JP4350838B2 - Vehicle driving support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention, the driver driving the vehicle, to a driving support apparatus for a vehicle which performs driving support based on the traveling direction of the image.
[0002]
[Prior art]
Conventionally, it has been proposed to provide driving assistance by attaching a video camera or the like to a vehicle such as an automobile and displaying an image that is a blind spot from the driver's vision. For example, in Japanese Laid-Open Patent Application No. Sho 64 (Japanese Patent Laid-Open No. 1) -14700, the steering angle of a steering wheel is detected by a steering sensor, and an expected trajectory image corresponding to the steering angle of the steering wheel when reversing is superimposed on a rear image captured by a camera. Display them together and draw frames that are arranged at equal intervals along the predicted trajectory image, or draw a box with a simplified car body so that the predicted trajectory is more intuitive for the driver. The prior art for assisting driving is disclosed.
[0003]
[Problems to be solved by the invention]
In the prior art disclosed in Japanese Patent Application Laid-Open No. 64-14700, three-dimensional display is performed along the expected trajectory in order to enhance the perspective of the expected trajectory image. However, by simply displaying or moving a three-dimensional image at regular intervals along a trajectory that is predicted based on the steering angle, the possibility of contact with an obstacle near the predicted trajectory, etc. Confirmation is difficult.
[0004]
SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle driving support device that provides driving support with an image that allows easy recognition of the possibility of contact with an obstacle along the course of the vehicle predicted from the steering angle. It is to be.
[0005]
[Means for Solving the Problems]
The present invention is a camera that is mounted on a vehicle body and captures an image of the traveling direction of the vehicle,
A steering angle sensor for detecting a steering angle for steering the vehicle;
Depending on the steering angle detected by the steering angle sensor, a traveling predicting means for calculating a traveling prediction curve of the vehicle,
And driving support means for performing a driving assistance based on the three-dimensional information proceeds prediction curve image which the image has been added, including the height information of the vehicles in the progression prediction curve calculated by the traveling predicting means,
Display means for displaying by superimposing said progression prediction curve image as captured image by the camera,
Including an obstacle sensor for detecting an obstacle in the traveling direction of the vehicle,
The driving support unit moves the three-dimensional information image along a traveling prediction curve, the display of the 3-dimensional information image at a position close to the position where the obstacle is detected by the obstacle sensor, the other The vehicle driving support device is characterized by being changed from a three-dimensional information image at a position.
[0006]
According to the present invention, an image of the traveling direction of the vehicle is captured by a camera mounted on the vehicle body. The steering angle for steering the vehicle is detected by a steering angle sensor, and the progress prediction means calculates a vehicle travel prediction curve according to the steering angle. Driving support means performs driving support based on progress prediction curve image is three-dimensional information image including the height information of the vehicles were added to the advanced prediction curve. The image captured by the camera and the progress prediction curve image are displayed so as to overlap each other by the display means. The obstacle in the traveling direction of the vehicle is detected by the obstacle sensor, and the driving support means moves the three-dimensional information image along the progress prediction curve, and the three-dimensional information is located at a position close to the position where the obstacle is detected. the display of the image, since the 3-dimensional information image at other positions to vary, while recognizing the height of the vehicle, at a position close to the position of the obstacle in the traveling predicted locus in the vehicle and the obstacle The possibility of contact can be easily confirmed.
[0007]
In the present invention, the driving support means displays, as the three-dimensional information image, a surface having a predetermined shape representing a vehicle height for every predetermined distance of the progress prediction curve.
[0008]
According to the present invention, a predetermined shape representing the vehicle height, such as a rectangle or a vehicle projection plane, is displayed as a three-dimensional information image at every predetermined distance of the progress prediction curve, so that the vehicle height can be easily understood. Moreover, since the display of the surface is different from other positions at the proximity position of the obstacle, three-dimensional confirmation such as the possibility of contact with the obstacle can be easily performed.
[0011]
Also, the driving support unit in the present invention, in a position close to the position where the obstacle is detected, and wherein the stopping surface of the previously determined shapes representing the vehicle height.
[0012]
According to the present invention, the driving support means along a path prediction curve moving surface of the pre-determined shape which represents the height of the vehicle, since the stop surface at the position close to the position of the obstacle, the position of the obstacle It is possible to easily confirm the position close to the object and the possibility of contact with the obstacle.
[0013]
In the present invention, the driving support means may change the color of the three-dimensional image information at a position close to a position where the obstacle is detected.
