Display control apparatus, vehicle, and display control method

1. A display control apparatus, comprising:

a vehicle detector that detects a surrounding vehicle present around a vehicle, based on a plurality of captured images around the vehicle captured by a plurality of imaging devices mounted to the vehicle; and

a processor that generates a display image to be displayed on a display mounted to the vehicle, by combining the plurality of captured images,

wherein the processor

performs projection conversion for projecting the plurality of captured images onto a projection plane set behind the vehicle,

performs a visual point conversion process for converting at least one of the plurality of captured images that has been projected onto the projection plane into an image viewed from a virtual visual point on a position different from that of at least one of the plurality of imaging devices,

sets a ground height of the virtual visual point of the image, with respect to a road surface on which the vehicle travels, based on a detection of the surrounding vehicle in a predetermined region, and

when the surrounding vehicle is not detected in the predetermined region, the processor sets the ground height of the virtual visual point of the image to be lower than a ground height of the virtual visual point of the image when the surrounding vehicle is detected in the predetermined region.

2. The display control apparatus according to claim 1 , wherein the processor sets, in a case where a traveling speed of the vehicle is equal to or less than a predetermined value, the ground height of the virtual visual point to be higher than the ground height of a case where the traveling speed of the vehicle exceeds the predetermined value.

3. The display control apparatus according to claim 1 , wherein a tilt of the projection plane with respect to the road surface when the ground height of the virtual visual point is lowered is larger than a tilt of the projection plane with respect to the road surface when the ground height of the virtual visual point is increased.

4. The display control apparatus according to claim 1 , wherein the processor includes the road surface in the projection plane when increasing the ground height of the virtual visual point and includes no road surface in the projection plane when lowering the ground height of the virtual visual point.

5. The display control apparatus according to claim 1 , wherein the processor includes the road surface in the projection plane when increasing the ground height of the virtual visual point, and the processor makes, when lowering the ground height of the virtual visual point, a range of the road surface that is included in the projection plane smaller than a range of the road surface that is included in the projection plane when increasing the ground height of the virtual visual point.

6. The display control apparatus according to claim 1 , wherein, in the projection plane with a position corresponding to a predetermined ground height as a reference point, an angle formed between a straight line connecting between the reference point and the virtual visual point and a straight line perpendicular to the projection plane passing through the reference point is equal to or less than a predetermined value.

7. The display control apparatus according to claim 6 , wherein a tilt of the projection plane with respect to the road surface in a portion below the reference point in the projection plane is smaller than a tilt of the projection plane with respect to the road surface in a portion above the reference point in the projection plane.

8. The display control apparatus according to claim 1 , wherein the processor

generates a background image of the vehicle by projecting the plurality of captured images onto a first projection plane set behind the vehicle,

sets, when the surrounding vehicle is detected in the predetermined region, a second projection plane to a position at which the surrounding vehicle is detected,

generates a surrounding vehicle image that is an image of the surrounding vehicle, by projecting at least one of the plurality of captured images onto the second projection plane, and

superimposes the surrounding vehicle image on the background image.

9. The display control apparatus according to claim 1 , wherein the processor

generates an image behind the vehicle by projecting the plurality of captured images onto the projection plane set behind the vehicle,

sets, in the image behind the vehicle, a boundary region in which blending is performed of pixel values of two adjacent captured images among the plurality of captured images, and

changes at least one of a width of the boundary region and/or a mix ratio in the blending of the pixel values depending on at least one of a position and/or a width of the surrounding vehicle in a case where the surrounding vehicle is detected within the predetermined region.

10. The display control apparatus according to claim 8 , wherein the predetermined region is set with reference to a region that is not displayed on the background image of the vehicle when a range for projection from the plurality of captured images around the vehicle is limited to make the background image a continuous image in a case of projecting the plurality of captured images around the vehicle onto the first projection plane set behind the vehicle.

11. A vehicle comprising the display control apparatus according to claim 1 .

12. The display control apparatus according to claim 1 , wherein the processor changes a position of the virtual visual point with respect to the road surface in accordance with a traveling speed of the vehicle.

13. The display control apparatus according to claim 1 , wherein the processor changes a tilt angle of the projection plane depending on the presence or absence of a following vehicle or in accordance with a speed of the vehicle.

14. The display control apparatus according to claim 1 , wherein the processor adds a gentle slope between the projection plane and the road surface.

15. The display control apparatus according to claim 14 , wherein the processor sets, at a position where a following vehicle is assumed, an upper end of the gentle slope to a position of a bumper or an axle of the following vehicle.

16. A display control method, comprising:

detecting a surrounding vehicle present around a vehicle, based on a plurality of captured images around the vehicle captured by a plurality of imaging devices mounted to the vehicle;

projecting the plurality of captured images onto a projection plane set behind the vehicle;

converting at least one of the plurality of captured images that has been projected onto the projection plane into an image viewed from a virtual visual point on a position different from that of at least one of the plurality of imaging devices, and

setting a ground height of the virtual visual point of the image, relative to a road surface on which the vehicle travels, based on a detection of the surrounding vehicle in a predetermined region, such that when the surrounding vehicle is not detected in the predetermined region, the ground height of the virtual visual point of the image is set to be lower than a ground height of the virtual visual point of the image when the surrounding vehicle is detected in the predetermined region.