JP2024029977A - display control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display control device capable of preventing a display on a monitor mounted on a vehicle from making a driver feel discomfort, with respect to other vehicles traveling in the vicinity of an own vehicle.

SOLUTION: A display control device includes: a region setting part 32 that sets a correspondence region that is assumed that other vehicles detected on the basis of a sensor signal generated by at least one sensor 2 mounted on an own vehicle 10 within a latest predetermined period is positioned; and a display control part 33 that makes a display device 3 mounted to the own vehicle display dada representing a type of a second other vehicle as a type of a first other vehicle when the second other vehicle detected on the basis of a newest sensor signal is positioned in a correspondence region that is set to the first other vehicle after the first other vehicle detected on the basis of the sensor signal obtained within the latest predetermined period is not detected. Therein, the larger a size of the vehicle corresponded to the type of the first other vehicle is, the larger the correspondence region the region setting part 32 sets.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a display control device that displays an object detected from a sensor signal representing a situation around a vehicle.

A technology has been proposed that detects other vehicles traveling around the vehicle based on sensor signals obtained by on-vehicle sensors and displays the detected other vehicles on the on-vehicle monitor (see Patent Document 1). .

The target detection device disclosed in Patent Document 1 generates a fusion target indicating a three-dimensional object existing around the own vehicle based on a sensor target consisting of a reflection point of a radar wave by a three-dimensional object. Furthermore, this target object detection device calculates the position and speed of the generated fusion target with respect to the own vehicle, and calculates the existence probability of the fusion target. When the sensor target corresponding to the specific fusion target that was generated a predetermined time ago is no longer detected, this target detection device detects the specific fusion target as long as the sensor target corresponding to the specific fusion target is not detected. Generate an extrapolated fusion target corresponding to the target. Then, this target object detection device calculates the maximum extrapolation duration, which is the maximum value of the time for generating the extrapolated fusion target, based on the existence probability and the longitudinal relative velocity of the specific fusion target.

Unexamined Japanese Patent Publication No. 2019-2690

For some reason, detection of other vehicles traveling around the own vehicle may fail. In such a case, when another vehicle that has once failed to be detected is detected again, the other vehicle may be erroneously identified as a different type of vehicle. As a result, the type of vehicle displayed changes before and after the detection failure, which may give the driver a sense of discomfort.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a display control device that can prevent a driver from feeling uncomfortable with the display on a vehicle-mounted monitor regarding other vehicles traveling around the driver's vehicle.

According to one embodiment, a display control device is provided. This display control device detects at least one vehicle traveling around the own vehicle based on each of a plurality of sensor signals obtained in time series representing the surrounding situation of the own vehicle generated by at least one sensor mounted on the own vehicle. A detection unit that detects one other vehicle and identifies the type of the detected other vehicle; and a detection unit that detects the position of the other vehicle based on the relative positional relationship between the other vehicle and the own vehicle for each of the at least one other vehicle. an area setting unit that sets an assumed association area; and a first other vehicle that is detected based on a sensor signal obtained within the most recent predetermined period among the plurality of sensor signals is no longer detected. Then, when the second other vehicle detected based on the latest sensor signal among the plurality of sensor signals is located within the association area set for the first other vehicle, the second other vehicle is mounted on the own vehicle. and a display control unit that causes the display device to display display data representing the type of the second other vehicle as the type of the first other vehicle. The area setting unit widens the association area as the size of the vehicle corresponding to the type of the first other vehicle is larger.

The display control device according to the present disclosure has the effect that the driver does not feel uncomfortable with the display on the in-vehicle monitor regarding other vehicles traveling around the own vehicle.

1 is a schematic configuration diagram of a display control system in which a display control device is installed. FIG. 1 is a hardware configuration diagram of an electronic control device that is one embodiment of a display control device. FIG. 3 is a functional block diagram of a processor of the electronic control device regarding display control processing. FIG. 7 is a diagram illustrating an example of the relationship between temporal changes in detection results of other vehicles and generated display data according to a comparative example. FIG. 3 is a diagram illustrating an example of the relationship between temporal changes in detection results of other vehicles and generated display data according to the present embodiment. It is an operation flowchart of display control processing.

