VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND NON-TRANSITORY RECORDING MEDIUM

A vehicle control device includes a processor installed at a vehicle configured to execute driving assistance control. The processor is configured to cause display of an other-vehicle image generated based on surrounding information including information related to at least one other-vehicle traveling in surroundings of the vehicle, at a display device provided at the vehicle. The other-vehicle image represents the other-vehicle with a same color as that of the other-vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based on and claims priority under 35 USC 119 from Japanese Patent Application No. 2022-193117 filed on Dec. 1, 2022, the disclosure of which is incorporated by reference herein.

BACKGROUND

Technical Field

The present disclosure relates to a vehicle control device, a vehicle control method, and a non-transitory recording medium.

Related Art

A vehicle disclosed in International Publication (WO) No. 2019/038903 includes a display device capable of displaying a highway image representing a highway the vehicle is traveling on and an other-vehicle image representing an other-vehicle at a position in the surroundings of the vehicle. The display device is furthermore able to display the highway image and the other-vehicle image in two types of display mode. Namely, the display modes of the display device include a first mode that is a display mode prior to the vehicle executing lane change assist control (LCA), and a second mode that is a display mode while the vehicle is executing LCA.

The form of the other-vehicle image displayed in the second mode is designed without consideration to the actual form of the other-vehicle. There is accordingly a concern that an occupant of the vehicle who has looked at the display device during LCA execution might perceive a mismatch between the surrounding situation of the vehicle, as expressed by the highway image and the other-vehicle image displayed on the display device, and the actual surrounding situation.

In consideration of the above circumstances, an object of the present disclosure is to obtain a vehicle control device, a vehicle control method, and a non-transitory recording medium that make it unlikely that an occupant who has looked at the display device during execution of driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by an image being displayed on a display device, and the actual surrounding situation.

SUMMARY

A vehicle control device of a first aspect includes a processor installed at a vehicle configured to execute driving assistance control. The processor is configured to cause display of an other-vehicle image generated based on surrounding information including information related to at least one other-vehicle traveling in surroundings of the vehicle, at a display device provided at the vehicle. The other-vehicle image represents the other-vehicle with a same color as that of the other-vehicle.

The processor of the vehicle control device of the first aspect is able to display on the display device the other-vehicle image representing the at least one other-vehicle traveling in the surroundings of the vehicle with the same color as the other-vehicle. The vehicle control device of the first aspect accordingly makes it unlikely that an occupant who has looked at the display device during execution of driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by the image being displayed on the display device, and the actual surrounding situation.

The vehicle control device of the second aspect is the first aspect, wherein the processor is configured to switch a color of the other-vehicle image to a same color as that of the other-vehicle in a case in which the vehicle is executing a particular type of the driving assistance control.

The processor of the vehicle control device of the second aspect switches the color of the other-vehicle image to the same color as that of the other-vehicle when the vehicle is executing the particular driving assistance control. The vehicle control device of the second aspect accordingly makes it unlikely that an occupant who has looked at the display device during execution of the particular driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by the image being displayed on the display device, and the actual surrounding situation. Furthermore, the vehicle control device of the second aspect is readily able to make the occupant aware that the particular driving assistance control is being executed.

The vehicle control device of the third aspect is the first aspect, wherein the processor is configured to cause display of the other-vehicle image with a same shape as that of the other-vehicle, at the display device, in a case in which the vehicle is executing a particular type of the driving assistance control.

The processor of the vehicle control device of the third aspect displays the other-vehicle image with the same shape as that of the at least one other-vehicle traveling in the surroundings of the vehicle on the display device when the vehicle is executing the particular driving assistance control. The vehicle control device of the third aspect accordingly makes it unlikely that an occupant who has looked at the display device during execution of the particular driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by the image being displayed on the display device, and the actual surrounding situation. Moreover, the vehicle control device of the third aspect is readily able to make the occupant aware that the particular driving assistance control is being executed.

