Patent ID: 12254703

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of a control device according to the present disclosure will be described with reference to the accompanying drawings. The drawings are viewed in directions of reference signs. In addition, 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 according to directions viewed from a driver of a vehicle10shown inFIGS.1and2. In the drawings, a front side of the vehicle10is 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.

<Vehicle10Whose Movement is Controlled by Control Device According to Present Disclosure>

FIG.1is a side view of the vehicle10whose movement is controlled by the control device according to the disclosure.FIG.2is a top view of the vehicle10shown inFIG.1. The vehicle10is an example of a moving body in the disclosure.

The vehicle10is an automobile including a drive source (not shown) and wheels including driving wheels driven by power of the drive source and steering wheels that are steerable. 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 vehicle10is, for example, an electric motor. The drive source of the vehicle10may also be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the drive source of the vehicle10may drive the pair of left and right front wheels, the pair of left and right rear wheels, or four wheels, that is, the pair of left and right front wheels and the pair of left and right rear wheels. The front wheels and the rear wheels may both be steering wheels that are steerable, or one of the front wheels and the rear wheels may be steering wheels that are steerable.

The vehicle10further includes side mirrors11L and11R. The side mirrors11L and11R are mirrors (rearview mirrors) that are provided outside front seat doors of the vehicle10for the driver to check a rear side and a rear lateral side. Each of the side mirrors11L and11R is fixed to a body of the vehicle10by a rotation shaft extending in a vertical direction and can be opened and closed by rotating about 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 captures an image of a front side of the vehicle10. The rear camera12Rr is a digital camera that is provided at a rear portion of the vehicle10and captures an image of a rear side of the vehicle10. The left side camera12L is a digital camera that is provided on the left side mirror11L of the vehicle10and captures an image of a left side of the vehicle10. The right side camera12R is a digital camera that is provided on the right side mirror11R of the vehicle10and captures an image of a 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 group16obtains 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. In addition, the sensor group16includes a front sonar group32a, a rear sonar group32b, a left side sonar group32c, and a right side sonar group32d. In addition, 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 obtain recognition data (for example, an external environment recognition image) for recognizing a surrounding area of the vehicle10by capturing images of the surrounding area of the vehicle10. An external environment recognition image captured by the front camera12Fr is referred to as a front recognition image. An external environment recognition image captured by the rear camera12Rr is referred to as a rear 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 formed 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 synthesizing 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 surrounding area of the vehicle10and receive reflected sounds from other objects. The front sonar group32aincludes, for example, four sonars. The sonars constituting the front sonar group32aare respectively provided on an obliquely left front side, a front left side, a front right side, and an obliquely right front side of the vehicle10. The rear sonar group32bincludes, for example, four sonars. The sonars constituting the rear sonar group32bare respectively provided on an obliquely left rear side, a rear left side, a rear right side, and an obliquely right rear side of the vehicle10. The left side sonar group32cincludes, for example, two sonars. The sonars constituting the left side sonar group32care provided in the front of a left side portion of the vehicle10and the rear of the left side portion, respectively. The right side sonar group32dincludes, for example, two sonars. The sonars constituting the right side sonar group32dare provided in the front of a right side portion of the vehicle10and the rear of the right side portion, respectively. The front sonar group32a, the rear sonar group32b, the left side sonar group32c, and the right side sonar group32dobtain detection data (for example, obstacle information) for detecting an obstacle in the surrounding area of the vehicle10.

The wheel sensors34aand34bdetect a rotation angle of the wheel of the vehicle10. The wheel sensors34aand34bmay be implemented by angle sensors or displacement sensors. The wheel sensors34aand34boutput detection pulses each time the wheel rotates by a predetermined angle. Detection pulses outputted from the wheel sensors34aand34bare used to calculate the rotation angle of the wheel and a rotation speed of the wheel. A movement distance of the vehicle10is calculated based on the rotation angle of the wheel. 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 a content of an operation performed by a user using an operation input unit14and outputs the detected content of the operation to the control ECU20. The operation input unit14includes, for example, various user interfaces such as a side mirror switch that switches opened and closed states of the side mirrors11L and11R, and a shift lever (a select 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 along a route toward a destination. The navigation device18includes a storage device (not shown) that includes 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 types of guidance information to the user of the vehicle10by voice.

