JP2001006097A - Device for supporting driving for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support driving by means of an image by displaying the estimated course of a vehicle and a guide line on the progress direction image of the vehicle, which is displayed in a display means, as driving support information. SOLUTION: A parking assist displays a course estimation curved line 5a being the estimated course or the guide line 5b obtained by extending the both sides of the vehicle 1 on the display screen of an information display 4 being the display means for the driver of the vehicle 1 so that driving is supported at the time of parking. Then such a course estimation curved line 5a or the guide line 5b is generated based on detection data such as the angle of a steering angle by an electronic control unit for assisting parking and displayed on the information display 4. Thus, the present direction of the vehicle is easily understood and driving is supported by the image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support system for a vehicle that assists a driver of the vehicle based on an image of the outside of the vehicle.

[0002]

2. Description of the Related Art In order to safely drive a vehicle such as an automobile, it is necessary to sufficiently understand traffic conditions outside the vehicle. Although the driver of a vehicle constantly strives to understand the surroundings while driving, the human sense is limited. Although vision is particularly important, human vision is limited to the direction in which the face is facing. In particular, the driver of the vehicle must drive the vehicle under conditions in which blind spots that cannot be seen behind the vehicle body occur.

[0003] With respect to the operation of a vehicle, the main portions that are blind spots from the driver are the portions near the wheels and immediately before and after the vehicle body. In the vicinity of the wheels, it is not possible to confirm the direction of the wheels themselves, which change the running direction in response to the steering operation. Since the steering wheel can be rotated a plurality of times in one direction, it is not known whether the steering wheel is in a straight-ahead state even if the steering wheel is in an apparently neutral position. Also, since the rear view is limited, the driver is extremely nervous when parking in a narrow space when driving backward.

[0004] A prior art for displaying an image of a rear or side rear view and an expected trajectory on a screen when the vehicle retreats is disclosed in, for example, Japanese Patent Application Laid-Open No. 1-1700. In this prior art, an image of an expected trajectory predicted according to the steering angle of the vehicle is displayed on a video image of the rear side, so that the confirmation of the steering angle and the confirmation of the rear safety can be performed together. it can. Japanese Patent Laying-Open No. 7-44799 discloses a prior art that detects the length of a parking space using various sensors and assists driving for parking.

[0005] A prior art for assisting driving of a vehicle by capturing an image around the vehicle is disclosed in, for example, Japanese Patent Application Laid-Open No. 10-2835.
92, JP-A-10-257482, JP-A-6-2554
23, JP-A-4-239400, JP-A-5-14389
4. JP-A-7-192199;
4 and the like. Japanese Patent Application Laid-Open No. 10-283592 discloses a prior art in which the possibility of contact with an obstacle is detected and displayed from an image captured by a camera. Japanese Patent Application Laid-Open No. H10-257482 discloses a prior art in which a rear image of a vehicle, a left image and a right image are seamlessly combined and displayed. Japanese Patent Application Laid-Open No. 6-255423 discloses a prior art in which an image captured by a camera is displayed together with a distance scale to assist driving. In Japanese Patent Application Laid-Open No. 4-239400, a camera capable of rotating 360 ° horizontally is mounted on a ceiling of a vehicle via a rotary head so that a desired direction around the vehicle can be imaged so that the captured image can be easily viewed by a driver. A prior art has been disclosed which performs conversion and synthesis display to assist driving. Japanese Patent Application Laid-Open No. Hei 5-143894 discloses a driving method in which images of the left front, the front and the right front of a vehicle are respectively captured by three cameras, and the screen divided areas for displaying the images from the three cameras are changed according to the steering direction. Prior art to assist is disclosed. JP-A-7-1921
No. 99 discloses a prior art in which when a vehicle passes through a narrow road, an obstacle is detected from a video image of the front of the vehicle, and driving assistance is performed by detecting a gap between the obstacles. Japanese Utility Model Application Laid-Open No. 57-150044 discloses a prior art in which the display content on a video display is switched from a normal display to an abnormal display when an abnormal situation occurs to assist driving.

[0006]

Problems to be Solved by the Invention Japanese Patent Application Laid-Open No. 7-44799
As in the prior art described above, even if the length of the parking space is estimated by detecting the distance to assist in parking in a garage or parallel parking, driving assistance that displays a video showing the blind spot of the driver is not available. It is not possible to completely eliminate the driver's anxiety because it is not done. In the prior art in which a camera captures an image to provide assistance, the blind spot of the driver is supplemented with the image, so that the driver can see the image and check the situation around the vehicle, giving the driver a sense of security. Driving support can be provided. However, driving assistance according to each prior art does not always provide appropriate information with a simple configuration.

It is an object of the present invention to provide a vehicle driving support device capable of performing driving support with a video having a simple structure.

[0008]

SUMMARY OF THE INVENTION The present invention is directed to a camera for capturing an image in the traveling direction of a vehicle, display means for displaying an image captured by the camera, and detecting a steering angle for steering the vehicle. Steering angle detecting means, course predicting means for predicting the course of the vehicle based on the steering angle detected by the steering angle detecting means, a predicted course of the vehicle predicted by the course predicting means, and both sides in the width direction of the vehicle body And a driving assistance unit that displays, as driving assistance information, a guideline obtained by extending the guideline in the traveling direction on an image of the traveling direction of the vehicle displayed on the display unit.

According to the present invention, the image of the traveling direction of the vehicle captured by the camera is extended on both sides in the width direction of the vehicle and the predicted course of the vehicle predicted based on the steering angle of the vehicle. Since the guideline is displayed as the driving support information, it is possible to perform appropriate driving support for the driver's vision.

In the present invention, the driving support means can switch the display of the predicted course and / or the guideline.

According to the present invention, since the display of the predicted course and / or the guideline can be switched, one of the image taken by the camera and the predicted course or the guideline, or the image and the predicted course and the guideline is displayed.
Appropriate driving support can be provided.

Further, in the present invention, the driving support means changes the brightness for displaying the predicted course and / or the guideline according to the surrounding brightness.

According to the present invention, the brightness for displaying the predicted course and the guide line can be switched in accordance with the surrounding brightness so that the driver can easily understand.

Further, in the present invention, the driving support means changes a color scheme for displaying the predicted course and / or the guideline according to a surrounding color scheme.

According to the present invention, the color scheme at the time of displaying the predicted course is changed in accordance with the color scheme such as the brightness and color of the surroundings of the vehicle. Can be made.

Further, in the present invention, the vehicle includes a brightness sensor for sensing the brightness of the surroundings and switching a lighting system, and the driving support means includes a surroundings sensed by the brightness sensor. The brightness or the color scheme of the predicted course and / or the guide line is changed according to the brightness of the image.

According to the present invention, the brightness of the surroundings is sensed by the brightness sensor provided in the vehicle, and the brightness or coloration of the predicted course or the guideline is changed. It can be carried out.

Further, in the present invention, the driving support means changes the color scheme of the predicted course and / or the guideline in accordance with the background color of the video imaged by the camera.

According to the present invention, the predicted course and the color scheme of the guide line are changed in accordance with the background color of the image picked up by the camera. For example, when the background color is bright, it is dark, and when the background color is dark, it is bright. The predicted course and guidelines are displayed in color, and driving assistance that is easy for the driver to understand can be provided.

In the present invention, the driving support means includes a parking operation determining means for determining whether or not the driving of the vehicle is a parking operation, and a parking operation when the parking driving determining means determines that the vehicle is parked. Parking end determining means for determining whether or not the parking operation has been completed, and storage means for storing a switching state for displaying the predicted course and / or the guide line when the parking operation is determined to be completed by the parking end determining means. And switching means for switching the display state of the driving support information in accordance with the content stored in the storage means when the parking drive determination means determines that the vehicle is parked.

According to the present invention, the final display state at the time of ending the parking assist of the vehicle is stored, and the display is switched to the stored display state at the time of performing the next parking assist. Therefore, it is possible to support the parking operation in a display state that is easy for the driver to understand without switching the display state by the driver.

In the present invention, the camera captures an image in a wide-angle field of view, and the driving support means displays the guide line in a curved shape in accordance with the distortion of the wide-angle image captured by the camera. I do.

According to the present invention, since the display of the guide line is curved in accordance with the distortion of the image of the wide-angle camera, the extension of the back width can be accurately displayed to assist driving.

In the present invention, the driving support means does not display a portion near the vehicle when displaying the predicted course and / or the guideline.

According to the present invention, when displaying the predicted course and the guideline, the vehicle width is apparently not matched with the back width of the vehicle because the vehicle body is present near the vehicle near the vehicle. Since the portion that does not fit the back width near the vehicle is not displayed, unnatural display can be avoided depending on the driver's judgment.

Further, in the present invention, the driving support means is characterized in that when displaying the predicted course and / or the guideline, a portion near the vehicle is displayed with a wider display width.

According to the present invention, safety can be ensured by widening the width of the predicted course or guide line near the vehicle and displaying it.

Further, in the present invention, the driving support means displays a line indicating a stop position of the vehicle near the vehicle on the predicted course and / or the guideline.

According to the present invention, a line indicating the stop position of the vehicle is displayed near the vehicle on the predicted course or the guideline.
If the vehicle is driven to stop when the line of the parking frame comes to that position, it is possible to provide easy-to-understand parking driving support.

Further, in the present invention, the driving support means displays the guide line when a brake operation is performed.

According to the present invention, the guide line is displayed when the brake is operated, so that the driver operates the brake to check whether or not the predicted course is parallel to the guide line. Can be confirmed.

Further, in the present invention, the driving support means displays the guide line by a dotted line.

According to the present invention, since the guideline is displayed by the dotted line, the guideline can be made inconspicuous. When the predicted course is also displayed, the predicted course is emphasized and the driver can easily understand the predicted course. Can provide driving assistance.

Further, the present invention includes an obstacle sensor for detecting the presence or absence of an obstacle on the path of the vehicle, and the driving support means interlocks with the distance to the obstacle detected by the obstacle sensor. The feature is to change the length of the guideline.

According to the present invention, the length of the guide line is changed in conjunction with an obstacle sensor such as a back sonar, so that a display close to the actual driving feeling is provided, and the driver is assisted in driving clearly. be able to.

Further, in the present invention, the driving support means displays a width when displaying the guide line larger than a width of the vehicle.

According to the present invention, the width when displaying the guide line is displayed larger than the width of the vehicle. For example, when one of the guide lines overlaps with one of the parking frames in the width direction, the steering wheel is returned to the front end position. The driver can be assisted so that such a driving operation can be easily performed.

Further, the present invention provides a camera for capturing an image behind the vehicle, a display means for displaying an image captured by the camera, and a reverse drive for detecting whether or not the transmission of the vehicle has been switched to a reverse state. When it is determined by the state detecting means and the reverse state detecting means that the transmission is switched to the reverse state, the display state of the display means is changed to notify the driver that the transmission is in the reverse state. And a driving support means for performing driving support.

According to the present invention, when the transmission is switched to the reverse gear and enters the reverse state, the display state of the display means changes. Therefore, the driver is notified that the vehicle is in the reverse state, and the transmission is shifted. It is possible to prevent accidents caused by forgetting the shift position of the aircraft.

