JP2007118922A - Vehicular reverse operation assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reverse operation assisting device of a vehicle with which an operator can obtain the state of the vehicle incident to reverse operation easily, in addition to the reverse direction of the vehicle. <P>SOLUTION: The reverse operation assisting device of a vehicle 1 comprises an imaging means 2 for picking up the image in the rear of the vehicle, a means 4 for displaying a video image picked up by the imaging means, a means 6 for detecting the steering angle of a steering wheel, a reverse track calculating means 5 for calculating the reverse prediction tracks at the right and left rear end points of the vehicle based on the steering angle thus detected, a means 5 for calculating outline information of the vehicle when it has reversed by a predetermined distance based on the tangential directions of the reverse prediction tracks thus calculated by the reverse track calculating means and the overall length data of the vehicle, and a display control means 3 for displaying on a display means 4 the reverse prediction tracks calculated for the video image picked up by the imaging means 2 and the outline of the vehicle that are superposed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle reverse driving support device that assists a driver to move a vehicle backward with reference to a vehicle rear image displayed on a display.

  In general, an operation (driving) in which the driver moves the automobile (vehicle) backward is often more difficult than when the vehicle moves forward. In particular, when a car is moved backwards in a parking space and stopped, it is difficult to see the stop frame for the parking space from the driver's seat, and the vehicle state changes depending on the operation of the steering wheel even if the steering wheel (steering) is operated Due to the fact that it is difficult to judge intuitively, it is difficult to perform reverse operation.

On the other hand, today, there are many rear-view camera devices that improve the visibility of the rear of the vehicle by installing a camera that captures the rear of the vehicle in the vehicle and displaying the image of the rear of the vehicle on a display installed around the driver's seat. It is installed in the vehicle. Furthermore, a device has also been proposed that makes it easy to grasp the backward direction of the vehicle by superimposing and displaying the vehicle rear wheel predicted trajectory when the vehicle is moving backward on the video behind the vehicle displayed on the display (for example, patents). Reference 1). By using such a device, it becomes easier for the driver to grasp the backward direction of the vehicle, so that the backward driving operation can be performed more easily than in the past.
Japanese Unexamined Patent Publication No. 2004-203365 (pages 4-8, FIGS. 6 and 7)

  However, the method of superimposing and displaying the predicted vehicle rear wheel trajectory when the vehicle moves backward on the image behind the vehicle makes it easy to grasp the vehicle's backward direction, but what is the position / posture of the vehicle when moving backward? As a result, there is a problem that it is difficult to park the vehicle parallel to the parking frame of the parking space.

  On the other hand, in order to make it easier to grasp the vehicle state when the vehicle is moving backward, a technique for converting a captured image of the rear of the vehicle into a bird's-eye view image and displaying the vehicle and the surroundings on a display (overhead image technology, for example, -99952, JP-A-9-171348, JP-A-2001-1114048, and JP-A-2001-116567) are also considered, but the distant part of the vehicle is displayed due to the nature of the overhead view image. In addition, there are still problems in display methods and display technologies, such as overhead image processing of three-dimensional objects and image seam processing at the edge of overhead image, etc., and it is not necessarily the best method There was a difficult point.

  The present invention has been made in view of the above problems, and in a vehicle reverse operation, the vehicle reverse operation allows the driver to easily grasp the state of the vehicle accompanying the reverse operation in addition to the vehicle reverse direction. It is an object to provide a support device.

  In order to solve the above-described problem, a vehicle reverse driving assist device according to the present invention detects an imaging means for imaging the rear of a vehicle, a display means for displaying an image captured by the imaging means, and a steering angle of a steering wheel. Steering angle detection means, backward trajectory calculation means for calculating a backward prediction trajectory at the left and right rear end points of the vehicle based on the steering angle detected by the steering angle detection means, and a vehicle when the vehicle has moved backward a predetermined distance Vehicle state calculating means for calculating the contour information of the vehicle based on the tangent direction of the predicted backward trajectory calculated by the backward trajectory calculating means and the total length data of the vehicle, and for the video imaged by the imaging means A table that is displayed by superimposing the reverse predicted trajectory calculated by the reverse trajectory calculating means and the contour of the vehicle calculated by the vehicle state calculating means on the display means. And a controlling unit.

  Further, the vehicle backward driving support device includes travel distance detection means for detecting the travel distance of the vehicle, and the backward trajectory calculation means determines the predicted backward trajectory according to the travel distance detected by the travel distance detection means. The vehicle state calculation means calculates the contour information by changing the predetermined distance according to the travel distance detected by the travel distance detection means, and the display control means responds to the travel distance. The calculated backward predicted trajectory and the contour of the vehicle may be superimposed and drawn on the video imaged by the imaging means.

  Further, the backward trajectory calculation means displays the backward prediction trajectory on the display means as a broken line or a chain line, and the solid line portion of the broken line or the chain line indicates the backward movement according to the travel distance detected by the travel distance detection means. The backward predicted trajectory may be calculated so as to be moved and displayed in the length direction of the predicted trajectory.

  Further, the display control means may display on the display means that the steering angle of the steering wheel is maintained until the vehicle moves backward by the predetermined distance.

  Further, the display control means may cause the display means to display a display for returning the steering wheel to the neutral position when the vehicle moves backward by the predetermined distance.

  In addition, voice output means for alerting the driver by outputting an output sound is provided, and the voice output means keeps the steering angle of the steering wheel until the vehicle moves backward by the predetermined distance. The output sound may be output. Further, the sound output means may output an output sound for returning the handle to the neutral position when the vehicle moves backward by the predetermined distance.

