JP2014040188A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a driver performing turning traveling of a vehicle to easily grasp a future rear wheel track.SOLUTION: A mirror surface 5 of a rearview mirror 4 installed on the side of a vehicle 1 reflects a mirror image on the lateral rear side of the vehicle 1 so that a driver sitting on a driver's seat in a vehicle room can visually recognize the mirror image. A future moving range of a rear overhang on the turning outside of the vehicle 1 in the case where the vehicle 1 turns is displayed on the mirror surface 5 as a rear overhang prediction region 14 by a rear overhang region indicating line 13.

Description

  The present invention relates to a driving support device mounted on a vehicle.

  When the vehicle turns right or left, accidents due to contact (including entrainment) with surrounding objects and people are likely to occur. As known devices for preventing such dangerous driving and accidents at the time of turning left and right, there are devices that irradiate the rear wheels of the vehicle and its surroundings (for example, Patent Documents 1 to 3).

JP 2000-71869 A JP 2006-324222 Registered Utility Model No. 3142339

  It is difficult for the driver of the vehicle to know in advance the movement range of the future rear overhang (range from the rear wheel axle to the rear end of the vehicle) with respect to the steering angle of the steering wheel when turning left or right or turning backward. . Especially in the case of commercial vehicles with longer vehicle length and wheelbase than passenger cars, the distance from the rear wheels to the rear end of the vehicle is also long, and the driver knows the rear overhang in advance. It is very difficult to do. For this reason, for example, when turning at a large steering angle such as when turning at a tight intersection or during a U-turn, there is a possibility that a contact accident between the following vehicle and the rear overhang occurs.

  In the case of the above-described conventional device that irradiates the rear wheel of the vehicle and its surroundings, the information provided to the driver is information indicating the relationship between the current vehicle (rear wheel position) and the surrounding environment. The range of rear overhang is not predictable.

  In view of the above situation, an object of the present invention is to provide a driving support device that allows a driver who turns a vehicle to easily grasp a range of a future rear overhang.

  In order to achieve the above object, the driving support apparatus according to the first aspect of the present invention includes a display surface and a rear overhang display means. The display surface is provided on a side portion of the vehicle, and displays an image of the rear side of the vehicle so as to be visible from a driver seated in a driver seat in the passenger compartment. The rear overhang display means displays a future moving range of the rear overhang outside the turning of the vehicle when the vehicle turns on the display surface as a rear overhang prediction area.

  In the above configuration, since the future movement range of the rear overhang outside the turning side is displayed as the rear overhang prediction area on the display surface on which the rear side image of the vehicle is displayed, the driver can display the displayed rear overhang prediction area. As a reference, it is possible to predict (image) the range of future rear overhang relatively easily. Therefore, the driver can easily grasp the range of the future rear overhang by looking at the image of the rear side of the vehicle displayed on the display surface and the predicted area of the rear overhang. It is possible to avoid contact with other objects.

  In addition, the image on the rear side of the vehicle on the display surface changes with respect to the estimated rear wheel trajectory as the vehicle travels, so that the driver can change the surrounding environment and future rear overhangs that change from moment to moment while driving. The positional relationship with the range can always be accurately grasped.

  A second aspect of the present invention is the driving support device according to the first aspect, wherein the rear overhang display means displays a future movement range of the rear overhang corresponding to a specific steering angle of the vehicle as a rear overhang prediction region. To do.

  The future movement range of the rear overhang corresponding to a specific steering angle is the future movement range of the rear overhang outside the turn when the vehicle turns at a specific steering angle.

  The specific steering angle is an arbitrary angle set in advance, and may be the maximum steering angle of the steering wheel when the vehicle is traveling straight, and a steering angle (for example, maximum steering) that is a predetermined ratio with respect to the maximum steering angle. It may be 1/2 of the corner.

  The displayed rear overhang prediction area is a plurality of areas respectively corresponding to a plurality of specific steering angles, such as a first area corresponding to the first steering angle and a second area corresponding to the second steering angle. Also good. However, regardless of whether the rear overhang prediction area is singular or plural, it is fixedly displayed uniformly regardless of the current steering angle.

  In the above configuration, since the displayed rear overhang prediction area is an area corresponding to a specific steering angle, it does not necessarily match the future rear overhang movement range corresponding to the current steering angle. A future rear overhang movement range can be predicted (imaged) relatively easily based on the displayed rear overhang prediction area. Accordingly, the driver can easily grasp the future rear overhang movement range by viewing the rear side image of the vehicle and the rear overhang prediction area displayed on the display surface.

  In addition, when a specific steering angle is set as the maximum steering angle of the steering wheel, the region outside the rear overhang prediction region (the side away from the vehicle) is, in principle, the case where it is affected by disturbances such as tire slips. Except) This is a region where no contact with the vehicle occurs, and the rear overhang prediction region is a region where contact with the vehicle (rear overhang) may occur. Therefore, the driver can accurately steer the vehicle so as to avoid contact with the object or the like by visually confirming whether the object or the like displayed on the display surface is outside or inside the rear overhang prediction region.

  A third aspect of the present invention is the driving support device according to the first aspect, and includes a steering angle detection means for detecting a steering angle of the vehicle. The rear overhang display means displays a future movement range of the rear overhang corresponding to the steering angle detected by the steering angle detection means as a rear overhang prediction area.

  The future movement range of the rear overhang corresponding to the steering angle (detected steering angle) detected by the steering angle detecting means represents the steering angle range to which the detected steering angle belongs when the vehicle turns around the detected steering angle. This is a future moving range of the rear overhang outside the turning when the vehicle turns at the representative steering angle.

  In the above configuration, since the predicted rear overhang prediction area corresponding to the current steering angle is displayed, the driver can more easily predict the future rear overhang movement range based on the displayed rear overhang prediction area. Can do.

  Further, the region outside the rear overhang prediction region (the side away from the vehicle) is a region where contact with the vehicle does not occur or the possibility of contact is extremely low, and the rear overhang prediction region is This is a region where contact occurs or where contact is highly likely to occur. Therefore, the driver can accurately steer the vehicle so as to avoid contact with the object or the like by visually confirming whether the object or the like displayed on the display surface is outside or inside the rear overhang prediction region.

  A fourth aspect of the present invention is the driving support apparatus according to any one of the first to third aspects, wherein when the vehicle is preparing for a right turn or is making a right turn, the vehicle is determined to be in a right turn support state, and the vehicle turns left. Right / left turn determination means for determining that the vehicle is in a left turn support state when preparing or turning left is provided. The display surface has a right display surface that is provided on the right side of the vehicle and displays an image of the rear left side of the vehicle, and a left display surface that is provided on the left side of the vehicle and displays an image of the rear left side of the vehicle. The rear overhang display means, when the right / left turn determination means determines that the vehicle is in a right turn support state, predicts the future movement range of the rear overhang on the left side of the vehicle when the vehicle turns to the right and moves forward, and predicts the rear overhang during a right turn. When the left / right turn determination means determines that the vehicle is in a left turn support state, the future movement range of the rear overhang on the right side of the vehicle when the vehicle turns forward is It is displayed on the right display surface as a rear overhang prediction area.