The present invention further provides a camera for capturing an image behind the vehicle, display means for displaying an image captured by the camera, an obstacle sensor for detecting the presence or absence of an obstacle behind the vehicle, When an obstacle is detected by the sensor, a driving assistance unit that assists driving by changing the display state of the display unit to notify the driver of the presence of the obstacle is included.

According to the present invention, when an obstacle is detected by an obstacle sensor such as a back sonar or a corner sensor, the display state of the display means is changed to notify the driver of the presence of the obstacle. It is possible to call attention to a person and prevent accidental contact with an obstacle.

Further, in the present invention, the driving support means displays information by a character telop for the driving support.

According to the present invention, since information for driving assistance is displayed by a telop of a character on a display screen, it is possible to reliably call attention particularly to prevent danger.

Further, in the present invention, the driving support means displays information by changing the display color of the entire screen for the driving support.

According to the present invention, the driver can be alerted by the change in the color of the entire screen.

Further, according to the present invention, there is provided a camera for picking up an image for assisting parking driving of a vehicle, a display means for displaying an image picked up by the camera, and detecting a driving state of the vehicle to enter a parking driving state. It is determined whether or not the vehicle is parked, and when it is determined that the vehicle is parked, the driving support means for displaying an image for parking driving support together with the image display of the display means, and the image display for parking driving support by the driving support means And a safety confirmation means for displaying a telop for prompting visual confirmation of safety.

According to the present invention, when it is determined that the driving state of the vehicle is a parking driving state, a telop for prompting a visual safety confirmation is displayed together with an image display for parking driving support. It is possible to prevent the user from watching only the screen of the display means.

Further, the present invention provides a camera for capturing an image behind the vehicle, a display means for displaying an image captured by the camera, an obstacle sensor for detecting the presence or absence of an obstacle behind the vehicle, The driving state is detected, and it is determined whether the vehicle is performing reverse parking driving. When it is determined that the vehicle is performing parking driving, driving support information for parking is displayed on the display unit. Driving support means and safety confirmation means for judging whether parking is completed based on the detection result of the obstacle sensor, and displaying information indicating parking completion on the display means when it is judged that parking is completed, comprising: It is a driving assistance device for a vehicle.

According to the present invention, the completion of parking operation can be determined based on the detection result of an obstacle sensor such as a back sonar, and information indicating the completion of parking can be displayed to notify the driver.

The present invention further provides a camera for capturing an image behind the vehicle, display means for displaying an image captured by the camera, and a reverse drive for detecting whether or not the transmission of the vehicle has been switched to a reverse state. State detection means, and driving assistance means for performing driving assistance by limiting the traveling speed of the vehicle to a predetermined upper limit speed or less when it is determined by the reverse state detection means that the transmission is switched to the reverse state. A driving assistance device for a vehicle, characterized in that:

According to the present invention, when the vehicle is traveling in reverse, the speed is limited to the upper limit speed or less, so that a collision at the time of reversing can be prevented or a shock at the time of collision can be reduced and alleviated.

The present invention further provides a camera for capturing an image behind a vehicle, a display means for displaying an image captured by the camera, an obstacle sensor for detecting the presence or absence of an obstacle behind the vehicle, And a driving support unit configured to limit driving speed of the vehicle to a predetermined upper limit speed or less when the obstacle is detected by the sensor and perform driving support.

According to the present invention, when an obstacle is detected by an obstacle sensor such as a back sonar, the running speed of the vehicle is limited to the upper limit speed or less. Impact can be reduced.

The present invention further provides a camera for capturing an image behind the vehicle, a display means for displaying an image captured by the camera, and a reverse drive for detecting whether or not the transmission of the vehicle has been switched to a reverse state. State detection means, and driving assistance means for assisting driving by changing the irradiation direction of a lamp illuminating the rear of the vehicle when it is determined by the reverse state detection means that the transmission is switched to the reverse state. A driving assistance device for a vehicle, comprising:

According to the present invention, when the vehicle is moving backward, the driving direction is changed by changing the direction of illumination of the lamp illuminating the rear of the vehicle, so that the image captured by the camera can be brightened even in darkness such as at night. In this way, it is possible to provide easy-to-understand driving assistance.

According to the present invention, the lamp is optionally mounted.

According to the present invention, a lamp for illuminating the field of view of the camera when the vehicle is moving backward is optionally installed.
It is possible to effectively improve visibility at night or the like.

In the vehicle according to the present invention, an on-vehicle device including a navigation device and / or an audio device is mounted on the vehicle, and the display means displays the image from the camera and the image from the driving support means on the vehicle. A switching means for switching and displaying an image is provided.

According to the present invention, it is possible to switch the display between the on-board equipment such as the navigation device and the audio device mounted on the vehicle and the display means and to display the display as required for driving.

Further, the present invention provides a camera for capturing an image in the traveling direction of a vehicle, a display means for displaying an image captured by the camera, and a driving for parking the vehicle on the image displayed on the display means. A driving assistance device, comprising: a driving assistance unit capable of displaying assistance information by switching between a normal parking mode and a parallel parking mode.

According to the present invention, the driving assistance information for parking the vehicle can be switched to the normal parking mode or the parallel parking mode and displayed according to whether the parking is the normal parking or the parallel parking. Driving support can be performed on an appropriate screen according to the vehicle.

Further, in the present invention, the driving support means switches to the parallel parking mode when switching to a reverse state of the transmission is performed simultaneously with a turn signal lamp or a hazard lamp.

According to the present invention, it is possible to automatically switch to the parallel parking mode based on the anchor lamp or the hazard lamp and the shift state of the transmission.

In the present invention, the vehicle is equipped with a navigation device, and the driving support means determines whether the vehicle is parked in the parking lot or on the road based on the current position of the vehicle obtained from the navigation device. And switching to the normal parking mode when the vehicle is in the parking lot, and switching to the parallel parking mode when the vehicle is on the road.

According to the present invention, it is determined whether the vehicle is parked in the parking lot or on the road based on the current position of the vehicle obtained from the navigation device. If it is on the road, it can automatically switch to the parallel parking mode.

Further, in the present invention, the driving support means is provided in accordance with a change in the steering angle for steering the vehicle.
The normal parking mode or the parallel parking mode is switched.

According to the present invention, the normal parking mode and the parallel parking mode are switched according to the change of the steering angle, so that the normal parking mode including the switching and the normal parking mode not including can be automatically switched. it can.

Further, the present invention provides a plurality of cameras arranged so as to shift an imaging range so as to capture an image around a vehicle, a display means for displaying an image captured by the camera, and a display screen of the display means. And a driving assistance unit that divides the video data according to the arrangement of the cameras and simultaneously displays images from a plurality of cameras to provide driving assistance.

According to the present invention, a plurality of cameras are arranged so that their imaging ranges are shifted, an image around the vehicle is taken, and the display means is divided according to the arrangement of the cameras to simultaneously display images from the plurality of cameras. Therefore, a plurality of images can be viewed on one screen, and the driver can drive while checking a wide range of images.

Further, the present invention further comprises a driving situation detecting means for detecting a driving situation of the vehicle, wherein the driving support means comprises:
The display screen is switched according to the driving situation detected by the driving situation detecting means.

According to the present invention, the image to be displayed on the display screen is switched according to the driving condition of the vehicle. For example, when the vehicle is traveling normally, there are two screens, that is, the front left and the front right. As in the three rear screens, the display state of the image on the display means is automatically changed according to the situation, and assistance can be provided by displaying image information that is easy for the driver to understand.

Further, in the present invention, the driving support means is characterized in that the display means displays the vehicle in a simplified manner on an image when displaying images from the plurality of cameras.

According to the present invention, the vehicle is displayed in a simplified manner on the display screen of the display means. Therefore, based on the display of the vehicle and the display of the image, the relationship between the image and the vehicle is displayed in an easy-to-understand manner. It is possible to provide appropriate driving assistance to the elderly.

Further, in the present invention, the driving support means moves a display position of the vehicle in accordance with an image from a camera.

According to the present invention, the display position of the vehicle is moved in accordance with the image from the camera, so that the switching of the image can be displayed in an easily understandable manner.

Further, in the present invention, the driving support means displays the direction and range of image pickup by a camera when displaying the vehicle in a simplified manner.

According to the present invention, the vehicle is displayed on the display means in a simplified manner, and the direction and range of the image pickup by the camera are displayed. Therefore, it is possible to easily recognize which camera is displaying the displayed image. Can be done.

In the vehicle according to the present invention, a vehicle-mounted device including a navigation device and / or an audio device is mounted on the vehicle, and the driving support unit divides a display screen of the display unit to display images from the plurality of cameras. And an image from an in-vehicle device.

According to the present invention, a video from each camera and an image from a navigation device or an audio device can be viewed on one screen.

In the present invention, the driving support means switches a camera for displaying an image on the display means at predetermined time intervals.

According to the present invention, images from a plurality of cameras are switched at predetermined time intervals, so that the driver does not have to manually switch the images.

Further, in the present invention, the driving support means switches the image by a wipe.

According to the present invention, the images of a plurality of cameras are switched by wipe, so that the transition between images is performed continuously,
In addition, the video can be automatically switched without the driver manually switching.

Further, in the present invention, the camera includes a camera which captures an image of a side of the vehicle, and the driving support means is associated with the operated direction indicator in conjunction with the operation of the direction indicator. A lateral image is displayed on the display means.

According to the present invention, an image in the traveling direction can be automatically displayed in conjunction with the direction operation, and it is possible to effectively support safety confirmation.

Further, in the present invention, the driving support means switches the image in accordance with a steering angle for steering the vehicle.

According to the present invention, the image is switched in accordance with the steering angle, so that the image in the direction in which the vehicle travels is automatically displayed, and safe and effective assistance can be provided.

Further, in the present invention, the driving support means changes a screen division state according to the steering angle.

According to the present invention, the split state of the screen is changed according to the steering angle, so that it is possible to display the image in the traveling direction on a wide screen and to assist in confirming the safety easily. .

Further, the present invention comprises an obstacle sensor for detecting the presence or absence of an obstacle around the vehicle, wherein the driving support means is provided when the obstacle is detected by the obstacle sensor. The direction of detection is displayed on the display means.

According to the present invention, when an obstacle sensor such as a corner sensor detects an obstacle, the direction of detection is displayed, so that the driver is notified of the relationship between the vehicle and the obstacle on the screen, and Can be aroused.

Further, in the present invention, when the obstacle sensor detects an obstacle, the driving support means switches so as to display an image from a camera which picks up the detection direction of the obstacle sensor. .

According to the present invention, when an obstacle sensor such as a corner sensor detects an obstacle, an image including the obstacle is displayed to alert the driver to the presence or state of the obstacle. Can be.

Further, in the present invention, when the obstacle sensor detects an obstacle, the driving support means changes a display position of an image from a camera for imaging a detection direction of the obstacle sensor to a position near the center of the screen, The screen is enlarged.

According to the present invention, the position of an image including an obstacle is shifted toward the center of the screen or enlarged in cooperation with an obstacle sensor such as a corner sensor, so that the presence or absence of the obstacle to the driver can be improved. The status can be displayed easily.

