JP2010041488A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve convenience by appropriately supporting an driving operation of a driver. <P>SOLUTION: This driving support device 10 includes: an external camera 11 imaging a peripheral region on the front side in the traveling direction of one's own vehicle; a display device 15 displaying an image imaged by the external camera 11; a display control part 33 adjustably superposing and displaying the position of the own vehicle and an end position allowing the own vehicle to travel thereto on the image displayed by the display device 15; and an estimation track calculation part 35 calculating a movement estimation track of the own vehicle based on the position of the own vehicle and the end position allowing the own vehicle to travel thereto. The display control part 33 superposes and displays the movement estimation track on the image displayed by the display device 15. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device.

2. Description of the Related Art Conventionally, for example, a device that performs a shipping operation by driving a vehicle from outside the vehicle by using a remote control device is known (see, for example, Patent Document 1).
JP 2006-44484 A

By the way, in the apparatus according to an example of the above-described prior art, the driver only allows the operation of the remote control device by the driver, and for example, it has become difficult to leave due to a change in the environment around the parking position. Even in this case, the decision on the possibility of leaving the car will be left to the situation judgment only by the driver's visual recognition. If a misjudgment occurs, an extremely advanced driving operation may be required. It is desired to improve convenience for operation.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device capable of appropriately supporting a driving operation of a driver and improving convenience.

  In order to solve the above-described problems and achieve the object, the driving support device according to the first aspect of the present invention is configured to change the traveling direction of the host vehicle when the traveling direction is changed from the stop position. A driving support device that displays a trajectory, and that displays an image picked up by the image pickup means (for example, the external camera 11 in the embodiment) for picking up a peripheral region ahead of the traveling direction of the host vehicle, and an image picked up by the image pickup means. Display means (for example, display device 15 in the embodiment) and own vehicle position superimposing means for superimposing and displaying the position of the host vehicle on the image displayed by the display means (for example, display control in the embodiment) Unit 33) and a travelable end position superimposing unit that superimposes and displays the travelable end position of the host vehicle on the image displayed by the display unit (for example, the display control unit 33 in the embodiment also serves as). The advanceable end Based on the first adjusting means (for example, the display device 15, the steering angle sensor 22, and the display control unit 33 in the embodiment), the position of the host vehicle, and the travelable end position. A calculation means for calculating the movement prediction locus (for example, the prediction locus calculation unit 35 in the embodiment) and a display control means for superimposing and displaying the movement prediction locus on the image displayed by the display means (for example, The display control unit 33 in the embodiment also serves as).

  Furthermore, the driving assistance apparatus according to the second aspect of the present invention includes a steering angle state quantity detection unit (for example, the steering angle sensor 22 in the embodiment) that detects the steering angle state quantity related to the actual steering angle of the host vehicle. The display control means superimposes the predicted movement trajectory of the rear wheel of the host vehicle on the image displayed by the display means based on the steering angle state quantity detected by the steering angle state quantity detection means. indicate.

  Further, in the driving support device according to the third aspect of the present invention, the display control means includes a rear end position of the host vehicle in the backward trajectory when the predicted movement trajectory includes a backward trajectory due to a turnover movement of the own vehicle. Is superimposed on the image displayed by the display means.

  Furthermore, the driving assistance apparatus according to the fourth aspect of the present invention is a second adjusting means capable of adjusting the position of the host vehicle (for example, the display device 15, the steering angle sensor 22, and the display control unit 33 in the embodiment). Is provided.

  Furthermore, the driving support apparatus according to the fifth aspect of the present invention is a notification means (for example, the display device 15 in the embodiment, which notifies the execution of a predetermined driving operation in accordance with the position of the host vehicle and the predicted movement trajectory. A speaker 16) is provided.

  Furthermore, the driving support apparatus according to the sixth aspect of the present invention includes a side object detection unit capable of detecting an object present on the side of the host vehicle, the object detected by the side object detection unit, and the host vehicle. Selection means (for example, the operation switch 14 in the embodiment) that enables the operator to select whether or not to execute the movement in the reverse direction of the traveling direction to be moved by an input operation of the operator Is provided.

  Furthermore, the driving support apparatus according to the seventh aspect of the present invention comprises an upper limit number setting means for setting the upper limit number of executions of the reversing movement, and the calculation means calculates the movement prediction trajectory according to the execution upper limit number of times. To do.

  Furthermore, the driving assistance apparatus according to the eighth aspect of the present invention includes angle changing means (for example, the side mirror actuator 17 in the embodiment) that changes the angle of the side mirror of the own vehicle according to the position of the own vehicle. Prepare.

According to the driving support apparatus according to the first aspect of the present invention, the movement prediction trajectory calculated based on the position of the host vehicle and the advancing end position when moving from the stop position is superimposed and displayed on the image of the surrounding area of the host vehicle. By making it possible for the driver to easily recognize the entire movement prediction trajectory, the driver can easily check the relative position of the obstacle and the movement prediction trajectory that exist around the host vehicle, Convenience for the driving operation of the driver can be improved.
Moreover, the advancing end position can be adjusted by the driver, and the driver's intention can be appropriately reflected in the calculation of the movement prediction trajectory.

