JP2010039953A - Drive support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive support device configured to display a guide index on an image of the rear side of a vehicle, which allows a driver to arbitrarily set a predetermined distance to the rear from the vehicle to be designated by the guide index. <P>SOLUTION: The device includes an imaging means 10 which images the rear side of the vehicle 60; a display means 30 which displays an original image 12 captured by the imaging means 10; a generation means 40 which generates the guide index 41 designating a predetermined distance to the rear from the vehicle 60; a superimposing means which superimposes the guide index 41 on the original image 12 to be displayed on a display means 30; and an adjustment means 50 which changes the display form of the guide index 41. The generation means 40 generates the guide index 41 indicating a specific distance to the rear from the vehicle 60 in the instruction form selected by the adjustment means 50. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device, and more particularly, to a device that displays a guide index that indicates a distance from the host vehicle in a superimposed manner on an image of the rear side of the host vehicle.

  When a vehicle is traveling on a road having a plurality of lanes, the vehicle may change the lane in which the vehicle is traveling for overtaking, turning left, turning right, or the like. When changing the lane, the driver confirms that the other vehicle following the adjacent lane to be changed is not traveling with the door mirror or the rearview mirror of the own vehicle.

  However, the field of view behind or behind the vehicle is limited only by the door mirror or the rearview mirror. Furthermore, in order for the driver to look at the rear-view mirror located at the center front and above in the passenger compartment and the door mirrors located at the left and right front doors, the direction of line of sight must be changed significantly, Was necessary.

Therefore, a technology has been developed to widen the field of view and to capture the rear or rear side of the vehicle with a photographing device such as a camera so that the line of sight does not move much and display the captured image on the display in the passenger compartment. In order to support driving according to the traveling state of the host vehicle, a technique is also known in which a guide indicator serving as a guide for a distance from the vehicle and a traveling direction is displayed on a screen displayed by the device. For example, a technique for automatically changing a guide index of an expected trajectory according to a steering angle when a host vehicle such as parking is moved backward is disclosed (see, for example, Patent Document 1). In addition, a technique for automatically changing a guide index superimposed on an image that displays the rear side of the host vehicle in accordance with the surrounding situation and vehicle motion is disclosed (for example, see Patent Document 2). .
Japanese Patent No. 3183284 JP 2007-334666 A

  There are some differences in driving methods and methods of checking the surroundings of the vehicle. For example, while driving on a road having a plurality of lanes on one side, when the driver tries to change lanes, the driver grasps the distance between the vehicle and another vehicle traveling behind the vehicle. For this reason, it is often seen that an index of a sense of distance is arbitrarily set. This indicator is, for example, a break of a guardrail, a chain portion of a one-dot chain line center line that divides the passing lane and the driving lane, and various indicators depending on the experience and preference of the driver or the driving behavior at that time (Mark) is selected.

  The technique disclosed in Patent Document 1 or Patent Document 2 is set to a predetermined observation position outside the host vehicle, or the guide index is automatically changed from the traveling state of the host vehicle. Accordingly, the guide index cannot be changed to match the driver's preference or the like.

  However, it is preferable that the device that displays the rear side of the host vehicle to assist the driver's vision when changing the lane, displays a guide index that is a distance guide that matches the driver's experience and preferences. In other words, when the guide position is displayed at a predetermined distance as in the prior art, it is more secure to change the display position according to the driver's preference and driving behavior when changing lanes. Can be provided.

  The present invention is a driving in which a driver arbitrarily sets a predetermined distance from the host vehicle instructed by a guide index and displays the guide index superimposed on an image of the rear side of the captured vehicle. An object is to provide a support device.

  In order to solve the above problem, an embodiment of the present invention is a driving support device that displays an image of the periphery of the vehicle so that the driver can see the image, and captures the rear side of the vehicle. Imaging means, display means for displaying the original image taken by the imaging means, generation means for generating a guide indicator for instructing a predetermined distance from the host vehicle, and superimposing the guide indicator on the original image Superimposing means for displaying on the display means and adjusting means for changing the instruction form of the guide index, and the generating means is a designated distance from the host vehicle to the rear in the instruction form selected by the adjusting means. It is characterized by generating a guide index for instructing.

  According to the said structure, the driver | operator can set arbitrarily the display position of the guide parameter | index displayed by superimposing on the image which imaged the back side of the own vehicle. By displaying the guide index at a position where the driver can easily drive, it is possible to improve driving comfort and enhance driving feeling.