  According to the above invention, the predicted backward trajectory calculated by the backward trajectory calculating means and the contour of the vehicle calculated by the vehicle state calculating means are superimposed on the video imaged by the imaging means and displayed on the display means. In addition, the state of the vehicle, specifically, the position / posture (direction) of the vehicle can be collated with an image of the rear of the vehicle actually captured. For this reason, it is possible to determine the vehicle state based on the viewpoint that actually exists, and the driver in a situation that is closer to reality than to determine the vehicle state based on the viewpoint that does not actually exist using the overhead view image technology. Can perform reverse operation.

  In addition, the vehicle can be stopped at a predetermined stop position by adjusting the contour of the vehicle to a position where the vehicle is to be stopped and moving backward while maintaining the steering angle of the steering wheel.

  Furthermore, since it is possible to grasp in advance the state of the vehicle that is stopped at the stop position based on the contour of the vehicle, it is easy to grasp the size of the vehicle at the stop position, and whether the stop space is secured from the size of the vehicle. It is possible to easily determine whether or not.

  In addition, the backward prediction trajectory and the contour information are calculated according to the travel distance detected by the travel distance detecting means and are superimposed on the image captured by the imaging means, so that the reverse prediction is performed in real time according to the travel distance of the vehicle. The trajectory and the vehicle contour can be displayed on the vehicle rear image. For this reason, the driver can easily grasp the vehicle state that is changed by the steering operation, and can ease the difficulty of the backward driving.

  By visually recognizing the change in the vehicle state corresponding to the movement of the predicted backward trajectory due to the change in the steering wheel, the corresponding steering wheel operation can be performed after visually confirming the state of the entire vehicle. Thus, it is possible to give the driver the same operational feeling without using advanced technology such as a backward driving support technology using an overhead image.

  Further, since the broken line or the chain line indicating the predicted backward trajectory is calculated so that the solid line portion is moved and displayed in the length direction of the predicted backward trajectory according to the travel distance detected by the travel distance detecting unit, The display position of the solid line portion is displayed as being pasted at a predetermined position in the vehicle rear image with respect to the vehicle rear image that changes as the vehicle moves backward. For this reason, the driver can perform the reverse operation without feeling uncomfortable between the reverse image of the vehicle and the display state of the broken line.

  Further, the display control means displays on the display means that the steering angle of the steering wheel is maintained until the vehicle moves backward by a predetermined distance, or the sound output means outputs an output sound. Whether or not the vehicle has moved backward by a predetermined distance can be easily determined by screen display and voice guidance.

  Furthermore, since guidance is given by an indication or output sound that the steering angle of the steering wheel is maintained until the vehicle moves backward by a predetermined distance, the driver concentrates only on the vehicle backward operation without operating the steering wheel. You can drive.

  In addition, when the vehicle retreats by a predetermined distance, that is, when the vehicle retreats until it is in a horizontal state with respect to the stop frame, an indication that the handle is returned to the neutral position by the display control means is displayed on the display means, Since the output sound is output by the sound output means, the driver can easily determine that the vehicle has moved backward by a predetermined distance. Further, the driver can easily know that it is only necessary to concentrate on returning the steering wheel to the neutral position without performing the backward operation of the vehicle.

  Hereinafter, a vehicle reverse driving support apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram illustrating a schematic configuration of the vehicle reverse driving support device according to the first embodiment. The vehicle backward driving support device 1 includes a camera (imaging means) 2, a display control section (display control means) 3, a display (display means) 4, and a control section (reverse locus calculation means, vehicle state calculation means) 5 , A steering wheel angle detector (steer angle detector) 6, a travel distance detector (travel distance detector) 7, a reverse detector 8, and an operation button 9 are provided.

  The camera 1 is installed at a position at the rear of the vehicle where the rear of the vehicle (particularly the lower part of the vehicle) can be imaged. The camera 2 includes a camera main body 2a having a wide-angle lens and a camera driving unit 2b that performs drive control of the camera main body 2a. The camera body 2a can capture the rear of the vehicle at a constant viewing angle by using a wide-angle lens. The video behind the vehicle imaged by the camera body 2a is transmitted to the display control unit 3 via the camera driving unit 2b.

  Drawing data of the predicted backward trajectory and the contour of the vehicle that have been subjected to the drawing process by the display control unit 3 and the control unit 5 are superimposed on the vehicle rear image captured by the camera 2 and output to the display 4. The drawing process by the control unit 5 will be described later.

  The display 4 is installed in a place where it is easy for the driver to visually recognize it by being placed on the upper part of the instrument panel of the vehicle or by being built in the car audio installation space of the instrument panel. The display 4 may be installed only for displaying a video behind the vehicle, or may be used as a display for displaying map information of a car navigation system.

  The steering wheel steering angle detector 6 detects a steering angle of the steering wheel by detecting a pulse signal that is output every time the steering wheel (steering) rotates by a predetermined angle, and outputs the detected steering angle information to the controller 5. .

  The travel distance detection unit 7 detects the travel distance of the vehicle by detecting a pulse signal output according to the rotation of the wheel, and outputs the detected travel distance information to the control unit 5.

  The reverse detection unit 8 detects whether or not the shift lever has been operated to the reverse position, and outputs reverse operation information to the control unit 5 when operated to the reverse position.

  The operation button 9 is installed at a place where the driver can easily press down (ON) during the reverse driving operation, and is installed, for example, in the vicinity of a handle, an emergency blinking indicator (hazard) switch, an audio operation panel, or the like. Moreover, it is not necessarily a physical switch, and when the display 4 is a touch panel or the like, the touch panel of the display 4 may be used as an operation button.

  The driver turns on the operation button when an outline LA of the vehicle, which will be described later, is displayed in a state suitable for stopping the vehicle in a stop frame of the vehicle rear image displayed on the display 4.

