JP4723703B2 - Vehicle driving support device - Google Patents

Vehicle driving support device Download PDF

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Publication number
JP4723703B2
JP4723703B2 JP17971899A JP17971899A JP4723703B2 JP 4723703 B2 JP4723703 B2 JP 4723703B2 JP 17971899 A JP17971899 A JP 17971899A JP 17971899 A JP17971899 A JP 17971899A JP 4723703 B2 JP4723703 B2 JP 4723703B2
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Japan
Prior art keywords
vehicle
displayed
display
image
parking
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Expired - Lifetime
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JP17971899A
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Japanese (ja)
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JP2001006097A (en
Inventor
和也 佐古
和広 崎山
俊宏 清水
Original Assignee
富士通テン株式会社
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Priority to JP17971899A priority Critical patent/JP4723703B2/en
Priority claimed from US09/598,270 external-priority patent/US7366595B1/en
Publication of JP2001006097A publication Critical patent/JP2001006097A/en
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Publication of JP4723703B2 publication Critical patent/JP4723703B2/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10Automatic or semi-automatic parking aid systems

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a vehicle driving support device that supports a driver of a vehicle based on an image that captures the outside of the vehicle.
[0002]
[Prior art]
  In order to drive a vehicle such as an automobile safely, it is necessary to sufficiently grasp traffic conditions outside the vehicle. Although the driver of the vehicle constantly tries to grasp the surrounding situation while driving, the human sense has a limit. Although vision is particularly important, human vision is limited to the direction the face is facing. In particular, the driver of the vehicle must drive the vehicle under conditions where it is inevitable that a blind spot that cannot be seen behind the vehicle body will occur.
[0003]
  Regarding the driving of the vehicle, the main parts that are blind spots from the driver are the vicinity of the wheels and the parts immediately before and immediately after the vehicle body. In the vicinity of the wheel, the direction of the wheel itself that changes the traveling direction in accordance with the steering operation cannot be confirmed. Since the steering wheel can be rotated a plurality of times in one direction, even if the steering wheel is apparently in a neutral position, it is not known whether or not it is in a straight traveling state. Also, because the rear view is limited, the driver is very nervous when parking in a narrow space for backward driving.
[0004]
  Prior art for displaying an image of a rear or side rear view and an expected trajectory on the screen when the vehicle is moving backward is disclosed in, for example, Japanese Patent Laid-Open No. 1-14700. In this prior art, an image of the expected trajectory is displayed on the image obtained by imaging the rear according to the steering angle of the vehicle, so that the confirmation of the steering angle and the safety of the rear can be performed together. it can. Japanese Patent Application Laid-Open No. 7-44799 discloses a prior art that uses various sensors to detect the length of a parking space and assists driving for parking.
[0005]
  Prior arts that support driving of a vehicle by capturing an image around the vehicle are, for example, Japanese Patent Laid-Open Nos. 10-283582, 10-257482, 6-255423, 4-239400, and 5-143894. JP-A-7-192199, Japanese Utility Model Laid-Open No. 57-150044, and the like. Japanese Patent Application Laid-Open No. 10-283592 discloses a prior art for detecting and displaying the possibility of contact with an obstacle from an image captured by a camera. Japanese Patent Laid-Open No. 10-257482 discloses a prior art for seamlessly combining and displaying a rear image of a vehicle, a left side image, and a right side image. Japanese Patent Application Laid-Open No. 6-255423 discloses a prior art that supports driving by displaying an image captured by a camera together with a distance scale. In Japanese Patent Laid-Open No. 4-239400, a camera that can be rotated 360 ° horizontally via a rotary head is attached to the ceiling of the vehicle, and a desired direction around the vehicle is imaged so that the driver can easily see the captured image. The prior art which displays conversion composition display and assists driving is disclosed. In Japanese Patent Laid-Open No. 5-143894, images of the left front, front and right front of a vehicle are respectively captured by three cameras, and the screen division area for displaying the images from the three cameras is changed according to the steering direction. Prior art providing assistance is disclosed. Japanese Patent Application Laid-Open No. 7-192199 discloses a prior art that performs driving support by detecting an obstacle from an image captured in front and detecting a gap between obstacles when the vehicle passes through a narrow road. . Japanese Utility Model Laid-Open No. 57-150044 discloses a prior art that performs driving support by switching the display content on a video display from normal display to abnormal display when an abnormal situation occurs.
