JP2018144567A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To recognize a traveling state of a vehicle.SOLUTION: A driving support device relating to an embodiment includes: an acquisition part for acquiring information about a moving route to a first position indicating a movement destination in steering control of a vehicle; and a display processing part for displaying a positional relation between the position of the vehicle and the first position, displaying a moving route to travel to the first position acquired by the acquisition part as a plurality of sections divided in accordance with distance to the first position, and displaying a section corresponding to the present position of the vehicle among the plurality of sections in a display mode differently from the other sections.SELECTED DRAWING: Figure 4

Description

  Embodiments described herein relate generally to a driving support apparatus.

  2. Description of the Related Art Conventionally, a technique related to a driving support device that controls movement of a vehicle to a target position has been proposed. The driving support device generates a movement path for controlling the movement of the vehicle to the target position, and performs steering control so as to move along the movement path. The driver may perform operations related to the accelerator, the brake, and the shift during the movement control to the target position according to the movement route.

  When performing driving support, there is a technique for presenting the distance from a vehicle to a target position as an indicator showing a plurality of sections in order to notify the driver of the driving situation. When the driver refers to the displayed indicator, the driver can grasp whether or not the target position has been approached by increasing or decreasing the section.

JP 2006-060235 A

  However, in the prior art, the driver cannot recognize the positional relationship between the current vehicle and the target position, and improvement has been desired.

  As an example, the driving support device of the embodiment includes an acquisition unit that acquires information on a movement route to a first position indicating a movement destination in the steering control of the vehicle, and a positional relationship between the position of the vehicle and the first position. Is displayed, and the movement path to the first position acquired by the acquisition unit is displayed as a plurality of sections divided according to the distance to the first position, and among the plurality of sections, A display processing unit that displays a section corresponding to the position of the vehicle in a different display form from the other sections. Therefore, the driver can recognize the positional relationship between the vehicle and the first position and the progress status up to the first position.

  In the driving support device of the embodiment, as an example, the first position displayed by the display control unit is a target parking position of the vehicle or a turn-back position while the vehicle moves to the target parking position in the parking support control of the vehicle. . Therefore, the driver can recognize the progress status up to the first position in the parking assistance control.

  In the driving support device of the embodiment, as an example, the display processing unit includes a movement route from the current vehicle position to the first position, a movement route that has moved to the current vehicle position, and a movement route that includes the movement route. , Display it divided into multiple sections. Therefore, since the driver can recognize the travel route that the vehicle has traveled so far, the driver can further recognize the progress state up to the first position.

  In the driving support device of the embodiment, as an example, the display processing unit corresponds to a section corresponding to a movement path from the current vehicle position to the first position and a movement path moved to the current vehicle position. The display mode is different depending on the section. Therefore, the driver can recognize the difference between the moving route that will move from now on and the moving route that has traveled so far, and thus can more recognize the progress status up to the first position.

  In the driving support device of the embodiment, as an example, when the direction in which the imaging unit is not provided in the vehicle is the traveling direction, the display processing unit divides and displays the movement route into a plurality of sections, and Of the sections, the section corresponding to the current vehicle position is displayed differently from the other sections, and is captured by the imaging unit when the direction in which the imaging unit is provided in the vehicle is the traveling direction. Also, an image showing the traveling direction of the vehicle is displayed. Therefore, since the driver can visually recognize the information according to the traveling direction, the driver can recognize the situation around the vehicle.

  As an example, the display support unit of the embodiment displays image information representing the shape of the vehicle as information representing each section for each of the plurality of sections. Therefore, since the driving support device displays image information representing the shape of the vehicle for each section, the driver can easily grasp the progress of the vehicle.