  The control unit 5 has a function of calculating a predicted backward trajectory at the left and right rear end points of the vehicle as a backward trajectory calculating means, and a function of calculating vehicle contour information at the time of reverse as a vehicle state calculating means.

  The control unit 5 calculates a predicted backward trajectory (curved state) at the left and right rear ends of the vehicle according to the steering angle of the steering wheel detected by the steering wheel steering angle detector 6. As a method for calculating a predicted backward trajectory, a general method is used in which, when the vehicle is moved backward with the steering angle of the steering wheel maintained, a point through which the vehicle rear end point passes is calculated as a trajectory. . However, various other methods have been proposed as a method for calculating the backward prediction locus, and the calculation may be performed using other methods.

  The control unit 5 re-calculates the predicted backward trajectory at regular intervals so that the predicted backward trajectory that changes according to the steering operation and the reverse state of the vehicle can be output in real time. In addition, the control unit 5 calculates the trajectory position of the backward predicted trajectory so that the predicted backward trajectory is displayed on the display 4 as a broken line, and the vehicle rear image obtained by capturing the display position of the solid line portion of the broken line by the camera 2. In order to display as pasted at a predetermined place, the backward solid line portion of the broken line is moved and displayed in the length direction of the backward prediction locus according to the travel distance detected by the travel distance detection unit 7. (Dashed line display state) is calculated. Note that the predicted backward trajectory is not necessarily a broken line, and may be a chain line.

  Note that the predicted backward trajectory may be calculated by the controller 5 directly performing a calculation process based on the steering angle of the steering wheel, and the steering angle of the steering wheel and the predicted backward trajectory corresponding to the steering angle are stored in advance. Accordingly, the corresponding backward predicted trajectory may be calculated by reading it from the storage means or the like.

  Further, the control unit 5 makes it easier for the driver to grasp the vehicle state when the vehicle has moved backward by a predetermined distance, when the vehicle is moved backward by a predetermined distance on the basis of the calculated backward predicted locus. Calculate what the state is. Specifically, as shown in FIG. 2 and FIG. 3, at a point separated by a predetermined distance in the backward predicted trajectories la and lb, for example, at points P1 and P2 4 meters behind, in the tangential direction of the predicted backward trajectories la and lb. The vehicle side contour lines L1 and L2 having a length corresponding to the entire length of the vehicle are obtained along with the vehicle front and rear contour lines L3 and L4 based on the two sides of the vehicle side contour lines L1 and L2. The contour (predicted vehicle state) LA is obtained. The vehicle contour LA is indicated by a solid line so that the driver can easily recognize it, but is not necessarily limited to a solid line, and may be a broken line, a chain line, or the like.

  Further, the control unit 5 stores the relationship between the vehicle position and the calculated positions of P1 and P2 with reference to the time when the operation button is turned on, and the vehicle moves to P1 according to the travel distance of the travel distance detection unit 7. , P2 is determined to be close to or away from point P2. Then, the control unit 5 re-calculates the vehicle contour LA at regular intervals, so that the vehicle contour LA that changes according to the steering operation and the reverse state of the vehicle can be output in real time.

  The control unit 5 creates drawing data to be superimposed on the video imaged by the camera 2 based on the calculated backward predicted trajectories la and lb and the vehicle contour LA. In this case, the control unit 5 creates drawing data in consideration of the viewpoint of the camera 2 and lens distortion. The control unit 5 sends the created drawing data to the display control unit 3, and the sent drawing data is displayed on the display 4 superimposed on the video imaged by the camera 2.

  Next, the vehicle reverse driving support processing by the control unit 5 will be described using the flowchart shown in FIG.

  First, the control unit 5 determines whether or not the shift lever is operated to the reverse position from the reverse detection unit 8 (step S1). When it is determined that the reverse position is not operated, the control unit 5 detects the operation position of the shift lever again. If it is determined that the vehicle is operated to the reverse position, the control unit 5 acquires the steering angle information of the steering wheel from the steering wheel steering angle detection unit 6, and acquires the traveling distance information from the traveling distance detection unit 7 (step S2).

  The control unit 5 calculates the curved state of the predicted backward trajectories la and lb based on the steering angle information of the steering wheel and calculates the backward state of the predicted backward trajectories la and lb according to the travel distance information. Calculate the predicted trajectory. Further, the control unit 5 calculates P1 and P2 points located a predetermined distance behind the predicted backward trajectories la and lb, 4m backward in this embodiment, and draws the backward predicted trajectory starting from these P1 and P2 points. Thus, the backward predicted trajectory is calculated (step S3). Further, the control unit 5 calculates the vehicle contour LA at the points P1 and P2 (step S4).

  The control unit 5 creates drawing data based on the calculated predicted backward trajectories la and lb and the vehicle contour LA (step S5), and sends the drawing data to the display control unit 3 (step S6). The display control unit 3 superimposes the drawing data received from the control unit 5 on the image captured by the camera 2 and displays it on the display 4 as shown in FIG. In FIG. 2, the stop frame 10 is shown in the upper right part of the screen, 4 m or more away from the actual vehicle position.

  Thereafter, the control unit 5 determines whether or not the operation button 9 is turned on (step S7). When the operation button 9 is not turned on, the control unit 5 repeats the processes of steps S1 to S6 again. By repeating this process, the predicted backward trajectories la and lb and the vehicle contour LA are displayed on the display 4 in real time according to the steering operation and the reverse state of the vehicle. In particular, the backward prediction trajectory is displayed as a broken line, and the display position of the solid line portion of the broken line is superimposed and displayed so as to be pasted on the vehicle rear image.

