Display control device

A display control device for displaying an image of a surroundings of on a display device provided in the vehicle, the display control device comprising:

• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• periodically acquire captured images, which are images captured in a imaging region surrounding the vehicle by one or a plurality of cameras mounted on a vehicle;
• sequentially create captured bird's-eye images, which are bird's-eye views of the vehicle's surroundings by performing bird's-eye view conversion on captured images periodically acquired;
• acquire a history image, which is a bird's-eye image corresponding to a predetermined area ahead in a traveling direction of the vehicle, among the captured images acquired at a timing determined according to a predetermined condition;
• store at least one history image;
• calculate a movement amount of the vehicle based on information representing a behavior of the vehicle;
• create a display bird's-eye image as a bird's-eye image for display by extracting an area corresponding to a non-imaging area that corresponds to a region not included in the imaging region of the cameras in a latest captured bird's-eye view image from among stored history images for the non-imaging area based on the movement amount calculated, and combining the area extracted with the non-imaging area;
• display the display bird's-eye image on the display device provided in the vehicle;
• and
• determine whether the behavior of the vehicle corresponds to a specific unstable state based on state information representing a state of the vehicle,
• wherein
• in response to determining that the behavior of the vehicle does not correspond to the specific unstable state, the processor acquires the history image from a latest captured bird's-eye image at every predetermined first cycle corresponding to a cycle during which captured images are captured by the cameras, and
• in response to determining that the behavior of the vehicle corresponds to the specific unstable state, the processor acquires the history image from the latest captured bird's-eye image at a later timing than the predetermined first cycle.

A method for displaying an image of a surroundings of a vehicle on a display device provided in the vehicle, the method comprising:

• periodically acquiring captured images, which are images captured in a imaging region surrounding the vehicle by one or a plurality of cameras mounted on a vehicle;
• sequentially creating captured bird's-eye images, which are bird's-eye views of the vehicle's surroundings by performing bird's-eye view conversion on captured images periodically acquired;
• acquiring a history image, which is a bird's-eye image corresponding to a predetermined area ahead in a traveling direction of the vehicle, among the captured images acquired at a timing determined according to a predetermined condition;
• storing at least one history image;
• calculating a movement amount of the vehicle based on information representing a behavior of the vehicle;
• creating a display bird's-eye image as a bird's-eye image for display by extracting an area corresponding to a non-imaging area that corresponds to a region not included in the imaging region of the cameras in a latest captured bird's-eye view image from among stored history images for the non-imaging area based on the movement amount calculated, and combining the area extracted with the non-imaging area;
• displaying the display bird's-eye image on the display device provided in the vehicle;
• and
• determining whether the behavior of the vehicle corresponds to a specific unstable state based on state information representing a state of the vehicle,
• wherein
• in response to determining that the behavior of the vehicle does not correspond to the specific unstable state, the history image is acquired from a latest captured bird's-eye image at every predetermined first cycle corresponding to a cycle during which captured images are captured by the cameras, and
• in response to determining that the behavior of the vehicle corresponds to the specific unstable state, the history image is acquired from the latest captured bird's-eye image at a later timing than the predetermined first cycle.