FIG. 1 is a perspective view illustrating an example of a state in which a part of a passenger compartment of a vehicle on which the driving support apparatus according to the first embodiment is mounted is seen through. FIG. 2 is a block diagram illustrating a hardware configuration of a vehicle control system according to the first embodiment. FIG. 3 is a diagram illustrating an example of the dashboard of the vehicle according to the first embodiment. FIG. 4 is a block diagram illustrating a configuration of the ECU according to the first embodiment. FIG. 5 is a diagram illustrating a travel route calculated by the travel route calculation unit of the first embodiment. FIG. 6 is a diagram illustrating a first parking assistance screen displayed by the display control unit according to the first embodiment. FIG. 7 is a diagram illustrating a second parking assistance screen displayed by the display control unit according to the first embodiment. FIG. 8 is a diagram illustrating a third parking assistance screen displayed by the display control unit according to the first embodiment. FIG. 9 is a flowchart illustrating a procedure of movement control in the ECU according to the first embodiment. FIG. 10 is a diagram illustrating a first leaving support screen displayed by the display control unit according to the modification of the first embodiment. FIG. 11 is a diagram illustrating a second exit support screen displayed by the display control unit according to the modification of the first embodiment. FIG. 12 is a diagram illustrating a third exit support screen displayed by the display control unit according to the modification of the first embodiment.

  In the following, exemplary embodiments are disclosed. The configuration of the embodiment shown below and the operations, results, and effects brought about by the configuration are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments, and at least one of various effects based on the basic configuration and derivative effects can be obtained. .

(First embodiment)
FIG. 1 is an exemplary perspective view showing a state in which a part of a passenger compartment 2a of a vehicle 1 according to the first embodiment is seen through. The vehicle 1 is an example of a moving body. The vehicle 1 may be, for example, an automobile (an internal combustion engine automobile) using an internal combustion engine (engine, not shown) as a drive source, or an automobile (electric vehicle) using an electric motor (motor, not shown) as a drive source. Or a fuel cell vehicle), or a vehicle (hybrid vehicle) using both of them as drive sources. The vehicle 1 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of devices related to driving of the wheels 3 in the vehicle 1 can be set in various ways.

  As shown in FIG. 1, the vehicle 1 includes a vehicle body 2, wheels 3, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a transmission operation unit 7, a monitor device 11, and an imaging unit 15. With.

  The vehicle body 2 constitutes a passenger compartment 2a in which a passenger (not shown) gets. In the passenger compartment 2a, facing the driver's seat 2b as an occupant, the steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the transmission operation unit 7, the display device 8, the audio output device 9, and the operation input Part 10 etc. are provided. The vehicle body 2 includes a front bumper provided at the lower portion of the front end portion, a rear bumper provided at the lower portion of the rear end portion, and the like.

  In the present embodiment, as an example, the vehicle 1 is a four-wheeled vehicle (four-wheeled vehicle) and includes two left and right front wheels 3F and two right and left rear wheels 3R. Further, in the present embodiment, any one of these four wheels 3 is configured to be steered by the steering unit 4 (so that it can be steered).

  The steering unit 4 is, for example, a steering wheel or a handle protruding from the dashboard. The acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's feet. The braking operation unit 6 is, for example, a brake pedal that is positioned under the driver's feet. The shift operation unit 7 is, for example, a shift lever that protrudes from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, and the speed change operation unit 7 are not limited to these.

  The monitor device 11 is provided, for example, at the center of the dashboard in the vehicle width direction, that is, the left-right direction. The monitor device 11 may have a function such as a navigation system or an audio system, for example. The monitor device 11 includes a display device 8, an audio output device 9, and an operation input unit 10. The monitor device 11 may have an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button.

  The display device 8 displays an image based on the image information. The display device 8 is, for example, an LCD (Liquid Crystal Display) or an OELD (Organic Electroluminescent Display).

  The sound output device 9 outputs sound based on the sound data. The audio output device 9 is, for example, a speaker. The audio output device 9 may be provided at a different position in the passenger compartment 2a other than the monitor device 11.

  The operation input unit 10 receives an input from a user including an occupant or a driver. The operation input unit 10 is provided on the display side surface of the display device 8. The operation input unit 10 is, for example, a touch panel that can transmit an image of the display device 8. The operation input unit 10 receives an instruction input by the user touching a position corresponding to an image displayed on the display screen of the display device 8.

  In the present embodiment, the vehicle 1 includes an imaging unit 15. The imaging unit 15 is a digital camera including an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The imaging unit 15 includes a wide-angle lens or a fish-eye lens, and can capture a range of 140 ° to 190 ° in the horizontal direction. The optical axis of the imaging unit 15 is set obliquely downward. Therefore, the imaging unit 15 outputs captured image data obtained by imaging the periphery including the road surface on which the vehicle 1 is movable.