  According to the driving assistance apparatus according to the second aspect of the present invention, the steering angle state quantity (for example, the actual steering angle (steering angle) or the steering angle (the steering angle input by the driver) of the host vehicle is determined. Based on the direction and size, etc.), the movement prediction trajectory of the rear wheel of the host vehicle is superimposed on the image of the surrounding area of the host vehicle, so that the presence or absence of contact between the obstacle and the host vehicle can be determined. The driver can easily recognize it, and the convenience for the driver's driving operation can be improved.

  According to the driving support apparatus according to the third aspect of the present invention, the rear end position of the host vehicle in the backward trajectory is superimposed and displayed on the image of the surrounding area of the host vehicle, so that the host vehicle and the obstacle can be obstructed even when the host vehicle is moving backward. The relative position can be easily confirmed by the driver, and the convenience of the driver for driving operation can be improved.

  According to the driving support apparatus of the fourth aspect of the present invention, the position of the host vehicle displayed superimposed on the image of the surrounding area of the host vehicle can be adjusted by the driver, and the accuracy of the position of the host vehicle is improved. be able to.

  According to the driving support apparatus according to the fifth aspect of the present invention, it is possible to notify the execution of the predetermined driving operation at an appropriate timing so that the own vehicle can actually move according to the movement prediction trajectory, Convenience for the driving operation of the driver can be improved.

  According to the driving support apparatus according to the sixth aspect of the present invention, the single direction (left turn or right turn) by the driver is determined according to, for example, the relative positions of the objects present on the left and right sides of the host vehicle. Even in the case where the traveling direction that can be moved only by steering is limited, the traveling direction that can be moved can be expanded by combining the previous steering in the reverse direction. Can be selected by the operator's input operation, the driver's intention (that is, the intention to select the traveling direction) can be appropriately reflected in the calculation of the movement prediction trajectory.

According to the driving support device of the seventh aspect of the present invention, the convenience for the driving operation of the driver is improved by setting the upper limit number of times of the reversing movement in advance or by the driver's input operation. Can do.
According to the driving support apparatus of the eighth aspect of the present invention, the driver can easily view the surrounding area using the side mirror by changing the angle of the side mirror of the own vehicle according to the position of the own vehicle. It is possible to improve the convenience for the driving operation of the driver.

Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
A driving support apparatus 10 according to the present embodiment is mounted on a vehicle, and as shown in FIG. 1, for example, an external camera 11 capable of imaging the external environment of the vehicle and a millimeter wave for detecting an object existing around the vehicle. The radar 12, the vehicle state sensor 13, the operation switch 14, the display device 15, the speaker 16, the side mirror actuator 17, and a processing device 18 configured by an electronic circuit including a CPU and the like are configured. Yes.

  For example, as shown in FIG. 2, the external camera 11 includes a front camera 11a having a front peripheral area as an imaging area, a rear camera 11b having a rear peripheral area as an imaging area, and a left-side peripheral. A left side camera 11c having an imaging region as an imaging region and a right side camera 11d having an imaging region as a peripheral region on the right side. Predetermined image processing such as binarization processing or the like is performed, and image data composed of pixels of a two-dimensional array is generated and output to the processing device 18.

  For example, as shown in FIG. 2, the millimeter wave radar 12 is a beam scan type radar that is disposed on both the left and right sides of the front portion of the host vehicle and the left and right sides of the rear portion thereof. The detection area set in the direction is divided into a plurality of areas in the angle direction, and each area is operated to transmit a millimeter wave transmission signal, and each transmission signal is reflected by an object outside the host vehicle. The reflected signal generated by this is received and output to the processing device 18.

The vehicle state sensor 13 includes, for example, a wheel speed sensor 21 that detects the rotational speed (wheel speed) of the driven wheel and a steering angle (for example, the direction and magnitude of the steering angle input by the driver) as the vehicle state quantity of the host vehicle. Or a steering angle sensor 22 for detecting an actual steering angle (steering angle) corresponding to the steering angle.
The operation switch 14 outputs various command signals according to the driver's operation input.

The display device 15 can superimpose and display the position of the host vehicle, the advancing end position, the movement prediction locus, and the like on the image captured by the external camera 11 under the control of the processing device 18. Various command signals are output according to the touch operation.
The speaker 16 outputs various sound outputs and warning sounds under the control of the processing device 18.
The side mirror actuator 17 includes a motor (not shown) for changing the angles of the left and right side mirrors ML, MR of the vehicle, and is driven by the control of the processing device 18 to change the angles of the side mirrors ML, MR. To do.

  The processing device 18 includes, for example, an object detection unit 31, a vehicle position detection unit 32, a display control unit 33, an operation detection unit 34, a predicted trajectory calculation unit 35, an output control unit 36, and an angle control unit 37. It is configured with.

  Based on the image data output from the external camera 11 and the signal output from the millimeter wave radar 12, the object detection unit 31 detects objects (for example, other vehicles, structures, pedestrians, etc.) existing in the external environment of the host vehicle. Detect size and position.

