JP2012169883A - Driving support device and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device and a vehicle which suppress increase of a psychological burden on a driver even after starting a U-turn.SOLUTION: A driving support device 1 comprises: first storage means 9 which stores an inputted taken image of the periphery of an own vehicle; and image processing means 11 which outputs to display means 8 a guide image indicating whether the vehicle can make a U-turn without turning a steering wheel from the current direction to the other, on the basis of the taken image stored in the first storage means 9. The image processing means 11 outputs, before the vehicle starts a U-turn operation, a first guide image containing an image of the front and an image of the lateral side in the U-turn direction, to the display means 8; and outputs, after the vehicle starts the U-turn operation, a second guide image containing the image of the front and an image of the lateral side in the opposite direction of the U-turn direction, to the display means 8.

Description

  The present invention relates to a driving support device and a vehicle that support a U-turn operation of a host vehicle.

  Conventionally, when the host vehicle makes a U-turn in the opposite lane, a driving assistance device is known that superimposes a travel schedule trajectory during a U-turn on a camera image in order to reduce the driving burden on the driver (for example, Patent Documents). 1). Based on the positional relationship between this planned travel path and the road edge on the opposite lane, it is determined whether or not a U-turn is possible without turning back before the start of the U-turn.

JP 2005-027331 A

  However, even if it is determined that the U-turn is possible without turning before the U-turn starts, the turn-back may be necessary after the U-turn starts. This is because the area around the road edge on the opposite lane side is away from the host vehicle, and the scale error between the camera image and the real world increases and the reliability of the determination of whether or not the U-turn is possible decreases. For this reason, when the host vehicle approaches the road edge on the opposite lane side, the driver must make a U-turn while being aware of the danger of collision, increasing the driver's psychological burden.

  The present invention has been made to solve the conventional problems, and an object thereof is to provide a driving support device and a vehicle that suppress an increase in the driver's psychological burden even after the start of a U-turn.

  In order to achieve the above object, the driving support apparatus and the vehicle image processing means of the present invention use the first guide image including the front and the side in the U-turn direction as the display means before the host vehicle starts the U-turn operation. And the second guide image including the front and the side opposite to the U-turn direction is output to the display means after the host vehicle starts the U-turn operation.

  According to the driving support device and the vehicle of the present invention, an effect that an increase in the driver's psychological burden can be suppressed even after the start of the U-turn is achieved.

The block diagram which shows the structure of the driving assistance apparatus in embodiment of this invention. The figure explaining the installation position and imaging range in the own vehicle of the imaging means which is the principal part of FIG. The figure explaining the U-turn guide which the image processing means which is the principal part of FIG. The figure explaining the 1st superimposed image superimposed by the image processing means which is the principal part of the same FIG. 1 with an image The figure explaining the other example of the 1st superimposed image of the same FIG. 4 with an image The figure explaining the 2nd superimposed image superimposed by the image processing means which is the principal part of FIG. 1 with an image The flowchart figure explaining the driving assistance process at the time of the U turn by the driving assistance apparatus of FIG.

  Hereinafter, a driving support device and a vehicle according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the driving support device 1 is connected to an imaging unit 2, an input device 3, a vehicle speed sensor 4, a rudder angle sensor 5, a sonar sensor 6, a brake sensor 7, and a display unit 8. The imaging means 2, the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, the sonar sensor 6, the brake sensor 7, and the display means 8 may be included in the driving support device 1. The vehicle speed sensor 4, the steering angle sensor 5, the sonar sensor 6, and the brake sensor 7 show an example of driving information detection means that detects driving information of the host vehicle.

  The driving support apparatus 1 includes a first storage unit 9, a second storage unit 10, an image processing unit 11, a control unit 12, and a bus 13 that connects them to each other. The driving assistance device 1 receives a captured image around the host vehicle input from the imaging unit 2 based on at least one of input signals from the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, the sonar sensor 6, and the brake sensor 7. Using this, a guide image indicating whether or not the vehicle can make a U-turn without being turned over is synthesized every predetermined time, and this synthesized image is output to the display means 8.

