JP2015020495A - Vehicle drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a user-friendly vehicle drive device.SOLUTION: A vehicle drive device includes: imaging means that is provided in a driver's own vehicle to take an image of the rear of the driver's own vehicle; obstacle detection means for detecting an obstacle positioned behind the driver's own vehicle on the basis of the image taken by the imaging means; and drive control means for driving the driver's own parked vehicle depending on a distance between a door provided in the rear of the driver's own vehicle and the obstacle detected by the obstacle detection means.

Description

  The present invention relates to a vehicle drive device.

  Two cameras with a horizontal angle of view of 110 degrees are arranged side by side in the vicinity of the upper bumper at the rear of the vehicle, and the horizontal direction is 180 degrees by combining the captured images captured by the two cameras into one image. The above composite image is acquired. Then, the composite image is separated into a rear front image and right and left peripheral images of the left and right parts of the periphery, and the right and left peripheral images are intentionally distorted and deformed compared to the rear front image, thereby reducing An image display control device that provides an image having a depth behind the camera as if looking at a mirror is disclosed (Patent Document 1).

JP 2003-255925 A

  However, since the image display control device does not control the vehicle after detecting an obstacle located behind the host vehicle, for example, a trunk lid or a back door (hereinafter referred to as a door) at the rear of the vehicle. When the distance between the obstacle and the door is short when trying to open the door, there is a problem that the door cannot be opened and the usability is not good.

  The problem to be solved by the present invention is to provide a user-friendly vehicle drive device for a user.

  The present invention detects an obstacle located behind the host vehicle based on a captured image of the imaging unit, and parks the host vehicle according to the distance between the door provided at the rear of the host vehicle and the obstacle. The above problem is solved by driving the.

  According to the present invention, when the distance between the obstacle located behind the host vehicle and the rear door is short, the parked host vehicle is driven so as to secure a space behind the rear door. Can use the trunk by opening the rear door. As a result, a user-friendly vehicle drive device can be provided to the user.

1 is a block diagram of a vehicle drive device according to an embodiment of the present invention. It is a figure for demonstrating the position of the camera of FIG. 1, and is a top view of a vehicle. It is a figure for demonstrating the position of the camera of FIG. 1, and is a side view of a vehicle. It is a figure for demonstrating the position of the display of FIG. 1, and is a figure which shows the circumference | surroundings of the instrumental panel of a vehicle. It is a figure for demonstrating the imaging range of the camera of FIG. 1, and is a side view of a vehicle. It is a figure for demonstrating the movable distance of the rear door of FIG. 3, and is a side view of a vehicle. It is a figure for demonstrating the positional relationship of the parked vehicle and an obstruction, and is a side view of a vehicle. It is a figure for demonstrating the positional relationship of the parked vehicle and an obstruction, and is a side view of a vehicle. It is a figure for demonstrating the positional relationship of the vehicle and obstacle after the parked vehicle shown in FIG. 8 moved, and is a side view of the vehicle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a vehicle drive device according to an embodiment of the present invention. The vehicle drive device is mounted on the vehicle. The vehicle drive device is a device for driving a parked vehicle according to the distance between an obstacle located near the rear door of the vehicle and the rear door of the vehicle.

  In addition, this example uses a camera that is a part of the configuration of the vehicle drive device and another camera to capture the back of the host vehicle and the surroundings of the host vehicle, and display the result on the display. Or the surrounding information is presented to the passenger. In the past, mirrors were installed in the vehicle interior or exterior, and passengers directly viewed the mirrors to obtain information about the rear or surroundings of the vehicle. There was a problem that a blind spot was generated by the pillars of. Therefore, this example solves these problems by using a camera and a display without providing a mirror in the vehicle.

  As shown in FIG. 1, the vehicle drive device according to the present embodiment includes a right side camera 1a, a left side camera 1b, a rear camera 1c, a back camera 1d, a right display 2a, a left display 2b, a central display 2c, and a rear door 3. And a controller 10. Each of these devices is connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can transmit or receive information. The right display 2a, the left display 2b, and the central display 2c are not necessarily provided in the vehicle drive device.