A vehicle control device of a fourth aspect is the first aspect, wherein as the other-vehicle image, the processor is configured to cause display of a camera image acquired by a camera provided at the vehicle, at the display device, in a case in which the vehicle is executing a particular type of the driving assistance control.

The processor of the vehicle control device of the fourth aspect displays the camera image acquired by the camera provided to the vehicle as the other-vehicle image on the display device when the vehicle is executing the particular driving assistance control. This means that with the vehicle control device of the fourth aspect, there is accordingly hardly any concern that the occupant who has looked at the display device during execution of the particular driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by the camera image being displayed on the display device, and the actual surrounding situation. Moreover, the processor of the vehicle control device of the fourth aspect is readily able to make the occupant aware that the particular driving assistance control is being executed.

A vehicle control device of the fifth aspect is the fourth aspect, wherein the processor is configured to cause display of an image representing the vehicle at the display device that is displaying the camera image.

The processor of the vehicle control device of the fifth aspect displays the image representing the vehicle on the display device that is displaying the camera image. The vehicle control device of the fifth aspect is accordingly readily able to make the occupant who has looked at the display device aware of the positional relationship between the vehicle the occupant is riding in and the other-vehicle represented by the camera image being displayed on the display device.

A vehicle control method of a sixth aspect includes, by a processor, causing display of an other-vehicle image generated based on surrounding information including information related to at least one other-vehicle traveling in surroundings of a vehicle configured to execute driving assistance control, at a display device provided at the vehicle, wherein the other-vehicle image represents the other-vehicle with a same color as that of the other-vehicle.

A non-transitory recording medium of a seventh aspect is a non-transitory recording medium stores a program executable by a computer to perform processing. The processing includes: causing display of an other-vehicle image generated based on surrounding information including information related to at least one other-vehicle traveling in surroundings of a vehicle configured to execute driving assistance control, at a display device provided at the vehicle, wherein the other-vehicle image represents the other-vehicle with a same color as that of the other-vehicle.

As described above, the vehicle control device, the vehicle control method, and the non-transitory recording medium according to the present disclosure exhibit the excellent advantageous effect of making it unlikely that an occupant who has looked at the display device during execution of driving assistance control would perceive a mismatch between the surrounding situation of the vehicle, as expressed by the image being displayed on the display device, and the actual surrounding situation.

DETAILED DESCRIPTION

Description follows regarding exemplary embodiments of a vehicle control device, a vehicle control method, and a non-transitory recording medium according to the present disclosure, with reference to the drawings. As appropriate in the drawings, an arrow FR indicates a vehicle front-rear direction front side, an arrow LH indicates a vehicle left-right direction left side, and an arrow UP indicates a vehicle height direction upper side.

A vehicle12installed with a vehicle control device10includes an instrument panel14and a front windshield15such as illustrated inFIG.1. A steering column16is provided to the instrument panel14, and a steering wheel18is supported by the steering column16so as to be able to rotate. Moreover, a turn signal lever20is supported at a right side portion of the steering column16so as to be able to move.

The turn signal lever20is able to swing about a base portion (left end portion) thereof in both an upward (counterclockwise direction) with respect to the steering column16and a downward (clockwise direction). The position of the turn signal lever20illustrated inFIG.1is an initial position of the turn signal lever20. When a driver (occupant, omitted in the drawings) of the vehicle12imparts an external force to the turn signal lever20, the turn signal lever20swings either to a left LCA operation position above the initial position, or to a right LCA operation position below the initial position (omitted in the drawings). Furthermore, when external force being imparted to the turn signal lever20positioned at either the left LCA operation position or the right LCA operation position is released, the turn signal lever20moves so as to return to the initial position automatically. The turn signal lever20is also able to swing between a left illumination position above the left LCA operation position and a right illumination position below the right LCA operation position.

