Patent Publication Number: US-2023158957-A1

Title: Control device, control method, and storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based on and claims priority under 35 USC 119 from Japanese Patent Application No. 2021-190066 filed on Nov. 24, 2021, the contents of which are incorporated herein by reference. 
     TECHNICAL FIELD 
     The present disclosure relates to a control device, a control method, and a storage medium storing a control program. 
     BACKGROUND ART 
     In recent years, as a specific measure against global climate change, efforts for implementing a low-carbon society or a decarbonized society have become active. Also in vehicles, reduction in CO 2  emission is strongly required, and automatic driving of vehicles and introduction of driving assistance that contribute to improvement in fuel efficiency are rapidly progressing. 
     For example, an image generation method has been known in which a predetermined range is imaged by each of cameras mounted on the front, rear, left, and right sides of a vehicle, and a surroundings image (for example, a bird&#39;s-eye view image) of the vehicle and the surroundings of the vehicle is generated based on a combined image of the captured images. Japanese Patent No. 5112998 (hereinafter, referred to as Patent Literature 1) discloses a vehicle surroundings monitoring device that changes an imaging range of an image captured by each camera in accordance with opening and closing of a side mirror of a vehicle, and that changes a boundary position between captured images in a combined image of the captured images to generate a birds-eye view image. 
     When the surroundings of a vehicle are imaged by a camera mounted on a vehicle, a part of the vehicle may be reflected in the captured image. Therefore, in order to prevent the reflection of the vehicle, for example, a mask area is set in the vicinity of the vehicle in a bird&#39;s-eye view image. However, when a side mirror of the vehicle is opened and closed, an imaging range of the camera changes, and thus a reflection range of the vehicle also changes with the opening and closing of the side mirror. 
     Patent Literature 1 fails to disclose generation of a bird&#39;s-eye view image corresponding to a change in reflection range of the own vehicle caused by opening and closing of a side mirror. Therefore, in this regard, there is room for improvement in the related art. 
     An object of the present disclosure is to provide a control device, a control method, and a storage medium storing a control program capable of displaying a good surroundings image regardless of whether a side mirror is opened or closed. 
     SUMMARY 
     A first aspect of the present disclosure a control device including circuitry configured to: 
     generate a surroundings image of a moving body based on imaging data obtained by an imaging device provided in an openable and closable side mirror of the moving body; 
     cause a display device to display the generated surroundings image; and 
     determine whether the side mirror is in an opened state or a closed state, 
     in which the circuitry is configured to set, in the surroundings image, a mask area of a range that is based on a determination result as to a state of the side mirror. 
     A second aspect of the present disclosure a control method to be executed by a control device including a processor, in which 
     the processor is configured to generate a surroundings image of a moving body based on imaging data obtained by an imaging device provided in a side mirror of the moving body and cause a display device to display the generated surroundings image, and 
     the control method includes: 
     the processor determining whether the side mirror is in an opened state or a closed state; and 
     the processor setting, in the surroundings image, a mask area of a range that is based on a determination result as to a state of the side mirror. 
     A third aspect of the present disclosure a non-transitory computer-readable storage medium storing a control program for causing a processor of a control device to execute processing, in which 
     the processor generates a surroundings image of a moving body based on imaging data obtained by an imaging device provided in a side mirror of the moving body and causes a, display device to display the generated surroundings image, and 
     the processing includes: 
     determining whether the side mirror is in an opened state or a closed state and 
     setting, in the surroundings image, a mask area of a range that is based on a determination result as to a state of the side mirror. 
     According to the control device, the control method, and the storing the control program of the present disclosure, it is possible to display a good surroundings image regardless of whether a side mirror is opened or closed. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a side view illustrating an example of a vehicle on which a control device of the present embodiment is mounted. 
         FIG.  2    is a top view of the vehicle illustrated in  FIG.  1    in a state where side mirrors are opened. 
         FIG.  3    is a top view of the vehicle illustrated in  FIG.  1    in a state where the side mirrors are closed. 
         FIG.  4    is a block diagram illustrating an internal configuration of the vehicle illustrated in  FIG.  1   . 
         FIG.  5    is a flowchart illustrating an example of display control performed by a control ECU. 
         FIG.  6    is a diagram illustrating an example of a mask area set when the side mirrors are in an opened state. 
         FIG.  7    is a diagram illustrating an example of a mask area set when the side mirrors are in a closed state. 
