JP2008217360A - Left/right turn supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a left/right turn supporting device for avoiding a corner on the turning side in turning to the left/right on a narrow road for supporting a driver to properly turn a vehicle. <P>SOLUTION: An avoidance point detector 2 acquires an avoidance point P, at which contact with a side face of one's own vehicle 10 on the turning direction side should be avoided, in the turning direction of the vehicle 10, an ECU 5 calculates a steering position Z, in which contact between the avoidance point P acquired by the avoidance point detector 2 and the turning directional side face of the vehicle 10 can be avoided by steering at a maximum steering angle of the vehicle 10, and a notification device 6 notifies the steering position Z calculated by the ECU 5 to the driver. In this way, the avoidance point P can be surely avoided when the driver turns a steering wheel at the maximum steering angle in the steering position Z, and the driver is supported to turn the vehicle 10 properly to the left/right on a narrow road while avoiding a turning side corner of a crossroad or a T-shaped road. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a right / left turn support device, and more particularly to a right / left turn support device that supports driving by notifying a driver of a steering position in a right / left turn on a narrow road.

2. Description of the Related Art Conventionally, there has been proposed a device that supports driving of an automobile when turning right or left on a crossing road or a T-shaped road. For example, in Patent Document 1, a sensor that detects a moving object approaching an intersection or a branch point, a control unit that performs identification of the moving object, a moving direction, a moving speed, and a distance based on the output of the sensor, There is disclosed a left turn vehicle assisting device that includes notification means for notifying a driver of a left turn car of moving body information based on an output of a control means. In the left turn vehicle support device of Patent Document 1, the driver can easily and surely confirm the left rear safety by informing the driver of the left turn vehicle of the moving body information.
JP-A-10-289400

  However, with the above technology, especially when turning right or left on a narrow road, the corner on the turning side at an intersection or T-shaped road becomes an obstacle due to the difference in the inner ring of the vehicle, and the vehicle cannot be turned appropriately. There is. In particular, when making a left turn, the driver may turn the steering wheel too quickly, rubbing the left side of the vehicle, dropping the rear wheel into a groove, or riding on a curb. When turning right or left on a narrow road, turning the steering wheel is difficult, especially for a driver who has little driving experience.

  The present invention has been made in view of such circumstances, and its purpose is to prevent the driver from turning corners on the turning side even when turning left or right on a narrow road so that the vehicle can bend appropriately. The object is to provide a left / right turn support device capable of supporting.

  According to the present invention, when the host vehicle is turning, an avoidance point acquisition unit that acquires an avoidance point that should avoid contact with a side surface of the host vehicle in the turning direction of the host vehicle, and an avoidance point acquisition unit Steering position acquisition means for calculating a steering position where contact between the avoidance point and the side surface on the turning direction side of the own vehicle can be avoided by steering with the maximum steering angle of the own vehicle, and the steering position calculated by the steering position acquisition means And a steering position notifying means for notifying a driver.

  According to this configuration, the avoidance point acquisition unit acquires the avoidance point that should avoid contact with the side surface of the host vehicle in the turning direction of the host vehicle, and the steering position acquisition unit acquires the avoidance point acquisition unit. A steering position where the contact between the avoidance point and the side surface on the side of the turning direction of the host vehicle can be avoided by steering with the maximum steering angle of the host vehicle is calculated, and the steering position notifying unit calculates the steering position calculated by the steering position acquiring unit. In order to notify the driver, the driver can reliably avoid the avoidance point by instructing a simple and easy-to-understand operation that only turns the steering wheel to the maximum steering angle at the steering position. In this case, it is possible to assist the driver so that the vehicle can bend appropriately by avoiding the corner on the turning side at the intersection or T-shaped road.

  In this case, the width acquisition means for acquiring the width of the road in the turning direction of the own vehicle, the width of the road in the turning direction of the own vehicle acquired by the width acquisition means, and an expected trajectory of the side surface opposite to the turning direction of the own vehicle By comparing whether or not a turn is possible by traveling in one direction at a time, and a turning possibility notification for notifying the driver of the turning possibility determined by the turning possibility determination means. And means.