  In the present embodiment, the imaging unit 15 is provided, for example, in the center of the rear part of the vehicle 1 and images the surrounding environment behind the vehicle 1. In the present embodiment, an example in which one imaging unit 15 is provided in the center of the rear part of the vehicle 1 will be described, but a plurality of imaging units 15 may be provided. In the case of providing a plurality, for example, it may be provided in the center of the front portion of the vehicle 1 and the surrounding environment in front of the vehicle 1 may be taken.

  FIG. 2 is a block diagram illustrating a hardware configuration of a control system of the vehicle 1 according to the first embodiment. As shown in FIG. 2, the vehicle 1 further includes a wheel speed sensor 22, a steering system 13, a shift sensor 21, an ECU (Electronic Control Unit) 24, and an in-vehicle network 25. For example, the monitor device 11, the imaging unit 15, and the ECU 24 function as the driving support device 50.

  As illustrated in FIG. 2, the vehicle 1 includes a steering system 13 that steers at least two wheels 3. The steering system 13 is electrically controlled by the ECU 24 or the like to operate the actuator. The steering system 13 is, for example, an electric power steering system, an SBW (steer by wire) system, or the like. The steering system 13 supplements the steering force by adding torque, that is, assist torque to the steering unit 4 by the actuator, or steers the wheel 3 by the actuator. In this case, the actuator may steer one wheel 3 or may steer a plurality of wheels 3.

  The shift sensor 21 is, for example, a sensor that detects the position of the movable part of the speed change operation unit 7. The shift sensor 21 can detect the position of a lever, arm, button, or the like as a movable part. The shift sensor 21 may include a displacement sensor or may be configured as a switch.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs a wheel speed pulse number indicating the detected rotation speed as a sensor value to the ECU 24. The wheel speed sensor 22 is configured using, for example, a Hall element.

  The ECU 24 is, for example, a computer. The ECU 24 receives captured image data from the imaging unit 15. The ECU 24 transmits data related to the image or sound to be output to the monitor device 11. The ECU 24 includes a CPU (Central Processing Unit) 24a, a ROM (Read Only Memory) 24b, a RAM (Random Access Memory) 24c, a display control unit 24d, an audio control unit 24e, an SSD (Solid State Drive) 24f, Is provided. The CPU 24a, ROM 24b, and RAM 24c may be integrated in the same package.

  The CPU 24a reads a program stored in a nonvolatile storage device such as the ROM 24b, and executes various arithmetic processes and controls according to the program. The ROM 24b stores each program and parameters necessary for executing the program. The RAM 24c temporarily stores various types of data used in computations by the CPU 24a. The display control unit 24 d mainly performs image processing of an image obtained by the imaging unit 15, data conversion of a display image to be displayed on the display device 8, etc., among arithmetic processing in the ECU 24. The voice control unit 24e mainly executes voice processing to be output to the voice output device 9 among the arithmetic processing in the ECU 24. The SSD 24f is a rewritable nonvolatile storage unit, and maintains data even when the power of the ECU 24 is turned off.

  In the present embodiment, the ECU 24 governs overall control of the vehicle 1 by cooperation of hardware and software (that is, a program).

  The in-vehicle network 25 is, for example, a CAN (Controller Area Network). The in-vehicle network 25 electrically connects the ECU 24, the monitor device 11, the wheel speed sensor 22, the shift sensor 21, and the steering system 13 to each other so that signals and information such as control signals and operation instructions can be transmitted and received. .

  FIG. 3 is a diagram illustrating an example of the dashboard 27 of the vehicle 1 according to the embodiment. As illustrated in FIG. 3, the display device 12 is provided, for example, in the instrument panel portion 26 of the dashboard 27, and between the speed display portion 26 a and the rotation speed display portion 26 b at the approximate center of the instrument panel portion 26. Is located. The screen size of the display device 12 is smaller than the screen size of the display device 8 (FIG. 1). The display device 12 displays an image indicating information related to parking support control of the vehicle 1. The amount of information displayed on the display device 12 may be smaller than the amount of information displayed on the display device 8. The display device 12 is, for example, an LCD or an OELD.

  FIG. 4 is a block diagram illustrating a configuration of the ECU 24 of the driving support device 50. As shown in FIG. 2, the CPU 24a constituting the ECU 24 executes the program stored in the SSD 24f, thereby realizing each configuration shown in FIG.