  In another embodiment of the present invention, the guide indicator is a virtual partition set at a position that substantially divides between the travel lane of the host vehicle captured in the original image and a lane adjacent to the travel lane. From the line, the intersection of the virtual partition line displayed in the original image and the virtual second partition line arranged in parallel on the side facing the virtual partition line across the adjacent lane, or Extending a predetermined distance in the direction across the adjacent lane to the virtual auxiliary line drawn through the area between the virtual partition line and the virtual second partition line toward the intersection of these extension lines It is characterized by being displayed.

  According to the above-described configuration, in the present embodiment, when the guide indicator is displayed on the adjacent lane, for example, the distance at which the driver displays the guide indicator by displaying the guide indicator from the virtual partition line to the virtual auxiliary line. Even if it is a case where it changes, it can change only by moving a guide parameter | index along a virtual partition line. Such an operation can be image-processed by a car navigation system or the like, and can be performed without adding new hardware, thereby preventing an increase in cost and weight.

  Another embodiment of the present invention is characterized in that the guide indicator is a strip-like display extending in a direction substantially orthogonal to the virtual partition line.

  According to the above configuration, in this embodiment, the driver can easily visually recognize the approximate distance from the other vehicle by looking at the difference between the head of the other vehicle traveling behind and the belt-shaped guide indicator. .

  Another embodiment of the present invention is characterized in that the adjusting means can change at least one of a display width, a length, and a color of the guide indicator.

  According to the said structure, this embodiment can change the display form of a guide parameter | index according to a driver | operator's preference and visibility.

  In another embodiment of the present invention, the adjusting means changes a designated distance from the own vehicle indicated by the pre-selected guide indicator by selecting a new distance, and the generating means A guide index indicating the new distance selected by the means is generated.

  According to the said structure, this embodiment can be changed into the distance which displays a guide parameter | index suitable for each driver | operator's experience, preference, or the driving action at that time.

  In another embodiment of the present invention, the generating means increases a specified distance from the selected own vehicle to the rear, and reduces a movement amount of the displayed guide indicator from the own vehicle to the rear. It is characterized by.

  According to the above configuration, the present embodiment can display a stereoscopic guide index with a perspective according to the one-way perspective method that is one of the perspective methods, and the driver can easily grasp the sense of distance.

  Another embodiment of the present invention is characterized in that the distance to be selected is restricted to the rear of the vehicle.

  According to the above configuration, the present embodiment can prevent the guide index from disappearing from the display unit even if the driver erroneously operates the adjustment unit. In addition, it is possible to prevent the driver from setting a distance that is likely to make a determination error.

  In another embodiment of the present invention, the superimposing means generates the generation when the adjustment means changes a designated distance from the host vehicle indicated by the preselected guide indicator by selecting a new distance. The modified specified distance from the vehicle to the rear is superimposed on the original image together with the guide index generated by the means.

  According to the above configuration, in the present embodiment, when the driver operates the adjusting unit to change the distance of the guide index, the display unit displays whether the distance of the guide index after the change is the intended range. Can be confirmed. Furthermore, when the driver erroneously operates the adjusting means and the designated distance of the guide index is changed, the driver can know that the erroneous operation has been performed by displaying the distance.

  In another embodiment of the present invention, the superimposing unit superimposes the changed specified distance from the own vehicle to the rear on the original image together with the guide index generated by the generating unit, and the display unit The distance is displayed in the vicinity of the guide index.

  When the driving state changes from a general road to a highway or from a highway to a general road, not only the speed but also the width of the lane and the degree of the curve of the road will change, and it will take some time until the driver's vision gets used. Is required. Also, depending on the circumstances around the road, such as passing through a tunnel, it may be difficult for the driver to get a sense of perspective.

  According to the said structure, even if this embodiment encounters the above scenes, the driver | operator can grasp | ascertain a back distance feeling by the designated distance displayed near the guide parameter | index.

  Another embodiment of the present invention is characterized in that the superimposing means displays a narrower width of the displayed guide index as the specified distance from the selected own vehicle to the rear becomes longer.

  According to the above-described configuration, this embodiment can display a stereoscopic guide index with a perspective, following a one-way perspective method, which is one of the perspective images, and makes it easier for the driver to grasp the sense of distance. .

