Control device, control method, and control program

Abstract

A control device, a control method, and a control program are provided that can easily grasp the travel route of a moving body or a trailer. [Solution] The vehicle includes an external environment information acquisition unit (55) that acquires external environment information about a vehicle (10) towing a trailer (60), and a display control unit (56) that displays a peripheral image (5) of the vehicle (10) based on the external environment information. The display control unit (56) superimposes a guide image on the peripheral image (5) when the vehicle (10) is able to make a first movement. The guide image includes a first guide image (71) that shows a first movement path (73a, 73b) for at least one of the vehicle (10) and the trailer (60) when the vehicle (10) makes a first movement from its current position, and second guide images (72a, 72b) that show a second movement path (74) for at least one of the vehicle (10) and the trailer (60) when the vehicle (10) makes a second movement from a position on the first movement path (73a, 73b) where the relative angle between the vehicle (10) and the trailer (60) is 0 degrees.

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Conventionally, there is known a technique for superimposing guide lines indicating a predicted vehicle travel area based on the vehicle travel state on a vehicle surroundings image while the vehicle is traveling / turning. For example, Patent Document 1 describes a parking assistance device that includes: a route acquisition unit that, when a target parking position for a towed vehicle is set, acquires a guide route that extends from the target parking position as a starting point for guiding the towed vehicle to the target parking position; and a display processing unit that, when the guide route is acquired, displays the guide route superimposed on a surroundings image, in which the target parking positions include a pair of target positions corresponding to the width of the towed vehicle, and the display processing unit displays the guide route that extends from at least one of the pair of target positions that is located on the inner side of the turning of the towed vehicle, superimposed on the surroundings image.

[0004] Patent document 2 also describes a vehicle that includes a control module that displays on a display the area behind the vehicle, a general-purpose steering guide line, and a trailer hitching steering guide line during a vehicle reversing event, the general-purpose steering guide line starting from an upright side, indicating the projected trajectory of the vehicle, and having a reach that is maintained regardless of changing steering angles, and the trailer hitching steering guide line starting from a hitch point, indicating the projected path of the hitch point, and having a reach that is adjusted based on changing steering angles. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-069717 [Patent Document 2] Patent No. 6823097 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when a vehicle is towing a trailer and a vehicle guide image and a trailer guide image are displayed, the guide images become complicated and may be difficult for the user to understand. For example, it is often difficult to understand the guide image when the vehicle switches its traveling direction between backward and forward while towing a trailer. However, Patent Documents 1 and 2 do not describe the recognizability of the guide image when the vehicle switches its traveling direction. Therefore, there is room for improvement in the way the guide image is displayed on the towing vehicle.

[0007] The present invention aims to provide a control device, a control method, and a control program that can easily grasp the travel path of a moving object or trailer, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0008] The present invention provides an external environment information acquisition unit that acquires external environment information of a mobile body that is capable of first and second movement and towing a trailer; a display control unit that displays a peripheral image of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; and a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle. It is a control device.

[0009] The present invention provides A control method by a control device that acquires external environment information of a moving body capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; and a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle. It is a control method.

[0010] The present invention provides A control program for a control device that acquires external environment information of a moving body capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; and a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle. It is a control program. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that can easily grasp the travel path of a moving object or a trailer. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of the vehicle shown in FIG. 1. FIG. [Figure 4] 10 is a diagram showing an example of a first guide image and a second guide image displayed on a surrounding image of a vehicle 10. FIG. [Figure 5] FIG. 10 is a diagram showing an example of a peripheral image 5 displayed when the gear position of the vehicle 10 is in drive. [Figure 6] 10 is a diagram showing a first example of an image of the surrounding area of ​​a vehicle 10a displayed on a surrounding image 5. FIG. [Figure 7] 10 is a diagram showing a second example of an image of the surrounding area of ​​the vehicle 10a displayed on the surrounding image 5. FIG. [Figure 8] 10 is a diagram showing a first modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. FIG. [Figure 9] 10 is a diagram showing a second modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. FIG. [Figure 10] 10 is a diagram showing a third modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. FIG. [Figure 11]FIG. 10 is a diagram showing an example of a guide image displayed on a rear image. [Figure 12] 10A and 10B are diagrams showing examples of a first guide image and a second guide image displayed on a peripheral image when the vehicle 10 is moving forward. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0014] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view showing an example of a vehicle equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle shown in Fig. 1. Vehicle 10 is an example of the "mobile body" of the present invention.

[0015] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The vehicle 10 is also an automobile capable of towing, for example, a trailer. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, i.e., a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of the front wheels may be steerable wheels.

[0016] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around this rotation shaft.