  As shown in FIG. 4, the ECU 24 includes an operation reception unit 401, a movement route calculation unit 402, a movement control unit 403, a position information acquisition unit 404, and a display processing unit 405. Part or all of the operation reception unit 401, the movement route calculation unit 402, the movement control unit 403, the position information acquisition unit 404, and the display processing unit 405 are configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit). You may do it.

  The operation reception unit 401 receives operation information input from the operation input unit 10. For example, the operation reception unit 401 receives an operation for specifying the target parking position of the vehicle 1 from the image displayed on the display device 8. In addition, although this embodiment demonstrates the case where the target position used as the movement destination of the vehicle 1 is a target parking position, what is necessary is just the position used as the movement destination of the vehicle 1. FIG.

  The movement route calculation unit 402 calculates a movement route to the target parking position of the vehicle 1 based on the target parking position specified according to the operation received by the operation reception unit 401 and the current position of the vehicle 1.

  FIG. 5 is a diagram illustrating a travel route calculated by the travel route calculation unit 402 according to the present embodiment. As illustrated in FIG. 5, the movement route calculation unit 402 calculates a movement route from the current position 501 of the vehicle 1 to the target parking position 511 in the parking section 502 including the turn-back position 512. In the example illustrated in FIG. 5, an example including one cut-back position 512 will be described. However, the turn-back position may not be included, and a plurality of turn-back positions may be included.

  The movement control unit 403 performs control for moving the vehicle 1 in accordance with the movement route calculated by the movement route calculation unit 402. The present embodiment is an example in which the driver performs operations related to accelerator, brake, and shift, and the movement control unit 403 performs steering. However, this embodiment does not limit the method of movement control, and the movement control unit 403 may perform control of any one or more of accelerator, brake, and shift in addition to steering.

  The position information acquisition unit 404 acquires, from the movement route calculation unit 402, information related to the movement route calculated by the movement route calculation unit 402 to the return position or the target parking position indicating the movement destination of the vehicle 1. In the present embodiment, as the information related to the moving route to the turn-back position or the target parking position, the information representing the movement route with a line is acquired in the plane coordinates including the vehicle 1 and the target parking position or the turn-back position. The position information acquisition unit 404 of the present embodiment acquires information related to the travel route to the return position or the target parking position at the start of parking support control and every time the vehicle 1 reaches the return position.

  The display processing unit 405 performs control to display information on the display device 8 and the display device 12. For example, the display processing unit 405 includes the current position of the vehicle 1 and the next return position or target parking included in the information about the return route and the travel route to the target parking position acquired by the position information acquisition unit 404. The positional relationship between the positions is displayed.

  Further, the display processing unit 405 divides the movement route that moves to the next return position or the target parking position acquired by the position information acquisition unit 404 according to the distance to the next return position or the target parking position. The image data indicated by the vehicle 1 is displayed for each section.

  The display processing unit 405 according to the present embodiment performs processing such that the distance for each section is equalized by dividing the movement route that moves to the next turn-back position or the target parking position by “7”. . In this embodiment, an example of dividing by “7” will be described. However, it may be divided by a number other than “7”. Further, the number of divisions may be varied according to the movement route that moves to the next turn-back position or the target parking position.

  FIG. 6 is a diagram illustrating a first parking assistance screen displayed by the display processing unit 405 according to the first embodiment. As shown in FIG. 6, in the parking assistance screen, the parking section 610 including the target parking position, the stop mark 602 indicating the turn-back position, and the position where the parking assistance control of the vehicle 1 is started (the current position of the vehicle 1 ) To the cut-back position, image data 601A to 601G of the vehicle 1 represented for each divided section are displayed.

  The parking assistance screen shown in FIG. 6 shows an example of a screen displayed on the display device 8, but the same parking assistance screen is also displayed on the display device 12.

  As shown in FIG. 6, the image data 601A corresponding to the section corresponding to the current position of the vehicle 1 is displayed with a higher luminance value than the other image data 601B to 601G. In the present embodiment, an example in which the luminance value of the image data 601A is higher than that of the image data 601B to 601G will be described. However, the image data corresponding to the current position of the vehicle 1 is compared with other image data. What is necessary is just to change a display mode, for example, you may perform control, such as changing a color or blinking.