  The right side camera 1a, the left side camera 1b, and the rear camera 1c are cameras that capture the rear of the host vehicle in order to acquire information behind the host vehicle. The back camera 1d is a camera that images the back of the host vehicle in order to acquire information about the back of the host vehicle (in the vicinity of the host vehicle). The cameras 1a to 1c are provided at positions higher than the camera 1d with respect to the ground surface. The cameras 1a to 1d are respectively installed at different positions outside the vehicle. 2 and 3 show examples of arrangement of the cameras 1a to 1d. 2 is a plan view of the host vehicle, and FIG. 3 is a side view of the host vehicle.

  For example, as shown in FIG. 2, the right side camera 1a is installed at a predetermined position on the right side of the vehicle, and is provided in a place where a right door mirror (right side mirror) has been conventionally installed. The right side camera 1a images the right rear of the vehicle. The left side camera 1b is installed at a predetermined position on the left side of the vehicle, and is provided at a place where a left door mirror (left side mirror) has conventionally been installed. The left side camera 1b images the left rear of the vehicle.

  The rear camera 1 c is provided at a high position of the rear door (back door) 3. When the rear door 3 is provided with a high mount stop lamp, the rear camera 1c is installed in the vicinity of the high mount stop lamp. The rear camera 1c is installed so as to capture the rear of the vehicle, and is provided so as to capture between the portion projected by the right side camera 1a and the portion projected by the left side camera 1b. The rear camera 1c may be provided outside the back door (outside the vehicle compartment), or may be provided inside the back door (in the vehicle compartment).

  The back camera 1d is installed at a predetermined position on the rear side of the vehicle such as the lower part of the rear glass, and images the rear side of the vehicle. As shown in FIG. 3, the rear camera 1c is provided at a position higher than the back camera 1d with respect to the ground surface. The rear camera 1c and the back camera 1d both capture the rear of the vehicle, but the rear camera 1c captures a distance from the host vehicle, and the back camera 1d captures the vicinity of the host vehicle. Further, the angle of view of the rear camera 1c is wider than that of the back camera 1d. In other words, the back camera 1d images near the image capturing area of the rear camera 1c.

  The rear camera 1c is provided at a position and an orientation that include the movable range of the rear door 3 and has the far side as the imaging range behind the vehicle. On the other hand, the back camera 1d is provided at a position and an orientation that mainly includes the range below the movable range of the rear door 3 and the vicinity in the rear of the vehicle as the imaging range.

  The right display 2a, the left display 2b, and the central display 2c are display devices that display images behind the host vehicle that are captured by the cameras 1a to 1d. FIG. 4 shows an arrangement example of the displays 2a to 2c. FIG. 4 is a view showing the periphery of the instrument panel of the host vehicle.

  For example, as shown in FIG. 4, the right display 2 a is installed on the right side of the instrument panel 20. The right display 2a is a display that displays an image captured by the right side camera 1a. The left display 2 b is installed on the left side of the instrument panel 20. The left display 2b is a display that displays an image captured by the left side camera 1b. The central display 2 c is installed at the center of the instrument panel 20. The central display 2c is a display that displays images captured by the rear camera 1c and the back camera 1d.

  Returning to FIG. 1, the rear door 3 is a door provided at the rear of the host vehicle for closing the opening of the trunk in the vehicle interior. In the example shown in FIG. 2 or 3, the rear door 3 is configured as a rear hatchback door.

  The drive source 4 is a drive source of the vehicle. For example, when the vehicle is an electric vehicle, the drive source 4 corresponds to a motor. When the vehicle is a hybrid vehicle, the drive source 4 corresponds to a motor and an engine. In the case of a vehicle equipped with only an engine as a drive source, the drive source 4 corresponds to the engine.

