CONTROL DEVICE, CONTROL METHOD, AND STORAGE MEDIUM

A control device includes: an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body; and a display control unit configured to display the external environment recognition image on a display device. The display control unit is configured to superimpose and display a stop guide indicating a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device, and, when the stop guide is superimposed on the external environment recognition image, the display control unit makes a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

CROSS-REFERENCE RELATED ARTS

This application is based on and claims priority under 35 USC 119 from Japanese Patent Application No. 2022-137858 filed on Aug. 31, 2022.

TECHNICAL FIELD

The present invention relates to a control device, a control method, and a storage medium.

BACKGROUND ART

In recent years, efforts have been actively made to provide access to a sustainable transportation system in consideration of vulnerable people among traffic participants. In order to implement the above, focus has been placed on research and development on further improving safety and convenience of traffic by research and development related to driving assistance technique.

In the related art, it is known that during vehicle movement, for example during parking, a vehicle surrounding image captured by an in-vehicle camera or the like is displayed on a display device of the vehicle. Further, it is known that as the vehicle approaches a surrounding vehicle or an obstacle, stop guides are displayed in a superimposed manner on the vehicle surrounding image. JP2005-45602A discloses that, on a display screen of a vehicular visual field monitoring system, detection information detected by an obstacle detection sensor and information on a movement prediction trajectory range in which a vehicle travels corresponding to a steering angle of the vehicle are converted into display symbols that stand in a perpendicular direction from a road surface, and the converted display symbols are displayed in a superimposed manner in a vehicle surrounding image.

SUMMARY

For example, a front camera provided on a vehicle front side and a rear camera provided on a vehicle rear side are often different in attachment positions, attachment angles, angle of views, and the like. Therefore, for example, a bumper of the host vehicle does not appear in a surrounding image captured by the front camera, and a driver cannot easily grasp the distance from the obstacle and may feel uneasy while a bumper (specific portion) of the host vehicle appears in a surrounding image captured by the rear camera, and the driver can easily grasp a distance from an obstacle depending on a relationship between the bumper of the host vehicle in the surrounding image and the stop guides.

On the contrary, it is considered to change an attachment position, an attachment angle, an angle of view, and the like of the front camera, so that the bumper of the host vehicle also appears in the surrounding image captured by the front camera. In such a case, when the host vehicle most closely approaches the obstacle, the stop guides and the bumper of the host vehicle may overlap with each other in the surrounding image. In this case, since the stop guides are superimposed such that the stop guides can be seen on a nearer side of the surrounding image from the driver's point of view, it looks like the stop guides are on the nearer side of the bumper of the host vehicle, and it may be difficult to grasp the distance to the obstacle.

As discussed above, while it has been proposed that the stop guides indicating a position where the moving body needs to be stopped are displayed in a superimposed manner in the surrounding image in the driving assistance technique, there is room for further improvement for a desirable display mode.

An object of the present invention is to provide a control device, a control method, and a storage medium storing a control program for easily grasping a distance to a position where a moving body needs to be stopped. which contributes to development of a sustainable transportation system accordingly.

According to an aspect of the present disclosure, there is provided a control device including:an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body; anda display control unit configured to display the external environment recognition image on a display device, in whichthe display control unit is configured to superimpose and display a stop guide indicating a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device, and,when the stop guide is superimposed on the external environment recognition image, the display control unit makes a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

According to another aspect of the present disclosure, there is provided a control method by a control device including an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body and configured to display the external environment recognition image on a display device, the control method including:superimposing and displaying a stop guide showing a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device; andmaking a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other when the stop guide is superimposed on the external environment recognition image.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing a control program for causing a processor of a control device including an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body and configured to display the external environment recognition image on a display device to execute a process including:superimposing and displaying a stop guide indicating a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device, andmaking a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other when the stop guide is superimposed on the external environment recognition image.