  The own vehicle position detection unit 32 detects the relative position of the own vehicle with respect to an object (for example, another vehicle, a structure, a pedestrian, etc.) existing in the outside of the own vehicle based on a signal output from the millimeter wave radar 12. Based on signals output from sensors that detect the running state of the host vehicle, such as the wheel speed sensor 21 and the steering angle sensor 22, the position of the host vehicle that travels is detected.

  The display control unit 33 displays the image data output from the external camera 11 on the display screen 15 a of the display device 15, and displays based on the detection results output from the object detection unit 31 and the vehicle position detection unit 32. The position of the host vehicle and the advancing end position are superimposed on the image data displayed on the display screen 15a of the device 15.

For example, as shown in FIG. 3, the position of the host vehicle on the image data is a rectangular frame figure (outer frame) N including the outer shape of the host vehicle VP, and a rectangular shape larger than the outer frame N by a predetermined value. And a frame-shaped figure (recognition frame) M. The size and position of the recognition frame M are determined by the touch operation by the operator on the display screen 15a or the steering angle detected by the steering angle sensor 22 (for example, the direction and the magnitude of the steering angle input by the driver). It is possible to adjust according to the above.
The size and position of the recognition frame M are adjusted by displaying a schematic diagram ZA overlooking the host vehicle VP and an object (for example, another vehicle VR) existing around the host vehicle VP as shown in FIG. In the state displayed on the screen 15a, or as shown in FIG. 5, for example, the left front image ZB1, the right front image ZB2, and the rear image ZB3 of the host vehicle VP are connected and displayed on the display screen 15a. It is executed in the state.

Further, the travelable end position of the host vehicle on the image data is, for example, as shown in FIG. 6, the position of the road end in the traveling direction in which the host vehicle should move, the relative position of an object (for example, another vehicle, etc.), etc. And a turning trajectory with a radius that is larger by a predetermined value than the minimum turning radius, for example, according to the movement trajectory of the tip position of the host vehicle (for example, the front left and right end positions of the outer frame N). It is displayed by the position etc. The position of the line segment UL is determined by the touch operation by the operator on the display screen 15a or the steering angle detected by the steering angle sensor 22 (for example, the direction and magnitude of the steering angle input by the driver). It can be adjusted accordingly.
The adjustment of the position of the line segment UL is executed in a state where an image ZC of a predetermined area ahead of the host vehicle in the traveling direction is displayed on the display screen 15a, for example, as shown in FIG.

In addition, the display control unit 33 displays an image of the movement prediction trajectory of the host vehicle output from the prediction trajectory calculation unit 35, which will be described later, on the display screen 15a of the display device 15, as shown in FIGS. Overlaid on the data.
For example, as shown in FIG. 7, the movement prediction trajectory EL of the host vehicle includes a recognition frame M at the initial stop position of the host vehicle and an outer frame N at each of a plurality of different movement positions, along with the forward direction of the host vehicle. The image is superimposed and displayed on the image ZC in a predetermined area.
In the display screen 15a shown in FIG. 7, the left front image ZB1 and the right front image ZB2 of the host vehicle VP are further located at positions that do not interfere with the movement prediction trajectory EL, the recognition frame M, and the outer frame N. For example, when each image ZB1 or ZB2 is selected by a touch operation by the operator on the display screen 15a, for example, as shown in FIG. 8, only the images ZB1 and ZB2 are displayed on the display screen 15a. Enlarged display.

  In the display screen 15a shown in FIG. 8, the movement trajectory of a predetermined position of the own vehicle according to the movement prediction trajectory EL of the own vehicle, for example, the inner wheel trajectory IL at the time of turning, A position trajectory (for example, a trajectory up to a reachable retreatable end position) RL or the like is superimposed on each image ZB1 and ZB2. These movement trajectories (that is, the inner wheel trajectory IL, the rear end position trajectory RL, etc.) are touched by the operator on the display screen 15a or the steering angle detected by the rudder angle sensor 22 (for example, driving). The direction and magnitude of the steering angle input by the user can be adjusted, and the movement predicted trajectory EL of the host vehicle is calculated again according to this adjustment.

Further, for example, as shown in FIG. 9 and FIG. 10, the display control unit 33 displays the driver's driving on the image data displayed on the display screen 15 a of the display device 15 according to the position when the host vehicle is traveling. Display various messages and various images to support
For example, in the display screen 15a shown in FIG. 9 and FIG. 10, the straight travel arrival end position at which the front end position of the host vehicle (for example, the front end position of the outer frame N, etc.) reaches due to the straight travel of the host vehicle in the movement prediction locus EL is For example, a graphic AR (for example, an arrow or the like) and a number AQ (for example, +1...) That are displayed by a line segment SL or the like and visually indicate the distance to the straight travel end position together with the outline frame N corresponding to the position of the host vehicle. 0m, + 0.5m, etc.) are displayed.

  The operation detection unit 34 is based on a command signal output from the operation switch 14 or a command signal output from the display device 15 in response to a touch operation on the display screen 15a. A command signal is output to 35.