[0017] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

[0018] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0019] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the outside world of the vehicle 10 to obtain images of the outside world for recognizing the vehicle 10 and its surroundings. The images of the area around the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0021] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0022] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0023] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, i.e., the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission. Note that the sensor group 16 may also include, for example, a target detection sensor capable of detecting targets around the vehicle 10. Targets include trailers connected to (towed by) the vehicle 10, other vehicles around the vehicle, and the like. The target detection sensor includes, for example, radar, lidar (light detection and ranging or laser imaging detection and ranging), sonar, a yaw rate sensor, a magnetic sensor, and a steering angle sensor.

[0024] The operation detection unit 38 detects the operation content performed by the user using the operation input unit 14, and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (selector lever or selector).

[0025] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0026] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to movement assistance for the vehicle 10 via the touch panel 42. Movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include an automatic parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking via a user's operation. The exit assistance buttons include an automatic exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving via a user's operation. Furthermore, for example, an overhead image generated by combining images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is displayed on the touch panel 42. Note that a component other than the touch panel 42, for example, an information terminal such as a smartphone or tablet, may be used as the input device or the display device.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the memory unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" in the present invention.

[0029] The calculation unit 52 includes an outside world information acquisition unit 55 and a display control unit 56 .

[0030] The external environment information acquisition unit 55 acquires external environment images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R from each camera. The external environment information acquisition unit 55 acquires external environment information of the vehicle 10 towing the trailer based on the external environment images acquired from each camera.

[0031] The display control unit 56 displays a peripheral image of the vehicle 10 based on the external environment information acquired by the external environment information acquisition unit 55. The "periphery image" may be an overhead image, a rear image (rear image), left and right side images (side images), etc. The peripheral image may include not only an image of the surroundings but also an image of the vehicle 10 (for example, an image of the vehicle 10 in an overhead image). The peripheral image may also be generated by combining multiple pieces of external environment information.

[0032] The vehicle 10 can perform, for example, first and second travel while towing a trailer. "First travel" refers to travel with the transmission mode in reverse, i.e., "backing up." "Second travel" refers to travel with the transmission mode in drive, i.e., "forward." The second travel is travel in the opposite direction of wheel rotation to the first travel. When the vehicle 10 is in a state where the first travel is possible, the display control unit 56 displays a guide image superimposed on an image of the surroundings of the vehicle 10. "A state where the vehicle 10 is in the first travel" refers to a state where the gear position (transmission mode) is in reverse. Note that the state where the vehicle 10 is in the first travel may also be when the vehicle 10 is traveling in reverse.

[0033] The guide image superimposed on the peripheral image includes a first guide image showing a first travel route of at least one of the vehicle 10 and the trailer towed by the vehicle 10 when the vehicle 10 makes a first travel from its current position, and a second guide image showing a second travel route of at least one of the vehicle 10 and the trailer towed by the vehicle 10 when the vehicle 10 makes a second travel from a position on the first travel route where the relative angle between the vehicle 10 and the trailer towed by the vehicle 10 is a predetermined angle.

[0034] The "first travel path" is a path calculated from the current position and orientation of the vehicle 10, the trailer hitch angle, trailer specification information (shape (including size), wheel position, etc.), and the first travel direction. The first travel direction is the direction in which the vehicle 10 towing the trailer is to reverse, and is a direction that the user can select from, for example, a range of -30 degrees to +30 degrees. The "relative angle" is the trailer hitch angle. The "predetermined angle" is, for example, 0 degrees. The predetermined angle may be an angle in a range close to 0 degrees (for example, -5 degrees to +5 degrees). "When the vehicle 10 performs the second travel" refers, for example, to a case in which the vehicle 10 moves forward (i.e., moves straight) with the relative angle remaining at the predetermined angle, that is, with the steering angle at approximately 0 degrees.

[0035] The display control unit 56 displays the first guide image and the second guide image superimposed on the peripheral image so that they do not overlap each other. "So that they do not overlap each other" means, for example, that there is no area in which both the first guide image and the second guide image are visible. For example, if the second guide image is superimposed on the first guide image and a transmittance higher than 0 is set for the second guide image, both the first guide image and the second guide image are visible, and therefore the first guide image and the second guide image are overlapping each other. Furthermore, the display control unit 56 displays the first guide image and the second guide image superimposed on the peripheral image in different display modes. The "display mode" refers to, for example, the shape of the guide image (two lines, solid color), color, line type, transparency, and combinations thereof.

