JP2006268224A - Vehicular driving assistance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily determine whether or not a K-turn is necessary for a vehicle U-turn. <P>SOLUTION: Based on a movement locus that the outermost part of a vehicle describes when making a U-turn, a marker generator 11 creates an auxiliary line for determining whether or not it is possible to make a U-turn without a K-turn. The auxiliary line is superimposed on an image of an area around the vehicle picked up by a door mirror built-in camera 5 and is displayed in a display 1. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving support apparatus for a vehicle that displays an image for supporting driving of the vehicle.

  2. Description of the Related Art Conventionally, there has been known an apparatus that displays an image obtained by an in-vehicle camera by superimposing an expected course line corresponding to a steering angle of a vehicle (see Patent Document 1).

JP 2002-109697 A

  However, in the conventional apparatus, when the vehicle makes a U-turn, there is a problem that it is not known whether a U-turn can be made without performing a turn or a turn is necessary even if the displayed expected route is viewed. It was.

  The vehicle driving support device according to the present invention determines, based on the movement trajectory drawn by the outermost part of the vehicle when the vehicle changes its direction, whether or not it can change the direction without switching back. The auxiliary line is created, and the auxiliary line is superimposed and displayed on the image around the vehicle imaged by the imaging means.

  According to the vehicle driving support device of the present invention, it is determined whether or not the direction change can be performed without turning back based on the movement locus drawn by the outermost part of the vehicle when the vehicle changes direction. An auxiliary line is created and displayed on the video around the vehicle imaged by the imaging means so that the driver can easily determine whether or not a turnover is necessary when changing the direction. can do.

  FIG. 1 is a diagram illustrating a configuration of a vehicle driving support apparatus according to an embodiment. The vehicle driving support apparatus in one embodiment includes a display 1, a U-turn switch 2, a steering angle sensor 3, a vehicle speed sensor 4, a camera 5 with a built-in door mirror, a control unit 6, a shift position sensor 7, A navigation unit 8, a radar device 9, and an alarm device 10 are provided.

  The steering angle sensor 3 detects the steering angle. The vehicle speed sensor 4 detects the speed of the vehicle. The shift position sensor 7 detects a shift position (shift position) of a transmission (not shown). The navigation unit 8 includes a GPS sensor (not shown), a map database, and the like, and is a device that searches for a route to a destination and provides route guidance. The door mirror built-in camera 5 is a camera built in the right door mirror 25 and images the surroundings of the vehicle. FIG. 2 is an example of an image captured by the camera 5 with a built-in door mirror. The center line 20 and the block rod 40 existing on the opposite lane side are imaged together with the right side surface of the vehicle 100.

  The U-turn switch 2 is operated by the driver in order to start control for displaying an auxiliary line on the display 1 indicating whether or not the U-turn can be performed without turning the steering wheel when the vehicle makes a U-turn. Install this switch in a position where it can be easily operated by the driver. The display 1 is provided at a position that is easy for the driver to see. A control that will be described later is added to a map instructed from the navigation unit 8, an image captured by the camera 5 with a built-in door mirror, and an image captured by the camera 5 with a built-in door mirror. An image on which marker lines created by the unit 6 are superimposed is displayed.

  The radar device 9 is provided, for example, at the front end portion of the vehicle, and sends a laser beam to the front of the vehicle to detect a preceding vehicle traveling in the own lane or an oncoming vehicle traveling in the oncoming lane. To detect. The alarm device 10 emits an alarm sound based on a command from the control unit 6 described later.

  The control unit 6 includes a marker generator 11, a super importer 12, and a video switcher 13. The marker generator 11, the superimposer 12, and the video switcher 13 are each composed of a CPU, a ROM, a RAM, and other peripheral devices. The marker generator 11 is an auxiliary line for determining whether or not a U-turn is possible without performing a turn-back based on a movement trajectory drawn by the outermost part of the vehicle when the vehicle makes a U-turn (hereinafter, referred to as an auxiliary line). Create a U-turn enable / disable marker line). The superimposer 12 performs a process of superimposing the U-turn availability marker line created by the marker generator 11 on the image captured by the door mirror built-in camera 5. The video switcher 13 performs a process of switching the video displayed on the display 1.