Further, in the present invention, the driving support means displays a warning in the detection direction of the obstacle sensor.

According to the present invention, a warning is displayed in the direction in which an obstacle is detected in cooperation with an obstacle sensor such as a corner sensor, so that the driver can be informed of the direction in which the obstacle is included in an easy-to-understand manner. .

In the present invention, the driving support means adjusts a display range and a display position of each image so that the images are continuously connected when the images from adjacent cameras are simultaneously displayed on the display means. It is characterized by doing.

According to the present invention, the images captured by the adjacent cameras are displayed continuously as one image, and the driver is provided with easy-to-understand images over a wide range to assist driving. Can be.

In the present invention, the camera is located in front of the vehicle,
It is characterized by being arranged so as to image front left, front right, rear, rear left and rear right.

According to the present invention, an image of the entire circumference of the vehicle can be captured.

In the present invention, the driving support means divides a display screen of the display means into upper and lower parts, and displays a forward image at the center of the upper screen, and a left front image and a right front image at the left and right sides of the upper screen. The rear image is displayed at the center of the lower screen, and the rear left and right images are displayed at the left and right of the lower screen.

According to the present invention, the safety confirmation of the entire periphery of the vehicle can be reliably performed on one display screen.

In the present invention, the driving support means displays an image selected from the images picked up based on the arrangement on the display screen.

According to the present invention, only the image of a camera selected as necessary from a plurality of cameras arranged so as to be able to capture an image of the entire circumference of the vehicle is displayed, and the display means is effectively used to display necessary images. The display of an image can be performed.

Further, in the present invention, the driving support means is characterized in that an image from an adjacent camera whose imaging range is continuously shifted is scrolled while being displayed on the display means.

According to the present invention, the image from the camera whose imaging range is adjacent can be continuously scrolled and displayed as a single image as a whole, so that the driver can easily view surrounding images over a wide range. Can be confirmed.

Further, in the present invention, the display means includes a touch panel, and the driving support means changes a display state of an image according to an input to the touch panel.

According to the present invention, the display means for displaying images picked up by a plurality of cameras is provided with a touch panel, so that the driver performs an operation for changing the display state of the image only by touching the touch panel. be able to.

Further, according to the present invention, the driving support means is characterized in that, in accordance with an input to the touch panel, an image of the input position is displayed in an enlarged manner for a predetermined time, and is restored after the elapse of the time.

According to the present invention, even if the driver touches the touch panel to display an enlarged image, the image returns to the original state after a predetermined time has elapsed. It can be performed.

The present invention further provides a camera for capturing an image in front of the vehicle, storage means for capturing and storing the image captured by the camera, and driving assistance for the vehicle based on the image stored in the storage means. And a driving support unit for obtaining information for the vehicle.

According to the present invention, when an image in front of the vehicle is picked up by the camera, the image is taken into the storage means and obtained as information for driving assistance of the vehicle. It can be easily extracted. It can also be transmitted to the outside as information, for example, used as traffic congestion information over a wide area.

Further, the present invention is characterized by comprising display means for displaying an image from the camera.

According to the present invention, the forward image picked up by the camera is displayed on the display means, so that the driver can confirm the forward direction on the display means.

Further, the present invention is characterized in that it comprises an interrupted vehicle detecting means for processing an image from the camera to detect an interrupted vehicle.

According to the present invention, an interrupted vehicle is detected by image processing of a forward image picked up by a camera.
Driving support such as securing the inter-vehicle distance for a vehicle that interrupts ahead can be effectively performed.

Further, according to the present invention, there is provided a camera which is installed at the highest part of a vehicle and captures an image around the vehicle from the height of the highest part, a display means for displaying an image captured by the camera, and a camera which captures an image captured by the camera. And a driving support unit for detecting a vehicle height limit based on the image to be transmitted and informing the driving vehicle of the detection result as information for driving support.

According to the present invention, a camera is installed at the highest part of the vehicle to capture an image around the vehicle, display the captured image on the display means, and detect the vehicle height limit based on the image. Therefore, it is possible to easily confirm whether or not the vehicle can pass under an overpass or the like.

The present invention further provides a camera for capturing images of the front and rear of the vehicle, display means for displaying the images captured by the camera, running state detecting means for detecting the running state of the vehicle, and running state detecting means. Driving assistance means for displaying a forward image on the display means during normal traveling and displaying a rear image brighter than the forward image during reverse traveling according to the traveling state detected by the means. A driving assistance device for a vehicle characterized by the following.

According to the present invention, when the vehicle is traveling normally, a forward image is displayed on the display means, and when the vehicle is traveling backward, the rear image is displayed brighter than the forward image to provide driving assistance. At times, it is possible to easily identify the details and to provide effective driving assistance.

Further, the present invention provides a camera for capturing images of the front and rear of a vehicle, a display for displaying images captured by the camera, a traveling state detecting means for detecting a traveling state of the vehicle, and a traveling state detecting means. In accordance with the traveling state detected by the means, a forward image is displayed on the display means during normal traveling, and a backward image is displayed during reverse traveling by changing the display frame to an image of a rearview mirror to provide driving assistance. Means for driving a vehicle.

According to the present invention, the rear image is displayed by changing the display frame to the image of the rearview mirror when the vehicle is traveling backward, so that the rear image is displayed in a display state that the driver is familiar with.
Driving support can be performed so that the user can easily recognize the rear image.

Further, in the present invention, the driving support means is characterized in that the rear image displayed using the display frame of the rearview mirror is corrected to the angle of view of the rearview mirror and displayed.

According to the present invention, if the camera has a wide-angle imaging range, it becomes difficult to grasp the sense of distance due to image distortion. Can be displayed in accordance with the driver's feeling in accordance with the angle of view of.

[0126]

1 and 2 show a schematic configuration of a vehicle driving support device according to a first embodiment of the present invention. In the embodiments described below, portions corresponding to the configuration of the preceding embodiment are denoted by the same reference numerals, and redundant description will be omitted. The driving support device according to the present embodiment is configured such that when the vehicle 1 moves backward to the parking lot 2 and tries to park, the white line 3
The parking assist is performed so that the vehicle can be accurately parked at the parking position defined by the above. The parking assist provides the driver of the vehicle 1 with an information display 4 as a display means.
Is displayed on the display screen, or a guideline 5b extending both sides of the vehicle 1 as a predicted course, and driving assistance during parking is performed. The course prediction curve 5a and the guideline 5b are generated by an electronic control unit for parking assist (hereinafter abbreviated as "parking assist ECU") 6 based on detection data such as the steering angle.
The information is displayed on the information display 4. When the driver operates the shift lever 8 of the transmission of the vehicle 1 to switch the traveling direction to the reverse side, the parking assist ECU 6 displays the course prediction curve 5a and the guideline 5b as images on the display screen of the information display 4. . A warning sound, voice guidance, and the like are reproduced from the speaker 9 as sound.

The information display 4 shows the parking assist E
Course prediction curve 5a and guideline 5b generated by CU6
At the same time, an image captured by the camera unit 10 mounted on the rear part of the vehicle body of the vehicle 1 is also displayed. The image picked up from the field of view 10a of the camera unit 10 is hard to see for the driver of the vehicle 1 or clearly displays an image that becomes a blind spot. Can provide easy-to-understand support.

The course prediction curve 5a generated by the parking assist ECU 6 is changed in direction according to the steering operation to the steering wheel 7. The operation of the steering 7 is obtained by detecting the amount of angular displacement of the steering shaft 11 by the angle detection sensor 12. In the ordinary vehicle 1, the steering wheel 7 can be rotated several times. For this reason, the angle detection sensor 12 for detecting the steering angle includes the steering shaft 1
The center position sensor 13 detects the state in which the steering shaft 11 is at the center position.

The guide line 5b is displayed as a virtual straight line extending rearward on both sides of the vehicle body of the vehicle 1 so as to be superimposed on the image captured by the camera unit 10. The direction of the guide line 5b is fixed with respect to the field of view 10a of the camera unit 10. The vehicle 1 is also provided with a light sensor 14 that senses the brightness of the surroundings and controls the lighting state of the illumination system and the like. The course prediction curve 5a and the guideline 5b displayed on the information display 4
The brightness and the hue are changed in accordance with the brightness of the surroundings of the vehicle 1 sensed by the vehicle, so that the driving assistance is adjusted so as to be easily understood.

The vehicle 1 is also equipped with in-vehicle devices such as a navigation device 15 and an audio device 16, and displays necessary information using the information display 4. Also,
A back sonar 17 or a corner sensor 18 as an obstacle sensor is also mounted on the vehicle 1, and detects an obstacle existing in a blind spot of the vehicle using ultrasonic waves or the like.

FIG. 3 shows the parking assist E of FIG. 1 and FIG.
2 shows an internal configuration of the CU 6. The parking assist ECU 6 includes a digital signal processor (hereinafter abbreviated as “DSP”) 20 that performs overall control. DSP2
0 performs control and signal processing via the bus 21. An image captured by the camera unit 10 is input to the amplifier + filter circuit 22 in the form of an NTSC signal, and is converted into an analog-to-digital (hereinafter abbreviated as “ADC”) circuit 23.
Then, the signal is converted from an analog signal to a digital signal and stored in the amplifier + filter circuit 24. The video output from the amplifier + filter circuit 24 is also supplied to a synchronization separation circuit 25, where a synchronization signal for horizontal synchronization or vertical synchronization is separated, and DS
Input to P20.

The DSP 20 also receives an angle detection signal from the angle detection sensor 12 for detecting the angular displacement of the steering shaft 11 and a center position detection signal from the center position sensor 13. The DSP 20 performs a parking assist operation based on programs and data stored in a program memory 27 and a data memory 28 connected to the bus 21, respectively. The storage memory 29 is backed up by a battery and can store the stored contents even when the power supply 35 of the parking assist ECU 6 is not turned on.

The DSP 20 recognizes the white line 3 and the like based on the input video signal, and generates the course prediction curve 5a and the guide line 5b accompanying the angular displacement operation of the steering shaft. The generated image is represented by a switch (hereinafter, “S
The output is stored in field buffers 31 and 32 whose outputs can be switched by a circuit 30. SW circuit 3
0 and the digital-to-analog conversion (hereinafter,
This signal is given as an image output to the information display 4 from a circuit 33 through a filter + amplifier circuit 34. For the entire parking assist ECU 6,
Power for operation is supplied from the power supply 35 and the reset circuit 3
6, a reset signal is supplied when the power is turned on, etc.
A clock signal for adjusting the operation timing and a signal obtained by dividing the clock signal are supplied to the CLK + frequency dividing circuit 37.

FIG. 4 shows an example of image information for parking assistance displayed on the display screen of the information display 4 in this embodiment. FIG. 4A shows an image corresponding to a state in which the vehicle 1 is moving backward and is about to park at the parking position 40. On the rear image, a guide line 5b, which is a line extended in parallel with the vehicle width, is displayed together with a course prediction curve 5a predicted based on the steering angle. FIG.
As shown in (b), only the route prediction curve 5a is additionally displayed on the rear image of the parking position 40,
As shown in FIG. 4C, it is possible to switch to display only the rear video. Alternatively, it is also possible to display only the guideline 5b on the rear image shown in FIG.