  In addition, vehicle information detection means for sequentially detecting vehicle information related to the vehicle state may be provided, and the right / left turn determination means may determine the right turn support state and the left turn support state based on the vehicle information detected by the vehicle information detection means. .

  In the above configuration, the rear overhang prediction area at the time of right turn is displayed on the left display surface during the right turn preparation or right turn, and the rear overhang prediction area at the time of left turn is displayed on the right display surface during the left turn preparation or left turn. A driver turning the vehicle forward can easily grasp the range of the future rear overhang by viewing the left display surface when turning right and the right display surface when turning left.

  A fifth aspect of the present invention is the driving support device according to any one of the first to fourth aspects, and includes a rear wheel locus display means. The rear side image of the vehicle displayed on the display surface includes an image of the rear wheel of the vehicle. The rear wheel locus display means displays the future movement locus of the rear wheel when the vehicle turns on the display surface as an estimated rear wheel locus extending from the rear wheel image.

  In the above configuration, the estimated rear wheel trajectory extending from the rear wheel image is displayed on the display surface on which the rear side image of the vehicle including the rear wheels is displayed. As a reference, the movement trajectory of the rear wheel can be predicted (imaged) relatively easily. Therefore, the driver can easily grasp the future rear wheel trajectory by looking at the rear side image of the vehicle and the estimated rear wheel trajectory displayed on the display surface, so that surrounding objects can be detected from an early stage. Etc. can be avoided.

  In addition, the image on the rear side of the vehicle on the display surface changes with respect to the estimated rear wheel trajectory as the vehicle travels, so that the driver can change the surrounding environment and the future rear wheel trajectory that change from moment to moment while driving. It is always possible to accurately grasp the positional relationship between the two.

  A sixth aspect of the present invention is the driving support apparatus according to any one of the first to fifth aspects, wherein the display surface is a mirror surface of a rearview mirror that reflects an image of the rear side of the vehicle as a mirror image.

  In the said structure, since the mirror surface of a rearview mirror is used as a display surface, a driving assistance apparatus can be easily provided with respect to the existing vehicle, and versatility increases.

  In the sixth aspect, the mirror surface may have transparency, and the rear overhang display means may include a plurality of light emitting units and light emission control means. The plurality of light emitting units are arranged on the rear surface side of the mirror surface, and display a rear overhang prediction region on the surface of the mirror surface by emitting light.

  In the above configuration, since the rear overhang prediction area is displayed on the mirror surface, the driver can easily grasp the rear overhang prediction area regardless of the surrounding environment (even at night).

  You may provide a some light emission part so that a movement along the surface direction of a mirror surface is possible.

  In the above configuration, when the relative position of the driver's eyes seated in the driver's seat and the mirror surface of the rearview mirror (the angle of line of sight with respect to the mirror surface) changes, and the displayed rear overhang prediction area deviates from the original set position Even so, the rear overhang prediction region can be displayed at an appropriate position by moving the light emitting unit without changing the angle of the mirror surface.

  According to the present invention, the driver who turns the vehicle can easily grasp the moving range of the future rear overhang, and can avoid contact with surrounding objects and the like from an early stage.

FIG. 4 is a schematic diagram illustrating a state in which the mirror surfaces of the right mirror and the left mirror of the embodiment of the present invention are viewed from the driver's seat when the vehicle is turned left, and an estimated rear wheel trajectory and rear overhang when the steering angle is increased from zero to full steer. Changes in the prediction area are shown in (a) to (c). FIG. 2 is a schematic diagram illustrating a state in which the mirror surfaces of the right mirror and the left mirror in FIG. 1 are viewed from the driver's seat when the vehicle turns right, and changes in the estimated rear wheel locus and the rear overhang prediction region when the steering angle is increased from zero to full steer. Are shown in (a) to (c). FIG. 2 is a schematic diagram illustrating a state in which the mirror surfaces of the right mirror and the left mirror in FIG. 1 are viewed from the driver's seat when the vehicle is reversing, and changes in the estimated rear wheel trajectory when the steering angle is increased from zero to full steer. Shown in (e). It is sectional drawing of the rear-view mirror of FIG. It is a top view of the light emission unit of FIG. 4, (a) shows the light emission unit of this embodiment, (b) shows the light emission unit of a modification, respectively. It is a functional block diagram of the driving assistance device of one embodiment of the present invention. It is a flowchart which shows the mirror display process of this embodiment. It is a top view which shows the other modification of a light emission unit. It is a schematic diagram which shows the modification of the display mode of an estimated rear wheel locus | trajectory, (a) shows a line display, (b) shows a fan-shaped display, (c) shows an arc line display, respectively. It is a schematic diagram which shows the modification of the display mode of a rear overhang prediction area | region, (a) shows a line display, (b) shows a square display, (c) shows a line animation display, respectively.

  An embodiment of the present invention will be described with reference to the drawings. In this embodiment, the case where the vehicle 1 on which the driving support device 3 is mounted is a truck (commercial vehicle) will be described. However, the driving support device 3 of the present invention can be mounted on various types of vehicles such as passenger cars. In the following description, the front-rear direction is the front-rear direction of the vehicle, and the left-right direction is the left-right direction in a state of facing the front of the vehicle.

  As shown in FIGS. 1 to 3, rear-view mirrors (side mirrors) 4 are respectively provided on the right and left side front ends of the cab 2 of the vehicle 1. The left and right rearview mirrors 4 (right mirror 4R and left mirror 4L) each have a mirror surface (display surface) 5, a mirror body 6, a mirror surface support body 7, and a mirror tilting device 8, as shown in FIG. The mirror body 6 is fixedly supported by a mirror stay 9 extending from the outer surface of the cab 2, and the mirror surface support 7 is supported so as to be tiltable by a mirror tilting device 8 fixed inside the mirror body 6. The mirror surface 5 is integrally provided on the rear surface of the mirror surface support 7 and is disposed outside the passenger compartment to reflect the rear side of the vehicle 1. The mirror surface 5 can be tilted about a rotation axis along the vertical direction (can be horizontally swiveled), and can be tilted about a rotation axis along the left-right direction (can be vertically swiveled). The swivel of the mirror surface 5 is executed by a stepping motor (not shown) of the mirror tilting device 7 so as to be controllable (swivel adjustment is possible) from the passenger compartment. The rearview mirror 4 may be supported so as to be manually tiltable. Further, when the vehicle is a passenger car or a pickup truck, a door mirror or a fender mirror serves as a rearview mirror. The mirror surface 5 is formed of a transmissive material that transmits irradiation light from the back surface side to the front surface side.

  The mirror surface 5 of the rearview mirror 4 displays an image of the rear side of the vehicle 1 including the rear wheels (rear tires) as a mirror image that can be viewed by the driver seated in the driver's seat. As shown in FIGS. 1 to 3, the mirror image (TRR) of the right rear wheel (right rear tire) is projected on the mirror surface (right display surface) 5R of the right mirror 4R, and the mirror surface (left display surface) 5L of the left mirror 4L. Is a mirror image MTL of the left rear wheel (left rear tire). For the mirror surface (right display surface) 5R of the right mirror 4R, a mirror image MTR of the right rear wheel (right rear tire) is displayed almost symmetrically with the left mirror 4L, and estimated rear wheel trajectories 10, 11 and 11 to be described later. The rear overhang prediction area 14 is also displayed almost symmetrically with the left mirror 4L.