  The drive system 5 is a power transmission system for transmitting the power generated by the drive source 4 to the drive wheels. The drive system 5 includes a transmission, a drive shaft, and the like.

  The controller 10 acquires captured image information from the cameras 1a to 1d, generates display images to be displayed on the displays 2a to 2c, and outputs them to the displays 2a to 2c. This is a control device that visually presents the state of the rear and surroundings of the host vehicle with an electronic image. The controller 10 is also a control device that detects an obstacle at the rear of the host vehicle from the captured images of the cameras 1a to 1c and drives the vehicle according to the distance from the host vehicle to the obstacle.

  The controller 10 includes a ROM (Read Only Memory) in which various programs are stored, a CPU (Central Processing Unit) as an operation circuit for executing the programs stored in the ROM, and a RAM (Random Access) that functions as an accessible storage device. Memory) or the like. And the controller 10 has the image control part 11, the obstruction detection part 12, the opening / closing detection part 13, and the drive control part 14 as a functional block for exhibiting each control function.

  The image control unit 11 generates a display image of the right display 2a using the captured image of the right side camera 1a, and outputs the generated display image to the right display 2a. In this example, the right rear camera 1a and the right display 2a are used instead of the right door mirror to display the rear side state on the right side of the vehicle.

  The angle of view of the right side camera is wider than the viewing angle of the right door mirror. Since the viewing angle of the right door mirror is narrow at a position far from the host vehicle, the display range of the right door mirror is narrow. On the other hand, since the angle of view of the right side camera 1a is wide, the imaging range of the right side camera 1a is widened. For example, when another vehicle is running far behind the host vehicle, the right door mirror shows a large vehicle, but the right side camera 1a has a smaller proportion of the vehicle in the imaging range. Therefore, when displaying on the right display 2a without correcting the captured image of the right side camera 1a, the vehicle is displayed in a small size. Then, the occupant confirming the display screen of the right display 2a recognizes the distance from the own vehicle to the other vehicle as well as the actual distance.

  When the image control unit 11 acquires a captured image of the right side camera 1a in order to eliminate the difference in distance between the mirror and the camera as described above, the image control unit 11 converts the image to the right according to the focal length of the right side camera 1a. When the image is displayed on the display 2a, the captured image is corrected to generate a display screen so as to have a size corresponding to the display surface reflected on the mirror.

  When displaying the image captured by the left side camera 1b on the left display 2b, the image control unit 11 generates a display image by correcting the image captured by the left side camera 1b in the same manner as described above, thereby generating the left display 2b. To display.

  The image control unit 11 generates a display screen from the captured image captured by the rear camera 1c and outputs the display screen to the central display 2c. A difference in distance between the rear camera 1c and the rearview mirror occurs due to the difference in the viewing angle of the mirror and the angle of view of the camera, as in the case of the right door mirror and the right side camera 1a. Therefore, when displaying the captured image of the rear camera 1c on the central display 2c, the image control unit 11 generates the display image by correcting the captured image of the rear camera 1c as described above.

  Further, there is a difference in distance between the rear camera 1c and the rearview mirror due to the difference in the installation position. The room mirror is usually provided at the upper center of the windshield. On the other hand, as shown in FIG. 2, the rear camera 1c is provided on the back door. For example, when the other vehicle approaches a position close to the rear of the host vehicle, the distance from the rear camera 1c to the other vehicle is shorter than the distance from the rear mirror to the other vehicle. Therefore, since the rear camera 1c captures the other vehicle at a position closer to the position of the rearview mirror, the size of the other vehicle captured by the rear camera 1c is larger than the size of the other vehicle reflected in the rearview mirror. ,growing.

  When the image control unit 11 acquires the captured image of the right side camera 1a in order to eliminate the difference in the sense of distance caused by the difference in the installation location of the rear camera 1c and the room mirror as described above, the image control unit 11 automatically captures the captured image. The captured image is corrected by converting it into an image having a viewpoint at a predetermined position (a position corresponding to the installation location of the room mirror) in the vehicle interior of the vehicle. Thereby, the image control part 11 produces | generates a display screen from the captured image imaged with the rear camera 1c, and outputs it to the center display 2c.