  FIG. 3 is a flowchart showing the contents of processing performed by the vehicle driving support apparatus according to the embodiment. When power is turned on to the control unit 6, the control unit 6 starts the process of step S10. In step S <b> 10, the video switcher 13 provided in the control unit 6 issues a command for displaying a map around the current location of the vehicle to the display 1 based on the command from the navigation unit 8. Based on this command, the display 1 displays a map around the current location of the vehicle.

  In step S20 following step S10, it is determined whether or not the U-turn switch 2 has been operated by the driver. If it is determined that the U-turn switch 2 has not been operated, the process returns to step S10. If it is determined that the U-turn switch 2 has been operated, the process proceeds to step S30. In step S <b> 30, the video switcher 13 issues a command for displaying the video captured by the camera 5 with a built-in door mirror to the display 1. Based on this command, the image captured by the door mirror built-in camera 5 is displayed on the display 1.

  In step S40 following step S30, it is determined whether or not the steering angle detected by the steering angle sensor 3 is the maximum value in the right direction, that is, whether or not the driver is turning the steering wheel to the maximum in the right direction. To do. If it is determined that the steering angle detected by the steering angle sensor 3 is the maximum angle in the right direction, the process proceeds to step S50. If it is determined that the steering angle is not the maximum angle in the right direction, the process returns to step S30. In step S50, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 4 is 0 km / h, that is, whether or not the vehicle has stopped. If it determines with a vehicle speed being 0 km / h, it will progress to step S70, and if it determines with it not being 0 km / h, it will progress to step S60.

  In step S60, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 4 is less than 20 km / h. If it determines with a vehicle speed being less than 20 km / h, it will return to step S30 and the display of the image | video imaged with the camera 5 with a built-in door mirror will be performed continuously. On the other hand, if it determines with a vehicle speed being 20 km / h or more, it will return to step S10. That is, when the vehicle speed is 20 km / h or higher, it is determined that the vehicle does not make a U-turn, and the screen of the display 1 is switched to the map display screen.

  If the steering angle is the maximum angle in the right direction and the vehicle speed is 0, the driver is predicted to make a U-turn, and the process of step S70 is performed. In step S70, the marker generator 11 creates a U-turn availability marker line. FIG. 4 is a diagram illustrating a method of creating a U-turn availability marker line. The center line of the vehicle 100 is L1, the line connecting the left and right rear wheels is L2, the center point of the semicircle drawn when the vehicle 100 makes a U-turn is 30, the intersection of the lines L1 and L2 is 31, and the vehicle 100 is U 32 is the outermost part when making a turn. In this case, the distance Rc between the center point 30 and the point 31 on the vehicle center line L1 is the minimum turning radius on the vehicle center line L1, and the distance between the center point 30 and the outermost portion 32 when making a U-turn. The distance Rf is the rotation radius of the portion where the rotation radius is the largest in the vehicle.

  In the U-turn, the line drawn by the portion 32 having the largest turning radius is L3. This line L3 is a locus drawn when a U-turn is made with the steering wheel turned to the maximum in the right direction, and is a semicircle having a radius Rf as shown in FIG. When the vehicle 100 makes a U-turn, it does not contact an object outside the semicircle drawn by the line L3, but may contact an object inside the semicircle.

  The U-turn availability marker line L4 is parallel to the center line L1 of the vehicle 100 and is in contact with the line L3 that draws a semicircle. That is, when the U-turn ends and the vehicle goes straight, it becomes a line obtained by extending the line drawn by the portion 32 that bulges on the outermost side during the U-turn. Here, since the U-turn is performed with the steering wheel turned to the maximum in the right direction, the U-turn availability marker line L4 is uniquely determined according to the position of the vehicle. Therefore, the marker generator 11 can prepare the U-turn availability marker line L4 in advance.

  If a U-turn availability marker line is created in step S70, the process proceeds to step S80. In step S <b> 80, the superimposer 12 performs a process of superimposing the U-turn availability marker line created by the marker generator 11 on the image captured by the door mirror built-in camera 5. The video switcher 13 issues a command to the display 1 for displaying a video on which the U-turn availability marker line is superimposed. Based on this command, the display 1 displays an image on which a U-turn availability marker line is superimposed.