  A light emitting unit 20 (shown in FIG. 4) is provided on the back side of the mirror surface 5 inside the rearview mirror 4. The light emitting unit 20 estimates the future movement trajectory of the rear wheel when the vehicle 1 turns and moves forward or backward from the grounding point (base end 12) on the outer side in the vehicle width direction of the mirror images MTR and MTL of the rear wheel. The wheel tracks 10R, 11R, 10L, and 11L are displayed on the mirror surfaces 5R and 5L, respectively. The estimated rear wheel trajectories 10R and 10L are estimated rear wheel trajectories 10 during forward turning (when turning right and left), and the estimated rear wheel trajectories 11R and 11L are estimated when moving backward (when turning right and when turning left). This is the rear wheel locus 11.

  The estimated rear wheel trajectories 10 and 11 represent the future movement trajectory of the rear wheels on the mirror surface 5 when the vehicle 1 turns rightward or leftward (the right side when turning right and the left side when turning left). It is a trajectory. Since the movement trajectory of the rear wheels varies depending on the steering angle (absolute value) of the steering wheel when the vehicle 1 is traveling straight ahead, the estimated rear wheel trajectories 10 and 11 have the current steering angle (the steering wheel steering described later). A trajectory corresponding to the detected steering angle θS) by the angle measuring unit 43 is displayed.

  The locus corresponding to the detected steering angle θS may be a locus representing the future movement locus of the rear wheel on the mirror surface 5 when the vehicle 1 turns at the detected steering angle θS, and the steering to which the detected steering angle θS belongs. A trajectory representing the future movement trajectory of the rear wheel on the mirror surface 5 when the vehicle 1 turns at a representative steering angle representing the angular range may be used.

  In this embodiment, a two-stage range (small to medium steering state, large steering state) is set as the steering angle range, and corresponds to the representative steering angles θq and θr that represent the range (steering state) to which the detected steering angle θS belongs. The estimated rear wheel trajectories 10, 11 are displayed. The number of steps in the steering angle range can be arbitrarily set as long as it is two or more.

  When the detected steering angle θS is zero (no steering state), the estimated rear wheel trajectories 10 and 11 corresponding to the steering angle 0 (zero) (see FIGS. 1 (a), 2 (a), and 3 (a)). Is displayed). When the detected steering angle θS exceeds zero and is equal to or less than θq (θq> 0) (small to middle steering state), the estimated rear wheel trajectories 10 and 11 corresponding to the representative steering angle θq (FIGS. 1B and 2). (B) and (shown in FIG. 3B) are displayed. When the detected steering angle θS exceeds θq and is equal to or less than θr (θr> θq) (large steering state), the estimated rear wheel trajectories 10 and 11 corresponding to the representative steering angle θr that is the maximum steering angle (full steer) (FIG. 1). (C), FIG. 2 (c) and FIG. 3 (c)) are displayed. As described above, the estimated rear wheel trajectories 10 and 11 are displayed in two stages (in three stages including the case where the steering angle is zero) as the detected steering angle θS increases. The case where the detected steering angle θS is zero includes that the driver keeps the steering wheel in the neutral position and is preparing to make a left turn or right turn while shifting the winker lever to the right turn display or the left turn display, or turning the shift lever This is because the estimated rear wheel trajectories 10 and 11 are displayed on the mirror surface 5 even during preparation for reversing to shift to the R range. The estimated rear wheel trajectories 10 and 11 when the detected steering angle θS is zero may be hidden.

  The displayed estimated rear wheel trajectories 10 and 11 are an estimated rear wheel trajectory 10R (shown in FIGS. 2A to 2C) at the time of a right turn and an estimated rear wheel trajectory 10L at the time of a left turn (FIG. 1A to FIG. 1). (Shown in (c)), an estimated rear wheel trajectory 11R (shown in FIGS. 3 (a) to 3 (c)) during a right reverse, and an estimated rear wheel trajectory 11L (shown in FIGS. 3 (a) to (c) 4) (two types of left and right for forward movement and two types of right and left for backward movement). Estimated rear wheel trajectories 10R and 11R at the time of right turn and right reverse are selectively displayed on the mirror surface 5R of the right mirror 4R, and estimated rear wheel trajectories 10L and 11L at the time of left turn and left reverse are displayed on the mirror surface 5L of the left mirror 4L. Displayed selectively.

  The estimated rear wheel trajectory 10R at the time of a right turn is a future movement trajectory of the right rear wheel when the vehicle 1 turns right and moves forward, and extends obliquely downward to the right from the mirror image MTR of the right rear wheel. The estimated rear wheel trajectory 10L at the time of a left turn is a future movement trajectory of the left rear wheel when the vehicle 1 turns left and moves forward, and extends obliquely downward to the left from the mirror image MTL of the left rear wheel. The estimated rear wheel trajectory 11R at the time of right reverse is a future movement trajectory of the right rear wheel when the vehicle 1 turns right and reverses, and extends obliquely upward to the right from the mirror image MTR of the right rear wheel. The estimated rear wheel trajectory 11L at the time of left reverse is a future movement trajectory of the left rear wheel when the vehicle 1 turns left and reverses, and extends obliquely upward to the left from the mirror image MTL of the left rear wheel. The two estimated rear wheel tracks 10R, 11R on the right side extend from the same base end 12, and the two estimated rear wheel tracks 10L, 11L on the left side extend from the same base end 12. The front end side of each estimated rear wheel locus 10, 11 is separated from the mirror image of the vehicle 1 as the steering angle increases.

  The light emitting unit 20 also has a rear overhang (the left side in the case of a right turn and the right side in the case of a left turn) of the vehicle 1 when the vehicle 1 turns forward and the rear end of the vehicle 1 from the rear wheel axle. The future moving range of the range up to (5) is displayed on the mirror surfaces 5L and 5R as the rear overhang prediction regions 14L and 14R, respectively. The light emitting unit 20 of the right mirror 4R displays an overhang prediction area 14R when turning left, and the light emission unit 20 of the left mirror 4L displays a rear overhang prediction area 14L when turning right. In the present embodiment, the rear overhang prediction area 14 is displayed by a broken line (rear overhang area display line) 13 indicating the maximum rear overhang movement position (movement limit position). The rear overhang area display line 13 is separated from the mirror image of the vehicle 1 to the outside in the turning direction as the steering angle increases.

  The movement range of the rear overhang varies so as to expand outward in the vehicle width direction in accordance with an increase in the steering angle (absolute value) of the steering wheel when the vehicle 1 is traveling straight ahead, so the rear overhang prediction area 14 (rear overhang area display line) 13) is displayed corresponding to the current steering angle (detected steering angle θS).

  The rear overhang prediction region 14 corresponding to the detected steering angle θS may represent a future moving range of the rear overhang when the vehicle 1 turns at the detected steering angle θS on the mirror surface 5. The future moving range of the rear overhang when the vehicle 1 turns at a representative steering angle that represents the steering angle range to which θS belongs may be represented on the mirror surface 5.

