Vehicle display control device, method, and program

Abstract

To suppress erroneous recognition of operation state of a supporting system which is switched according to a confidence level of detection state of a target.SOLUTION: Confidence level calculation units 32, 54, 76 and a sensor fusion processing unit 94 calculate a confidence level of detection state of a target based on detection information of a camera, a radar and a LiDAR which detect the target such as a preceding vehicle around a vehicle. A meter display unit 118 changes display mode of drawing corresponding to the target displayed on a meter display based on the calculated confidence level of the detection state of the target.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent document 1 describes a technology that uses an indication line (arrow) to show which target in the real world an object displayed on a display corresponds to, thereby informing the user which target the assistance system is capturing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-013827 Summary of the Invention [Problem to be solved by the invention]

[0004] In assistance systems such as an Advanced Driver-Assistance System (ADAS), the operation state of the assistance system is switched depending on the reliability of sensor fusion (reliability of the target detection state), and in bad weather, for example, the reliability decreases, causing some of the functions provided by the assistance system to become inoperable.In contrast, the technology described in Patent Document 1 displays a certain object on the display regardless of the operation state of the assistance system (target detection state), so there is a risk that the user will mistakenly believe that the assistance system is operating normally based on the display state of the object on the display.

[0005] The present disclosure has been made in consideration of the above facts, and aims to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that can prevent misidentification of the operating state of an assistance system that switches depending on the reliability of the target detection state. [Means for solving the problem]

[0006] A first aspect of the vehicle display control device includes a calculation unit that calculates the reliability of the detection state of a target object from detection information from a plurality of sensors that each detect the target object around the vehicle, and a control unit that changes the display mode of a drawing corresponding to the target object displayed on a display unit based on the reliability calculated by the calculation unit.

[0007] In a first aspect, the reliability of the detection state of the target is calculated from detection information from a plurality of sensors that detect targets around the vehicle, and the display mode of the drawing corresponding to the target displayed on the display unit is changed based on the calculated reliability. As a result, when the operation state of the assistance system changes, the user can recognize that the operation state of the assistance system has changed from the change in the display mode of the drawing corresponding to the target, thereby preventing the operation state of the assistance system from being misunderstood.

[0008] In a second aspect, in the first aspect, the control unit changes the display mode of the drawing corresponding to the target by at least one of lowering the contrast of the drawing as the reliability decreases, changing the color of the drawing according to the reliability, and displaying the drawing in a manner indicating the reliability.

[0009] According to the second aspect, the user can intuitively recognize that the operating state of the assistance system has changed from a change in the display mode of the drawing corresponding to the target.

[0010] In a third aspect, in the first or second aspect, the plurality of sensors include a camera and a radar, and the control unit further displays at least one of first information indicating which sensor has a reduced reliability of the detection state, second information indicating the cause of the reduced reliability of the detection state, and third information indicating a function that may not be operating.

[0011] According to the third aspect, the user can grasp the details of the change in the operating state of the assistance system by referring to any of the first to third information that is further displayed.

[0012] A fourth aspect of the display control method for a vehicle includes a computer that performs processing including calculating the reliability of the detection state of a target object from detection information from a plurality of sensors that each detect the target object around the vehicle, and changing the display mode of a drawing corresponding to the target object displayed on a display unit based on the calculated reliability.

[0013] According to the fourth aspect, similarly to the first aspect, it is possible to prevent the operating state of the assistance system, which is switched depending on the reliability of the detection state of the target, from being mistakenly recognized.

[0014] A display control program for a vehicle according to a fifth aspect causes a computer to execute processing including calculating the reliability of the detection state of a target object around the vehicle from detection information from a plurality of sensors that each detect the target object, and changing the display mode of a drawing corresponding to the target object displayed on a display unit based on the calculated reliability.

