JP2007299047A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device allowing a driver to recognize the direction of a dead angle visually even when the driver is turning right or left at an intersection. <P>SOLUTION: The device comprises a photographing part 9 for photographing the surrounding of a user's vehicle 12, a travelling track detection part 8 for detecting the travelling track of a user's vehicle 12, an intersection detection part 4 for detecting the entry of a user's vehicle 12 to an intersection, and a control part 5 for controlling the photographing direction of the photographing part 9 at an intersection based on the travelling track of a user's vehicle 12. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device that images a direction (hereinafter simply referred to as a blind spot direction) that cannot be seen from a driver's seat with a camera (hereinafter simply referred to as an imaging unit) mounted on a vehicle at an intersection so that the driver can visually recognize the blind spot direction. It is about.

As shown in FIG. 10, the conventional driving support apparatus includes an intersection detection unit 4 that detects that the own vehicle 12 enters an intersection based on the vehicle position information 1 and the road map information 2, and the intersection angle of the intersection. And the control unit 5 that controls the direction in which the imaging unit 9 captures images based on the intersection angle, and the display unit 10 that displays the image captured by the imaging unit 9 on the screen. When entering, even if it is an intersection that crosses diagonally as shown in FIG. 11, the direction in which the imaging unit 9 images is set to the direction of the road that intersects at the intersection (see, for example, Patent Document 1).
JP 2003-127772 A

  However, the conventional driving support device disclosed in Patent Document 1 sets the direction in which the imaging unit captures an image when the vehicle enters the intersection, but the imaging unit captures an image when the vehicle turns left or right at the intersection. Since the direction is not changed, there is a problem that the driver cannot visually recognize the blind spot direction.

  The present invention has been made to solve the conventional problems, and an object of the present invention is to provide a driving support device that allows a driver to visually recognize the blind spot direction even when the vehicle is turning left or right at an intersection. And

  The driving support apparatus according to the present invention includes an imaging unit that captures an image of the periphery of a vehicle, a display unit that displays an image generated by the imaging unit, a traveling locus detection unit that detects a traveling locus of the vehicle, and the vehicle. It has a configuration comprising an intersection detection means for detecting entry into an intersection, and a control means for controlling the imaging means based on a travel locus of the vehicle at the intersection.

  With this configuration, when the vehicle turns left or right at the intersection, the driver can visually recognize the blind spot direction.

  Further, in the driving support device of the present invention, the intersection detection means makes a right turn or a left turn at the intersection when the vehicle enters the intersection based on vehicle position information, road map information, and course change information from a blinker switch. It has the structure which detects this.

  With this configuration, the imaging means can be controlled when the vehicle turns left or right at the intersection.

  Further, the driving support device of the present invention includes a front wheel angle detection unit that detects an angle of a front wheel of the vehicle, and a vehicle speed detection unit that detects a traveling speed of the vehicle, and the traveling locus detection unit includes: It has the structure which detects the traveling locus of the said vehicle based on the angle of the front wheel of a vehicle, and the traveling speed of the said vehicle.

  With this configuration, when the vehicle turns left or right at the intersection, the imaging means can be controlled based on the travel locus.

  Further, the driving support apparatus of the present invention has a configuration in which the control means controls the direction in which the imaging means images based on the intersection angle of the intersection.

  With this configuration, the direction in which the imaging unit captures an image can be controlled based on the intersection angle of the intersection.

  In the driving support apparatus according to the present invention, the control unit controls a direction in which the imaging unit captures an image at the intersection based on the vehicle position information and the travel locus.

  With this configuration, it is possible to control the direction in which the imaging unit captures an image based on the travel locus at the intersection.

  In the driving support device of the present invention, when the control unit travels at a speed lower than a preset threshold value at the intersection, the image capturing unit captures a direction in which the image capturing unit captures an image based on a travel locus of the vehicle. It has a configuration to change.