  In another embodiment of the present invention, an identifier that associates one driver with an instruction form of a guide index selected by the one driver, storage means for storing the instruction form, and the identifier is input. Input means, and when an identifier is input to the input means, the storage means outputs the instruction form corresponding to the identifier, and the superimposing means corresponds to the instruction form based on the instruction form. The guide index to be displayed is superimposed on the display means.

  According to the above-described configuration, even if another driver drives the vehicle and changes settings such as the distance and display mode of the guide indicator, the driver does not make detailed adjustments. By inputting the identifier in the input means, the user's own setting recorded instantaneously is called up, and the driving support device can be returned to the original state.

  In another embodiment of the present invention, the display unit restores the display after a lapse of a predetermined time after the adjustment unit is operated, while the adjustment unit is operated again within the predetermined time. It is characterized by maintaining the display.

  According to the above configuration, for example, if the driver sets a distance and a certain time elapses, the display returns to the original image map information, the rear side image normally used during traveling, etc. It does not require a lot of trouble. On the other hand, when further adjustment is performed, a certain period of time is obtained, which is convenient.

  According to the present invention, the driving assistance that arbitrarily sets a predetermined distance from the host vehicle indicated by the guide index and displays the guide index superimposed on the rear side image of the captured vehicle. An apparatus can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of an overall configuration including a driving support apparatus according to the present embodiment.

  In this embodiment, as shown in FIG. 1, a photographing means 10 for photographing the rear side of the own vehicle, a display means 30 for displaying the original image 12 photographed by the photographing means 10, and a predetermined rearward from the own vehicle. Generating means 40 for generating a guide index 41 for instructing the distance of the image, superimposing means 20 for displaying the superimposed image 42 on the display means 30 by superimposing the guide index 41 on the original image 12, and an indication form of the guide index Adjusting means 50 to be changed. Furthermore, an identifier that associates one driver with an instruction form of a guide index selected by one driver, a storage unit 80 that stores the instruction form, and an input in which the identifier is input to the storage unit 80 The driver's instruction form stored in the storage unit 80 is sent to the adjustment unit 50.

  The photographing means 10 is, for example, a camera 11 disposed in a lower part of a door mirror (not shown) in a direction in which the rear side of the own vehicle can be photographed. The image 12 is once sent to the superimposing means 20 and displayed by the display means 30. The camera 11 is a camera having a wide-angle lens in order to widely shoot the rear side, but is not limited thereto.

  When the driver adjusts the adjusting means 50 and designates or selects a distance from the rear of the own vehicle or a display form or the like for which the guide indicator 41 is to be displayed, the designated contents are sent to the generating means 40. A guide index 41 is generated.

  The superimposing unit 20 takes in the original image 12 and the guide index 41 and causes the display unit 30 to display a superimposed image 42 in which both are superimposed.

  When the display form of the guide index previously selected by the driver is stored in the storage means 80, the driver inputs his / her identification number or the like into the input means 81, so that the adjustment means 50 each time he gets on. Therefore, it is not necessary to input the display form of the guide index 41, and the display form can be easily set.

  Next, an example of the displayed screen will be described with reference to FIG. FIG. 2 is an explanatory diagram of a display screen viewed by the driver.

  The display means 30 also serves as the display 31 of the car navigation system. The superimposed image 42 is an image in which the original image 12 and the guide index 41 are superimposed.

  The original image 12 is, for example, an image obtained by horizontally flipping an image captured by the camera 11 disposed at the lower part of the left door mirror (not shown) in the vehicle traveling direction. There is a traveling lane 73 and an adjacent lane 70 where the own vehicle is traveling in order from the right in the figure, and corresponds to a white line or a yellow line that separates the traveling lane 73 from the adjacent lane 70. The second partition line 72 arranged in parallel on the side facing the partition line 71 with the partition line 71 and the adjacent lane 70 interposed therebetween is shown. FIG. 2 shows a scene in which another vehicle 61 is traveling in the adjacent lane 70 and behind the host vehicle 60.

  The guide index 41 superimposed on the original image 12 is a belt-like line extending from the partition line 71 in the direction crossing the adjacent lane 70, but this display is an example and is not limited. In the vicinity of the guide index 41, a position 44 where the band of the guide index 41 is drawn, that is, a distance display 44 from the host vehicle specified by the driver, is displayed. In FIG. 2, “20 m” is displayed. Yes. The display width, length, color, and the like of the guide index 41 can be changed according to the driver's preference and the like. For example, it is possible to display a circular zone on the road (not shown).