[0015] According to the fifth aspect, similarly to the first aspect, it is possible to prevent the operating state of the assistance system, which is switched depending on the reliability of the detection state of the target, from being mistakenly recognized. [Effects of the Invention]

[0016] The present disclosure has an effect of suppressing misidentification of the operation state of an assistance system that switches depending on the reliability of the detection state of a target. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment; [Figure 2] FIG. 2 is a functional block diagram of the in-vehicle system. [Figure 3] 10 is a flowchart showing a display control process. [Figure 4] 10A and 10B are diagrams illustrating an example of changes in the display mode of an object of a preceding vehicle according to the overall reliability of the preceding vehicle. [Figure 5] FIG. 10 is an image diagram showing another example of a display mode of an object of a leading vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0018] An example of an embodiment of the present disclosure will be described in detail below with reference to the drawings. As shown in Fig. 1, an in-vehicle system 10 according to this embodiment includes a camera 12, a camera ECU 14, a radar 34, a radar ECU 36, a lidar 56, a lidar ECU 58, an AD / ADAS ECU 78, a meter ECU 98, a meter display 120, and a system bus 122. Note that, hereinafter, a vehicle equipped with the in-vehicle system 10 will be referred to as the "host vehicle." Note that the camera ECU 14, the radar ECU 36, the lidar ECU 58, the AD / ADAS ECU 78, and the meter ECU 98 are examples of a vehicle display control device according to the present disclosure.

[0019] The camera 12 captures images of targets around the vehicle and outputs the captured images (detection information). The camera 12 is connected to a camera ECU 14. The camera ECU 14 includes a CPU (Central Processing Unit) 16, a memory 18 such as a ROM (Read Only Memory) or a RAM (Random Access Memory), and a non-volatile storage unit 20 such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). The camera ECU 14 also includes an input / output I / F (Interface) 22 and a communication I / F 24. The camera 12 is connected to the input / output I / F 22, and the communication I / F 24 is connected to a system bus 122. The CPU 16, the memory 18, the storage unit 20, the input / output I / F 22, and the communication I / F 24 are all connected to an internal bus 26 and are capable of communicating with each other.

[0020] Furthermore, a camera processing program 28 is stored in the storage unit 20 of the camera ECU 14. The camera processing program 28 is read from the storage unit 20 and loaded into the memory 18, and the camera processing program 28 loaded into the memory 18 is executed by the CPU 16, whereby the camera ECU 14 functions as the object generation processing unit 30 and the reliability calculation unit 32 shown in FIG.

[0021] The object generation processing unit 30 generates objects corresponding to targets around the vehicle detected by the camera 12, based on the imaging results (detection information) input from the camera 12. The reliability calculation unit 32 calculates the reliability of the detection state by the camera 12, based on the imaging results (detection information) input from the camera 12. That is, the accuracy of the camera 12 in detecting targets decreases in situations such as backlighting or nighttime. The reliability calculation unit 32 determines the current situation, and calculates the reliability of the detection state by the camera 12 so that the reliability decreases as the current situation approaches a situation in which the accuracy of the camera 12 in detecting targets decreases.

[0022] The radar 34 transmits search waves (e.g., millimeter waves) toward the vicinity of the host vehicle and receives the reflected waves to measure the distance to a target present around the host vehicle and output the distance measurement result (detection information). The radar 34 is connected to a radar ECU 36. The radar ECU 36 includes a CPU 38, a memory 40 such as a ROM or RAM, and a non-volatile storage unit 42 such as an HDD or SSD. The radar ECU 36 also includes an input / output I / F 44 and a communication I / F 46. The input / output I / F 44 is connected to the radar 34, and the communication I / F 46 is connected to a system bus 122. The CPU 38, the memory 40, the storage unit 42, the input / output I / F 44, and the communication I / F 46 are all connected to an internal bus 48 and are capable of communicating with each other.

[0023] A radar processing program 50 is stored in the storage unit 42 of the radar ECU 36. The radar processing program 50 is read from the storage unit 42 and loaded into the memory 40, and the radar processing program 50 loaded into the memory 40 is executed by the CPU 38, whereby the radar ECU 36 functions as the object generation processing unit 52 and the reliability calculation unit 54 shown in FIG.

[0024] The object generation processing unit 52 generates objects corresponding to targets around the host vehicle detected by the radar 34, based on the distance measurement results (detection information) input from the radar 34. The reliability calculation unit 54 calculates the reliability of the detection state by the radar 34, based on the distance measurement results (detection information) input from the radar 34. That is, the radar 34's target detection accuracy decreases in situations such as rainy weather or when dirt adheres to the detection unit. The reliability calculation unit 54 determines the current situation, and calculates the reliability of the detection state by the radar 34 so that the reliability decreases as the current situation approaches a situation in which the target detection accuracy by the radar 34 decreases.