  The predicted trajectory calculation unit 35 includes a vehicle state quantity (for example, a steering angle or an actual steering angle (steering angle) output from the steering angle sensor 22) output from the vehicle state sensor 13 and an object detection unit. 31, the detection result of the size and position of an object existing in the outside of the host vehicle output from the host vehicle 31, the detection result of the position of the host vehicle output from the host vehicle position detection unit 32, and the operator on the display screen 15 a Based on the command operation output from the operation detection unit 34 in response to the touch operation by the operator or the input operation of the operator with respect to the operation switch 14, the movement predicted trajectory of the host vehicle is calculated.

  The predicted trajectory calculation unit 35 combines the respective trajectories so that an object such as another vehicle or a road edge does not enter the trajectories when the vehicle VP goes straight and turns with the outer frame N of the host vehicle VP, for example. Calculate. For example, when turning, as shown in FIG. 3, predetermined positions on the outer frame N, such as an inner ring side front end position Fi, an inner ring side rear wheel position Wi, an inner ring side rear end position Ri, and an outer ring side front end position, are shown. Fo, outer wheel side rear wheel position Wo, outer wheel side rear end position Ro, and rear wheel center position (that is, center position between inner wheel side rear wheel position Wi and outer wheel side rear wheel position Wo) A are set. Is done. For example, as shown in FIG. 11, when the rear wheel center position A rotates at the turning radius R, the rotation locus TWi of the inner wheel side rear wheel position Wi and the rotation locus Tfo of the outer wheel side front end position Fo It is set so that objects such as other vehicles, road edges, etc. do not enter the area sandwiched between.

For example, when moving a vehicle from a parking position such as a garage, the predicted trajectory calculation unit 35 calculates a movement predicted trajectory using the position of the host vehicle and the travelable end position as variables, and the position of the host vehicle and the travelable end. The position is calculated based on the vehicle state quantity of the host vehicle output from the vehicle state sensor 13 and the detection results output from the object detection unit 31 and the host vehicle position detection unit 32. A vehicle state quantity of the host vehicle that is output from the vehicle state sensor 13 in response to a steering input by the user, a command signal that is output from the operation detection unit 34 in response to a touch operation by the operator on the display screen 15a, and the like. Will be adjusted accordingly.
Further, the predicted trajectory calculation unit 35 uses, as calculation conditions, the upper limit number of times of turning back (the upper limit number of times of turning movement) and the possibility of swinging (whether or not advance movement can be performed in the direction opposite to the traveling direction to be moved). Predetermined initial values are set in advance for the upper limit number of times and whether or not the head can be swung, and the vehicle state quantity of the host vehicle output from the vehicle state sensor 13 or the operator for the operation switch 14 in accordance with the driver's steering input or the like. It can be changed by a command signal output from the operation detection unit 34 in accordance with the input operation.

  In addition, the predicted trajectory calculation unit 35 receives a command signal instructing the confirmation of the movement predicted trajectory from the operation detection unit 34 in response to a touch operation by the operator on the display screen 15a or an input operation of the operator with respect to the operation switch 14. When output, the display control unit 33, the output control unit 36, and the angle control unit generate command signals for assisting the driving of the driver according to the determined movement predicted trajectory and the position at the time of traveling of the host vehicle. To 37.

The output control unit 36 controls the output of the speaker 16 in accordance with, for example, a command signal output from the predicted trajectory calculation unit 35, and outputs voice messages and warning sounds of various messages for assisting the driver's driving. Is output.
The angle control unit 37 performs drive control of the side mirror actuator 17 in accordance with, for example, a command signal output from the predicted trajectory calculation unit 35. Support visual movement.

  The driving support device 10 according to the present embodiment has the above-described configuration. Next, the operation of the driving support device 10 will be described.

First, for example, in step S01 shown in FIG. 12, image data output from the external camera 11 is acquired.
In step S02, the vehicle state quantity output from the vehicle state sensor 13 is acquired.
In step S03, based on the vehicle state quantity of the host vehicle output from the vehicle state sensor 13 and the detection results output from the object detection unit 31 and the host vehicle position detection unit 32, the position of the host vehicle and Sets the initial value for the advanceable end position.
In step S04, the image data, the position of the host vehicle, and the initial value of the travelable end position are displayed.

  For example, as shown in FIGS. 13 and 14, when the host vehicle VP is moved from a parking position such as a garage and other vehicles VR exist on the left and right and in front of the host vehicle VP, first, the outer shape of the host vehicle VP And a recognition frame M that includes left and right boundary positions LE and RE that define a safe area that does not contact the left and right other vehicles VR of the host vehicle VP while including the outer frame N. Then, the forward advancing end position where the host vehicle VP can reach is set by the line segment UL so as not to contact the other vehicle VR in front of the host vehicle VP.

In step S05, the position of the host vehicle displayed along with the image data and the advanceable end position are changed as needed in accordance with the driver's steering input or the touch operation by the operator on the display screen 15a. It is determined whether or not confirmation of the position and the advanceable end position is instructed.
If the determination result is “NO”, the determination process of step S05 is repeatedly executed.
On the other hand, if this determination is “YES”, the flow proceeds to step S 06.
Then, in step S06, the calculation conditions for the upper limit number of times of switching and the possibility of swinging are acquired.