  According to this configuration, the width acquisition unit acquires the width of the road in the turning direction of the host vehicle, and the turnability determination unit determines the turn of the road and the width of the road in the turning direction of the host vehicle acquired by the width acquisition unit. By comparing the direction and the expected trajectory of the side surface on the opposite side, it is determined whether or not a turn is possible by traveling in one direction at a time, and the turn availability notification means determines whether or not the turn determined by the turn availability determination means. In order to notify the driver of whether or not it is possible, the driver can recognize whether or not the vehicle can be turned in a single turn before turning right or left, and whether or not turning is necessary.

  In the present invention, it further comprises a visible light irradiation means for irradiating a place in the turning direction of the host vehicle with a visible light, and the avoidance point acquisition means avoids the place designated by the visible light irradiation means irradiating the visible light. Can be obtained as

  According to this configuration, the visible light irradiation means irradiates visible light in the turning direction of the host vehicle, and the avoidance point acquisition means acquires the place designated by the visible light irradiation means as the avoidance point. Therefore, the avoidance point acquisition means can acquire a place designated with high accuracy by irradiation with visible light as an avoidance point.

  On the other hand, in the present invention, the image processing device further includes an imaging unit that captures an image of the turning direction of the host vehicle, and a video display unit that displays the image captured by the imaging unit. A location specified on the displayed image can be acquired as an avoidance point.

  According to this configuration, the imaging unit captures an image in the turning direction of the host vehicle, the video display unit displays the image captured by the imaging unit, and the avoidance point acquisition unit is on the image displayed by the video display unit. Therefore, the avoidance point acquisition unit can acquire the location specified by the simple method as the avoidance point.

  According to the right / left turn assist device of the present invention, it is possible to assist the driver so that the vehicle can bend appropriately by avoiding the corner on the turning side even in the right / left turn on a narrow road.

  Hereinafter, a left / right turning support device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram illustrating a configuration of a left / right turn support device according to the first embodiment. The right / left turn assisting device of the present embodiment is configured using microcomputer hardware and software such as an ECU (Electric Control Unit), and particularly assists the driver when making a left turn on a T-junction entering a narrow road. This is to make the driver turn his / her vehicle appropriately even if the driver has little experience. As shown in FIG. 1, the right / left turn assisting device of this embodiment includes a start switch 1, an avoidance point detector (avoidance point acquisition means) 2, a travel distance detector 3, and a road width information providing device (width acquisition means) 4. , An ECU (steering position acquisition means, turning possibility determination means) 5 and a notification device (steering position notification means, turning possibility notification means) 6 are provided.

  The start switch 1 is for the driver to start and stop the right / left turn assist device. The start switch 1 is installed on the operation panel of the driver's seat and operated by the driver, and in conjunction with GPS (Global Positioning System) etc., automatically supports turning right and left when the vehicle approaches a narrow road The apparatus may be activated.

  The avoidance point detector 2 is for acquiring an avoidance point that should avoid contact with the side surface of the own vehicle in the turning direction of the own vehicle. FIG. 2 is a perspective view showing a driver's cab according to the first embodiment. As shown in FIG. 2, in this embodiment, the driver's seat is provided with a pointer (visible light irradiation means) 2a. The pointer 2a allows the driver to designate an avoidance point by irradiating visible light B to an arbitrary place in the turning direction of the host vehicle. The turning angle and the depression angle of the pointer 2a are output to the avoidance point detector 2, and the avoidance point detector 2 can acquire the place irradiated with the visible light B by the pointer 2a as the avoidance point.

  Returning to FIG. 1, the movement distance detector 3 is for detecting the movement distance of the host vehicle from an arbitrary place. Specifically, the moving distance detector 3 is a wheel speed sensor or the like that detects the number of rotations of the wheel of the host vehicle using a pulse signal.

  The road width information providing device 4 is for acquiring the width of the road in the turning direction of the host vehicle. Specifically, the road width information providing device 4 is a navigation system such as a GPS, and extracts width information of each road on which the vehicle is to travel from accumulated road map information.