Hereinafter, a display control device, a display control method implemented in the display control device, and a display control computer program will be described with reference to the drawings. This display control device assists the driver in driving the own vehicle, or assists the driver in checking the surrounding conditions of the own vehicle while the own vehicle is running automatically. To this end, this display control device detects other vehicles traveling around the own vehicle from a plurality of sensor signals representing the surrounding conditions of the own vehicle, which are generated in time series by on-vehicle sensors, and detects the detected other vehicles. Display data including an image representing the image is displayed on a display device provided in the vehicle interior. At this time, the display control device sets the association area in the area in the real space where the other vehicle detected in the sensor signal obtained after that is assumed to be located. In addition, after the first other vehicle detected based on the sensor signal obtained within the most recent predetermined period is no longer detected, the display control device displays the second vehicle detected based on the latest sensor signal. It is determined whether the other vehicle is located within the association area set for the first other vehicle. When the second other vehicle is located within the association area set for the first other vehicle, the display control device displays the type of the second other vehicle as the first other vehicle. Display the display data expressed as the type of . In this display device, the larger the size of the vehicle corresponding to the type of the first other vehicle is, the wider the association area is. As a result, when this display control device fails to detect another vehicle that was previously detected for some reason, and when it detects the other vehicle again after the detection failure, the display control device detects the other vehicle that was detected again before the detection failure. To prevent a vehicle from being erroneously displayed as being of a different type from other vehicles.

FIG. 1 is a schematic configuration diagram of a display control system in which a display control device is installed. Further, FIG. 2 is a hardware configuration diagram of an electronic control device which is one embodiment of the display control device. The display control system 1 includes a camera 2, a display device 3, and an electronic control unit (ECU) 4 that is an example of a display control device. The camera 2, the display device 3, and the ECU 4 are communicably connected via an in-vehicle network that conforms to standards such as a controller area network. Note that the vehicle 10 is an example of the own vehicle. Furthermore, the display control system 1 may include a distance measurement sensor (not shown) such as LiDAR, radar, or sonar that measures the distance to objects around the vehicle 10.

The camera 2 is an example of a sensor that detects the surrounding situation of the vehicle 10. Camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as CCD or C-MOS, and forms an image of the area to be photographed on the two-dimensional detector. It has an imaging optical system. The camera 2 is mounted, for example, in the cabin of the vehicle 10 so as to face the front of the vehicle 10, for example. The camera 2 then photographs the area in front of the vehicle 10 at every predetermined photography cycle (for example, 1/30 second to 1/10 second) and generates an image showing the area in front of the vehicle. The image obtained by the camera 2 is an example of a sensor signal representing the situation around the vehicle 10, and may be a color image or a gray image. Note that the vehicle 10 may be provided with two or more cameras with different shooting directions or focal lengths.

Every time the camera 2 generates an image, it outputs the generated image to the ECU 4 via the in-vehicle network.

Note that, as described above, when the vehicle 10 is equipped with a distance measurement sensor, the distance measurement sensor detects the presence in that direction from the distance measurement sensor for each direction within the distance measurement range of the distance measurement sensor. generates a ranging signal that represents the distance to the object. The distance measurement sensor is another example of a sensor that detects the situation around the vehicle 10, and the distance measurement signal is another example of a sensor signal that represents the situation around the vehicle 10. The distance measurement sensor then outputs the generated distance measurement signal to the ECU 4 via the in-vehicle network.

The display device 3 is installed in the interior of the vehicle 10, for example, near an instrument panel, facing the driver. The display device 3 notifies the driver of information regarding other vehicles traveling around the vehicle 10 by displaying display data representing other vehicles received from the ECU 4 via the in-vehicle network.

The ECU 4 detects other vehicles traveling around the vehicle 10 based on images generated by the camera 2, generates display data representing the detected other vehicles, and causes the display device 3 to display the display data. .

As shown in FIG. 2, the ECU 4 includes a communication interface 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 may each be configured as separate circuits, or may be configured integrally as one integrated circuit.

The communication interface 21 has an interface circuit for connecting the ECU 4 to the in-vehicle network. Each time the communication interface 21 receives an image from the camera 2, it passes the received image to the processor 23. Further, when a distance measurement sensor is mounted on the vehicle 10, the received distance measurement signal is passed to the processor 23 every time a distance measurement signal is received from the distance measurement sensor. Furthermore, the communication interface 21 outputs the display data received from the processor 23 and to be displayed on the display device 3 to the display device 3 via the in-vehicle network.