[0025] The LIDAR 56 transmits a search wave (e.g., a laser beam) toward the vicinity of the vehicle and receives the reflected wave to measure the distance to a target present around the vehicle and output the distance measurement result (an example of detection information). The LIDAR 56 is connected to a LIDAR ECU 58. The LIDAR ECU 58 includes a CPU 60, a memory 62 such as a ROM or RAM, and a non-volatile storage unit 64 such as an HDD or SSD. The LIDAR ECU 58 also includes an input / output I / F 66 and a communication I / F 68. The input / output I / F 66 is connected to the LIDAR 56, and the communication I / F 68 is connected to a system bus 122. The CPU 60, the memory 62, the storage unit 64, the input / output I / F 66, and the communication I / F 68 are all connected to an internal bus 70 and are capable of communicating with each other.

[0026] Furthermore, a lidar processing program 72 is stored in the storage unit 64 of the lidar ECU 58. The lidar processing program 72 is read from the storage unit 64 and loaded into the memory 62, and the lidar processing program 72 loaded into the memory 62 is executed by the CPU 60, whereby the lidar ECU 58 functions as the object generation processing unit 74 and the reliability calculation unit 76 shown in FIG.

[0027] The object generation processing unit 74 generates objects corresponding to targets around the vehicle detected by the LIDAR 56, based on the distance measurement results (detection information) input from the LIDAR 56. The reliability calculation unit 76 calculates the reliability of the detection state by the LIDAR 56, based on the distance measurement results (detection information) input from the LIDAR 56. That is, the LIDAR 56's detection accuracy of targets decreases in situations where, for example, dirt adheres to the detection unit. The reliability calculation unit 76 determines the current situation, and calculates the reliability of the detection state by the LIDAR 56 so that the reliability decreases as the current situation approaches a situation in which the LIDAR 56's detection accuracy of targets decreases.

[0028] The AD / ADAS ECU 78 includes a CPU 80, a memory 82 such as a ROM or RAM, and a non-volatile storage unit 84 such as an HDD or SSD. The AD / ADAS ECU 78 also includes a communication I / F 86, which is connected to a system bus 122. The CPU 80, the memory 82, the storage unit 84, and the communication I / F 86 are each connected to an internal bus 88 and are capable of communicating with each other.

[0029] An ADAS processing program 90 is stored in the storage unit 84 of the AD / ADAS ECU 78. The AD / ADAS processing program 90 is read from the storage unit 84 and loaded into the memory 82, and the ADAS processing program 90 loaded into the memory 82 is executed by the CPU 80, whereby the AD / ADAS ECU 78 functions as an I / O layer processing unit 92, a sensor fusion processing unit 94, and a driving assistance control unit 96 shown in FIG.

[0030] The I / O layer processing unit 92 acquires object information and reliability information from each sensor ECU (camera ECU 14, radar ECU 36, and lidar ECU 58) and outputs the acquired information to the sensor fusion processing unit 94. The sensor fusion processing unit 94 performs sensor fusion processing to calculate the position and speed of targets present around the vehicle based on the information acquired by the I / O layer processing unit 92 from each sensor ECU, and also calculates the overall reliability (also referred to as the target existence probability) of the calculated detection state of the targets present around the vehicle. The sensor fusion processing unit 94, together with the reliability calculation units 32, 54, and 76, are an example of a calculation unit in the present disclosure.

[0031] The driving assistance control unit 96 is a functional block that functions as an advanced driving assistance system (assistance system), and has a function of performing multiple driving assistance controls based on the results of sensor fusion processing (target detection results) by the sensor fusion processing unit 94. Examples of driving assistance controls performed by the driving assistance control unit 96 include adaptive cruise control (ACC), blind spot monitoring, automatic braking, and a lane keeping assist system (LKA). However, if the reliability of the target detection state decreases, the accuracy of each driving assistance control also decreases. Furthermore, for example, the control accuracy of a blind spot monitor decreases earlier in response to a decrease in the reliability of the target detection state compared to other driving assistance controls, and the degree to which the control accuracy is affected by a decrease in the reliability of the target detection state differs for each individual driving assistance control.

[0032] For this reason, the driving assist control unit 96 sets a threshold value for determining whether to execute driving assist control for each individual driving assist control based on the overall reliability of the target detection state calculated by the sensor fusion processing. As a result, the driving assist control unit 96 executes all driving assist controls when the overall reliability of the target detection state is very high (for example, 95% or higher), and does not execute some driving assist controls when the overall reliability of the target detection state has slightly decreased (for example, about 70%). Furthermore, the driving assist control unit 96 does not execute multiple driving assist controls when the overall reliability of the target detection state has further decreased (for example, about 50%), and does not execute all driving assist controls when the overall reliability of the target detection state is extremely low (for example, about 10%).