  When the operation button is turned on, the control unit 5 stores the points P1 and P2 with respect to the vehicle position (step S8, FIG. 3). FIG. 3 shows a state in which the contour LA of the vehicle is displayed in the parking frame 10 in a state suitable for stopping the vehicle, and the driver presses the operation button 9 when such a state is reached. Turn on.

  Based on the storage of the points P1 and P2 in step S8, calculation processing (steps S9 to S15) of the predicted backward trajectories la and lb and the vehicle contour LA, which will be described later, is performed based on the vehicle position immediately after the operation button is turned on.

  Specifically, the control unit 5 acquires the steering angle information of the steering wheel from the steering wheel steering angle detection unit 6, and acquires the traveling distance information of the vehicle from the traveling distance detection unit 7. Further, the control unit 5 reads the recorded points P1 and P2 (step S9).

  The controller 5 calculates a predicted backward trajectory based on the steering angle information of the steering wheel (step S10). At this time, the control unit 5 determines a change in the vehicle position from the relationship between the read points P1 and P2 and the vehicle position, considering the distance traveled by the vehicle based on the travel distance information, and is suitable for the vehicle position. Calculate the predicted backward trajectory.

  Specifically, when the process in step S10 and the process in step S3 are compared, in the predicted backward trajectory calculation process in step S3, points P1 and P2 are located at positions 4 m away from the actual vehicle position according to the predicted backward trajectory la and lb. Even if the vehicle moves backward, the points P1 and P2 are calculated as 4 m away. On the other hand, in the backward prediction trajectory calculation in step S10, the relationship between the read points P1 and P2 and the vehicle position (the distance between the points P1 and P2 and the vehicle position immediately after the operation button is turned on). 4m), the position (4m-Xm position) excluding the travel distance Xm obtained from the travel distance information is determined as P1 point and P2 point, and from this P1 point and P2 point to the left and right rear end points of the actual vehicle Is calculated (step S10).

  Thereafter, the control unit 5 calculates the vehicle contour LA based on the points P1 and P2 calculated in consideration of the position where the vehicle has moved according to the travel distance (step S11).

  As described above, in steps S10 and S11, the predicted backward trajectories la and lb and the vehicle contour LA are calculated based on the positional relationship between the points P1 and P2 obtained in consideration of the travel distance between the host vehicle and the vehicle. Therefore, by repeating the processing shown in Step 9 to Step 15, the predicted backward trajectory and the vehicle contour are set such that the points P1 and P2 of the backward predicted trajectories la and lb and the vehicle contour LA gradually approach the host vehicle. It can be displayed on the display 4.

  FIG. 4 shows the predicted backward trajectories la and lb and the vehicle contour LA calculated in a state in which the vehicle retreats a predetermined distance and approaches the stop space. As the vehicle moves backward (runs), the points P1 and P2 are closer to the vehicle than immediately after the operation switch is turned on (see FIG. 3). For this reason, the control unit 5 uses the distance between the stored vehicle and the P1 point and the P2 point as the reference for the vehicle position that has moved backward along the predicted travel distance information of the travel distance information along the predicted backward travel path la, lb. Then, the vehicle contour LA is calculated (see FIG. 4).

  Thereafter, the control unit 5 creates drawing data based on the calculated backward predicted trajectories la and lb and the vehicle contour LA (step S12), and sends the drawing data to the display control unit 3 (step S13). The display control unit 3 superimposes the drawing data received from the control unit 5 on the image captured by the camera 2 and displays it on the display 4 as shown in FIG.

  Then, the control unit 5 stores the newly calculated points P1 and P2 (step S14).

  Thereafter, the control unit 5 determines whether or not the shift lever has been operated to the reverse position (step S15). If it is determined that the shift lever has been operated to a position other than the reverse position, the control unit 5 ends the vehicle reverse driving support process, and if it is determined that the shift lever has been operated to the reverse position, it is stored in step S14. The above-described processing (steps S9 to S14) is repeatedly executed again using the points P1 and P2 as a reference.

  In this way, the control unit 5 superimposes and displays the backward prediction trajectories la and lb and the vehicle outline (vehicle state) LA in real time according to the travel distance of the vehicle. It becomes possible to easily grasp the state of the vehicle to be operated, and it becomes possible to alleviate the difficulty of reverse operation. By visually recognizing changes in the vehicle state corresponding to the movement of the predicted backward trajectory, the driver can perform the corresponding steering operation after visually confirming the state of the entire vehicle. It is possible to give the driver a similar operational feeling without using advanced technology such as the backward driving support technology.

  Furthermore, since the vehicle state, specifically the position / orientation (direction) of the vehicle, can be collated with the rear image of the vehicle actually captured, the vehicle state can be determined based on the viewpoint that exists in reality. This makes it possible to determine the vehicle state based on a viewpoint that does not actually exist using the overhead image technology, and the driver can perform the reverse drive in a situation closer to reality.

  Further, by using the vehicle backward driving support device according to the first embodiment, the driver turns on the operation button 9 after matching the contour of the vehicle to the position where the vehicle is to be stopped, and sets the steering angle of the steering wheel at that time. If the vehicle moves backward while maintaining, the vehicle can be surely stopped at the position where the vehicle is to be stopped.

  Furthermore, since it is possible to grasp the state of the vehicle that is stopped at the stop position based on the outline of the vehicle in advance, it is easy to grasp the size of the vehicle at the stop position, and whether a space that can stop the vehicle is secured. It is possible to easily determine whether or not.

  In addition, since the broken line indicating the predicted backward trajectory is displayed as if the display position of the solid line portion is pasted at a predetermined position in the vehicle rear image, the user feels uncomfortable between the reverse image of the vehicle and the display state of the broken line. Reverse operation can be performed without any problems.