The memory 22 is an example of a storage unit, and includes, for example, a volatile semiconductor memory and a nonvolatile semiconductor memory. The memory 22 stores various data used in display control processing executed by the processor 23 of the ECU 4. For example, the memory 22 stores parameters representing the standard size of the association area, the focal length of the camera 2, the angle of view, the photographing direction, the mounting position, etc., which are set for each type of vehicle. The memory 22 also stores a parameter set for specifying a classifier for object detection, which is used to detect other vehicles traveling around the vehicle 10. Furthermore, the memory 22 temporarily stores sensor signals such as images received from the camera 2. Furthermore, the memory 22 temporarily stores various data generated during display control processing.

The processor 23 includes one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. The processor 23 then executes display control processing.

FIG. 3 is a functional block diagram of the processor 23 regarding display control processing. The processor 23 includes a detection section 31, a region setting section 32, and a display control section 33. Each of these units included in the processor 23 is a functional module realized by a computer program running on the processor 23, for example. Alternatively, each of these units included in the processor 23 may be a dedicated arithmetic circuit provided in the processor 23.

The detection unit 31 detects at least one other vehicle traveling around the vehicle 10 from each of the plurality of images generated in time series by the camera 2, and identifies the type of the detected other vehicle.

In the present embodiment, the detection unit 31 inputs the latest image to the discriminator at predetermined intervals to detect other vehicles represented on the image, and also detects the type of the detected other vehicle. (For example, large vehicles such as buses and trucks, regular passenger cars, or motorcycles). Note that the detection unit 31 may detect a plurality of other vehicles from one image. As a result, other vehicles are detected from each of the plurality of images obtained in time series, and the type of the detected other vehicle is identified.

The detection unit 31 can use a deep neural network (DNN) having a convolutional neural network (CNN) type architecture, such as a Single Shot MultiBox Detector or Faster R-CNN, as such a classifier. Alternatively, the detection unit 31 may use a DNN having a self attention network (SAN) type architecture, such as a Vision Transformer, as such a classifier. These classifiers output, for each type of other vehicle, a degree of certainty representing the probability that another vehicle of that type is represented for various regions on the image. The discriminator then detects an area on the image where the calculated certainty factor for any type of other vehicle is higher than a predetermined detection threshold as an object area in which that type of other vehicle is represented. The classifier is trained in advance according to a predetermined learning method such as the error backpropagation method using a large number of teacher images in which vehicles of any type to be detected are represented.

Further, when the vehicle 10 is equipped with a distance measurement sensor, the detection unit 31 inputs the latest distance measurement signal received from the distance measurement sensor to the discriminator, thereby detecting at least one vehicle running around the vehicle 10. Another vehicle may be detected and the type of the detected other vehicle may be identified. In this case as well, the detection unit 31 can use a DNN having a CNN type or SAN type architecture as a discriminator.

When the vehicle 10 is equipped with a plurality of sensors (that is, cameras or ranging sensors) that detect the surrounding situation of the vehicle 10, the detection unit 31 detects the sensor signal received from the sensor for each sensor. The above process may be executed to detect other vehicles for each sensor.

For each detected other vehicle, the detection unit 31 determines the relative positional relationship between the vehicle 10 and the other vehicle based on the position and range of the object area where the other vehicle is represented on the image or the ranging signal. That is, the relative positions of other vehicles with respect to the vehicle 10 are estimated.

Here, the position of the lower end of the other vehicle on the image corresponds one-to-one with the direction toward the position where the other vehicle is in contact with the road surface as seen from the camera 2. Therefore, the detection unit 31 detects the distance from the vehicle 10 to the other vehicle based on the position of the lower end of the object area in which the other vehicle is represented on the image and the parameters of the camera 2 such as the installation height and focal length of the camera 2. The distance and direction can be estimated. Further, when another vehicle is detected from the ranging signal, the detection unit 31 estimates the distance and direction from the vehicle 10 to the other vehicle from the direction and distance in which the other vehicle is represented in the ranging signal. can. Therefore, the detection unit 31 can estimate the relative position of each other vehicle in real space with respect to the vehicle 10 by performing the above processing for each detected other vehicle.

