JP3107081B1 - Reverse steering assist device - Google Patents

Abstract

An object of the present invention is to provide a reverse steering assist device that can easily move a vehicle to a desired position when the vehicle is moved backward. SOLUTION: When the vehicle retreats, a screen 19 of a monitor 4 is displayed.
Expected trajectory 2 of fixed guide display 20 and eye mark 24 on top
5 is displayed superimposed on the image of the camera. The expected trajectory 25 of the eye mark 24 extends rearward from the eye mark 24 and moves so as to bend left and right in accordance with the steering angle of the steering wheel.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering assist device for reversing, and more particularly to an apparatus for superimposing and displaying a display for assisting steering operation during reversing on a monitor screen obtained by imaging the rear of a vehicle. .

[0002]

2. Description of the Related Art Conventionally, there has been proposed an apparatus for displaying a rear view of a vehicle on a monitor when a driver cannot see a target place due to a blind spot of the vehicle when the vehicle moves backward. For example, in Japanese Patent Publication No. 2-36417,
A television camera for photographing the rear of the vehicle, a monitor television for projecting an image captured by the television camera, a sensor for outputting an information signal related to a tire steering angle, and a marker signal generated in accordance with the information signal from the sensor; A rear monitor monitoring device for a vehicle, comprising a circuit for superimposing a marker on a television screen, is disclosed. In this device, tire steering angle data and marker position data along the reverse direction of the vehicle corresponding to the steering angle are stored in the ROM, and the estimated reverse trajectory of the vehicle according to the steering angle at that time is stored in the ROM. The image is displayed as a column on the television screen so as to be superimposed on the video taken by the television camera.

[0003] According to such a device, when the vehicle is traveling in reverse, the expected backward trajectory of the vehicle in accordance with the steering angle is displayed on the screen of the monitor television together with the visibility of the conditions of the road behind and the like. The vehicle can be moved backward by operating the steering wheel while looking at the television screen without turning around.

[0004]

However, for example, when the vehicle is backed up and parallel parked, the angle of approach to the parking space and the turning back timing of the steering wheel are important points. It is difficult for the driver to judge in what state the steering wheel should be operated simply by looking at the rear view and the expected backward trajectory of the vehicle on the TV screen, and it is not possible to provide sufficient support for the steering wheel operation. There was a point. The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a steering assist device at the time of retreat that can easily move the vehicle to a desired position when the vehicle retreats. I do.

[0005]

According to a first aspect of the present invention, there is provided a steering assist device for reversing a vehicle, a camera for photographing the rear of the vehicle, a monitor disposed in a driver's seat of the vehicle, and Display control means for displaying an image from the camera on the monitor and superimposing and displaying an eye mark fixed at a predetermined position on the monitor screen and an expected trajectory of the eye mark according to the steering angle, wherein the expected trajectory of the eye mark is Parking space
Retreat while steering to match the target point,
When the vehicle matches the target point of the parking space,
Reversing by maximizing the turning angle in the reverse direction
It is to be parallel parked in the parking space . According to a second aspect of the present invention, there is provided the steering assist apparatus according to the first aspect, wherein the display control means has a vehicle width length disposed at a position substantially behind the rear end of the vehicle by a wheelbase length. And a pair of side lines extending to the rear end of the vehicle while maintaining the vehicle width from both ends of the line segment in a fixed state at a predetermined position on the monitor screen. It is arranged in the section.

In the steering assist device according to the first aspect, when the vehicle is moving backward, an image behind the vehicle captured by the camera is displayed on the monitor, and the eye mark is fixed at a predetermined position on the monitor screen. The trajectory of the eye mark according to the steering angle is displayed in a superimposed manner. The driver performs a reverse steering operation based on the eye mark, the expected locus thereof, and the image behind the vehicle. In the steering assist device according to the second aspect, in the device according to the first aspect, the center of the line segment of the vehicle width in which the eye mark is disposed at a position substantially behind the rear end of the vehicle by the wheel base length. And a pair of side lines extending from the both ends of the line segment to the rear end of the vehicle while maintaining an interval of the vehicle width, so that the vehicle can be easily grasped sensuously.

