JP2017182543A - Drive support method and drive support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support method and a drive support apparatus, which enable an intuitive grasp of the positional relation between an own vehicle and a following vehicle.SOLUTION: In a drive support method using a drive support apparatus that includes an imaging element for obtaining rearward information of an own vehicle M1 through imaging, a controller for generating a rearward image from the rearward information, and left and right door mirror monitors 40, 50 for displaying the rearward image, virtual images P1 and P2 indicating a position of the own vehicle M1 and that of a following vehicle M2 are overlapped between the own vehicle M1 and the following vehicle M2.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support method and a driving support device.

  Conventionally, a technique for notifying an occupant of the positional relationship between the host vehicle and the following vehicle is known. For example, in Patent Document 1, icons arranged at predetermined intervals are superimposed on an image obtained by photographing the rear of the host vehicle, and a synthesized image is displayed on a monitor.

JP 2009-29203 A

  However, in Patent Document 1, it is necessary to grasp the positional relationship between the host vehicle and the following vehicle on the basis of an icon, and it is difficult for an occupant to intuitively grasp the positional relationship between the host vehicle and the following vehicle.

  The present invention has been made in view of the above problems, and an object thereof is to provide a driving support method and a driving support device capable of intuitively grasping the positional relationship between the host vehicle and the following vehicle. .

  The driving support method according to an aspect of the present invention acquires rear information of the host vehicle, generates a rear image from the acquired rear information, and between the host vehicle and the following vehicle on the generated rear image. And a virtual image indicating the position of the following vehicle are superimposed and the synthesized image is displayed on the monitor.

  According to the present invention, it is possible to intuitively grasp the positional relationship between the host vehicle and the following vehicle.

FIG. 1 is a configuration diagram of a driving support apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an image displayed on the monitor by the driving support apparatus according to the embodiment of the present invention. FIG. 3 is a flowchart for explaining an operation example of the driving support apparatus according to the embodiment of the present invention. FIGS. 4A, 4 </ b> B, and 4 </ b> C are diagrams for explaining other images displayed on the monitor by the driving assistance apparatus according to the embodiment of the present invention. FIG. 5 is a diagram illustrating still another image displayed on the monitor by the driving support apparatus according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same portions are denoted by the same reference numerals, and description thereof is omitted.

  A driving assistance apparatus 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the driving support device 1 includes a right camera 10, a left camera 20, an image processing circuit 30, a right door mirror monitor 40, and a left door mirror monitor 50.

  The right camera 10 is disposed in the vicinity of the right door mirror installation position on the right side of the host vehicle. The left camera 20 is disposed in the vicinity of the left door mirror installation position on the left side of the host vehicle. The right door mirror installation position is an installation position of a conventional door mirror on the right side of the vehicle that projects the rear including the road surface behind the vehicle in a mirror. Similarly, the left door mirror installation position is the installation position of the conventional door mirror on the left side of the vehicle.

  The right camera 10 and the left camera 20 are cameras having an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The right camera 10 and the left camera 20 respectively acquire the rear information by imaging the right rear and the left rear of the host vehicle, and output an electrical signal related to the acquired rear information to the image processing circuit 30.

  The image processing circuit 30 (controller, control unit) is a circuit that processes electrical signals input from the right camera 10 and the left camera 20, and is configured by, for example, an IC, an LSI, or the like. The image processing circuit 30 can classify the image processing circuit 30 into a mirror image generation unit 31, a subsequent vehicle detection unit 32, a storage unit 33, and a synthesis unit 34 when functionally grasping this.

  The mirror image generation unit 31 (generation circuit) generates a mirror image (rear image) to be displayed on the right door mirror monitor 40 and the left door mirror monitor 50 from electric signals input from the right camera 10 and the left camera 20. The mirror image generation unit 31 outputs the generated mirror image to the subsequent vehicle detection unit 32.