  The imaging means 2 includes a left side camera 2a, a front camera 2b, a right side camera 2c, and a rear camera 2d. The mounting positions of these cameras 2a to 2d on the own vehicle will be described. FIG. 2 is a diagram for explaining the mounting state of the imaging means 2 on the host vehicle. As shown in FIG. 2, the cameras 2 a to 2 d are attached to the left side mirror of the host vehicle, the bumper at the front end of the vehicle body, the right side mirror, and the rear bumper at the rear end of the vehicle body, respectively. The cameras 2a to 2d are each attached to the host vehicle in a state of facing obliquely downward. The horizontal imaging range angles of the cameras 2a to 2d are approximately 180 degrees. As shown in FIG. 2, the imaging ranges of the cameras 2a to 2d are indicated by imaging areas 50a to 50d, respectively. Therefore, the imaging means 2 can image the entire periphery of the host vehicle. In the present embodiment, the imaging means 2 has four cameras and images the entire periphery of the host vehicle, but it is sufficient that at least the left and right imaging regions 50a and 50c are imaged. For example, the imaging means 2 may be composed of left and right side cameras 2a and 2c. Moreover, the attachment position of the imaging means 2 may be any location as long as the outside of the host vehicle can be imaged. The imaging unit 2 inputs a captured image captured every predetermined time as a video to the driving support device 1.

  The input device 3 includes, for example, a touch panel, a remote controller, and a switch. When the input device 3 is configured by a touch panel, the input device 3 may be provided in the display unit 8. The input device 3 is operated by a user and outputs an input signal indicating a user instruction command to the driving support device 1. For example, the input device 3 outputs a U-turn driving support start signal to the driving support device 1.

  The vehicle speed sensor 4, the steering angle sensor 5, the sonar sensor 6, and the brake sensor 7 are respectively a vehicle speed signal indicating the vehicle speed of the host vehicle, a steering angle signal indicating the turning angle of the steering wheel, a sonar signal indicating the presence of an obstacle, and a brake state. Is output to the driving support device 1.

The display means 8 is composed of, for example, a navigation device or a rear seat display. The display unit 8 receives a captured image around the host vehicle and a composite image of the U-turn guide from the driving support device 1 and displays the composite image as a video. Note that the driving support device 1 and the display unit 8 may be configured as a display unit integrated in a single housing. In this case, the display unit is stored in the center console in the vehicle. The screen of the display unit is exposed from the center console.

  The first storage means 9 is composed of a volatile memory. For example, it is composed of a video memory or RAM (Random Access Memory). The first storage means 9 has image memories 9a to 9d. The image memories 9a to 9d are connected to the cameras 2a to 2d, respectively. The first storage unit 9 temporarily stores video data obtained from captured images input from the imaging unit 2 every predetermined time. The video data stored in the first storage unit 9 is output to the image processing unit 11 via the bus 13.

  The second storage means 10 is composed of a nonvolatile memory. For example, it is composed of a flash memory or a ROM (Read Only Memory). The second storage means 10 stores various image data such as image data of the host vehicle, image data used for the U-turn guide, and a mapping table for creating an image whose viewpoint is converted from the captured images of the cameras 2a to 2d. The image of the U-turn guide stored in the second storage means 10 shows an expected locus on the outermost periphery of the host vehicle. The second storage means may store at least the U-turn guide image for the right turn in the case of the left lane country and the left turn U-turn guide in the case of the country of the right lane. It is desirable that Thereby, worldwide sharing of the driving assistance device 1 can be achieved. For example, U-turn driving assistance can be performed in both countries on land and in different lanes. Various image data stored in the second storage unit 10 is output to the image processing unit 11.

  The image processing means 11 is composed of, for example, ASIC (Application Specific Integrated Circuit) or VLSI (Very Large Scale Integration). The image processing unit 11 includes a viewpoint conversion image generation unit 11a and a superimposition unit 11b. The image processing unit 11 is connected to the display unit 8. The viewpoint-converted image generating unit 11a generates a viewpoint-converted image such as an overhead image based on at least one of the video data of the captured images of the cameras 2a to 2d input from the image memories 9a to 9d according to the driving state. . The superimposing unit 11b creates a superimposed image by superimposing the image data used for the U-turn guide input from the second storage unit 10 and the image data of the host vehicle on the viewpoint conversion image at every predetermined time. The image processing unit 11 outputs the superimposed image created every predetermined time to the display unit 8 as a video.