  Such display may be always displayed, but only when the guide index 41 is adjusted, by displaying the distance, the image can be simplified and easy to see. The distance can be arbitrarily set based on the driver's preference and experience. In addition, it is possible to display the auxiliary line as a guide for the distance at 5 m, 10 m, etc. only when the distance is set, thereby facilitating the setting of the distance.

  FIG. 3 is an explanatory plan view of the relationship between the host vehicle 60 and the other vehicle 61 in FIG. 2 viewed from above. When the host vehicle is traveling in the direction of the arrow in FIG. 3, the guide index 41 at a distance L1 from the rear end of the host vehicle 60 to the guide index 41 is displayed in FIG. 2. Here, the distance L1 is set in advance in consideration of the road and driving conditions. However, as will be described later, the distance L1 can be changed according to the driver's preference and the like.

  In this way, by displaying the guide index 41 superimposed on the original image 12 at the specified distance L1, the driver can match the preference, experience, and driving state from the positional relationship between the other vehicle 61 and the guide index 41. It is possible to easily grasp the sense of distance between the own vehicle 60 and the other vehicle 61.

  Next, an example of generating the guide index 41 will be described with reference to FIG. FIG. 4 shows an overlapping screen 42 similar to that in FIG. 2 in the lower part, and is an explanatory diagram schematically showing means for generating the guide index 41 in the upper part.

  In FIG. 4, a virtual partition line 77 and a second virtual partition line 78 are lines that are set and stored in advance assuming the partition line 71 and the second partition line 72, and are actually drawn on the road. The partition line 71 and the second partition line 72 do not necessarily match. Depending on the position of the own vehicle 60 in the travel lane 73, there is a slight deviation between the two, but there is no problem in assisting the driver's visual recognition while traveling on the travel lane 73.

  As shown in the lower part of FIG. 4, the virtual partition line 77 and the virtual second partition line 78 that appear in the original image 12 form an acute angle that intersects in the upper part of FIG. 4. The virtual partition line 77 and the virtual second partition line 78 are extended as indicated by a broken line that extends upward, and a point where the two intersect is defined as an intersection CP. A virtual auxiliary line 74 is drawn downward from the intersection CP between the virtual partition line 77 and the virtual second partition line 78. In the direction crossing the adjacent lane 70, the interval between the virtual partition line 77 and the virtual auxiliary line 74 increases as it goes from the intersection CP to the host vehicle 60 or downward in FIG. This spread gives the driver a sense of perspective, and a belt-shaped guide indicator 41X drawn from the virtual partition line 77 toward the virtual auxiliary line 74 at the position X, and the virtual auxiliary line 74 from the virtual partition line 77 at the position Y. Compared with the guide index 41X, the guide index 41Y has a narrower width in the transverse direction of the adjacent lane 70 than the guide index 41X. You can feel distant without a sense of incongruity.

  Further, as compared with the guide index 41X, if the thickness of the band of the guide index 41Y is decreased at a rate at which the width is decreased, a perspective display can be performed.

  The previously set virtual partition line 77 and virtual second partition line 78 are not displayed on the superimposed image 42. That is, in the superimposed image 42, a partition line 71 and a second partition line 72 included in the original image 12 are displayed.

  Further, the virtual auxiliary line 74 described above is not displayed in the superimposed image 42 and is arbitrarily drawn between the virtual partition line 77 and the virtual second partition line 78 in the generation unit 40 (see FIG. 1). . That is, the virtual auxiliary line 74 is a line with the intersection point CP as the center of rotation, and the generation unit 40 is newly redrawn according to the display form of the guide index 41, and the guide index 41 is displayed.

  Thus, this embodiment can display a stereoscopic guide index with a sense of perspective, and the driver can easily grasp the sense of distance.

  The above-described processing for generating the virtual auxiliary line 74 and the guide index 41 is set in advance for a standard road. However, the display form of the guide index 41 can be changed according to the driver's preference and the like.

  Next, with reference to FIG. 5 and FIG. 6 and with reference to FIG. 1 as necessary, an operation example of the driving support apparatus according to the present embodiment will be described. FIG. 5 is a front view of an operation panel serving as the adjusting unit 50, and FIG. 6 is an explanatory diagram illustrating an example of switching transition of images displayed on the display unit 30.