  The ECU 5 is for calculating a steering position at which contact between the avoidance point acquired by the avoidance point detector 2 and the side surface on the side of the turning direction of the host vehicle can be avoided by steering with the maximum steering angle of the host vehicle. Further, the ECU 5 compares the width of the road in the turning direction of the own vehicle acquired by the road width information providing device 4 with the predicted trajectory on the side opposite to the turning direction of the own vehicle, thereby making one direction at a time. This is to determine whether or not the vehicle can turn by traveling.

  The notification device 6 is for notifying the driver of the steering position calculated by the ECU 6 in addition to displaying the activation state of the device to the driver. Further, the notification device 6 is for notifying the driver of whether or not turning is possible by a single travel in one direction determined by the ECU 6. Specifically, the notification device 6 corresponds to a buzzer, a lamp, and a display provided in the driver's seat.

  Next, the operation of the left / right turning support device of this embodiment will be described. FIG. 3 is a flowchart showing the operation of the right / left turn assisting apparatus according to the first embodiment, and FIG. 4 is a plan view showing a travel locus of the host vehicle according to the first embodiment. In the following description, it is assumed that the host vehicle makes a left turn on a narrow road.

  When turning left on a narrow road as shown in FIG. 4, the driver turns on the start switch 1 of the right / left turn assist device (S1). As shown in FIG. 4, hereinafter, an xy coordinate system is assumed in which the point on the side surface of the host vehicle 10 that is on the innermost side of the turn on the rear wheel axis of the host vehicle 10 is the origin O. The movement distance detector 3 and the ECU 5 reset the movement distance to 0 (S2).

  The avoidance point detector 2 acquires the coordinates of the avoidance point P by irradiating the visible light B to an arbitrary place in the turning direction by the operation of the driver (S3). As shown in FIG. 4, generally, the avoidance point P is designated as a corner of a corner that can be an obstacle to turning. As shown in FIGS. 5 and 6, the coordinates (x ′, y ′) of the avoidance point P are calculated with respect to the ground height h of the pointer 2 a installed in the host vehicle 10, the depression angle β, and the turning angle α of the pointer 2 a. It can be calculated by calculating y ′ = h / tan β and x ′ = y ′ tan α. Note that the coordinates (x ′, y ′) calculated as described above are coordinates based on the installation position of the pointer 2a, and accordingly, x− with the point on the side surface of the host vehicle 10 as the origin O as appropriate. Conversion to coordinates (a, b) in the y coordinate system is performed.

  The road width information providing device 4 acquires the width W of the left turn destination road from the road map information of the navigation system (S4).

The ECU 5 calculates the steering start position Z = (0, f) (S5). First, the ECU 5 calculates the center point Q (e, f) of the circle having the minimum turning radius Rin when turning left. When the safety margin distance is d, the center point Q (e, f) of the circle S with the radius d centered around the avoidance point P and the circle with the minimum turning radius Rin at the left turn that touches the y-axis at the same time However, it becomes the turning center when turning left. Here, the center point Q (e, f) is e = −Rin, f = b− | (Rin−d) ² − (a−e) ² | ^1/2 . From the center point Q (e, f), the steering start position Z = (0, f) is derived.

The ECU 5 determines from the width of the turning destination road acquired by the road width information providing device 4 whether or not standard support for making a left turn is possible while maintaining an interval of a margin distance d or more on the left and right of the vehicle 10 (S6). . Road width _{w d} required in this case, with respect to turning radius Rout of the right front portion of the vehicle passing through the outermost peripheral side at the time of left turn _is determined by w d = Rout + d-b + f. Further, the road width w _{a that} is absolutely necessary without considering the margin distance d is obtained by w _a = Rout−b + f.