  Further, the predicted reverse line continues to be displayed on the display 4 even after the vehicle has been properly moved to the desired stop position, as in the predicted reverse trajectory of the reverse driving assistance device that is generally used conventionally. You can avoid that. For this reason, for example, even if the rear of the position where the vehicle is stopped is a three-dimensional object such as a wall, a humorous image in which the predicted backward trajectory is superimposed on the image of the three-dimensional object is not displayed on the display, and driving It becomes possible for a person to perform a reverse operation without feeling uncomfortable on the screen display in the vehicle reverse operation.

  Next, a vehicle reverse driving support device according to a second embodiment will be described. In the second embodiment, the same components as those already described in the first embodiment are denoted by the same reference numerals, and detailed description in the second embodiment is omitted.

  FIG. 7 is a block diagram illustrating a schematic configuration of the vehicle backward driving support device 20 according to the second embodiment. The vehicle backward driving support device 1 includes a camera (imaging means) 2, a display control section (display control means) 3, a display (display means) 4, and a control section (reverse locus calculation means, vehicle state calculation means) 5 , Steering wheel steering angle detector (steering angle detector) 6, travel distance detector (travel distance detector) 7, reverse detector 8, operation button 9, voice controller (voice output means) 21, And a speaker (audio output means) 22.

  The voice control unit 21 stores several types of voice information in advance. In the present embodiment, at least, as voice information for notifying the driver that the steering angle of the steering wheel is to be maintained, information of a female voice “Please leave the steering wheel as it is” is stored. Further, as voice information for notifying the driver that the steering wheel is returned to the neutral position, information of a female voice “Please set the steering wheel in the neutral position” is stored.

  Note that the stored voice information is not limited to female voices but may be male voices. Further, the voice information is not voice but a driver like a melody sound, buzzer sound or BEEP sound. May be an electronic sound or the like whose state can be determined by the difference in sound.

  The speaker 22 outputs sound (output sound) based on the sound information output by the sound control unit 21. The speaker 22 is installed at a position where the driver can hear the sound during the driving operation. Note that the speaker 22 may be a dedicated speaker for voice output in the vehicle interior, a speaker used for voice guidance of a car navigation system, or an acoustic speaker disposed in the vehicle interior for outputting music. May be used.

  The display control unit 3 stores a plurality of icon information (image information) so that the driver can easily understand the required information. In this embodiment, at least icon information for notifying the driver of information for maintaining the steering angle of the steering wheel and information for returning the steering wheel to the neutral position are provided for the driver. Icon information is stored. The display control unit 3 causes the display 4 to display the icon information superimposed on the video imaged by the camera in response to a control signal from the control unit 5.

  Based on the travel distance X obtained by the travel distance detector 7, the controller 5 determines whether the vehicle has moved backward by a predetermined distance, in this embodiment, 4 m. When it is determined that the vehicle is moving backward, but the vehicle has not moved backward by 4 m, the control unit 5 sends a control signal to the audio control unit 21 to output audio information indicating that the steering angle of the steering wheel is maintained. . Further, the control unit 5 sends a control signal for superimposing icon information indicating that the steering angle of the steering wheel is maintained to the display control unit 3.

  Further, when the control unit 5 determines that the vehicle has finished moving backward by 4 m, the control unit 5 sends a control signal for outputting sound information for returning the handle to the neutral position to the sound control unit 21 and also sets the handle to the neutral position. A control signal for superimposing icon information for returning to the position is sent to the display control unit 3.

  Further, the control unit 5 determines whether or not the handle is returned to the normal position based on the steering angle of the handle obtained by the handle steering angle detection unit 6, and when the handle returns to the normal position, A control signal for stopping output of sound information to the speaker is sent to the sound control unit 21, and a control signal for finishing superimposition of icon information is sent to the display control unit 3.

  Next, the vehicle reverse driving support processing by the control unit 5 will be described using the flowchart shown in FIG.

  First, the control unit 5 determines whether or not the shift lever is operated to the reverse position from the reverse detection unit 8 (step S20). When it is determined that the reverse position is not operated, the control unit 5 detects the operation position of the shift lever again.

  When it is determined that the vehicle is operated to the reverse position (Yes in step S20), the control unit 5 acquires the steering angle information of the steering wheel from the steering wheel steering angle detection unit 6, and the traveling distance information from the traveling distance detection unit 7. Is acquired (step S21).

  Then, the control unit 5 obtains the curved states of the predicted backward trajectories la and lb based on the steering angle information of the steering wheel and obtains the broken line display states of the predicted backward trajectories la and lb according to the travel distance information. The backward prediction trajectory is calculated. Further, the control unit 5 calculates P1 and P2 points located a predetermined distance behind the predicted backward trajectories la and lb, 4m backward in this embodiment, and draws the backward predicted trajectory starting from these P1 and P2 points. Thus, the backward predicted locus is calculated (step S22). Further, the control unit 5 calculates the vehicle contour LA at the points P1 and P2 (step S23).

  The control unit 5 creates drawing data based on the calculated backward predicted trajectories la and lb and the vehicle contour LA (step S24), and sends the drawing data to the display control unit 3 (step S25). The display control unit 3 superimposes the drawing data received from the control unit 5 on the image captured by the camera 2 and displays it on the display 4 as shown in FIG. In FIG. 2, the stop frame 10 is shown in the upper right part of the screen, 4 m or more away from the actual vehicle position.