[0014]
According to the present invention, since the obstacle to change the color of the three-dimensional information image along the traveling prediction curve in a position close to the position detected, the display position of the 3-dimensional information image in a color change of the obstacle It can be easily recognized that the vehicle is close to the vehicle, and the driver can easily understand the possibility of contact with the obstacle and the contact position.
[0015]
Also, the driving support unit in the present invention, as the 3-dimensional image information, and displaying a simulation image of traveling in a video where the vehicle captured by the camera.
[0016]
According to the present invention, since a three-dimensional simulation of the traveling of the host vehicle is displayed in the image captured by the camera, the state of the traveling of the host vehicle can be recognized by the image, and an obstacle near the course Can be confirmed in a pseudo manner.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a basic configuration when driving assistance is performed in each embodiment of the present invention. For example, when the driver of the vehicle 1 goes back to the parking lot 2 and parks, the driver can park at the correct position with the white line 3 or the like as a target along with an image that becomes a blind spot of the driver. The rear image and the progress prediction curve 5 are displayed on the screen of the information display 4 to assist parking. The information display 4 is composed of, for example, a liquid crystal display (LCD) or the like, and displays an image for driving support generated by a parking assist ECU 6 that is an electronic control unit (hereinafter abbreviated as “ECU”) for parking support. indicate. The progress prediction curve 5 is obtained by inputting a steering angle, which is the steering angle of the steering wheel 7, into the parking assist ECU 6, and is calculated by a calculation process based on the steering angle, and is displayed on the information display 4.
[0018]
The provision of driving assistance information by the parking assist ECU 6 is started by operating the shift lever 8 of the transmission to the reverse R position. The information for driving assistance is not limited to the image on the information display 4. It is also provided as acoustic information via the speaker 9.
[0019]
A rear image when the vehicle 1 moves backward is captured by the camera unit 10. The camera unit 10 is attached to the rear part of the vehicle 1, for example, and is set so that the visual field 10a faces the parking lot 2 in the direction in which the vehicle moves backward. For example, corner sensors 11, 12, 13, and 14 are provided around the vehicle body of the vehicle 1, and the presence or absence of an obstacle around the corner portion is detected by an ultrasonic wave as an obstacle sensor.
[0020]
FIG. 2 shows a state where the vehicle 1 of FIG. 1 is about to enter the parking space indicated by the white line 3 of the parking lot 2 while retreating. The camera unit 10 mounted on the rear part of the vehicle 1 captures an image in the visual field 10a. The visual field 10a is set so as to include many blind spots for the driver of the vehicle 1. The steering angle of the steering 7 is detected by a steering angle sensor 15. The state in which the vehicle is moving backward is detected by turning on the back lamp SW signal 16 output from the transmission.
[0021]
The parking assist ECU 6 includes an NTSC video signal from the camera unit 10, a pulse signal corresponding to the steering angle operation from the steering angle sensor 7, and a back lamp switch (hereinafter referred to as “SW”) that lights up when the vehicle travels backward. In response to the back lamp SW signal 16 for driving the information display 4, the display of the progress prediction curve 5 of the vehicle 1 on the information display 4 and the three-dimensional information image along the progress prediction curve 5. Car parking assistance at
[0022]
FIG. 3 shows an internal configuration of the parking assist ECU 6 of FIG. The parking assist ECU 6 includes a digital signal processor (hereinafter abbreviated as “DSP”) 20 that performs overall control and calculation. Peripheral circuits are connected to the DSP 20 via the bus 21. The video signal from the camera unit 10 is input to the amplifier + filter circuit 22 as an NTSC composite video signal. The amplifier + filter circuit 22 selectively amplifies an analog video component in the video signal, and its output is converted into a digital signal by an analog-to-digital conversion (hereinafter abbreviated as “ADC”) circuit 23. Stored in the buffer circuit 24. The video signal is also supplied from the amplifier + filter circuit 22 to the synchronization separation circuit 25, and the synchronization signal components for horizontal synchronization and vertical synchronization are separated and input to the DSP 20. An angular displacement detection signal from the steering angle sensor 15 indicating the steering angle of the steering wheel 7 is input to the DSP 20 via the buffer circuit 26. A center position detection signal for detecting the center position of the steering 7 is also input to the DSP 20 via the buffer circuit 26. Further, the obstacle detection signals from the corner sensors 11, 12, 13, and 14 and the back lamp SW signal are also input to the DSP 20 via the buffer circuit 26.