  In the present embodiment, a two-stage range (medium steering state, maximum steering state) is set as the steering angle range, and corresponds to representative steering angles θq and θr that represent the range (steering state) to which the detected steering angle θS belongs. A rear overhang prediction area 14 is displayed. The number of steps in the steering angle range can be arbitrarily set as long as it is two or more. Further, the steering angle range and the number of steps thereof may be set in the same manner as the estimated rear wheel trajectories 10 and 11, or may be set differently.

  When the detected steering angle θS is less than or equal to the predetermined steering angle θp (no steering and small steering state), the range of movement of the rear overhang does not occur or is extremely narrow, so as shown in FIGS. 1 (a) and 2 (a). The rear overhang area display line 13 is not displayed. When the detected steering angle θS exceeds θp and is equal to or less than θq (θq> θp) (medium steering state), the rear overhang region display line 13 corresponding to the representative steering angle θq (FIGS. 1B and 2B) Is displayed). When the detected steering angle θS exceeds θq and is equal to or less than θr (θr> θq) (large steering state), the rear overhang region display line 13 corresponding to the representative steering angle θr that is the maximum steering angle (full steer) (FIG. 1 ( c) and FIG. 2 (c)) are displayed. As described above, the rear overhang region display line 13 (rear overhang prediction region 14) is displayed in two stages according to the increase in the detected steering angle θS. The rear overhang area display line 13 may be displayed even in the non-steering and small steering states.

  The display positions of the rear wheel movement trajectories 10 and 11 and the rear overhang area display line 13 on the mirror surface 5 are fixed when the inclination angle of the mirror surface 5 is fixed to a predetermined recommended angle and assumed to be viewed by a driver of a standard physique. It can be obtained in advance by calculation from the steering angle and specifications of the vehicle 1 (wheel base, driver's seat position, positional relationship between the rear wheel axle and the vehicle rear end, etc.). Also, these display positions can be obtained by experiments, simulations, or the like. For this reason, in this embodiment, each steering state (no steering state to large steering state) for each of the rear wheel movement locus 10 during forward turning, the estimated rear wheel locus 11 during backward movement, and the rear overhang region display line 13 is provided. Trajectories corresponding to each representative steering angle at the left and right (three rear wheel movement trajectories 10 at the time of forward turning, three rear wheel movement trajectories 11 at the time of reverse rotation, and two rear overhang area display lines 13) The light emitting unit 20 is configured so that the rear wheel movement trajectories 10 and 11 and the rear overhang area display line 13 thus obtained can be displayed independently. The relative positions of the rear wheel mirror images MTR and MTL and the rear wheel movement trajectories 10 and 11 visually recognized by the driver, and the position of the rear overhang area display line 13 with respect to the mirror image of the vehicle 1 are the actual inclination angle of the mirror surface 5 and Since it changes depending on the physique of the driver, the driver adjusts the inclination angle of the mirror surface 5 at the start of traveling of the vehicle 1 so that the base ends 12 of the estimated rear wheel trajectories 10, 11 are mirror images MTR, MTL of the rear wheels. Match. The rear overhang area display line 13 (rear overhang prediction area 14) is also set to an appropriate position by matching the base ends 12 of the estimated rear wheel trajectories 10 and 11 with the mirror images MTR and MTL of the rear wheels.

  As shown in FIG. 4 and FIG. 5A, the light emitting unit 20 has a plurality of light emitting portions 21 that are fixed to the light emitting board 22 and are turned on and off, and the light emitting board 22 is fixed to the mirror support 7. Is done. The light emitting unit 21 is configured by, for example, an LED (light emitting diode), and a plurality of light emitting units 21 configure a display unit (overhang display unit, rear wheel locus display unit) 23 (shown in FIG. 6). The plurality of light emitting units 21 are arranged along the estimated rear wheel trajectories 10 and 11 and the rear overhang region display line 13 in a state of facing the back surface of the mirror surface 5. The plurality of light emitting units 21 are disposed along the reference light emitting unit 21N disposed at each base end 12 of the estimated rear wheel trajectories 10 and 11, and the plurality of light emitting units 21 disposed along the estimated rear wheel trajectory 10 during forward turning from the reference light emitting unit 21. Forward light emitting portion 21F, a backward light emitting portion 21R arranged along the estimated rear wheel trajectory 11 when retreating from the reference light emitting portion 21, and a rear overhang light emission arranged along the rear overhang region display line 13. Part 21S.

  The forward light emitting unit 21F includes a forward first light emitting unit group 21Fa along the estimated rear wheel locus 10 in the non-steering state and a forward second light emitting unit group along the estimated rear wheel locus 10 in the small to medium steering state. 21Fb and a forward third light emitting unit group 21Fc along the estimated rear wheel trajectory 10 in the large steering state. That is, the forward light emitting unit 21F includes three light emitting unit groups 21Fa to 21Fc corresponding to the steering state (steering angle). When the estimated rear wheel locus 10 is displayed, one light emitting unit group is selected from these light emitting unit groups 21Fa to 21Fc, and light emission control of the forward light emitting unit 21F belonging to the selected light emitting unit group is performed.

  The reverse light emitting unit 21R includes a reverse first light emitting unit group 21Ra along the estimated rear wheel trajectory 11 in the non-steering state, and a reverse second light emitting unit group along the estimated rear wheel trajectory 11 in the small to medium steering state. 21Rb and a reverse third light emitting unit group 21Rc along the estimated rear wheel trajectory 11 in the large steering state. That is, the reverse light emitting unit 21R includes three light emitting unit groups 21Ra to 21Rc corresponding to the steering state (steering angle). When the estimated rear wheel locus 11 is displayed, one light emitting unit group is selected from these light emitting unit groups 21Ra to 21Rc, and the light emission control unit 21R belonging to the selected light emitting unit group is controlled to emit light.

  The rear overhang light emitting unit 21S (indicated by a black circle in FIG. 5A) includes the first overlighting group 21Sb for the overhang along the rear overhang region display line 13 in the middle steering state, and the rear overhang region display in the large steering state. The second light emitting unit group 21Sc for overhanging along the line 13 is formed. That is, the rear overhang light-emitting part 21S is composed of two light-emitting part groups 21Sb and 21Sc corresponding to the steering state (steering angle). When the rear overhang region display line 13 is displayed, one light emitting unit group is selected from these light emitting unit groups 21Sb and 21Sc, and the light emission of the rear overhanging light emitting unit 21S belonging to the selected light emitting unit group is controlled. A part or all of the plurality of rear overhanging light emitting units 21S may also be used as the forward light emitting unit 21F or the backward light emitting unit 21R.

  The forward light emitting unit 21F displays the estimated rear wheel locus 10 in a broken line shape, the backward light emitting unit 21R displays the estimated rear wheel locus 11 in a broken line shape, and the rear overhanging light emitting unit 21S includes a rear overhang region. The display line 13 is lit and displayed. The light emission modes of the light emitting units 21F, 21R, and 21S are arbitrary, such as constantly lighting or flashing with a long cycle. The estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 are displayed on the mirror surface 5 only when the light emitting units 21F, 21R, and 21S emit light, and are not displayed when the light is off. Note that the reference light emitting unit 21 of the present embodiment always emits light so that the driver can grasp the position of the base end 12 when the driver matches the mirror images MTR and MTL of the rear wheels to the base end 12. indicate.