         FIG.  8    is a diagram illustrating an example of a bird&#39;s-eye view image displayed on a touch screen. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, an embodiment of a control device, a control method, and a storage medium storing a control program according to the present disclosure will be described with reference to the accompanying drawings. Note that the drawings are to be viewed according to orientation of the reference signs. 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 up-down direction are described in accordance with directions viewed from a driver of a vehicle  10  illustrated in  FIGS.  1  to  3   . In the drawings, a front side of the vehicle  10  is denoted by Fr, a rear side thereof is denoted by Rr, a left side thereof is denoted by L, a right side thereof is denoted by R, an upper side thereof is denoted by U, and a lower side thereof is denoted by D. 
     &lt;Vehicle  10  on which Control Device of the Present Disclosure is Mounted&gt; 
       FIG.  1    is a side view of the vehicle  10  on which a control device according to the present disclosure is mounted.  FIGS.  2  and  3    are top views of the vehicle  10  illustrated in  FIG.  1   , The vehicle  10  is an example of a moving body of the present disclosure. 
     The vehicle  10  is an automobile that includes a driving source (not illustrated) and wheels including drive wheels driven by power of the driving source and steerable steering wheels. In the present embodiment, the vehicle  10  is a four-wheeled automobile having a pair of left and right front wheels and a pair of left and right rear wheels. The driving source of the vehicle  10  is, for example, an electric motor. The driving source of the vehicle  10  may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The driving source of the vehicle  10  may drive the pair of left and right front wheels, the pair of left and right rear wheels, or four wheels of 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 steerable steering wheels, or the front wheels or the rear wheels may be steerable steering wheels. 
     The vehicle  10  further includes side mirrors  11 L and  11 R. The side mirrors  11 L and  11 R are mirrors (rearview mirrors) that are provided at outer sides of front seat doors of the vehicle  10  and that allow a driver to check the rear side and rear lateral sides. 
     Each of the side mirrors  11 L and  11 R is fixed to a body of the vehicle  10  by a rotation shaft extending in the up-down direction, and can be opened and closed by rotating about the rotation shaft. The side mirrors  11 L and  11 R, are electrically opened and closed by, for example, a driver&#39;s operation on an operation part provided in the vicinity of a driver&#39;s seat of the vehicle  10 . 
     When the side mirrors  11 L and  11 R are in use (for example, when the vehicle  10  is traveling), the side mirrors  11 L and  11 R are in an opened state as illustrated in  FIG.  2   . A width (a length in the left-right direction) of the vehicle  10  including the side mirrors  11 L and  11 R at this time is referred to as a width D1. 
     When the side mirrors  11 L and  11 R, are not in use (for example, when the vehicle  10  is stopped), the side mirrors  11 L and  11 R are in a closed state as illustrated in  FIG.  3   . A width (the length in the left-right direction) of the vehicle  10  including the side mirrors  11 L and  11 R at this time is referred to as a width D2. 
     As illustrated in  FIGS.  2  and  3   , the width D2 of the vehicle  10  with the side mirrors  11 L and  11 R in the closed state is narrower than the width D1 of the vehicle  10  with the side mirrors  11 L and  11 R in the opened state, Therefore, for example, when the vehicle  10  enters a narrow parking space, the driver often performs an operation of setting the side mirrors  11 L and  11 R to the closed state so that the vehicle  10  does not collide with an obstacle in the surroundings of the vehicle  10 . 
     The vehicle  10  further includes a front camera  12 Fr, a rear camera  12 Rr, a left lateral-side camera  12 L, and a right lateral-side camera  12 R. The front camera  12 Fr is a digital camera that is provided in a front portion of the vehicle  10  and images a front side of the vehicle  10 . The rear camera  12 Rr is a digital camera that is provided in a rear portion of the vehicle  10  and images a rear side of the vehicle  10 . The left lateral-side camera  12 L is a digital camera that is provided in the left side mirror  11 L of the vehicle  10  and images a left lateral side of the vehicle  10 . The right lateral-side camera  12 R is a digital camera that is provided in the right side mirror  11 R of the vehicle  10  and images a right lateral side of the vehicle  10 . The front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R are examples of an imaging device of the present disclosure. 