According to the present disclosure, it is possible to provide a control device, a control method, and a storage medium storing a control program for easily grasping a distance from a position where a moving body needs to be stopped.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of a control device, a control method, and a control program of the present disclosure will be described with reference to the accompanying drawings. The drawings are viewed from directions of reference numerals. Further, in the present specification and the like, in order to simplify and clarify the description, a front-rear direction, a left-right direction, and an upper-lower direction are described according to directions viewed from a driver of a vehicle10shown inFIGS.1and2. In the drawings, a front side of the vehicle10is shown as Fr, a rear side is shown as Rr, a left side is shown as L, a right side is shown as R, an upper side is shown as U, and a lower side is shown as D. Vehicle10to be moved and controlled by control device of present disclosure.

FIG.1is a side view of the vehicle10of which movement is controlled by the control device of the present disclosure.FIG.2is a top view of the vehicle10shown inFIG.1. The vehicle10is an example of a moving body of the present disclosure.

The vehicle10is an automobile including a drive source (not shown) and wheels including driven wheels driven by power of the drive source and steerable driven wheels. In the present embodiment, the vehicle10is a four-wheeled automobile including a pair of left and right front wheels and a pair of left and right rear wheels. The drive source of the vehicle is, for example, an electric motor. The drive source of the vehicle10may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of the electric motor and the internal combustion engine. Further, the drive source of the vehicle10may drive the pair of left and right front wheels, the pair of left and right rear wheels, or the four wheels including the pair of left and right front wheels and the pair of left and right rear wheels. Both the front wheels and the rear wheels may be the steerable driven wheels, or any one of the front wheels and the rear wheels may be the steerable driven wheels.

The vehicle10further includes side mirrors11L and11R. The side mirrors11L and11R are mirrors (rear-view mirrors) that are provided on outer sides of front seat doors of the vehicle10and that are for a driver to check a rear side and rear lateral sides. Each of the side mirrors11L and11R is fixed to a main body of the vehicle10by a rotation shaft that extends in a perpendicular direction, and can be opened and closed by being rotated around the rotation shaft.

The vehicle10further includes a front camera12Fr, a rear camera12Rr, a left side camera12L, and a right side camera12R. The front camera12Fr is a digital camera that is provided at a front portion of the vehicle10and that images the front side of the vehicle10. The rear camera12Rr is a digital camera that is provided at a rear portion of the vehicle10and that images the rear side of the vehicle10. The left side camera12L is a digital camera that is provided at a left side mirror11L of the vehicle10and that images the left side of the vehicle10. The right side camera12R is a digital camera that is provided at a right side mirror11R of the vehicle10and that images the right side of the vehicle10.

(Internal Configuration of Vehicle10)

FIG.3is a block diagram showing an example of an internal configuration of the vehicle10shown inFIG.1. As shown inFIG.3, the vehicle10includes a sensor group16, a navigation device18, a control electronic control unit (ECU)20, an electric power steering (EPS) system22, and a communication unit24. The vehicle10further includes a driving force control system26and a braking force control system28.

The sensor group16acquires various detection values used for control performed by the control ECU20. The sensor group16includes the front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R. Further, the sensor group16includes a front sonar group32a, a rear sonar group32b, a left side sonar group32c, and a right side sonar group32d. Further, the sensor group16includes wheel sensors34aand34b, a vehicle speed sensor36, and an operation detection unit38. The sensor group16may include a radar.

The front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R acquire recognition data (for example, an external environment recognition image) for recognizing surroundings of the vehicle10by imaging the surroundings of the vehicle10. An external environment recognition image captured by the front camera12Fr is referred to as a front side recognition image. An external environment recognition image captured by the rear camera12Rr is referred to as a rear side recognition image. An external environment recognition image captured by the left side camera12L is referred to as a left side recognition image. An external environment recognition image captured by the right side camera12R is referred to as a right side recognition image. An image constituted by the left side recognition image and the right side recognition image may be referred to as a side recognition image. An external environment recognition image generated by combining imaging data of the front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R may be referred to as a top view image of the vehicle10.