  The operation panel 51 shown in FIG. 5 is provided with a door mirror angle adjustment switch, which is often disposed on an instrument panel (not shown) on the right side of the handle in a so-called right-hand drive domestic automobile. The operation panel 51 is also used as a panel for the door mirror.

  In addition, this operation panel is not limited to the case where it also serves as a panel for a door mirror in this way, and needless to say, for example, can be provided as a setting item in the car navigation system.

  The operation panel 51 includes a push button-like means changeover switch SW1 provided at the upper part, a left / right changeover switch SW2 that can be switched between “L” and “R” provided in the middle, and up / down / left / right four directions. And an angle adjustment switch SW3 having four divided push switches.

  The means selector switch SW1 switches the operation panel 51, which is normally operated as a door mirror angle adjustment switch, to the operation panel 51, which is an adjustment means of the driving support device according to the present embodiment, when the driver presses a button-like circular portion. Switch.

  When the camera 11 of the photographing means 10 is disposed on the right side surface and the left side surface of the own vehicle, the left / right changeover switch SW2 is set to the left / right switch according to the driver's request, for example, the direction of the lane to be changed. The photographing means 10 is switched to one of the cameras 11 and 11.

  The angle adjustment switch SW3 adjusts the display form of the guide index 41 based on the image of the rear side of the host vehicle switched to the left / right changeover switch SW2. The driver can set the guide index 41 suitable for him / her by adjusting the angle adjustment switch SW3 according to his / her preference, experience, traveling state, and the like. As an example of the setting, when the guide index 41 is a belt-like one, the switch FS is continuously pressed to increase the distance from the vehicle to the rear, while the switch NS is set to decrease the distance. Just press and hold. The distance indicated by the guide index 41 can be set freely to some extent, but it is preferable to provide a limit in the short distance direction. This is because, when used as a guideline for determining whether or not to change lanes, if it is displayed at an excessively close position, even if it is a guide indicator set at the driver's will, it may induce a dangerous determination. . Moreover, even when the driver sets the short distance by mistake, the danger can be suppressed by applying the restriction.

  Then, when the width of the guide indicator 41 is wide (for example, close to the full width of the adjacent lane), the switch WS is kept pressed. On the other hand, when the width is narrowed, the switch CS is kept pressed. These are only examples, and the display form of the guide index 41 that can be adjusted is, for example, changing the thickness of the band of the guide index 41, selecting the color of the band, or adding light and shade to the color. It is also possible.

  Next, an example of specific switching transition will be described with reference to FIGS.

  The display 31 (see also FIG. 2) of the car navigation system displays map information during normal travel (D1). The operation panel 51 functions as a door mirror angle adjustment switch (C1).

  When the means switch SW1 is pushed by the driver (C2: SW1 is ON), the driving support device (see FIG. 1) is activated (C3).

  The driving support device switches the display 31 to the superimposed image 42 (D2). Thereafter, the driver can adjust the image and the guide index using the operation panel 51, but the description is omitted.

  When a predetermined time elapses after the means switch SW1 is turned on (C2) (C4: Yes), the driving support device determines whether or not an operation is performed within this elapsed time (C5). . When the operation is being performed, the elapsed time is reset and the driving support device continues to operate (C5: Yes). When the operation is not performed, the driving support device ends the operation, causes the operation panel 51 to function as a door mirror angle adjustment switch, and switches the display 31 to map information (C6, D3).

  Here, although not shown in FIG. 6, when the means changeover switch SW1 is turned on in the range from C2 to C5, the driving support device ends its operation and functions the operation panel 51 as a door mirror angle adjustment switch. The display 31 is switched to map information (C6, D3).

  Even when using the door mirror angle adjustment switch as described above, or when adding it as a setting for a car navigation system, there is almost no new hardware to add, and cost increases and weight increases are suppressed. Can do. Further, in the operation panel 51 of FIG. 5, even when it is desired to adjust the door mirror angle and the position of the guide line while comparing the door mirror and the monitor, the position of the switch to be operated and the operation method are the same. There is no hassle of having to operate the arranged switches in different ways, and it is possible to easily adjust the switches.

  Next, a modified example of the guide index 41 will be described with reference to FIGS. FIGS. 7 and 8 are embodiments in which a strip-shaped guide index is superimposed on an original image. In each figure, (a) is an example of a superimposed image, and (b) is an explanatory plan view of the guide index viewed from the sky. It is.