  Thereafter, the control unit 5 determines whether or not the operation button 9 is turned on (step S26). When the operation button 9 is not turned on (NO in step S26), the control unit 5 repeats the processes of steps S20 to S25 again. By repeating this process, the predicted backward trajectories la and lb and the vehicle contour LA are displayed on the display 4 in real time according to the steering operation and the reverse state of the vehicle. In particular, the backward prediction trajectory is displayed as a broken line, and the display position of the solid line portion of the broken line is superimposed and displayed so as to be pasted on the vehicle rear image.

  In the second embodiment, as will be described later, since the support for returning the steering wheel to the neutral position is provided by voice or icon display, the vehicle can be guided to be parallel to the stop frame 10. Therefore, the driver does not need to turn on the operation button 9 when the vehicle contour LA is displayed so as to completely fit in the stop frame 10 as shown in FIG. It is sufficient to turn on the operation button 9 in a state where the contour lines L1 and L2 and the side line of the stop frame 10 are parallel.

  When the operation button is turned on, the control unit 5 stores P1 and P2 points with respect to the vehicle position (step S27).

  Based on the storage of the points P1 and P2 in step S8, calculation processing (steps S28 to S42) of the predicted backward trajectories la and lb and the vehicle contour LA, which will be described later, is performed based on the vehicle position immediately after the operation button is turned on.

  Specifically, the control unit 5 acquires the steering angle information of the steering wheel from the steering wheel steering angle detection unit 6, and acquires the traveling distance information of the vehicle from the traveling distance detection unit 7. Further, the controller 5 reads the recorded points P1 and P2 (step S28).

  The controller 5 calculates a predicted backward trajectory based on the steering angle information of the steering wheel (step S29). At this time, the control unit 5 determines a change in the vehicle position from the relationship between the read points P1 and P2 and the vehicle position, considering the distance traveled by the vehicle based on the travel distance information, and is suitable for the vehicle position. Calculate the predicted backward trajectory.

  Thereafter, the control unit 5 calculates the vehicle contour LA based on the points P1 and P2 calculated in consideration of the position where the vehicle has moved according to the travel distance (step S30).

  Thereafter, the control unit 5 creates drawing data based on the calculated backward predicted trajectories la and lb and the vehicle contour LA (step S31), and sends the drawing data to the display control unit 3 (step S32).

  Further, the control unit 5 determines how much the vehicle has moved back based on the vehicle travel distance information acquired from the travel distance detection unit 7 (step S33). When it is determined that the reverse distance of the vehicle is still less than 4 m (in the case of YES at step S33), the control unit 5 outputs a control signal for outputting sound information indicating that the steering angle of the steering wheel is maintained, to the sound control unit. 21 (step S34), and a control signal for superimposing icon information for maintaining the steering angle of the steering wheel is sent to the display control unit 3 (step S35).

  In the display control unit 3, as shown in FIG. 9, the camera 2 displays icon information 27 based on the control signal sent from the control unit 5 in step S <b> 35 and drawing data sent from the control unit 5 in step 32. The image is superimposed on the captured image and displayed on the display 4.

  When it is determined that the reverse distance of the vehicle has reached 4 m (in the case of NO at step S33), the control unit 5 determines that the steering wheel is at the neutral position based on the steering angle information of the steering wheel obtained from the steering wheel steering angle detection unit 6. It is determined whether or not it has returned (step S36).

  If it is determined that the handle has not returned to the neutral position (NO in step S36), the control unit 5 sends a control signal for outputting audio information indicating that the handle is returned to the neutral position to the audio control unit 21. (Step S37). Further, the control unit 5 sends a control signal for superimposing icon information for returning the handle to the neutral position to the display control unit 3 (step S38).

  In the display control unit 3, as shown in FIG. 10, the camera 2 captures the icon information 28 based on the control signal sent from the control unit 5 in step S <b> 28 and the drawing data sent from the control unit 5 in step 32. The image is superimposed on the displayed image and displayed on the display 4.

  On the other hand, when it is determined that the steering wheel has returned to the neutral position (YES in step S36), the control unit 5 sends a control signal for stopping the audio information output to the speaker 22 to the audio control unit 21. (Step S39), a control signal to end the superimposition of the icon information is sent to the display control unit 3 (Step S40).

  In the display control unit 3, only the drawing data sent from the control unit 5 in step 32 is superimposed on the image captured by the camera 2 and displayed on the display 4.

  Then, the control unit 5 stores the newly calculated points P1 and P2 (step S41).

  Thereafter, the control unit 5 determines whether or not the shift lever has been operated to the reverse position (step S42). When it is determined that the shift lever has been operated to a position other than the reverse position, the control unit 5 ends the vehicle reverse driving support process, and when it is determined that the shift lever has been operated to the reverse position, it is stored in step S41. The above-described processing (steps S28 to S41) is repeatedly executed with the points P1 and P2 as the reference.

  As described above, in the vehicle backward driving support device 20 according to the second embodiment, the driver turns on the operation button 9 after the vehicle contour LA is aligned with the position where the vehicle is to be stopped, and maintains the steering angle of the steering wheel at that time. If the vehicle is moved backwards, the vehicle can be surely stopped at the position where the vehicle is to be stopped.

  In this driving operation, when the vehicle is moving backward and the backward movement of 4 m is not completed, that is, when the backward movement is not completed until the vehicle is in a horizontal state with respect to the stop frame 10, As shown in FIG. 9, an icon image 27 indicating “the steering wheel is left” is displayed, and further, a female voice of “please leave the steering wheel” is output from the speaker 22. It can be easily determined by screen display and voice guidance.

  Furthermore, since the screen display and voice guidance for leaving the steering wheel is made until the vehicle finishes moving backward by 4 m, the driver can concentrate on the vehicle backward operation without operating the steering wheel. .