  In the present embodiment, an example in which image data representing the shape of the vehicle 1 is shown as information representing each divided section will be described. However, in the present embodiment, information representing each section is used as information representing each section. The method is not limited to the method of displaying image data, and other image data may be displayed.

  And the display process part 405 of this embodiment displays the parking assistance screen in which the present position of the vehicle 1 was switched as the vehicle 1 moved.

  FIG. 7 is a diagram illustrating a second parking assistance screen displayed by the display processing unit 405 of the first embodiment. As shown in FIG. 7, on the parking assistance screen, the parking section 610 including the target parking position, the stop mark 602 indicating the turn-back position, and the movement path from the position where the parking support control of the vehicle 1 is started to the turn-back position. The image data 701A to 701G of the vehicle 1 represented for each divided section is displayed. In addition, the display processing unit 405 compares the image data 701D corresponding to the section corresponding to the current position of the vehicle 1 among the image data 701A to 701G of the vehicle 1 with the other image data 701A to 701C and 701E to 601G. Display the brightness value higher.

  As shown in FIG. 7, the display processing unit 405 according to the present embodiment includes the vehicle 1 in addition to the image data from the image data 701D corresponding to the current position of the vehicle 1 to the image data 701G corresponding to the switching position. The image data 701A corresponding to the position where the parking support control is started and the image data 701B and 701C of the positions where the vehicle 1 has moved in the past are displayed. Thereby, the driver can grasp the distance traveled since the parking assistance control was started.

  As described above, the display processing unit 405 of the present embodiment includes the movement path from the current position of the vehicle 1 to the return position or the target parking position, the movement path that has moved to the current position of the vehicle 1, and the movement including The route is divided into a plurality of sections, and the image data of the vehicle 1 is arranged and displayed for each divided section.

  When the vehicle 1 further moves, the display processing unit 405 of the present embodiment displays a parking assistance screen in which the current position of the vehicle 1 is further switched.

  FIG. 8 is a diagram illustrating a third parking assistance screen displayed by the display processing unit 405 of the first embodiment. As shown in FIG. 8, in the parking assistance screen, the parking section 610 including the target parking position, the stop mark 602 indicating the return position, and the travel path from the position where the parking support control of the vehicle 1 is started to the return position. The image data 801A to 801G of the vehicle 1 represented for each divided section is displayed. In addition, the display processing unit 405 uses the image data 801G corresponding to the section corresponding to the current position of the vehicle 1 that has reached the switching position among the image data 801A to 801G of the vehicle 1 as other image data 801A to 601F. The brightness value is displayed higher than. Further, the display processing unit 405 displays the stop mark 602 with a higher luminance value than in FIGS. 6 and 7 in order to prompt the driver to stop. As a result, the driver can recognize that the turn-back position has been reached and perform brake control.

  Thereafter, the display processing unit 405 divides the movement route from the turn-back position to the target parking position included in the parking section 610 according to the distance to the target parking position, and for each divided section, the vehicle 1 The image data shown is displayed. Note that the display method is the same as in FIGS.

  In the present embodiment, an example in which only the image data corresponding to the current position of the vehicle 1 is displayed differently has been described. However, the present embodiment is not limited to changing the display mode only for the image data corresponding to the current position of the vehicle 1. Therefore, as a modification, the display processing unit 405 detects the current position of the vehicle 1 from the image data corresponding to the route from the current position of the vehicle 1 to the return position or the target parking position, and the position where the parking support control is started. An example of performing display in which the display mode of the image data corresponding to the route that has moved up to is different is possible.

  For example, the display processing unit 405 performs image data corresponding to a section corresponding to the current position of the vehicle 1, image data corresponding to a route from the current position of the vehicle 1 to the return position or the target parking position, and parking support control. For example, a higher luminance value may be set in order of image data corresponding to a route traveled from the start position to the current position of the vehicle 1.

  Returning to the first embodiment, the movement control in the ECU 24 of the present embodiment will be described. FIG. 9 is a flowchart showing the control procedure described above in the ECU 24 of the present embodiment.

  First, the operation reception unit 401 receives an operation for setting a target parking position (S901).

  Next, the movement route calculation unit 402 calculates a movement route to the target parking position (S902).