The front sonar group32a, the rear sonar group32b, the left side sonar group32c, and the right side sonar group32demit sound waves to the surroundings of the vehicle10, and receive reflected sounds from other objects. The front sonar group32aincludes, for example, four sonars. The sonars that constitute the front sonar group32aare provided on an obliquely left front side, a front left side, a front right side, and an obliquely right front side of the vehicle10, respectively. The rear sonar group32bincludes, for example, four sonars. The sonars that constitute the rear sonar group32bare provided on an obliquely left rear side, a rear left side, a rear right side, and an obliquely right rear side of the vehicle10, respectively. The left side sonar group32cincludes, for example, two sonars. The sonars that constitute the left side sonar group32care provided at a left side front portion and a left side rear portion of the vehicle10, respectively. The right side sonar group32dincludes, for example, two sonars. The sonars that constitute the right side sonar group32dare provided at a right side front portion and a right side rear portion of the vehicle10, respectively.

The wheel sensors34aand34bdetect rotation angles of the wheels of the vehicle10. The wheel sensors34aand34bmay be implemented by angle sensors, or may be implemented by displacement sensors. The wheel sensors34aand34boutput detection pulses every time the wheels are rotated by a predetermined angle. The detection pulses output from the wheel sensors34aand34bare used for calculating rotation angles of the wheels and rotation speeds of the wheels. A movement distance of the vehicle10is calculated based on the rotation angles of the wheels. The wheel sensor34adetects, for example, a rotation angle θa of the left rear wheel. The wheel sensor34bdetects, for example, a rotation angle θb of the right rear wheel.

The vehicle speed sensor36detects a speed of a vehicle body of the vehicle10, that is, a vehicle speed V, and outputs the detected vehicle speed V to the control ECU20. The vehicle speed sensor36detects the vehicle speed V based on, for example, rotation of a countershaft of a transmission.

The operation detection unit38detects an operation content of a user performed using the operation input unit14, and outputs the detected operation content to the control ECU20. The operation input unit14includes various user interfaces such as a side mirror switch that switches between open and closed states of the side mirrors11L and11R, and a shift lever (a selector lever or a selector).

The navigation device18detects a current position of the vehicle10by using, for example, a global positioning system (GPS), and guides the user to a path to a destination. The navigation device18includes a storage device (not shown) including a map information database.

The navigation device18includes a touch panel42and a speaker44. The touch panel42functions as an input device and a display device of the control ECU20. The speaker44outputs various kinds of guidance information to the user of the vehicle10by a sound.

The touch panel42is configured such that various commands for the control ECU20are input via the touch panel42. For example, a command to display an external environment recognition image of the vehicle10can be input by the user via the touch panel42. Further, the touch panel42is configured to display various screens related to control content of the control ECU20. For example, the external environment recognition image of the vehicle10is displayed on the touch panel42. A constituent element other than the touch panel42, for example, a head-up display (HUD), a smartphone, or a tablet terminal may be used as an input device or a display device.

The control ECU20includes an input and output unit50, a calculation unit52, and a storage unit54. The calculation unit52is implemented by, for example, a central processing unit (CPU). The calculation unit52performs various kinds of control by controlling units based on a program stored in the storage unit54. Further, the calculation unit52inputs and outputs a signal from and to each unit connected to the control ECU20via the input and output unit50.

The calculation unit52includes an external environment recognition unit55that recognizes the external environment recognition image, a display control unit56that displays and controls the external environment recognition image, and an obstacle recognition unit57that recognizes an obstacle around the vehicle10. The calculation unit52is an example of the control device of the present disclosure.

The external environment recognition unit55acquires the external environment recognition images indicating recognition results of surrounding images of the vehicle10captured by the front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R from the cameras.