[0036] The display control unit 56 displays a bird's-eye view image in a state where the first movement of the vehicle 10 is possible, with a wider area on the side of the first movement direction as seen from the vehicle 10, than a bird's-eye view image in a state where the second movement of the vehicle 10 is possible. For example, when the vehicle 10 is about to move backward, the display control unit 56 generates a bird's-eye view image in which a wider area on the side of the backward movement direction as seen from the vehicle 10 is displayed. Furthermore, when the vehicle 10 is about to move forward, the display control unit 56 generates a bird's-eye view image in which a wider area on the side of the forward movement direction as seen from the vehicle 10 is displayed.

[0037] The display control unit 56 displays an overhead image including a first range indicating a first peripheral area of ​​the vehicle 10, which is generated based on external environment information of the vehicle 10, and a second range indicating a second peripheral area of ​​the vehicle 10, which is generated based on peripheral information of the vehicle 10 different from the external environment information of the vehicle 10 and includes an area farther from the vehicle 10 than the first peripheral area. The "peripheral information" is, for example, map information stored in a map information database of the navigation device 18. The "first peripheral area" and the "second peripheral area" refer to real spatial areas. The "first range" and the "second range" refer to areas within the image.

[0038] When the display control unit 56 is unable to acquire information about the surroundings of the vehicle 10, the display control unit 56 displays an image stored in advance in the storage unit 54 as a second range indicating a second surrounding area of ​​the vehicle 10 in the overhead image. The "pre-stored image" is, for example, a mask image that has been created in advance.

[0039] The display control unit 56 displays the first guide image and the second guide image superimposed on the first range and the second range. The display control unit 56 not only displays the first guide image and the second guide image superimposed on the first range generated based on external world information, but also displays the first guide image and the second guide image superimposed on the second range that is wider than the first range.

[0040] The calculation unit 52 also performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the calculation unit 52. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. The calculation unit 52 also performs auxiliary parking assistance and auxiliary leaving assistance when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10. During the automatic parking assistance and automatic leaving assistance, the user may be inside the vehicle 10 or may be outside the vehicle 10 after getting out of the vehicle 10.

[0041] For example, the calculation unit 52 performs movement control to move the vehicle 10 based on external images of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R and a parking space designated by the user. The movement control includes parking control to automatically park the vehicle 10 in a predetermined parking space (target parking position) and exit control to automatically exit the vehicle 10 from the predetermined parking space to a target movement position. The calculation unit 52 can execute the parking control and the exit control in accordance with instruction signals input from the outside via the input / output unit 50. The input from the outside includes input via wireless communication from an information terminal or the like portable by the user of the vehicle 10. The calculation unit 52 can also transmit information related to the parking control and the exit control to an external information terminal via the input / output unit 50.

[0042] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0043] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0044] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablet terminals that can be carried by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface for performing UWB communication with the information terminal.

[0045] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0046] The braking force control system 28 is provided in the braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0047] <Example of guide image display> Fig. 4 is a diagram showing an example of a first guide image and a second guide image displayed on the peripheral image of the vehicle 10. As shown in Fig. 4, the peripheral image 5 in this example is an image displayed as an overhead image. The peripheral image 5 is displayed on the touch panel 42 of the navigation device 18, for example.

[0048] The peripheral image 5 in this example is an image that is displayed when the gear position of the vehicle 10 is put into reverse. The peripheral image 5 displays the vehicle 10 towing a trailer. However, the vehicle displayed in the peripheral image 5 is an "image of the vehicle 10" created by the display control unit 56. In the following explanation, the "image of the vehicle 10" will be simply referred to as the vehicle 10a. Furthermore, the trailer displayed in the peripheral image 5 is also an "image of the trailer" created by the display control unit 56. In the following explanation, the "image of the trailer" will be simply referred to as the trailer 60. Furthermore, a slide bar 81 is displayed in the peripheral image 5 to indicate the direction in which the vehicle 10a towing the trailer 60 will reverse.

[0049] By sliding the slide bar 81 in the direction of the left arrow 82a or the direction of the right arrow 82b, the user can specify the direction in which the vehicle 10a towing the trailer 60 should reverse, for example, in the range of -30 degrees to +30 degrees. In this example, the slide bar 81 is slid to +30 degrees in the direction of the right arrow 82b to reverse the vehicle 10a towing the trailer 60 30 degrees to the right. The "right" in the 30 degrees to the right direction refers to the right direction when the driver of the vehicle 10a is riding in the vehicle and looking ahead, for example. The trailer 60 is connected to the vehicle 10a via a hitch ball 61.

[0050] The vehicle 10a calculates a path (first traveling path 73a) along which it will move backward while steering to face the instructed direction (30 degrees to the right) in response to the movement of the slide bar 81. The vehicle 10a further calculates a path (first traveling path 73b) along which it will move backward straight while maintaining a relative angle of 0 degrees between the vehicle 10a and the trailer 60 being towed by the vehicle 10a (hitch angle 0 degrees). The first traveling path 73a and the first traveling path 73b are paths along which at least one of the vehicle 10a and the trailer 60 being towed by the vehicle 10a will travel.

