JP2017065276A - Steering handle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering handle capable of assisting driving for parking by allowing an amount of change in a wheel angle in response to steering operation to be recognized.SOLUTION: A steering handle comprises: a grip 20 to be gripped by a driver for steering a steering wheel; a display device 21 disposed on a surface on a driver side of the grip 20; and a control unit 30 configured to display, on the display device 21, a current direction of the wheel steering angle of the steering ring detected using a wheel angle sensor 41, as well as, in movement to a parking position, to calculate target wheel steering angles to lead to the parking position, by performing image processing to images captured by a camera 45 mounted onto a vehicle, and to display, on the display device 21, directions of the calculated target wheel steering angles.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a steering wheel, and more particularly to a steering wheel that can provide driving assistance during parking.

  Japanese Patent Application Laid-Open Publication No. 2003-228561 discloses a steering handle having a transmission unit including an LED (Light Emitting Diode) that transmits information to a driver. This Patent Document 1 relates to a steer-by-wire system. In a transmission unit, a reference LED as a reference is selected, a target LED is turned on, and a driver moves a steering handle in the direction of the LED lit from the reference LED. By rotating, the deviation of the steering wheel steering angle with respect to the steering wheel angle (wheel angle) is corrected.

JP 2015-16814 A

  It is difficult for the driver to recognize the amount of change in the wheel angle (the amount of change from the straight traveling direction) due to the steering operation of the driver by a method other than actual driving. In the case of a vehicle having a back view monitor, the amount of change in the wheel angle may be recognized by the back view monitor during parallel parking to the rear (hereinafter referred to as rear parking). You must be aware of the angle. Therefore, it is desired to provide driving assistance during parking so that the amount of change in wheel angle due to steering can be recognized.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a steering handle capable of recognizing a change amount of a wheel angle caused by steering and capable of assisting driving during parking.

  A steering handle according to a first aspect of the present invention for solving the above problems includes a gripping part that is gripped by a driver to steer a steering wheel of a vehicle, a display part that is provided on the driver side surface of the gripping part, The direction of the current wheel steering angle of the steered wheel is displayed on the display unit, and when moving to the parking position, a target wheel steering angle that is guided to the parking position by image processing of an image by a photographing unit provided in the vehicle is displayed. And a display control unit that displays the calculated direction of the target wheel steering angle on the display unit.

  A steering handle according to a second aspect of the present invention for solving the above-described problem is the steering handle according to the first aspect, wherein the display control unit keeps the current wheel steering angle until the movement to the parking position is completed. And the direction of the target wheel steering angle are continuously displayed on the display unit.

  A steering handle according to a third invention for solving the above-mentioned problems is the steering handle according to the first or second invention, wherein the display control unit calculates the current wheel steering angle and the target wheel steering angle. , At least one of color, shape and lighting pattern is displayed differently.

  A steering handle according to a fourth aspect of the present invention that solves the above-described problem is the steering handle according to the third aspect, wherein the display control unit matches the current wheel steering angle and the target wheel steering angle. In the matched position, at least one of the color, shape, and lighting pattern is changed from a display when not matched to a different one.

  A steering handle according to a fifth aspect of the present invention for solving the above-described problem is the steering handle according to any one of the first to fourth aspects, wherein the display control unit determines the target wheel from the current wheel steering angle. The steering direction to the steering angle is displayed.

  A steering handle according to a sixth invention for solving the above-mentioned problems is the steering handle according to any one of the first to fifth inventions, wherein the display control unit is configured to perform the image processing by image processing by the photographing unit. A white line indicating a parking position is recognized, and the target wheel steering angle is calculated based on the recognized white line.

  According to the first and second inventions, when moving to the parking position, the current wheel steering angle direction and the target wheel steering angle direction of the steered wheel are displayed on the driver side surface of the steering wheel grip. The amount of change in the current wheel steering angle and the target wheel steering angle will be feedback-displayed together with the steering steering so that the driver can visually recognize the amount of change in the current wheel steering angle and the target wheel steering angle while keeping his line of sight ahead. become. As a result, driving assistance during parking can be performed for the driver.

  According to the third invention, since at least one of the color, shape and lighting pattern is different between the current wheel steering angle and the target wheel steering angle, the distinction between each other becomes clear and the visibility thereof is improved. To do.

  According to the fourth aspect of the invention, when the current wheel steering angle matches the target wheel steering angle, at least one of the color, shape, and lighting pattern is changed to a different one from the display when it does not match. Therefore, it becomes clear that they match, and the visibility is improved.

  According to the fifth invention, since the rotation direction from the current wheel steering angle to the target wheel steering angle is displayed, the steering direction of the steering wheel becomes clear, and the driver can perform steering steering without hesitation. .