The display control unit56displays the external environment recognition image acquired by the external environment recognition unit55on the display device of the vehicle10. Specifically, the display control unit56displays, on the touch panel42, the front side recognition image captured by the front camera12Fr, the rear side recognition image captured by the rear camera12Rr, the left side recognition image captured by the left side camera12L, and the right side recognition image captured by the right side camera12R. Further, the display control unit56displays, on the touch panel42, the top view image of the vehicle10generated by combining imaging data of the front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R.

The display control unit56superimposes stop guides indicating a position where movement of the vehicle10needs to be stopped on the external environment recognition image, and displays them on the touch panel42. The stop guide is, for example, a guide indicating that the vehicle10needs to be stopped, that is, a guide warning that the vehicle10approaches an obstacle, and is displayed, for example, like a longitudinal signboard. The stop guide has transparency.

When the stop guides are superimposed on the external environment recognition image, the display control unit56makes a display mode of the stop guides different according to whether a specific portion of the vehicle10included in the external environment recognition image and the stop guides overlap with each other. The specific portion of the vehicle10is, for example, a bumper of the vehicle10. Specifically, when the bumper of the vehicle10included in the external environment recognition image and the stop guides overlap with each other, the display control unit56makes the display mode of the stop guides different between in regions of the stop guides overlapping with the bumper of the vehicle10and in other regions of the stop guides.

For example, when the bumper of the vehicle10included in the external environment recognition image and the stop guides overlap with each other, the display control unit56hides the regions of the stop guides overlapping with the bumper of the vehicle10. Accordingly, the bumper of the vehicle10is displayed in the region, and from the driver's point of view, it looks like the stop guides are on a further side of the bumper of the vehicle10.

Alternatively, when the bumper of the vehicle10included in the external environment recognition image and the stop guides overlap with each other, the display control unit56may make transmittance of the regions of the stop guides overlapping with the bumper of the vehicle10lower than transmittance of other regions of the stop guides. Accordingly, it is difficult to visually recognize the stop guides in the region, and from the driver's point of view, it looks like the stop guides are on the further side of the bumper of the vehicle10. As an example, the display control unit56sets the transmittance of the regions of the stop guides not overlapping with the bumper of the vehicle10to about 50%, and sets the transmittance of the regions of the stop guides overlapping with the bumper of the vehicle10to about 90%. The transmittance of the regions of the stop guides overlapping with the bumper of the vehicle10in this case may be selectable by an operation from the user.

For example, when a distance between an obstacle detected around the vehicle10and the vehicle10is close to a predetermined distance or less, the display control unit56displays the stop guides in a superimposed manner on the external environment recognition image.

The obstacle recognition unit57recognizes an obstacle present around the vehicle10. For example, the obstacle recognition unit57recognizes whether an obstacle is present around a parking position that is a target of the vehicle10when parking the vehicle10, or whether an obstacle is present around a current parking position of the vehicle10when the vehicle10leaves a parking lot. Examples of the obstacle include an article that hinders traveling of the vehicle10, for example, a wall, a pillar, another vehicle, and a person. The obstacle recognition unit57includes, for example, the sonar groups32ato32d, the cameras12Fr,12Rr,12L, and12R, and a LiDAR.

The EPS system22includes a steering angle sensor100, a torque sensor102, an EPS motor104, a resolver106, and an EPS ECU108. The steering angle sensor100detects a steering angle θst of the steering110. The torque sensor102detects a torque TQ applied to the steering110.

The EPS motor104applies a driving force or a reaction force to a steering column112coupled to the steering110, thereby enabling the occupant to perform operation assistance of the steering110and automatic steering during the parking assistance. The resolver106detects a rotation angle θm of the EPS motor104. The EPS ECU108controls the entire EPS system22. The EPS ECU108includes an input and output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

The communication unit24can perform wireless communication with another communication device120. The other communication device120includes a base station, a communication device of another vehicle, a smartphone or a tablet terminal carried by the user of the vehicle10, and the like.

The driving force control system26includes a driving ECU130. The driving force control system26executes driving force control of the vehicle10. The driving ECU130controls a driving force of the vehicle10by controlling an engine or the like (not shown) based on an operation performed by the user on the accelerator pedal (not shown).