[0051] The first traveling path 73a is a traveling path during the period when the steering wheel 110 of the vehicle 10a is turned, and is therefore calculated as a path with a wider area than the first traveling path 73b along which the vehicle 10a moves back straight. The first traveling path 73b is an extension path that continues from the first traveling path 73a, and is calculated as a path that the vehicle 10a and the trailer 60 would take if they were to move back while the hitch angle between the vehicle 10a and the trailer 60 remains at 0 degrees. In this example, the first traveling path 73a is a path of an area calculated when the instructed direction is 30 degrees to the right. The first traveling path 73a is calculated as a path of an area corresponding to the instructed direction (the slide position of the slide bar 81). For example, when the instructed direction is ±0 degrees, the first traveling path 73a, together with the first traveling path 73b, is calculated as a traveling path that extends straight backward of the vehicle 10a and the trailer 60.

[0052] The vehicle 10a displays a first guide image 71 showing the calculated first travel route 73a and first travel route 73b, superimposed on the peripheral image 5. In this example, the first guide image 71 is displayed as an image in which the first travel route 73a and first travel route 73b are filled in with a predetermined color.

[0053] Furthermore, the vehicle 10a calculates a route (second travel route 74) that the vehicle 10a will take if it moves forward (straight) from a position where the hitch angle between the vehicle 10a and the trailer 60 being towed by the vehicle 10a is 0 degrees, i.e., a position where the vehicle 10a has retreated to the first travel route 73b. The second travel route 74 is a route that at least one of the vehicle 10a and the trailer 60 being towed by the vehicle 10a will take. The second travel route 74 is calculated as a straight route that extends along the first travel route 73b.

[0054] The vehicle 10a displays second guide images 72a and 72b indicating the calculated second travel path 74, superimposed on the peripheral image 5. In this example, the second guide images 72a and 72b are displayed as images of two dashed lines along both sides of the second travel path 74. The second guide images 72a and 72b are displayed along both sides of the second travel path 74, and are also displayed along both sides of the first travel path 73b. The second guide images 72a and 72b are images indicating the travel paths of the vehicle 10a and the trailer 60 towed by the vehicle 10a when the hitch angle is 0 degrees, and are therefore displayed as two dashed lines that are approximately parallel to each other.

[0055] The user operates the slide bar 81 to indicate the direction in which the vehicle 10a should reverse, and then steps on the accelerator pedal of the vehicle 10a, whereby the vehicle 10a towing the trailer 60 can be automatically steered to reverse along the first guide image 71 while viewing the peripheral image 5 displaying the first guide image 71 and the second guide images 72a and 72b.

[0056] The first guide image 71 and the second guide images 72a, 72b are displayed so that they do not overlap. For example, the first guide image 71 and the second guide images 72a, 72b are displayed with the second guide images 72a, 72b displayed on top of the first guide image 71, and the transparency of the second guide images 72a, 72b is zero. Also, in this example, the vehicle 10a towing the trailer 60 is in a state of reversing, so the area on the reversing direction side as viewed from the vehicle 10a is displayed wider than the area on the forward direction side in the overhead view image.

[0057] FIG. 5 is a diagram showing an example of a peripheral image 5 that is displayed when the gear position of the vehicle 10 is in drive. The peripheral image 5 is displayed, for example, as a bird's-eye view image. The peripheral image 5 displays the vehicle 10a towing the trailer 60 via a hitch ball 61. When the gear position is drive, the peripheral image 5 does not display a guide image that indicates the travel path of the vehicle 10a and the trailer 60. Furthermore, when the gear position is drive, the peripheral image 5 does not display a slide bar 81 that indicates the reverse direction of the vehicle 10a towing the trailer 60. Furthermore, since the vehicle 10a towing the trailer 60 is moving forward in this example, the bird's-eye view image displays a larger area on the forward direction side than on the reverse direction side when viewed from the vehicle 10a.

[0058] <Image of the area around the vehicle> Fig. 6 is a diagram showing a first example of an image of the surrounding area of ​​the vehicle 10a displayed in the surrounding image 5. As shown in Fig. 6, the surrounding image 5 displays the vehicle 10a towing the trailer 60, a first guide image 71 showing first travel paths 73a and 73b of the vehicle 10a towing the trailer 60, second guide images 72a and 72b showing a second travel path 74 of the vehicle 10a towing the trailer 60, a slide bar 81, and the like. This is similar to the images that are displayed when the gear position is in reverse, as described in Fig. 4.

