Driving assistance device, driving assistance method, and storage medium

1 . A driving assistance device comprising:

a processor that executes instructions to:

recognize a surroundings situation of a vehicle; and

cause an image for assisting an occupant driving the vehicle to be displayed in one of display mode of a plurality of preset display modes on a display device,

wherein the plurality of display modes include display modes corresponding to a first mode in which the vehicle travels in a direction in which the road extends, a second mode in which the vehicle travels at an intersection, a third mode in which the vehicle travels in a merging section, a fourth mode in which the vehicle travels on a narrow road, and a fifth mode in which the vehicle travels while avoiding contact with objects, and the processor causes transition from a currently displayed display mode to another display mode among the plurality of display modes to be performed on the basis of the surroundings situation recognized,

wherein the processor:

causes an image imitating the vehicle to be displayed when the processor causes an image to be displayed in a display mode corresponding to the third mode,

causes another vehicle traveling in a lane serving as a lane change destination to be displayed as an image with a first predetermined color and causes an image showing a target position of the lane change destination to be displayed as an image with a second predetermined color, and

causes the image with the first predetermined color and the image with the second predetermined color to be displayed on a side in which the vehicle performs lane change with respect to the image imitating the vehicle, and

wherein the processor causes an image for accelerating or decelerating the vehicle on the basis of a positional relationship between the vehicle and the target position to be displayed when the processor causes the image to be displayed in the display mode corresponding to the third mode, and

when displaying the image for accelerating or decelerating the vehicle, the processor provides a plurality of areas around the image imitating the vehicle, and displays an area among the plurality of areas corresponding to a magnitude of acceleration or deceleration in a predetermined color in the displayed area.

2 . The driving assistance device according to claim 1 ,

wherein the processor selects an image to be displayed, from among at least the image imitating the vehicle, an image showing a position of an object around the vehicle, an image showing a direction in which the vehicle should travel is recommended, the target position serving as the lane change destination of the vehicle, the image for prompting acceleration or deceleration, and an image for prompting the occupant to perform a steering operation on the basis of the currently displayed display mode transitioning to the other display mode on the basis of the surroundings situation recognized, and causes the image selected to be displayed.

3 . The driving assistance device according to claim 2 , wherein the processor:

causes the image imitating the vehicle in the third mode and the fourth mode to be displayed as an image when the vehicle is viewed from above, and causes an image imitating the vehicle in the first mode, the second mode, and the fifth mode to be displayed as an image when the vehicle is viewed from behind.

4 . The driving assistance device according to claim 1 , wherein the processor:

causes an image imitating the vehicle to be displayed when the processor causes an image to be displayed in a display mode corresponding to the first mode, and

causes an image showing a direction to be watched by the occupant to be displayed when an object is present around the vehicle and the object is not present in a line-of-sight direction of the occupant, and causes an image showing a direction of the object viewed from the vehicle to be displayed when the object is present in the line-of-sight direction of the occupant.

5 . The driving assistance device according to claim 1 , wherein the processor:

causes the image imitating the vehicle to be displayed when the processor causes an image to be displayed in a display mode corresponding to the second mode,

causes an image showing a relative position of an object with respect to the vehicle to be displayed when the object is likely to come into contact with the vehicle at the intersection, and

causes an image showing a direction to be watched by the occupant to be displayed when the object is located in a traveling direction of the vehicle.

6 . The driving assistance device according to claim 1 , wherein the processor:

causes the image imitating the vehicle to be displayed when the processor causes an image to be displayed in a display mode corresponding to the fourth mode, and causes a direction in which the vehicle travel is recommended to be displayed and causes an image for prompting the occupant to perform a steering operation to be displayed when an object is around the vehicle.

7 . The driving assistance device according to claim 1 ,

wherein the processor:

causes the image imitating the vehicle to be displayed when the processor causes an image to be displayed in a display mode corresponding to the fifth mode, and

causes an image showing a direction in which the vehicle travel is recommended with respect to the image imitating the vehicle to be displayed, and

causes an area other than the direction in which the vehicle travel is recommended around the image imitating the vehicle to be displayed in a background color different from those displayed in the first to fourth modes.

8 . A driving assistance method comprising:

recognizing, by a computer, a surroundings situation of a vehicle;

causing, by the computer, an image for assisting an occupant driving the vehicle to be displayed in one of display mode of a plurality of preset display modes on a display device, wherein the plurality of display modes include display modes corresponding to a first mode in which the vehicle travels in a direction in which the road extends, a second mode in which the vehicle travels at an intersection, a third mode in which the vehicle travels in a merging section, a fourth mode in which the vehicle travels on a narrow road, and a fifth mode in which the vehicle travels while avoiding contact with objects;

causing, by the computer, transition from a currently displayed display mode to another display mode among to any one of the plurality of display modes to be performed on the basis of the recognized surroundings situation;

causing, by the computer, an image imitating the vehicle to be displayed when an image is displayed in a display mode corresponding to the third mode;

causing, by the computer, another vehicle traveling in a lane serving as a lane change destination to be displayed as an image with a first predetermined color and causing an image showing a target position of the lane change destination to be displayed as an image with a second predetermined color;

causing, by the computer, the image with the first predetermined color and the image with the second predetermined color to be displayed on a side in which the vehicle performs lane change with respect to the image imitating the vehicle;

causing, by the computer, an image for accelerating or decelerating the vehicle on the basis of a positional relationship between the vehicle and the target position to be displayed when the image is displayed in the display mode corresponding to the third mode; and

when displaying the image for accelerating or decelerating the vehicle, providing, by the computer, a plurality of areas around the image imitating the vehicle, and displaying, by the computer, an area among the plurality of areas corresponding to a magnitude of acceleration or deceleration in a predetermined color in the displayed area.

9 . A computer-readable non-transitory computer-readable storage medium having a program stored therein, the program causing a computer to:

recognize a surroundings situation of a vehicle;

cause an image for assisting an occupant driving the vehicle to be displayed in one of display mode of a plurality of preset display modes on a display device, the plurality of display modes including display modes corresponding to a first mode in which the vehicle travels in a direction in which the road extends, a second mode in which the vehicle travels at an intersection, a third mode in which the vehicle travels in a merging section, a fourth mode in which the vehicle travels on a narrow road, and a fifth mode in which the vehicle travels while avoiding contact with objects;

cause transition from a currently displayed display mode to another display mode among to any one of the plurality of display modes to be performed on the basis of the recognized surroundings situation;

cause an image imitating the vehicle to be displayed when an image is displayed in a display mode corresponding to the third mode;

cause another vehicle traveling in a lane serving as a lane change destination to be displayed as an image with a first predetermined color and cause an image showing a target position of the lane change destination to be displayed as an image with a second predetermined color;

cause the image with the first predetermined color and the image with the second predetermined color to be displayed on a side in which the vehicle performs lane change with respect to the image imitating the vehicle;

cause an image for accelerating or decelerating the vehicle on the basis of a positional relationship between the vehicle and the target position to be displayed when the image is displayed in the display mode corresponding to the third mode; and

when displaying the image for accelerating or decelerating the vehicle, provide a plurality of areas around the image imitating the vehicle, and display an area among the plurality of areas corresponding to a magnitude of acceleration or deceleration in a predetermined color in the displayed area.