The braking force control system28includes a braking ECU132. The braking force control system28executes braking force control of the vehicle10. The braking ECU132controls a braking force of the vehicle10by controlling a braking mechanism or the like (not shown) based on an operation performed by the user on the brake pedal (not shown).

(Processing Performed by Calculation Unit52)

Next, an example of display of the stop guides performed by the calculation unit52of the vehicle10will be described with reference to a flowchart shown inFIG.4.

For example, the user who drives the vehicle10attempts to park the vehicle10in a parking space at a parking lot. It is assumed that the vehicle10is in, for example, a low-speed traveling (for example, 15 km/h or less) state or a stopped state. For example, when a traveling state of the vehicle10is detected based on a detection value of the vehicle speed sensor36, the calculation unit52of the vehicle10starts the processing shown inFIG.4.

The display control unit56of the calculation unit52determines whether the external environment recognition image acquired by the external environment recognition unit55is to be displayed on the touch panel42of the navigation device18(step S11). The external environment recognition image is displayed, for example, when a parking button (not shown) displayed on the touch panel42is tapped. Therefore, the display control unit56determines, for example, whether the parking button is tapped by the user.

When the external environment recognition image is not displayed on the touch panel42, that is, when the parking button is not tapped in step S11(step S11: No), the display control unit56repeats the processing in step S11until the parking button is tapped, and waits.

When the external environment recognition image is displayed on the touch panel42, that is, when the parking button is tapped in step S11(step S11: Yes), the display control unit56displays the external environment recognition image on the touch panel42(step S12). For example, when a gear of the vehicle10is set to reverse, the display control unit56displays the rear side recognition image captured by the rear camera12Rr on the touch panel42. Further, for example, when the gear of the vehicle10is set to drive, neutral, parking, or the like, the display control unit56displays the front side recognition image captured by the front camera12Fr on the touch panel42.

Next, the display control unit56determines whether the vehicle10is close to an obstacle (step S13). As described above, the obstacle around the vehicle10is recognized by the obstacle recognition unit57. Being close to the obstacle means a state, for example, where a distance between a front end or a rear end of the vehicle10and the obstacle around the vehicle10is 1 m or less.

When the vehicle10is not close to the obstacle in step S13(step S13: No), the display control unit56repeats the processing in step S13until the vehicle10is close to the obstacle, without superimposing the stop guides on the external environment recognition image, and waits.

When the vehicle10is close to the obstacle in step S13(step S13: Yes), the display control unit56determines whether the stop guides and the bumper of the external environment recognition image overlap with each other when the stop guides are superimposed on the external environment recognition image (step S14). Specifically, the display control unit56performs the determination in step S14based on a region of the external environment recognition image where the bumper of the vehicle10appears, and a display region of the stop guides calculated based on the distance between the vehicle10and the obstacle or the like.

The region of the external environment recognition image where the bumper of the vehicle10appears is preset, for example, in the control ECU20. The region may be set for each method for generating the external environment recognition image. The method for generating the external environment recognition image means a camera used for imaging (the front camera12Fr or the rear camera12Rr), setting of the camera (an imaging direction, an angle of view, and the like), and the like. Alternatively, the region of the external environment recognition image where the bumper of the vehicle10appears may be acquired by the display control unit56recognizing the region where the bumper appears by image recognition of the external environment recognition image.

When the stop guides and the bumper do not overlap with each other in step S14(step S14: No), the display control unit56superimposes all the stop guides generated based on the distance between the vehicle10and the obstacle or the like on the external environment recognition image, and displays them on the touch panel42(step S15), and shifts to step S17.

When the stop guides and the bumper overlap with each other in step S14(step S14: Yes), the display control unit56superimposes the stop guides that are generated based on the distance between the vehicle10and the obstacle or the like, on the external environment recognition image, with the portions overlapping the bumper in the external environment recognition image being hidden, displays them on the touch panel42(step S16), and shifts to step S17.