[0059] The range in which the peripheral image 5 is displayed includes a first range 5a indicating a first peripheral area of ​​the vehicle 10a and a second range 5b indicating a second peripheral area of ​​the vehicle 10a that includes an area farther from the vehicle 10a than the first peripheral area. In Fig. 6, a boundary 5c is displayed between the first range 5a and the second range 5b for ease of recognition.

[0060] The image displayed in the first range 5a is an image generated based on external environment information of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R. The image displayed in the second range 5b is an image generated based on, for example, map information (peripheral information) of the vehicle 10a stored in the navigation device 18. The peripheral image 5 includes images generated based on external environment information and displayed in the first range 5a, as well as images generated based on map information and displayed in the second range 5b outside the first range 5a. The first guide image 71 and second guide images 72a, 72b are displayed superimposed on the first range 5a and the second range 5b.

[0061] FIG. 7 is a diagram showing a second example of an image of the surrounding area of ​​the vehicle 10a displayed in the surrounding image 5. In the first example of FIG. 6 described above, if there is no map information to display in the second area 5b, a predetermined image prepared in advance in the storage unit 54 may be displayed in the second area 5b. For example, as shown in FIG. 7, a "mask image" may be displayed in the second area 5b. In this case as well, the first guide image 71 and second guide images 72a and 72b are displayed superimposed on the first area 5a and the second area 5b.

[0062] <Modifications of guide images> FIG. 8 is a diagram showing a first modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. As shown in FIG.

[0063] As shown in Figure 8, the first guide image 71 showing the first travel path 73a and the first travel path 73b is displayed as a filled-in image superimposed on the peripheral image 5, which is similar to the display example of the first guide image described in Figure 4.

[0064] On the other hand, with regard to the display of the second guide images 72a and 72b, in the case of this first modified example, the second guide images 72a and 72b are displayed only along both sides of the second travel path 74. This differs from the display example of Fig. 4, in which the second guide images 72a and 72b are displayed along both sides of the second travel path 74, as well as along both sides of the first travel path 73b.

[0065] 8, the first guide image 71 is displayed as a solid image, and the second guide images 72a and 72b are displayed as dashed line images, but this is not limiting. For example, the first guide image 71 may be displayed as a dashed line image, and the second guide images 72a and 72b may be displayed as solid images.

[0066] FIG. 9 is a diagram showing a second modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. In FIG.

[0067] In the second variant, the second guide images 72a, 72b indicating the second travel path 74 are superimposed on the peripheral image 5 as images of two dashed lines along both sides of the second travel path 74, which is similar to the display example of the second guide image described in Figure 4.

[0068] On the other hand, in the second modified example, the first guide image 71 is displayed as an image of two solid lines along both sides of the first travel path 73a and the first travel path 73b. This differs from the display example of Fig. 4, in which the first guide image 71 is displayed as a solid image indicating the first travel path 73a and the first travel path 73b.

[0069] FIG. 10 is a diagram showing a third modified example of the first guide image and the second guide image displayed on the surroundings image of the vehicle 10. In FIG.

[0070] In the third variant, the first guide image 71 showing the first travel path 73a and the first travel path 73b is displayed as a filled-in image superimposed on the peripheral image 5, which is the same as the display example of the first guide image described in Figure 4.

[0071] On the other hand, with regard to the display of the second guide image 72 indicating the second travel path 74, in the third modified example, the second guide image 72 indicating the second travel path 74 is displayed only on the second travel side of the first guide image 71, and the second guide image 72 is displayed as a filled-in image. This differs from the display example of Fig. 4 in which the second guide images 72a, 72b are displayed along both sides of the second travel path 74 and also along both sides of the first travel path 73b, and the second guide images 72a, 72b are displayed as images of two broken lines.

[0072] <Guide image in rear view> FIG. 11 is a diagram showing an example of a guide image displayed on a rear image. The peripheral image 5 in this example is an image that displays external information about the vehicle 10 as a rear image, and is displayed, for example, when the user selects "rear image display" by switching the display image. The gear position of the vehicle 10 is switched to reverse. Also, the slide bar 81, which indicates the direction of reversal of the vehicle 10a towing the trailer 60, has been slid +30 degrees in the direction of the right arrow 82b. In other words, the peripheral image 5 in this example is the rear image that is displayed when "rear image display" is selected by switching the display image in the peripheral image 5 (bird's-eye view image) described in FIG. 4.

[0073] 11, the peripheral image 5 displays a first guide image 71 in which the first travel routes 73a, 73b are displayed in solid form, and second guide images 72a, 72b in which the second travel route 74 is displayed as two dashed lines along both sides of the second travel route 74. Although not shown in the present example for ease of viewing, the trailer 60 towed by the vehicle 10a also appears in the peripheral image 5.