By displaying the guide line 5b, it is possible to know the current direction of the vehicle body of the vehicle 1 during execution of the parking assist. In addition, white lines 3 on both sides of the parking position 40
If is drawn as a parking frame, white line 3 and guideline 5
By returning the steering wheel 7 to the center position when b becomes parallel, the operation of parking the vehicle 1 in parallel with the space at the parking position 40 can be easily performed.

As shown in FIG. 4, the display of the course prediction curve 5a and the guideline 5b can be switched by providing a changeover switch so that the driver can change the display mode as desired. In addition, automatic control is performed so that the course prediction curve 5a is displayed for a certain time only when a certain driving operation is performed, for example, when the steering 7 is operated, and the guide line 5b is displayed for a certain time only when the brake is operated. Can also.

In addition, the course prediction curve 5a and the guideline 5
The brightness and coloration of b are changed according to the brightness of the surroundings of the vehicle 1 sensed by the light sensor 14. For example, if the surroundings become darker, the display becomes darker. 5b is adjusted so as to be displayed in harmony. In addition, the course prediction curve 5
The colors of “a” and the guideline 5b are also changed according to the surrounding brightness and color so that the driver can easily understand. For example, in the daytime, the surrounding area is bright, so that the color is conspicuous, such as yellow. In the nighttime, the surrounding area is dark, so if the color is too conspicuous, the rear image becomes difficult to see, so the color is changed to a dark and light color.

Although the course prediction curve 5a and the guideline 5b use the light sensor 14 for inputting the ambient brightness for changing the brightness and color, a dedicated sensor is provided to sense the brightness. It can also be done. Further, the brightness can be detected from a picture captured by the camera unit 10. When the camera unit 10 captures a color image, the color may be detected from the image, and the color of the course prediction curve 5a or the guideline 5b may be changed according to the detected color.

In the case where the switching of the parking assist image as shown in FIG. 4 is performed based on the switch operation by the driver, the state in which the parking assist operation is first switched is changed to the final state when the previous parking assist operation was performed. The typical switching state is stored in the storage memory 29 and is set according to the stored contents. As a result, once the switching state that is easy for the driver to see is set, parking assistance from the next time can be performed from the beginning in the easy-to-view switching state.

FIG. 5 shows a display screen of the information display 4 in which a navigation screen 41 by the navigation device 15 and an audio screen 42 for the audio device 16 of FIG. 1 are displayed. When the driver needs to be able to select the rear image of the parking position 40 for parking assistance, the navigation screen 41 or the audio screen 42, the information display 4 can be effectively used for display. it can.

FIG. 6 shows the information display 4 which informs the driver of the input to the reverse gear by operating the shift lever 8 of the transmission.
Indicates a state of notifying via the. A telop 43 such as "back gear" indicating that the gear is being input to the reverse gear is displayed on the rear image showing the parking position 40 for a certain period of time, and the character display of the telop 43 indicates to the driver that the vehicle is in reverse. It can be easily informed. As a result, it is possible to prevent a situation in which the driver forgets the shift position, mistakenly recognizes the forward state, and causes an accident due to a sudden start. Instead of the display of the telop 43 or together with the display of the telop 43, the display color of the entire screen may be changed to further call attention to the driver.

FIG. 7 shows a state in which the back sonar 17 and the corner sensor 18 display a telop 44 for detecting an obstacle, a telop 45 for parking completion, and a telop 46 for prompting visual confirmation. When the back sonar 17 or the corner sensor 18 detects an obstacle near the vehicle 1, a telop 43 such as "obstacle" or "STOP" indicating the presence of the obstacle is displayed for a certain period of time to prompt the driver's attention. . Obstacles detected by the back sonar 17 and the corner sensor 18 should have been caught in the rear image around the parking position 40. If the rear image is watched based on the telop 44, the obstacle 47 can be easily detected. Can be visually recognized. When the obstacle 47 is detected, the display color of the entire screen may be changed in place of the display of the telop 44 or together with the display of the telop 44 to alert the driver.

The telop 45 indicating the completion of parking is displayed when an obstacle sensor such as the back sonar 17 or the corner sensor 18 detects a vehicle stop or a wall and approaches a predetermined distance. . "Parking complete"
By displaying a telop 45 such as “STOP” or “STOP”, it is possible to notify the driver of the completion of parking and to prevent a contact accident at the time of reverse travel. Note that the telop 46 for prompting visual confirmation is displayed to prompt visual confirmation of safety during execution of parking assist. By displaying the telop 46, it is possible to watch the information display 4 alone and prevent a situation in which attention to the surroundings including the front and side of the vehicle 1 that is not reflected on the information display 4 becomes insufficient.

Further, in order to improve the safety when the vehicle is parked in reverse, the speed control can be performed so that the running speed of the vehicle 1 does not exceed a certain speed, for example, when it is input to the reverse gear. . Further, the speed control can also be performed when an obstacle sensor such as the back sonar 17 detects the obstacle 47 or the like. By limiting the reverse speed at the time of reverse running or at the time of detecting an obstacle so as not to exceed a certain speed, it is possible to prevent a collision at the time of reversing and reduce an impact at the time of a collision.

FIG. 8 shows a schematic configuration for performing a parking assist in a driving assistance device according to a second embodiment of the present invention. In the present embodiment, portions corresponding to the embodiment of FIG. 1 are denoted by the same reference numerals, and redundant description will be omitted. The camera unit 50 of the present embodiment can change the direction of the field of view 50a by remote control by the remote controller 51. The camera unit 50 is mounted on the rear part of the vehicle 1, and is also provided with a backlight 52 for illuminating a field of view 50a captured by the camera unit 50 at night or the like. The backlight 52 illuminates according to the direction of the field of view 50a of the camera unit 50 in conjunction with remote control of the camera unit 50 by the remote controller 51. In the present embodiment, the parking assist ECU 56 performs not only the parking assist based on the image using the information display 4 but also the throttle control 53 and the brake control 54 to assist in smooth parking. The information display 4 displays driving support information using the progress prediction curve 55a and the guideline 55b.

As the backlight 52, a backlight mounted on the vehicle 1 can be used. However, it is preferable that a dedicated product corresponding to the camera unit 50 be mounted as an option. In particular, when a mechanism for changing the irradiation direction is provided, the option is easier. If the irradiation direction can be changed, for example, when the shift lever 8 of the transmission is operated to shift to the back gear, the irradiation direction of the backlight 52 is directed downward, so that visibility can be improved even in darkness such as at night. Can be improved.

FIG. 9 shows an example of a driving support image displayed in the embodiment of FIG. In the present embodiment, the guideline 55b is displayed in a curved manner according to the image distortion of the wide-angle camera. The camera used as the camera unit 50 uses a wide-angle lens to secure a field of view 50a as wide as possible. Therefore, in a rear image such as the parking position 40, a straight line portion is actually captured as a curved image. Therefore, when the guide line 55b is also curved in accordance with the distortion of the image, more accurate driving support can be performed.

The field of view 5 of the wide-angle camera unit 50
When a part of the vehicle body of the vehicle 1 such as a bumper is included in 0a, the vehicle body is located closer to the vehicle body. Therefore, due to image distortion, the width of the vehicle body in the image is larger than the distance between the guide lines 55b on both sides. Looks bigger. If the progress prediction curve 55a is also displayed with a width corresponding to the width of the vehicle body, as in the case of the guideline 55b, when a part of the vehicle body is visible, the width of the vehicle body is larger near the vehicle body. I can see it. In the present embodiment, the progress prediction curve 55
When the a and the guideline 55b are displayed in correspondence with the vehicle width of the vehicle 1, a portion where a deviation occurs in a portion close to the vehicle body of the vehicle 1 is not displayed, and the determination in that portion is left to the driver. I do.

[0149] In a portion where the deviation occurs near the vehicle body as described above, the width of the progress prediction curve 55a and the guideline 55b may be widened so as to be displayed continuously on both sides of the vehicle body. Progress prediction curve 55a and guideline 5
The portion that is displayed wider in 5b is wider than the actual vehicle width. Therefore, in the part that is displayed wider,
If there are no surrounding vehicles or obstacles, safety can be ensured more reliably.

As described above, the guidelines 55b
When the vehicle 1 is parked at the parking position 40, if the vehicle is parked at another parking position or the like, or if it is parallel to the white line drawn at the parking position 40, the steering can be centered. In this state, the vehicle 1 can be parked at the parking position 40.

Further, the width of the guide line 55b is set to be larger than the width of the actual body of the vehicle 1, and the parking position 4
Driving support at the time of parking of the vehicle 1 at 0 can be performed more easily. For example, the guideline 55b is displayed wider by a certain distance than the actual vehicle width, and the guideline 55b indicates a white line in the parking position 40, a boundary line between adjacent parking positions, or a vehicle that is already parked at an adjacent parking position. If the steering wheel is returned to the center position when it overlaps the side, the vehicle can be parked with the steering wheel in a straight-ahead state. Note that the width in which the guideline 55b is displayed may be configured to be able to be set according to the actual situation of a parking lot or the like that is commonly used by a user such as a driver. If the parking lot is used regularly, a value suitable for the parking position 40 can be set as a certain distance. When a parking lot or the like is not specified, a certain distance is set to the minimum value required for opening and closing doors, getting in and out, etc., so that there is room for drivers and others to leave the vehicle 1 after parking. Keep it.

In FIG. 9, a line indicating the stop position 57 of the vehicle 1 is displayed near the vehicle 1 in the guideline 55b. In the rear video, a line is displayed at a position at a certain distance from the rear end of the vehicle 1, and the vehicle stops when the line of the parking frame at the parking position 40 comes to that position. As a certain distance, set a value as small as possible within the range where the bumper at the rear end of the vehicle 1 does not come in contact with obstacles or bollards, etc., so that the vehicle can be easily parked in a narrow parking space. Is preferred.

The display of the guideline 55b is performed, for example, by a dotted line, making the guideline 55b less noticeable than the progression prediction curve 55a. As a result, the progression prediction curve 55a is emphasized as a result, and a driving guide more understandable to the driver can be provided. . Also,
The length for displaying the guideline 55b is determined by the back sonar 1
It can also be changed in conjunction with 7. For example, the length of displaying the guideline 55b is shortened in accordance with the warning stage when the back sonar 17 detects the obstacle 47.
As a result, the driver can obtain an indication of the travel distance, and thus can receive driving assistance in a state close to the actual driving feeling.

FIG. 10 shows a schematic configuration of a vehicle driving support device according to a third embodiment of the present invention. In the present embodiment, the changeover switch 60 is provided so that the information display 4 can switch between the parallel parking mode or the normal parking mode in which the parallel parking support 61 or the normal parking support 62 is performed. In the normal parking mode, the field of view 50 a of the camera unit 50 and the illumination of the backlight 52 are performed with emphasis on the rear of the vehicle 1. In the parallel parking mode, the field of view 50a of the camera unit 50 and the irradiation of the backlight 52 are also performed on the side of the vehicle.