  The control means 12 is comprised by CPU (Central Processing Unit) and LSI (Large Scale Integration), for example. The control means 12 is connected to the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, the sonar sensor 6, and the brake sensor 7. Based on signals input from the input device 3, the vehicle speed sensor 4, the rudder angle sensor 5, the sonar sensor 6, and the brake sensor 7, the control means 12 performs image processing of the image processing means 11, first storage means 9 and second storage. Data read from the means 10, input from the imaging means 2, output to the display means 8, and the like are controlled. For example, the control unit 12 overlooks the viewpoint conversion image generated by the viewpoint conversion image generation unit 11a based on various signals input from the input device 3, the vehicle speed sensor 4, the steering angle sensor 5, the sonar sensor 6, and the brake sensor 7. Switching to an image or a viewpoint converted image of another viewpoint, or the superimposing unit 11b switches the U-turn guide superimposed on the viewpoint converted image.

  Next, the U-turn guide image stored in the second storage means 10 will be described. The U-turn guide image described below is for the left lane country. Since the image of the U-turn guide for the right lane country is symmetrical with the U-turn guide for the left lane country with respect to the axis in the traveling direction of the host vehicle, a detailed description is omitted.

FIG. 3 is a diagram for explaining the U-turn guide superimposed by the image processing means 11 as an image. FIG. 3 shows an image of the U-turn guide when making a U-turn in the right direction. This U-turn guide image is an image when viewed from a bird's-eye view from the front to the back of the page.

  In FIG. 3, the positions of the host vehicle 31a before the U-turn start and the host vehicle 31b at the end of the U-turn are virtually shown. The U-turn guide 32 includes an arc guide portion 32a and a linear guide portion 32b.

  The arc guide portion 32 has a rotation radius when the handle of the host vehicle 31a reaches the maximum steering angle from the arc start position 33a with a predetermined margin from the left front end of the host vehicle 31a, and 180 degrees from the arc end position 33b. Indicated by a rotated arc. At this time, the rotation center 34 of the arc guide portion 32 is indicated by an intersection of a line 35 connecting the arc start position 33a and the arc end position 33b and an extension line 36 of the rear wheel shaft of the host vehicle 31a. The arc guide portion 32a can indicate the outermost expected trajectory of the host vehicle 31a. In particular, the driver can visually recognize the point 37 where the front end of the host vehicle 31a is located closest to the opposite lane before the host vehicle 31a makes an U-turn of 180 degrees. For this reason, when an obstacle or lane edge is included inside the arc guide portion 32 (on the rotation center 34 side), it is necessary to turn over the U-turn, and when it is not included, it is not necessary to switch back to the U-turn. It can be judged. The driver is preferably alerted at a point 37 that is a predetermined distance before the point 37.

  The straight guide portion 32b is indicated by a straight line extending in parallel with the lane after the end of the U-turn from the arc end position 33b. The direction of travel after the end of the U-turn can be determined by the straight guide portion 32b. Here, it is desirable that the arc guide portion 32a and the linear guide portion 32b have different color coding and line shapes. Accordingly, in FIG. 3, even when the arc guide portion 32a and the linear guide portion 32b are deformed and superimposed according to the viewpoint of the viewpoint conversion image, it is possible to ensure the distinction between each other. In the following description, the meanings of “arc guide part” and “straight line guide part” are the same, and detailed description thereof is omitted.

  Next, U-turn driving assistance before the start of the U-turn will be described.