[0074] In the above description, the overhead image of Fig. 4 and the rear image of Fig. 11 have been described as examples of the peripheral image 5 displayed on the touch panel 42 of the navigation device 18, but the present invention is not limited to this. For example, both the overhead image and the rear image may be displayed on the touch panel 42. In this case, the overhead image and the rear image may be displayed side by side, or may be displayed by switching between them.

[0075] However, when a vehicle (towing vehicle) towing a trailer (towed vehicle) reverses while, for example, turning the steering wheel of the vehicle to change its direction of travel, it is necessary to turn the steering wheel in the opposite direction to the direction of travel immediately after reversing, which makes driving difficult. In addition, because the vehicle is towing a trailer, the range of movement when reversing while changing its direction of travel is wide (long). In addition, in order to understand the progress of the vehicle towing a trailer, it is also necessary to know in advance the forward path of the vehicle and trailer after reversing while changing its direction of travel.

[0076] Therefore, when the vehicle 10a towing the trailer 60 is in a reverse state allowing it to move backward, the control device (control ECU 20) in an embodiment of the present invention displays, superimposed on the peripheral image 5, a first guide image 71 showing first travel paths 73a, 73b of the vehicle 10a and the trailer 60 when the vehicle 10a moves backward from its current position, and second guide images 72a, 72b showing a second travel path 74 of the vehicle 10a and the trailer 60 when the vehicle 10a continues forward straight from a position on the first travel paths 73a, 73b where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees. With this configuration, the vehicle 10a towing the trailer 60 can be moved backward along the first guide image 71 while viewing the peripheral image 5 in which the first guide image 71 showing the first travel paths 73a, 73b and the second guide images 72a, 72b showing the second travel path 74 are displayed, so that the user can easily grasp the travel paths of the vehicle 10a and the trailer 60.

[0077] Furthermore, according to the control device, the first guide image 71 and the second guide images 72a, 72b are displayed so as not to overlap each other or in different display modes so as to be superimposed on the surrounding image 5. This makes it easier for the user to grasp the travel route of the vehicle 10a and the trailer 60.

[0078] Furthermore, according to the control device, when the vehicle 10a is in a state where it can move backward, the bird's-eye view image representing the surrounding image 5 becomes an image in which the area in the direction of backward movement as seen from the vehicle 10a is displayed widely. With this configuration, when the vehicle 10a towing the trailer 60 moves backward, the moving positions of the vehicle 10a and the trailer 60 can be easily grasped on the first travel routes 73a, 73b of the first guide image 71 which are displayed widely.

[0079] Furthermore, according to the control device, the overhead image representing the peripheral image 5 is generated from an image of a first range 5a that indicates a first peripheral area of ​​the vehicle 10a, which is generated based on the captured image (external world information), and an image of a second range 5b that indicates a second peripheral area of ​​the vehicle 10a that includes an area farther from the vehicle 10a than the first peripheral area, which is generated based on map information (periphery information). With this configuration, the overhead image can be displayed over a wide area, making it easier for the user to grasp the traveling route of the vehicle 10a and the trailer 60.

[0080] Furthermore, according to the control device, the first guide image 71 and the second guide images 72a, 72b are displayed superimposed on the first range 5a and the second range 5b. This allows the first guide image 71 and the second guide images 72a, 72b to be displayed in the second range 5b, which is wider than the first range 5a, making it even easier for the user to grasp the travel route of the vehicle 10a and the trailer 60.

[0081] <Displaying guide images when moving forward> 12 is a diagram showing an example of a first guide image and a second guide image displayed on the peripheral image when the vehicle 10 is moving forward. In the above-described embodiment, a guide image showing a route to be taken when the vehicle 10a towing the trailer 60 is moving backward from its current position and a guide image showing a route to be taken when moving forward from the position where it has moved backward are displayed. However, the present invention is not limited to this. For example, the guide images may be in a form that displays a guide image showing a route to be taken when the vehicle 10a towing the trailer 60 is moving forward from its current position and a guide image showing a route to be taken when it is moving backward from the position where it has moved forward.

[0082] The peripheral image 5 (bird's-eye view image) in this example is an image that is displayed when the gear position of the vehicle 10a is put into drive. The vehicle 10a calculates a path (first traveling path 73a) along which the vehicle 10a will move forward while steering to face the instructed direction (30 degrees to the right) in conjunction with the movement of the slide bar 81. The vehicle 10a further calculates a path (first traveling path 73b) along which the vehicle 10a will move forward straight while the relative angle between the vehicle 10a and the trailer 60 towed by the vehicle 10a remains 0 degrees (hitch angle 0 degrees). The first traveling path 73a and the first traveling path 73b are paths along which at least one of the vehicle 10a and the trailer 60 towed by the vehicle 10a will pass. The first traveling path 73a is a path along which the vehicle 10a will move forward straight, because it is a path along which the vehicle 10a will move forward while the steering wheel 110 of the vehicle 10a is turned.