Note that the switching between the parallel parking mode and the normal parking mode can be automatically performed. For example, it can be performed on the condition that parallel operation of the blinker lamp 63 or the hazard lamp 64 and the operation of the shift lever 8 for shifting the transmission to the reverse gear is regarded as parallel parking. In addition, the navigation device 15 allows the vehicle 1
It is also possible to automatically switch to the normal parking mode if the current position is in the parking lot and to the parallel parking mode if the current position is on the road, by referring to the map data for the current position. Further, by changing the steering angle of the steering wheel 7,
It is also possible to determine whether or not parallel parking. For example, in parallel parking, the frequency of changing the steering direction of the vehicle 1 by performing a steering operation by turning back or the like increases. A typical steering operation pattern is stored in the storage memory 29 or the like, and when the operation is performed, it is regarded as parallel parking,
It should be possible to automatically switch to the parallel parking mode.

FIG. 11 shows a fourth embodiment of the present invention, in which a plurality of camera units 10 are arranged around the vehicle body of the vehicle 1, and images from the plurality of camera units 10 are displayed side by side on the same screen. The configuration is shown. The camera units 10 are arranged at the front left L, the front right R, and the rear B of the vehicle 1, respectively, and capture images in respective visual fields 10a.

FIG. 12 shows the embodiment of FIG. 11, in which a plurality of camera units 10 are displayed on the display screen of the information display 4.
5 shows an example of screen division when simultaneously displaying images from a computer. By dividing the screen and displaying the video, all the screens can be viewed within one screen. FIG. 12A shows a state in which only the video of the rear B is displayed by temporal division. Other images are automatically switched and displayed at regular time intervals. The switching of the screen may be performed manually by the driver, but if it is performed automatically, the trouble of switching can be saved.

In FIG. 12 (2), the screen is divided into left and right, and the left front L and right front R images are displayed. In FIG. 12 (3), the screen is vertically divided into two parts, the upper part is further divided into two parts left and right to display the front left L and the front right R, and the lower part B displays the image of the rear B. FIG.
In (4), the upper and lower sides of FIG. 12 (3) are displayed. In FIG. 12 (5), the left front L image and the right front R image are partially displayed on the left and right of the upper portion of the screen displaying the rear B image.

In FIG. 12 (6), a front left L image and a front right R image are displayed on the upper left and right portions, with the straight line connecting the center of the upper side of the rectangular screen and the left and right ends of the lower side as boundaries, respectively. The image of the rear B is displayed in the lower center part. In FIG. 12 (7), the front left L and front right R images are displayed at the lower left and right portions, with the straight lines connecting the lower center of the rectangular screen and the left and right ends of the upper side as boundary lines, respectively.
The image of the rear B is displayed in the upper center part. FIG.
In (8), with the same image arrangement as in FIG. 12 (6), a boundary line is drawn so as to connect the center of the upper side with the vicinity of the center of the left side and the right side, and the portion displaying the image of the rear B is relatively moved. It is bigger. In FIG. 12 (9), in the same image arrangement as in FIG. 12 (7), a boundary line is drawn so as to connect the center of the lower side with the vicinity of the center of the left side and the right side, and a portion displaying the image of the rear B is displayed. Is relatively large.

In FIG. 12 (10), the boundary of the image is arranged in the same manner as in FIG. FIG. 12 (11)
In FIG. 12, the image is arranged in the same manner as in FIG. In FIG. 12 (12), the layout of the image is the same as that of FIG. 12 (6), and the boundary line is formed into a curved shape which bulges out and protrudes to the portions displaying the left front L image and the right front R image, respectively.

The screen division as shown in FIG. 12 can be performed in various other shapes. Preferably, each display pattern is automatically switched according to the running state of the vehicle.
For example, during normal traveling, two screens of front left L and front right R as shown in FIG. 12 (2), and when reverse, FIG. 12 (3)
To the front left L and the front right R as shown in any of (12) to (12).
By automatically changing the display pattern according to the situation, for example, on the three screens behind and on the rear B, it is possible to provide a display that is easy for the driver to understand. Also,
Lighting of the turn signal lamp 63 by operation of the direction indicator,
The side screen can be displayed in combination with the front display screen or the rear screen in conjunction with a change in the steering angle.

FIG. 13 shows a state in which the vehicle illustration 70 is displayed in the screen division state shown in FIG. 12 (3) to facilitate the positional relationship between the image from each camera unit 10 and the vehicle 1. By displaying the vehicle illustration 70 together, the direction of the video can be easily understood.

The position of the vehicle illustration 70 is shown in FIG.
As shown in, when the display pattern of the screen division is switched,
It is preferable to move in conjunction. For example, in a temporal screen division as shown in FIG.
As shown in FIG. 14 (1), FIG. 14 (2), and FIG. 14 (3), the position of the vehicle illustration 70 is set at the upper center of the screen corresponding to the images of the rear B, the front left L, and the front right R. By moving the image to the lower right and lower left, respectively, it is possible to clearly indicate in which direction the image is. FIG.
In the screen division of 2 (2), as shown in FIG.
By moving the vehicle illustration 70 to the lower center, it is possible to clearly show that the images of the left front L and the right front R are displayed.

FIG. 15 shows a display screen as shown in FIG. 12A, in which a vehicle illustration 70 is displayed together with a direction 71 and a range 72 of a camera image. by this,
It is possible to easily display which camera unit 10 displays an image. Further, if the direction of the vehicle illustration 70 is changed in accordance with the turning angle of the steering wheel 7, the relationship between the image and the traveling direction can be displayed in an easily understandable manner.

FIG. 16 shows the display of the camera image 71 by the screen division as shown in FIG.
This is also performed between the navigation screen 41 and the audio screen 42 from the navigation device 15 and the audio device 16, and the state of simultaneous display is shown in a simplified manner. By effectively using the display screen of the information display 4, information necessary for driving the vehicle 1 can be efficiently provided to a driver or the like.

FIG. 17 shows a state in which a plurality of display images are switched by the wipe method. In a state where the entire image A screen is displayed, display of the next image B is started, for example, from the left side of the screen. The boundary line between the image B and the image A sequentially shifts to the right, and when the shift ends, the image B is displayed on the entire screen. When the entire screen is switched from the image A to the image B in a seasonal manner, it is difficult to follow the change. However, if the entire screen is switched by the wipe method, it is possible to easily follow the change in the displayed image. . FIG. 12 (2)
As shown in (12), even when the screen is divided, the display mode can be switched by the wipe method.

FIG. 18 shows an image display in a screen division state.
This shows a state in which a divided display area and a display position are changed by a wipe method in accordance with a steering angle. For example, in the divided state shown in FIG. 12C, the display area of the rear side B is basically reduced when the vehicle moves forward, and the display area in the direction of turning according to the steering angle is increased when the vehicle turns left or right. I do. When moving backward, the display area of the rear B is increased. As a result, the video in the traveling direction can be emphasized and projected, and the safety confirmation can be supported.

FIG. 19 shows a schematic configuration of a driving support device according to a fifth embodiment of the present invention. In the present embodiment, the display screen of the information display 74 is configured such that input can be performed by a touch panel method, and multi-screen display is performed. The parking assist ECU 76 detects the presence or absence of the obstacle 47 with an obstacle sensor such as the back sonar 17 and the corner sensor 18,
When the obstacle 47 is detected, the driver is notified by a screen display.

FIG. 20 shows a switching state of the obstacle display screen of the information display 74 according to the present embodiment. FIG.
(A) shows a state in which screen display is performed during normal driving or parking assist by multi-screen display. When an obstacle is detected, the screen is switched to an obstacle display screen as shown in FIGS. 20 (b) and 20 (c). On the obstacle display screen shown in FIG. 20B, the direction of the obstacle 77 is displayed by a vehicle illustration 70 and an arrow 78. By detecting the obstacle 77, the color of the obstacle display screen can be changed to alert the driver or the like. In the obstacle display screen shown in FIG. 20C, the ratio of displaying an image from the camera unit 10 that is capturing the obstacle 77 can be increased, and the image can be easily viewed.

FIG. 21 shows a configuration according to a sixth embodiment of the present invention in which a plurality of camera units 10 are arranged, images captured by the camera units 10 are seamlessly combined and displayed, and driving assistance is provided. Show. As shown in FIG. 21A, for example, in order to capture an image behind the vehicle 1,
Three camera units 10L, 10B, and 10R are arranged so that the fields of view 10La, 10Ba, and 10Ra partially overlap. FIG.
Information display 7 of a touch panel type as shown in FIG.
4 shows the display screen of FIG. On this display screen, images captured by the three camera units 10L, 10B, and 10R are seamlessly connected by adjusting expansion and contraction and cut-out portions, and displayed as a wide range of continuous images.

FIG. 22 shows a state where images of the entire circumference of the vehicle 1 are captured and displayed. As shown in FIG. 22A, six camera units 10F, 10FL, 10FR, 10
B, 10BL, and 10BR are respectively arranged around the vehicle 1, and images of the entire circumference are captured. As shown in FIG. 22B, each of the camera units 10F, 10FL, 10FL
When images from FR, 10B, 10BL, and 10BR are combined and displayed on the display screen of the information display 74,
It is possible to confirm the safety of the entire vehicle on one screen. Further, in cooperation with the back sonar 17 or the corner sensor 18, a warning telop can be displayed on a screen corresponding to the direction in which the obstacle is detected, or the color can be changed.

In the divided display shown in FIGS. 21B and 22B, since many images are displayed at the same time, only one or a plurality of images can be selected and displayed. The selection may be made by the driver operating a switch or the like, or may be made automatically according to the driving situation. A configuration is also possible in which a wide area can be continuously checked by scrolling the screen. Since the information display 74 of the present embodiment can perform a touch panel input, if the image to be viewed is enlarged by touching the image to be viewed from the display state of FIG. 21 (b) or FIG. 22 (b),
You can check the points you want to see in one touch in detail. It is preferable that the image enlarged by one-touch is restored after a certain period of time. This is because the operation of manually restoring by the driver or the like can be omitted.

FIG. 23 shows a schematic configuration of a driving support device according to a seventh embodiment of the present invention. In the present embodiment, the front monitoring camera 80 is installed at the front of the vehicle body of the vehicle 1, and the roof camera 81 is also installed at the roof, which is the highest part of the vehicle body. The driving support ECU 84 has basically the same configuration as the parking assist ECU 6 shown in FIG. 3, and performs driving support using a forward image captured by the forward monitoring camera 80. The navigation device 85 includes a memory that captures an image of a scene in front of the vehicle captured by the front monitoring camera 80, and can be used for detecting traffic congestion and the like. The captured image is transmitted by the navigation device 85 to a traffic control center or the like installed near the position where the vehicle 1 is located, via radio waves, and wide-area driving support is performed. The image captured by the front monitoring camera 80 is also displayed on the information display 4, and can be used for safety confirmation in the front.