[0006]
[Problems to be solved by the invention]
  As in the prior art disclosed in Japanese Patent Laid-Open No. 7-44799, the length of the parking space is estimated by detecting the distance, and even when driving in a garage or parallel parking is supported, an image showing the blind spot of the driver is displayed. Since driving assistance is not provided, the driver's anxiety cannot be completely eliminated. In the prior art that captures video with a camera and supports it, the driver's blind spot is compensated with video, so the driver can check the situation around the vehicle by watching the video, giving the driver a sense of security Driving assistance can be performed. However, the driving support according to each prior art does not always give appropriate information with a simple configuration.
[0007]
  An object of the present invention is to provide a driving support apparatus for a vehicle that can perform driving support with an image having a simple configuration.
[0008]
[Means for Solving the Problems]
  The present invention comprises a display means for displaying an image of a traveling direction of a vehicle imaged by a camera;
  A course prediction means for predicting the course of the vehicle based on the steering angle for steering the vehicle;
  AboveThe predicted course of the vehicle predicted by the course prediction means isWith part of the vehicleDriving support means for displaying on the video of the traveling direction of the vehicle,
  The driving support means includes theDisplayedNear the vehicleIn the predicted courseA vehicle driving support device that is not displayed.
[0009]
  According to the present invention, the predicted progress of the vehicle predicted based on the steering angle of the vehicle is displayed on the video of the traveling direction of the vehicle.RoadAs shown, it can provide appropriate driving assistance for the driver's vision.
  Also,Since the portion of the predicted route near the vehicle is not displayed, even if the predicted route appears to be in the vicinity of the vehicle and does not fit the back width of the vehicle when the predicted route is displayed, it is left to the driver's judgment. Avoid natural displaybe able to.
[0010]
  Further, according to the present invention, the driving support means displays a guideline extending in the traveling direction on both sides in the width direction of the vehicle body on the image of the traveling direction of the vehicle, and does not display the guideline in the vicinity of the displayed vehicle. It is characterized by.
[0011]
  According to the present invention, since the guideline extending in the traveling direction on both sides in the width direction of the vehicle body is displayed, it is possible to perform appropriate driving support for the driver's vision. Also, because the guideline is not displayed in the vicinity of the vehicle, when the guideline is displayed, even if the width of the guideline does not fit the width of the vehicle, it does not match the width of the back of the vehicle. Since the portion is not displayed, it is possible to avoid unnatural display depending on the judgment of the driver.
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[0024]
  According to another aspect of the present invention, there is provided display means for displaying an image of a traveling direction of a vehicle imaged by a camera;
  Guidelines that extend both sides of the car body in the direction of travelWith a part of the vehicleDriving support means for displaying on the video of the traveling direction of the vehicle,
  The driving support means includesIn the vicinity of the displayed vehicleThe guidelineTheIt is characterized by not displayingIt is a driving support device for vehicles.
[0025]
  According to the present invention,Extend both sides of the car body in the direction of travelGuidelinesIs displayed, it is possible to perform appropriate driving support for the driver's vision. In addition, the guideline is not displayed in the vicinity of the vehicle.Near the vehicle whenLook atHanging up,Of the guidelinesThe width will not fit the vehicle's back widthEven ifSince the portion that does not match the back width in the vicinity of the vehicle is not displayed, unnatural display can be avoided depending on the judgment of the driver.
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[0126]
DETAILED DESCRIPTION OF THE INVENTION
  1 and 2 show a schematic configuration of a vehicle driving support apparatus according to a first embodiment of the present invention. In the embodiments described below, the same reference numerals are given to the portions corresponding to the configurations of the preceding embodiments, and duplicate descriptions are omitted. The driving assistance device according to the present embodiment performs parking assistance so that the vehicle 1 can accurately park at the parking position partitioned by the white line 3 or the like when the vehicle 1 tries to park in the parking lot 2 backward. . The parking assist displays to the driver of the vehicle 1 on the display screen of the information display 4 which is a display means, a predicted route 5a which is a predicted route or a guideline 5b which extends both sides of the vehicle 1, and driving during parking. Support is provided. The course prediction curve 5 a and the guideline 5 b are generated by a parking assist electronic control unit (hereinafter abbreviated as “parking assist ECU”) 6 based on detection data such as the steering angle, and displayed on the information display 4. . When the driver operates the shift lever 8 of the transmission of the vehicle 1 to switch the traveling direction to the reverse side, the parking assist ECU 6 displays the route prediction curve 5a and the guideline 5b as images on the display screen of the information display 4. . From the speaker 9, warning sound, voice guidance, and the like are reproduced acoustically.