  Then, the position information acquisition unit 404 acquires information related to the travel route to the target parking position or the next turn-back position that indicates the destination of the vehicle 1 calculated by the travel route calculation unit 402 (S903).

  The display processing unit 405 performs processing for dividing the movement route to the target parking position or the next turn-back position into a plurality of sections (S904). In the present embodiment, processing for equally dividing the movement route into seven sections is performed.

  The display processing unit 405 displays a target parking section and a stop mark indicating the switching position and the target parking position, and the luminance value is displayed in a section corresponding to the current position of the vehicle 1 among the plurality of divided sections. The icon of the vehicle 1 having a high value (image data having the shape of the vehicle 1) is displayed, and the icon of the vehicle 1 having a low luminance value (image data having the shape of the vehicle 1) is displayed in another section (S905).

  Thereafter, the movement control unit 403 determines whether or not the vehicle 1 has moved to the target parking position based on a signal from the wheel speed sensor 22 (S906).

  When it is determined that the vehicle 1 has not moved to the target parking position based on the signal from the wheel speed sensor 22 (S906: No), the movement control unit 403 determines whether or not the vehicle 1 has moved to the switching position. Determination is made (S907).

  When it is determined that the vehicle 1 has not moved to the turn-back position based on the signal from the wheel speed sensor 22 (S907: No), the movement control unit 403 determines that the vehicle 1 has reached the target value parking position or the turn-back position. It is determined whether or not it has moved to a position corresponding to the next section among a plurality of sections obtained by dividing the movement route (S908). When it determines with not having moved (S908: No), it processes again from S906.

  On the other hand, when it is determined that the movement control unit 403 has moved to a position corresponding to the next section (S908: Yes), the display processing unit 405 displays the icon (1) of the vehicle 1 having a different brightness from the other according to the movement of the vehicle 1. (Image data) is switched. Specifically, the display processing unit 405 again displays a vehicle icon (image data) having a high luminance value in a section corresponding to the current position of the vehicle 1 among the plurality of divided sections. The icon (image data) of the vehicle 1 having a low luminance value is displayed in the section (S905). Thereafter, the processing after S906 is performed again.

  In S907, when the movement control unit 403 determines that the vehicle 1 has moved to the return position (S907: Yes), the position information acquisition unit 404 determines the destination of the vehicle 1 calculated by the movement route calculation unit 402. Information on the moving route to the next return position or the target parking position is acquired (S903), and the processing from S904 is performed again.

  In S906, when the movement control unit 403 determines that the vehicle 1 has moved to the target parking position (S906: Yes), the process ends.

  In the present embodiment, the ECU 24 performs the above-described movement control, so that the driver can recognize the current position of the vehicle 1 that changes together with the movement control.

(Modification of the first embodiment)
In 1st Embodiment, when performing parking assistance control, the example which displays the image data of the vehicle 1 on the movement path | route to a target parking position or a switching position was demonstrated. However, 1st Embodiment is not restrict | limited to the driving control in the case of performing parking assistance control. Therefore, as a modification, a case where the delivery support control is performed will be described. Note that the configuration of the vehicle 1 is the same as in the first embodiment, and a description thereof is omitted. In the modification of the first embodiment, a case will be described in which the destination of the vehicle 1 by the steering control is the delivery position.

  In this modified example, the case where the exit assistance control is performed from the parallel parking as the exit assistance control of the vehicle 1 will be described, but it may be applied to the exit assistance control from the parallel parking.

  The operation accepting unit 401 according to the present modification accepts an operation for starting the delivery support control of the vehicle 1.

  The movement route calculation unit 402 specifies a delivery position as a movement destination according to the operation of starting the delivery support control received by the operation reception unit 401, and based on the delivery position and the current position of the vehicle 1, the vehicle The movement route to the 1 delivery position is calculated. It should be noted that the exit position is a position where the vehicle exits from the vehicle parked before and after the vehicle 1 in the parallel parking, but may be determined by any reference.

  The position information acquisition unit 404 acquires, from the movement route calculation unit 402, information related to the movement route up to the delivery position indicating the movement destination of the vehicle 1 calculated by the movement route calculation unit 402. In the present embodiment, as the information related to the movement route to the delivery position, information representing the movement route with a line is acquired in the plane coordinates including the vehicle 1 and the delivery position.