  The following vehicle detection unit 32 uses the mirror image generated by the mirror image generation unit 31 to detect the following vehicle existing behind the host vehicle. As a method for detecting the following vehicle, a known method such as pattern matching for searching for a feature of the vehicle can be used. The subsequent vehicle detection unit 32 outputs the detection result to the synthesis unit 34. Further, when a plurality of subsequent vehicles are reflected in the mirror image, the subsequent vehicle detection unit 32 detects the plurality of subsequent vehicles.

  The storage unit 33 stores various virtual images to be superimposed on the mirror image.

  The composition unit 34 superimposes the virtual image stored in the storage unit 33 on the mirror image. More specifically, the composition unit 34 superimposes a virtual image indicating the positions of the host vehicle and the following vehicle on the mirror image. Then, the combining unit 34 outputs the combined image to the right door mirror monitor 40 and the left door mirror monitor 50.

  The right door mirror monitor 40 and the left door mirror monitor 50 are disposed at the right door mirror installation position on the right side of the host vehicle and the left door mirror installation position on the left side of the host vehicle. As the right door mirror monitor 40 and the left door mirror monitor 50, for example, a waterproof liquid crystal display or the like can be adopted. The shapes of the right door mirror monitor 40 and the left door mirror monitor 50 may be a rounded curved surface shape similar to a conventional door mirror, or may be a quadrangular shape similar to a commercially available monitor.

  Next, an example of a mirror image displayed on the right door mirror monitor 40 by the driving support device 1 will be described with reference to FIG.

  As shown in FIG. 2, the combining unit 34 includes a virtual image P1 (first virtual image) indicating the position of the host vehicle M1 and a virtual image P2 indicating the position of the following vehicle M2 that travels on the right side when viewed from the host vehicle M1. The (second virtual image) is superimposed between the host vehicle M1 and the following vehicle M2 on the mirror image. The virtual image P1 extends from the lane in which the host vehicle M1 travels toward the lane in which the subsequent vehicle M2 travels, and has a length exceeding the lane boundary line. Similarly, the virtual image P2 extends from the lane in which the following vehicle M2 travels toward the lane in which the host vehicle M1 travels, and has a length exceeding the lane boundary line. Thus, by superimposing the virtual images P1 and P2 between the host vehicle M1 and the following vehicle M2 in the mirror image, the occupant can move from the virtual image P1 to the virtual image P2, as indicated by the arrows in FIG. It is possible to grasp at a glance that is the distance between vehicles. That is, the occupant can intuitively grasp the positional relationship between the host vehicle M1 and the following vehicle M2. Further, the virtual image P1 and the host vehicle M1 may be displayed in a state of being separated from each other, or may be displayed in a state of being in contact with each other. Similarly, the virtual image P2 and the following vehicle M2 may be separated from each other or displayed in contact with each other.

  Further, as illustrated in FIG. 2, the combining unit 34 preferably superimposes the virtual images P1 and P2 on the road surface of the mirror image. As a result, the virtual images P1 and P2 float and become invisible. That is, since the virtual images P1 and P2 seem to stick to the road surface, the occupant can grasp the accurate inter-vehicle distance.

  Further, as shown in FIG. 2, the combining unit 34 superimposes a virtual image P1 extending from the rear end portion of the host vehicle M1 toward the traveling lane of the subsequent vehicle M2, and from the front end portion of the subsequent vehicle M2 to the host vehicle M1. It is preferable to superimpose a virtual image P2 extending toward the travel lane. In general, the inter-vehicle distance is a distance from the rear end portion of the host vehicle M1 to the front end portion of the succeeding vehicle M2. For this reason, the composite unit 34 superimposes the virtual images P1 and P2 so as to extend from the rear end portion of the host vehicle M1 and the front end portion of the subsequent vehicle M2, thereby allowing the occupant to move between the own vehicle M1 and the subsequent vehicle M2. The distance can be accurately grasped. The rear end portion of the host vehicle M1 is, for example, a rear bumper of the host vehicle M1. Moreover, the front-end | tip part of the succeeding vehicle M2 is a front bumper of the succeeding vehicle M2, for example.