  FIG. 5A and FIG. 5B are diagrams illustrating an example of an image on which a U-turn availability marker line is superimposed. In FIG. 5 (a), the U-turn availability marker line L4 is drawn on the road in the opposite lane, whereas in FIG. 5 (b), the U-turn availability marker line L4 is on the opposite lane side. It is drawn on top of 塀 40. As shown in FIG. 5 (a), when the U-turn availability marker line L4 does not overlap the block rod 40, it indicates that a U-turn can be made without switching back. On the other hand, as shown in FIG. 5 (b), when the U-turn availability marker line L4 overlaps the block rod 40, if the U-turn is performed without turning back, a part of the vehicle comes into contact with the block rod. Represents. Therefore, when the U-turn availability marker line displayed on the display 1 is displayed overlapping with an object such as a block fence existing on the opposite lane side, it is necessary to switch back at the time of the U-turn. Before performing the U-turn, the driver can determine whether or not the turn-back is necessary by viewing the video on which the U-turn availability marker line is superimposed.

  In step S90 following step S80, an approaching vehicle detection process is performed. The detailed content of the approaching vehicle detection process will be described with reference to the flowchart shown in FIG. In step S200, based on the signal input from the radar device 9, it is determined whether there is an oncoming vehicle approaching the host vehicle. If it is determined that there is no oncoming vehicle approaching the host vehicle, the process proceeds to step S100 in the flowchart shown in FIG. 3, and if it is determined that there is an oncoming vehicle approaching the host vehicle, the process proceeds to step S210.

  In step S210, the alarm device 10 is commanded to issue an alarm. Upon receiving this command, the alarm device 10 emits an alarm sound. Thus, when the driver is distracted by the U-turn and is not aware of the oncoming vehicle that is approaching, the driver can be warned and alerted. When the warning sound is emitted, the process proceeds to step S220. In step S220, a command for displaying on the display 1 that an oncoming vehicle is approaching is issued. Based on this command, the display 1 displays that the oncoming vehicle is approaching. This display can be performed using characters and pictures. When the display indicating that the oncoming vehicle is approaching is performed, the process proceeds to step S100 of the flowchart shown in FIG.

  In step S100 of the flowchart shown in FIG. 3, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 4 is 0 km / h. If it is determined that the vehicle speed is 0 km / h, the process returns to step S70. If it is determined that the vehicle speed is not 0 km / h, it is determined that the vehicle has started a U-turn, and the process proceeds to step S110. In step S <b> 110, the superimposer 12 performs a process of superimposing the predicted trajectory line created by the marker generator 11 on the video displayed on the display 1. The expected trajectory line is a movement trajectory drawn by the outermost part of the vehicle during the U-turn, and is the line L3 in the example shown in FIG.

  The video switcher 13 issues a command to the display 1 for displaying a video on which the U-turn enable / disable marker line and the predicted trajectory line are superimposed. Based on this command, the display 1 displays an image in which the U-turn availability marker line and the expected trajectory line are superimposed. The driver can check whether the U-turn enable / disable marker line and the predicted trajectory line are superimposed, so that it is possible to check whether or not a turn-back is necessary at the time of the U-turn and to check the expected course at the time of the U-turn. it can.

  In step S120 following step S110, an approaching vehicle detection process is performed again. Since the detailed content of the approaching vehicle detection process has been described using the flowchart shown in FIG. 6, detailed description thereof is omitted here. If an approaching vehicle detection process is performed, it will progress to step S130. In step S130, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 4 is less than 20 km / h. If it is determined that the vehicle speed is less than 20 km / h, it is determined that a U-turn is being performed, and the process returns to step S110. On the other hand, if it is determined that the vehicle speed is 20 km / h or higher, it is determined that the vehicle has shifted to the normal travel state, and the process of the flowchart shown in FIG. 3 is terminated.

  According to the vehicle driving support device in the embodiment, whether or not the U-turn can be performed without performing the turn based on the movement locus drawn by the outermost part of the vehicle when the vehicle makes a U-turn. A U-turn enable / disable marker line (auxiliary line) is determined, and the U-turn enable / disable marker line is superimposed on the image captured by the door mirror built-in camera 5 and displayed on the display 1. As a result, the driver can check the video displayed on the display 1 and the U-turn enable / disable marker line, and can easily determine whether or not a turn-back is necessary in the U-turn. Since it is possible to determine whether or not turning is necessary before the U-turn starts, it is possible to prevent a driver with inexperienced driving from bringing the vehicle into contact with a guardrail or a block fence on the opposite lane side. it can.