  According to the sixth invention, the white line indicating the parking position is recognized, and the target wheel steering angle is calculated based on the recognized white line. Therefore, the target wheel steering angle can be accurately calculated, and the parking position can be accurately calculated. Can lead to.

It is a block diagram explaining an example of an embodiment of a steering handle concerning the present invention. It is the schematic which shows an example of a structure of the steering handle shown in FIG. It is a flowchart explaining the operation | movement at the time of back parking assistance. It is a figure which shows the state at the time of back parking assistance start, (a) is a figure which shows the state of a steering handle, (b) is a figure from the upper part which shows the state of a vehicle. It is a figure which shows HUD which displays the state of the steering wheel at the time of the back parking assistance start shown to Fig.4 (a). It is a figure which shows the state during back parking assistance, (a) is a figure which shows the state of a steering handle, (b) is a figure from the top which shows the state of a vehicle.

  Hereinafter, an embodiment of a steering handle according to the present invention will be described with reference to FIGS.

[Example 1]
FIG. 1 is a block diagram illustrating a steering handle according to the present embodiment. First, the steering handle of the present embodiment will be described with reference to FIG.

  The steering handle of this embodiment includes a grip 20 (gripping portion) that is gripped by a driver and steers the steering wheel of the vehicle, and a display device 21 (display portion) provided on the entire circumference of the driver-side surface of the grip 20. And a control device 30 (display control unit) for displaying directions of a current wheel angle A (current wheel steering angle) and a target wheel angle T (target wheel steering angle), which will be described later, on the display device 21.

  As the display device 21, for example, an annular display panel (for example, a liquid crystal panel) or a touch panel provided on the entire periphery of the grip 20 may be used, or a plurality of variable devices provided at equal intervals on the entire periphery of the grip 20. A color light emitting element (for example, a variable color LED) may be used.

  The control device 30 includes a wheel angle sensor 41 that detects the wheel angle of the steering wheel of the vehicle, a handle angle sensor 42 that detects the handle angle of the steering handle of the vehicle, a vehicle speed sensor 43 that detects the vehicle speed of the vehicle, and a vehicle A shift position sensor 44 for detecting the shift position of the vehicle and a camera 45 (photographing means) for photographing the surroundings of the vehicle are connected.

  The control device 30 includes a calculation unit 31 and a processing unit 32. Although details will be described later, input from a wheel angle sensor 41, a handle angle sensor 42, a vehicle speed sensor 43, a shift position sensor 44, and a camera 45. Based on the input information, the calculation unit 31 performs a predetermined calculation, and the processing unit 32 performs a predetermined process to output output information to the display device 21 or the like.

  Output information from the processing unit 32 of the control device 30 is mainly output to the display device 21 provided on the grip 20, but not only the display device 21 but also a HUD (Head-UP Display provided on the driver's line of sight). ) Or the like, or may be output to the alarm device 52 when the driver is warned.

  The control device 30 may be provided in the grip 20 together with the display device 21, may be provided in a steering handle portion other than the grip 20 (for example, a steering pad portion), or a portion other than the steering handle ( For example, it may be provided on a support portion that rotatably supports the steering handle.

  Next, basic display on the display device 21 will be described with reference to FIG. FIG. 2 is a schematic diagram showing an example of the configuration of the steering handle shown in FIG.

  Based on the input information from the wheel angle sensor 41, the control device 30 calculates the current wheel angle θw (see the dotted line) of the steering wheel of the vehicle in the calculation unit 31, and the calculated wheel angle θw in the processing unit 32. The output information of the current wheel angle A corresponding to is output to the display device 21. As shown in FIG. 2, the display device 21 displays the direction of the current wheel angle A on the display device 21 based on the output information from the processing unit 32. As the current wheel angle A, for example, a blue-lighted region may be displayed on the display device 21 in a band shape.

  At this time, the control device 30 calculates the current steering wheel angle of the steering wheel of the vehicle in the calculation unit 31 based on the input information from the steering wheel angle sensor 42, and the processing unit 32 considers the calculated steering wheel angle. Thus, the output information of the current wheel angle A is corrected, and the direction of the current wheel angle A is displayed at a correct position on the display device 21.

  This is because the change amount of the steering wheel handle angle and the change amount of the wheel angle of the steering wheel are not the same (not corresponding one-to-one), and the current wheel angle A is displayed at the same position on the display device 21. This is because the current wheel angle A will deviate from the position that should be displayed if left untouched. Therefore, the direction of the current wheel angle A is displayed at the correct position on the display device 21 in consideration of the calculated steering wheel angle. The display in consideration of the steering wheel angle is the same for the target wheel angle T described later.