  With this configuration, the direction in which the imaging unit captures an image can be changed based on the traveling speed at the intersection.

  Further, the driving support apparatus according to the present invention has a configuration in which the control unit acquires an image for a required angle of view from an image generated by the imaging unit based on the vehicle position information and the travel locus. ing.

  With this configuration, a mechanism for changing the orientation of the imaging unit is not necessary, and the cost can be reduced. Further, it is possible to pick up an image with a wide angle of view and selectively display only the blind spot direction on the screen.

  The driving support apparatus of the present invention is configured such that the imaging unit has a plurality of cameras arranged to capture images around the vehicle, and the control unit changes a direction in which the plurality of cameras capture images. Have.

  With this configuration, images in a plurality of blind spots can be acquired by changing the directions in which the plurality of cameras capture images.

  In the driving support apparatus according to the present invention, the imaging unit includes one camera disposed toward the front of the vehicle and a prism disposed in front of the camera, and the camera passes through the prism. It has the structure which images the image of the left-right direction of the said vehicle.

  With this configuration, a single camera can simultaneously image a plurality of blind spots.

  In the driving support apparatus according to the present invention, the imaging unit includes one camera disposed toward the front of the vehicle and a plurality of mirrors disposed in front of the camera, and the camera includes the mirror. Via the left and right images of the vehicle.

  With this configuration, a single camera can simultaneously image a plurality of blind spots.

  In the driving support device of the present invention, the imaging means has one camera fixed to the vehicle facing the front of the vehicle and a wide-angle lens, and the camera captures an image via the wide-angle lens. Have.

  With this configuration, a mechanism for changing the orientation of the imaging unit is not necessary, and the cost can be reduced. Further, it is possible to pick up an image with a wide angle of view and selectively display only the blind spot direction on the screen.

  The present invention relates to an image pickup means for picking up the periphery of a vehicle, a display means for displaying an image generated by the image pickup means, a travel locus detection means for detecting a travel locus of the vehicle, and detecting that the vehicle enters an intersection. An intersection detection means that controls the direction in which the imaging means captures an image based on the vehicle's travel trajectory at the intersection, so that even when the vehicle is turning left or right at the intersection, It is possible to provide a driving support device having an effect that the direction can be visually recognized.

  Hereinafter, with reference to FIG. 1 thru | or 9, the driving assistance device which concerns on embodiment of this invention is demonstrated.

(First embodiment)
First, the configuration of the driving support apparatus according to the first embodiment of the present invention will be described.

  As shown in FIG. 1, the driving support apparatus detects an imaging unit 9 that images the periphery of the host vehicle 12, a display unit 10 that displays an image generated by the imaging unit 9, and a travel locus of the host vehicle 12. A traveling locus detection unit 8, an intersection detection unit 4 that detects that the own vehicle 12 enters the intersection, a control unit 5 that controls the imaging unit 9 based on the traveling locus of the own vehicle 12 at the intersection, and the own vehicle 12 The front wheel angle detection unit 6 that detects the angle of the front wheel of the vehicle and the vehicle speed detection unit 7 that detects the traveling speed of the host vehicle 12 are provided.

  The intersection detection unit 4 detects that the own vehicle 12 enters the intersection and turns right or left at the intersection based on the vehicle position information 1, the road map information 2 and the course change information 3 from the winker switch. It is supposed to be.

  The travel locus detector 8 detects the travel locus of the host vehicle 12 based on the angle of the front wheel of the host vehicle 12 and the travel speed of the host vehicle 12.

  The control unit 5 controls the direction in which the imaging unit 9 captures an image based on the intersection angle of the intersection.

  The control unit 5 controls the direction in which the imaging unit 9 captures an image at the intersection based on the vehicle position information 1 and the travel locus of the host vehicle 12, and the host vehicle 12 travels at a speed lower than a preset threshold at the intersection. The direction in which the imaging unit 9 captures an image is changed based on the traveling locus of the host vehicle 12.