[0033] The meter ECU 98 includes a CPU 100, a memory 102 such as a ROM or RAM, and a non-volatile storage unit 104 such as an HDD or SSD. The meter ECU 98 also includes an input / output I / F 108 and a communication I / F 106. A meter display 120 is connected to the input / output I / F 108, and a system bus 122 is connected to the communication I / F 106. The CPU 100, the memory 102, the storage unit 104, the input / output I / F 108, and the communication I / F 106 are all connected to an internal bus 110 and are capable of communicating with each other.

[0034] The storage unit 104 of the meter ECU 98 also stores a display processing program 112 and an object reliability index MAP 114. The display processing program 112 is read from the storage unit 104 and loaded into the memory 102, and the CPU 100 executes the display processing program 112 loaded into the memory 102, whereby the meter ECU 98 functions as the meter display unit 118 shown in FIG.

[0035] The object reliability index MAP 114 has information registered in advance that defines the relationship between the overall reliability of the detection state of the target and the display mode of the rendering of the object corresponding to the target to be displayed on the meter display 120. The meter display unit 118 changes the display mode of the rendering of the object corresponding to the target to be displayed on the meter display 120, based on the information stored in the object reliability index MAP 114 in association with the overall reliability calculated by the sensor fusion processing unit 94.

[0036] The meter display unit 118 is an example of a control unit in the present disclosure. The camera processing program 28, the radar processing program 50, the LIDAR processing program 72, the ADAS processing program, and the display processing program 112 are examples of a vehicle display control program in the present disclosure.

[0037] Next, as an operation of this embodiment, a display control process executed by the in-vehicle system 10 according to this embodiment while, for example, the ignition switch of the host vehicle is on will be described with reference to Fig. 3. Note that, in the following, a preceding vehicle traveling ahead of the host vehicle will be described as an example of a target present around the host vehicle, but the target in this disclosure is not limited to a preceding vehicle.

[0038] In step 200 of the display control processing, the camera ECU 14 acquires detection information (photographing results) input from the camera 12. In step 202, the object generation processing unit 30 of the camera ECU 14 generates an object corresponding to the preceding vehicle detected by the camera 12, based on the detection information acquired from the camera 12. In step 204, the reliability calculation unit 32 of the camera ECU 14 calculates the reliability of the detection state by the camera 12.

[0039] In the next step 206, the radar ECU 36 acquires the detection information (ranging result) input from the radar 34. In step 208, the object generation processing unit 52 of the radar ECU 36 generates an object corresponding to the preceding vehicle detected by the radar 34, based on the detection information acquired from the radar 34. In step 210, the reliability calculation unit 54 of the radar ECU 36 calculates the reliability of the detection state by the radar 34.

[0040] Furthermore, in step 212, the LIDAR ECU 58 acquires the detection information (distance measurement result) input from the LIDAR 56. In step 214, the object generation processing unit 74 of the LIDAR ECU 58 generates an object corresponding to the preceding vehicle detected by the LIDAR 56. In step 216, the reliability calculation unit 76 of the LIDAR ECU 58 calculates the reliability of the detection state by the LIDAR 56.

[0041] In step 218, the I / O layer processing unit 92 of the AD / ADAS ECU 78 acquires the detection information, the object of the preceding vehicle, and the reliability of the detection state from the camera ECU 14, the radar ECU 36, and the LIDAR ECU 58. In step 220, the sensor fusion processing unit 94 of the AD / ADAS ECU 78 executes sensor fusion processing to calculate the position and speed of the preceding vehicle and the overall reliability of the detection state of the preceding vehicle based on the information acquired from the camera ECU 14, the radar ECU 36, and the LIDAR ECU 58.

[0042] In step 222, the meter display unit 118 of the meter ECU 98 acquires the overall reliability of the detection state of the preceding vehicle from the AD / ADAS ECU 78. Then, the meter display unit 118 executes processing to change the display mode of the object corresponding to the preceding vehicle to be displayed on the meter display 120, based on the information stored in the object reliability index MAP 114 in association with the acquired overall reliability of the detection state of the preceding vehicle.