     &lt;Internal Configuration of Vehicle  10 &gt; 
       FIG.  4    is a block diagram illustrating an example of an internal configuration of the vehicle  10  illustrated in  FIG.  1   . As illustrated in  FIG.  4   , the vehicle  10  includes a sensor group  16 , a navigation device  18 , a control electronic control unit (ECU)  20 , an electric power steering (EPS) system  22 , and a communication unit  24 . The vehicle  10  further includes a driving force control system  26  and a braking force control system  28 . The control ECU  20  is an example of a control device of the present disclosure. 
     The sensor group  16  obtains various types of detection values used for control performed by the control ECU  20 . The sensor group  16  includes the front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R. In addition, the sensor group  16  includes a front sonar group  32   a , a rear sonar group  32   b , a left lateral-side sonar group  32   c , and a right lateral-side sonar group  32   d . Further, the sensor group  16  includes wheel sensors  34   a  and  34   b , a vehicle speed sensor  36 , and an operation detector  38 . 
     The front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R output surroundings images obtained by imaging the surroundings of the vehicle  10 . The surroundings images captured by the front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R are referred to as a front image, a rear image, a left lateral-side image, and a right lateral-side image, respectively. The left lateral-side image and the right lateral-side image constitute a lateral-side image. 
     The front sonar group  32   a , the rear sonar group  32   b , the left lateral-side sonar group  32   c , and the right lateral-side sonar group  32   d  emit sound waves to the surroundings of the vehicle  10  and receive reflected sounds from other objects. The front sonar group  32   a  includes, for example, four sonars. The sonars constituting the front sonar group  32   a  are provided at an obliquely left front side, a front left side, a front right side, and an obliquely right front side of the vehicle  10 , respectively. The rear sonar group  32   h  includes, for example, four sonars. The sonars constituting the rear sonar group  32   b  are provided at an obliquely left rear side, a rear left side, a rear right side, and an obliquely right rear side of the vehicle  10 , respectively. The left lateral-side sonar group  32   c  includes, for example, two sonars. The sonars constituting the left lateral-side sonar group  32   c  are provided at a front side and a rear side of a left side portion of the vehicle  10 , respectively. The right lateral-side sonar group  32   d  includes, for example, two sonars. The sonars constituting the right lateral-side sonar group  32   d  are provided at a front side and a rear side of a right side portion of the vehicle  10 , respectively. 
     The wheel sensors  34   a  and  34   b  detect a rotation angle of a wheel of the vehicle  10 . The wheel sensors  34   a  and  34   b  may be implemented by an angle sensor or a displacement sensor. The wheel sensors  34   a  and  34   b  output a detection pulse each time the wheel rotates by a predetermined angle. The detection pulse output from the wheel sensors  34   a  and  34   b  is used to calculate the rotation angle of the wheel and a rotation speed of the wheel. A movement distance of the vehicle  10  is calculated based on the rotation angle of the wheel. The wheel sensor  34   a  detects, for example, a rotation angle θa of a left rear wheel. The wheel sensor  34   b  detects, for example, a rotation angle θb of a right rear wheel. 
     The vehicle speed sensor  36  detects a speed of a vehicle body of the vehicle  10 , that is, a vehicle speed V, and outputs the detected vehicle speed V to the control ECU  20 . The vehicle speed sensor  36  detects the vehicle speed V based on, for example, rotation of a countershaft of the transmission. 
     The operation detector  38  detects content of an operation performed by a user using an operation input part  14 , and outputs the detected content of the operation to the control ECU  20 . The operation input part  14  includes, for example, a side-mirror switch that switches between an opened state and a closed state of the side mirrors  11 L and  11 R. In addition, the operation input part  14  may include various user interfaces such as a shift lever a select lever or a selector). 
     The navigation device  18  detects a current position of the vehicle  10  using, for example, a global positioning system (GPS), and guides the user to a route to a destination. The navigation device  18  includes a storage device (not illustrated) provided with a map information database. 
     The navigation device  18  includes a touch screen  42  and a speaker  44 . The touch screen  42  functions as an input device and a display device of the control ECU  20 . The user inputs various commands via the touch screen  42 . The touch screen  42  displays various screens. Components other than the touch screen  42 , for example, a smartphone may be used as the input device or the display device. The speaker  44  outputs various types of guidance information to an occupant of the vehicle  10  by voice. 
     The control ECU  20  includes an input/output unit  50 , a calculator  52 , and a storage unit  54 . The calculator  52  is implemented by, for example, circuitry such as a central processing unit (CPU). The calculator  52  performs various types of control by controlling units based on a program stored in the storage unit  54 . 