  Further, according to the vehicle driving support device in the embodiment, the U-turn availability marker line and the outermost part of the vehicle when the vehicle makes a U-turn are drawn on the image captured by the camera 5 with a built-in door mirror. The movement trajectory is superimposed and displayed on the display 1. Thereby, the driver can determine whether or not the turn-back is necessary at the time of the U-turn, and can confirm the locus drawn by the outermost side of the vehicle, so that the U-turn can be performed with peace of mind. .

  The present invention is not limited to the embodiment described above. For example, the camera 5 built in the door mirror is used as a camera for imaging the vehicle periphery, but a camera attached to the front end of the vehicle can also be used. FIG. 7 is an example of an image in which a U-turn availability marker line is superimposed on an image captured by a camera attached to the front end of the vehicle. In the example shown in FIG. 7, since the U-turn availability marker line is displayed so as to overlap the block fence 40 existing on the opposite lane side, it can be seen that turning is necessary at the time of the U-turn.

  In the approaching vehicle detection process, the oncoming vehicle approaching is detected by the radar device 9, but the following vehicle may be detected by sending a laser beam to the rear of the vehicle. Even in this case, when the approaching vehicle detection process is performed at the start of the U-turn and it is detected that the following vehicle is approaching, an alarm sound is emitted from the alarm device 10 to alert the driver.

  In the vehicle driving support device according to the embodiment described above, an example in which a U-turn is performed with the steering turned to the maximum in the right direction has been described. That is, the U-turn availability marker line L4 is created based on the movement locus drawn by the outermost part of the vehicle when making a U-turn with the steering wheel turned to the maximum in the right direction. However, even when a U-turn is performed without turning the steering to the maximum, a U-turn availability marker line can be created. That is, the steering angle sensor 3 detects the steering angle, calculates the movement locus drawn by the outermost part of the vehicle during the U-turn based on the detected steering angle, and based on the calculated movement locus, A U-turn availability marker line may be created.

  In the above-described embodiment, an example in which a U-turn is made in the right direction has been described. However, even when a U-turn is made in the left direction, the U-turn availability marker line can be superimposed and displayed on the image around the vehicle. it can. In this case, it is necessary to use a camera that can capture an image of the vehicle left direction. In the above-described embodiment, the U-turn has been described as an example of the direction change operation of the vehicle. However, the direction change operation is not limited to the U-turn, for example, a right or left turn in a narrow alley. May be an operation. Also in this case, an auxiliary line for determining whether or not a right / left turn can be made without making a turnover may be displayed on the display 1.

  When drawing the U-turn availability marker line, a conspicuous color such as red or orange can be used. In this case, it can be more easily grasped whether or not the turn-back is necessary.

  In the vehicle driving support device according to the above-described embodiment, when the steering angle detected by the steering angle sensor 3 is the maximum angle in the right direction and the vehicle speed detected by the vehicle speed sensor 4 is 0, the vehicle Predicted to make a U-turn, and the U-turn availability marker line was superimposed and displayed on the video imaged by the camera. However, the conditions for predicting that the vehicle will make a U-turn are not limited to those described above. For example, the U-turn may be predicted to be performed when the steering angle is equal to or greater than a predetermined angle and the vehicle speed is equal to or less than the predetermined speed.

  In the vehicle driving support device according to the embodiment described above, when the vehicle speed is 0, an image in which the U-turn availability marker line is superimposed is displayed. When the vehicle speed exceeds 0, the U-turn availability marker line and the U-turn availability marker line are displayed. An image in which the movement trajectory (predicted trajectory line) drawn by the outermost part of the vehicle is superimposed at the time of turn is displayed. However, if a determination vehicle speed for switching images is provided and the vehicle speed is equal to or less than the predetermined determination vehicle speed, an image with a U-turn enable / disable marker line is displayed, and if the vehicle speed exceeds the determination vehicle speed, the U-turn enable / disable You may make it display the image | video on which the marker line and the movement locus | trajectory which the outermost site | part of a vehicle draws at the time of a U turn were superimposed. In addition, when the vehicle speed exceeds the determination vehicle speed, the display 1 is switched from the image in which the U-turn availability marker line is superimposed to the image in which only the movement locus drawn by the outermost part of the vehicle at the U-turn is superimposed. Can also be displayed.