As illustrated inFIG.1, a sensor unit21is provided to an upper portion of a vehicle inside face of the front windshield15. The sensor unit21includes a camera21A that captures an imaging subject at a position in front of the front windshield15through the front windshield15, a millimeter wave radar that transmits probe waves and receives reflected waves (omitted in the drawings), and a laser imaging detection and ranging (LIDAR) that scans in front of the vehicle12(omitted in the drawings). The vehicle12also includes plural cameras (omitted in the drawings) separate to the camera21A. These cameras are collectively called a surrounding monitoring camera group.

As illustrated inFIG.2, the vehicle12includes a global positioning system (GPS) receiver22. The GPS receiver22acquires information related to a position where the vehicle12is traveling by receiving GPS signals transmitted by GPS satellites (hereafter referred to as “location information”).

As illustrated inFIG.1andFIG.2, a display device23is provided to the instrument panel14.

As illustrated inFIG.1andFIG.2, a driving assistance operation device25is provided to the instrument panel14. The driving assistance operation device25is a device to execute driving assistance control on the vehicle12, as described later. The vehicle12is able to execute driving assistance control when the driving assistance operation device25is in an ON state. The vehicle12is not able to execute driving assistance control when the driving assistance operation device25is in an OFF state.

As illustrated inFIG.2, the vehicle12includes an electronic control unit (ECU)26serving as hardware configuration.

The ECU26is configured including a central processing unit (CPU) (processor) (computer)26A, read only memory (ROM) (non-transitory recording medium) (recording medium)26B, random access memory (RAM)26C, storage (non-transitory recording medium) (recording medium)26D, a communication I/F26E, and an input/output I/F26F. The CPU26A, the ROM26B, the RAM26C, the storage26D, the communication I/F26E, and the input/output I/F26F are connected together through an internal bus26Z so as to be capable of communicating with each other.

The CPU26A is a central processing unit that executes various programs and controls each section. The CPU26A reads a program from the ROM26B or the storage26D, and executes the program using the RAM26C as workspace. The CPU26A performs control of each configuration and various computation processing according to programs stored on the ROM26B or the storage26D.

The ROM26B stores various programs and various data. The RAM26C serves a workspace to temporarily store programs and/or data. The storage26D is configured by a storage device such as a hard disk drive (HDD), solid state drive (SSD), or the like, and stores various programs and various data. A navigation application including map data is also, for example, installed on the ROM26B or the storage26D. Namely, the navigation system is installed in the vehicle12. Furthermore, the ROM26B or the storage26D is also stored with first data and second data. The first data and the second data are described later.

The communication I/F26E is an interface for connecting the ECU26to other ECUs (omitted in the drawings) through an external bus (omitted in the drawings). This interface employs, for example, a communication standard under a CAN protocol.

The input/output I/F26F is an interface for communication with various devices. These devices include, for example, the camera21A, the millimeter wave radar, the LIDAR, the surrounding monitoring camera group, the GPS receiver22, the display device23, the driving assistance operation device25, and an actuator group (described later).

FIG.3illustrates a block diagram as an example of a functional configuration of the ECU26. The ECU26incudes, as functional configuration, a turn signal control section261, a driving assistance control section262, and an image display control section263. The turn signal control section261, the driving assistance control section262, and the image display control section263are implemented by the CPU26A reading and executing the program stored on the ROM26B.

The turn signal control section261controls left and right turn signals (omitted in the drawings) according to the position of the turn signal lever20. Namely, when the turn signal lever20is at the left LCA operation position or at the left illumination position, a left turn signal that is a lamp provided at a front end portion of the vehicle12is illuminated under control of the turn signal control section261. Moreover, when the turn signal lever20is in the right LCA operation position or the right illumination position, the right turn signal that is a lamp provided at a front end portion of the vehicle12is illuminated under control of the turn signal control section261.