[0023]
The DSP 20 operates according to a program set in advance in a program memory 27 connected via the bus 21. The data memory 28 stores data necessary for the program operation of the program memory 27 in advance. The DSP 20 recognizes the white line 3 and the like based on the input video signal, and performs arithmetic processing for generating the progress prediction curve 5 according to the angular displacement operation of the steering 7. The generated image is stored in field buffer circuits 31 and 32 whose output can be switched by the SW circuit 30. The field buffer circuits 31 and 32 are selected by the SW circuit 30 from the digital-analog conversion (hereinafter abbreviated as “DAC”) circuit 33 to the information display 4 via the filter + amplifier circuit 34 and display NTSC video. Given as output. Electric power for operation is supplied from the power source 35 to the entire parking assist ECU 6. A reset signal is supplied from the reset circuit 36, and the parking assist ECU 6 starts an operation according to the program from the initial state. The CLK + frequency dividing circuit 37 supplies a clock signal serving as a reference timing for the operation performed by the parking assist ECU 6 and a signal obtained by dividing the clock signal.
[0024]
FIG. 4 is a first embodiment of the present invention, and shows a simplified state in which an image for parking assistance is displayed. In the present embodiment, rectangular surfaces 40, 41, 42,... Corresponding to the vehicle height are displayed along a progress prediction curve 5 at a constant distance, for example, every 1 m, and the surfaces 40, 41, 42,. Of these, assuming that the surface 41 is close to the obstacle 50 detected by the corner sensors 11 and 12 on the rear side, the surface 41 is displayed in a color different from the other surfaces 40 and 42.
[0025]
FIG. 5 shows a driving assistance procedure of the parking assist ECU 6 in the embodiment of FIG. The procedure starts from step a1, and in step a2, it is determined whether or not the parking assist mode is set. If the back lamp SW signal 16 is input so as to be ON, it is determined that the parking assist mode is set, and the steering angle is detected based on the angular displacement detection signal of the steering angle sensor 15 in step a3. . In step a4, the progress prediction curve 5 is calculated based on the steering angle. In step a5, the calculated progress prediction curve 5 is superimposed on the rear video from the camera unit 10. In step a6, obstacle detection is performed by the rear corner sensors 11 and 12. The corner sensors 11 and 12 transmit an ultrasonic wave, detect an obstacle based on the presence / absence of a reflected signal from the obstacle, and determine the distance to the obstacle based on the time from transmission to reception of the reflected wave. To do. In step a7, the distance for displaying the surfaces 40, 41, and 42 as shown in FIG. 3 is initialized to zero.
[0026]
In step a8, the distance is increased by a certain distance d, for example 1 m. In step a9, one of the rectangular surfaces 40, 41, 42,... Is displayed on the progress prediction curve corresponding to the distance. The planes 40, 41, 42, ... are displayed in a state perpendicular to the ground. In step a10, it is determined whether or not the position displaying the surfaces 40, 41, 42,... Is close to the position of the obstacle 50 detected in step a6. When it is determined that the distance is close, the color of the surfaces 40, 41, 42,... To be displayed is changed from the colors of the surfaces 40, 41, 42,. When it is determined in step a10 that the object is not close to the obstacle, or when the color change in step a11 is completed, it is determined in step a12 whether or not the distance has reached the final position. The final position of the distance is set in advance. When it is determined that the distance has not reached the final position, the process returns to step a8. When it is determined in step a12 that the distance has reached the final position, the process returns to step a2, and the procedure from step a2 to step a12 is repeated.
[0027]
When the backward parking is completed, the driver changes the shift lever 8 to the P position for parking. Therefore, the back lamp SW signal 16 is turned OFF, and the parking assist mode ends. When it is determined that the parking assist mode is not set in step a2, the parking assist operation is terminated in step a13.
[0028]
FIG. 6 shows an image for parking assistance as a second embodiment of the present invention. In the present embodiment, the surface 40 displayed along the progress prediction curve 5 is displayed at the position where the obstacle 50 is detected. Since the surface 40 is rectangular and the height corresponds to the height of the vehicle 1, the height of the vehicle 1 can be recognized with respect to the obstacle 50, and the height of the obstacle 50 in the retreating space can be recognized. The contact possibility and the contact position can be confirmed.
[0029]
FIG. 7 shows a control procedure of the parking assist ECU 6 in the embodiment of FIG. The procedure starts from step b1, and each step from step b1 to step b6 corresponds to each step from step a1 to step a6 in FIG. In step b7, the surface 40 is displayed on the progress prediction curve 5 close to the obstacle 50 detected in step b6. When the surface display in step b7 is completed, the process returns to step b2, and the following steps from step b2 to step b7 are repeated. When it is determined in step b2 that the parking assist mode has ended, the procedure ends in step b8.