[0083] The vehicle 10a displays a first guide image 71 showing the calculated first travel route 73a and first travel route 73b, superimposed on the peripheral image 5. In this example, the first guide image 71 is displayed as an image in which the first travel route 73a and first travel route 73b are filled in with a predetermined color.

[0084] Furthermore, the vehicle 10a calculates a route (second travel route 74) that the vehicle 10a will take if it moves backward (straight) from the position where the hitch angle between the vehicle 10a and the trailer 60 being towed by the vehicle 10a is 0 degrees, i.e., the position where the vehicle 10a has advanced to the first travel route 73b. The second travel route 74 is a route that at least one of the vehicle 10a and the trailer 60 being towed by the vehicle 10a will take. The second travel route 74 is calculated as a straight route that extends along the first travel route 73b.

[0085] The vehicle 10a displays second guide images 72a and 72b indicating the calculated second travel path 74, superimposed on the peripheral image 5. In this example, the second guide images 72a and 72b are displayed as images of two dashed lines along both sides of the second travel path 74. The second guide images 72a and 72b are displayed along both sides of the second travel path 74, and are also displayed along both sides of the first travel path 73b. The second guide images 72a and 72b are images indicating the travel paths of the vehicle 10a and the trailer 60 towed by the vehicle 10a when the hitch angle is 0 degrees, and are therefore displayed as two dashed lines that are approximately parallel to each other.

[0086] After operating slide bar 81 to indicate the forward direction of vehicle 10a, the user can step on the accelerator pedal of vehicle 10a, and while looking at peripheral image 5 displaying first guide image 71 and second guide images 72a, 72b, cause vehicle 10a towing trailer 60 to move forward by automatic steering along first guide image 71. Note that in this example, since vehicle 10a towing trailer 60 is moving forward, the area on the forward direction side as viewed from vehicle 10a is displayed wider than the area on the reverse direction side in the overhead view image.

[0087] As a result, even when the forward direction of the vehicle 10a towing the trailer 60 is changed, the same effect as when the vehicle 10a is moved while changing the reverse direction can be obtained.

[0088] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0089] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0090] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0091] (1) an external environment information acquisition unit (external environment information acquisition unit 55) that acquires external environment information of a moving body (vehicle 10) capable of first and second travel and pulling a trailer (trailer 60); a display control unit (display control unit 56) that displays a peripheral image (peripheral image 5) of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, The guide image is a first guide image (first guide image 71) showing a first travel route (first travel routes 73a, 73b) of at least one of the moving body and the trailer when the moving body makes the first travel from its current position; and a second guide image (second guide image 72a, 72b) showing a second travel path (second travel path 74) of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where the relative angle between the moving body and the trailer is a predetermined angle, Control device (control ECU 20).

[0092] According to (1), the guide image superimposed on the image of the surroundings of the moving body towing the trailer includes a first guide image and a second guide image, so that it is possible to display a wide range of guide images along which the moving body can proceed, making it easier for the user to understand the route of travel of the moving body and trailer.

[0093] (2) The control device according to (1), the first guide image and the second guide image are displayed superimposed on the peripheral image so as not to overlap each other. Control device.

[0094] According to (2), the first guide image and the second guide image are displayed superimposed on the peripheral image so as not to overlap each other, making it easy for the user to grasp the travel route of the moving object or trailer.

[0095] (3) The control device according to (1) or (2), the first guide image and the second guide image are superimposed on the peripheral image in different display modes. Control device.

[0096] According to (3), the first guide image and the second guide image are superimposed on the peripheral image in different display modes, so that the user can easily grasp the travel route of the moving object or trailer.

[0097] (4) The control device according to any one of (1) to (3), the peripheral image includes an overhead image, The overhead image in the state where the first travel of the moving body is possible is an overhead image that displays a wider area on the side of the first travel direction as seen from the moving body than the overhead image in the state where the second travel of the moving body is possible. Control device.

[0098] According to (4), when the first movement is possible, the area on the side of the first movement direction is displayed more widely than when the second movement is possible, making it easier for the user to understand the movement path of the moving object or trailer when the first movement is possible.

[0099] (5) The control device according to any one of (1) to (4), the peripheral image includes an overhead image, The overhead image is a first range (first range 5a) generated based on the external environment information and indicating a first peripheral area of ​​the moving object; a second range (second range 5b) that is generated based on peripheral information of the moving body that is different from the external environment information and indicates a second peripheral area of ​​the moving body that includes an area farther from the moving body than the first peripheral area; Control device.