  The intersections shown on the road map are classified based on the road width and the intersection angle.

  Next, with reference to FIGS. 3A to 3D, directions in which the imaging unit 9 of the driving assistance apparatus of the present embodiment captures images at a general intersection will be described.

  When the host vehicle 12 travels on a wide road and makes a left turn at an intersection that intersects with a wide road or an intersection that intersects with a narrow road, the control unit 5 performs either FIG. 3A or FIG. 3B. As shown in FIG. 4, the direction in which the left imaging unit 9 captures an image is changed to a direction that takes into account the prevention of curling. Further, when the own vehicle 12 travels on a narrow road and stops at an intersection that intersects with a narrow road or an intersection that intersects with a wide road and enters the intersection, the control section 5 3) As shown in FIG. 3D or FIG. 3D, the direction in which the two imaging units 9 capture the image in the left-right direction so that the other vehicle 13 traveling on the road intersecting the road on which the host vehicle 12 is traveling can be confirmed. It is supposed to change.

  Next, referring to FIG. 4, the direction in which the imaging unit 9 of the driving support apparatus of the present embodiment captures an image when the host vehicle 12 travels on a wide road and makes a left turn at an intersection that intersects a narrow road. Will be described.

  When the host vehicle 12 travels on a wide road and makes a left turn at an intersection that intersects a narrow road, the control unit 5 obtains an angle α1 in a direction in consideration of prevention of entrainment, as shown in FIG. The direction 21 taken by the imaging unit 9 is changed to the direction 22 in consideration of prevention of curling.

  On the other hand, when the host vehicle 12 travels on a narrow road and travels straight through an intersection that intersects the narrow road at an intersection angle α2, the control unit 5 crosses the narrow road with the narrow road as shown in FIG. α2 is acquired, and the direction 21 captured by the imaging unit 9 is changed to the direction 22 of the narrow road.

  Next, with reference to FIG.6 and FIG.7, operation | movement of the driving assistance device of the 1st Embodiment of this invention is demonstrated.

  As shown in FIGS. 6 and 7, the control unit 5 acquires the intersection angle α when entering the intersection, and changes the direction 21 captured by the imaging unit 9 to the direction 22 of the road having a narrow road width. In the intersection, the traveling locus detection unit 8 compares the approach direction of the host vehicle 12 when entering the intersection with the traveling track in the intersection, and outputs a deviation angle β with respect to the approach direction of the host vehicle 12 to the control unit 5. On the other hand, the control unit 5 changes the direction 22 captured by the imaging unit 9 to the direction of the road that intersects at the intersection according to the shift angle β with respect to the approach direction of the host vehicle 12 from the travel locus detection unit 8.

  As described above, according to the driving support apparatus of the first embodiment of the present invention, the imaging unit that images the periphery of the vehicle, the traveling locus detection unit that detects the traveling locus of the vehicle, and the vehicle enters the intersection. When the vehicle turns left or right at the intersection, the driver is provided with an intersection detection unit that detects that the vehicle is moving, and a control unit that controls the direction in which the imaging unit captures an image based on the travel locus of the vehicle at the intersection. The blind spot direction can be visually recognized.

  In addition, the driving support device of the present embodiment sets the direction in which the imaging unit captures an image based on the road width and the intersection angle of the intersection when it is detected that the control unit enters the intersection, and after entering the intersection When the vehicle turns left or right at the intersection, the imaging direction can be changed according to the road width and the intersection angle by changing the direction in which the imaging unit images based on the traveling locus of the vehicle.

(Second Embodiment)
With reference to FIG. 2, the driving assistance apparatus which concerns on the 2nd Embodiment of this invention is demonstrated. Among the components of the driving support apparatus according to the second embodiment, the same components as those of the driving support apparatus according to the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  The driving support device is mounted on the host vehicle 12 and, as shown in FIG. 2, an intersection detection unit 4, a control unit 5, a front wheel angle detection unit 6, a vehicle speed detection unit 7, and a travel locus detection unit 8 The imaging unit 9, the display unit 10, and the blind spot generation detection unit 11 are provided.