  The above is the explanation of the basic display on the display device 21. When parking (moving to the parking position), the direction of the target wheel angle T is also displayed as shown in FIG. ing.

  Then, with reference to FIGS. 3-6, the display with the display apparatus 21 at the time of parking is demonstrated. In addition, FIG. 3 is a flowchart explaining the operation | movement at the time of back parking assistance. FIG. 4 (a) is a diagram showing the state of the steering handle at the start of rear parking assistance, and FIG. 4 (b) is a diagram from above showing the state of the vehicle at the start of rear parking assistance. FIG. 5 is a diagram showing a HUD that displays the state of the steering handle at the start of the rear parking assistance shown in FIG. FIG. 6A is a diagram showing the state of the steering handle during rear parking assistance, and FIG. 6B is a diagram from above showing the state of the vehicle during rear parking assistance.

(Step S1)
The control device 30 confirms whether a condition for starting the rear parking assistance is satisfied. For example, the vehicle speed sensor 43 is used to check whether the host vehicle 10 is at a predetermined low speed (for example, 20 km / h) or less, and the shift position sensor 44 is used to check whether the gear is in the R range. ing. That is, when the host vehicle 10 is in a low speed or stopped state and the driver puts the gear in the R range, the rear parking assistance starts.

  For example, in the navigation system, when the current location of the host vehicle 10 is a parking lot, the vehicle speed and gear of the host vehicle 10 are confirmed, and when the above conditions are satisfied, the rear parking support is started. Also good. Further, when a switch for assisting rear parking is separately provided and this switch is turned on, or when a specific operation is performed on the touch panel using the touch panel as the display device 21, the vehicle speed and the gear of the host vehicle 10 are displayed. When the above conditions are satisfied, rear parking assistance may be started.

(Steps S2 to S3)
When the rear parking support is started, the control device 30 uses the camera 45 to photograph the rear of the host vehicle 10, and there is no other parked vehicle, and a position suitable for parking of the host vehicle 10 (parking position 11), Recognition is performed by image processing of an image captured by the camera 45. At this time, as shown in FIG. 4B, two white lines 12 indicating the parking position 11 are recognized by image processing, and the own vehicle is determined based on the current position of the own vehicle 10 and the recognized position of the white line 12. A target wheel angle T that leads 10 to the parking position 11 is calculated. Thus, since the target wheel angle T is calculated based on the recognized white line 12, the target wheel angle T can be calculated accurately and can be accurately guided to the parking position 11. At this time, the parking position 11 and the white line 12 recognized together with the video photographed by the camera 45 may be displayed on a display device 51 such as an HUD described later.

  Here, since rear parking assistance is performed, a rear camera provided behind the host vehicle 10 is used as the camera 45, but forward parking (parallel parking ahead) or side parking (sideward). In the case of parking support of (parallel parking), a front camera provided in front of the host vehicle 10 or a side camera provided on the side of the host vehicle 10 may be used.

(Step S4)
It is checked whether the current wheel angle A matches the calculated target wheel angle T. If they do not match, the process proceeds to step S5, and if they match, the process proceeds to step S6.

(Step S5)
When the current wheel angle A does not coincide with the target wheel angle T, the direction of the target wheel angle T is displayed on the display device 21 together with the direction of the current wheel angle A, as shown in FIG. At this time, as described above, the display is performed at the correct position on the display device 21 in consideration of the steering wheel angle. As the current wheel angle A, for example, as described above, a blue-lighted region is displayed in a strip shape on the display device 21, and as the target wheel angle T, for example, a yellow flashing region is formed in a strip shape on the display device 21. Show it.

  In addition, an arrow S indicating the steering direction (rotation direction) to the target wheel angle T is displayed between the current wheel angle A and the target wheel angle T, thereby clearly indicating the steering direction of the steering wheel. Thus, the driver can perform steering steering without hesitation. Note that the steering direction of the steering wheel may be displayed by performing blinking display from the current wheel angle A toward the target wheel angle T instead of the arrow S.

  In this way, on the driver side surface of the steering wheel grip 20, the display device 21 displays the target wheel angle T and the arrow S for guiding the current wheel angle A of the steered wheel of the host vehicle 10 to the parking position 11. Therefore, the driver may perform steering steering according to these displays.

  The current wheel angle A, the target wheel angle T, and the arrow S may be displayed on a display device 51 such as a HUD as shown in FIG.