In step S15or step S16, the stop guides are in a state of being displayed in a superimposed manner on the external environment recognition image, and the user may park the vehicle10in the target parking space while referring to the stop guides.

After the stop guides are superimposed and displayed in step S15or step S16, the display control unit56determines whether to hide the external environment recognition image displayed on the touch panel42(step S17). The external environment recognition image is hidden, for example, when an end button (not shown) displayed on the touch panel42is tapped, or parking movement of the vehicle10is stopped. Therefore, the display control unit56determines, for example, whether the end button is tapped by the user, or whether the parking movement is stopped. Further, when a vehicle speed (movement speed) of the vehicle is a predetermined threshold or more, the display control unit56may hide the external environment recognition image. Accordingly, for example, when the driver of the vehicle10stops parking and the vehicle10returns to normal traveling, the external environment recognition image may also be hidden.

When the external environment recognition image is not hidden, for example, when the end button is not tapped in step S17(step S17: No), the display control unit56returns to step S13, and repeatedly executes the processing of each step.

When the external environment recognition image is hidden, for example, when the end button is tapped in step S17(step S17: Yes), the display control unit56hides the external environment recognition image from the touch panel42(step S18), and ends the present display.

In step S16, the processing of superimposing, on the external environment recognition image, the stop guides in which the portions overlapping with the bumper in the external environment recognition image are hidden has been described, but as described above, the display control unit56may display the stop guides in which the transmittance of the portions overlapping with the bumper in the external environment recognition image is higher than the transmittance of other portions in a superimposed manner in the external environment recognition image.

(Guide Display by Display Control Unit56)

Next, an example of the stop guides displayed on the touch panel42by the display control unit56will be described with reference toFIGS.5and6.

FIG.5is a diagram showing a first display mode of stop guides displayed in a superimposed manner on a front side recognition image61(external environment recognition image60) and a top view image65.

As shown inFIG.5, the display control unit56generates, for example, a first display region42aand a second display region42bon the touch panel42. The display control unit56displays the front side recognition image61captured by the front camera12Fr in the first display region42a. The front side recognition image61includes an image of another vehicle90that stops in front of the vehicle10. Further, the display control unit56displays viewpoint switching buttons62aand62bthat switch a type of the external environment recognition image60(the front side recognition image, the rear side recognition image, the left side recognition image, and the right side recognition image) displayed in the first display region42a, for example, below the first display region42a. The display control unit56displays, in the second display region42b, the top view image65of the surroundings of the vehicle10generated based on captured images of the front camera12Fr, the rear camera12Rr, the left side camera12L, and right side camera12R.

As shown inFIG.5, when a distance between the vehicle10and the other vehicle90approaches less than a certain distance, the display control unit56displays, for example, four stop guides80ato80din a superimposed manner on the front side recognition image61and the top view image65. The stop guides80ato80dare displayed correspondingly to a position of the other vehicle90. As described above, the stop guides80ato80dare guides indicating that the vehicle10needs to be stopped, that is, guides warning that the vehicle10approaches an obstacle, and are displayed like four longitudinal signboards arranged in parallel in a lateral direction.

A bumper180is the bumper (specific portion) of the vehicle10appearing in the front side recognition image61. In a state shown inFIG.5, a region of the bumper180in the front side recognition image61and regions of the stop guides80ato80dgenerated based on a distance between the vehicle10and the other vehicle90or the like do not overlap with each other. Therefore, the display control unit56superimposes all the stop guides80ato80don the front side recognition image61, and displays them in the first display region42a.

FIG.6is a diagram showing a second display mode of the stop guides displayed in a superimposed manner on the front side recognition image61(external environment recognition image60) and the top view image65.