[0100] According to (5), by including in the overhead image of the moving body a first range indicating a first peripheral area and a second range indicating a second peripheral area including an area outside the first peripheral area relative to the moving body, it becomes easier for the user to understand the travel path of the moving body and trailer.

[0101] (6) The control device according to (5), When the peripheral information cannot be acquired, the display control unit sets a pre-stored image as the second range of the overhead image. Control device.

[0102] As in (6), when peripheral information cannot be acquired, it is preferable to use, for example, a pre-stored image as the second range of the overhead image.

[0103] (7) The control device according to (5) or (6), the guide image is displayed superimposed on the first range and the second range. Control device.

[0104] According to (7), by superimposing and displaying the guide image on the first range and the second range, the guide image can be displayed over a wide area, making it easier for the user to understand the travel path of the moving object or trailer.

[0105] (8) A control method by a control device that acquires external environment information of a moving body capable of first and second travel and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; The guide image is a first guide image showing a first travel route of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; and a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle. Control method.

[0106] According to (8), the guide image superimposed on the image of the surroundings of the moving body towing the trailer includes a first guide image and a second guide image, so that it is possible to display a wide range of guide images along which the moving body can proceed, making it easier for the user to understand the route of travel of the moving body and trailer.

[0107] (9) A control program for a control device that acquires external environment information of a moving body capable of first and second travel and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, The guide image is a first guide image showing a first travel route of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; and a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle. Control program.

[0108] According to (9), the guide image superimposed on the image of the surroundings of the moving body towing the trailer includes a first guide image and a second guide image, so that it is possible to display a wide range of guide images along which the moving body can proceed, making it easier for the user to understand the route of travel of the moving body and trailer. [Explanation of symbols]

[0109] 5. Peripheral images 5a 1st range 5b Second Range 5c boundary 10,10a Vehicle 11L, 11R side mirrors 12Fr forward camera 12Rr rear camera 12L Left side camera 12R Right side camera 14 Operation input section 16 sensors 18 Navigation devices 20 Control ECU 22 EPS system 24 Communications Department 26 Driving Force Control System 28 Braking force control system 32a Forward Sonar Group 32b Rear Sonar Group 32c Left Sonar Group 32d Right Sonar Group 34a, 34b Wheel sensors 36 Vehicle speed sensor 38 Operation detection unit 42 Touch Panel 44 speakers 50 Input / output section 52 Arithmetic section 54 Memory section 55 External World Information Acquisition Department 56 Display control unit 60 Trailer 61 Hitch Ball 71 First guide image 72, 72a, 72b Second guide image 73a, 73b First Route 74 Second Route 81 Slide bar 82a left arrow 82b right arrow 100 Steering angle sensor 102 Torque sensor 104 EPS motor 106 Resolver 108 ECU 110 Steering 112 Steering column 120 Communication equipment 130 Drive ECU 132 Braking ECU

Claims

1. an external environment information acquisition unit that acquires external environment information of a mobile body that is capable of first and second travel and towing a trailer; a display control unit that displays a peripheral image of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle, Control device.

2. The control device according to claim 1, the first guide image and the second guide image are displayed superimposed on the peripheral image so as not to overlap each other. Control device.

3. The control device according to claim 1, the first guide image and the second guide image are superimposed on the peripheral image in different display modes. Control device.

4. The control device according to claim 1, the peripheral image includes an overhead image, the overhead image in the state where the first travel of the moving body is possible is an overhead image that displays a wider area on the side of the first travel direction as seen from the moving body than the overhead image in the state where the second travel of the moving body is possible. Control device.

5. The control device according to claim 1, the peripheral image includes an overhead image, The overhead image is a first range that is generated based on the external environment information and indicates a first peripheral area of ​​the moving object; a second range that is generated based on peripheral information of the moving body that is different from the external environment information and indicates a second peripheral area of ​​the moving body that includes an area farther from the moving body than the first peripheral area; Control device.

6. The control device according to claim 5, When the peripheral information cannot be acquired, the display control unit sets a pre-stored image as the second range of the overhead image. Control device.

7. The control device according to claim 5 or 6, the guide image is displayed in a superimposed manner on the first range and the second range. Control device.

8. A control method by a control device that acquires external environment information of a mobile body that is capable of first and second travel and towing a trailer, and displays a peripheral image of the mobile body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle, Control method.

9. A control program for a control device that acquires external environment information of a moving body that is capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, The guide image is a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from the current position; a second guide image showing a second travel path of at least one of the moving body and the trailer when the moving body makes the second travel from a position on the first travel path where a relative angle between the moving body and the trailer is a predetermined angle, Control program.

Images