  The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the camera 5 with a built-in door mirror is the imaging means, the marker generator 11 is the movement trajectory calculating means and the auxiliary line creating means, the superimposer 12 is the auxiliary line superimposing means and the movement trajectory superimposing means, the display 1 is the display means, The steering angle sensor 3 constitutes a steering angle detection means, the control unit 6 constitutes a direction change prediction means, and the vehicle speed sensor 4 constitutes a vehicle speed detection means. In addition, the above description is an example to the last, and when interpreting invention, it is not limited to the correspondence of the component of said embodiment and the component of this invention at all.

The figure which shows the structure of the driving assistance device for vehicles in one embodiment. The figure which shows an example of the image | video imaged with the camera with a built-in door mirror The flowchart which shows the processing content performed by the driving assistance device for vehicles in one embodiment. The figure which shows the creation method of the marker line for U-turn FIG. 5A and FIG. 5B are diagrams showing an example of an image on which a U-turn availability marker line is superimposed. Flow chart showing detailed contents of approaching vehicle detection process The figure which shows an example of the image | video which superimposed the U-turn availability marker line on the image | video imaged with the camera attached to the front-end part of a vehicle

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Display, 2 ... U turn switch, 3 ... Steering angle sensor, 4 ... Vehicle speed sensor, 5 ... Camera with built-in door mirror, 6 ... Control unit, 7 ... Shift position sensor, 8 ... Navigation unit, 9 ... Radar device, 10 ... Alarm device, 11 ... Marker generator, 12 ... Superimposer, 13 ... Video switching machine, 20 ... Center line, 25 ... Right door mirror, 40 ... Block fence, 100 ... Vehicle

Claims (5)

Imaging means for imaging the surroundings of the vehicle;
A movement trajectory calculating means for calculating a movement trajectory drawn by the outermost part of the vehicle when the vehicle changes direction;
Based on the movement trajectory calculated by the movement trajectory calculation means, auxiliary line creation means for creating an auxiliary line for determining whether or not the direction change can be performed without performing turnover;
Auxiliary line superimposing means for superimposing the auxiliary line created by the auxiliary line creating means on the video imaged by the imaging means;
A vehicle driving support apparatus comprising: display means for displaying an image in which an auxiliary line is superimposed by the auxiliary line superimposing means. The vehicle driving support device according to claim 1,
Steering angle detecting means for detecting the steering angle of the vehicle,
The vehicle travel support apparatus according to claim 1, wherein the movement trajectory calculation means calculates the movement trajectory based on a steering steering angle detected by the steering angle detection means. In the vehicle driving assistance device according to claim 1 or 2,
The vehicle further comprises a direction change prediction means for predicting that the vehicle will change direction,
The display means displays a video on which the auxiliary line is superimposed when the direction change prediction means predicts that the vehicle will change direction. In the vehicle driving assistance device according to claims 1 to 3,
A moving track superimposing unit that superimposes a moving track drawn by the outermost part of the vehicle when the vehicle changes its direction on the image in which the auxiliary line is superimposed by the auxiliary line superimposing unit;
The vehicle driving support apparatus, wherein the display means displays a moving trajectory drawn by an outermost part of the vehicle and an image on which the auxiliary line is superimposed. In the vehicle driving support device according to claim 1,
Vehicle speed detection means for detecting the speed of the vehicle;
A movement trajectory superimposing unit that superimposes a movement trajectory drawn by the outermost part of the vehicle when the vehicle changes direction on the image captured by the imaging unit;
The display means displays an image in which the auxiliary line is superimposed when the vehicle speed detected by the vehicle speed detecting means is equal to or lower than a predetermined speed. When the vehicle speed exceeds the predetermined speed, the auxiliary line is superimposed. A vehicle driving support device, wherein the moving image is switched to a video on which the movement trajectory is superimposed.

Images