  Further, when the vehicle has moved backward by 4 m, that is, when the vehicle has moved backward until it is in a horizontal state with respect to the stop frame 10, an icon “neutral” is displayed on the display 4 as shown in FIG. 10. Since the image 28 is displayed and a female voice saying “Please set the steering wheel in the neutral position” is output from the speaker 22, the driver can easily determine that the vehicle has finished moving backward by 4 meters, Further, it can be easily known that the steering wheel can be returned to the neutral position without performing the backward operation of the vehicle thereafter.

  Furthermore, when the steering wheel is returned to the neutral position, the voice guidance from the speaker 22 is terminated, and the icon image 28 indicating “neutral” disappears from the screen of the display 4. Can easily know that the handle has returned to the neutral position. For this reason, if the driver moves the vehicle as it is with reference to the vehicle rear image displayed on the display 4, the driver can move the vehicle back in parallel to the stop frame 10. It is possible to stop at.

  In addition, by using the vehicle reverse driving support device 20 according to the second embodiment, the control unit 5 can perform the reverse prediction trajectories la and lb in real time according to the travel distance of the vehicle, as described in the first embodiment. Since the vehicle outline (vehicle state) LA is superimposed on the vehicle rear image, the driver can easily grasp the vehicle state that changes due to the steering wheel operation, and the difficulty of reverse driving can be reduced. Become. By visually recognizing changes in the vehicle state corresponding to the movement of the predicted backward trajectory, the driver can perform the corresponding steering operation after visually confirming the state of the entire vehicle. It is possible to give the driver a similar operational feeling without using advanced technology such as the backward driving support technology.

  Furthermore, since the vehicle state, specifically the position / orientation (direction) of the vehicle, can be collated with the rear image of the vehicle actually captured, the vehicle state can be determined based on the viewpoint that exists in reality. This makes it possible to determine the vehicle state based on a viewpoint that does not actually exist using the overhead image technology, and the driver can perform the reverse drive in a situation closer to reality.

  Furthermore, since it is possible to grasp the state of the vehicle that is stopped at the stop position based on the outline of the vehicle in advance, it is easy to grasp the size of the vehicle at the stop position, and whether a space that can stop the vehicle is secured. It is possible to easily determine whether or not.

  In addition, since the broken line indicating the predicted backward trajectory is displayed as if the display position of the solid line portion is pasted at a predetermined position in the vehicle rear image, the user feels uncomfortable between the reverse image of the vehicle and the display state of the broken line. Reverse operation can be performed without any problems.

  Further, the predicted reverse line continues to be displayed on the display 4 even after the vehicle is properly moved to the stop frame 10 as in the predicted reverse trajectory of the reverse driving support device that has been generally used conventionally. You can avoid that. For this reason, for example, even if the rear of the position where the vehicle is stopped is a three-dimensional object such as a wall, a humorous image in which a backward predicted locus is superimposed on the image of the three-dimensional object is displayed on the display. This makes it possible to prevent the driver from feeling uncomfortable in the screen display during the vehicle reverse operation.

  As mentioned above, although the vehicle reverse driving assistance apparatus which concerns on this invention was demonstrated using drawing, it cannot be overemphasized that this invention is not limited to embodiment mentioned above. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  For example, in the above-described embodiment, the control unit 5 stores the relationship between the vehicle position and the calculated positions of the P1 and P2 points based on when the operation button is turned on. Actions, for example, P1 point and P2 point are stored with reference to the time when the driver operates the shift lever in the reverse direction, and based on the stored P1 point and P2 point, the backward predicted trajectory la according to the travel distance, The calculation of lb and the vehicle contour LA may be repeatedly executed.

  In the above-described embodiment, the P1 point and the P2 point are stored after the operation button 9 is turned on, and the positions of the P1 point and the P2 point and the own vehicle are obtained from the travel distance of the vehicle, and the predicted backward trajectory la, lb And the vehicle contour LA are recalculated. However, once the vehicle contour LA is adjusted to the position where the vehicle is to be stopped and the vehicle is moved backward while maintaining the steering angle of the steering wheel at that time, the vehicle can be stopped at a predetermined stop position. It is not necessary to memorize the points every time, to calculate the position change between the points P1 and P2 and the own vehicle based on the travel distance of the vehicle, and to recalculate the backward predicted trajectories la and lb and the vehicle contour LA.

  Therefore, as shown in the flowchart of FIG. 6, after the control unit 5 determines whether or not the shift lever is operated to the reverse position (step S <b> 1), the steering angle information and the travel distance information of the steering wheel are acquired. (Step S2), the backward predicted trajectories la and lb and the vehicle trajectory LA are calculated (Steps S3 and S4), drawing data is created (Step S5), and the drawing data is sent to the display control unit 3 (Step S2). S6) The process may be repeated until the shift lever is operated to a position other than the reverse position (step S15). By performing the processing in this manner, it is not necessary to store the P1 point and the P2 point, and it is necessary to calculate the distance between the own vehicle and the P1 point and the P2 point when the control unit 5 calculates the predicted backward trajectory. Accordingly, it is possible to simplify the apparatus configuration and reduce the processing load by the control unit 5.

  In addition, when the driver operates the steering wheel after turning on the operation button 9, the vehicle contour LA displays the contour based on the steering angle information before operating the steering wheel on the display 4, and moves backward. As the predicted trajectories 1a and 1b, trajectories based on the steering angle state after the steering wheel is operated may be displayed. Thus, by redrawing only the predicted backward trajectories 1a and 1b according to the steering state of the steering wheel, only the predicted backward trajectory will be shifted to the left and right, so the driver can easily determine that the steering wheel has moved. can do.