When the driving assistance operation device25is in an ON state, the driving assistance control section262utilizes the sensor group and the actuator group (omitted in the drawings) provided to the vehicle12, and executes driving assistance control on the vehicle12of level1to level5automation in the driving automation scale (the automated driving scale) as defined by the Society of Automotive Engineers (SAE). Moreover, when the driving assistance operation device25is in the ON state, a level of driving automation and driving assistance control to be executed are selectable by an action of an occupant of the vehicle12on the driving assistance operation device25. The driving assistance control of the present exemplary embodiment includes, for example, adaptive cruise control (ACC), lane keeping assist control/lane tracing assist (LTA), and lane change assist control/lane change assist (LCA). The sensor group provided to the vehicle12includes the sensor unit21and the surrounding monitoring camera group. Furthermore, information acquired by the sensor group is called surrounding information. The actuator group provided to the vehicle12includes various electrical actuators for driving the brake system, electric power steering including the steering wheel18, and an internal combustion engine serving as a driving source, and includes an electric motor serving as a driving source.

Simple explanation follows regarding LCA. Similarly to LTA, LCA is positional control of the vehicle12in a lateral direction (lane width direction) with respect to the lane of the vehicle12. LCA is started when driving assistance control of level1to3automation has been selected and the turn signal lever20has been moved to either the left LCA operation position or the right LCA operation position during execution of LTA and ACC. LCA is also started when the driving assistance control section262has determined a need to execute a lane change when driving assistance control of level5automation (fully autonomous driving) has been selected and a planned travel route has been set for the vehicle12using the navigation system. A specific LCA execution condition is established when LCA has been started.

After LCA has been started, the CPU26A (the driving assistance control section262) monitors the surroundings of the vehicle12based on information acquired from the sensor group. The CPU26A furthermore moves the vehicle12either to the left side or the right side after determination has been made that a lane change of the vehicle12can be executed safely. For example, when LCA is executed by the turn signal lever20being moved to the left LCA operation position, the actuator group is controlled so as to move the vehicle12from a travelling lane that is the current lane of travel of the vehicle12to an adjacent lane that is a lane adjacent on the left side of the travelling lane. Moreover, when LCA is executed by the turn signal lever20being moved to the right LCA operation position, the actuator group is controlled so as to move the vehicle12from the travelling lane that is the current lane of travel of the vehicle12to an adjacent lane that is a lane adjacent on the right side of the travelling lane. The CPU26A (the driving assistance control section262) ends LCA when the vehicle12has been moved to a specific position in the adjacent lane on the left side or the right side.

Note that the driving assistance control section262interrupts LCA when a specific interrupt condition is established during LCA execution. For example, the interrupt condition is established when, during LCA execution, the driving assistance control section262has determined that a predicted time until the vehicle12will collide with an other-vehicle (TTC) has become less than a specific threshold. The above LCA execution condition is broken when the interrupt condition has been established or when LCA has finished.

The image display control section263identifies the highway that the vehicle12is traveling on based on the car navigation system (map data) and location information. The image display control section263also reads the map data of the car navigation system and displays, on the display device23, an image of the highway the vehicle12is currently traveling on. Consider, for example, a case in which the vehicle12is traveling on a highway50illustrated inFIG.4. The highway50includes a first lane51, a second lane52, and a third lane53. The first lane51and the second lane52are demarcated by a demarcation line50A, and the second lane52and the third lane53are demarcated by a demarcation line50B. An arrow DR illustrated inFIG.4indicates a progression direction of the vehicle12. As illustrated inFIG.5, for such a situation the highway image30displayed on the display device23includes a first lane image31, a second lane image32, and a third lane image33. The first lane image31and the second lane image32are demarcated by a demarcation line image30A, and the second lane image32and the third lane image33are demarcated by a demarcation line image30B. Note that in the present exemplary embodiment, as illustrated inFIG.5andFIG.6, an image displayed on the display device23is displayed as an image when viewed from a virtual view point (omitted in the drawings) directly above the vehicle12and looking obliquely downward and forward.