(Step S6)
When the current wheel angle A matches the target wheel angle T (including the case where the current wheel angle A is within a predetermined range of the target wheel angle T), for example, the current wheel angle A is obtained by steering operation according to the display on the display device 21. 6 coincides with the target wheel angle T, as shown in FIG. 6A, the area where the current wheel angle A and the target wheel angle T coincide is changed to, for example, a green-lit area. As a result, the driver can visually recognize that the current wheel angle A matches the target wheel angle T. At this time, the arrow S is deleted.

  After the current wheel angle A coincides with the target wheel angle T, steering is performed so as to maintain this state, and rear parking is performed as shown in FIG.

  If the current wheel angle A deviates from the target wheel angle T, the current wheel angle A, the target wheel angle T, and the arrow S are again displayed on the display device 21 as shown in FIG. May be displayed to instruct the driver to perform proper steering.

  Also, if the driver turns the steering wheel too much or accidentally turns in the opposite direction, that is, if it is likely to deviate from the driving line for rear parking, the current wheel angle A is The driver may be warned by changing to a yellow or red lighting or blinking region. At this time, the warning device 52 may be used to warn the driver by sound or voice.

(Step S7)
It is confirmed whether or not the movement to the parking position 11 has been completed, and when the host vehicle 10 has finished moving to the parking position 11, the above-described series of operations is ended. On the other hand, if the host vehicle 10 has not finished moving to the parking position 11, the process returns to step S2, and steps S2 to S6 described above are repeated until the movement is completed. The end of the movement to the parking position 11 may be determined by image processing using the camera 45, for example.

  As described above, since the display device 21 displays the current wheel angle A, the target wheel angle T, and the arrow S at the time of parking, the amount of change in the current wheel angle A and the target wheel angle T accompanying steering steering. Thus, the driver can visually recognize the amount of change in the current wheel angle A and the target wheel angle T while keeping the line of sight ahead. Then, the driver steers the vehicle so that the current wheel angle A coincides with the target wheel angle T according to the display of the current wheel angle A, the target wheel angle T, and the arrow S on the display device 21. The host vehicle 10 can be easily parked at the position 11. That is, the display of the current wheel angle A, the target wheel angle T, and the arrow S on the display device 21 assists the driver in driving in the rear parking.

  Note that the display device 21 displays the current wheel angle A and the target wheel angle T in different colors, shapes, and lighting patterns from each other. It becomes clear and their visibility can be improved. As the color, for example, blue, red, yellow, green, and the like are used. As the shape, for example, a strip shape, a linear shape, and the like are used. As the lighting pattern, lighting, blinking, and the like are used.

  In addition, when the current wheel angle A and the target wheel angle T match, the display device 21 displays at least one of the color, shape, and lighting pattern from the display when they do not match at the matching position. By changing to a different one, it becomes clear that they match, and the visibility can be improved.

  Here, the current wheel angle A, the target wheel angle T, and the arrow S are displayed on the upper and lower portions of the display device 21, but at least the current wheel angle A, the target wheel angle T and the upper portion of the display device 21 are displayed. If the arrow S is displayed, the driver can acquire information while keeping his line of sight ahead while traveling during parking.

  Moreover, although the back parking assistance was demonstrated here as an example, parking assistance can be performed in the same procedure as the above-mentioned procedure also in front parking or side parking.

  The present invention is suitable as a steering handle.

20 grip 21 display device 30 control device 41 wheel angle sensor 42 handle angle sensor 45 camera

Claims (6)

A gripping part that is gripped by a driver and steers the steering wheel of the vehicle;
A display unit provided on the driver side surface of the gripping unit;
The direction of the current wheel steering angle of the steered wheel is displayed on the display unit, and at the time of moving to the parking position, the target wheel steering angle that is guided to the parking position by image processing by an imaging unit provided in the vehicle. And a display control unit for displaying the calculated direction of the target wheel steering angle on the display unit. The steering handle according to claim 1,
The display control unit continues to display the current wheel steering angle direction and the target wheel steering angle direction on the display unit until the movement to the parking position is completed. The steering handle according to claim 1 or 2,
The display control unit displays the current wheel steering angle and the target wheel steering angle by displaying at least one of color, shape, and lighting pattern different from each other. The steering handle according to claim 3,
When the current wheel steering angle and the target wheel steering angle coincide with each other, the display control unit displays when at least one of the color, shape, and lighting pattern does not coincide at the coincident position. Steering handle characterized by changing from one to another. In the steering handle according to any one of claims 1 to 4,
The steering control device, wherein the display control unit displays a steering direction from the current wheel steering angle to the target wheel steering angle. The steering handle according to any one of claims 1 to 5,
The display control unit recognizes a white line indicating the parking position by image processing of an image by the photographing unit, and calculates the target wheel steering angle based on the recognized white line.

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