  When two guide indicators 41a and 41b are drawn at right angles to the virtual partition line 77 as viewed from above, as shown in FIG. 7B, the display 31 is displayed on the display 31 as shown in FIG. In the displayed superimposed image 42, the guide indices 41a and 41b are not parallel to the horizon 15. However, an accurate distance can be expressed by such display.

  On the other hand, depending on the driver, it may be preferable that the guide index 41 is parallel to the horizon 15. In this case, as shown in FIG. 8 (a), for example, the intersections between the virtual partition line 77 and the guide indicators 41a and 41b are set as distances designated by the driver, and the strip-shaped guide indicators 41a and parallel to the horizon 15 are used. It is also possible to superimpose 41b.

  An example of a method of giving an inclination to the guide index 41 described in FIG. 7 and making the distance of the guide index 41 as a band more accurate will be described with reference to FIG. FIGS. 9A and 9B are views of the same viewpoint as FIGS. 7 and 8, in which FIG. 9A is an example of a superimposed image, and FIG. 9B is an explanatory plan view when the guide index is viewed from the sky.

  As shown in FIG. 9B, in FIG. 9, in addition to FIGS. 7 and 8, the adjacent lane 70 is divided by lattice lines 75 and 76 at equal intervals. The grid lines 75 and 76 are set in advance and are not displayed in the actual superimposed image 42 (see FIG. 1).

  Drawing of the grid lines 75 and 76 will be described with reference to FIG. As shown in FIG. 9 (b), the host vehicle 60 is placed on any grid line (FIG. 9) on an actual floor or road surface on which mesh lines (lattice lines 75, 76 or grids) at equal intervals are drawn. In (b), it stops along the grid line 76).

  A camera (not shown) is arranged on the left door mirror toward the head of the host vehicle, and the grid lines 75 and 76 are photographed by this camera. The optical axis of the camera is adjusted based on the captured image. The image adjusted in this way is an image of the grid lines 75 and 76 shown in FIG.

  The setting of the guide index 41 based on these grid lines 75 and 76 will be described. As shown in FIG. 9 (a), the interval between the plurality of grid lines 76,... It becomes. First, the two grid lines 76 are extended upward, and the intersection is defined as a vanishing point (not shown).

  Next, display of the inclination of the guide index 41 will be described. An angle θ formed by a grid line 75 (lattice line 75 in FIG. 9B) positioned at the rear end of the vehicle 50 displayed in the actually captured image with the horizontal direction of the screen in FIG. , And the angles of the other grid lines 75 are measured in the same manner. The relationship between the distance from the rear end of the host vehicle 60 and the angle θ is obtained using the plurality of measurement results.

  And when the distance which displays the guide parameter | index 41 is set, the guide parameter | index 41a, 41b which inclined the angle (theta) according to the distance is displayed.

  In addition to the above description, as shown in FIG. 9 (a), a perspective view of FIG. 9 (b) is obtained based on the one-point perspective method, which is one of the perspective methods using the intersection point CP as a vanishing point. Alternatively, the lattice line 76 may be used.

  A plurality of grid lines 76 in the traveling direction of the host vehicle in FIG. 9B are drawn with the intersection point CP described in FIG. 4 as a base point. The distance between the grid lines 76 and 76 is set so as to be wide when approaching the host vehicle and narrow when it is far away in proportion to the inclination of the grid line 76 in the traveling direction of FIG.

  Similarly to the lattice line 76, the lattice line 75 is applied with a one-point perspective method with the intersection point CP as the vanishing point, and can be the lattice shown in FIG.

  The guide index 41 is also set with the same inclination θ as that of the grid line 75 in accordance with the one-point perspective method as described above. The set guide index 41 is superimposed on the original image 12, and a superimposed image 42 is generated.

  The preferred embodiments of the present invention have been described above. The present invention is not limited to the one described in the drawings, and design changes can be made without departing from the spirit of the present invention.