In a state shown inFIG.6, the vehicle10and the other vehicle90further come closer to each other from the state shown inFIG.5, and the regions of the stop guides80ato80dgenerated based on the distance between the vehicle10and the other vehicle90or the like are regions that can be seen on a nearer side than those in the state shown inFIG.5. As a result, the region of the bumper180in the front side recognition image61and the regions of the stop guides80ato80dgenerated based on the distance between the vehicle10and the other vehicle90or the like overlap with each other.

Therefore, the display control unit56superimposes the stop guides80ato80don the front side recognition image61with regions of the stop guides80ato80dthat overlap the region of the bumper180being hidden, and displays them in the first display region42a. Accordingly, it is possible to prevent the driver from seeing that the stop guides80ato80dare on the nearer side of the bumper180. Therefore, it is possible to prevent a grasp of the distance from the other vehicle90(obstacle) by the driver from becoming difficult.

As described above, when the stop guides80ato80dare superimposed on the front side recognition image61(external environment recognition image60), the display control unit56of the calculation unit52makes the display modes of the stop guides80ato80ddifferent according to whether the bumper180of the vehicle10included in the front side recognition image61and the stop guides80ato80doverlap with each other. Specifically, when the bumper180included in the front side recognition image61and the stop guides80ato80doverlap with each other, the display control unit56makes the display modes different between in the regions of the stop guides80ato80dthat overlap with the bumper180and in other regions of the stop guides80ato80d.

Accordingly, it is possible to improve visibility of the stop guides80ato80dwhen the bumper180of the vehicle10included in the front side recognition image61and the stop guides80ato80doverlap with each other. Therefore, a distance to the position where the vehicle10needs to be stopped may be grasped, and safety of the vehicle10may be improved. Further, it is possible to accurately park the vehicle10.

For example, when the bumper180included in the front side recognition image61and the stop guides80ato80doverlap with each other, the display control unit56hides or displays with relatively high transmittance the regions of the stop guides80ato80dthat overlap the bumper180. Accordingly, it is possible to prevent the driver from seeing that the stop guides80ato80dare on the nearer side of the bumper180of the vehicle10, and to further improve the visibility of the stop guides80ato80dwhen the bumper180of the vehicle10included in the front side recognition image61and the stop guides80ato80doverlap with each other.

The transmittance of the regions of the stop guides80ato80dthat overlap with the bumper180when the bumper180included in the front side recognition image61and the stop guides80ato80doverlap with each other may be selectable by the user (for example, the driver). Accordingly, even if appearances of the guides are different depending on the user (e.g. difficult to see, or easy to see), since the user may select the transmittance of the stop guides80ato80d, the visibility of the stop guides80ato80dmay be improved, and it is possible to accurately park the vehicle10.

The display control unit56displays the stop guides80ato80din a superimposed manner on the front side recognition image61in response to approach between the other vehicle90(obstacle) and the host vehicle10. Accordingly, it is possible to prevent a situation where the other vehicle90(obstacle) and the host vehicle10come into contact with each other in advance, and it is possible to accurately park the vehicle10.

The embodiment of the present disclosure has been described above, but the present invention is not limited to the embodiment described above, and modifications, improvements, and the like may be made as appropriate.

For example, the display control unit56may superimpose moving guides indicating a predetermined position of the vehicle10in a traveling direction together with the stop guides (for example, the stop guides80ato80d) on the external environment recognition image (for example, the front side recognition image61or the top view image65), and display the moving guides together with the stop guides on the touch panel42. The moving guides are, for example, guides indicating a width of the vehicle10or a front end and a rear end of the vehicle10. The moving guides are guides that are always displayed fixedly at a certain distance from the vehicle10. A fixed position where the moving guides are displayed fixedly may be varied according to a travel speed of the vehicle10. Specifically, as the travel speed is higher, the certain distance from the vehicle10may be set longer.

The processing when the stop guides are displayed in a superimposed manner on the front side recognition image61captured by the front camera12Fr has been described, and the display control unit56may also execute similar processing when the stop guides are displayed in a superimposed manner on the rear side recognition image captured by the rear camera12Rr.