[0030]
FIG. 8 shows an image of parking assist as a third embodiment of the present invention. In this embodiment, the rectangular surface 40 corresponding to the height of the vehicle is moved along the progress prediction curve 5, and the color of the surface 40 is changed from the other position at a position close to the obstacle 50. Also in this embodiment, the height of the vehicle 1 can be recognized, and the possibility of contact with the obstacle 50 in the parking space that travels backward can be confirmed.
[0031]
FIG. 9 shows a control procedure of the parking assist ECU 6 in the embodiment of FIG. The procedure starts from step c1, and each step from step c1 to step c7 is equivalent to each step from step a1 to step a7 in FIG. In step c8, the surface 40 is increased by a distance Δd as a unit for displaying. The value of Δd is made smaller than the constant interval d in the embodiment of FIG. In step c9, the surface 40 is displayed at the position of the distance. In step c10, it is determined whether or not the position where the surface 40 is displayed is close to the obstacle 50. When it is determined that they are close to each other, the color of the surface 40 is changed in step c11. When it is determined in step c10 that the object is not close to the obstacle, or after the color of the surface 40 is changed in step c11, in step c12, it is determined whether or not the final position has been reached. This final position is equivalent to the final position determined in step a12 in FIG. When it is determined in step c12 that the final position has not been reached, the surface 40 displayed in step c9 is erased in step c13, and the process returns to step c8.
[0032]
Thereafter, the surface 40 is displayed for each distance Δd and the surface 40 is moved along the progress prediction curve 5 until it is determined in step c12 that the final position is reached. When it is determined that the object is close to the obstacle 50 during the movement, the color of the surface 40 is changed and displayed. When it is determined in step c12 that the final position has been reached, the process returns to step c2, and the following steps from step c2 to step c13 are repeated. If it is determined in step c2 that the parking assist mode has ended, the procedure ends in step c14.
[0033]
In the embodiment of FIG. 8, the color of the surface 40 is changed at the proximity position of the obstacle 50, but the surface 40 can be stopped at the proximity position of the obstacle 50. In order to stop the display of the surface 40, the movement of the surface 40 may be stopped instead of changing the color of the surface 40 in step c11 of FIG. 4, 6 and 8, one or a plurality of rectangular surfaces 40, 41, 42,... Corresponding to the height of the vehicle are displayed. It can also be displayed perpendicular to the ground. If the vehicle projection plane is displayed, it is possible to confirm the possibility of contact with a more practical obstacle.
[0034]
FIG. 10 shows a display state of parking assistance as a fourth embodiment of the present invention. In this embodiment, the situation where the vehicle 1 moves backward is displayed by a three-dimensional simulation. The simulation image 51 of the vehicle 1 is formed based on the shape of the vehicle 1 stored in the data memory 28 of FIG. 3, and can contact with an obstacle near the parking space while moving along the progress prediction curve 5. Sex can be confirmed in a pseudo manner.
[0035]
FIG. 11 shows a control procedure of the parking assist ECU 6 for the embodiment of FIG. The procedure starts from step d1, and steps d1 to d8 are equivalent to steps c1 to c8 in FIG. In step d9, a simulation image 51 is displayed in place of the surface 40 in FIG. 5. Hereinafter, the steps from step c13 to step c13 in FIG. It is the same except that 51 is targeted.
[0036]
In each of the embodiments described above, the corner sensors 11 and 12 are used as the obstacle sensors, but back sonar using ultrasonic waves, radar using radio waves or laser beams, or the like can also be used. Also, an obstacle can be detected by image processing from the video imaged by the camera unit 10. Although the colors of the surfaces 40, 41, 42,... And the simulation image 51 are changed near the obstacle 50, they can be distinguished from other positions by changing the display state such as blinking.
[0037]
Furthermore, although parking assistance when the vehicle 1 moves backward and parks is described, parking assistance when the vehicle 1 moves forward and parks can be performed in the same manner. In addition, driving assistance when the vehicle travels in a narrow passage with poor visibility can be performed in the same manner as parking assistance by applying the concept of each embodiment.
[0038]
【The invention's effect】
According to the present invention as described above, in the video imaging the traveling direction of the vehicle, displays superimposed images of progression prediction curve calculated according to the steering angle, high in vehicles to more advanced prediction curve when performing driving support based on progress prediction curve image is added 3-dimensional information image is including information to move the 3-dimensional information image along a traveling prediction curve, the obstacle detected by the obstacle sensor displaying 3-dimensional information image at a position close to the position, since the 3-dimensional information image at other positions to vary, while recognizing the height of the vehicle, you can contact with the obstacle near the path of the vehicle It is possible to easily confirm driving characteristics and contact positions and to facilitate driving operations that avoid contact with obstacles.