ECU5 is, turn left destination of width W is, If you are a W ≧ w _d, perform the standard support as shown below. The own vehicle 10 starts slow driving, and the moving distance detector 3 adds up the moving distance of the own vehicle 10 (S7). When it is detected that the steering start position Z has been reached based on the movement distance accumulated by the movement distance detector 3 (S8), the driver is notified by the notification device 6 that the steering start position Z has been reached. (S9). When the driver is notified that the steering start position Z has been reached, the driver temporarily stops traveling the vehicle 10, steers the steering wheel to the maximum steering angle that locks the steering wheel to the left side, and then resumes traveling of the vehicle 10. To do.

On the other hand, ECU5 is, turn left destination of width W is, If you are a W <a w _d W> w _a, announced to the driver by the announcement device 6 to the effect that margin distance d is insufficient, continue to support (S10, S11). In addition, ECU5 is, turn left destination of width W is, if it is W <a w _d W ≦ w _a, in order to turn left destination of width is absolutely insufficient, announces that support is impossible The driver is notified by the device 6 and the support is stopped (S10, S12).

  In the present embodiment, the above procedure can safely turn left on a narrow road even for an inexperienced driver. In the above description, the calculation method of the steering start position Z when making a left turn at a right angle is shown. However, if there is information on the intersection angle of the road, it is possible to assist steering even when turning right and left at an acute angle and an obtuse angle. is there.

  Changing direction on a narrow road such as a left turn is a difficult driving operation especially for an unfamiliar driver such as a beginner driver due to the following characteristics of the vehicle. That is, (1) it is difficult for the driver to grasp the movement of the vehicle due to the inner wheel difference. (2) It is difficult for the driver to grasp the distance between the vehicle width and the total length. (3) Since it is difficult to see the left side and right front end of the vehicle, it is difficult for the driver to grasp the sense of distance. (4) The driver is difficult to grasp the sense of the vehicle's turning center and misunderstands that he / she turns around himself / herself, so that the timing of operating the steering wheel at the time of turning to the left, etc. is likely to be earlier, so it is sufficient to operate it properly. Even in narrow roads that can bend, it may become difficult to move at the corners.

  On the other hand, in the present embodiment, the avoidance point detector 2 acquires the avoidance point P that should avoid contact with the side surface of the own vehicle 10 in the turning direction of the own vehicle 10, and the ECU 5 avoids the avoidance point detector 2. Calculates the steering position Z at which the contact between the avoidance point P acquired by the vehicle 10 and the side surface on the turn direction side of the host vehicle 10 can be avoided by the steering by the maximum steering angle of the host vehicle 10, and the notification device 6 calculates the ECU 5 In order to notify the driver of the steering position Z, the driver can reliably avoid the avoidance point P by instructing a simple and easy-to-understand operation that simply turns the steering wheel to the maximum steering angle at the steering position Z. Even in a right or left turn on a narrow road, it is possible to assist the driver so that the vehicle 10 can bend appropriately by avoiding the corner on the turning side on a cross road or a T-shaped road.

  Further, according to the present embodiment, the road width information providing device 4 acquires the width of the road in the turning direction of the host vehicle 10, and the ECU 5 acquires the width in the turning direction of the own vehicle 10 acquired by the road width information providing device 4. By comparing the width of the road and the predicted trajectory of the side surface opposite to the turning direction of the host vehicle 10, it is determined whether or not turning is possible by traveling in one direction at a time. Therefore, the driver can recognize whether or not the turn can be completed by one turn before turning right and left, and whether or not a turn is necessary.

  In particular, according to the present embodiment, the pointer 2a irradiates visible light in the turning direction of the host vehicle 10, and the avoidance point detector 2 acquires a place designated by the pointer 2a irradiating visible light as an avoidance point. Therefore, the avoidance point detector 2 can acquire a place designated with high accuracy by irradiating visible light as an avoidance point. That is, in this embodiment, since the coordinates of the avoidance point P are calculated from the depression angle β and the turning angle α of the pointer 2a, the accuracy depends on the resolution of the angle measuring device of the pointer 2a, and a high-resolution sensor is used. Thus, it is possible to calculate the coordinates of the avoidance point P with high accuracy.