The detection unit 31 notifies the area setting unit 32 and the display control unit 33 of the relative position in real space of the other vehicle with respect to the vehicle 10 and the type of the other vehicle for each detected other vehicle. . Furthermore, for each detected other vehicle, the detection unit 31 determines the relative position in real space of the other vehicle with respect to the vehicle 10 and the type of the other vehicle, based on the image in which the other vehicle was detected or the distance measurement. It is stored in the memory 22 in association with the signal generation time. Furthermore, when the other vehicle is not detected from the image or the ranging signal, the detection section 31 notifies the area setting section 32 and the display control section 33 that no other vehicle has been detected.

The area setting unit 32 associates each detected other vehicle in real space based on the relative positional relationship between the vehicle 10 and the other vehicle and the type of the other vehicle notified from the detection unit 31. Set the area.

For this purpose, the area setting unit 32 reads from the memory 22 the reference size of the association area corresponding to the type of other vehicle notified from the detection unit 31 for each detected other vehicle. The area setting unit 32 defines, for each detected other vehicle, a reference size corresponding to the type of the other vehicle and a predetermined shape so that the position of the other vehicle with respect to the vehicle 10 is the center. This area is set as a matching area for other vehicles. Note that the predetermined shape is set to, for example, a rectangle or an ellipse.

In this embodiment, the larger the size of the vehicle corresponding to the vehicle type, the larger the reference size is set. For example, the standard size for each type is set so that the standard size when the vehicle type is a large vehicle such as a truck or bus is larger than the standard size when the vehicle type is a regular passenger car. . Therefore, the area setting unit 32 widens the association area for the other vehicle as the size of the vehicle corresponding to the detected type of other vehicle is larger.

The area setting unit 32 notifies the display control unit 33 of the position and range of the association area set for each detected other vehicle.

The display control unit 33 generates display data representing each other vehicle detected by the detection unit 31. Further, if there is no other vehicle detected within the association area of the other vehicle (first other vehicle) detected at the time of previous detection, the display control section 33 displays the first other vehicle. A lost flag indicating that detection of another vehicle has failed is stored in the memory 22 in association with the first other vehicle. The display control unit 33 controls the first other vehicle to move away from the surroundings of the vehicle 10 when a predetermined period of time (hereinafter simply referred to as a valid period) has elapsed for the associated area after the lost flag is saved. As a result, the lost flag for the first other vehicle is erased from the memory 22. Note that the validity period is set to, for example, several hundred milliseconds to one second.

When another vehicle (second other vehicle) is detected in the latest image or ranging signal, the display control unit 33 refers to the lost flag and determines whether the elapsed time since the last detection is within the valid period. The presence or absence of the first other vehicle is determined. If such a first other vehicle exists, the display control unit 33 determines whether or not a second other vehicle is detected in the association area set for the first other vehicle. If a second other vehicle is detected in the association area set for the first other vehicle, the display control unit 33 identifies the second other vehicle as the same vehicle as the first other vehicle. We estimate that there is. Note that, if the estimated position of the second other vehicle notified from the detection unit 31 is included in the association area set for the first other vehicle, the display control unit 33 detects the second other vehicle. is determined to be detected within the associated area. In the display data, the display control unit 33 displays an image of a vehicle of the same type as the first other vehicle at the position of the second other vehicle, regardless of the type of the detected second other vehicle. On the other hand, if the estimated position of the second other vehicle notified from the detection unit 31 is outside the association area set for the first other vehicle, the display control unit 33 displays the second other vehicle in the display data. An image of a vehicle of the type identified for the second other vehicle is displayed at the location of the other vehicle.

Furthermore, if the elapsed time since the first other vehicle was last detected is within the valid period, the display control unit 33 may represent an image of a vehicle of the same type as the first other vehicle at a position corresponding to the association area on the display data.

Furthermore, if the elapsed time after the first other vehicle is detected is within the valid period, the display is performed regardless of the type of the second other vehicle detected within the association area of the first other vehicle. The control unit 33 may display an image of a vehicle of the same type as the first other vehicle as the second other vehicle in the display data.

The display control unit 33 outputs the display data generated as described above to the display device 3 via the communication interface 21, thereby causing the display device 3 to display the display data.

FIG. 4 is a diagram illustrating an example of the relationship between temporal changes in detection results of other vehicles and generated display data according to a comparative example.