The touch panel42is configured to input various commands to the control ECU20. For example, the user can input a command via the touch panel42to display the external environment recognition image of the vehicle10. In addition, the touch panel42is configured to display various screens related to a control content of the control ECU20. For example, the external environment recognition image of the vehicle10is displayed on the touch panel42. Constituent elements other than the touch panel42, for example, a head-up display (HUD), a smartphone, or a tablet terminal may be used as the input device or the 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 types of control by controlling each unit based on a program stored in the storage unit54. In addition, the calculation unit52receives and outputs signals 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 controls display of the external environment recognition image, and an obstacle detection unit57that recognizes an obstacle in the surrounding area of the vehicle10. The calculation unit52is an example of a control device in the disclosure.

The external environment recognition unit55obtains, from each camera, the external environment recognition image representing a recognition result of a peripheral image of the vehicle10captured by the front camera12Fr, the rear camera12Rr, the left side camera12L, and the right side camera12R.

The obstacle detection unit57obtains, from each sonar, obstacle information representing a detection result of an obstacle in the surrounding area of the vehicle10detected by the front sonar group32a, the rear sonar group32b, the left side sonar group32c, and the right side sonar group32d. For example, the obstacle detection unit57obtains, from each sonar, obstacle information representing a detection result of an obstacle detected in the surrounding area of the vehicle10when the vehicle10is parked or exits a parking space. Examples of the obstacle include an object that can interfere with traveling of the vehicle10, such as a person, an animal, another vehicle, and a planting. The parking or exit of the vehicle10may be parking or exit implemented by autonomous driving, driving assistance, or manual driving. In addition, the detection device that detects the obstacle in the surrounding area of the vehicle10may be, for example, a LIDAR, a radar, or the cameras12Fr,12Rr,12L, and12R in addition to the sonars.

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

In addition, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the external environment recognition image. For example, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the front recognition image, the rear recognition image, the left side recognition image, the right side recognition image, and the top view image.

Specifically, when a predetermined input is performed by the user of the vehicle10, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the external environment recognition image. Examples of the predetermined input performed by the user include an operation input from the touch panel42and an operation of turning on a switch. In addition, when a moving state of the vehicle10is a predetermined state, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the external environment recognition image. Examples of the predetermined moving state include a case where a movement speed of the vehicle10is equal to or less than a predetermined speed (for example, 15 km/h), a case where it is recognized based on GPS information, the external environment recognition image, or the like that the vehicle10moves into a predetermined parking lot region, and a case where a gear of the vehicle10is shifted to a predetermined position.

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 a steering wheel110. The torque sensor102detects a torque TQ applied to the steering wheel110.

The EPS motor104applies a driving force or a reaction force to a steering column112connected to the steering wheel110, thereby enabling assistance of an operation performed by an occupant on the steering wheel110and enabling autonomous steering during 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 unit24enables wireless communication with another communication device120. The other communication device120is a base station, a communication device of another vehicle, a smartphone or a tablet terminal carried by the user of the vehicle10, or 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 on an accelerator pedal (not shown) by the user.

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 brake mechanism (not shown) or the like based on an operation performed on a brake pedal (not shown) by the user.

Example of Control Performed by Calculation Unit52

Next, an example of display control performed by the calculation unit52of the vehicle10on the external environment recognition image and the obstacle information will be described with reference to a flow chart shown inFIG.4.

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

The display control unit56of the calculation unit52determines whether to display the external environment recognition image obtained by the external environment recognition unit55on 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, for example, the display control unit56determines whether the parking button is tapped by the user.

In step S11, when the external environment recognition image is not to be displayed on the touch panel42, that is, when the parking button is not tapped (step S11: No), the display control unit56repeats the processing of step S11and stands by until the parking button is tapped.

In step S11, when the external environment recognition image is to be displayed on the touch panel42, that is, when the parking button is tapped (step S11: Yes), the display control unit56displays the external environment recognition image on the touch panel42(step S12). For example, when the gear of the vehicle10is set to drive, neutral, or parking, the display control unit56displays the front recognition image captured by the front camera12Fr on the touch panel42. In addition, for example, when the gear of the vehicle10is set to reverse, the display control unit56displays the rear recognition image captured by the rear camera12Rr on the touch panel42. In addition, when the top view image is selected by the user, the display control unit56displays the top view image on the touch panel42.