     The calculator  52  includes a display controller  55 , an opening/closing determination unit  56 , and an image processor  57 . 
     The opening/closing determination unit  56  determines whether the side mirrors  11 L and  11 R are in the opened state or the closed state. The determination performed by the opening/closing determination unit  56  is performed, for example, based on a result of an operation of the side-mirror switch provided in the operation input part  14  that is detected by the operation detector  38 . The determination by the opening/closing determination unit  56  may be performed based on a detection result of the state of the side mirrors  11 L and  11 R detected by sensors (not illustrated) provided in the side mirrors  11 L and  11 R. 
     The image processor  57  generates a surroundings image of the vehicle  10  based on imaging data obtained by the cameras of the vehicle  10 . Specifically, the image processor  57  generates a bird&#39;s-eye view image showing a state of the surroundings of the vehicle  10  viewed from above, by synthesizing respective pieces of imaging data obtained by the front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R. 
     In addition, the image processor  57  sets a mask area in the generated surroundings image (bird&#39;s-eye view image). The mask area refers to an area set to hide the body of the vehicle  10  reflected in a captured image. The image processor  57  may set mask areas in the lateral-side images (the left lateral-side image and the right lateral-side image) obtained by the left lateral-side camera  12 L and the right lateral-side camera  12 R. 
     A range in which the body of the vehicle  10  is reflected in the captured image differs depending on imaging data obtained by the camera. Therefore, the mask area set in the surroundings image also differs depending on a difference in the imaging data obtained by the camera. For example, the lateral-side images obtained by the left lateral-side camera  12 L and the right lateral-side camera  12 R differ depending on whether the side mirrors  11 L and  11 R to which the left lateral-side camera  12 L and the right lateral-side camera  12 R are attached are open or closed. Therefore, the range in which the body of the vehicle  10  is reflected, that is, the mask area set in the surroundings image differs depending on a difference in opening and closing of the side mirrors  11 L and  11 R. The image processor  57  sets mask areas having different sizes for the surroundings image of the vehicle  10  based on a determination result of the opened-closed state of the side mirrors  11 L and  11 R (namely, whether the side mirrors  11 L and  11 R are in a opened-state or a closed state) obtained by the opening/closing determination unit  56 . 
     The display controller  55  causes the display device of the vehicle  10  to display the surroundings image generated by the image processor  57 . Specifically, the display controller  55  causes the touch screen  42  to display a bird&#39;s-eye view image of the vehicle  10  generated by synthesizing respective pieces of imaging data of the front camera  12 Fr, the rear camera  12 Rr, the left lateral-side camera  12 L, and the right lateral-side camera  12 R. In addition, the display controller  55  causes the touch screen  42  to display the bird&#39;s-eye view image based on the determination result of the opening/closing determination unit  56 . Specifically, the display controller  55  causes the touch screen  42  to display the bird&#39;s-eye view image including a mask area whose sizes are switched in accordance with the opening and closing of the side mirrors  11 L and  11 R. 
     The control ECU  20  may assist parking of the vehicle  10  by performing automatic steering. That is, an operation of a steering wheel  110  may be automatically performed under the control of the control ECU  20 . Specifically, operations of an accelerator pedal (not illustrated), a brake pedal (not illustrated), and the operation input part  14  may be automatically performed. 
     The EPS system  22  includes a steering angle sensor  100 , a torque sensor  102 , an EPS motor  104 , a resolver  106 , and an EPS ECU  108 . The steering angle sensor  100  detects a steering angle θst of the steering wheel  110 . The torque sensor  102  detects a torque TQ applied to the steering wheel  110 . 
     The EPS motor  104  applies a driving force or a reaction force to a steering column  112  coupled to the steering wheel  110 , thereby enabling operation assistance of the steering wheel  110  and automatic steering at the time of parking assistance for the occupant. The resolver  106  detects a rotation angle θm of the EPS motor  104 . The EPS ECU  108  controls the entire EPS system  22 . The EPS ECU  108  includes an input/output unit (not illustrated), a calculator (not illustrated), and a storage unit (not illustrated). 
     The communication unit  24  enables wireless communication with another communication device  120 . The other communication device  120  is a base station, a communication device of another vehicle, an information terminal such as a smartphone possessed by an occupant of the vehicle  10 , or the like. 