[Configuration of Driving Support Device 3]
As shown in FIG. 6, the driving support device 3 includes a display control unit 30, a gear position determination switch 41, a winker switch 42, a steering wheel steering angle measurement unit (steering angle detection means) 43, a hazard switch 44, A vehicle speed measurement unit (vehicle speed sensor) 45, a display unit 23, and a mirror surface 5 are provided.

  The display control unit 30 is a computer processing device including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), an internal clock, a timer, and the like, and is mounted on the vehicle 1. The CPU functions as an operation determination unit (right / left turn determination unit, reverse determination unit) 31 and a display calculation unit (rear wheel track display unit) 32 by executing processing according to the rear wheel track display control program stored in the ROM. To do. At least one of the ROM and RAM functions as a database (storage means) 33. In the database 33, light emitting unit selection information (for example, a table or the like) that prescribes a correspondence relationship between the detected steering angle θS and the forward light emitting unit groups 21Fa to 21Fe and the backward light emitting unit groups 21Ra to 21Re is stored in advance. By referring to the light emitting unit selection information, one forward light emitting unit group and one backward light emitting unit group are specified for one detected steering angle θS.

  A steering wheel steering angle measurement unit (steering angle sensor) 14 detects a rotation angle of a steering wheel (not shown) steered by a driver as a steering angle (detected steering angle θS) of the vehicle 1 at predetermined time intervals, and detects it. The detected steering angle θS is transmitted to the display control unit 30. The detected steering angle θS is the rotation angle of the steering wheel in the left-right direction with respect to the neutral position where the vehicle 1 goes straight, and is detected with one of the left rotation and right rotation as a positive value and the other as a negative value with the neutral position set to zero. The The turning direction of the vehicle 1 is determined based on whether the detected steering angle θS is positive or negative. The increase in the steering angle means an increase in the rotation angle of the steering wheel with respect to the neutral position (an increase in the absolute value of the detected steering angle θS).

  A gear position determination switch (shift switch) 41 detects a shift position of a shift lever (not shown) at predetermined time intervals and transmits it to the display control unit 30 as gear position information. The gear stage information is information for specifying a gear stage (not shown) of a speed change mechanism (not shown) interposed between an engine (not shown) and a drive wheel shaft (not shown). The vehicle 1 of the present embodiment is a manual transmission (MT) vehicle, and the shift position is connected to the first speed, the second speed, the third speed,... For advancing the vehicle 1 and an engine (not shown). A neutral position N to be released, a reverse position R (R range) for moving the vehicle 1 backward, and a parking position P (P range) for maintaining the stopped state of the vehicle 1 are included. When the vehicle 1 is an automatic transmission (AT) vehicle, the first speed, the second speed, the third speed,...

  The turn signal switch 42 detects a turn signal position of a turn signal lever (not shown) every predetermined time, and transmits it to the display control unit 30 as turn signal information. The blinker positions are in three positions: unlit (not displayed), right turn display (blinks right), and left turn display (blinks left). The turn signal information indicates whether the driver is performing turn signal display for turning right or left. It is information which shows.

  The hazard switch 44 detects ON / OFF of a hazard button (not shown) every predetermined time and transmits it to the display control unit 30 as hazard information. The hazard information is information that allows the driver to determine whether or not the vehicle 1 is scheduled to be stopped.

  The vehicle speed measurement unit 12 detects the speed (vehicle speed) V of the vehicle 1 every predetermined time by detecting the rotational speed of wheels (not shown), for example, and transmits the detected vehicle speed V to the display control unit 30.

  The gear stage information, turn signal information, hazard information, and vehicle speed V are vehicle information related to the state of the vehicle 1, and the shift switch 41, turn signal switch 42, hazard switch 44, and vehicle speed measurement unit 45 are vehicles related to the state of the vehicle 1. Vehicle information detection means for sequentially detecting information is configured.

  The driver keeps the turn signal lever hidden when the vehicle 1 travels straight or reverses, shifts to the right turn display when turning right (preparing right or turning right), and turning left (preparing or turning left) ) Shifts to the left turn display. Further, when the vehicle 1 is moving backward (preparing for reverse or reverse), the shift lever is shifted to the R range.

  The operation determination unit 32 receives the blinker information received when the hazard information is OFF, the gear stage information is other than the R range, the vehicle speed V is traveling at a low speed of a predetermined speed (40 km / h in the present embodiment), or less. Is determined to be in a right turn support state when it is in a right turn display, and determined to be in a left turn support state in the case of a right turn display. Further, when the hazard information is OFF and the gear position information is in the R range, it is determined that the vehicle is in the reverse assist state. Further, the operation determination unit 32 determines that the vehicle is in the traveling preparation state when the hazard information is OFF and the gear position information is the neutral position N. In the determination of the right turn support state, the left turn support state, and the reverse support state, the determination based on the hazard information and the vehicle speed V may be omitted.

  The display calculation unit 32 executes the light emission control of the display unit 23 according to the determination result of the operation determination unit 31. Specifically, when the operation determination unit 31 determines that the vehicle is in the right turn assisting state, the forward light emitting unit 21F of the right mirror 4R emits light, and the rear overhanging light emitting unit 21S of the left mirror 4L emits light. When the operation determination unit 31 determines that it is in the left turn support state, the forward light emitting unit 21F of the left mirror 4L emits light, and the rear overhanging light emitting unit 21S of the right mirror 4R emits light. The light emission from the rear overhanging light-emitting portion 21S is executed only when the detected steering angle θS exceeds the predetermined steering angle θp, and is not executed when the detected steering angle θS is equal to or smaller than the predetermined steering angle θp. When the operation determination unit 31 determines that the vehicle is in the backward support state, the backward light emitting unit 21R of the right mirror 4R and the left mirror 4L is caused to emit light. When the operation determination unit 31 determines that the vehicle is in the traveling preparation state, the forward light emitting unit 21F and the backward light emitting unit 21R of the right mirror 4R and the left mirror 4L are caused to emit light, respectively.

  By such light emission control, in the right turn support state (during forward right turn), the estimated rear wheel locus 10R at the time of the right turn is displayed on the mirror surface 5R of the right mirror 4R among the mirror surfaces 5 of the left and right rearview mirrors 4, and the left mirror 4L The predicted overhang area 14L (overhang area display line 13L) is displayed on the mirror surface 5L, and the other estimated rear wheel trajectories 10L, 11R, 11L and the expected overhang area 14R (overhang area display line 13R) are not displayed. In the left turn support state (forward left turn), the estimated rear wheel trajectory 10L at the time of the left turn is displayed on the mirror surface 5L of the left mirror 4L among the mirror surfaces 5 of the left and right rearview mirrors 4, and the overhang prediction area is displayed on the mirror surface 5R of the right mirror 4R. 14R (overhang area display line 13R) is displayed, and the other estimated rear wheel loci 10R, 11R, 11L and overhang expected area 14L (overhang area display line 13L) are not displayed. In the backward assistance state (reverse), the estimated rear wheel trajectories 11R and 11L at the time of reverse are displayed on the mirror surface 5R of the right mirror 4R and the mirror surface 5L of the left mirror 4L, respectively, and the estimated rear wheel trajectory 10R at the time of right turn and left turn is displayed. , 10L and overhang expected areas 14R, 14L (overhang area display lines 13R, 13L) are not displayed. In the traveling preparation state, the estimated rear wheel trajectories 10R and 10L at the time of right turn and left turn and the estimated rear wheel trajectories 11R and 11L at the time of reverse are respectively displayed on the mirror surface 5R of the right mirror 4R and the mirror surface 5L of the left mirror 4L. Overhang expected areas 14R and 14L (overhang area display lines 13R and 13L) are not displayed. In the traveling preparation state, the left and right overhang prediction areas 14R and 14L (overhang area display lines 13R and 13L) may be displayed.