  FIG. 4 is a diagram for explaining the first superimposed image superimposed by the image processing means 11 as an image. The image shown in FIG. 4 shows an image created by the image processing means 11 and an image displayed on the display means 8. The same applies to the following drawings. As shown in FIG. 4, an overhead image 43 at the intersection is created by the viewpoint conversion image generation unit 11 a of the image processing unit 11. In creating the bird's-eye view image 43, captured images of four cameras 2a to 2d are used. This bird's-eye view image 43 shows an all-around image when looking down from above the rotation center 34 shown in FIG. In addition, although the bird's-eye view image 43 is shown as a viewpoint conversion image looking down from directly above the rotation center 34 in FIG. 3, it is directly below from above the position shifted from the rotation center 34 to the traveling direction side of the host vehicle 41. You may convert into the viewpoint conversion image which looked down. As a result, the front of the host vehicle 41 can be more easily seen. From this bird's-eye view image 43, the driver can mainly check the right side and the front side of the host vehicle 41 in the U-turn direction. Then, since the first U-turn guide 42 before the start of the U-turn is superimposed by the superimposing means 11b, the driver can confirm that the road shoulder 44 and the step 45 in the overhead view image 43 are inside the first U-turn guide 42 ( Whether or not the vehicle exists on the own vehicle side can be visually determined before the driver starts the U-turn operation. The driver can determine that the U-turn needs to be turned back when the road shoulder 44 and the step 45 are present inside the first U-turn guide 42.

The first U-turn guide 42 includes an arc guide portion 42a and a straight guide portion 42b. However, the arc guide portion 42a is more important than the straight guide portion 42b for determining whether or not there is a turnback. . This is because the arc guide portion 42a swells in a direction away from the host vehicle 41 rather than the linear guide portion 42b. For this reason, the arc guide portion 42a is replaced by the straight guide portion 42b.
Rather than highlighting.

  Next, another example of FIG. 4 will be described.

  FIG. 5 is a diagram illustrating another example of the first superimposed image in FIG. 4 as an image. As shown in FIG. 5, an overhead image 53 is created from a viewpoint looking down obliquely forward from the upper side of the host vehicle by the viewpoint conversion image generation unit 11 a of the image processing unit 11. In creating the bird's-eye view image 53, a captured image of the right side camera 2c is used. The own vehicle 51 is reflected in this overhead view image 53. The host vehicle 51 may be a real image captured by the right side camera 2 c or a model image read from the second storage unit 10. The superimposing unit 11 b superimposes the first U-turn guide 52 on the overhead image 53. At this time, the arc guide portion 52 a of the first U-turn guide 52 exists at a position where a part thereof is superimposed on the host vehicle 51. Correspondingly, the superimposing means 11b superimposes only on the background image portion of the overhead image 53 excluding the host vehicle 51. By this process, the U-turn guide can be performed while maintaining ease of visual recognition for the driver. In the bird's-eye view image 53 of FIG. 5, only the captured image of one camera of the side camera 2c is used. Therefore, compared to the bird's-eye view image 43 by a plurality of cameras as shown in FIG. U-turn guide can be performed while maintaining the characteristics. The driver can determine that the road shoulder line 54 and the stepped portion 55 exist outside the arc guide portion 52a and the straight guide portion 52b, and can determine that the U-turn can be performed without turning back. In addition, since the black area | region 56 of the own vehicle 51 is corresponded to the area | region outside the angle of view of the right side camera 2c, it shows the area | region where the image around the own vehicle 51 cannot be displayed.

  Next, U-turn driving support after the start of the U-turn will be described.

  FIG. 6 is a diagram illustrating the second superimposed image superimposed by the image processing unit 11 as an image. As shown in FIG. 6, an overhead image 63 is created from a viewpoint looking down diagonally forward from the top of the host vehicle by the viewpoint conversion image generation unit 11 a of the image processing unit 11. In creating the overhead view image 63, a captured image of the left side camera 2a is used. The black areas 66 on the upper and right sides of the host vehicle 61 correspond to areas outside the angle of view of the left side camera 2a, and thus indicate areas in which an image around the host vehicle 61 cannot be displayed. The superimposing unit 11 b superimposes the second U-turn guide 62 on the overhead image 63. The second U-turn guide 62 corresponds to an arc guide portion. The arc length of the second U-turn guide 62 is set to be shorter than the arc guide portions 42a and 52a shown in FIGS. As shown in FIG. 6, since the step portion 65 is above the second U-turn guide 62, the driver can determine that the host vehicle 61 can complete the U-turn without turning over.