[0127]
  The information display 4 displays an image captured by the camera unit 10 attached to the rear of the vehicle body of the vehicle 1 along with the course prediction curve 5a and the guideline 5b generated by the parking assist ECU 6. The image captured from the field of view 10a of the camera unit 10 is clearly visible to the driver of the vehicle 1 or becomes a blind spot, and the driving operation in the parking lot 2 is performed together with the course prediction curve 5a and the guideline 5b. Can provide easy-to-understand support.
[0128]
  The course prediction curve 5 a generated by the parking assist ECU 6 is changed in direction according to the steering operation to the steering 7. The operation of the steering 7 is obtained by detecting the angular displacement amount of the steering shaft 11 by the angle detection sensor 12. In the normal vehicle 1, the steering 7 can be rotated several times. Therefore, the angle detection sensor 12 for detecting the steering angle detects the angular displacement amount and the angular displacement direction of the steering shaft 11, and the center position sensor 13 detects the state where the steering shaft 11 is at the center position.
[0129]
  The guide line 5b is displayed as a virtual straight line extending backward on both sides of the vehicle body of the vehicle 1 and superimposed on an image captured by the camera unit 10. The direction of the guide line 5b is fixed with respect to the visual field 10a of the camera unit 10. The vehicle 1 is also provided with a conlight sensor 14 that senses ambient brightness and controls the lighting state of the illumination system. The course prediction curve 5a and the guideline 5b displayed on the information display 4 are adjusted to change the brightness and hue according to the brightness of the surroundings of the vehicle 1 detected by the conlight sensor 14 so that the driving assistance can be easily understood. Is done.
[0130]
  The vehicle 1 is also equipped with in-vehicle devices such as the navigation device 15 and the audio device 16, and displays necessary information using the information display 4. A back sonar 17 and a corner sensor 18 as obstacle sensors are also mounted on the vehicle 1 to detect obstacles present in the blind spot of the vehicle using ultrasonic waves or the like.
[0131]
  FIG. 3 shows an internal configuration of the parking assist ECU 6 shown in FIGS. 1 and 2. The parking assist ECU 6 includes a digital signal processor (hereinafter abbreviated as “DSP”) 20 that performs overall control. The DSP 20 performs control and signal processing via the bus 21. An image captured by the camera unit 10 is input to an amplifier + filter circuit 22 in the form of an NTSC signal, converted from an analog signal to a digital signal by an analog-digital conversion (hereinafter abbreviated as “ADC”) circuit 23,Field buffer24. Amplifier + filter circuit22The video output from is also supplied to the sync separation circuit 25, and the sync signals for horizontal synchronization and vertical synchronization are separated and input to the DSP 20.
[0132]
  The DSP 20 also receives an angle detection signal from the angle detection sensor 12 that detects the angular displacement of the steering shaft 11 and a center position detection signal from the center position sensor 13. The DSP 20 performs a parking assist operation based on the program and data stored in the program memory 27 and the data memory 28 connected to the bus 21, respectively. The storage memory 29 can store the storage contents even when the battery assist is performed and the power supply 35 of the parking assist ECU 6 is not turned on.
[0133]
  The DSP 20 recognizes the white line 3 and the like based on the input video signal and generates the course prediction curve 5a and the guideline 5b accompanying the steering shaft angular displacement operation. The generated image is displayed in a filter whose output can be switched by a switch (hereinafter abbreviated as “SW”) circuit 30.-Stored in the old buffer 31, 32. The signal is selected by the SW circuit 30 and is provided as a video output from the digital-analog conversion (hereinafter abbreviated as “DAC”) circuit 33 to the information display 4 via the filter + amplifier circuit 34. Power for operation is supplied from the power source 35 to the entire parking assist ECU 6, a reset signal is supplied by the reset circuit 36 when the power is turned on, and the clock signal for adjusting the operation timing to the CLK + frequency dividing circuit 37. Or a signal obtained by dividing the frequency.
[0134]
  FIG. 4 shows an example of image information for parking assistance displayed on the display screen of the information display 4 in this embodiment. FIG. 4A shows an image corresponding to a state in which the vehicle 1 is going backward and is about to park at the parking position 40. On the rear image, a guide line 5b, which is a line extending in parallel with the vehicle width, is displayed together with a course prediction curve 5a predicted based on the steering angle. In addition, as shown in FIG.4 (b), only the course prediction curve 5a is added and displayed on the back image | video about the parking position 40, or only a back image | video is shown as shown in FIG.4 (c). It can also be switched to display. Alternatively, it is possible to display only the guideline 5b superimposed on the rear image shown in FIG.