  In addition, the image control unit 11 generates a display image of the central display 2c using the captured image of the back camera 1d, and outputs the generated display image to the central display 2c. For example, when the user's operation or the shift lever is operated to the back position, the controller 10 switches the central display 2c from an image captured by the rear camera 1c to an image captured by the back camera 1d. At this time, the image control unit 11 generates a display image indicating at least the vicinity of the rear of the vehicle from the captured image of the back camera 1d.

  The image control unit 11 may display only the vicinity in the rear of the host vehicle on the central display 2c, or may be combined with an image of a camera other than the back camera 1d to obtain an overhead image viewed from directly above the host vehicle. An image displaying the surroundings of the host vehicle may be used. When displaying the surroundings of the host vehicle with a bird's-eye view image, the image control unit 11 displays an image of the back camera 1d and an image of another camera (for example, a camera that captures the surroundings of the side or the front of the host vehicle). , And the synthesized image is converted into an image with the viewpoint directly above the host vehicle, thereby generating an overhead image.

  The obstacle detection unit 12 acquires a captured image of the rear camera 1c, and detects an obstacle located at the rear of the vehicle based on the captured image. The open / close detection unit 13 detects whether the rear door 3 is open or the rear door is closed using a sensor or the like. The detection result of the obstacle detection unit 12 and the detection result of the open / close detection unit 13 are output to the drive control unit 14.

  The drive control unit 14 drives the parked vehicle according to the distance between the obstacle detected by the obstacle detection unit 12 and the rear door 3.

  Next, control of the parked vehicle among the controls of the controller 10 will be described with reference to FIGS. 1 and 5 to 8. 5-8 has shown the side view of the own vehicle. FIG. 5 is a diagram illustrating the imaging range of the rear camera 1c and the imaging range of the back camera 1d. FIG. 6 is a diagram for explaining the movable distance of the rear door 3. 7 and 8 are diagrams for explaining the positional relationship between a parked vehicle and an obstacle. FIG. 9 is a diagram illustrating the positional relationship between the vehicle and the obstacle after the parked vehicle shown in FIG. 8 has moved.

  In the example of FIG. 5, when the vehicle is parked, the obstacle 30 is in a position near the rear of the vehicle. The obstacle 30 is located behind the vehicle. Further, the vehicle and the obstacle are separated from each other at a portion where the height of the obstacle 30 is low, and the vehicle and the obstacle 30 are close to each other at a portion where the height of the obstacle 30 is high.

  The back camera 1d is provided downward at a low position of the vehicle so as to mainly capture the vicinity of the rear of the host vehicle. Therefore, the obstacle 30 far from the vehicle is captured in the captured image of the back camera 1d. And when measuring the distance between a vehicle and the obstacle 30 based on the captured image of the back camera 1d, a measurement distance becomes long. That is, it cannot be detected from the captured image of the back camera 1d that the rear part of the vehicle and the obstacle 30 are approaching.

  On the other hand, the rear camera 1c is provided in the horizontal direction at a high position of the vehicle so as to capture a distant portion behind the vehicle. Further, the imaging range of the rear camera 1c (area C in FIG. 5) includes the movable range of the rear door 3 (see FIG. 6). Therefore, as shown in FIG. 5, when the obstacle 30 is within the movable range of the rear door 3 at a high position of the vehicle, the rear camera 1 c can photograph the obstacle 30. That is, in this example, a rear camera 1c is installed in place of the rearview mirror, and a captured image of the rear camera 1c is used for detecting an obstacle, thereby using another sensor for detecting the obstacle. The obstacle 30 is detected. Further, in this example, the obstacle 30 within the movable range of the rear door 3 is detected by using a captured image of the rear camera 1c.