  The U-turn is started, and the display shown in FIG. 6 is switched at a stage where it is assumed that the shoulder line 64 and the stepped portion 65 of the intersection are approaching the host vehicle 61. For example, the control means 12 calculates the travel distance based on the vehicle speed of the vehicle speed sensor 4, and the control means 12 instructs the image processing means 11 to switch when the travel distance exceeds a predetermined threshold.

  Further, the overhead image 63 and the second U-turn guide 62 do not have to be switched simultaneously. For example, when the control unit 12 calculates a travel distance based on the vehicle speed of the vehicle speed sensor 4 and determines that the travel distance is equal to or greater than a predetermined first threshold value, the control unit 12 provides an overhead image 63 to the image processing unit 11. A switch command is issued. Then, when the control unit 12 determines that the travel distance is equal to or greater than the second threshold value that is greater than the first threshold value, the control unit 12 looks down on the second U-turn guide 62 with respect to the image processing unit 11. An additional switching command to be superimposed on the image 63 is performed. Further, in place of the vehicle speed sensor 4, even when the distance detecting means such as the sonar sensor 6 provided at the front end of the own vehicle 61 detects the approach to the object, the control means 12 issues an additional switching command to the image processing means 11. good.

  As described above, the image processing unit 11 superimposes the second U-turn guide 62 on the overhead image 63 using the image captured by the left side camera 2a, so that the opposite lane that was far before the start of the U-turn. For the road shoulder lines 44, 54 and the steps 45, 55, it is possible to make the driver accurately determine whether or not a U-turn can be made without turning over before the start of the U-turn.

  Next, driving support processing from the start to the end of the U-turn by the driving support device will be described. FIG. 7 is a flowchart for explaining driving support processing during a U-turn by the driving support device.

  First, when the driver inputs the start of U-turn driving support via the input device 3, as shown in step S71, the image processing means 11 receives a prior confirmation screen (for example, FIG. 4) according to a command from the control means 12. Or the first superimposed image shown in FIG. 5 is generated and output to the display means 8. The display means 8 displays this first superimposed image. The driver can visually recognize the display means 8 and determine whether or not the U-turn can be performed without turning back before starting the U-turn operation.

  Next, as shown in step S <b> 72, the control unit 12 determines whether there is a request for other types of screen display than the U-turn driving support via the input device 3. Other types of screen display requests include, for example, navigation screen display and CD, DVD, and radio screen display requests.

  In the case of NO at step S72, the image processing means 11 continues to output the prior confirmation screen to the display means 8 in accordance with a command from the control means 12. And as shown to step S73, the control means 12 determines whether the completion | finish operation | movement of the U-turn was performed based on the input driving | operation information. For example, the control means 12 determines that the host vehicle has traveled a certain distance straight from the input device 3 when the end of the U-turn driving support is input, or from information on the rudder angle of the rudder angle sensor 5 and the vehicle speed of the vehicle speed sensor 4. In this case, it is determined that the U-turn end operation has been performed.

  In the case of NO in step S73, as shown in step S74, the control means 12 determines whether an obstacle is approaching from the signal of the sonar sensor 6.

  In the case of NO in step S74, as shown in step S75, the control means 12 determines whether a certain distance has been traveled from the vehicle speed signal of the vehicle speed sensor 4 and the steering angle signal of the steering angle sensor 5. For example, the control means 12 determines that the front end of the host vehicle is located closest to the opposite lane before the host vehicle makes an U-turn of 180 degrees from the vehicle speed signal of the vehicle speed sensor 4 and the steering angle signal of the steering angle sensor 5. It is determined whether the vehicle has traveled to a point (a point 38 in FIG. 3) a predetermined distance before (a point 37 in FIG. 3).

  In the case of NO at step S75, the control means 12 determines that the U-turn operation is continuing and that it is not near the end. Then, the control means 12 calculates the travel distance based on the vehicle speed signal from the vehicle speed sensor 4, and informs the image processing means 11 that the arc guide portion of the first U-turn guide is shortened according to this distance. Command. Based on the command from the control means 12, the image processing means 11 again creates a prior confirmation screen in step S 71 and outputs it to the display means 8. And the control means 12 repeats the process of step S73 again after progress for a predetermined time.