The front surveillance camera 80 can also be used as a front vehicle detection camera. If there is a vehicle traveling ahead in the traveling direction of the vehicle 1, it is necessary to secure an inter-vehicle distance in order to prevent a rear-end collision. By sharing the function as the front vehicle detection camera with the front monitoring camera 80, it is possible to provide a driving support function and a front vehicle detection function at low cost. Further, the forward monitoring camera 80 can also be used as an interrupting vehicle monitoring camera. Running vehicle 1
When an interrupting vehicle enters ahead of the traveling direction of the vehicle, it is necessary to take countermeasures such as preventing rear-end collision. By also using the function as the interrupting vehicle monitoring camera with the front monitoring camera 80, it is possible to provide a driving support function and an interrupting vehicle detection function at low cost.

The roof camera 81 captures an image of the front of the vehicle roof as the highest position of the vehicle body. When the vehicle 1 passes under an overpass or the like and a vehicle height restriction is provided, it is confirmed whether or not the vehicle 1 can pass. It is possible to determine whether or not the vehicle falls under the vehicle height restriction based on the appearance of the image of the upper limit portion to be passed.

FIG. 24 shows a state in which the brightness of the image displayed on the information displays 4 and 74 is changed between the reverse travel and the normal travel in each embodiment. When the vehicle is moving backward as shown in FIG. 24A, a bright image is displayed as a whole and the parking position 40 is displayed.
And the progress prediction curves 5a and 55a are displayed for easy confirmation. During normal driving shown in FIG. 24B, the display is relatively dark. During normal driving, the driver should pay close attention mainly to the front directly, and it is better not to look at the screen so much. Further, in this manner, when it is necessary to call the driver's attention, by changing the color to a bright color, the driver's attention can be easily attracted. When moving backward, the screen is brightened to make it easy to see the details.

FIG. 25 is a view showing a rear view of a rear view mirror 87 in each embodiment.
This shows a state in which it is easy to recognize that the image is a rear image. The rear video displayed in the display frame 87 is also subjected to image processing such as cropping and expansion / contraction correction, corrected to the angle of view of the rearview mirror, and changed to a display suitable for the driver's sense as an image reflected on the rearview mirror. . In particular, when a wide-angle camera is used, it is preferable to perform correction because it is difficult to grasp the sense of distance due to image distortion or the like.

[0178]

According to the first to fifteenth aspects of the present invention, an image of the traveling direction of the vehicle is displayed, and the vehicle travels on both sides in the width direction of the vehicle body or the predicted path for predicting the path of the vehicle based on the steering angle. The driving guide can be provided by displaying the guide line extended in the direction. For example, when the vehicle travels backward and parks, a guideline extended in parallel with the vehicle width is superimposed and displayed on the rear image, so that the current direction of the vehicle can be easily understood. Further, when the parking frame or the like is drawn with a white line, the vehicle can be easily parked in a parallel posture in the parking frame by returning the steering to the center position when the white line and the guide line become parallel.

Further, according to the present invention, the display of the predicted course, the guide line, and the like can be switched, so that the driving assistance can be performed in a display state that is most easy for the driver to use.

Further, according to the present invention, since the brightness for displaying the predicted course and the guideline is changed according to the surrounding brightness, the driving assistance can be performed in a display state that is easy for the driver to see according to the surrounding brightness. .

Further, according to the present invention, the color scheme for displaying the predicted course and the guideline is changed according to the surrounding color scheme, so that the display color scheme is switched to a display scheme that is easy for the driver to understand according to the surrounding brightness and color. Driving assistance can be provided.

Further, the present invention is provided with a brightness sensor such as a cone light sensor for sensing the surrounding brightness and switching the illumination system, and responds to the surrounding brightness detected by the brightness sensor. Thus, the brightness or color of the predicted course or the guideline is changed, so that the display of the display means can be automatically switched in accordance with the brightness and color of the surroundings so that the driver can easily understand driving assistance.

Also, according to the present invention, the predicted course and the color scheme of the guideline are changed according to the background color of the video imaged by the camera. For example, when the background color is bright, a dark color is displayed, and when the background color is dark, a bright color is displayed. By doing so, it is possible to perform driving support that is easy for the driver to see.

Further, in the present invention, the final display switching state during parking driving assistance is stored and stored.
Next, since it is used for switching the display state when guiding the parking driving, the driving assistance can be performed in the switching state suitable for the guidance of the parking driving without the driver setting the switching state every time. .

In the present invention, although an image from a camera having a wide-angle imaging range is distorted, since the guide line is curved in accordance with the distortion, the extended line of the vehicle width is accurately displayed according to the image. Effective driving support can be provided.

In the present invention, the width of the predicted course and the guide line are different from the actual vehicle width near the bumper of the vehicle body due to the angle of view of the camera. It is possible to eliminate the sense of incongruity of the display depending on the judgment.

Further, in the present invention, when displaying the predicted course or the guideline, the portion near the vehicle is displayed with a wider display width, so that the connection between the predicted course or the guideline and the vehicle width becomes natural. It can be displayed and safety can be ensured.

Also, in the present invention, a line indicating the stop position of the vehicle is displayed near the vehicle on the predicted course or guide line, so that the line is effectively used as a mark to stop when the line of the parking frame comes to that position. be able to.

Also, in the present invention, since the guideline is displayed at the time of the brake operation, the guideline is not displayed when the brake operation is not performed, so that the image for driving assistance is prevented from becoming complicated, and the guideline is displayed by the brake operation when necessary. The display and the support for the operation of returning the steering to the center position can be effectively performed.

Further, according to the present invention, by displaying the guide line by a dotted line and making the guide line inconspicuous, it is possible to make the predicted course and the like easy to see and to provide easy-to-understand driving support.

In the present invention, the length of the guide line is changed according to the distance of an obstacle detected by an obstacle sensor such as a back sonar, so that the length of the guide line corresponds to the remaining driving distance, Driving support that is easy for drivers who are close to driving to understand can be provided.

In the present invention, the width of the guideline is displayed wider than the actual vehicle width. For example, by displaying the guideline wider by a certain distance than the actual vehicle width, when the guideline overlaps a parking frame or the like. Driving support such as returning the steering wheel to the center position can be easily performed.

According to the sixteenth to nineteenth aspects of the present invention, it is possible to capture an image behind the vehicle and perform effective driving assistance. In particular, when the transmission is switched to the reverse state, if the display state of the display means for displaying an image is changed to notify the driver that the transmission is in the reverse state, the transmission is switched to the reverse gear. The driver can be easily informed that the vehicle is traveling backward, and it can be ensured that the vehicle is traveling backward.

Further, according to the present invention, the presence or absence of an obstacle behind the vehicle is detected by an obstacle sensor such as a back sonar or a corner sensor, and when an obstacle is detected, the display state of the display means for displaying an image behind the vehicle is changed. Since it is changed, the detection of the obstacle is displayed to the driver in a manner that is easy to understand, so that it is possible to prevent a collision accident or the like.

Further, according to the present invention, the fact that the transmission is in reverse and the detection of an obstacle are displayed by text telop, so that the contents of the display can be reliably transmitted to the driver.

Further, according to the present invention, the fact that the transmission is in reverse and the detection of an obstacle are displayed by a change in the display color of the entire display screen, so that the driver can be surely alerted.

According to the twentieth to twenty-sixth aspects of the present invention, a telop for prompting visual safety confirmation is displayed on a display screen for assisting parking driving based on an image captured by a camera, and is not shown on the display screen. It is possible to call the driver's attention so as not to forget to look ahead or to the side of the vehicle.

Also, according to the present invention, when the vehicle is parked in reverse, the completion of parking can be notified in conjunction with an obstacle sensor such as a back sonar, so that the driver can detect the obstacle sensor. The result can be easily confirmed on the display means.

Further, according to the present invention, when the vehicle is in the reverse traveling state, the traveling speed is limited to a predetermined upper limit speed or less, so that it is possible to prevent a collision in the reverse traveling state and reduce the impact when the collision occurs.

In the present invention, when an obstacle is detected by an obstacle sensor such as a back sonar, the traveling speed of the vehicle is limited to a predetermined upper limit speed or less. Impact can be reduced.

Also, in the present invention, when it is determined that the vehicle is in reverse, the direction of illumination of the lamp illuminating the rear of the vehicle is changed. The visibility can be improved even when the image is dark.

In the present invention, since the lamp is attached as an option, appropriate illumination can be performed according to the imaging range of the camera.

Further, according to the present invention, it is possible to switch and display the image from the camera and the image from the driving support means for driving assistance and the image from the on-board equipment including the navigation device and the audio device. It is possible to switch between driving support and use of on-vehicle equipment as required by the driver.

According to the twenty-seventh to thirty-seventh aspects of the present invention, it is possible to capture an image of the traveling direction of a vehicle with a camera and to provide effective driving assistance when performing parking driving. In particular, since the driving assistance is performed by switching between the normal parking mode and the parallel parking mode, the driving assistance suitable for each parking mode can be effectively performed.

In the present invention, the switching to the parallel parking mode is automatically performed by simultaneously performing the switching to the blinker lamp or the hazard lamp and the reverse transmission state of the transmission. Appropriate driving support can be performed without switching.

Also, according to the present invention, based on the current position of the vehicle obtained from the navigation device, if the vehicle is present in the parking lot, it is automatically switched to the normal parking mode, and if it is present on the road, it is automatically switched to the parallel parking mode. To provide appropriate parking assistance.

Further, in the present invention, the switching between the normal parking mode and the parallel parking mode is performed by changing the steering angle of the steering angle for the steering of the vehicle. Therefore, the specific steering such as the switching performed during the parallel parking is performed. The operation can automatically switch to the parallel parking mode.

According to the present invention, effective driving assistance is performed by using images from a plurality of cameras arranged with their imaging ranges shifted so as to capture images of the surroundings of the vehicle. Can be. By dividing the display screen of the display means according to the arrangement of the cameras and displaying images from a plurality of cameras at the same time, it is possible to simultaneously check a wide range of images, and effective driving support can be performed.

In the present invention, the driving condition of the vehicle is detected,
Since the display screen is switched according to the detected driving condition, for example, during normal driving, two screens are displayed on the front left and right,
When the vehicle is traveling in reverse, the display screen is automatically switched so as to display three screens, that is, front, left, right, and rear, so that the image can be displayed easily for the driver to understand.

Further, according to the present invention, the vehicle is simplified and displayed on the image displaying the images from the plurality of cameras, so that the relationship between the images from the plurality of cameras and the vehicle can be easily understood. .

In the present invention, the position where the vehicle is displayed in a simplified manner is moved in accordance with the image from the camera.
It is possible to perform a display that makes it easy to understand which direction the image displayed on the screen is an image captured by the camera facing the vehicle.

Further, according to the present invention, when the vehicle is displayed in a simplified manner, the image pickup direction and range of the camera are displayed.
It is possible to easily display which direction the displayed image is from the camera facing the vehicle.

Further, according to the present invention, the images from a plurality of cameras and the images from in-vehicle devices such as a navigation device and an audio device are displayed by dividing the display screen.
The image for driving assistance and the image from the vehicle-mounted device can be simultaneously viewed on the same screen.

Further, according to the present invention, since the images from the plurality of cameras are switched and displayed at predetermined time intervals, it is possible to save the driver from having to switch to the manual operation.

Further, in the present invention, since the switching of the images from the plurality of cameras is performed gradually by the wipe, it is possible to avoid sudden switching of the images.