[0043] Specifically, when the overall reliability of the detection state of the preceding vehicle is very high (for example, 95% or higher), the contrast of the object 130 corresponding to the preceding vehicle is maximized and the intensity of the display color (for example, red) is maximized, as shown in Fig. 4(A). In this case, a user viewing the meter display 120 can recognize that all driving assistance controls are operating from the contrast and intensity of the display color of the displayed object 130.

[0044] Furthermore, when the overall reliability of the detection state of the preceding vehicle is slightly lowered (for example, about 70%) from the state shown in Fig. 4(A), the contrast of the object 130 corresponding to the preceding vehicle is lowered by a predetermined amount and the intensity of the display color (for example, red) is also lowered by a predetermined amount, as shown in Fig. 4(B). In this case, a user viewing the meter display 120 can recognize that some driving assistance controls are inactive from the contrast and intensity of the display color of the displayed object 130.

[0045] Furthermore, if the overall reliability of the detection state of the preceding vehicle further decreases from the state shown in Fig. 4(B) (for example, to about 50%), the contrast of the object 130 corresponding to the preceding vehicle is further decreased by a predetermined amount and the intensity of the display color (for example, red) is further decreased by a predetermined amount, as shown in Fig. 4(C). In this case, a user viewing the meter display 120 can recognize that multiple driving assistance controls are inactive from the contrast and intensity of the display color of the displayed object 130.

[0046] Furthermore, when the overall reliability of the detection state of the preceding vehicle has dropped extremely (for example, about 10%), the contrast of the object corresponding to the preceding vehicle is further reduced by a predetermined amount, and the density of the display color (for example, red) is further reduced by a predetermined amount, thereby making the object difficult to see, as shown in Fig. 4(D). In this case, a user viewing meter display 120 can recognize from the display state of the object that all driving assistance controls are inactive.

[0047] In the next step 224, for example, the meter ECU 98 determines whether the ignition switch of the host vehicle has been turned off. If the determination in step 224 is negative, the process returns to step 200, and steps 200 to 224 are repeated until the determination in step 224 is positive. If the determination in step 224 is positive, the display control process ends.

[0048] As described above, in this embodiment, the reliability calculation units 32, 54, 76 and the sensor fusion processing unit 94 calculate the reliability of the detection state of the target from the detection information of the camera 12, the radar 34, and the lidar 56 that respectively detect the target around the vehicle, and the meter display unit 118 changes the display mode of the drawing corresponding to the target displayed on the meter display 120 based on the calculated reliability. As a result, when the operation state of the assistance system changes, the user can recognize that the operation state of the assistance system has changed from the change in the display mode of the drawing corresponding to the target, and therefore, it is possible to prevent the operation state of the assistance system from being misunderstood.

[0049] In this embodiment, the meter display unit 118 changes the display mode of the drawing corresponding to the target by lowering the contrast of the drawing as the reliability decreases and by changing the color of the drawing according to the reliability. This allows the user to intuitively recognize that the operating state of the assistance system has changed from the change in the display mode of the drawing corresponding to the target.

[0050] In the above embodiment, the contrast and the density of the display color of the object 130 corresponding to the preceding vehicle are changed in accordance with a change in the overall reliability of the detection state of the preceding vehicle. However, the present disclosure is not limited to this. For example, as the overall reliability of the detection state of the preceding vehicle decreases, the hue of the display color of the object 130 corresponding to the preceding vehicle may be switched, for example, from blue to yellow to red. Furthermore, as shown in FIG. 5A, for example, a character string 132 indicating the overall reliability of the detection state of the preceding vehicle may be added to the object 130 corresponding to the preceding vehicle. Furthermore, the overall reliability of the detection state of the preceding vehicle may be indicated by an indicator or the like instead of the character string 132. These embodiments also allow the user to intuitively recognize a change in the operating state of the assistance system.

[0051] Furthermore, the character string added to the object 130 corresponding to the preceding vehicle is not limited to the character string 132 indicating the overall reliability of the detection state of the preceding vehicle. As an example, as shown in FIG. 5(B), at least one of a first character string 134 indicating which sensor has a reduced reliability of the detection state of the preceding vehicle, a second character string 136 indicating a cause of the reduced reliability of the detection state of the preceding vehicle, and a third character string 138 indicating a function that may not be activated may be further displayed. This allows the user to grasp details of changes in the operation state of the assistance system by referring to any of the further displayed first character string 134 to third character string 138. Note that the first character string 134 is an example of first information in the present disclosure, the second character string 136 is an example of second information in the present disclosure, and the third character string 138 is an example of third information in the present disclosure.