Moreover, when the LCA execution condition is not established, the image display control section263utilizes camera images (image data) representing imaging subjects at positions in the surroundings of the vehicle12as acquired by the camera21A and the surrounding monitoring camera group and utilizes a pattern matching method to determine whether or not there is a surrounding vehicle at a position in the surroundings of the vehicle12in these camera images. Note that such a surrounding vehicle is not limited to being a four-wheeled vehicle, and may be a three-wheeled or two-wheeled vehicle. The image display control section263furthermore acquires image data representing the surrounding vehicle from the first data when determined that there is a surrounding vehicle included in the camera images. The image data included in the first data of the present exemplary embodiment is car image data representing a four-wheeled car, and truck image data representing a four-wheeled truck. For example, consider a situation in which, for example as illustrated inFIG.4, the vehicle12and cars (other-vehicles)55A,55B, which are two surrounding vehicles at positions in front of the vehicle12, are traveling in the second lane52, a two-wheeled vehicle (other-vehicle)55C that is another surrounding vehicle is traveling in the first lane51, and a truck (other-vehicle)55D that is another surrounding vehicle is traveling in the third lane53. In such a situation the image display control section263ascertains the relative positions of each of the surrounding vehicles with respect to the vehicle12based on detection results of the sensor group and camera images. Based on these relative positions, the image display control section263also, as illustrated inFIG.5, displays car image data35A,35B,35C and truck image data35D representing each of the surrounding vehicles on the display device23. The colors of the car image data35A,35B,35C and the truck image data35D are a particular color. For example, the car image data35A,35B,35C and the truck image data35D are white. This means that the car image data35A,35B,35C and the truck image data35D are, for example, displayed as white images on the display device23. Thus when the LCA execution condition has not been established, images (the car image data35A,35B,35C and the truck image data35D) are displayed on the display device23in different colors and shapes to the actual colors and shapes of the surrounding vehicles.

However, when the LCA execution condition has been established, the image display control section263utilizes the camera images and a pattern matching method to determine whether or not there are surrounding vehicles included in the camera images. Moreover, the image display control section263selects vehicle related data representing each of the surrounding vehicles from second data when determination has been made that there is a surrounding vehicle in these camera images. The second data includes vehicle related data in relation to multiple four-wheeled vehicles, three-wheeled vehicles, and two-wheeled vehicles manufactured by various Japanese and foreign vehicle manufacturers. The vehicle related data includes image data representing a shape of each vehicle and specification information for each vehicle (manufacturer name, vehicle model (product name), vehicle type) and the like. Note that the vehicle types referred to here include, for example, car, bus, and truck. Information expressing a type of car is also included in the vehicle type. For example, information expressing the type of car includes sedan, hatchback, and sport utility vehicle (SUV). The image display control section263utilizes the camera images and the pattern matching method to identify each vehicle model of the surrounding vehicles. Moreover, text information and specification information is utilized to identify the vehicle model of each of the surrounding vehicles when there is text expressing at least one out of the manufacturer name or the vehicle model of the surrounding vehicle included in the image data representing the surrounding vehicle. The image display control section263furthermore selects image data (vehicle related data) corresponding to the identified vehicle model from the second data.

For example, in cases in which two surrounding vehicles traveling directly ahead of the vehicle12are cars of mutually different vehicle models, as illustrated inFIG.6, the image display control section263selects car image data (other-vehicle images)45A,45B representing each of the surrounding vehicles from the second data. Furthermore, in cases in which another surrounding vehicle is the two-wheeled vehicle55C traveling in the first lane51, the image display control section263selects two-wheeled vehicle image data (an other-vehicle image)45C representing the two-wheeled vehicle55C from the second data. Moreover, in cases in which another surrounding vehicle is the truck55D traveling in the third lane53, the image display control section263selects truck image data (an other-vehicle image)45D representing the truck55D from the second data.

The image display control section263also ascertains the color of vehicle body of any surrounding vehicles included in the camera images when the LCA execution condition has been established. For example, the image display control section263identifies which range of defined hues in a specific color system the hue of the color of the vehicle body of each of the surrounding vehicles falls in. This color system is, for example, a Munsell color system, an Ostwald color system, or a practical color co-ordinate system (PCCS).