On the other hand, if YES in step S74 and YES in step S75, as shown in step S76, the image processing means 11 receives the parting confirmation screen (for example, the second superimposition shown in FIG. 6) according to the command from the control means 12. Image) is generated and output to the display means 8. The display means 8 displays this second superimposed image. The driver can visually determine the display means 8 and more accurately determine whether or not the U-turn can be performed without turning back than before the start of the U-turn operation.

  And as shown to step S77, the control means 12 determines whether the end operation | movement of the U-turn was performed based on the input driving | operation information similarly to step S73. In the case of NO in step S77, the image processing means 11 continues to output the parting confirmation screen to the display means 8 according to the command from the control means 12.

  On the other hand, if YES in step S77, the image processing unit 11 stops outputting the parting confirmation screen to the display unit 8 according to a command from the control unit 12. And as shown to step S78, the control means 12 permits devices, such as a navigation apparatus which is not shown in figure, to output other types of screen display signals to the display means 8 other than U-turn driving assistance. As a result, a screen other than the U-turn driving assistance input from a device such as a navigation device (not shown) is displayed on the display means 8. This completes the U-turn driving support.

  On the other hand, in the case of YES in step S72, the image processing unit 11 stops the output of the prior confirmation screen to the display unit 8 according to the command from the control unit 12. And as shown to step S79, the control means 12 permits apparatuses, such as a navigation apparatus which is not shown in figure, other types of screen displays other than U-turn driving assistance. As a result, a screen other than the U-turn driving assistance input from a device such as a navigation device (not shown) is displayed on the display means 8.

  Next, as shown in step S80, the control means 12 determines whether or not the U-turn end operation has been performed based on the inputted driving information, as in step S73. In the case of YES at step S80, the control means 12 performs the process at step S78. On the other hand, in the case of NO in step S80, as shown in step S81, the control means 12 starts the U-turn operation of the host vehicle by the vehicle speed signal from the vehicle speed sensor 4 and the steering angle signal from the steering angle sensor 5. Determine if you did. For example, if the control means 12 determines that the steering angle has traveled a predetermined distance while maintaining a predetermined angle or more, it determines that the host vehicle has started a U-turn operation.

  In the case of NO at step S81, the control means 12 performs the process at step S80 again. On the other hand, in the case of YES in step S81, the control means 12 gives other types of screen display signals other than the U-turn driving assistance to the display means 8 to a device such as a navigation device (not shown) in order to assist the driving of the U-turn. Prohibit output. Then, as shown in step S71, the image processing means 11 creates a prior confirmation screen (for example, the first superimposed image shown in FIGS. 4 and 5) in accordance with an instruction from the control means 12, and the display means 8 Output to. Accordingly, even if the driver does not actively input the return for driving support for the U-turn, the display means 8 can display the advance confirmation screen again so that the driver can make a U-turn on the vehicle. In addition, an increase in the driver's psychological burden can be suppressed.

  As described above, according to the embodiment of the present invention, the image processing unit 11 has the first guide image including the front and the sides in the U-turn direction before the host vehicle starts the U-turn operation (for example, FIG. 4). And the second guide image including the side opposite to the front and the U-turn direction (for example, the screen shown in FIG. 6). Output to means 8. Accordingly, when the host vehicle approaches the road edge on the opposite lane side, the driver can check the danger of collision more accurately than before the U-turn starts. Increase in psychological burden can be suppressed.