     The driving force control system  26  is provided with a driving ECU  130 . The driving force control system  26  executes driving force control of the vehicle  10 . The driving ECU  130  controls an engine or the like (not illustrated) based on an operation that the user performs on the accelerator pedal (not illustrated), thereby controlling a driving force of the vehicle  10 . 
     The braking force control system  28  is provided with a braking ECU  132 , The braking force control system  28  executes braking force control of the vehicle  10 . The braking ECU  132  controls a braking force of the vehicle  10  by controlling a brake mechanism or the like (not illustrated) based on an operation that the user performs on the brake pedal (not illustrated), thereby controlling a braking force of the vehicle  10 . 
     &lt;Display Control Performed by Control ECU  20 &gt; 
     Next, display control performed by the control ECU  20  will be described with reference to  FIGS.  5  to  8   .  FIG.  5    is a flowchart illustrating an example of the display control performed by the control ECU  20 .  FIG.  6    is a diagram illustrating an example of a mask area set when the side mirrors  11 L and  11 R are in the opened state.  FIG.  7    is a diagram illustrating an example of a mask area set when the side mirrors  11 L and  11 R are in the closed state.  FIG.  8    is a diagram illustrating an example of a bird&#39;s-eye view image displayed on the touch screen  42 . 
     For example, when an ignition switch is turned on, the control ECU  20  starts the processing illustrated in  FIG.  5   . 
     First, the control ECU  20  causes the opening/closing determination unit  56  to determine the opened-closed state of the side mirrors  11 L and  11 R (step S 11 ). The control ECU  20  determines whether the side mirrors  11 L and  11 R are in the opened state based on a determination result obtained by the opening/closing determination unit  56  in step S 11  (step S 12 ). 
     When it is determined in step S 12  that the side mirrors  11 L and  11 R are in the opened state (step S 12 : Yes), the control ECU  20  causes the image processor  57  to generate a bird&#39;s-view image in which a relatively narrow mask area is set (step S 13 ). The relatively narrow mask area is a mask area that is narrower than a mask area generated when the side mirrors  11 L and  11 R are in the closed state. 
     A bird&#39;s-eye view image  61  illustrated in  FIG.  6    is an image that is generated by synthesizing respective pieces of imaging data of a front image, a rear image, a left lateral-side image, and a right lateral-side image obtained by the front camera  12 Fr, the rear camera  12 Rr, and the left lateral-side camera  12 L and the right lateral-side camera  12 R in the opened state, and that shows a state of the surroundings of the vehicle  10  viewed from above. The bird&#39;s-eye view image  61  is generated as, for example, an image configured in a rectangular shape. A mask area  62  is generated in a central portion of the bird&#39;s-eye view image  61 . The mask area  62  is generated as, for example, an area having a rectangular shape similarly to the bird&#39;s-eye view image  61 , In the mask area  62 , a vehicle image  63  indicating the vehicle  10  is displayed in a superimposed manner on a portion (for example, a central portion) corresponding to a space in which the vehicle  10  is located. The vehicle image  63  is an image showing a state of the vehicle  10  viewed from above, and is an image generated (captured) in advance and stored in the storage unit  54  or the like. By displaying the vehicle image  63 , the driver can easily grasp a positional relationship between the surroundings of the vehicle  10  and the vehicle  10 . 
     For example, assuming that a width of the mask area  62  (a width in the left-right direction) is a width M1, the width M1 of the mask area  62  generated when the side mirrors  11 L and  11 R are in the opened state is set to be smaller than a width of the mask area (described later in  FIG.  7   ) generated when the side mirrors  11 L and  11 R are in the closed state. 
     On the other hand, when it is determined in step S 12  that the side mirrors  11 L and  11 R are not in the opened state (step S 12 : No), the control ECU  20  causes the image processor  57  to generate a bird&#39;s-eye view image in which a relatively wide mask area is set (step S 14 ). The relatively wide mask area refers to a mask area relatively wider than the mask area set when the side mirrors  11 L and  11 R are in the opened state, that is, wider than the mask area  62  illustrated in  FIG.  6    described above. The control ECU  20  generates a bird&#39;s-eye view image in which a mask area wider than the mask area  62  is set. 
