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EP-4741205-A2 - DISPLAY CONTROL DEVICE FOR VEHICLE, DISPLAY CONTROL METHOD FOR VEHICLE, AND RECORDING MEDIUM RECORDING DISPLAY CONTROL PROGRAM FOR VEHICLE

EP4741205A2EP 4741205 A2EP4741205 A2EP 4741205A2EP-4741205-A2

Abstract

A display control device (28) acquires incline angle information of a road on which the vehicle is traveling. The display control device displays, at a display unit (24, 25, or 26), an image portraying the vehicle and an image portraying the road on which the vehicle is traveling, in which the vehicle is viewed from a virtual viewpoint, by altering the image portraying the vehicle and the image portraying the road so as to be tilted in accordance with the acquired incline angle information.

Inventors

  • TSUJINO, Miki

Assignees

  • Toyota Jidosha Kabushiki Kaisha

Dates

Publication Date
20260513
Application Date
20250226

Claims (9)

  1. A display control device (28) for a vehicle (12), the display control device comprising: a memory (36); and a processor (30) coupled to the memory (36), wherein the processor (30) is configured to: acquire incline angle information of a road on which the vehicle (12) is traveling; and display, at a display unit (24, 25, or 26), an image portraying the vehicle (64) and an image portraying the road (66) on which the vehicle is traveling, in which the vehicle (12) is viewed from a virtual viewpoint, by altering the image portraying the vehicle (64) and the image portraying the road (66) so as to be tilted in accordance with the acquired incline angle information, characterized in that the processor (30) is configured to: display an image portraying the nearby vehicle (70 or 72) and an image portraying the road (66) at a location of the image portraying the nearby vehicle (70 or 72) at the display unit (24, 25, or 26), by altering the image portraying the nearby vehicle (70 or 72) and the image portraying the road (66) at the location of the image portraying the nearby vehicle (70 or 72) so as to be tilted in accordance with the incline angle information of the road.
  2. The display control device (28) for a vehicle (12) according to claim 1, wherein the processor (30) is configured to: alter a position and orientation of the virtual viewpoint in accordance with the incline angle information; and display the image portraying the vehicle (64) and the image portraying the road (66) at the display unit (24, 25, or 26) as viewed from the virtual viewpoint whose position and orientation have been altered.
  3. The display control device (28) for a vehicle (12) according to claim 1 or claim 2, wherein the processor (30) is configured to: acquire incline angle information of a nearby vehicle to the vehicle (12) as the incline angle information of the road, the incline angle information of the nearby vehicle being calculated from image processing of an image of the nearby vehicle.
  4. The display control device (28) for a vehicle according to any of claims 1 to 3, wherein the processor (30) is configured to: acquire the incline angle information of the road on the basis of at least one of an image captured by a camera (44) mounted at the vehicle or point cloud information detected by a radar device (46); and display the image portraying the vehicle (64) and the image portraying the road (66) at the display unit (24, 25, or 26), by altering the image portraying the vehicle (64) and the image portraying the road (66) so as to be tilted in accordance with the incline angle information of the road.
  5. The display control device (28) for a vehicle according to any of claims 1 to 4, wherein the processor (30) is configured to display a display object between the image portraying the vehicle (64) and an image portraying a preceding vehicle (70) traveling in front of the vehicle (12), by displaying the display object so as to be tilted in accordance with the incline angle information of the road.
  6. The display control device (28) for a vehicle according to any of claims 1 to 5, wherein the processor (30) is configured to display the image portraying the vehicle (64) and the image portraying the road (66) at the display unit (24, 25, or 26), by altering the image portraying the vehicle (64) and the image portraying the road (66) so as to be tilted when an incline angle represented by incline angle information acquired in a predetermined travel segment is greater than a threshold value specified in advance.
  7. The display control device (28) for a vehicle according to any of claims 1 to 6, wherein the processor (30) is configured to display the image portraying the road (66) at the display unit (24, 25, or 26) with, in the image portraying the road (66), at least a portion of the road rearward of the image portraying the vehicle (64) not being tilted.
  8. A display control method for a vehicle (12), comprising, by a processor (30): acquiring incline angle information of a road on which the vehicle is traveling; and displaying, at a display unit (24, 25, or 26), an image portraying the vehicle (64) and an image portraying the road (66) on which the vehicle is traveling, in which the vehicle is viewed from a virtual viewpoint, by altering the image portraying the vehicle (64) and the image portraying the road (66) so as to be tilted in accordance with the acquired incline angle information characterized in that the method comprises: displaying an image portraying the nearby vehicle (70 or 72) and an image portraying the road (66) at a location of the image portraying the nearby vehicle (70 or 72) at the display unit (24, 25, or 26), by altering the image portraying the nearby vehicle (70 or 72) and the image portraying the road (66) at the location of the image portraying the nearby vehicle (70 or 72) so as to be tilted in accordance with the incline angle information of the road.
  9. A non-transitory recording medium (32 or 36) storing a display control program for a vehicle (12), the display control program executable by a processor (30) to perform processing comprising: acquiring incline angle information of a road on which the vehicle is traveling; and displaying, at a display unit (24, 25, or 26), an image portraying the vehicle (64) and an image portraying the road (66) on which the vehicle is traveling, in which the vehicle is viewed from a virtual viewpoint, by altering the image portraying the vehicle (64) and the image portraying the road (66) so as to be tilted in accordance with the acquired incline angle information, characterized in that the processing comprises displaying an image portraying the nearby vehicle (70 or 72) and an image portraying the road (66) at a location of the image portraying the nearby vehicle (70 or 72) at the display unit (24, 25, or 26), by altering the image portraying the nearby vehicle (70 or 72) and the image portraying the road (66) at the location of the image portraying the nearby vehicle (70 or 72) so as to be tilted in accordance with the incline angle information of the road.