[0007]

Embodiments of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, a camera 2 that captures a field of view behind the vehicle 1 is attached to a rear portion of the vehicle 1. The rear bumper 3 of the vehicle 1 is located at the near-side end of the view range of the camera 2. A monitor 4 composed of a color type liquid crystal display is arranged in a driver's seat of the vehicle 1 and is usually used as a display device of a navigation device. When a shift lever 5 provided in the driver's seat is operated to a reverse position. An image from the camera 2 is displayed. The front wheels 6 as steered wheels are steered by operating the steering wheel 7. The steering angle α of the front wheels 6 is represented as a value Kθ obtained by multiplying the steering angle θ of the steering wheel 7 by a predetermined coefficient K.

FIG. 2 shows a configuration of a steering assist device at the time of parallel parking according to an embodiment of the present invention. An image processing device 8 is connected to the camera 2, and the monitor 4 is connected to the image processing device 8 via a monitor controller 9. Also,
The vehicle 1 is provided with a rear position switch 10 for detecting whether the shift lever 5 has been switched to the reverse position, and the rear position switch 10 is connected to the image processing device 8. Further, a steering angle sensor 11 for detecting a steering angle θ of the handle 7 is attached to a steering shaft of the handle 7, and the steering angle sensor 11 is connected to the image processing device 8 via a steering angle calculation unit 12. I have.

The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and causes the monitor 4 to display the display signal. When a display signal is input from the image processing device 8, the display signal from the image processing device 8 is displayed. Is displayed on the monitor 4 based on. Further, the steering angle calculation unit 12
The steering angle α of the front wheels 6 is calculated from the steering angle θ of the steering wheel 7 detected by the steering angle sensor 11 and output to the image processing device 8. The image processing device 8 includes a CPU 13, a ROM 14 storing a control program, an image processing processor 15 for processing video data from the camera 2, and an image memory for storing video data processed by the image processing processor 15. 16 and a work RAM 17. A display control means is formed by the image processing device 8, the monitor controller 9, the rear position switch 10, the steering angle sensor 11, and the steering angle calculation unit 12.

The ROM 14 stores display data of a fixed guide display fixedly displayed at a predetermined position on the screen 19 of the monitor 4. As shown in FIG. 3, the fixed guide display 20 includes a line segment 21 having a vehicle width and located at a position substantially rearward of the vehicle 1 by a wheelbase length from the rear bumper 3 as the rear end of the vehicle 1. And a pair of side lines 22 and 23 extending from both ends of the line segment 21 toward the rear end of the vehicle 1 while maintaining the vehicle width, and a triangular shape is formed at the center of the line segment 21. An eye mark 24 is arranged. This fixed guide display 20 is
Irrespective of the steering, is superimposed on the image behind the vehicle by the camera 2 and is fixedly displayed at a predetermined position on the screen 19 of the monitor 4.

The CPU 13 operates based on a control program stored in the ROM 14 and controls the rear position switch 10.
Detects that the shift lever 5 has been switched to the reverse position, calculates the expected trajectory of the eye mark 24 when the vehicle retreats at the steering angle α at that time from the output signal of the steering angle calculation unit 12, and displays the fixed guide display 20. The display data for displaying the predicted trajectory 25 extending rearward from the eye mark 24 is superimposed on the image of the camera 2 and displayed at a predetermined cycle. For example,
FIG. 3 shows a state in which the handle 7 is held in a straight-ahead state, and the expected trajectory 25 of the eye mark 24 extends linearly rearward from the eye mark 24. In accordance with the steering of the steering wheel 7, the expected trajectory 25 moves so as to bend in the left-right direction.

Next, the operation of the steering assist device during parallel parking will be described. First, the driver operates the shift lever 5 to the reverse position. At first, the direction and the rear of the vehicle 26 are visually checked, and the distance between the rear end of the parked vehicle 26 and the host vehicle is approximately 50c.
Confirm that m. At this time, based on the detection signal from the rear position switch 10 when the shift lever 5 is switched, the image processing device 8 displays the fixed guide display 20 and the eye on the screen 19 of the monitor 4 as shown in FIG. The predicted trajectory 25 of the mark 24 is displayed so as to be superimposed on the image of the camera 2. The driver has predicted the trajectory 2 of the eye mark 24.
The vehicle 1 is slowly retracted while steering the steering wheel 7 so that 5 coincides with the corner 28 of the parking space 27.