  The display processing unit 405 performs control to display information on the display device 8 and the display device 12. For example, the display processing unit 405 displays the positional relationship between the current position of the vehicle 1 and the delivery position, which is included in the information related to the movement route to the delivery position acquired by the location information acquisition unit 404. To do.

  Furthermore, the display processing unit 405 divides the movement route to the delivery position acquired by the position information acquisition unit 404 according to the distance to the delivery position, and displays the image data indicated by the vehicle 1 for each divided section. .

  FIG. 10 is a diagram illustrating a first delivery support screen displayed by the display processing unit 405 according to the modification. As shown in FIG. 10, on the exit support screen, the stop mark 1010 indicating the exit position and the movement path from the position where the exit support control of the vehicle 1 is started (the current position of the vehicle 1) to the exit position, The image data 1001A to 1001G of the vehicle 1 represented for each divided section is displayed.

  As shown in FIG. 10, the image data 1001A corresponding to the section corresponding to the current position of the vehicle 1 is displayed with a higher brightness value than the other image data 1001B to 1001G. In the example shown in FIG. 10, vehicles 1021 and 1022 that are stopped before and after the vehicle 1 are also displayed. Assume that the vehicles 1021 and 1022 are detected by a distance measuring sensor (not shown) provided in the vehicle 1.

  Also in this modified example, an example in which the luminance value of the image data 1001A of the section corresponding to the current position of the vehicle 1 is set higher than that of the image data 1001B to 1001G will be described as in the embodiment.

  And the display process part 405 of this modification displays the parking assistance screen in which the present position of the vehicle 1 was switched as the vehicle 1 moved.

  FIG. 11 is a diagram illustrating a second exit support screen displayed by the display processing unit 405 according to the modification. As shown in FIG. 11, on the exit support screen, the stop mark 1010 indicating the exit position and the movement route from the position where the exit support control of the vehicle 1 is started to the exit position are shown for each divided section. The image data 1101A to 1101G of the vehicle 1 are displayed. The display processing unit 405 compares the image data 1101D corresponding to the section corresponding to the current position of the vehicle 1 among the image data 1101A to 1101G of the vehicle 1 with the other image data 1101A to 1101C and 1101E to 1101G. Display the brightness value higher.

  As described above, the display processing unit 405 according to the present modification includes a movement path from the current position of the vehicle 1 to the exit position, and a movement path that has moved to the current position of the vehicle 1, as in the above-described embodiment. The travel route included is divided into a plurality of sections, and the image data of the vehicle 1 is arranged and displayed for each of the divided sections.

  When the vehicle 1 further moves, the display processing unit 405 of the present modified example displays a delivery support screen in which the current position of the vehicle 1 is further switched.

  FIG. 12 is a diagram illustrating a third delivery support screen displayed by the display processing unit 405 according to the modification. As shown in FIG. 12, on the exit support screen, the stop mark 1010 indicating the exit position and the movement route from the position where the exit support control of the vehicle 1 is started to the exit position are shown for each divided section. The image data 1201A to 1201G of the vehicle 1 are displayed. In addition, the display processing unit 405 uses the image data 1201 </ b> A to 1201 </ b> F as image data 1201 </ b> A to 1201 </ b> F corresponding to the section corresponding to the current position of the vehicle 1 that has reached the exit position among the image data 1201 </ b> A to 1201G of the vehicle 1. The brightness value is displayed higher than. Furthermore, the display processing unit 405 displays the stop mark 1010 with a higher luminance value than that in FIGS. 10 and 11 in order to prompt the driver to stop. As a result, the driver can recognize that the vehicle has arrived and can perform brake control. Thereafter, the description of the vehicle 1 is omitted on the assumption that the driving control is performed according to the steering of the driver.

  In this modification, when leaving the vehicle 1, the driver can easily recognize the movement state.

  In this modification, the case where the position to which the vehicle 1 is moved is the shipping position has been described. However, the position of the movement destination is not limited to the leaving position, the target parking position or the turn-back position as in the above-described embodiment, and may be any position as long as the vehicle 1 is a movement destination.