  The virtual images P1 and P2 are not limited in shape or color, but are preferably images showing shadows of the host vehicle M1 and the following vehicle M2. In general, since shadows are reflected on the road surface, the combining unit 34 superimposes the virtual images P1 and P2 as images indicating the shadows, so that the virtual images P1 and P2 appear to be attached to the road surface. As a result, the occupant can accurately grasp the inter-vehicle distance between the host vehicle M1 and the following vehicle M2. Furthermore, since the virtual images P1 and P2 look like shadows, it is possible to reduce a sense of discomfort that the occupant feels about the virtual images P1 and P2.

  Further, the synthesis unit 34 may superimpose the virtual images P1 and P2 so as to be 90 degrees with respect to the traveling lane, or may superimpose the virtual images P1 and P2 so as to be 90 degrees with respect to the own vehicle M1 and the following vehicle M2. Preferably, as shown in FIG. 2, the synthesis unit 34 superimposes the virtual images P1 and P2 so as to be parallel. By superimposing the virtual images P1 and P2 in this way, the occupant can intuitively grasp the relative change in the inter-vehicle distance.

  Next, an operation example of the driving support device 1 according to the present embodiment will be described with reference to the flowchart shown in FIG. This flowchart is started when, for example, the ignition switch is turned on.

  In step S <b> 101, the right camera 10 and the left camera 20 capture the rear of the vehicle and output an electrical signal related to the rear information acquired by the imaging.

  In step S102, the subsequent vehicle detection unit 32 detects the subsequent vehicle M2 using a mirror image generated from the electrical signal. When the subsequent vehicle detection unit 32 detects the subsequent vehicle M2, the process proceeds to step S103. When the subsequent vehicle detection unit 32 does not detect the subsequent vehicle M2, the subsequent vehicle detection unit 32 stands by.

  In step S103, the composition unit 34 superimposes virtual images P1 and P2 indicating the positions of the host vehicle M1 and the following vehicle M2 on the mirror image.

  In step S <b> 104, the composition unit 34 outputs the composite image to the right door mirror monitor 40 and the left door mirror monitor 50.

  As described above, according to the driving assistance apparatus 1 according to the present embodiment, the following operational effects can be obtained.

  The driving support device 1 generates a mirror image from the electrical signals acquired by the right camera 10 and the left camera 20 by imaging, and the host vehicle M1 and the following vehicle M2 are between the host vehicle M1 and the following vehicle M2 on the mirror image. The virtual images P1 and P2 indicating the positions of are superimposed. Thereby, the crew member can grasp at a glance that the distance from the virtual image P1 to the virtual image P2 is the inter-vehicle distance. That is, the occupant can intuitively grasp the positional relationship between the host vehicle M1 and the following vehicle M2.

  In addition, the driving support device 1 superimposes the virtual image P1 and the virtual image P2 indicating the positions of the host vehicle M1 and the following vehicle M2 on the road surface of the mirror image. As a result, the virtual images P1 and P2 float and become invisible. That is, since the virtual images P1 and P2 seem to stick to the road surface, the occupant can grasp the accurate inter-vehicle distance.

  The virtual images P1 and P2 are images showing shadows of the host vehicle M1 and the following vehicle M2. As described above, the driving support device 1 superimposes the virtual images P1 and P2 as images showing shadows, so that the virtual images P1 and P2 appear to stick to the road surface. As a result, the occupant can accurately grasp the inter-vehicle distance between the host vehicle M1 and the following vehicle M2. Furthermore, since the virtual images P1 and P2 look like shadows, it is possible to reduce a sense of discomfort that the occupant feels about the virtual images P1 and P2.

  Further, the driving support device 1 superimposes a virtual image P1 extending from the rear end portion of the own vehicle M1 toward the traveling lane of the subsequent vehicle M2, and extends from the front end portion of the subsequent vehicle M2 toward the traveling lane of the own vehicle M1. The virtual image P2 is superimposed. Thereby, the passenger | crew can grasp | ascertain the exact distance between vehicles.