  For example, when the driver shifts the turn signal lever to the left turn display in order to make a left turn from straight running in the hazard OFF state, the left turn is being prepared and the estimated rear wheel locus 10L is displayed on the left mirror 4L. The display of the estimated rear wheel locus 10L continues even during a left turn in which the driver is steering the steering wheel to the left, and is displayed in a variable manner as the steering angle of the steering wheel (detected steering angle θS) increases or decreases. It ends by returning to the direction and turning the blinker lever back off. Further, during the left turn, while the detected steering angle θS exceeds the predetermined steering angle θp, the overhang area display line 13R is displayed on the right mirror 4R. The overhang area display line 13R is displayed in a variable manner according to the increase or decrease of the detected steering angle θS, and ends when the detected steering angle θS returns to a predetermined steering angle θp or less, or when the winker lever returns to extinction.

  Further, when the driver shifts the shift lever to the R range in order to move backward from the stop, the vehicle is preparing to move backward, and the estimated rear wheel tracks 11R and 11L are displayed on the right mirror 4R and the left mirror 4L. The display of the estimated rear wheel trajectories 11R and 11L continues even while the vehicle 1 is moving backward, and is displayed in a variable manner according to the increase or decrease of the steering angle (detected steering angle θS) of the steering wheel. The driver stops the vehicle 1 and shift lever Is finished by shifting to a position other than the R range.

[Processing executed by display control unit 30]
Next, processing executed by the display control unit 30 will be described with reference to the flowchart of FIG. This process is started when the driver starts the engine.

  As shown in FIG. 7, when this process is started, it is determined whether or not the received hazard information is ON (step S1).

  If the hazard information is OFF (step S1: NO), it is determined whether the received gear position information is in the R range (step S2).

  If the gear position information is in the R range (step S2: YES), it is determined that the vehicle is in the backward assist state, and the estimated rear wheel trajectories 11R and 11L at the time of backward movement are displayed on the right mirror 4R and the left mirror 4L, respectively (step). S3). The display of the estimated rear wheel trajectories 11R and 11L refers to the light emitting unit selection information in the database 33, selects one backward light emitting unit group corresponding to the received detected steering angle θS, and selects the selected backward light emitting unit group. This is performed by controlling the light emission of each of the plurality of light emitting units 21 of the right mirror 4R and the left mirror 4L.

  Subsequently, it is determined whether or not the received gear position information has been changed to other than the R range (step S4), and while the R range is maintained (step S4: NO), the estimated rear wheel trajectories 11R and 11L are changed. Continue to display.

  When the received gear position information is changed to other than the R range (step S4: YES), the display of the estimated rear wheel trajectories 11R and 11L is terminated (step S5), and this process is terminated.

  If the received gear position information is other than the R range (step S2: NO), it is determined whether the vehicle speed V is 40 km / h or less (step S6).

  If the vehicle speed V is 40 km / h or less (step S6: YES), it is subsequently determined whether the received turn signal information is a right turn display (step S7).

  If the turn signal information is a right turn display (step S7: YES), it is determined that the vehicle is in a right turn support state, and the estimated rear wheel locus 10R at the time of the right turn is displayed on the right mirror 4R (step S8). The display of the estimated rear wheel locus 10R refers to the light emitting unit selection information in the database 33, selects the forward light emitting unit group corresponding to the received detected steering angle θS, and the right mirror 4R belonging to the selected forward light emitting unit group. The plurality of light emitting units 21 are controlled by controlling the light emission.

  Subsequently, it is determined whether or not the steering angle is large enough to display the rear overhang prediction region 14 (whether the detected steering angle θS exceeds the predetermined steering angle θp) (step S9). Is sufficiently large (step S9: YES), the rear overhang area display line 13L at the time of the right turn is displayed on the left mirror 4L (step S10).

  Subsequently, it is determined whether or not the received turn signal information has been changed to off (step S11), and while the right turn display is maintained (step S11: NO, step S12: YES), the process returns to step S9 to estimate While the display of the rear wheel locus 10R is continued and the steering angle is sufficiently large (step S9: YES), the rear overhang area display line 13L at the time of the right turn is displayed on the left mirror 4L (step S10).

  On the other hand, when the received turn signal information is changed to off (step S11: YES), the display of the estimated rear wheel trajectories 11R and 11L is ended (step S5), and this process is ended.

  If the received turn signal information is not a right turn display (step S7: NO), it is further determined whether the turn signal information is a left turn display (step SS13). If the turn signal information is a left turn display (step S13: YES). Then, it is determined that the vehicle is in the left turn support state, and the estimated rear wheel locus 10L at the time of the left turn is displayed on the left mirror 4L (step S14). The display of the estimated rear wheel locus 10L refers to the light emitting unit selection information in the database 33, selects the forward light emitting unit group corresponding to the received detected steering angle θS, and the left mirror 4L belonging to the selected forward light emitting unit group. The plurality of light emitting units 21 are controlled by controlling the light emission.

  Subsequently, it is determined whether or not the steering angle is large enough to display the rear overhang prediction region 14 (whether the detected steering angle θS exceeds the predetermined steering angle θp) (step S15). Is sufficiently large (step S15: YES), the rear overhang area display line 13R at the time of the left turn is displayed on the right mirror 4R (step S16).

  Subsequently, it is determined whether or not the received turn signal information is changed to off (step S11), and while the left turn display is maintained (step S11: NO, step S12: NO), the process returns to step S15. While the display of the estimated rear wheel locus 10L is continued and the steering angle is sufficiently large (step S15: YES), the rear overhang area display line 13R at the time of a left turn is displayed on the right mirror 4R (step S16).

  When the received turn signal information is changed to off (step S11: YES), the display of the estimated rear wheel trajectories 11R and 11L is terminated (step S5), and this process is terminated.

  If the received hazard information is ON (step S1: YES), it is determined whether the received gear position information is in the neutral position N (step S17).

  If the gear position information is in the neutral position N (step S17: YES), it is determined that the vehicle is in a traveling preparation state, and the estimated rear wheel trajectories 10R, 11R, 10L, and 11L are displayed on the right mirror 4R and the left mirror 4L, respectively ( Step S18). Display of the estimated rear wheel trajectories 10R, 11R, 10L, and 11L refers to the light emitting unit selection information in the database 33, selects the forward light emitting unit group and the reverse light emitting unit group corresponding to the received detected steering angle θS, This is performed by controlling the light emission of the plurality of light emitting units 21 of the right mirror 4R and the left mirror 4L belonging to the selected forward light emitting unit group and backward light emitting unit group.