  First, according to the operation of the remote controller by the user, the remote controller transmits a command for unlocking the rear door 3 from a position away from the vehicle. When the controller 10 receives a signal indicating the instruction, the controller 10 activates the rear camera 1c. The rear camera 1 c captures an image behind the rear door 3.

  The obstacle detection unit 12 detects an obstacle from the captured image of the rear camera 1c by pattern recognition. When an obstacle is detected, the obstacle detection unit 12 outputs an image of the obstacle to the drive control unit 14.

  The drive control unit 14 measures the distance from the vehicle to the obstacle from the size of the obstacle in the image. When measuring the distance from the vehicle to the obstacle, the starting point of the measuring distance is the rear bumper of the vehicle, and corresponds to the starting point of the movable distance of the rear door 3.

The drive control unit 14 compares the measured distance with the movable distance of the rear door 3. FIG. 6 shows a state in which the rear door 3 is fully opened. When the rear door 3 is in the fully opened state from the closed state, the front end portion (point a in FIG. 6) of the rear door 3 draws a trajectory away from the rear portion of the vehicle. The trajectory of the front end portion of the rear door 3 is shown by a dotted line in FIG. The movable range of the rear door 3 is a range indicated by a dotted line in FIG. 6 with the fulcrum of the rear door 3 as the center. The movable distance of the rear door 3 indicates the distance from the rear end portion (for example, the rear bumper) of the vehicle to the front end portion of the rear door 3 in the direction along the traveling direction of the vehicle. In other words, the movable distance of the rear door 3 corresponds to the length represented by the component in the traveling direction of the vehicle among the straight lines (vectors) connecting the rear end portion of the vehicle and the front end portion of the rear door 3. . Further, the movable distance becomes maximum when the front end portion of the rear door 3 is located farthest from the rear portion of the vehicle in the direction along the traveling direction of the vehicle in the movable range of the rear door 3 (hereinafter referred to as maximum movable). Called distance). In the example of FIG. 6, L _max is the maximum movable distance.

When comparing the measured distance and the movable distance of the rear door 3, the drive control unit 14 adds a predetermined distance (L _c ) to the maximum movable distance of the rear door 3, and the added distance and the measured distance are Are comparing. The predetermined distance (L _c ) is a preset value for providing a space between the obstacle behind the vehicle and the movable range of the rear door 3 when the user opens the rear door 3. The value to be set. The space is a place where the user stands when operating the rear door 3.

Then, as shown in FIG. 7, the measured distance (L _a ) from the vehicle to the user is an added distance (L _max + L _c ) obtained by adding a predetermined distance (L _c ) to the maximum movable distance (L _max ) of the rear door 3. In the case of longer, when the user opens the rear door 3, the rear door 3 does not hit the obstacle 40 and does not hit the user.

On the other hand, as shown in FIG. 8, when the measured distance (L _b ) from the vehicle to the obstacle 40 is shorter than the maximum movable distance (L _max ), the rear door 3 is obstructed when the rear door 3 is opened. It will hit 40.

Therefore, when the measurement distance is shorter than the maximum movable distance (L _max ), the drive control unit 14 controls the drive source 4 and the drive system 5 to advance the vehicle as described below, and the obstacle and the vehicle The distance between is longer than the maximum movable distance.

First, the drive control unit 14 calculates a difference between the measurement distance (L _b ) and the maximum movable distance (L _max ). Next, the drive control unit 14 calculates a moving distance (L _max −L _b + L _c ) of the vehicle by adding a predetermined distance (L _c ) to the calculated distance. Then, the drive control unit 14 controls the drive source 4 and the drive system 5 to advance the parked vehicle by the calculated movement distance.