Next, the obstacle detection unit57of the calculation unit52determines whether an obstacle is detected in the surrounding area of the vehicle10(step S13). As described above, the obstacle in the surrounding area of the vehicle10can be detected based on the obstacle information obtained by the sonar groups32ato32d. Examples of the obstacle information include information on a direction of the obstacle with respect to the vehicle10, information on a distance from the vehicle10to the obstacle, and information on in which preset detection regions the obstacle is detected. The preset detection regions will be described later with reference toFIG.5.

In step S13, when no obstacle is detected in the surrounding area of the vehicle10(step S13: No), the obstacle detection unit57repeats the processing of step S13and stands by until an obstacle is detected.

In step S13, when an obstacle is detected in the surrounding area of the vehicle10(step S13: Yes), the obstacle detection unit57outputs obstacle information on the detected obstacle to the display control unit56. The display control unit56displays the obstacle information outputted from the obstacle detection unit57on the touch panel42in a superimposed manner on the external environment recognition image (step S14). As described in step S12, the external environment recognition image includes the front recognition image, the rear recognition image, the top view image, and the like. The obstacle information displayed in a superimposed manner on the external environment recognition image will be described later with reference toFIGS.6and7.

Next, the display control unit56determines whether to hide the external environment recognition image displayed on the touch panel42(step S15). For example, when a parking completion button (not shown) displayed on the touch panel42is tapped, the external environment recognition image becomes hidden. Therefore, for example, the display control unit56determines whether the parking completion button is tapped by the user.

In step S15, when the external environment recognition image is hidden, that is, when the parking completion button is not tapped (step S15: No), the display control unit56returns to step S13and repeats each processing.

In step S15, when the external environment recognition image is hidden, that is, when the parking completion button is tapped (step S15: Yes), the display control unit56hides the external environment recognition image displayed on the touch panel42(step S16), and ends the present processing.

<Detection Region and Obstacle Information>

Next, the detection region for detecting the obstacle and the obstacle information indicating the detection result of the obstacle will be described with reference toFIG.5.

FIG.5shows a detection region60formed in the surrounding area of the vehicle10as viewed from above the vehicle10. As shown inFIG.5, the detection region60is a region formed around the detection device (for example, the sonar groups32ato32d) mounted on the vehicle10and is formed as a region in which an obstacle can be detected. For example, the detection region60includes a front detection region61formed around the front sonar group32a, a rear detection region62formed around the rear sonar group32b, a left side detection region63formed around the left side sonar group32c, and a right side detection region64formed around the right side sonar group32d.

The front detection region61is a detection region formed by a plurality of fan shapes centered at the front sonar group32a. The rear detection region62is a detection region formed by a plurality of fan shapes centered at the rear sonar group32b. Each fan-shaped detection region is a detection region in a range in a traveling direction of the vehicle10, that is, a range on the front side Fr or the rear side Rr of the vehicle10. In addition, the left side detection region63is a detection region formed by a plurality of rectangles centered on the left side sonar group32c. The right side detection region64is a detection region formed by a plurality of rectangles centered on the right side sonar group32d. Each rectangular detection region is a detection region in a range in a vehicle width direction of the vehicle10, that is, a range on the left side L or the right side R of the vehicle10.

The front sonar group32aand the rear sonar group32bcan detect an obstacle within a range of a detection distance LV in a fan-shaped detection range in the traveling direction of the vehicle10. The left sonar group32cand the right sonar group32dcan detect an obstacle within a range of a detection distance LH in a rectangular detection range in the vehicle width direction of the vehicle10. The detection distance LV in the traveling direction is configured to be longer than the detection distance LH in the vehicle width direction.

The front detection region61formed by the plurality of fan shapes includes an inner detection region group61adisposed on a side close to the vehicle10and an outer detection region group61bdisposed on a side farther from the vehicle10than the inner detection region group61a. The inner detection region group61ais an example of a first detection region group in the present disclosure. The outer detection region group61bis an example of a second detection region group in the present disclosure. Since the front detection region61and the rear detection region62have the same configuration, the following description will focus on the front detection region61.

