for the user.

[0053] The image generation unit 12 acquires information input by the user as size information. The surrounding area E displayed in the second overhead image P2 is an appropriate range based on the size of the towed object 7. This improves visibility for the user.

[0054] The image generator 12 sets the surrounding area E displayed in the second overhead image P2 based on an operation by the user, which allows the surrounding area E displayed in the second overhead image P2 to be set according to the user's preferences.

[0055] The image generator 12 performs a change process to change the surrounding area E displayed in the second overhead image P2 depending on whether the shift lever provided on the vehicle 6 is set to a forward position or a reverse position. This allows the optimal surrounding area E to be displayed in each of the forward and reverse positions. As a result, visibility for the user is improved.

[0056] The image generating unit 12 determines whether to perform the change process based on the operation by the user, which allows the user to set whether to perform the change process according to their preference.

[0057] The image generator 12 changes the surrounding area E displayed by the second overhead image P2 in accordance with the steering angle of the vehicle 6. The surrounding area E is enlarged in the direction that needs to be confirmed, improving visibility for the user.

[0058] <Modification> Although the first overhead image P1 and the second overhead image P2 are configured to be overhead views seen from different virtual viewpoints, this is not limiting. Fig. 10 shows the first overhead image P1 (solid line) and the second overhead image P2 (dashed line) displayed on the display screen 4a. The first overhead image P1 and the second overhead image P2 are created as overhead views seen from the same virtual viewpoint.

[0059] In the above-described embodiment, the image size of the overhead image P was the same when the host vehicle 6 was in a towing state and when it was being towed. In this modified example, the image size of the overhead image P is changed when the host vehicle 6 was in a towing state and when it was being towed. The image size of the first overhead image P1 is smaller than the image size of the second overhead image P2. As a result, the proportion of the display screen 4a that the overhead image P occupies differs when the host vehicle 6 was in a towing state and when it was being towed. The width L1a of the first overhead image P1 is smaller than the width L1b of the second overhead image P2. The height L2a of the first overhead image P1 is smaller than the height L2b of the second overhead image P2.

[0060] Although the image generation unit 12 is configured to change the surrounding area E displayed in the second overhead image P2 in accordance with the steering angle of the host vehicle 6, the present invention is not limited to this. The image generation unit 12 may be configured not to change the surrounding area E displayed in the second overhead image P2 in accordance with the steering angle of the host vehicle 6.

[0061] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be written in a multiple dependent form, with the subsequent clause referring to the preceding clause as an alternative. Furthermore, some clauses may be written in a multiple dependent form, referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas. (Technical thought 1) a state determination unit (11) that determines whether the host vehicle (6) is in a towing state in which the host vehicle (6) is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and the surroundings of the host vehicle from surrounding images captured by a plurality of cameras (21 to 24) that capture the surroundings of the host vehicle, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is displayed on the display unit; When the vehicle is in the towing state, the control device switches the display unit to display a second overhead image (P2) in which a surrounding area (E) that is the area around the vehicle displayed is larger than the first overhead image. (Technical thought 2) The control device according to Technical Idea 1, wherein the image generation unit sets the surrounding area displayed by the second overhead image based on size information that is information about the size of the towed object. (Technical Thought 3) The control device according to Technical Idea 2, wherein the image generation unit acquires information input by a user as the size information. (Technical Thought 4) The control device according to any one of Technical Ideas 1 to 3, wherein the image generation unit sets the peripheral area displayed by the second overhead image based on an operation by a user. (Technical Thought 5) The control device described in any one of Technical Ideas 1 to 4, wherein the image generation unit performs a change process to change the surrounding area displayed by the second overhead image depending on whether the shift lever provided on the vehicle is set to a forward position or a reverse position. (Technical Thought 6) The control device according to Technical Idea 5, wherein the image generation unit determines whether to perform the change process based on an operation by a user. (Technical Thought 7) The control device according to any one of Technical Ideas 1 to 6, wherein the image generation unit changes the surrounding area displayed by the second overhead image in accordance with a steering angle of the host vehicle. (Technical Thought 8) A display system for use in a vehicle (6), The vehicle is equipped with a plurality of cameras (21-24) for photographing the surroundings of the vehicle and a control device (1), The control device a state determination unit (11) for determining whether the vehicle is in a towing state in which the vehicle is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and the surroundings of the host vehicle from the surrounding images captured by the plurality of cameras, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is displayed on the display unit; When the vehicle is in the towing state, the display system switches to display a second overhead image (P2) on the display unit, which has a larger surrounding area (E) around the vehicle than the first overhead image. (Technical Thought 9) A display method used in a vehicle (6), A plurality of cameras (21 to 24) for photographing the surroundings of the vehicle acquire surrounding images photographed around the vehicle (S10), It is determined whether the vehicle is in a towing state in which it is towing a towed object (7) (S11), When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is generated from the surrounding image, which is an overhead image (P) of the host vehicle and the surroundings of the host vehicle viewed from above (S12); The first overhead image (P1) is displayed on the display unit (4) (S13), When the host vehicle is in the towing state, a second bird's-eye view image (P2) is generated as the bird's-eye view image (P), in which a surrounding area (E) that is a region around the host vehicle displayed is larger than that of the first bird's-eye view image (S15); The second overhead image (P2) is displayed on the display unit (S16), A display method including the steps of: [Explanation of symbols]