     A bird&#39;s-eye view image  71  illustrated in  FIG.  7    is an image that is generated by synthesizing respective pieces of imaging data of a front image, a rear image, a left lateral-side image, and a right lateral-side image obtained by the front camera  12 Fr, the rear camera  12 Rr, and the left lateral-side camera  12 L and the right lateral-side camera  12 R in a stored state (to be specific, the side mirrors  11 L and  11 R being in the closed state), and that shows a state of the surroundings of the vehicle  10  viewed from above. A mask area  72  is generated in a central portion of the bird&#39;s-eye view image  71 . A vehicle image  73  is displayed in a superimposed manner in the mask area  72 . 
     For example, assuming that a width of the mask area  72  is M2, the width M2 of the mask area  72  generated when the side mirrors  11 L and  11 R are in the closed state is set to be larger than the width M1 of the mask area  62  generated when the side mirrors  11 L and  11 R are in the opened state. 
     As described above, the bird&#39;s-eye view image  71  is an image generated by synthesizing the imaging data obtained by the front camera  12 Fr, the rear camera  12 Rr, and the left lateral-side camera  12 L and the right lateral-side camera  12 R in the stored state (to be specific, the side mirrors  11 L and  11 R being in the closed state). For example, the control ECU  20  performs conversion processing on respective pieces of imaging data obtained by the left lateral-side camera  12 L and the right lateral-side camera  12 R in the stored state, and generates the bird&#39;s-eye view image  71  by synthesizing the respective pieces of imaging data of the left lateral-side camera  12 L and the right lateral-side camera  12 R subjected to the conversion processing and the respective pieces of imaging data of the front camera  12 Fr and the rear camera  12 Rr. 
     The conversion processing performed on the imaging data is processing of cancelling a change in imaging conditions of the left lateral-side camera  12 L and the right lateral-side camera  12 R due to displacement of the side mirrors  11 L and  11 R. For example, when the side mirror  11 L is displaced from the opened state to the closed state, the left lateral-side camera  12 L provided in the side mirror  11 L is also displaced, and thus imaging conditions such as an imaging position and an imaging direction of the left lateral-side camera  12 L are changed. Therefore, the control ECU  20  performs conversion processing on the imaging data obtained from the left lateral-side camera  12 L when the side mirror  11 L is in the closed state so as to approach the imaging data obtained from the left lateral-side camera  12 L when the side mirror  11 L is in the opened state. 
     As an example, it is assumed that, when the side mirror  11 L is changed from the opened state to the closed state, the imaging direction of the left lateral-side camera  12 L is directed toward the rear side and is changed in a direction of approaching the body of the vehicle  10 . In this case, the imaging data obtained by the left lateral-side camera  12 L is imaging data including an image of the rear side of the vehicle  10  and imaging data including an image of the body of the vehicle  10 . The control ECU  20  performs, as the conversion processing, processing of great enlargement toward the front side, on the imaging data obtained from the left later-side camera  12 L when the side mirror  11 L is in the closed state. Further, the conversion processing includes processing of correcting distortion or the like caused due to the processing of greatly enlarging the imaging data toward the front side. Accordingly, the imaging data obtained from the left lateral-side camera  12 L when the side mirror  11 L is in the closed state can be brought close to the imaging data obtained when the side mirror  11 L is in the opened state, but includes the image of the body of the vehicle  10 . Therefore, when the side mirror  11 L is in the closed state, it is necessary to secure a wide mask area in order to hide the image of the body of the vehicle  10 . Although the conversion processing on the imaging data obtained from the left lateral-side camera  12 L has been described, the same applies to the conversion processing on the imaging data obtained from the right lateral-side camera  12 R. 
     Next, when the bird&#39;s-eye view image  61  in which the relatively narrow mask area  62  is set is generated in step S 13 , the control ECU  20  proceeds to step S 15 , and causes the display controller  55  to display the generated bird&#39;s-eye view image  61  on the touch screen  42  that is the display device of the vehicle  10 . Similarly, when the bird&#39;s-eye view image  71  in which the relatively wide mask area  72  is set is generated in step S 14 , the control ECU  20  proceeds to step S 15 , and causes the display controller  55  to display the generated bird&#39;s-eye view image  71  on the touch screen  42  of the vehicle  10 . 