[0052] In the above embodiment, a preceding vehicle traveling ahead of the host vehicle has been described as an example of a target in the present disclosure, but the target in the present disclosure is not limited to a preceding vehicle. The target in the present disclosure may be, for example, a vehicle traveling in a lane adjacent to the lane in which the host vehicle is traveling, or a pedestrian or bicycle present in the vicinity of the host vehicle.

[0053] In the above embodiment, the camera ECU 14 is provided with the object generation processing unit 30 and the reliability calculation unit 32, the radar ECU 36 is provided with the object generation processing unit 52 and the reliability calculation unit 54, and the LIDAR ECU 58 is provided with the object generation processing unit 74 and the reliability calculation unit 76. However, this is not limiting, and at least one of the object generation processing unit and the reliability calculation unit may be provided in the AD / ADAS ECU 78.

[0054] Furthermore, in the above embodiment, an aspect in which the meter display 120 is applied has been described as an example of a display unit in the present disclosure, but the present disclosure is not limited to this, and the display unit may be a HUD (Head Up Display) or a center display provided in the center of an instrument panel, for example.

[0055] In the above embodiment, among the camera processing program 28, radar processing program 50, LIDAR processing program 72, ADAS processing program 90, and display processing program 112, which are examples of a vehicle display control program according to the present disclosure, the camera processing program 28 is pre-stored (installed) in the storage unit 20, the radar processing program 50 in the storage unit 42, the LIDAR processing program 72 in the storage unit 64, the ADAS processing program 90 in the storage unit 84, and the display processing program 112 in the storage unit 104. However, the vehicle display control program according to the present disclosure can also be provided in a form recorded on a non-transitory recording medium such as an HDD, SSD, or DVD.

[0056] Furthermore, the vehicular display control device according to the present disclosure can also be applied to vehicles capable of autonomous driving. [Explanation of symbols]

[0057] 10 In-Vehicle Systems 12 Camera 14 Camera ECU 32 Reliability calculation unit (calculation unit) 34 Radar 36 Radar ECU 54 Reliability calculation unit (calculation unit) 56 Rider 58 Rider ECU 76 Reliability calculation unit (calculation unit) 78 AD / ADAS ECU 94 Sensor fusion processing unit (calculation unit) 98 Meter ECU 118 Meter display unit (control unit) 130 objects

Claims

1. a calculation unit that calculates reliability of detection states of targets from detection information of a plurality of sensors that detect targets around the vehicle; a control unit that changes a display mode of a drawing corresponding to the target displayed on a display unit based on the reliability calculated by the calculation unit, and causes the display unit to display third information indicating a driving assistance control that may not be executed among a plurality of driving assistance controls that a driving assistance control unit can execute based on the target detection results by the plurality of sensors; and A display control device for a vehicle including:

2. 2. The vehicle display control device according to claim 1, wherein the control unit changes the display mode of the drawing corresponding to the target by at least one of lowering the contrast of the drawing as the reliability decreases, changing the color of the drawing according to the reliability, and displaying the drawing to indicate the reliability.

3. 3. A display control device for a vehicle as described in claim 1 or claim 2, wherein the plurality of sensors include a camera and a radar, and the control unit further displays at least one of first information indicating which sensor has a reduced reliability of the detection state, and second information indicating a factor in the reduced reliability of the detection state.

4. A display control method for a vehicle in which a computer performs processing including calculating the reliability of the detection state of targets around the vehicle from detection information from a plurality of sensors that each detect the targets, changing the display mode of a drawing corresponding to the target displayed on a display unit based on the calculated reliability, and displaying third information on the display unit that indicates driving assistance controls that may not be executed out of a plurality of driving assistance controls that a driving assistance control unit can execute based on the target detection results from the plurality of sensors.

5. On the computer, A display control program for a vehicle for executing a process including: calculating the reliability of the detection state of a target from detection information from a plurality of sensors that each detects a target around the vehicle; changing the display mode of a drawing corresponding to the target displayed on a display unit based on the calculated reliability; and displaying on the display unit third information indicating driving assistance controls that may not be executed out of a plurality of driving assistance controls that can be executed by a driving assistance control unit based on the target detection results from the plurality of sensors.

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