Description

BACKGROUND Technical Field The present disclosure relates to a display control device for a vehicle, a display control method for a vehicle, and a recording medium recording a display control program for a vehicle. Related Art Japanese Patent No. 7,086,798 discloses a vehicle control device in which: a display unit displays images; a recognition section recognizes objects located in a nearby of the host vehicle, including other vehicles; a driving control section generates a target trajectory of the host vehicle on the basis of states of objects recognized by the recognition section, and controls one or both of speed and steering of the host vehicle on the basis of the generated target trajectory; and an image as viewed from behind the host vehicle is displayed at the display unit, in which an image simulating another vehicle recognized as an object by the recognition section is superimposed on an image simulating a road on which the host vehicle is located. However, when the host vehicle is traveling on an inclined road, if an image as if the vehicle is traveling on a flat road is displayed at the display unit in the host vehicle, the occupant of the host vehicle may feel a sense of strangeness. The vehicle control device disclosed in Japanese Patent No. 7,086,798 displays the image as viewed from behind the host vehicle at the display unit, in which an image simulating another vehicle is superimposed on an image simulating the road on which the host vehicle is located. Japanese Patent No. 7,086,798 gives no consideration to a situation in which the road that the host vehicle is traveling on is inclined. An object of the present disclosure is to provide a display control device for a vehicle, a display control method for a vehicle and a recording medium recording a display control program for a vehicle that, under conditions in which the vehicle is traveling on an inclined road, moderate a sense of strangeness felt by an occupant of the vehicle when an image representing a state of the nearby of the vehicle is presented to the occupant. SUMMARY A control device for a vehicle according to a first aspect includes: an acquisition section that acquires incline angle information of a road on which the vehicle is traveling; and a display control section that displays, at a display unit, an image portraying the vehicle and an image portraying the road on which the vehicle is traveling, in which the vehicle is viewed from a virtual viewpoint, by altering the image portraying the vehicle and the image portraying the road so as to be tilted in accordance with the incline angle information acquired by the acquisition section. The control device for a vehicle according to the first aspect acquires the incline angle information of the road on which the vehicle is traveling. The control device displays, at a display unit, an image portraying the vehicle and an image portraying the road on which the vehicle is traveling, in which the vehicle is viewed from a virtual viewpoint, by altering the image portraying the vehicle and the image portraying the road so as to be tilted in accordance with the incline angle information. Therefore, under conditions in which the vehicle is traveling on an inclined road, when an image representing the state of the nearby of the vehicle is presented to an occupant of the vehicle, a sense of strangeness felt by the occupant may be moderated. In a control device for a vehicle according to a second aspect, in the control device for a vehicle according to the first aspect, the display control section: alters a position and orientation of the virtual viewpoint in accordance with the incline angle information; and displays the image portraying the vehicle and the image portraying the road at the display unit as viewed from the virtual viewpoint whose position and orientation have been altered. Therefore, the inclination of the vehicle and the road may be visualized easily just by changing the virtual viewpoint. In a control device for a vehicle according to a third aspect, in the control device for a vehicle according to the first aspect or the second aspect: the acquisition section acquires incline angle information of a nearby vehicle to the vehicle as the incline angle information of the road, the incline angle information of the nearby vehicle being calculated from image processing of an image of the nearby vehicle; and the display control section displays an image portraying the nearby vehicle and an image portraying the road at a location of the image portraying the nearby vehicle at the display unit, by altering the image portraying the nearby vehicle and the image portraying the road at the location of the image portraying the nearby vehicle so as to be tilted in accordance with the incline angle information of the road. Therefore, when the vehicle is traveling on an inclined road, because vehicles nearby (for example, a preceding vehicle) are also inclined, the occupant of the vehicle m