By matching the predicted trajectory 25 of the eye mark 24 with the corner 28 of the parking space 27 and holding the steering angle of the steering wheel 7 at that time, the driver can move backward as shown in FIG.
As shown in (b), the eye mark 24 coincides with and overlaps the corner 28 of the parking space 27. Here, the steering angle of the steering wheel 7 is maximized in the direction opposite to that at the start of the parallel parking, and the vehicle retreats as it is. As shown in FIG. 4C, one side line 23 of the fixed guide display 20 is parallel to the road side. Then, the steering wheel 7 is returned to the straight traveling state and the vehicle 1 is stopped. Thus, parallel parking is completed.

As described above, since the predicted trajectory 25 of the eye mark 24 is displayed on the screen 19 of the monitor 4 so as to be superimposed on the image of the camera 2, even if the driver is not skilled in driving the vehicle 1, Whether the operation of the steering wheel 7 is appropriate or not can be easily grasped on the screen 19 of the monitor 4, and the eye mark 24 easily matches the corner 28 of the parking space 27 as shown in FIG. Can be.

The description has been given of the case of parallel parking.
It goes without saying that 5 can assist the driver in steering.

[0016]

As described above, according to the steering assist device of the first aspect, the eye mark fixedly displayed at a predetermined position together with the image behind the vehicle by the camera on the monitor screen when the vehicle retreats. Since the expected trajectory of the eye mark corresponding to the steering angle is superimposed and displayed, the driver can easily grasp whether or not the operation of the steering wheel is appropriate. According to the steering assist device of the second aspect, the eye mark is disposed at the center of a line segment having a vehicle width that is disposed at a position substantially rearward of the vehicle by the wheelbase length from the rear end of the vehicle, Since a pair of side lines extend from both ends of this line segment to the rear end of the vehicle with a space between them, the driver can intuitively grasp the vehicle in the image behind the vehicle and drive easily. Become.

[Brief description of the drawings]

FIG. 1 is a side view showing a vehicle equipped with a reverse steering assist device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a steering assist device according to the embodiment.

FIG. 3 is a diagram schematically showing a monitor screen according to the embodiment.

FIG. 4 is a diagram schematically and stepwise showing a position of a vehicle and a monitor screen during parallel parking according to the embodiment;

[Explanation of symbols]

Reference Signs List 1 vehicle, 2 camera, 4 monitor, 5 shift lever, 6 front wheel, 7 steering wheel, 8 image processing device, 9
Monitor controller, 10 Rear position switch, 11
Steering angle sensor, 12 steering angle calculation unit, 13 CPU,
19 screens, 20 fixed guide displays, 21 line segments, 22,
23 side lines, 24 eye marks, 25 eye mark expected trajectories, 27 parking spaces, 28 corners.

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields investigated (Int. Cl. ⁷ , DB name) B60R 21/00 628 B60R 21/00 621 B60R 21/00 626 G08G 1/16 B62D 6/00

Claims (2)

(57) [Claims] 1. A camera for photographing the rear of a vehicle, a monitor arranged at a driver's seat of the vehicle, and an image displayed by the camera when the vehicle retreats is displayed on the monitor and fixed at a predetermined position on a screen of the monitor. with an eye mark and display control means for superimpose the expected trajectory of the eye marks corresponding to the steering angle is expected eye mark
Do not steer so that the trajectory matches the target point of the parking space.
The eye mark matches the target point of the parking space
The steering angle to the maximum in the reverse direction
The vehicle according to claim 1, wherein the vehicle is parked in parallel in a parking space . 2. The vehicle control system according to claim 1, wherein the display control means includes a line segment having a vehicle width length disposed at a position substantially rearward of the vehicle by a wheelbase length from a rear end of the vehicle, and a vehicle width from both ends of the line segment. 2. A pair of side lines extending to the rear end of the vehicle at an interval are superimposed and displayed in a fixed state at a predetermined position on the screen of the monitor, and the eye mark is arranged at a center of the line segment. The steering assist device at the time of retreat described in [1].