  Moreover, the driving assistance device 1 superimposes so that the virtual images P1 and P2 are parallel. Thereby, the passenger | crew can grasp | ascertain intuitively the relative change of the inter-vehicle distance.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the present embodiment, the virtual images P1 and P2 have been described as images showing shadows, but the virtual images P1 and P2 are not limited to images showing shadows. For example, as illustrated in FIG. 4A, the combining unit 34 may superimpose the virtual image P2 as a line. Similarly, as illustrated in FIG. 4B, the combining unit 34 may superimpose the virtual image P1 as a line. Further, as illustrated in FIG. 4C, the synthesis unit 34 may superimpose the virtual images P1 and P2 as lines. Also, an ellipse may be used instead of a line. The virtual images P1 and P2 having such shapes may be stored in the storage unit 33 in advance, or may be generated each time by the image processing circuit 30. Note that the combining unit 34 preferably superimposes the virtual images P1 and P2 so as to be parallel regardless of the shapes of the virtual images P1 and P2.

  Moreover, the driving assistance apparatus 1 may acquire the surrounding environment of the own vehicle M1, and may superimpose virtual images P1 and P2 based on the acquired surrounding environment. The surrounding environment refers to an environment during traveling such as whether the traveling time zone is daytime or nighttime, whether the road surface is wet with rain or snow is piled up. These surrounding environments can be acquired by a known sensor or the like. When the surrounding environment is nighttime, the visibility decreases when the virtual images P1 and P2 are superimposed as an image indicated by a shadow. Therefore, the synthesizing unit 34 changes the contrast and brightness of the virtual images P1 and P2, and superimposes the virtual images P1 and P2 whose visibility does not decrease even at night. The virtual images P1 and P2 may be transparent images that can be seen through based on the surrounding environment. Thus, by superimposing the virtual images P1 and P2 based on the surrounding environment, the occupant can intuitively grasp the positional relationship between the host vehicle M1 and the following vehicle M2 regardless of the surrounding environment.

  The virtual images P1 and P2 have been described as images having a length exceeding the lane boundary line. However, in the case of a road having no lane boundary line, the virtual images P1 and P2 having a predetermined length may be used. The predetermined length can be obtained through experiments and simulations.

  Further, as illustrated in FIG. 5, the synthesis unit 34 may set symbols in the virtual images P1 and P2. Here, the “symbol” indicates the flow around the running vehicle, and is indicated by a pattern (eg, wave pattern, gradation, texture, wood grain, etc.), mark (eg, triangle mark, square mark, etc.), etc. It is. Further, the symbols are not necessarily limited to patterns and marks, and may be anything as long as they appear sparse. This symbol can be assimilated to the movement around the vehicle in the rear image by moving it in conjunction with the vehicle running. Thereby, the passenger | crew can suppress the discomfort with respect to a back image. In the present embodiment, since the virtual images P1 and P2 indicate the positions of the host vehicle M1 and the following vehicle M2, respectively, an asphalt pattern is set as a symbol. Note that the symbols are not limited to asphalt patterns, and may be objects that appear to move as the vehicle travels, such as white lines on the road and road shoulders. The image processing circuit 30 sets the moving direction of the symbol and the moving speed of the symbol based on the vehicle speed and the moving direction of the host vehicle M1. Further, the image processing circuit 30 sets the symbol so that the symbol moves in a direction opposite to the moving direction of the host vehicle M1. As a result, the faster the vehicle speed of the host vehicle M1, the higher the moving speed of the symbol, and the symbol moves in the direction corresponding to the moving direction of the host vehicle M1. As a result, the symbol moves so as to match the movement of the host vehicle M1, so that the symbol appears to stick to the road surface. By setting the symbols in the virtual images P1 and P2 in this way, the occupant can grasp an accurate inter-vehicle distance. The vehicle speed and moving direction of the host vehicle M1 can be acquired using a vehicle speed sensor or a steering angle sensor.