It is a block diagram of the whole structure containing the driving assistance device which concerns on embodiment. It is explanatory drawing of the display screen which a driver | operator sees. It is the plane explanatory view which looked at the relationship between the own vehicle and other vehicle of Drawing 2 from the sky. The lower part represents the same superimposed screen as that of FIG. 2, and the upper part is an explanatory diagram schematically showing a means for generating a guide index. It is a front view of the operation panel used as an adjustment means. It is explanatory drawing which shows the Example of the switching transition of the image which a display means displays. It is the Example which superimposed the strip | belt-shaped guide parameter | index on the original image, (a) is an example of a superimposed image, (b) is plane explanatory drawing which looked at the guide parameter | index from the sky. It is the Example which superimposed the strip | belt-shaped guide parameter | index on the original image, (a) is an example of a superimposed image, (b) is plane explanatory drawing which looked at the guide parameter | index from the sky. It is the Example which superimposed the strip | belt-shaped guide parameter | index on the original image, (a) is an example of a superimposed image, (b) is plane explanatory drawing which looked at the guide parameter | index from the sky.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Image | photographing means 11 Camera 12 Original image 15 Horizon 20 Superimposition means 30 Display means 31 Display 40 Generation means 41 Guide index 42 Superimposed image 44 Distance display 50 Adjustment means 51 Operation panel 60 Own vehicle 61 Other vehicle 70 Neighboring lane 71 Dividing line 72 Second 2-partition line 73 traveling lane 74 virtual auxiliary line 75,76 grid line 77 virtual partition line 78 virtual second partition line 80 storage means 81 input means CP intersection SW1 means changeover switch SW2 left / right changeover switch SW3 angle adjustment switch

Claims (12)

A driving support device that displays an image of the periphery of the vehicle in a visible manner to the driver,
Photographing means for photographing the rear side of the vehicle;
Display means for displaying an original image taken by the photographing means;
Generating means for generating a guide index indicating a predetermined distance from the host vehicle to the rear;
Superimposing means for superimposing the guide index on the original image and displaying on the display means;
Adjusting means for changing the instruction form of the guide index,
The driving unit is a driving support device that generates a guide index that instructs a specified distance from the host vehicle to the rear in an instruction form selected by the adjusting unit. The guide indicator is
From a virtual partition line set at a position that substantially divides between the traveling lane of the host vehicle captured in the original image and a lane adjacent to the traveling lane,
The intersection of the virtual partition line displayed on the original image and the virtual second partition line arranged in parallel on the side facing the virtual partition line across the adjacent lane, or an extension thereof To the virtual auxiliary line drawn so as to pass through the region between the virtual partition line and the virtual second partition line toward the intersection of the lines,
The driving support device according to claim 1, wherein the driving support device is displayed extending a predetermined distance in a direction crossing the adjacent lanes.   The driving support device according to claim 2, wherein the guide index is a strip-shaped display extending in a direction substantially orthogonal to the virtual partition line.   The driving support device according to any one of claims 1 to 3, wherein the adjustment unit can change at least one of a display width, a length, and a color of the guide indicator. The adjustment means changes a designated distance from the host vehicle indicated by the guide index selected in advance by selecting a new distance,
The driving support device according to any one of claims 1 to 4, wherein the generation unit generates a guide index that indicates the new distance selected by the adjustment unit.   The driving support device according to claim 5, wherein the generation unit increases a specified distance from the selected own vehicle to the rear and reduces a movement amount of the displayed guide index from the own vehicle to the rear. .   The driving assistance device according to claim 5 or 6, wherein the selected distance is regulated behind the host vehicle.   The superimposing means, together with the guide index generated by the generating means, when the adjusting means changes the designated distance from the host vehicle indicated by the preselected guide index by selecting a new distance. The driving support device according to any one of claims 5 to 7, wherein the changed specified distance from the host vehicle to the rear is superimposed on the original image. The superimposing unit superimposes the changed designated distance from the changed vehicle on the original image together with the guide index generated by the generating unit,
The driving support apparatus according to claim 1, wherein the display unit displays the distance in the vicinity of the guide index.   10. The superimposing means causes the designated distance from the selected vehicle to the rear to become longer and displays the width of the displayed guide index narrowly. 10. Driving assistance device. An identifier that associates one driver with the instruction form of the guide index selected by the one driver, and storage means for storing the instruction form;
Input means for inputting the identifier,
When an identifier is input to the input means, the storage means outputs the instruction form corresponding to the identifier,
The driving support apparatus according to any one of claims 1 to 10, wherein the superimposing unit superimposes and displays a corresponding guide index on a display unit based on the instruction form. The display means includes
After a predetermined time after the adjusting means has been operated, the display is restored,
On the other hand, the driving support device according to any one of claims 1 to 11, wherein the display is maintained when the adjusting unit is operated again within the predetermined time.

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