And in step S07, the process of the movement estimated locus calculation mentioned later is performed.
In step S08, the movement prediction trajectory is displayed together with the image data.
For example, as shown in FIG. 13, when the host vehicle VP is moved from a parking position such as a garage, in a state where other vehicles VR exist on the left and right and in front of the host vehicle VP, a predetermined number of times is determined by only one straight travel and one turn. In the case where the vehicle can move in the traveling direction (for example, the direction bent to the left from the parking position), for example, as shown in FIG. A movement predicted trajectory EL including a position C reached by turning from the position F is displayed together with the recognition frame M and the outer frame N. For example, as shown in FIG. 15B, on the display screen 15a of the enlarged display of the image ZB1 at the left front part and the image ZB2 at the right front part of the host vehicle VP, only the locus IL of the inner wheel at the time of turning is superimposed. Is displayed.
For example, as shown in FIG. 14, when the host vehicle VP is moved from a parking position such as a garage or the like, in a state where other vehicles VR exist on the left and right of the host vehicle VP and in front of the host vehicle VP, a predetermined combination of swinging and turning back is performed. When the vehicle can move in the traveling direction (for example, the direction bent to the left from the parking position), as shown in FIG. 16A, for example, the position F at which the rear wheel center position A of the host vehicle VP reaches by swinging. The movement predicted trajectory EL including the position E reached by turning from the position F and the position D reached by turning backward from the position E and the position C reached by turning from the position D is the recognition frame M and the outer frame. N is displayed. Then, for example, as shown in FIG. 16B, on the enlarged display screen 15a of the left front image ZB1 and the right front image ZB2 of the host vehicle VP, the inner wheel trajectory IL and the reversing movement during turning. The locus RL of the rear end position at the time of retreating accompanying the is displayed in a superimposed manner.

In step S09, it is determined whether or not confirmation of the movement prediction trajectory has been instructed.
If this determination is “NO”, the flow proceeds to step S 10.
On the other hand, if this determination is “YES”, the flow proceeds to step S11.
In step S10, the vehicle state quantity output from the vehicle state sensor 13 is acquired, and the process returns to step S04 described above.
In step S11, the display on the display device 15 and the output from the speaker 16 and the side mirrors ML and MR of the side mirror actuator 17 according to the determined movement predicted trajectory and the position when the host vehicle travels are detected. Driving assistance by changing the angle is executed, the process proceeds to the end, and the process ends.

Below, the process of the movement estimated locus calculation in step S07 mentioned above is demonstrated.
First, in step S21 shown in FIG. 17, it is determined whether or not a swing permission is set to permit advance movement in a direction opposite to the traveling direction to be moved.
If this determination is “NO”, the flow proceeds to step S 25 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S22.
In step S22, a turning radius (swinging radius Rfo) for swinging, for example, swinging radius Rfo = minimum turning radius is set.
In step S23, a position (swinging arrival end) HA (HAx, HAy) at which the front end position of the host vehicle (for example, the inner ring side front end position Fi of the outer frame N) can be reached by turning by swinging is set. To do.
For example, as shown in FIG. 18, an X axis that includes the center position of the recognition frame M of the host vehicle VP and is parallel to the front-rear direction of the host vehicle VP and the left and right boundary positions LE and RE of the recognition frame M of the host vehicle VP In the state where the advanceable end position V (Vx, Vy) is set by the operator on the two-dimensional XY coordinate plane with the Y axis parallel to the left and right direction of the host vehicle VP, it is first stored in advance. The initial value of the swing radius Rfo (for example, the minimum turning radius of the host vehicle VP) and the initial value of the swing arrival end HAy (for example, Y of the left and right boundary positions LE or RE of the recognition frame M in the swing direction) In addition, the swing radius Rfo and the swing arrival end HA (particularly, the Y coordinate HAy) are adjusted in accordance with the driver's steering input or the touch operation by the operator on the display screen 15a. Confirmed after .

In step S24, based on the set swing radius Rfo and the swing reaching end HAy, a movement locus (oscillation circle locus) in swing is calculated.
For example, as shown in FIG. 19, in a two-dimensional XY coordinate plane, a circle with an appropriate center position J (Jx, Jy) having a swing radius Rfo is described as shown in the following formula (1), for example. The center position J (Jx, Jy) is described by the known coordinates of the center position A of the rear wheel and the swing radius Rfo when the host vehicle VP turns from the stopped state with the swing radius Rfo, for example. The
In addition, the circle at the center position J (Jx, Jy) including the swing reaching end HA (HAx, HAy) has the front end position Fi on the inner ring side of the outer frame N of the host vehicle VP as the swing reaching end HA (HAx, HAy). Is described as shown in the following mathematical formula (2), for example. In the following formula (2), for example, as shown in FIG. 3, the length C1 between the rear wheel center position A and the inner wheel side rear wheel position Wi, the inner wheel side front end position Fi, and the inner wheel side rear wheel position. A three-square relational expression (C1 ² + C2 ² = C3 ² ) is established for the length C2 between Wi and the length C3 between the rear wheel center position A and the inner wheel front end position Fi. . Then, according to the following formula (2), the X coordinate (HAx) of the swing reaching end HA is described as shown in the following formula (3).