  For example, the drive control unit 14 manages the distance that the vehicle advances by detecting the number of rotations of the drive wheels using a wheel speed sensor. When the vehicle moves forward by the moving distance, the drive control unit 14 controls the drive source 4 and the drive system 5 to stop the vehicle. As a result, when the measurement distance is shorter than the maximum movable distance of the rear door 3, the drive control unit 14 advances the vehicle more than the difference between the measurement distance and the maximum movable distance. And the controller 10 releases the lock | rock of the rear door 3,

  FIG. 9 shows the relationship between the position of the parked vehicle (corresponding to the position of the vehicle in FIG. 8) and the position of the vehicle after movement with respect to the position of the obstacle 40. A vehicle A indicated by a dotted line represents a parked vehicle, and a vehicle B is a vehicle after movement.

As shown in FIG. 9, the vehicle B after moving is moved forward with respect to the parked vehicle A by the moving distance (L _max −L _b + L _c ). The distance between the vehicle B and the obstacle 40 is not less than a distance obtained by adding a predetermined distance (L _c ) to the maximum movable distance of the rear door 3. Therefore, when the user opens the rear door 3 at the position of the vehicle B after movement, the rear door 3 does not hit the obstacle 40 and does not hit the user.

  When the parked vehicle is moved forward, the controller 10 detects the opening / closing of the rear door 3 by the opening / closing detection unit 13. After the parked vehicle has automatically advanced, the user opens the rear door 3 and loads the luggage on the trunk or removes the luggage from the trunk. When the user's work on the trunk is completed, the rear door 3 is closed. Therefore, the controller 10 detects the end of work on the trunk by the user by detecting that the rear door is closed.

When it is detected that the rear door 3 is closed, the drive control means 14 controls the drive source 4 and the drive system 5 to return the vehicle to the original position (initial position) during parking. The moving distance at this time is a distance (L _max −L _b + L _c ). Accordingly, when the parked host vehicle moves forward, the drive control unit 14 returns the vehicle to the original parked position after detecting that the rear door is closed.

  As described above, in this example, an obstacle located behind the host vehicle is detected based on a captured image of the rear camera 1c, and parking is performed according to the distance between the rear door 3 of the host vehicle and the obstacle. Drive the vehicle. Thereby, when the distance between the obstacle located behind the host vehicle and the rear door is short, the parked host vehicle is driven so as to secure a space behind the rear door 3, so that the user can The trunk can be used by opening the door. As a result, user convenience is improved.

  In addition, in this example, since the camera is provided at a position where the obstacle within the movable range of the rear door 3 can be detected, an obstacle that hinders the movement of the rear door 3 from the captured image of the camera. It can be detected.

  In addition, according to the comparison result between the measured distance measured and the movable distance of the rear door 3, this example moves the vehicle forward so that the distance between the obstacle and the host vehicle is greater than the maximum movable distance of the rear door 3. Lengthen. As a result, a space corresponding to the movable range of the rear door 3 is ensured between the vehicle after traveling and the obstacle, so that the rear door 3 is prevented from hitting the obstacle.

  Further, in this example, when the measurement distance is shorter than the maximum movable distance of the rear door 3, the vehicle is advanced more than the difference between the measurement distance and the maximum movable distance. As a result, a space corresponding to the movable range of the rear door 3 is ensured between the vehicle after traveling and the obstacle, so that the rear door 3 is prevented from hitting the obstacle.

  In this example, when the parked vehicle is moved forward, the vehicle is returned to the parked original position after detecting that the rear door 3 is closed. Thereby, after the user uses the trunk, it is not necessary for the user to drive the vehicle and return the position of the vehicle to the original position, so that convenience for the user is improved.

  Further, in this example, a display image that displays the vicinity in the rear of the vehicle is generated from the captured image of the back camera 1d, a display image that displays distant in the rear of the vehicle is generated from the captured image of the rear camera 1c, and these displays are displayed. The image is displayed on the central display 2c. In this example, an obstacle is detected based on a captured image of the rear camera 1c. As a result, in this example, since the camera can be controlled while detecting an obstacle using a camera that captures a distant object behind the vehicle, a separate camera or sensor is not provided to detect the obstacle. May be.