For example, the image display control section263determines which range out of 20 ranges the hue of the vehicle body falls in for cases in which a Munsell hue wheel defined by dividing into 20 ranges is being utilized. Moreover, the image display control section263determines which range out of 24 ranges the hue of the vehicle body falls in for cases in which an Ostwald hue wheel defined by dividing into 24 ranges is being utilized. Moreover, the image display control section263determines which range out of 24 ranges the hue of the vehicle body falls in for cases in which a PCCS hue wheel defined by dividing into 24 ranges is being utilized.

For example, consider a case in which the hue of a vehicle body of the car55A represented by the car image data45A falls in a specific range (for example, a range including 10Y) of a Munsell hue wheel defined by dividing into 20 ranges. In such a situation the image display control section263appends color data including a hue falling in this range to the car image data45A. The car image data45A displayed on the display device23is accordingly represented by a color including this hue. Furthermore, consider for example a case in which a hue of a vehicle body of the two-wheeled vehicle55C represented by the two-wheeled vehicle image data45C falls in a specific range (for example, a range including 18:B) in a PCCS hue wheel defined by dividing into 24 ranges. In such a situation the image display control section263appends color data including a hue falling in this range to the two-wheeled vehicle image data45C. The image display control section263performs similar processing for the car image data45B and the truck image data45D.

Furthermore, as illustrated inFIG.6, based on the relative position between each of the surrounding vehicles and the vehicle12acquired based on a detection result of the sensor group and camera images, the image display control section263displays the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D which represent the surrounding vehicles and are appended with the color data on the display device23. Furthermore, the image display control section263reads a vehicle trajectory image47representing a vehicle trajectory for the vehicle12to execute a lane change, and displays the vehicle trajectory image47on the display device23. Vehicle trajectory images of various shapes are stored on the ROM26B or the storage26D.

The GPS receiver22, the display device23, the driving assistance operation device25, the ECU26, the sensor group, and the actuator group are configuration elements of the vehicle control device10.

Operation and Advantageous Effects

Next, description follows regarding the operation and advantageous effects of the present exemplary embodiment.

Next, description follows regarding processing executed by the CPU26A of the ECU26. The CPU26A repeats execution of the processing of the flowchart illustrated inFIG.7each time the specific period of time elapses.

At step S10(“step” will be omitted hereafter), the CPU26A determines whether or not the LCA execution condition is established.

The CPU26A proceeds to S11in cases in which determination was YES at S10and executes LCA.

Next, the CPU26A proceeds to S12and selects image data corresponding to the surrounding vehicles from the second data. For example, in cases in which the vehicle12is traveling on the highway50, the CPU26A selects the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D from the second data.

The CPU26A proceeds to S13when the processing of S12has ended, and decides a hue of the color of the vehicle body of each of the surrounding vehicles based on the specific color system. Furthermore, the CPU26A appends respective color data corresponding to the decided hues to the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D selected at S12.

The CPU26A proceeds to S14when the processing of S13has finished, and displays the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D that have been appended with the color data on the display device23.

The CPU26A proceeds to S15when the processing of S14is finished and determines whether or not the LCA execution condition is broken.

The CPU26A proceeds to S16in cases in which YES was determined at S15or NO was determined at S10, and displays first data on the display device23instead of the second data.

The CPU26A temporarily ends the processing of the flowchart ofFIG.7when the processing of S16has finished.

In the present exemplary embodiment as described above, when the vehicle12is executing LCA, the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D are displayed at the display device23so as to express each of the surrounding vehicles, traveling in the surroundings of the vehicle12, in their respective specific colors and shapes. Namely, the colors and shapes of the car image data45A,45B, the two-wheeled vehicle image data45C, and the truck image data45D displayed on the display device23are the same as the actual colors and shapes of each of the respective surrounding vehicles.