  The driving support device and the vehicle of the present invention are useful in that the driver can guide the driver whether the U-turn is possible without turning over after the start of the U-turn.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Imaging means 8 Display means 9 1st memory | storage means 11 Image processing means 11a Viewpoint conversion image generation means 11b Superimposition means 12 Control means

Claims (13)

Storage means for storing the inputted captured image around the own vehicle;
Image processing means for outputting to the display means a guide image indicating whether or not the host vehicle can make a U-turn without turning back based on the captured image stored in the storage means,
The image processing means includes
Before the host vehicle starts the U-turn operation, the first guide image including the front and the side in the U-turn direction is output to the display means,
A driving assistance apparatus, wherein after the host vehicle starts a U-turn operation, a second guide image including a front side and a side opposite to the U-turn direction is output to the display unit. The guide image is a superimposition obtained by superimposing a U-turn guide indicating whether or not the host vehicle can make a U-turn on the viewpoint-converted image converted from the viewpoint based on the captured image stored in the storage unit. Composed of images,
The image processing means includes
Before the host vehicle starts the U-turn operation, the first viewpoint conversion image including the front and the side in the U-turn direction is generated, and the first U-turn guide corresponding to the first viewpoint conversion image is superimposed. Outputting a first superimposed image to the display means;
After the host vehicle starts the U-turn operation, it generates a second viewpoint conversion image including the front and the side opposite to the U-turn direction, and superimposes a second U-turn guide corresponding to the second viewpoint conversion image. The driving assistance apparatus according to claim 1, wherein the second superimposed image is output to the display unit.   The driving support device according to claim 2, wherein the image processing unit superimposes a host vehicle image corresponding to a U-turn situation of the host vehicle on the first and second viewpoint conversion images.   The image processing means outputs the first superimposed image to the display means until the vehicle reaches a predetermined driving situation after the host vehicle starts a U-turn operation, and after the vehicle has reached a predetermined driving situation, the second The driving support apparatus according to claim 2, wherein the superimposed image is output to the display unit.   The driving support device according to claim 4, wherein the predetermined driving situation is that the host vehicle travels a predetermined distance or an obstacle is detected in front of the host vehicle.   The said image processing means produces | generates a said 2nd viewpoint conversion image based on the one captured image containing the front and the side opposite to the U-turn direction, The said 2nd viewpoint conversion image is characterized by the above-mentioned. Driving assistance device.   The driving support device according to any one of claims 2 to 6, wherein the image processing unit stops outputting the second superimposed image to the display unit when the U-turn of the host vehicle is completed. .   It further comprises control means for determining whether or not the own vehicle has started a U-turn operation according to the input driving information of the own vehicle and controlling the image processing means according to the determination result. The driving support device according to any one of claims 2 to 7.   When it is determined that the host vehicle has finished the U-turn operation, the control unit stops the output of the second superimposed image from the image processing unit to the display unit, and the first superimposed image is displayed. 9. The driving support apparatus according to claim 8, wherein the display unit outputs the same kind of image as the image that was displayed before the time when the image was displayed. It further comprises driving information detecting means for detecting driving information of the own vehicle,
The driving support apparatus according to claim 8 or 9, wherein the control unit controls the image processing unit based on a detection result of the driving information detection unit.   The driving information detection means is at least one of steering angle detection means for detecting the steering angle of the host vehicle, vehicle speed detection means for detecting the vehicle speed of the host vehicle, and brake state detection means for detecting the brake state of the host vehicle. The driving support apparatus according to claim 10.   12. The apparatus according to claim 1, further comprising: an imaging unit that captures an image of the periphery of the host vehicle and outputs the captured image to the storage unit; and a display unit that displays the guide image output from the image processing unit. The driving support device according to any one of the above. A front camera that is installed at the front end of the vehicle body and photographs the front,
Left and right side cameras that are installed on the left and right door mirrors, respectively,
A rear camera installed at the rear end of the car body to shoot the rear,
Driving information detecting means installed on the vehicle body for detecting driving information;
It is installed in the vehicle, the display screen is exposed from the center console, and based on the captured images of the front camera, the left and right side cameras, and the rear camera, it indicates whether the vehicle can make a U-turn without turning over. A display unit for displaying a guide image,
The display unit displays a first guide image including the front side and the side in the U-turn direction before the host vehicle starts the U-turn operation from the detection result of the driving information detection unit,
The display unit displays a second guide image including a front side and a side opposite to the U-turn direction after the host vehicle starts a U-turn operation based on a detection result of the driving information detection unit.