Control device, control method, and storage medium storing control program

A control device comprising:

• a movement state acquisition unit configured to acquire a movement state of a moving object towing a trailer;
• a relative position acquisition unit configured to acquire a relative position between the moving object and the trailer;
• and
• a display control unit configured to display a first predictive guide indicating a predicted passing area of the moving object and a second predictive guide indicating a predicted passing area of the trailer, wherein
• the display control unit is configured to change display of at least one of the first predictive guide and the second predictive guide based on the movement state and the relative position,
• the movement state acquisition unit acquires a turning direction of the moving object as the movement state,
• the relative position acquisition unit acquires a relative direction of the trailer with respect to the moving object as the relative position, and
• the display control unit is configured to
• displays the first predictive guide and the second predictive guide together with a moving object image indicating a position of the moving object, and
• when a line indicating an edge opposite to the turning direction in the predicted passing area of the trailer overlaps the moving object image, display a guide line on a side opposite to the turning direction in the second predictive guide such that the guide line on the side opposite to the turning direction in the second predictive guide does not overlap with the moving object image.

A control method using a control device, the method comprising steps executed by a processor of the control device of:

• acquiring a movement state of a moving object towing a trailer,
• acquiring a relative position between the moving object and the trailer,
• displaying a first predictive guide indicating a predicted passing area of the moving object and a second predictive guide indicating a predicted passing area of the trailer, and
• changing display of at least one of the first predictive guide and the second predictive guide based on the movement state and the relative position, wherein
• the acquiring the movement state acquires a turning direction of the moving object as the movement state,
• the acquiring the relative position acquires a relative direction of the trailer with respect to the moving object as the relative position,
• the displaying the first predictive guide and the second predictive guide includes, when the moving object turns,
• setting a display mode of a guide line on a side of the turning direction in the first predictive guide to a display mode with lower visibility than a display mode of a guide line on a side opposite to the turning direction in the first predictive guide, or
• displaying the guide line on the side opposite to the turning direction in the first predictive guide, and hide the guide line on the side of the turning direction in the first predictive guide, and
• the displaying the first predictive guide and the second predictive guide further includes changing a display mode of a guide line on the side of the turning direction and a guide line on the side opposite to the turning direction in the second predictive guide based on whether the turning direction and the relative direction match.

A non-transitory computer-readable storage medium storing a control program for a control device that causes a processor of the control device to execute processes of,

• acquiring a movement state of a moving object towing a trailer,
• acquiring a relative position between the moving object and the trailer,
• displaying a first predictive guide indicating a predicted passing area of the moving object and a second predictive guide indicating a predicted passing area of the trailer, and
• changing display of at least one of the first predictive guide and the second predictive guide based on the movement state and the relative position, wherein
• the acquiring the movement state acquires a turning direction of the moving object as the movement state,
• the acquiring the relative position acquires a relative direction of the trailer with respect to the moving object as the relative position,
• the displaying the first predictive guide and the second predictive guide includes, when the moving object turns,
• setting a display mode of a guide line on a side of the turning direction in the first predictive guide to a display mode with lower visibility than a display mode of a guide line on a side opposite to the turning direction in the first predictive guide, or
• displaying the guide line on the side opposite to the turning direction in the first predictive guide, and hide the guide line on the side of the turning direction in the first predictive guide, and
• the displaying the first predictive guide and the second predictive guide further includes changing a display mode of a guide line on the side of the turning direction and a guide line on the side opposite to the turning direction in the second predictive guide based on whether the turning direction and the relative direction match.