In the present specification, reference to the color of the image data representing a surrounding vehicle displayed on the display device23being the same color as the actual color of the surrounding vehicle means that both colors are either exactly the same as each other, or that both colors are the substantially the same as each other. The two colors are exactly the same in cases in which the hue, brightness, and saturation of both are the same as each other. Both colors are substantially the same as each other when the hues of both are substantially the same as each other. For example, as described above, both colors are substantially the same in cases in which the hues of both fall in the same range in a specific hue wheel. In such cases in which both colors are either exactly the same as each other or both colors are substantially the same as each other, an occupant of the vehicle12who has visually checked the surroundings of the vehicle12and looked at surrounding image data representing the surrounding vehicles displayed on the display device23is readily able to ascertain correspondence relationships between the actual surrounding vehicles and the surrounding image data representing the surrounding vehicles.

Moreover in the present specification, reference to a shape of the image data representing a surrounding vehicle displayed on the display device23being the same as the shape of the actual surrounding vehicle means either that both shapes are completely homothetic to each other, or that both shapes are substantially homothetic to each other. In such cases in which both shapes are completely homothetic to each other or both shapes are substantially homothetic to each other, the occupant of the vehicle12who has visually checked the surroundings of the vehicle12and who has looked at surrounding image data representing the surrounding vehicles displayed on the display device23is readily able to ascertain correspondence relationships between the actual surrounding vehicles and the surrounding image data representing the surrounding vehicles.

The vehicle control device10of the present exemplary embodiment accordingly makes it unlikely that the occupant who has looked at the display device23during LCA execution would perceive a mismatch between the surrounding situation of the vehicle12, as displayed on the display device23, and the actual surrounding situation. This accordingly reduces a concern that the occupant who has looked at the display device23during LCA execution might feel unsettled.

Moreover, when LCA (particular driving assistance control) is being executed, the colors and shapes of images (the car image data45A,45B and the like) expressing the surrounding vehicles as displayed on the display device23are switched over to colors and shapes that are the same as those of the actual surrounding vehicles. The occupant who has looked at the display device23is accordingly readily able to ascertain that the vehicle12that was not previously executing LCA has now started to execute LCA.

Although the vehicle control device10, the vehicle control method, and the non-transitory recording medium according to the exemplary embodiment have been described above, appropriate design changes may be made thereto within a range not departing from the spirit of the present disclosure.

As illustrated for example inFIG.8, when the LCA execution condition has been established, a camera image55showing other-vehicle images (the cars55A,55B, the two-wheeled vehicle55C, and the truck55D), which are imaging subjects ahead of the vehicle12and are acquired using at least one from out of the camera21A and the surrounding monitoring camera group, may be displayed on the display device23. In such cases, the colors and shapes of the surrounding vehicles55A,55B,55C,55D displayed on the display device23will be completely the same as those of the actual surrounding vehicles55A,55B,55C,55D when the vehicle12is executing LCA. This means that there is a further reduction in concern that the occupant who has looked at the display device23during LCA execution would perceive a mismatch between the surrounding situation of the vehicle12, as expressed by the image being displayed on the display device23, and the actual surrounding situation. This accordingly reduces a concern that the occupant who has looked at the display device23during LCA execution might feel unsettled.

Moreover in such cases, a vehicle image60representing at least part of the vehicle12may be displayed on the display device23, as illustrated inFIG.8. The vehicle image60may, for example, be a camera image (image data) acquired by the camera21A. Moreover, the vehicle image60may be image data stored on the ROM26B or the storage26D. By displaying the vehicle image60on the display device23in this manner, the occupant who has looked at the display device23is able to ascertain the positional relationship between the vehicle12and the surrounding vehicles. This accordingly reduces a concern that the occupant who has looked at the display device23during LCA execution might feel unsettled compared to cases in which the vehicle image60is not displayed on the display device23.

The image displayed on the display device23may be an image representing a plan view.