     As illustrated in  FIG.  8   , the touch screen  42  includes, for example, a first display area.  42   a  and a second display area  42   b . The control ECU  20  displays the bird&#39;s-eye view image  61  generated in step S 13  or the bird&#39;s-eye view image  71  generated in step S 14  in the second display area  42   b . In the example illustrated in  FIG.  8   , the bird&#39;s-eye view image  61  in which the relatively narrow mask area  62  generated when the side mirrors  11 L and  11 R are in the opened state is set is displayed. In the bird&#39;s-eye view image  61 , a state in which an adjacent vehicle  100 A and an adjacent vehicle  100 B are parked on both left and right sides of the vehicle  10  indicated as the vehicle image  63  is displayed. Accordingly, the driver can check the surroundings of the vehicle  10  based on the bird&#39;s-eye view image  61  having a good and sufficient visible range in which, for example, the reflection of the body of the vehicle  10  is masked by the relatively narrow mask area  62 . 
     Although not illustrated in  FIG.  8   , any image such as a front image based on imaging data obtained by the front camera  12 Fr, a rear image based on imaging data obtained by the rear camera  12 Rr, or a button image for the occupant of the vehicle  10  to give various instructions may be displayed in the first display area  42   a.    
     In addition, when the bird&#39;s-eye view image  71  generated when the side mirrors  11 L and  11 R are in the closed state is displayed in the second display area  42   b , the reflection of the body of the vehicle  10  that is included due to, for example, the conversion processing of greatly enlarging the imaging data can be masked by the relatively wide mask area  72 . Accordingly, even when the side mirrors  11 L and  11 R are in the closed state, the driver can check the surroundings of the vehicle  10  based on the good bird&#39;s-eye view image  71 . 
     As described above, the control ECU  20  controls the image processor  57  to se the mask areas  62  and  72  of predetermined ranges in the bird&#39;s-eye view images  61  and  71  based on a determination result of the opening/closing determination unit  56  that determines an opened-closed state of the side mirrors  11 L and  11 R. Accordingly, since the mask areas  62  and  72  of the bird&#39;s-eye view images  61  and  71  are set based on the opened-closed state of the side mirrors  11 L and  11 R, even when the imaging ranges of the left lateral-side camera  12 L and the right lateral-side camera  12 R are changed according to the opening/closing of the side mirrors  11 L and  11 R, it is possible to display the good bird&#39;s-eye view images  61  and  71  in a wide range without the body of the vehicle being reflected. Therefore, for example, it is possible to accurately check whether the vehicle  10  collides with an obstacle in the surroundings of the vehicle  10  while the vehicle  10  is entering a narrow parking space or leaving a narrow parking space. In addition, while the vehicle  10  is entering the narrow parking space, it is easy to check whether there is a space for allowing the occupant of the vehicle  10  to easily get off the vehicle  10  after the vehicle  10  is stopped. In addition, while the vehicle  10  is stopping, it is easy to check whether there is an obstacle that the occupant of the vehicle  10  comes into contact with at the time of getting off the vehicle  10 . 
     When the side mirrors  11 L and  11 R are in the closed state, the control ECU  20  causes the image processor  57  to set the mask area  72  that is wider than the mask area  62  set when the side mirrors  11 L and  11 R are in the opened state. Accordingly, it is possible to mask the reflection of the vehicle  10  in the bird&#39;s-eye view image  71  by setting the relatively wide mask area  72  in a state where the side mirrors  11 L and  11 R are closed, and it is possible to secure a wide visible range in the bird&#39;s-eye view image  61  by setting the relatively narrow mask area  62  in a state where the side mirrors  11 L and  11 R are opened. 
     Although the embodiment of the present disclosure has been described above, the present disclosure is not limited to the above-described embodiment, and modifications, improvements, and the like can be made as appropriate. 
     For example, although the case in which the control ECU  20  displays the bird&#39;s-eye view images  61  and  71  on the touch screen  42  of the vehicle  10  is described in the above-described embodiment, the present disclosure is not limited thereto. For example, the control ECU  20  may display the bird&#39;s-eye view images  61  and  71  on a display screen of an information terminal (for example, a smartphone) possessed by an occupant of the vehicle  10  via the communication unit  24 . 
     Although the case in which the mask areas  62  and  72  are formed in a rectangular shape is described in the above-described embodiment, the present disclosure is not limited thereto. For example, the mask areas  62  and  72  may be formed in an elliptical shape or a circular shape. In addition, a size of an area (front area) located in a traveling direction of the vehicle  10  (moving body) among the mask areas  62  and  72  may be changed from a size illustrated in  FIG.  6   ,  FIG.  7   , and the like. The sizes and shapes of the mask areas  62  and  72  may be set for each individual vehicle  10  (moving body) or may be set by a user input. The sizes and shapes of the mask areas  62  and  72  may be set based on a time zone, a surrounding environment (for example, brightness of illuminance or the like, weather, presence or absence of a surrounding moving body, and a state of the surrounding moving body in case of presence) of the vehicle  10  (moving body), and the like. 