The control method described in the embodiment described above may be implemented by executing a control program prepared in advance by a computer. The present control program is recorded in a computer-readable storage medium and executed by being read from the storage medium. Further, the present control program may be provided in a form stored in 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 present control program may be provided in the control device, may be provided in an electronic device such as a smartphone, a tablet terminal, or a personal computer that can communicate with the control device, or may be provided in a server device that can communicate with the control device and the electronic device.

In the present specification, at least the following matters are described. Corresponding constituent elements and the like in the embodiment described above are shown in parentheses, but the present invention is not limited thereto.

(1) A control device including:an external environment recognition unit (an external environment recognition unit55) configured to acquire an external environment recognition image (an external environment recognition image60) showing a recognition result of surroundings of a moving body (a vehicle10); anda display control unit (a display control unit56) configured to display the external environment recognition image on a display device (a touch panel42), in whichthe display control unit is configured to superimpose and display a stop guide (stop guides80ato80d) indicating a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device, and,when the stop guide is superimposed on the external environment recognition image, the display control unit makes a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

According to (1), it is possible to improve visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other. Therefore, it is possible to grasp a distance to the position where the moving body needs to be stopped, and to improve safety of the moving body.

(2) The control device according to (1), in which,when the specific portion included in the external environment recognition image and the stop guide overlap with each other, the display control unit makes the display mode different between in a region of the stop guide overlapping with the specific portion and in another region of the stop guide.

According to (2), it is possible to further improve visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other by making the display mode of only the region of the stop guide overlapping with the specific portion of the moving body different.

(3) The control device according to (2), in which,when the specific portion included in the external environment recognition image and the stop guide overlap with each other, the display control unit hides the region of the stop guide overlapping with the specific portion.

According to (3), it is possible to prevent the driver from seeing that the stop guide is on a nearer side of the specific portion of the moving body, and to further improve the visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

(4) The control device according to (2), in which,when the specific portion included in the external environment recognition image and the stop guide overlap with each other, the display control unit makes transmittance of the region of the stop guide overlapping with the specific portion lower than transmittance of the other region of the stop guide.

According to (4), it is possible to prevent the driver from seeing that the stop guide is on the nearer side of the specific portion of the moving body, and to further improve the visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

(5) The control device according to (4), in whichthe transmittance of the region of the stop guide overlapping with the specific portion when the specific portion included in the external environment recognition image and the stop guide overlap with each other is selectable by a user.

According to (5), it is possible to flexibly select the display mode of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other.

(6) The control device according to any one of (1) to (5), further including:an obstacle recognition unit configured to recognize an obstacle around the moving body, in whichthe display control unit superimposes the stop guide on the external environment recognition image in response to approach between the obstacle and the moving body.

According to (6), it is possible to prevent a situation where the obstacle and the moving body come into contact with each other in advance, and to improve the safety of the moving body.

(7) A control method by a control device including an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body and configured to display the external environment recognition image on a display device, the control method including:superimposing and displaying a stop guide showing a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device; andmaking a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other when the stop guide is superimposed on the external environment recognition image.

According to (7), it is possible to improve the visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other. Therefore, it is possible to grasp a distance to the position where the moving body needs to be stopped, and to improve safety of the moving body.

(8) A non-transitory computer readable storage medium storing a control program for causing a processor of a control device including an external environment recognition unit configured to acquire an external environment recognition image showing a recognition result of surroundings of a moving body and configured to display the external environment recognition image on a display device to execute a process including:superimposing and displaying a stop guide indicating a position where movement of the moving body needs to be stopped on the external environment recognition image on the display device, andmaking a display mode of the stop guide different according to whether a specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other when the stop guide is superimposed on the external environment recognition image.

According to (8), it is possible to improve the visibility of the stop guide when the specific portion of the moving body included in the external environment recognition image and the stop guide overlap with each other. Therefore, it is possible to grasp a distance to the position where the moving body needs to be stopped, and to improve safety of the moving body.