  The virtual images P1 and P2 may be annoying if the passengers are always displayed, and may be displayed only when a predetermined condition is satisfied. For example, the synthesizing unit 34 may superimpose the virtual images P1 and P2 using the signal of the blinker switch as a trigger. Specifically, the synthesis unit 34 stands by without performing the process of superimposing the virtual images P1 and P2 until the signal of the winker switch is received, and superimposes the virtual images P1 and P2 when the signal of the winker switch is received. . One of the scenes in which the occupant confirms the inter-vehicle distance with the following vehicle M2 is when the lane is changed. Therefore, when the synthesizer 34 receives the signal of the blinker switch, the virtual images P1 and P2 are superimposed so that information that the occupant wants to know can be provided when the occupant wants to know. Further, when the virtual images P1 and P2 are superimposed by using the signal of the blinker switch as a trigger, it is possible to reduce annoyance felt by the occupant compared to the case where the virtual images P1 and P2 are always superimposed during driving, and for image processing. The required resources can be saved. When the lane change is completed and the winker switch signal is not received, the compositing unit 34 deletes the virtual images P1 and P2.

  Further, the place where the left and right door mirror images are displayed is not limited to the right door mirror monitor 40 and the left door mirror monitor 50. For example, it may be displayed on a display provided on the instrument panel, a head-up display, a display of a car navigation device, a pillar display, or the like.

  Further, the synthesis unit 34 may superimpose virtual images P1 and P2 according to the attributes of the vehicle. For example, when a motorcycle is present behind the host vehicle M1, the combining unit 34 may superimpose the virtual image P2 in accordance with the size of the motorcycle. Since the size of the motorcycle on the mirror image is smaller than that of other vehicles, the synthesizer 34 can notify the occupant not only of the inter-vehicle distance but also the existence of the motorcycle by superimposing the virtual image P2.

  Further, in this embodiment, the virtual images P1 and P2 are superimposed on the mirror image, but the virtual image may be superimposed on the mirror itself that captures the rear of the host vehicle M1. When the rear of the host vehicle M1 is captured by a mirror, the subsequent vehicle M2 is not identified from the image, but the subsequent vehicle M2 is recognized by various sensors capable of detecting the situation around the host vehicle such as a sonar and a camera. Also good.

  Note that each function of the above-described embodiment may be implemented by one or a plurality of processing circuits. The processing circuit includes a programmed processing device such as a processing device including an electrical circuit. The processing circuitry also includes devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

DESCRIPTION OF SYMBOLS 10 Right camera 20 Left camera 30 Image processing circuit 31 Mirror image generation part 32 Subsequent vehicle detection part 33 Memory | storage part 34 Synthesis | combination part 40 Right door mirror monitor 50 Left door mirror monitor

Claims (8)

In a driving support method of a driving support device comprising: an imaging element that acquires rear information of the host vehicle by imaging; a controller that generates a rear image from the rear information; and a monitor that displays the rear image.
A driving support method comprising: superimposing a virtual image indicating the positions of the host vehicle and the succeeding vehicle between the host vehicle and the following vehicle on the rear image. Superimposing the virtual image
The driving support method according to claim 1, further comprising superimposing the virtual image on a road surface. Superimposing the virtual image
The driving support method according to claim 1, further comprising superimposing the virtual images indicating shadows of the host vehicle and the following vehicle. Superimposing the virtual image
The driving support method according to any one of claims 1 to 3, further comprising superimposing the virtual image in which a symbol operates according to a vehicle speed of the host vehicle. Superimposing the virtual image
5. The method according to claim 1, further comprising superimposing a first virtual image on a rear end portion of the host vehicle and superimposing a second virtual image on a front end portion of the succeeding vehicle. The driving assistance method described. Superimposing the virtual image
The driving support method according to claim 5, further comprising superimposing the first virtual image and the second virtual image so as to be parallel to each other. Further detecting an environment around the vehicle,
Superimposing the virtual image
The driving support method according to claim 1, further comprising superimposing the virtual image according to the detected surrounding environment. An image sensor for acquiring rear information of the host vehicle by imaging;
A generation circuit for generating a rear image from the rear information acquired by the image sensor;
A monitor for displaying the rear image generated by the generation circuit;
A driving support device comprising: a control unit that superimposes between the host vehicle and the succeeding vehicle on the rear image a virtual image indicating the positions of the host vehicle and the following vehicle.

Images