     Although an example in which the moving body is a vehicle is described in the above-described embodiment, the present disclosure is not limited thereto. The concept of the present disclosure can be applied not only to a vehicle but also to a robot, a boat, an aircraft, and the like that are provided with a driving source and movable by power of the driving source. 
     The control method described in the above embodiment can be implemented by executing a control program prepared in advance on a computer. The control program is recorded in a non-transitory computer-readable storage medium and is executed by being read from the storage medium. The 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 control program may be provided in a control device, may be provided in an electronic device such as a smartphone, a tablet terminal, or a personal computer capable of communicating with the control device, or may be provided in a server device capable of communicating with the control device and the electronic device. 
     At least the following matters are described in the present specification. Although the corresponding components or the like in the above-described embodiment are shown in parentheses, the present disclosure is not limited thereto. 
     (1) A control device, including: 
     an image processor (image processor  57 ) that generates a surroundings image (bird&#39;s-eye view images  61  and  71 ) of a moving body (vehicle  10 ) based on imaging data obtained by an imaging device (left lateral-side camera  12 L and right lateral-side camera  12 R) provided in an operable and closable side mirror (side mirrors  11 L and  11 R) of the moving body; 
     a display controller (display controller  55 ) that causes a display device (touch screen  42 ) to display the surroundings image generated by the image processor; and 
     an opening/closing determination unit (opening/closing determination unit  56 ) that determines whether the side mirror is in an opened state or a closed state, 
     in which the image processor sets, in the surroundings image, a mask area (mask areas  62  and  72 ) of a range that is based on a determination result as to a state of the side mirror. 
     According to (1), since the mask area of the surroundings image is set based on whether the side mirror is in the opened state or the closed state, even if an imaging range of the imaging device is changed according to opening or closing of the side mirror, it is possible to display a good surroundings image. 
     (2) The control device according to (1), 
     in which the image processor sets the mask area wider then the side mirror is in a closed state than when the side mirror is in an opened state. 
     According to (2), in a state where the side mirror is closed, it is possible to widen the mask area to prevent the reflection of the moving body in the surroundings image, and in a state where the side mirror is opened, it is possible to narrow the mask area to enlarge a visible range in the surroundings image. 
     (3) The control device according to (1) or (2), 
     in which the imaging device includes a plurality of imaging devices, and 
     in which the surroundings image is a bird&#39;s-eye view image that is generated by synthesizing respective pieces of imaging data obtained by the plurality of imaging devices and that shows a state of surroundings of the moving body viewed from above. 
     According to (3), a driver can intuitively grasp the state of the surroundings of the vehicle. 
     (4) The control device according to any one of (1) to (3), 
     in which the surroundings image includes an image of the moving body (vehicle images  63  and  73 ). 
     According to (4), the driver can easily grasp a positional relationship between the surroundings of the vehicle and the vehicle. 
     (5) A control method to be executed by a control device including a processor configured to generate a surroundings image of a moving body based on imaging data obtained by an imaging device provided in a side mirror of the moving body and cause a display device to display the generated surroundings image, the control method including: 
     the processor determining whether the side mirror is in an opened state or a closed state; and 
     the processor setting, in the surroundings image, a mask area of a range that is based on a determination result as to a state of the side mirror. 
     According to (5), since the mask area of the surroundings image is set based on the side mirror is in an opened state or a closed state, even if an imaging range of the imaging device is changed according to opening or closing of the side mirror, it is possible to display a good surroundings image. 
     (6) A control program for causing a processor of a control device, which generates a surroundings image of a moving body based on imaging data obtained by an imaging device provided in a side mirror of the moving body and causes a display device to display the generated surroundings image, to execute the processing of: 
     determining whether the side mirror is in an opened state or a closed state; and 
     setting, in the surroundings image, a mask area of a range that is based on a determination result as to a state of the side mirror. 
     According to (6), since the mask area of the surroundings image is set based on whether the side mirror is in an opened state of an closed state, even if an imaging range of the imaging device is changed according to opening or closing of the side mirror, it is possible to display a good surroundings image.