Further, a straight line including the inner ring side rear wheel position Wi and the swing reaching end HA (HAx, HAy) is a tangent to the circle at the center position J (Jx, Jy) having a radius of (swing swing radius Rfo−length C1). For example, it is described as shown in the following formula (4).
Then, the length C2 between the inner wheel side rear wheel position Wi (Wix, Wiy) and the swing reaching end HA (HAx, HAy) is described, for example, as shown in the following formula (5).

  Then, the inner wheel side rear wheel position Wi (Wix, Wiy) becomes known from the mathematical formulas (4) and (5) and the known swing reaching end HA (HAx, HAy).

  In addition, the circle according to the above formula (1) includes the position F (Fx, Fy) at which the rear wheel center position A of the host vehicle VP reaches by swinging, and is thus expressed as the following formula (6). Further, the length C1 between the rear wheel center position A and the inner wheel side rear wheel position Wi is described as shown in the following formula (7), for example.

Then, the position F (Fx, Fy) is known from the above formulas (6) and (7), and the known inner wheel side rear wheel position Wi (Wix, Wiy) and the center position J (Jx, Jy). .
As a result, a swing circle locus is calculated in which the host vehicle VP turns from the stopped state with the swing radius Rfo and reaches the position F (Fx, Fy).

In step S25, the position that can be reached by turning toward the traveling direction from the position F (Fx, Fy) reached by swinging, that is, the front end position of the own vehicle (for example, the outer ring side of the outer frame N) When the front end position Fo) reaches the position U (Ux, Uy) = (Vx, Uy) having the same X coordinate Vx as the travelable end position V or the travelable end position V (Vx, Vy), A trajectory up to a position E (Ex, Ey) at which the rear wheel center position A arrives (a travelable end reaching circle trajectory) is calculated.
For example, as shown in FIG. 20, in the two-dimensional XY coordinate plane, the trajectory of the turning radius R in the turning toward the moving direction to be moved from the position F (Fx, Fy) reached by swinging (arrival at the advanceable end). The center position P (Px, Py) with respect to the circular locus is arranged on the same straight line as the position F (Fx, Fy) and the center position J (Jx, Jy), for example, turning radius R = minimum turning radius = swing If the radius is Rfo, it is described as shown in the following formulas (8) and (9), for example.

  The turning radius Z2 is determined by the turning radius Z2 of the front end position of the own vehicle when the own vehicle VP turns with the minimum turning radius (for example, the outer wheel side front end position Fo of the outer frame N), and the center position P A circle including (Px, Py) and a position U (Ux, Uy) = (Vx, Uy) is described, for example, as shown in the following formula (10).

Then, the Y coordinate Uy of the position U (Ux, Uy) becomes known from the above mathematical expressions (8) to (10), and the known center position J (Jx, Jy) and turning radius Z2.
In addition, the rotation locus of the outer wheel side rear wheel position Wo (Wox, Wo) when the host vehicle VP turns with the minimum turning radius is described, for example, as shown in the following equation (11), and the tangent to this rotation locus is For example, it is described as shown in the following formula (12).

  The length C2 between the outer wheel side rear wheel position Wo (Wox, Woy) and the position U (Ux, Uy) (that is, the outer ring side front end position Fo of the outer frame N) is expressed by, for example, the following formula (13). Described as shown.

Then, the outer wheel side rear wheel position Wo (Wox, Woy) is known from the mathematical expressions (12) and (13) and the known position U (Ux, Uy).
A circle including the position E (Ex, Ey) and the center position P (Px, Py) having the turning radius R is described, for example, as shown in the following formula (14).
The length C1 between the outer wheel side rear wheel position Wo (Wox, Woy) and the position E (Ex, Ey) (that is, the rear wheel center position A of the host vehicle) is expressed by, for example, the following formula (15). Is described as follows.

Then, the position E (Ex, Ey) is known from the above formulas (14) and (15) and the known outer wheel side rear wheel position Wo (Wox, Woy).
As a result, a travelable end reaching circle trajectory is calculated from the position F (Fx, Fy) at which the host vehicle VP has reached by swinging to the position E (Ex, Ey) reached by turning toward the traveling direction to be moved. The

In step S26, it is determined whether or not the front end position of the host vehicle (for example, the outer ring side front end position Fo of the outer frame N) has passed the advanceable end position V.
If this determination is “YES”, the flow proceeds to the end, and the process ends.
On the other hand, if this determination is “NO”, the flow proceeds to step S 27.
Then, in step S27, it is determined whether or not the number of times of reversion has reached the reversion upper limit number.
If this determination is “YES”, the flow proceeds to the end, and the process ends.
On the other hand, if this determination is “NO”, the flow proceeds to step S 28.
In step S28, the position that can be reached by turning backward by turning back, that is, the rear end position of the own vehicle VP, from the position E (Ex, Ey) reached by turning toward the traveling direction in which the own vehicle VP should move. A trajectory (retractable end reach circle) to a position D (Dx, Dy) at which the rear wheel center position A of the host vehicle reaches when it reaches a reachable reversible end position (for example, a trajectory RL shown in FIG. 8). (Trajectory) is calculated, and the process returns to step S25 described above.