A size of a central angle of each of the plurality of fan-shaped detection regions is set according to a distance from the vehicle10to the detection region. Specifically, the size of the central angle of the fan shape in a detection region disposed on a side far from the vehicle10is smaller than the size of the central angle of the fan shape in a detection region disposed on a side close to the vehicle10. In the example shown in the drawing, the inner detection region group61ais formed by one fan-shaped inner detection region portion61al, whereas the outer detection region group61bis divided into two fan shapes, that is, outer detection region portions61b1and61b2. Accordingly, a central angle θ2of the outer detection region portions61b1and61b2is smaller than a central angle θ1of the inner detection region portion61al. In addition, the number of outer detection region portions is larger than the number of inner detection region portions.

In the detection region configured as described above, the sonar group of the vehicle10detects in which fan shape or in which rectangle an obstacle in the surrounding area of the vehicle10is located. The sonar groups32ato32ddetect a direction and a distance of the obstacle based on sound waves emitted to the surrounding area of the vehicle10and reflected sounds received from the obstacle, and detect a position of the fan shape or rectangle where the obstacle is present based on the detected direction and distance. A position of the detected obstacle is displayed in the region where the obstacle is detected as the obstacle information indicating the detection result of the obstacle. For example, when the obstacle is detected in the front detection region61or the rear detection region62, the obstacle information is represented as corresponding to the size of the central angle of the fan shape of the region in which the obstacle is detected.

Specifically, inFIG.5, an obstacle71on a right front side of the vehicle10is an obstacle detected in the fan shape of the outer detection region portion61b2in the front detection region61. Therefore, obstacle information on the obstacle71is displayed as, for example, band-shaped obstacle information81extending corresponding to the central angle θ2 of the fan shape of the outer detection region portion61b2. In addition, an obstacle72on a right rear side of the vehicle10is an obstacle detected in the fan shape of the inner detection region portion61alin the rear detection region62. Therefore, obstacle information on the obstacle72is displayed as, for example, band-shaped obstacle information82extending corresponding to the central angle θ1 of the fan shape of the inner detection region portion61al.

<Obstacle Information Displayed on External Environment Recognition Image>

Next, an example of the obstacle information displayed in a superimposed manner on the external environment recognition image will be described with reference toFIGS.6and7.

FIG.6shows an example of the front recognition image captured by the front camera12Fr of the vehicle10and obstacle information displayed in a superimposed manner on the front recognition image. For example, it is assumed that the vehicle10inFIG.6is searching for a parking space in which the vehicle10is to be parked in a certain parking lot.

As shown inFIG.6, a front recognition image91captured by the front camera12Fr is displayed on the touch panel42. In the front recognition image91, an image of a person (obstacle)73is captured on the right front side of the vehicle10. The front sonar group32adetects a direction and a distance of the person73with respect to the vehicle10and detects a position of a fan shape where the person73is present. At the detected position of the fan shape, obstacle information corresponding to a central angle (seeFIG.5) of the fan shape is displayed as band-shaped obstacle information83in a superimposed manner at the position of the person73in the front recognition image91. When the user of the vehicle10notices the person73and stops by stepping on the brake, a message92bsuch as “please directly check the surrounding area” is displayed on the front recognition image91on the touch panel42.

FIG.7shows an example of the top view image generated based on imaging data of the cameras12Fr,12Rr,12L, and12R including the front recognition image shown inFIG.6and obstacle information displayed in a superimposed manner on the top view image. Similarly toFIG.6, the vehicle10inFIG.7is searching for a parking space in which the vehicle10is to be parked in a certain parking lot.

As shown inFIG.7, the touch panel42displays a top view image92generated based on the imaging data of the cameras12Fr,12Rr,12L, and12R. In the top view image92, the image of the person (obstacle)73is captured on the right front side of the vehicle10, as inFIG.6. In addition, the position of the fan shape where the person73is present is detected based on the direction and the distance of the person73with respect to the vehicle10, which are detected by the front sonar group32a, and the band-shaped obstacle information83corresponding to the central angle (seeFIG.5) of the fan shape at the detected position of the fan shape is displayed in a superimposed manner at the position of the person73. The top view image92may be displayed on the touch panel42side by side with the front recognition image91shown inFIG.6.