[0062] 1 Periphery monitoring ECU (control device), 11 Status determination unit, 12 Image generation unit, 13 Processor, 21, 22, 23, 24 Camera, 4 Display (display unit), 6 Vehicle, 7 Towed object, E Surrounding area, P Bird's-eye view image, P1 First bird's-eye view image, P2 Second bird's-eye view image.

Claims

1. a state determination unit (11) that determines whether the vehicle (6) is in a towing state in which the vehicle (6) is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and the surroundings of the host vehicle from surrounding images captured by a plurality of cameras (21 to 24) that capture the surroundings of the host vehicle, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is displayed on the display unit; When the vehicle is in the towing state, the control device switches the display unit to display a second overhead image (P2) in which a surrounding area (E) that is the area around the vehicle that is displayed is larger than the first overhead image.

2. The control device according to claim 1 , wherein the image generation unit sets the surrounding area displayed by the second overhead image based on size information that is information about the size of the towed object.

3. The control device according to claim 2 , wherein the image generating unit acquires information input by a user as the size information.

4. The control device according to claim 1 , wherein the image generation unit sets the surrounding area displayed by the second overhead image based on an operation by a user.

5. 4. The control device according to claim 1, wherein the image generation unit performs a change process to change the surrounding area displayed by the second overhead image depending on whether a shift lever provided on the vehicle is set to a forward position or a reverse position.

6. The control device according to claim 5 , wherein the image generation unit determines whether to perform the change process based on an operation by a user.

7. The control device according to claim 1 , wherein the image generation unit changes the surrounding area displayed by the second overhead image in accordance with a steering angle of the host vehicle.

8. A display system for use in a vehicle (6), comprising: The vehicle is equipped with a plurality of cameras (21 to 24) for photographing the surroundings of the vehicle and a control device (1), The control device a state determination unit (11) for determining whether the vehicle is in a towing state in which the vehicle is towing a towed object (7); an image generating unit (12) that generates an overhead image (P) of the host vehicle and the surroundings of the host vehicle from the surrounding images captured by the plurality of cameras, and displays the overhead image on a display unit (4); The image generation unit When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is displayed on the display unit; When the vehicle is in the towing state, the display system switches to display a second overhead image (P2) on the display unit, which has a larger peripheral area (E) around the vehicle than the first overhead image.

9. A display method used in a vehicle (6), comprising: A plurality of cameras (21 to 24) for photographing the surroundings of the vehicle acquire surrounding images photographed around the vehicle (S10); It is determined whether the vehicle is in a towing state in which it is towing a towed object (7) (S11), When the host vehicle is not in the towing state but in a non-towing state, a first overhead image (P1) is generated from the peripheral image, which is an overhead image (P) of the host vehicle and the surroundings of the host vehicle viewed from above (S12); The first overhead image (P1) is displayed on the display unit (4) (S13), When the host vehicle is in the towing state, a second bird's-eye view image (P2) is generated as the bird's-eye view image (P), in which a surrounding area (E) that is a region around the host vehicle displayed is larger than that of the first bird's-eye view image (S15). The second overhead image (P2) is displayed on the display unit (S16). A display method including the steps of:

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