  Hereinafter, a second embodiment of the present invention will be described. As shown in FIG. 7, in this embodiment, a camera 2c that captures an image on the turning side of the host vehicle 10 and a touch panel 2b that displays an image captured by the camera 2c as shown in FIGS. Prepare. In the present embodiment, as shown in FIG. 9, the avoidance point detector 2 acquires a place designated on the touch panel 2 b by the driver as the avoidance point P.

  According to the present embodiment, the camera 2c captures an image in the turning direction of the host vehicle 10, the touch panel 2b displays an image captured by the camera 2c, and the avoidance point detector 2 displays an image displayed by the touch panel 2b. Since the place designated by the driver above is obtained as the avoidance point P, the avoidance point detector 2 can obtain the place designated by the simple method as the avoidance point P. In particular, according to the present embodiment, a display device used in other systems such as a navigation system can be used together, a dedicated input device is unnecessary, and the avoidance point P can be designated by a simple operation.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made. For example, in the above-described embodiment, an aspect in which an avoidance point is acquired by designation by a driver has been mainly described. However, the present invention is not limited to this, and the right / left turn assist device automatically acquires an avoidance point. It may be a thing. Specifically, for example, by a method of acquiring an avoidance point using an avoidance point stored in advance in a navigation system or the like, information provided from the outside using any one of road-to-vehicle communication and vehicle-to-vehicle communication You may perform the method etc. which calculate an avoidance point automatically based on the method of acquiring an avoidance point, and the data of various sensors, such as a vehicle-mounted camera.

It is a block diagram which shows the structure of the left-right turn assistance apparatus which concerns on 1st Embodiment. It is a perspective view which shows the driver's cab concerning 1st Embodiment. It is a flowchart which shows operation | movement of the left-right turn assistance apparatus which concerns on 1st Embodiment. It is a top view which shows the driving | running | working locus | trajectory of the own vehicle which concerns on 1st Embodiment. It is a side view which shows the method of acquiring the avoidance point which concerns on 1st Embodiment. It is a top view which shows the method of acquiring the avoidance point which concerns on 1st Embodiment. It is a top view which shows the method of acquiring the avoidance point which concerns on 2nd Embodiment. It is a perspective view which shows the driver's cab which concerns on 2nd Embodiment. It is a figure which shows the method of acquiring the avoidance point which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Start switch, 2 ... Avoidance point detector, 2a ... Pointer, 2b ... Touch panel, 2c ... Camera, 3 ... Movement distance detector, 4 ... Road width information provision apparatus, 5 ... ECU, 6 ... Notification apparatus, 10 ... Own vehicle, P ... Avoidance point.

Claims (4)

Avoidance point acquisition means for acquiring an avoidance point to avoid contact with a side surface of the own vehicle in the turning direction in the turning direction of the own vehicle during turning of the own vehicle;
Steering position acquisition means for calculating a steering position where contact between the avoidance point acquired by the avoidance point acquisition means and the side surface on the side of the turning direction of the own vehicle can be avoided by steering with the maximum steering angle of the own vehicle; ,
Steering position notifying means for notifying the driver of the steering position calculated by the steering position acquiring means;
A left / right turn support device. Width acquisition means for acquiring the width of the road in the turning direction of the host vehicle;
The vehicle turns in one direction by comparing the width of the road in the turning direction of the own vehicle acquired by the width acquisition means with the predicted trajectory on the side opposite to the turning direction of the own vehicle. A turning availability judging means for judging whether or not the vehicle is possible;
A turning possibility notification means for notifying the driver of the turning possibility determined by the turning permission determination means;
The left-right turn support device according to claim 1, comprising: Further comprising visible light irradiation means for irradiating visible light to a place in the turning direction of the vehicle,
The left / right turn assist device according to claim 1, wherein the avoidance point acquisition unit acquires a place designated by the visible light irradiation unit by irradiating visible light as the avoidance point. Imaging means for capturing an image of the turning direction of the host vehicle;
Video display means for displaying an image captured by the imaging means;
Further comprising
The left / right turn support device according to claim 1, wherein the avoidance point acquisition unit acquires a location designated on the image displayed by the video display unit as the avoidance point.

Images