  In this example, the obstacle detection unit 12 may detect an obstacle behind the host vehicle based on a captured image of the right side camera 1a or a captured image of the left side camera 1b.

  Moreover, the drive control part 14 may measure the distance of an obstruction from the captured image of the right side camera 1a and the captured image of the left side camera 1b using the principle of a stereo camera.

In this example, the vehicle control unit 14 adds a predetermined distance (L _c ) to the difference between the measured distance (L _b ) and the maximum movable distance (L _max ) (L _max −L _b + L _c ). Is calculated as the moving distance of the parked vehicle, but the difference between the measured distance (L _b ) and the maximum movable distance (L _max ) may be calculated as the moving distance of the parked vehicle. That is, it is sufficient that there is at least a space corresponding to the maximum movable distance of the rear door 3 between the moved vehicle and the obstacle.

Further, in this example, when the measurement distance is shorter than the distance (L _max + L _c ) obtained by adding the predetermined distance (L _c ) to the maximum movable distance (L _max ), the drive control unit 14 advances the vehicle, The distance between the obstacle and the vehicle may be longer than the addition distance (L _max + L _c ).

  In this example, the starting point of the movable distance of the rear door 3 is a rear bumper as an example of the rear end of the vehicle. As another example, the starting point of the movable distance of the rear door 3 may be, for example, the front end portion of the rear door 3 in a closed state, or may be the side surface of the rear door 3 outside the vehicle.

  The rear camera 1c corresponds to the “imaging unit” of the present invention, the obstacle detection unit 12 corresponds to the “obstacle detection unit” of the present invention, and the open / close detection unit 13 and the drive control unit 14 include “drive control unit”. The image control unit 11 corresponds to “display control means” of the present invention.

DESCRIPTION OF SYMBOLS 1a ... Right side camera 1b ... Left side camera 1c ... Rear camera 1d ... Back camera 2a ... Right display 2b ... Left display 2c ... Center display 3 ... Rear door 4 ... Drive system 5 ... Drive source 10 ... Controller 11 ... Image control part DESCRIPTION OF SYMBOLS 12 ... Obstacle detection part 13 ... Opening / closing detection part 14 ... Drive control part

Claims (5)

An imaging means provided in the host vehicle for imaging the rear of the host vehicle;
Obstacle detection means for detecting an obstacle located behind the host vehicle based on a captured image of the imaging means;
Drive control means for driving the parked vehicle according to the distance between the door provided at the rear of the host vehicle and the obstacle detected by the obstacle detection means. A vehicle drive device. The vehicle drive device according to claim 1,
The drive control means includes
Measure the distance between the vehicle and the obstacle,
According to the comparison result between the measured distance measured and the movable distance of the door, the parked host vehicle is moved forward so that the distance between the obstacle and the host vehicle is greater than the maximum movable distance of the door. A vehicle drive device characterized by being lengthened. The vehicle drive device according to claim 2, wherein
The drive control means includes
When the measured distance is shorter than the maximum movable distance of the door, the parked vehicle is moved forward by a distance equal to or more than a difference between the measured distance and the maximum movable distance. In the vehicle drive device according to any one of claims 1 to 3,
The drive control means includes
Detecting the opening and closing of the door,
When the parked host vehicle is moved forward, the vehicle drive device returns the host vehicle to the parked original position after detecting that the door is closed. In the vehicle drive device according to any one of claims 1 to 4,
A display for displaying a captured image captured by the imaging means;
Display control means for generating a display image displayed by the display and controlling the display;
The imaging means includes
A first camera;
Having a second camera that images farther than the imaging range of the first camera and that is provided at a position higher than the first camera with respect to the ground surface;
The display control means includes
Generate a display screen that displays the vicinity of the host vehicle from the captured image of the first camera,
Generate a display screen that displays the distance of the host vehicle from the captured image of the second camera,
The obstacle detection means includes
A vehicle drive device that detects the obstacle based on a captured image of the second camera.

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