In a configuration of the detection region formed in the surrounding area of the vehicle10in the related art, for example, in the detection region60shown inFIG.5, the central angle θ1 of the inner detection region portion61alin the inner detection region group61aof the front detection region61and the rear detection region62is the same as the central angle θ2 of the outer detection region portion61b1in the outer detection region group61b(θ1=θ2). That is, the outer detection region portion in the outer detection region group61bis formed as one outer detection region portion. Therefore, when the obstacle72inFIG.5is detected, the same band-shaped obstacle information81as the obstacle information82shown inFIG.5is displayed in a superimposed manner, whereas band-shaped obstacle information extending corresponding to the central angle θ1=θ2, for example, band-shaped obstacle information181indicated by a broken line is displayed in a superimposed manner when the obstacle71is detected. Therefore, band-shaped obstacle information superimposed on a farther obstacle is longer in an arc direction, which is excessively large with respect to the obstacle displayed in an actual camera image, and thus there is a sense of discomfort.

On the other hand, in a case where the obstacle information83indicating the detection result of the person (obstacle)73is displayed in a superimposed manner on the external environment recognition image (the front recognition image91and the top view image92), the display control unit56of the calculation unit52in the present embodiment displays the obstacle information81and82in the regions (the inner detection region portion61a1and the outer detection region portion61b2) in which the obstacles71and72are detected among the plurality of fan-shaped detection regions60centered on the vehicle10when viewed from above the vehicle10, for example, as shown inFIG.5. The size of the central angle of the fan-shaped detection region60is set according to the distance from the vehicle10. With this configuration, the obstacle information81and82can be displayed in an accurate range regardless of the distance between the vehicle10and the obstacles71and72. Accordingly, a sense of discomfort that the obstacle information is displayed excessively large with respect to the obstacle displayed as an actual camera image can be prevented, and thus safety of the vehicle10can be improved.

In addition, the front detection region61and the rear detection region62formed by the plurality of fan shapes include the inner detection region group61adisposed on the side close to the vehicle10and the outer detection region group61bdisposed on the side farther from the vehicle10than the inner detection region group61a. The central angle θ2 of the outer detection region portions61b1and61b2in the outer detection region group61bis smaller than the central angle θ1 of the inner detection region portion61alin the inner detection region group61aAccordingly, since the outer detection region portions61b1and61b2of the outer detection region group61bthat is far from the vehicle10are arranged more finely than the inner detection region portion61alof the inner detection region group61athat is close to the vehicle10, even when an obstacle is present in the distance, an obstacle range indicated by the obstacle information can be prevented from being excessively wide relative to an actual size of the obstacle, and thus it is possible to improve the safety of the vehicle10.

In addition, the detection distance LV within which the front sonar group32aand the rear sonar group32bcan detect an obstacle in the traveling direction of the vehicle10is longer than the detection distance LH within which the left side sonar group32cand the right side sonar group32dcan detect an obstacle in the vehicle width direction of the vehicle10. Each fan-shaped detection region is a detection region in a range in the traveling direction of the vehicle10, that is, a range on the front side Fr or the rear side Rr of the vehicle10. Accordingly, by setting the detection distance LV in the range in the traveling direction of the vehicle10to be longer, a distant obstacle can be detected at an early stage. Therefore, it is possible to reduce a risk of contact with the obstacle due to movement of the vehicle10, and thus the safety of the vehicle10can be improved.

In addition, for example, when the user of the vehicle10performs an operation input to the touch panel42, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the external environment recognition image. Accordingly, it is possible to display the obstacle information in a superimposed manner on the external environment recognition image when it is necessary to display the obstacle information, and thus the safety of the vehicle10is improved.

In addition, when the movement speed of the vehicle10is equal to or less than a predetermined speed or when it is recognized that the vehicle10moves into a predetermined parking lot region, the display control unit56displays the obstacle information on the touch panel42in a superimposed manner on the external environment recognition image. Accordingly, it is possible to display the obstacle information in a superimposed manner on the external environment recognition image when it is necessary to display the obstacle information, and thus the safety of the moving body is improved.

Although the embodiment of the present disclosure is described above, the present invention is not limited to the above embodiment, and modifications, improvements, and the like can be made as appropriate.

For example, although the case where the vehicle10is parked is described in the above embodiment, the same control can be performed when the vehicle10exits.