Further, according to the present invention, since the image of the side is displayed in conjunction with the operation of the direction indicator, the image of the traveling direction is also automatically displayed to assist the safety confirmation.

Further, according to the present invention, the image is switched in accordance with the steering angle at which the vehicle is steered, so that the image of the actual traveling direction of the vehicle is automatically displayed to assist in safety confirmation. Can be.

Further, according to the present invention, since the screen division state is changed according to the steering angle, it is possible to display a large image in the traveling direction of the vehicle.

In the present invention, when an obstacle is detected in conjunction with an obstacle sensor such as a corner sensor, the detection direction is displayed on the display means, so that the driver can be alerted.

In the present invention, an image in the direction in which an obstacle is detected is displayed, so that it can be confirmed on the screen.

In the present invention, when an obstacle is detected, the display position of the image from the camera that senses the detection direction is changed to the center, and the screen is enlarged. Can be surely alerted.

In the present invention, a warning is displayed in the direction in which an obstacle is detected, so that the driver can be alerted.

Also, according to the present invention, when images from adjacent cameras are simultaneously displayed on the display means, they can be displayed as one continuous image, so that a wide range of images can be displayed in a state that is easy for the driver to understand. And effective driving support can be performed.

Further, in the present invention, the cameras are arranged so as to image the front, front left, front right, rear, rear left and rear right of the vehicle, so that the safety can be confirmed over the entire circumference of the vehicle.

Further, according to the present invention, an image over the entire circumference of the vehicle can be effectively formed according to the arrangement of the cameras.

Further, according to the present invention, necessary images can be selected from the cameras arranged all around the camera and displayed in detail.

Further, according to the present invention, it is possible to confirm the image in a wide range in a natural state by scrolling while continuously shifting the image from the camera whose imaging range is adjacent.

Further, according to the present invention, the display state of the image desired by the driver can be changed with one touch by using the touch panel.

According to the present invention, an image desired to be viewed with one touch can be enlarged and displayed for a predetermined time.

According to the invention of claims 53 to 55, effective driving assistance can be performed by using a camera that captures an image in front of the vehicle. In particular, by capturing the image in front of the vehicle into storage means and acquiring information for driving assistance, the camera image can be used not only for the vehicle but also for traffic congestion information to grasp the traffic situation around the vehicle. It can be used effectively.

Also, in the present invention, the forward image picked up by the camera is displayed on the display means, so that it can also be used for confirming the forward direction. Cost reduction can be achieved.

Further, according to the present invention, since an image from a camera which captures an image of the front is processed to detect an interrupted vehicle, the camera can also be used for detecting an interrupt, thereby ensuring safe driving against an interrupt. Can be.

According to the fifty-sixth aspect of the present invention, it is possible to detect the height of a vehicle using a camera and easily confirm whether or not the vehicle can pass under an overpass.

According to the fifty-seventh aspect of the present invention, the screen can be made brighter when the vehicle is moving backward than when the vehicle is moving forward in accordance with the traveling direction of the vehicle, so that the detailed portion can be easily seen.

According to the fifty-eighth or fifty-ninth aspect of the present invention, it is possible to display an image from a camera for picking up an image of the rear of the vehicle in accordance with a rearview mirror. An image can be displayed to provide effective driving assistance.

Further, according to the present invention, when displaying an image obtained by imaging the rear of the vehicle, correction is performed in accordance with the angle of view of the rearview mirror, so that the driver can check the rear image with the same feeling as a familiar rearview mirror. And effective driving support can be provided.

[Brief description of the drawings]

FIG. 1 is a simplified perspective view showing a schematic configuration of a driving assistance device as a first embodiment of the present invention.

FIG. 2 is a simplified perspective view showing a state where the vehicle 1 moves backward and parks in the embodiment of FIG. 1;

FIG. 3 is a block diagram showing an electrical configuration of a parking assist ECU 6 according to the embodiment of FIG.

FIG. 4 is a view showing a parking assist screen displayed on the information display 4 in the embodiment of FIG. 1;

FIG. 5 is a diagram showing a state where a navigation screen 41 and an audio screen 42 are displayed on the information display 4 in the embodiment of FIG.

FIG. 6 is a diagram showing a state in which a back gear input is notified on the information display 4 in the embodiment of FIG. 1;

FIG. 7 is a diagram showing a state in which detection of an obstacle and notification of parking completion and display for prompting visual confirmation are performed on the information display 4 in the embodiment of FIG. 1;

FIG. 8 is a simplified block diagram showing a schematic configuration of a driving support device as a second embodiment of the present invention.

9 is a diagram showing a parking assist screen displayed on the information display 4 in the embodiment of FIG.

FIG. 10 is a simplified block diagram showing a schematic configuration of a driving support device as a third embodiment of the present invention.

FIG. 11 is a simplified plan view showing a state in which a plurality of camera units 10 are arranged around a vehicle body of a vehicle 1 according to a fourth embodiment of the present invention.

12 is a diagram illustrating an example of screen division when simultaneously displaying images from a plurality of camera units 10 on a display screen of the information display 4 in the embodiment of FIG. 11;

FIG. 13 is a diagram showing a screen division state and a state in which a vehicle illustration 70 is displayed in the embodiment of FIG. 11;

FIG. 14 is a diagram showing a state in which the position of the vehicle illustration 70 is moved in accordance with the camera image in the embodiment of FIG. 11;

FIG. 15 is a diagram showing a state in which the direction and range of the camera image are displayed together with the vehicle illustration 70 in the embodiment of FIG. 11;

16 is a diagram showing a state in which the camera image 71 is displayed by dividing the screen from the navigation screen 41 or the audio screen 42 in the embodiment of FIG.

FIG. 17 is a diagram showing a state in which a plurality of screen displays are switched by a wipe method in the embodiment of FIG. 11;

18 is a diagram showing a state in which a divided display area and a display position are changed by a wipe method in accordance with a steering angle in a video display in a plane division state according to the embodiment of FIG. 11;

FIG. 19 is a simplified block diagram showing a schematic configuration of a driving support device as a fifth embodiment of the present invention.

FIG. 20 shows the information display 74 in the embodiment of FIG.
FIG. 7 is a diagram showing a switching state of the obstacle display screen of FIG.

FIG. 21 is a diagram showing a configuration in which a plurality of camera units 10 are arranged, images captured by the camera units 10 are seamlessly combined and displayed, and driving assistance is provided as a sixth embodiment of the present invention. is there.

FIG. 22 is a diagram illustrating a state in which an image of the entire circumference of the vehicle 1 is captured and displayed in the embodiment of FIG. 21;

FIG. 23 is a simplified block diagram showing a schematic configuration of a driving support device according to a seventh embodiment of the present invention.

FIG. 24 is a diagram showing a state in which the brightness of an image displayed on the information displays 4 and 74 is changed between a reverse travel and a normal travel in each embodiment of the present invention.

FIG. 25 is a diagram showing a state in which a rear image is displayed easily by using a display frame 87 in the shape of a rearview mirror when displaying a rear image in each embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Vehicle 4,74 Information display 5a, 55a Progress prediction curve 5b, 55b Guideline 6, 56, 66 Parking assist CPU 7 Steering 8 Shift lever 10, 10B, 10L, 10R, 10F, 10FL, 1
0FR, 10BL, 10BR, 50 Camera unit 10a, 10Ba, 10La, 10Ra, 10Fa, 1
0FLa, 10FRa, 10BLa, 10BRa, 50
a field of view 12 angle detection sensor 13 center position sensor 14 lighting sensor 15,85 navigation device 16 audio device 17 back sonar 18 corner sensor 20 DSP 27 program memory 29 storage memory 40 parking position 41 navigation screen 42 audio screen 43,44,45 , 46 Telop 47, 77 Obstacle 52 Backlight 63 Turn signal lamp 64 Hazard lamp 70 Vehicle illustration 71 Camera image 80 Forward surveillance camera 81 Roof camera 86 Driving support ECU 87 Display frame 88 Correction image

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI theme coat ゛ (Reference) B60R 21/00 626G 628D (72) Inventor Kazuya Sako 1-2-28 Goshodori, Hyogo-ku, Kobe-shi, Hyogo Prefecture No.F-term in Fujitsu Ten Limited (reference)

Claims (59)