  For example, as shown in FIG. 21, in the two-dimensional XY coordinate plane, the turning radius RB in turning backward by turning back from the position E (Ex, Ey) reached by turning toward the traveling direction in which the host vehicle VP should move. The center position Q (Qx, Qy) with respect to the locus (retractable end reaching circle locus) is arranged on the same straight line as the position E (Ex, Ey) and the center position P (Px, Py). For example, the turning radius RB = Assuming that the minimum turning radius = turning radius R, for example, the following formulas (16) and (17) are used.

  Then, for example, as shown in FIG. 22, the position D (Dx, Dy) reached by turning backward by turning back is automatically turned by turning with respect to the center position U (Ux, Uy) at the minimum turning radius in the traveling direction to be moved. If the front end position of the vehicle VP (for example, the outer ring side front end position Fo of the outer frame N) reaches the advanceable end position V, the center position U (Ux, Uy), the position D (Dx, Dy), and the center position Q (Qx, Qy) are arranged on the same straight line, and the X coordinate Ux (= Vx−minimum rotation) of the center position U (Ux, Uy) is determined by the X coordinate Vx of the advanceable end position V (Vx, Vy). Since the (radius) is known, for example, the X coordinate Dx of the position D (Dx, Dy) described as shown in the following formula (18) is known.

Further, a circle including the position D (Dx, Dy) and the center position Q (Qx, Qy) having the turning radius RB (= minimum turning radius) is described as shown in the following formula (19), for example.
In the following mathematical formula (19), since the X coordinate Dx of the position D (Dx, Dy) is known, the Y coordinate Dy of the position D (Dx, Dy) is also known.
As a result, the retractable end reaching circle trajectory from the position E (Ex, Ey) reached by turning toward the traveling direction in which the host vehicle VP should move to the position D (Dx, Dy) reached by turning backward by turning back is obtained. Calculated.

Then, by executing the process of step S25 described above again, the tip position of the host vehicle VP is turned by turning with respect to the center position U (Ux, Uy) at the minimum turning radius toward the traveling direction in which the host vehicle VP should move. For example, when the outer ring side front end position Fo of the outer frame N reaches the advanceable end position V and passes through the advanceable end position V, the known Y coordinate Dy of the position D (Dx, Dy) is For example, it is described as shown in the following formula (20).
From this equation (20), for example, the Y coordinate Uy of the center position U (Ux, Uy) described as shown in the following equation (21) is known.

As a result, the vehicle VP turns with the minimum turning radius from the position D (Dx, Dy) that the vehicle VP reaches by turning backward by turning back, with the center position U (Ux, Uy), and the tip position of the vehicle VP (for example, the outer frame) N on the outer wheel side front end position Fo) reaches the advancing end position V and passes through the advancing end position V, and reaches the position C (Cx, Cy) when the front-rear direction of the host vehicle VP is parallel to the Y direction. The advancing end reaching circle trajectory until this is calculated.
Since this position C (Cx, Cy) is described as shown in the following formulas (22) and (23), for example, the Y of the advancing end position V described as shown in the following formula (24), for example. The coordinate Vy is known.

As described above, according to the driving support apparatus 10 according to the present embodiment, the movement predicted trajectory calculated based on the position of the own vehicle and the advancing end position when moving from a parking position such as a garage is used as the peripheral region of the own vehicle. By superimposing and displaying on the image, the driver can easily recognize the entire movement prediction trajectory, and the driver can easily determine the relative position between the obstacle present around the host vehicle and the movement prediction trajectory. It can be confirmed, and the convenience for the driving operation of the driver can be improved.
Moreover, based on the steering angle state quantity (for example, the actual steering angle (steering angle) or the steering angle (direction and magnitude of the steering angle input by the driver)) related to the actual steering angle of the own vehicle, By superimposing and displaying the movement prediction trajectory of the rear wheel on the image of the surrounding area of the host vehicle, the driver can easily recognize the presence or absence of contact between the obstacle and the host vehicle in the movement prediction trajectory. Convenience for driving operation can be improved.
Moreover, the position of the host vehicle and the advancing end position can be adjusted by the driver, the accuracy of the position of the host vehicle can be improved, and the intention of the driver can be appropriately reflected in the calculation of the movement prediction trajectory. Can do.

  In addition, by displaying the rear end position of the host vehicle on the reverse trajectory of the turnover on the image of the surrounding area of the host vehicle, the relative position between the host vehicle and the obstacle can be easily confirmed to the driver even when the host vehicle is moving backward. It is possible to improve the convenience for the driving operation of the driver.

  In addition, the execution of the predetermined driving operation can be notified at an appropriate timing so that the host vehicle can actually move according to the predicted movement trajectory, and the convenience for the driving operation of the driver can be improved. it can.

  For example, depending on the relative positions of objects on the left and right sides of the host vehicle, the traveling direction in which the driver can move only by steering in a single direction (left turn or right turn) is limited. Even in such a case, it is possible to expand the movable traveling direction by combining advance steering in the reverse direction, and it is possible to select whether or not to execute this advance movement (that is, swinging) by an operator's input operation. By doing so, the driver's intention (that is, the intention to select the traveling direction) can be appropriately reflected in the calculation of the movement prediction trajectory.