  When the traveling speed of the vehicle 12 falls below a preset threshold value within the intersection, that is, when blinding or stopping within the intersection is detected, the blind spot occurrence detection unit 11 is a blind spot different from that when entering the intersection. Is determined to have occurred.

  On the other hand, the control unit 5 changes the direction in which the imaging unit 9 captures an image based on the determination result of the blind spot generation detection unit 11.

  As described above, according to the driving support apparatus of the second embodiment of the present invention, the control unit changes the direction in which the imaging unit captures an image based on the determination result of the blind spot generation detection unit, so that the vehicle Even when turning left or right at the intersection, the driver can visually recognize the blind spot direction.

(Third embodiment)
Next, with reference to FIG.8 and FIG.9, the driving assistance device which concerns on the 3rd Embodiment of this invention is demonstrated. Only components that are different from the driving support devices according to the first and second embodiments will be described, and the same components as those of the driving support devices according to the first and second embodiments will be described with the same reference numerals. Is omitted.

  In the driving assistance apparatus according to the first and second embodiments, the plurality of in-vehicle cameras constituting the imaging unit 9 captures a plurality of directions, whereas the driving assistance apparatus according to the third embodiment. In this case, a single in-vehicle camera 33 images a plurality of directions.

  As shown in FIG. 8A, the imaging unit of the driving support apparatus includes an in-vehicle camera 33 and a prism 31, and as shown in FIG. It has become. On the other hand, the display unit 10 displays an image captured by the in-vehicle camera 33 on the screen.

  As shown in FIG. 8B, a mirror 32 may be provided instead of the prism 31.

  In addition, as illustrated in FIG. 9, the imaging unit may include a super-wide-angle lens and may image the front of the host vehicle 12 at an angle of view 35. In this case, the entire image is not displayed on the screen, but, for example, a part 36 of the image is cut out and only the cut out part is displayed on the screen. Therefore, two directions are displayed as shown in FIG. Equivalent to imaging at the same time.

  In the present embodiment, the case where only one imaging unit having a super-wide-angle lens is mounted is illustrated, but a plurality of imaging units having a super-wide-angle lens are mounted to cover the surroundings (omnidirectional) of the host vehicle. It may be. In this case, a driving unit for changing the orientation of the imaging unit is not necessary, and further, the delay in operation until the orientation is changed can be improved.

  As described above, since the driving support apparatus of the third embodiment images a plurality of directions with one in-vehicle camera, the same effect as the driving support apparatus of the first and second embodiments is obtained. You can expect.

  As described above, the driving support device according to the present invention updates the direction captured by the imaging unit to the blind spot direction according to the travel locus after entering the intersection, and allows the driver to visually recognize the blind spot direction. And is useful as a driving support device that supports driving of a vehicle.

The block diagram in which the structure of the driving assistance device which concerns on the 1st Embodiment of this invention was shown The block diagram in which the structure of the driving assistance device which concerns on the 2nd Embodiment of this invention was shown. The figure which showed typically the direction which the imaging part of the driving assistance device of 1st and 2nd embodiment imaged in four general intersections The figure which showed typically the direction which the imaging part of the driving assistance device of the 1st or 2nd embodiment of the present invention picturizes when approaching the illustrated intersection. The figure which showed typically the direction which the imaging part of the driving assistance device of the 1st or 2nd embodiment of the present invention picturizes when approaching the illustrated intersection. The figure which showed typically the direction which the imaging part of the driving assistance device of the 1st or 2nd embodiment of the present invention picturizes when approaching the illustrated intersection and in the intersection. (A) The figure which showed typically the direction which the imaging part of the driving assistance device of the 1st or 2nd embodiment of the present invention picturizes when approaching the intersection illustrated in Drawing 6, (b) FIG. 6 is a diagram schematically illustrating directions in which the imaging unit of the driving assistance apparatus according to the first or second embodiment of the present invention captures an image within the intersection illustrated in FIG. 6. (A) The figure which showed the imaging part with a prism of the driving assistance device of the 3rd Embodiment of this invention typically, (b) Imaging with a mirror of the driving assistance device of the 3rd Embodiment of this invention The figure which showed the part typically, (c) The figure which showed typically the direction which the imaging part of the driving assistance device of the 3rd Embodiment of this invention images The figure which showed typically the direction and the part cut out by the imaging part with a wide angle lens of the driving assistance device of the 3rd Embodiment of this invention Block diagram showing the configuration of a conventional driving support device The figure which showed typically the direction which an image pick-up part picturizes when a vehicle carrying the conventional driving support device makes a right turn at the intersection