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 computer-readable storage medium and is executed by being read from the storage medium. In addition, 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.

In addition, at least the following matters are described in the present specification. Although corresponding constituent elements and the like in the above embodiment are shown in parentheses, the present invention is not limited thereto.(1) A control device including:an external environment recognition unit (external environment recognition unit55) configured to obtain an external environment recognition image representing a recognition result of a surrounding area of a moving body (vehicle10);an obstacle detector (obstacle detection unit57) configured to obtain obstacle information (obstacle information81,82) representing a detection result of an obstacle (obstacle71,72) in the surrounding area of the moving body; anda display controller (display control unit56) configured to display the obstacle information on a display device (touch panel42) in a superimposed manner on the external environment recognition image, in whichthe obstacle information indicates a region in which the obstacle is detected among a plurality of fan-shaped detection regions (detection region60) centered at the moving body when viewed from above the moving body, anda size of a central angle of the fan-shaped detection region is set according to a distance from the moving body.

According to (1), it is possible to display the obstacle information in an accurate range regardless of the distance between the moving body and the obstacle, and thus safety of the moving body can be improved.(2) The control device according to (1), in whichthe plurality of fan-shaped detection regions include a first detection region group and a second detection region group that is farther from the moving body than the first detection region group and whose fan shape has a smaller central angle than that of the first detection region group.

According to (2), since each detection region of the second detection region group that is far from the moving body is arranged more finely than each detection region of the first detection region group that is close to the moving body, even when an obstacle is present in the distance, an obstacle range indicated by the obstacle information can be prevented from being excessively wide with respect to an actual size of the obstacle, and thus the safety of the moving body can be improved.(3) The control device according to (1) or (2), in whicha detection distance of the obstacle detector in a range in a traveling direction of the moving body is longer than a detection distance of the obstacle detector in a range in a vehicle width direction of the moving body, andthe plurality of fan-shaped detection regions are provided in a range in the traveling direction of the moving body.

According to (3), by setting the detection distance in the range in the traveling direction of the moving body to be longer, a distant obstacle can be detected at an early stage, and it is possible to reduce a risk of contact with the obstacle due to movement of the moving body, and thus the safety of the moving body can be improved.(4) The control device according to any one of (1) to (3), in whichthe display controller displays the obstacle information on the display device in a superimposed manner on the external environment recognition image when a predetermined input is performed by a user of the moving body.

According to (4), it is possible to display the obstacle information in a superimposed manner in a scene in which it is necessary to display the obstacle information, and thus the safety of the moving body is improved.(5) The control device according to any one of (1) to (4), in whichthe display controller displays the obstacle information on the display device in a superimposed manner on the external environment recognition image when a moving state of the moving body is a predetermined state.

According to (5), it is possible to display the obstacle information in a superimposed manner in a scene in which it is necessary to display the obstacle information, and thus the safety of the moving body is improved.(6) A control method performed by a control device, including:obtaining an external environment recognition image representing a recognition result of a surrounding area of a moving body,obtaining obstacle information representing a detection result of an obstacle in the surrounding area of the moving body, anddisplaying the obstacle information on a display device in a superimposed manner on the external environment recognition image, in whichthe obstacle information indicates a region in which the obstacle is detected among a plurality of fan-shaped detection regions centered at the moving body when viewed from above the moving body, anda size of a central angle of the fan-shaped detection region is set according to a distance from the moving body.

According to (6), it is possible to display the obstacle information in an accurate range regardless of the distance between the moving body and the obstacle, and thus safety of the moving body can be improved.(7) A non-transitory computer-readable recording medium storing a control program for causing a processor of a control device to execute a process, the process including:obtaining an external environment recognition image representing a recognition result of a surrounding area of a moving body,obtaining obstacle information representing a detection result of an obstacle in the surrounding area of the moving body, anddisplaying the obstacle information on a display device in a superimposed manner on the external environment recognition image, in whichthe obstacle information indicates a region in which the obstacle is detected among a plurality of fan-shaped detection regions centered at the moving body when viewed from above the moving body, anda size of a central angle of the fan-shaped detection region is set according to a distance from the moving body.

According to (7), it is possible to display the obstacle information in an accurate range regardless of the distance between the moving body and the obstacle, and thus safety of the moving body can be improved.