Moreover, the convenience with respect to a driver | operator's driving operation can be improved by setting the execution upper limit frequency | count of a return movement by a driver | operator's input operation.
Furthermore, by changing the angle of the side mirror of the host vehicle according to the position of the host vehicle, the driver can easily view the surrounding area using the side mirror, which is convenient for the driver's driving operation. Can be improved.

  In the above-described embodiment, the case where the host vehicle moves from a parking position such as a garage by turning right or turning left is not limited to this. For example, a narrow street that bends in an L shape. The driving support device 10 of the present invention can be preferably applied even when traveling on the road.

  In the above-described embodiment, in order to detect an object (for example, another vehicle, a structure, a pedestrian, etc.) existing outside the host vehicle, another sensor such as an A sound wave sensor or the like may be provided.

It is a block diagram of the driving assistance device which concerns on one Embodiment of this invention. It is a figure showing a vehicle carrying a driving support device concerning one embodiment of the present invention. It is a figure which shows an example of the external frame and recognition frame of a vehicle carrying the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a figure which shows the example of the locus | trajectory of the vehicle predetermined position at the time of turning of the vehicle carrying the driving assistance device which concerns on one Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on one Embodiment of this invention. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention can move in a predetermined traveling direction (for example, a direction bent to the left from the parking position) from a parking position such as a garage by only one straight advance and turn. It is a figure which shows an example of the movement prediction locus | trajectory in a case. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows an example of the movement prediction locus | trajectory in the case where it can move. It is a figure which shows the example of the screen of the display apparatus of the driving assistance device which concerns on one Embodiment of this invention. It is a flowchart which shows the process of the movement prediction locus | trajectory shown in FIG. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows the process of calculating the movement estimated locus | trajectory in the case where it can move. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows the process of calculating the movement estimated locus | trajectory in the case where it can move. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows the process of calculating the movement estimated locus | trajectory in the case where it can move. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows the process of calculating the movement estimated locus | trajectory in the case where it can move. A vehicle equipped with a driving support apparatus according to an embodiment of the present invention moves in a predetermined traveling direction (for example, a direction bent to the left from the parking position) by a combination of straight travel, turning, swinging, and turning back from a parking position such as a garage. It is a figure which shows the process of calculating the movement estimated locus | trajectory in the case where it can move.

Explanation of symbols

10 Driving support device 11 External camera (imaging means)
14 Operation switch (selection means)
15 Display device (display means, notification means, first adjustment means, second adjustment means)
16 Speaker (notification means)
17 Side mirror actuator (angle changing means)
22 Rudder angle sensor (steering angle state quantity detection means, first adjustment means, second adjustment means)
33 Display control unit (own vehicle position superimposing means, advancing end position superimposing means, first adjusting means, second adjusting means)
35 Predicted locus calculation unit (calculation means)

Claims (8)

A driving support device that displays a trajectory of a traveling direction to be moved when the own vehicle moves while changing its traveling direction from a stop position,
Imaging means for imaging a peripheral region ahead of the traveling direction of the host vehicle;
Display means for displaying an image captured by the imaging means;
Own vehicle position superimposing means for superimposing and displaying the position of the own vehicle on the image displayed by the display means;
A travelable end position superimposing unit that superimposes and displays a travelable end position of the host vehicle on the image displayed by the display unit;
First adjusting means capable of adjusting the advanceable end position;
Based on the position of the host vehicle and the advancing end position, calculation means for calculating a movement predicted trajectory of the host vehicle;
A driving support apparatus comprising: a display control unit that superimposes and displays the movement predicted locus on the image displayed by the display unit. Rudder angle state quantity detecting means for detecting a rudder angle state quantity relating to the actual rudder angle of the host vehicle,
The display control means superimposes and displays the movement predicted trajectory of the rear wheel of the host vehicle on the image displayed by the display means based on the steering angle state quantity detected by the steering angle state quantity detection means. The driving support device according to claim 1, wherein The display control means superimposes and displays the rear end position of the host vehicle on the backward trajectory on the image displayed by the display means when the predicted movement trajectory includes a backward trajectory due to a turnover movement of the own vehicle. The driving support apparatus according to claim 1, wherein the driving support apparatus is configured as described above. The driving support device according to any one of claims 1 to 3, further comprising second adjusting means capable of adjusting a position of the host vehicle. The driving support device according to any one of claims 1 to 4, further comprising notification means for notifying execution of a predetermined driving operation according to the position of the host vehicle and the predicted movement trajectory. A side object detection means capable of detecting an object present on the side of the host vehicle;
Based on the relative position between the object detected by the side object detection means and the host vehicle, it is possible to select whether or not to perform advance movement in a direction opposite to the traveling direction to be moved by an operator's input operation. The driving support device according to claim 1, further comprising a selection unit that performs the selection. An upper limit number setting means for setting the upper limit number of executions of the return movement,
The driving support device according to any one of claims 1 to 6, wherein the calculation unit calculates the movement prediction trajectory according to the execution upper limit count. The driving support device according to any one of claims 1 to 7, further comprising an angle changing unit that changes an angle of a side mirror of the host vehicle according to a position of the host vehicle.

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