As shown in FIG. 4, at time t1, a large trailer 401, which is an example of another vehicle, traveling on the right side of the vehicle 10 is detected, and the trailer 401 is identified as a large vehicle. Therefore, in the display data 410 generated based on the detection result at time t1, an image 412 of a large vehicle is displayed on the right side of an image 411 of the vehicle 10. Furthermore, a correspondence area 402 centered on the position of the trailer 401 is set. However, in this comparative example, the association area 402 of a constant size is set regardless of the type of other vehicle detected. Thereafter, at time t2, the detection unit 31 fails to detect the trailer 401. At time t3, the trailer 401 is detected again, but the trailer 401 is incorrectly identified as an ordinary passenger car. Further, the re-detected position 401a of the trailer 401 is outside the association area 402 that is set based on the relative position of the trailer 401 with respect to the vehicle 10 detected at time t1. As a result, in the display data 420 generated based on the detection result at time t3, an image 422 of an ordinary passenger car is displayed on the right side of an image 421 of the vehicle 10. In this way, in this comparative example, the type of other vehicle displayed on the display data corresponding to the trailer 401 changes over time, giving the driver a sense of discomfort.

FIG. 5 is a diagram illustrating an example of the relationship between temporal changes in other vehicle detection results and generated display data according to the present embodiment. Also in the example shown in FIG. 5, at time t1, a large trailer 501, which is an example of another vehicle, traveling on the right side of the vehicle 10 is detected, and the trailer 501 is identified as a large vehicle. Therefore, in the present embodiment as well, in the display data 510 generated based on the detection result at time t1, an image 512 of a large vehicle is displayed on the right side of an image 511 of the vehicle 10. Furthermore, a correspondence area 502 centered on the position of the trailer 501 is set. Thereafter, at time t2, the detection unit 31 fails to detect the trailer 501. Although the trailer 501 is detected again at time t3, the trailer 501 is incorrectly identified as an ordinary passenger car. However, in this embodiment, since the type of trailer 501 is correctly identified as a large vehicle at time t1, the association area 502 is set relatively wide, unlike the comparative example. Therefore, the position 501a of the trailer 501 re-detected at time t3 is included in the association area 502. As a result, in the display data 520 generated based on the detection result at time t3, an image 522 of a large vehicle is also displayed on the right side of an image 521 of the vehicle 10. Therefore, even if detection of the trailer 501 temporarily fails and the type of trailer 501 is incorrectly identified after re-detection, the type of other vehicle corresponding to the trailer 501 displayed on the display data will change. The driver does not feel any discomfort.

Note that the display control unit 33 preferably adjusts the position and size of the image of the other vehicle on the display data based on the direction and distance from the vehicle 10 to the other vehicle detected. That is, the display control unit 33 controls the display data so that the detected direction from the vehicle 10 to the other vehicle matches the direction from the image of the vehicle 10 on the display data to the image of the other vehicle. Preferably, the position of the image of the other vehicle is determined. For example, if the detected direction toward the other vehicle is the front left when viewed from the vehicle 10, the display control unit 33 displays an image representing the other vehicle on the upper left side relative to the position of the image of the vehicle 10 on the display data. Deploy. Further, if the detected direction toward the other vehicle is right rear as viewed from the vehicle 10, the display control unit 33 displays an image representing the other vehicle at the lower right side relative to the position of the image of the vehicle 10 on the display data. Deploy. Further, it is preferable that the longer the estimated distance from the vehicle 10 to the detected other vehicle, the smaller the display control unit 33 makes the image of the other vehicle on the display data smaller.

FIG. 6 is an operational flowchart of display control processing executed by the processor 23. The processor 23 executes display control processing at predetermined intervals according to the operation flowchart below. Note that in the operation flowchart below, it will be explained that the display control processing is performed based on the image obtained by the camera 2, but as mentioned above, the display control processing is performed based on the ranging signal obtained by the ranging sensor. Processing may also be performed.

The detection unit 31 of the processor 23 detects at least one other vehicle traveling around the vehicle 10 based on the image obtained by the camera 2, and identifies the type of the detected other vehicle (step S101).

Further, the area setting unit 32 of the processor 23 sets the association area so that it becomes wider as the size of the vehicle corresponding to the detected type of other vehicle increases (step S102).