(Second Embodiment)
In the embodiment and the modification described above, the position relationship between the current position of the vehicle 1 and the target position (the target parking position, the turnover position, and the leaving position) can be grasped when performing the parking assistance control and the leaving assistance control. The example which displays a parking assistance screen and a delivery assistance screen was demonstrated. However, when the vehicle 1 is moving backward, it may be better to display the captured image data captured by the imaging unit 15 than to display the parking support screen or the leaving support screen. Therefore, in the present embodiment, a case will be described in which the screen displayed by the display processing unit 405 is switched according to the traveling direction of the vehicle 1. In addition, about the structure of the vehicle 1 of 2nd Embodiment, description is abbreviate | omitted as it is the same as that of 1st Embodiment.

  As in the first embodiment, the present embodiment is provided at the center of the rear portion of the vehicle 1 and images the surrounding environment behind the vehicle 1.

  Therefore, in the present embodiment, when parking assistance control is performed, if the traveling direction of the vehicle 1 is forward, the same parking assistance screen as in the first embodiment is displayed, and the traveling direction of the vehicle 1 is backward. The captured image data captured by the imaging unit 15 is displayed.

  That is, the display processing unit 405 of the present embodiment divides the movement route into a plurality of sections when the direction in which the imaging unit 15 is not provided in the vehicle 1 (forward direction) is the traveling direction, and the vehicle 1 for each section. The image data indicating the shape of the vehicle 1 is displayed, and the image data corresponding to the current position of the vehicle 1 among the image data of the plurality of vehicles 1 is displayed differently from the other sections. The display processing unit 405 captures a captured image representing the traveling direction of the vehicle 1 captured by the imaging unit 15 when the direction (rear direction) in which the imaging unit 15 is provided in the vehicle 1 is the traveling direction. Data and a trajectory indicating a predicted course based on the current steering angle of the vehicle 1 are displayed.

  That is, when the vehicle 1 moves backward, the driver displays captured image data captured by the imaging unit 15 in order to recognize the situation on the rear side of the vehicle 1. On the other hand, when the vehicle 1 moves forward, the driver can visually recognize the situation in front of the vehicle 1, so that the parking assistance screen is displayed in order to recognize the situation of the vehicle 1. Thereby, provision of information can be realized according to the traveling direction of the vehicle 1.

  According to the embodiment and the modification described above, the ECU 24, which is an example of a driving support device, gives the driver the current vehicle position and the position to be moved (for example, the target parking position, the turn-back position, the delivery). Both the positional relationship with the position) and the progress to the position that is the destination can be recognized at the same time. Thereby, the convenience can be improved.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 15 ... Imaging part, 24 ... ECU, 401 ... Operation reception part, 402 ... Movement path | route calculation part, 403 ... Movement control part, 404 ... Position information acquisition part, 405 ... Display processing part.

Claims (6)

An acquisition unit for acquiring information on a movement route to a first position indicating a movement destination in steering control of the vehicle;
The positional relationship between the position of the vehicle and the first position is displayed, and the movement path that moves to the first position acquired by the acquisition unit is divided according to the distance to the first position. A display processing unit for displaying a section corresponding to the current vehicle position among the plurality of sections and displaying the section in a display manner different from other sections,
A driving support apparatus comprising: The first position displayed by the display processing unit is a target parking position of the vehicle or a turn-back position during the movement of the vehicle to the target parking position in the parking support control of the vehicle.
The driving support device according to claim 1. The display processing unit divides and displays, as the plurality of sections, a travel route including a travel route that has traveled to the current vehicle position in a travel route from the current vehicle position to the first position. To
The driving support device according to claim 1 or 2. The display processing unit changes a display mode between a section corresponding to a movement route from a current vehicle position to the first position and a section corresponding to a movement route moved to the current vehicle position. ,
The driving support device according to claim 3. The display processing unit divides and displays the movement route into the plurality of sections when the direction in which the imaging unit is not provided in the vehicle is a traveling direction, and among the plurality of sections, the current vehicle The section corresponding to the position of the vehicle is displayed with a different display mode from the other sections, and when the direction in which the imaging unit is provided in the vehicle is the traveling direction, the vehicle imaged by the imaging unit is displayed. Display an image showing the direction of travel,
The driving support device according to claim 1. The display processing unit displays image information representing the shape of the vehicle as information representing each section for each of the plurality of sections.
The driving support device according to any one of claims 1 to 5.

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