  Subsequently, it is determined whether or not the received hazard information has been changed to OFF (step S19). While ON is maintained (step S19: NO), the estimated rear wheel trajectories 10R, 11R, 10L, and 11L Continue to display. When the received hazard information is changed to OFF (step S19: YES), the display of the estimated rear wheel trajectories 10R, 11R, 10L, and 11L is terminated (step S5), and this process is terminated.

  In addition, when the vehicle speed V exceeds 40 km / h (step S6: NO) and when the turn signal information is turned off (step S13: NO), the vehicle 1 is not or may not move backward or forward. Since the property is low, the process returns to step S1. Further, when the hazard information is ON and the gear position information is other than the neutral position N (step S17: NO), there is a possibility that the vehicle will start traveling immediately, so the process returns to step S1.

  As described above, according to the present embodiment, the estimated rear wheel trajectory 10 extending from the rear wheel images MTR and MTL on the mirror surface 5 of the rearview mirror 4 on which the rear side image of the vehicle including the rear wheels is displayed. 11 is displayed. The driver can relatively easily predict (image) the movement trajectory of the rear wheels based on the displayed estimated rear wheel trajectories 10 and 11. Therefore, the driver can easily grasp the future rear wheel trajectory by viewing the mirror image on the rear side of the vehicle 1 displayed on the mirror surface 5 and the estimated rear wheel trajectories 10 and 11. Therefore, contact with surrounding objects can be avoided.

  In particular, since the estimated rear wheel trajectories 10 and 11 corresponding to the current steering angle (detected steering angle θS) are displayed on the mirror surface 5, the driver uses the displayed estimated rear wheel trajectories 10 and 11 as a reference for the rear wheels. Can be predicted more easily.

  For example, when there is no clue for the traveling driver to know the position of the vehicle 1 being driven because there is no traveling line on the road, or when the vehicle 1 has a long wheelbase and a large inner wheel difference, the estimated rear wheel trajectory 10 , 11 is particularly effective for assisting the driver.

  Since the rear overhang prediction area 14 (rear overhang area display line 13) is displayed on the mirror surface 5 of the rearview mirror 4, the driver compares the movement range of the future rear overhang based on the displayed rear overhang prediction area 14. Can be easily predicted. Therefore, the driver can easily grasp the moving range of the future rear overhang by looking at the rear side image of the vehicle 1 displayed on the mirror surface 5 and the predicted rear overhang area 14. Therefore, contact with surrounding objects can be avoided.

  In particular, since the rear overhang area display line 13 corresponding to the current steering angle (detected steering angle θS) is displayed on the mirror surface 5, the driver can determine the future rear overhang based on the displayed rear overhang prediction area. The moving range can be predicted more easily.

  The mirror surface 5 of the rearview mirror 4 is an object that is always visible when the driver turns the vehicle 1, and thus does not require a special visual operation.

  The mirror image of the rear side of the vehicle 1 (mirror image around the vehicle 1) reflected on the mirror surface 5 changes with respect to the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 as the vehicle 1 travels. Can always accurately grasp the positional relationship between the surrounding environment, which changes every moment during traveling, and the future rear wheel trajectory and the movement range of the rear overhang.

  The area outside the estimated rear wheel trajectories 10 and 11 of the mirror surface 5 (the side away from the vehicle 1) is a safety region 51 in which contact with the vehicle 1 does not occur or contact is unlikely to occur. Further, in the region inside the mirror surface 5 estimated rear wheel trajectories 10 and 11 (between the vehicle 1 and the estimated rear wheel trajectories 10 and 11), the contact with the vehicle 1 is likely to occur or the contact is highly likely to occur. It becomes a high danger zone 52 area. Accordingly, the driver can accurately steer the vehicle 1 so as to avoid contact with the object or the like by visually confirming whether the object or the like displayed on the mirror surface 5 is outside or inside the estimated rear wheel trajectories 10 and 11. be able to.

  The region outside the rear overhang prediction region 14 of the mirror surface 5 (the side away from the vehicle 1) is a region where contact with the vehicle 1 does not occur or the possibility of contact is extremely low, and the rear overhang prediction region 14 Is an area where contact with the vehicle 1 occurs or where contact is likely to occur. Accordingly, the driver can accurately steer the vehicle 1 so as to avoid contact with an object or the like by visually checking whether the object or the like displayed on the mirror surface 5 is outside or inside the rear overhang prediction region 14. it can.

  When making a right turn, an estimated rear wheel locus 10R for a right turn is displayed on the right mirror 4R, and a predicted rear overhang area 14L for a right turn is displayed on the left mirror 4L. At the time of a left turn, an estimated rear wheel locus 10L at the time of a left turn is displayed on the left mirror 4L, and a predicted rear overhang area 14R at the time of a left turn is displayed on the right mirror 4R. Therefore, the driver who turns the vehicle 1 to move forward can easily grasp the future rear wheel locus and the future rear overhang movement range by looking at the right mirror 4R and the left mirror 4L.

  Information necessary for the driver (estimated rear wheel trajectories 10, 11 and rear overhang area display line 13) is selectively displayed on the left and right rearview mirrors 4 according to the state of the vehicle 1. Accordingly, useless information provision to the driver is suppressed, and the driver can drive the vehicle 1 safely.

  Since the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 are lit and displayed on the mirror surface 5, the driver can easily estimate the rear wheel trajectories 10 and 11 regardless of the surrounding environment (even at night). And the rear overhang area display line 13 can be visually recognized.

  Moreover, since the mirror surface 5 of the rearview mirror 4 is used as a display surface, the driving assistance apparatus 3 can be simply provided with respect to the existing vehicle provided with the rearview mirror 4, and versatility increases.

<Modification 1>
In the above embodiment, the plurality of light emitting units 21 are fixedly provided on the mirror surface 5, but these may be provided so as to be movable along the surface direction of the mirror surface 5.

  For example, as shown in FIG. 8, a pair of left and right first guide rails 61 fixed to the mirror support 7 supports a movable plate 62 so as to be slidable in the vertical direction, and a pair of upper and lower fixed to the movable plate 62. The light emitting board 22 is slidably supported by the second guide rail 63 in the left-right direction. A first pinion gear 64 rotatably supported by the mirror support 7 and rotated by a first motor (not shown) meshes with a first rack gear 65 formed on the side edge in the vertical direction of the movable plate 62, and the movable plate A second pinion gear 66 rotatably supported by 62 and rotated by a second motor (not shown) meshes with a second rack gear 67 formed on the side edge in the vertical direction of the light emitting board 22. The movable plate 62 (light emitting board 22) moves up and down by controlling the rotation of the first motor, and the light emitting board 23 moves in the horizontal direction by controlling the rotation of the second motor. Thereby, the plurality of light emitting units 21 fixed to the light emitting board 23 can move along the surface direction of the mirror surface 5.

  Thus, by providing a plurality of light emitting units 21 (display units 23) movably along the surface direction of the mirror surface 5, the position of the eyes of the driver seated in the driver's seat and the mirror surface 5 of the rearview mirror 4 Even if the relative position (the angle of the line of sight with respect to the mirror surface 5) changes and the estimated rear wheel trajectories 10, 11 deviate from the mirror images MTR, MTL of the rear wheels, the driver does not change the angle of the mirror surface 5. By moving the light emitting unit 21 (estimated rear wheel trajectories 10, 11 and rear overhang area display line 13), the estimated rear wheel trajectories 10 and 11 are adjusted to the mirror images MTR and MTL of the rear wheels, and the rear overhang area display line is displayed. 13 can be set to an appropriate position.