  Further, in the second embodiment, when the vehicle moves backward by 4 m, an icon image 28 indicating “neutral” is displayed on the display 4, and a voice “Please set the handle to the neutral position” from the speaker 22 is displayed. An icon image (for example, “Matched” is displayed) indicating that the vehicle has stopped for 4 m and the vehicle contour LA has been matched with the actual vehicle stop position at the same time that the vehicle has moved backward by 4 m. Image) and voice guidance may be performed. By performing such icon display and voice guidance, it becomes possible for the driver to easily recognize that the current vehicle state matches the position of the vehicle contour LA displayed on the display 4.

  Moreover, although the case where the voice guidance is performed when the vehicle is reversing in the second embodiment has been described, it may be preferable for the driver accustomed to the reverse driving operation not to perform the voice guidance. For this reason, it is good also as a structure which reduces the volume of voice guidance, the frequency | count of voice guidance, etc. as needed, and also may enable it to set the presence or absence of voice guidance and icon display by a driver | operator. Further, the design display of the icon displayed on the display 4 is not limited to that shown in FIGS. 9 and 10, and may be another design.

  Furthermore, in the second embodiment, the display control unit 3 stores the icon information. However, the display control unit 3 does not necessarily need to store the icon information, and the control unit 5 stores the icon information. Accordingly, the icon information may be sent to the display control unit 3. In the second embodiment, the voice control unit 21 stores the voice information. However, the voice information does not necessarily have to be stored by the voice control unit 21, and the control unit 5 stores the voice information. Accordingly, the voice information may be sent to the voice control unit 21.

  Moreover, the vehicle reverse driving support device according to the present invention can be used not only when parking in a garage but also when performing parallel parking.

1 is a block diagram illustrating a schematic configuration of a vehicle reverse driving support device according to a first embodiment. In Example 1, it is the figure which showed the image displayed on a display, when operating a shift lever to a reverse position. In Example 1, it is the figure which showed the image displayed on a display, when an operation button is turned ON. In Example 1, it is the figure which showed the image displayed on a display, after turning on an operation button and reversing a vehicle. 3 is a flowchart illustrating a vehicle reverse driving support process performed by a control unit according to the first embodiment. It is the other flowchart which showed the vehicle reverse driving assistance process by a control part. It is the block diagram which showed schematic structure of the vehicle reverse driving assistance device which concerns on Example 2. FIG. 10 is a flowchart illustrating a vehicle reverse driving support process by a control unit according to a second embodiment. In Example 2, it is the figure which showed the image displayed on a display, when an operation button is turned ON. In Example 2, it is the figure which showed the image displayed on a display, after turning on an operation button and a vehicle reverse | retreats 4m.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,20 ... Vehicle reverse driving assistance apparatus 2 ... Camera (imaging means)
2a ... camera body 2b ... camera drive 3 ... display controller (display control means)
4 ... Display (display means)
5: Control unit (reverse trajectory calculation means, vehicle state calculation means)
6 ... Steering wheel steering angle detector (steering angle detector)
7: Travel distance detector (travel distance detector)
8 ... Reverse detection unit 9 ... Operation button 10 ... Stop frame 21 ... Audio control unit (audio output means)
22 ... Speaker (Audio output means)
27, 28 ... Icon image LA ... Vehicle contour la, lb ... Backward prediction trajectory

Claims (7)

Imaging means for imaging the rear of the vehicle;
Display means for displaying the video imaged by the imaging means;
Steering angle detection means for detecting the steering angle of the steering wheel;
A backward trajectory calculating means for calculating a predicted backward trajectory at the left and right rear end points of the vehicle based on the steering angle detected by the steering angle detecting means;
Vehicle state calculating means for calculating contour information of the vehicle when the vehicle moves backward a predetermined distance based on a tangent direction of the predicted backward trajectory calculated by the backward trajectory calculating means and total length data of the vehicle; ,
On the video imaged by the imaging means, the backward prediction trajectory calculated by the reverse trajectory calculation means and the outline of the vehicle calculated by the vehicle state calculation means are superimposed and displayed on the display means. A vehicle reverse driving support device comprising: a display control unit. A travel distance detecting means for detecting the travel distance of the vehicle;
The backward trajectory calculation means calculates the backward prediction trajectory according to the travel distance detected by the travel distance detection means,
The vehicle state calculation means calculates the contour information by changing the predetermined distance according to the travel distance detected by the travel distance detection means,
The display control means superimposes and draws the predicted backward trajectory calculated according to the travel distance and the outline of the vehicle on the image captured by the imaging means. Vehicle backward driving support device.   The backward trajectory calculating means displays the backward predicted trajectory as a broken line or a chain line on the display means, and the solid line part of the broken line or the chain line corresponds to the backward predicted trajectory according to the travel distance detected by the travel distance detecting means. The vehicle backward driving support device according to claim 2, wherein the predicted backward traveling locus is calculated so as to be moved and displayed in a length direction of the vehicle.   4. The display control unit according to claim 1, wherein the display control unit causes the display unit to display a display indicating that the steering angle of the steering wheel is maintained until the vehicle moves backward by the predetermined distance. Vehicle backward driving support device.   5. The display control unit according to claim 1, wherein the display unit displays a display to the effect that the handle is returned to the neutral position when the vehicle has moved back by the predetermined distance. The vehicle reverse driving support device according to claim 1. Provide voice output means to alert the driver by outputting an output sound,
6. The sound output means outputs an output sound indicating that the steering angle of the steering wheel is maintained until the vehicle moves backward by the predetermined distance. The vehicle reverse driving support device described in 1. Provide voice output means to alert the driver by outputting an output sound,
The sound output means outputs an output sound for returning the handle to a neutral position when the vehicle moves backward by the predetermined distance. The vehicle reverse driving assist device according to the description.

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