Explanation of symbols

1 vehicle position information 2 road map information 3 course change information 4 intersection detection unit (intersection detection means)
5 Control unit (control means)
6 Front wheel angle detector (front wheel angle detector)
7 Vehicle speed detection part (vehicle speed detection means)
8 Traveling track detection unit (traveling track detection means)
9 Imaging unit (imaging means)
10 Display (display means)
11 Blind spot generation detection part (Blind spot detection means)
12 Self-vehicle 13 Other vehicle 21 Direction 22 imaged by imaging unit Direction 23 imaged by imaging unit when approaching intersection 23 Direction imaged by imaging unit at intersection 31 Prism 32 Mirror 33 In-vehicle camera 34 In-vehicle camera imaged direction 35 Wide-angle lens Direction taken by the attached imaging unit 36

Claims (11)

Imaging means for imaging the periphery of the vehicle;
Display means for displaying an image generated by the imaging means;
Traveling locus detection means for detecting the traveling locus of the vehicle;
An intersection detection means for detecting that the vehicle enters the intersection;
And a control means for controlling the imaging means on the basis of a travel locus of the vehicle at the intersection. The intersection detection means detects whether the vehicle enters the intersection and turns right or left at the intersection based on vehicle position information, road map information, and course change information from a blinker switch. Item 2. The driving support device according to Item 1. Front wheel angle detection means for detecting the angle of the front wheel of the vehicle;
Vehicle speed detecting means for detecting the traveling speed of the vehicle,
The driving assistance device according to claim 1, wherein the traveling locus detection unit detects a traveling locus of the vehicle based on an angle of a front wheel of the vehicle and a traveling speed of the vehicle. The driving support apparatus according to claim 1, wherein the control unit controls a direction in which the imaging unit captures an image based on an intersection angle of the intersection. The driving support device according to claim 1, wherein the control unit controls a direction in which the imaging unit captures an image at the intersection based on the vehicle position information and the travel locus. 2. The control unit according to claim 1, wherein when the vehicle travels at a speed lower than a preset threshold at the intersection, the control unit changes a direction in which the imaging unit captures an image based on a travel locus of the vehicle. The driving support device according to 1. The driving support device according to claim 1, wherein the control unit acquires an image for a required angle of view from an image generated by the imaging unit based on the vehicle position information and the travel locus. . The imaging means has a plurality of cameras arranged to capture images around the vehicle,
The driving support apparatus according to claim 1, wherein the control unit changes a direction in which the plurality of cameras capture images. The imaging means has one camera arranged toward the front of the vehicle, and a prism arranged in front of the camera,
The driving support apparatus according to claim 1, wherein the camera captures an image of the vehicle in the left-right direction through the prism. The imaging means has one camera arranged toward the front of the vehicle, and a plurality of mirrors arranged in front of the camera,
The driving support device according to claim 1, wherein the camera captures a left-right image of the vehicle through the plurality of mirrors. The imaging means has one camera and a wide-angle lens fixed to the vehicle toward the front of the vehicle,
The driving support apparatus according to claim 1, wherein the camera captures an image through the wide-angle lens.