  FIG. 8 illustrates a case where the estimated rear wheel trajectories 10 and 11 are displayed in four stages (five stages when including no steering).

<Modification 2>
In the above embodiment, the light emitting board 22 in which the plurality of light emitting units 21 are arranged along the estimated rear wheel trajectories 10 and 11 is provided, but instead of this, as shown in FIG. You may provide the light emission board 25 by which the part 21 is arrange | positioned at dot matrix form (lattice form). The database 33 includes information for identifying the light emitting unit 21 along the estimated rear wheel trajectories 10 and 11 corresponding to the detected steering angle θS among the many light emitting units 21 and the rear overhang region display line corresponding to the detected steering angle θS. 13 is stored in advance as light emitting unit selection information, and the display control unit 30 performs light emission control of the identified light emitting unit 21. . The estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 can be moved and displayed on the mirror surface 5 in accordance with an instruction from the driver, using a predetermined arithmetic expression or a map as the light emitting unit selection information. Good. By enabling the estimated rear wheel trajectories 10 and 11 and the rear overhang region display line 13 to be moved and displayed, even if the estimated rear wheel trajectories 10 and 11 deviate from the mirror images MTR and MTL of the rear wheels, Without changing the angle, the driver moves the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 to adjust the estimated rear wheel trajectories 10 and 11 to the mirror images MTR and MTL of the rear wheels. The rear overhang area display line 13 can be set to an appropriate position.

<Modification 3>
In the above embodiment, the display mode of the estimated rear wheel tracks 10 and 11 is a broken line, but the display mode of the estimated rear wheel tracks 10 and 11 is not limited to this. For example, a solid line (line) display 71 as shown in FIG. 9 (a), a fan-shaped display 72 as shown in FIG. 9 (b), or an arc line shape as shown in FIG. 9 (c). The display in various modes such as the display 73 is possible.

<Modification 4>
In the embodiment described above, the safety area 51 outside the estimated rear wheel trajectories 10 and 11 and the danger area 52 inside may be displayed in a light-emitting manner (for example, light-emitting display in a predetermined color).

<Modification 5>
In the above embodiment, the mirror surface 5 is used as the display surface. Instead, an LCD (liquid crystal display) is attached to the mirror body 6 and an image of the rear side of the vehicle 1 captured by a camera installed outside the vehicle is displayed on the LDC. It may be displayed on the display surface, and the images of the estimated rear wheel trajectories 10 and 11 may be superimposed on the LCD display image.

<Modification 6>
In the above embodiment, the estimated rear wheel trajectories 10 and 11 and the rear overhang region display line 13 corresponding to the detected steering angle θS are displayed. However, after estimation corresponding to a preset specific steering angle (for example, the maximum steering angle). The wheel trajectories 10 and 11 and the rear overhang area display line 13 may be displayed regardless of the current steering angle. In this case, the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 are fixedly displayed.

  In this case, for example, the display portion may be formed by applying paint along the estimated rear wheel trajectories 10 and 11 and the rear overhang region display line 13 on the surface of the mirror surface 5, and the estimated rear wheel trajectories 10 and 11 and The display unit may be formed by sticking a transparent film coated with a paint along the rear overhang region display line 13 to the surface of the mirror surface 5. Fluorescent paint may be used as the paint applied along the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13, and the estimated rear wheel trajectories 10 and 11 and the rear overhang area from the back side of the mirror surface 5 as necessary. The display line 13 may be irradiated. Alternatively, the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 may be displayed at all times by causing the plurality of light emitting units 21 to always emit light. When the estimated rear wheel trajectories 10 and 11 and the rear overhang area display line 13 are always displayed, the display control unit 30 is omitted.

<Modification 7>
In the above embodiment, the predicted rear overhang area 14 is displayed by the broken rear overhang area display line 13, but the display mode of the predicted rear overhang area 14 is not limited to this. For example, a solid line (line) display 74 as shown in FIG. 10A, a square display 75 as shown in FIG. 10B, or a line animation display 76 as shown in FIG. 10C. The display in various modes is possible.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the technical idea according to the present invention other than the above-described embodiment and modifications. Of course.

  The driving support device of the present invention is applicable to various vehicles.

1: Vehicle 3: Driving support device 4: Rearview mirror 4R: Right mirror 4L: Left mirror 5: Mirror surface (display surface)
10, 10R, 10L, 11, 11R, 11L: Estimated rear wheel locus 13, 13R, 13L: Rear overhang area display line 14, 14R, 14L: Expected rear overhang area 20: Light emitting unit 21: Light emitting section 23: Display section ( Rear wheel locus display means, rear overhang display means)
30: Display control unit 31: Operation determination unit (right / left turn determination means, reverse determination means)
32: Display calculation section (rear wheel locus display means, rear overhang display means)
43: Steering wheel steering angle measurement unit (steering angle detection means)

Claims (6)

A display surface provided on a side portion of the vehicle and displaying an image of a rear side of the vehicle in a visible manner from a driver seated in a driver seat in a vehicle interior;
A driving support device, comprising: rear overhang display means for displaying a future movement range of a rear overhang outside the turning of the vehicle when the vehicle turns on the display surface as a rear overhang prediction region. . The driving support device according to claim 1,
The rear overhang display means displays a future movement range of the rear overhang corresponding to a specific steering angle of the vehicle as the rear overhang prediction region. The driving support device according to claim 1,
Steering angle detection means for detecting the steering angle of the vehicle,
The rear overhang display means displays the future movement range of the rear overhang corresponding to the steering angle detected by the steering angle detection means as the rear overhang prediction area. The driving support device according to any one of claims 1 to 3,
It is determined that the vehicle is in a right turn support state when the vehicle is preparing for a right turn or is making a right turn, and includes a right / left turn determination means that determines that the vehicle is in a left turn support state when the vehicle is preparing for a left turn or is making a left turn,
The display surface is provided on the right side of the vehicle to display a right rear image of the vehicle, and the left display surface is provided on the left side of the vehicle to display a left rear image of the vehicle. Have
The rear overhang display means, when the right / left turn determination means determines that the vehicle is in the right turn support state, indicates the future movement range of the rear overhang on the left side of the vehicle when the vehicle turns to the right and moves forward. The rear overhang on the right side of the vehicle is displayed when the vehicle turns to the left and moves forward when the right / left turn determination means determines that the vehicle is in the left turn support state. The future moving range of the vehicle is displayed on the right display surface as a rear overhang prediction region at the time of a left turn. The driving support device according to any one of claims 1 to 4,
A rear wheel locus display means,
The vehicle rear side image displayed on the display surface includes an image of the rear wheel of the vehicle,
The rear wheel locus display means displays a future movement locus of the rear wheel when the vehicle turns on the display surface as an estimated rear wheel locus extending from the image of the rear wheel. apparatus. It is a driving assistance device given in any 1 paragraph among Claims 1-5,
The driving support device according to claim 1, wherein the display surface is a mirror surface of a rearview mirror that reflects a rear-side image of the vehicle as a mirror image.

Images