[0039]
Further, according to the present invention, since a plane having a predetermined shape representing the height of the vehicle is displayed as a three-dimensional information image at a certain distance, the space occupied when the vehicle travels and obstacles existing along the path The three-dimensional contact possibility can be easily understood from the video.
[0041]
According to the present invention, along the traveling prediction curve by moving the surface of the pre-determined shape which represents the height of the vehicle, so is stopped at a position close to the position of the obstacle, the contact possibility between the vehicle and the obstacle Can be confirmed three-dimensionally in detail.
[0042]
According to the invention, the changing the color of the three-dimensional image information obstacle is displayed along the progress prediction curve in a position close to the position detected, for the possibility of contact and the contact position with the obstacle Can be easily confirmed from the color change.
[0043]
Further, according to the present invention, since the simulation image of the host vehicle is displayed so as to advance in the video imaged by the camera, the state of progressing along the progress prediction curve is simulated and contact with an obstacle is made. The possibility can be confirmed in a pseudo manner.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a basic configuration for providing parking assistance in each embodiment of the present invention.
FIG. 2 is a diagram showing a state in which the vehicle 1 of FIG.
FIG. 3 is a block diagram showing an electrical configuration of the parking assist ECU 6 in FIG. 1;
FIG. 4 is a diagram showing a simplified image displayed on the information display 4 with parking assistance according to the first embodiment of this invention.
FIG. 5 is a flowchart showing a control procedure in the embodiment of FIG. 4;
FIG. 6 is a diagram showing a simplified image displayed on the information display 4 with parking assistance according to the second embodiment of the present invention.
7 is a flowchart showing a control procedure in the embodiment of FIG.
FIG. 8 is a diagram showing, in a simplified manner, an image displayed on an information display 4 with parking assistance according to a third embodiment of the present invention.
9 is a flowchart showing a control procedure in the embodiment of FIG.
FIG. 10 is a diagram showing a simplified image displayed on the information display 4 by parking assistance according to the fourth embodiment of the present invention.
FIG. 11 is a flowchart showing a control procedure in the embodiment of FIG. 10;
[Explanation of symbols]
1 Vehicle 2 Parking Lot 4 Information Display 5 Progress Forecast Curve 6 Parking Assist ECU
7 Steering 8 Shift lever 10 Camera unit 10a Field of view 11, 12, 13, 14 Corner sensor 15 Steering angle sensor 16 Back lamp SW signal 20 DSP
27 Program memory 28 Data memory 40, 41, 42, ... Surface 50 Obstacle 51 Simulation image

Claims (5)

A camera that is mounted on the vehicle body and captures an image of the traveling direction of the vehicle;
A steering angle sensor for detecting a steering angle for steering the vehicle;
Depending on the steering angle detected by the steering angle sensor, a traveling predicting means for calculating a traveling prediction curve of the vehicle,
And driving support means for performing a driving assistance based on the three-dimensional information proceeds prediction curve image which the image has been added, including the height information of the vehicles in the progression prediction curve calculated by the traveling predicting means,
Display means for displaying by superimposing said progression prediction curve image as captured image by the camera,
Including an obstacle sensor for detecting an obstacle in the traveling direction of the vehicle,
The driving support unit moves the three-dimensional information image along a traveling prediction curve, the display of the 3-dimensional information image at a position close to the position where the obstacle is detected by the obstacle sensor, the other A driving support apparatus for a vehicle, characterized in that it is changed from a three-dimensional information image at a position.   The vehicle driving support according to claim 1, wherein the driving support means displays a plane having a predetermined shape representing a vehicle height for each predetermined distance of the progress prediction curve as the three-dimensional information image. apparatus. The driving support means, at a position close to the position where the obstacle is detected, the driving support apparatus for a vehicle according to claim 2, wherein the stopping surface of the previously determined shapes representing the vehicle height. The vehicle driving support according to any one of claims 1 to 3 , wherein the driving support means changes a color of the three-dimensional image information at a position close to a position where the obstacle is detected. apparatus. The driving support device, as the 3-dimensional image information, the host vehicle driving assist apparatus for a vehicle according to claim 1, wherein the displaying the simulation image traveling through the image to be captured by the camera.

Images