The display control unit 33 of the processor 23 is set for a first other vehicle in which the detected other vehicle (second other vehicle) is detected in an image at a certain point in the past and has not been detected since then. It is determined whether it is included in the association area within the validity period (step S103). If the detected other vehicle is included in the association area within the valid period (step S103-Yes), the display control unit 33 associates the other vehicle with the first other vehicle, regardless of the type of the detected other vehicle. Display data expressed as a type is generated (step S104). On the other hand, if the detected other vehicle is not included in the association area within the valid period (step S103-No), the display control unit 33 generates display data representing the type of the detected other vehicle (step S105). ).

After step S104 or S105, the display control unit 33 outputs the generated display data to the display device 3 via the communication interface 21, thereby causing the display device 3 to display the display data (step S106). The processor 23 then ends the display control process.

As explained above, this display control device detects other vehicles traveling around the host vehicle from multiple sensor signals generated in time series by on-vehicle sensors, and displays an image representing the detected other vehicle. Display data including the display data is displayed on a display device provided in the vehicle interior. At this time, the display control device sets the association area in the area in the real space where the other vehicle detected in the sensor signal obtained after that is assumed to be located. In addition, after the first other vehicle detected based on the sensor signal obtained within the most recent predetermined period is no longer detected, the display control device displays the second vehicle detected based on the latest sensor signal. It is determined whether the other vehicle is located within the association area set for the first other vehicle. When the second other vehicle is located within the association area set for the first other vehicle, the display control device displays the type of the second other vehicle as the first other vehicle. Display the display data expressed as the type of . In this display device, the larger the size of the vehicle corresponding to the type of the first other vehicle is, the wider the association area is. As a result, when this display control device fails to detect another vehicle that was previously detected for some reason, and when it detects the other vehicle again after the detection failure, the display control device detects the other vehicle that was detected again before the detection failure. To prevent a vehicle from being erroneously displayed as being of a different type from other vehicles. As a result, this display control device can prevent the driver from feeling uncomfortable with the display of other vehicles traveling around the own vehicle displayed on the display device.

According to the modification, the area setting unit 32 determines the future position of the first other vehicle based on the change in the position of the detected first other vehicle relative to the vehicle 10 in the most recent predetermined period. It is also possible to make a prediction and set a matching area around the predicted position. In this case, the area setting unit 32 uses the Kalman By applying a prediction process such as Filter, the position of the first other vehicle at each future time may be predicted.

According to another modification, the area setting unit 32 may narrow the association area as the time elapsed since the first other vehicle was last detected. The longer the elapsed time since the first other vehicle was last detected, the more there is another vehicle that is different from the first other vehicle in its relative position to the vehicle 10 where the first other vehicle was detected. More likely. Therefore, by narrowing the association area as the time elapsed since the first other vehicle was last detected, the display control device can detect that another vehicle different from the first other vehicle is It is possible to prevent the vehicle from being erroneously associated with another vehicle.

A computer program that realizes the functions of the processor 23 of the ECU 4 according to the above embodiment or modification is provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. may be done.

As described above, those skilled in the art can make various changes within the scope of the present invention according to the embodiment.

1 Display control system 10 Vehicle 2 Camera 3 Display device 4 Electronic control unit (ECU)
21 Communication interface 22 Memory 23 Processor 31 Detection section 32 Area setting section 33 Display control section

Claims (1)

At least one other vehicle traveling around the host vehicle is determined from each of a plurality of sensor signals obtained in time series representing the surrounding situation of the host vehicle, generated by at least one sensor mounted on the host vehicle. a detection unit that detects and identifies the type of the detected other vehicle;
an area setting unit that sets, for each of the at least one other vehicle, a corresponding area in which the other vehicle is assumed to be located based on a relative positional relationship between the other vehicle and the own vehicle;
After the first other vehicle detected based on the sensor signal obtained within the most recent predetermined period among the plurality of sensor signals is no longer detected, the latest sensor signal among the plurality of sensor signals is detected. When the second other vehicle detected based on the second other vehicle is located within the association area set for the first other vehicle, the second other vehicle is displayed on the display device mounted on the host vehicle. a display control unit that displays display data representing the type of the vehicle as the type of the first other vehicle;
The area setting unit makes the association area wider as the size of a vehicle corresponding to the type of the first other vehicle is larger.
Display control device.

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