[Claims] 1. A camera for capturing an image of a traveling direction of a vehicle, a display unit for displaying an image captured by the camera, a steering angle detecting unit for detecting a steering angle for steering the vehicle, a steering angle Based on a steering angle detected by the detecting means, a course predicting means for predicting the course of the vehicle, a predicted course of the vehicle predicted by the course predicting means, and a guide line extending in both directions in the width direction of the vehicle body in the traveling direction. And a driving support means for displaying the driving support information on an image of the traveling direction of the vehicle displayed on the display means. 2. The vehicle driving support device according to claim 1, wherein the driving support unit can switch the display of the predicted course and / or the guide line. 3. The driving support device for a vehicle according to claim 2, wherein the driving support unit changes the brightness at which the predicted course and / or the guideline is displayed according to the surrounding brightness. 4. The vehicle driving support apparatus according to claim 2, wherein the driving support unit changes a color scheme for displaying the predicted course and / or the guideline according to a surrounding color scheme. 5. The vehicle senses ambient brightness,
A brightness sensor for switching a lighting system, wherein the driving support means changes the brightness or color of the predicted course and / or the guideline according to the ambient brightness sensed by the brightness sensor. 3. The driving assistance device for a vehicle according to claim 2, wherein the driving assistance device is changed. 6. The driving support apparatus for a vehicle according to claim 2, wherein the driving support unit changes the color scheme of the predicted course and / or the guide line according to a background color of an image captured by the camera. . 7. The driving support means includes: a parking operation determining means for determining whether or not the driving of the vehicle is a driving operation for parking;
A parking end determining means for determining whether the parking operation has been completed, and a switching state for displaying the predicted course and / or the guideline when the parking operation is determined to be completed by the parking end determining means. When the parking operation is determined by the storage means and the parking operation determination means,
7. The driving support device for a vehicle according to claim 2, further comprising: a switching unit configured to switch a display state of the driving assistance information in accordance with a content stored in a storage unit. 8. The camera according to claim 1, wherein the camera captures an image in a wide-angle field of view, and the driving support unit displays the guide line in a curved shape in accordance with a distortion of the wide-angle image captured by the camera. Item 8. A driving assistance device for a vehicle according to any one of Items 1 to 7. 9. The driving of a vehicle according to claim 1, wherein the driving support unit does not display a portion near the vehicle when displaying the predicted course and / or the guideline. Support equipment. 10. The driving support unit according to claim 1, wherein, when displaying the predicted course and / or the guideline, a portion near the vehicle is displayed with a wider display width.
The driving assistance device for a vehicle according to any one of claims 1 to 8. 11. The vehicle according to claim 1, wherein the driving support unit displays a line indicating a stop position of the vehicle near the vehicle on the predicted course and / or the guide line. Driving support device 12. The vehicle driving support device according to claim 1, wherein the driving support unit displays the guide line when a brake operation is performed. 13. The driving support unit according to claim 1, wherein the guide line is displayed by a dotted line.
13. The driving assistance device for a vehicle according to any one of claims 12 to 12. 14. An obstacle sensor for detecting the presence or absence of an obstacle in the course of a vehicle, wherein the driving support means operates in accordance with a distance to the obstacle detected by the obstacle sensor, and The driving assistance device for a vehicle according to any one of claims 1 to 13, wherein the driving force is changed. 15. The vehicle driving support device according to claim 1, wherein the driving support unit displays a width when displaying the guide line larger than a width of the vehicle. . 16. A camera for picking up an image behind the vehicle, a display means for displaying an image picked up by the camera, and a reverse state detecting means for detecting whether or not the transmission of the vehicle has been switched to a reverse state. When the reverse state detecting means determines that the transmission is switched to the reverse state, the display state of the display means is changed to inform the driver that the transmission is in the reverse state, thereby providing driving assistance. And a driving support unit for performing the driving. 17. A camera that captures an image behind a vehicle, a display unit that displays an image captured by the camera, an obstacle sensor that detects the presence or absence of an obstacle behind the vehicle, and an obstacle that is detected by the obstacle sensor. A driving assistance device comprising: a driving assistance device that, when an object is detected, changes the display state of the display device to notify the driver of the presence of an obstacle, thereby providing driving assistance. 18. The driving support device for a vehicle according to claim 16, wherein the driving support unit displays information by a telop of a character for the driving support. 19. The vehicle driving support device according to claim 16, wherein the driving support unit displays information by a change in a display color of the entire screen for the driving support. 20. A camera for capturing an image for assisting parking driving of a vehicle, a display means for displaying an image captured by the camera, and detecting whether or not the vehicle is in a parking driving state by detecting a driving state of the vehicle. When it is determined that the vehicle is in the parking driving state, the driving support means performs an image display for parking driving assistance together with the video display of the display means, and the image display for parking driving support by the driving supporting means is performed.
And a safety confirmation means for displaying a telop for prompting visual safety confirmation. 21. A camera for capturing an image behind the vehicle, a display means for displaying an image captured by the camera, an obstacle sensor for detecting the presence or absence of an obstacle behind the vehicle, and a driving state of the vehicle. Driving support means for detecting and determining whether or not the vehicle is performing reverse parking driving, and when it is determined that the vehicle is performing parking driving, displaying driving support information for parking on the display means. And a safety confirmation means for judging whether or not parking is completed based on the detection result of the obstacle sensor, and displaying information indicating parking completion on the display means when it is judged that parking is completed. Driving assistance device. 22. A camera for picking up an image behind the vehicle, a display means for displaying an image picked up by the camera, and a reverse state detecting means for detecting whether or not the transmission of the vehicle has been switched to a reverse state. And driving assistance means for performing driving assistance by limiting the traveling speed of the vehicle to a predetermined upper limit speed or less when it is determined by the reverse traveling state detecting means that the transmission is switched to the reverse traveling state. Vehicle driving assistance device. 23. A camera that captures an image behind the vehicle, a display unit that displays an image captured by the camera, an obstacle sensor that detects the presence or absence of an obstacle behind the vehicle, and an obstacle that is detected by the obstacle sensor. A driving assistance unit that, when an object is detected, restricts the traveling speed of the vehicle to a predetermined upper limit speed or less and performs driving assistance. 24. A camera for picking up an image behind the vehicle, a display means for displaying an image picked up by the camera, and a reverse state detecting means for detecting whether or not the transmission of the vehicle has been switched to a reverse state. And driving assist means for assisting driving by changing the irradiation direction of a lamp illuminating the rear of the vehicle when it is determined by the reverse state detecting means that the transmission is switched to the reverse state. Characteristic vehicle driving support device. 25. The driving assist system for a vehicle according to claim 24, wherein the lamp is installed as an option. 26. An on-board device including a navigation device and / or an audio device is mounted on a vehicle, and the display unit displays an image from the camera, an image from the driving support unit, and an image from the on-board device. 26. The driving assistance device for a vehicle according to claim 1, further comprising a switching unit for switching and displaying the driving information. 27. A camera for capturing an image of a vehicle traveling direction, display means for displaying an image captured by the camera, and driving assistance information for parking the vehicle on the image displayed on the display means. And a driving assistance unit capable of switching between a normal parking mode and a parallel parking mode for display. 28. The parallel parking mode according to claim 27, wherein the driving support means switches to the parallel parking mode when the turn signal or the hazard lamp and the transmission are switched to the reverse state at the same time. Vehicle driving assistance device. 29. A vehicle equipped with a navigation device, wherein the driving support means determines whether the vehicle is parked in a parking lot or on a road based on a current position of the vehicle obtained from the navigation device. 28. Switching to the normal parking mode when the vehicle is in a parking lot, and switching to the parallel parking mode when the vehicle is on a road.
29. The driving assistance device for a vehicle according to 28. 30. The driving support means according to claim 27, wherein the normal parking mode or the parallel parking mode is switched in accordance with a change in a steering angle for steering the vehicle. A driving assistance device for a vehicle according to any one of the claims. 31. A camera for capturing an image around a vehicle,
A plurality of cameras arranged with shifted imaging ranges, a display means for displaying images picked up by the cameras, and a display screen of the display means divided according to the arrangement of the cameras to simultaneously display images from the plurality of cameras. A driving support device for a vehicle, comprising: driving support means for performing driving support. 32. The vehicle according to claim 32, further comprising a driving situation detecting means for detecting a driving situation of the vehicle, wherein said driving assistance means switches a display screen according to the driving situation detected by the driving situation detecting means. Item 32. The vehicle driving support device according to item 31. 33. The driving assistance unit according to claim 31, wherein the display unit displays the vehicle in a simplified manner on an image when displaying images from the plurality of cameras. A driving assistance device for a vehicle according to the above. 34. The vehicle driving support device according to claim 31, wherein the driving support unit moves a display position of the vehicle in accordance with an image from a camera. 35. The driving support apparatus for a vehicle according to claim 33, wherein the driving support unit displays a direction and a range of an image captured by a camera when displaying the vehicle in a simplified manner. 36. An on-vehicle device including a navigation device and / or an audio device is mounted on the vehicle. The driving assistance unit divides a display screen of the display unit to display images from the plurality of cameras, The vehicle driving support device according to any one of claims 31 to 35, wherein an image from the device is displayed. 37. The vehicle driving support device according to claim 31, wherein the driving support device switches a camera that displays an image on the display device at predetermined time intervals. 38. The vehicle driving support device according to claim 37, wherein the driving support unit performs the switching of the image by wipe. 39. The camera according to claim 39, wherein the camera includes a camera that captures an image of a side of the vehicle, and the driving support unit interlocks with an operation of the direction indicator to operate the side indicator associated with the operated direction indicator. The driving assistance system for a vehicle according to any one of claims 31 to 38, wherein the image of (1) is displayed on the display means. 40. The vehicle driving assistance according to claim 31, wherein the driving assistance unit switches the image in accordance with a steering angle for steering the vehicle. apparatus. 41. The vehicle driving support device according to claim 40, wherein the driving support unit changes a split state of the screen according to a steering angle of the steering. 42. An obstacle sensor for detecting the presence or absence of an obstacle around the vehicle, wherein the driving support means detects a direction of the obstacle when the obstacle sensor detects the obstacle. 42. The driving support device for a vehicle according to claim 31, wherein is displayed on the display means. 43. The driving support means, when the obstacle sensor detects an obstacle, switches to display an image from a camera that captures the detection direction of the obstacle sensor. 42. The driving support device for a vehicle according to 42. 44. The driving support unit, when the obstacle sensor detects an obstacle, changes a display position of an image from a camera that captures a detection direction of the obstacle sensor to a position near the center of the screen. 5. The method according to claim 4, wherein
3. The vehicle driving support device according to 2. 45. The vehicle driving support device according to claim 42, wherein the driving support unit displays a warning in a direction detected by the obstacle sensor. 46. The driving support unit adjusts a display range and a display position of each image so that when images from adjacent cameras are simultaneously displayed on the display unit, the images are continuously connected. 5. The method according to claim 3, wherein
The driving assistance device for a vehicle according to any one of claims 5 to 10. 47. The camera according to claim 1, further comprising:
The driving assistance device for a vehicle according to any one of claims 31 to 46, wherein the driving assistance device is arranged to capture images of a front right, a rear, a rear left, and a rear right. 48. The driving support unit divides a display screen of the display unit into upper and lower parts, and displays a front image at the center of the upper screen, and a left front and right front image at the left and right of the upper screen, respectively. 48. The vehicle driving support device according to claim 47, wherein a rear image is displayed at the center of the lower screen, and a rear left image and a rear right image are displayed at the left and right sides of the lower screen. 49. The vehicle driving support device according to claim 47, wherein the driving support unit displays an image selected from images picked up based on the arrangement on the display screen. 50. The driving assistance of a vehicle according to claim 47, wherein the driving assistance unit displays the image from the adjacent camera with the imaging range continuously shifted and scrolled on the display unit. apparatus. 51. The display unit includes a touch panel, and the driving support unit is configured to input a command to the touch panel.
4. The display state of an image is changed.
50. The driving assistance device for a vehicle according to any one of 1 to 50. 52. The driving support unit according to claim 51, wherein, in accordance with an input to the touch panel, an image of the input position is displayed after being enlarged for a predetermined time, and is restored after the elapse of the time. Vehicle driving assistance device. 53. A camera that captures an image in front of a vehicle, a storage unit that captures and stores an image captured by the camera, and a camera that supports driving of the vehicle based on the image stored in the storage unit. A driving assistance device for a vehicle, comprising: driving assistance means for acquiring information. 54. The vehicle driving support device according to claim 53, further comprising display means for displaying an image from the camera. 55. The driving assistance system for a vehicle according to claim 53, further comprising an interruption vehicle detection unit that detects an interruption vehicle by performing image processing on an image from the camera. 56. A camera installed at the highest part of the vehicle, for taking an image of the surroundings of the vehicle from the height of the highest part, display means for displaying an image taken by the camera, and an image taken by the camera And a driving support unit for detecting a vehicle height limit based on the information, and informing the driving vehicle of the detection result as information for driving support. 57. A camera that captures images of the front and rear of the vehicle, a display that displays images captured by the camera, a travel state detector that detects a travel state of the vehicle, and a detector that detects the travel state. According to the traveling state performed, the display device displays a forward image on the display unit during normal traveling, and a driving assist unit that displays the rear image more brightly than the forward image during reverse traveling to provide driving assistance. Driving support device for a vehicle. 58. A camera that captures images of the front and rear of the vehicle, a display that displays images captured by the camera, a traveling state detector that detects a traveling state of the vehicle, and a detector that detects the traveling state. According to the traveling state, a forward image is displayed on the display means during normal traveling, and a rear image is displayed with the display frame changed to a rearview mirror image during reverse traveling, and driving assistance means for assisting driving is provided. A driving assistance device for a vehicle, comprising: 59. The driving support unit according to claim 5, wherein the rear image displayed using the display frame of the rearview mirror is corrected to an angle of view of the rearview mirror and displayed.
A driving assistance device for a vehicle according to claim 8.