[0135]
  By displaying the guideline 5b, it is possible to know the current vehicle body direction of the vehicle 1 that is executing the parking assist. Further, if the white line 3 is drawn as a parking frame on both sides of the parking position 40, the vehicle 1 can be separated from the space of the parking position 40 by returning the steering 7 to the center position when the white line 3 and the guide line 5b are parallel to each other. The operation of parking in parallel can be easily performed.
[0136]
  As shown in FIG. 4, the display of the course prediction curve 5a and the guideline 5b can be switched by providing a changeover switch so that the driver can switch the display mode according to his / her preference. Further, automatic control is performed so that the course prediction curve 5a is displayed for a certain period only when a certain driving operation, for example, the steering wheel 7 is operated, and the guideline 5b is displayed for a certain period only when the brake is operated. You can also.
[0137]
  Further, the brightness and color scheme of the course prediction curve 5a and the guideline 5b are changed according to the brightness of the surroundings of the vehicle 1 sensed by the conlight sensor 14, for example, the display is darkened when the surroundings are dark, It adjusts so that a video and the course prediction curve 5a and the guideline 5b are displayed in a harmonious state. Further, the colors of the course prediction curve 5a and the guideline 5b are also changed so as to be easily understood by the driver according to the surrounding brightness and hue. For example, the surroundings are bright during the daytime, so the colors are conspicuous, such as yellow, and the surroundings are dark at night. If the colors are too conspicuous, the rear image will be difficult to see, so change to a dark and light color.
[0138]
  The course prediction curve 5a and the guideline 5b use the conlight sensor 14 for changing the brightness and color, and input the ambient brightness. However, a dedicated sensor is provided to detect the brightness. You can also Also, the brightness can be detected from a picture taken by the camera unit 10. When the camera unit 10 captures a color image, the color may be detected from the image, and the color of the course prediction curve 5a and the guideline 5b may be changed according to the detected color.
[0139]
  When switching the parking assist image as shown in FIG. 4 based on the switch operation from the driver, the state of switching to the beginning of the parking assist operation is the final switching when the previous parking assist operation is performed. The state is stored in the storage memory 29 and set according to the stored contents. Thus, once a switching state that is easy to see for the driver is set, the next parking assist can be performed from the beginning in the switching state that is easy to see.
[0140]
  FIG. 5 shows a state in which a navigation screen 41 by the navigation device 15 of FIG. 1 and an audio screen 42 for the audio device 16 are displayed on the display screen of the information display 4. When the driver needs, the information display 4 can be used effectively by making it possible to select the rear image of the parking position 40 for parking assistance, the navigation screen 41 or the audio screen 42. it can.
[0141]
  FIG. 6 shows a state in which an input to the back gear by operating the shift lever 8 of the transmission is notified to the driver via the information display 4. On the rear image showing the parking position 40, a telop 43 such as “back gear” indicating that it is input to the back gear is displayed for a certain period of time, and the driver knows that the vehicle is in reverse by the character display of the telop 43. Can be easily informed. As a result, it is possible to prevent a situation in which the driver forgets the shift position, misidentifies the vehicle as a forward state, and causes an accident due to a sudden start. Instead of the display of the telop 43 or together with the display of the telop 43, the display color of the entire screen can be changed to further alert the driver.
[0142]
  FIG. 7 shows a state in which the back sonar 17 and the corner sensor 18 are displaying a telop 44 for detecting an obstacle, a telop 45 for parking completion, and a telop 46 for prompting visual confirmation. When the back sonar 17 or the corner sensor 18 detects an obstacle in the vicinity of the vehicle 1, a telop 43 such as “There is an obstacle” or “STOP” indicating that there is an obstacle is displayed for a certain period of time, thereby prompting the driver's attention. . Obstacles detected by the back sonar 17 and the corner sensor 18 should have been captured in the rear image around the parking position 40. If the rear image is watched based on the telop 44, the obstacle 47 can be easily detected. Can be visually recognized. Note that when the obstacle 47 is detected, the display color of the entire screen can be changed instead of the display of the telop 44 or together with the display of the telop 44 to alert the driver.
[0143]
  The telop 45 indicating completion of parking displays the telop 45 indicating completion of parking when an obstacle sensor such as the back sonar 17 or the corner sensor 18 detects a vehicle stop or a wall and approaches a preset distance. By displaying a telop 45 such as “parking complete” or “STOP”, the driver can be notified of parking completion and a contact accident during reverse travel can be prevented. The telop 46 that prompts visual confirmation is displayed to promote visual safety confirmation when parking assist is executed. By displaying the telop 46, it is possible to prevent a situation in which attention is given to only the information display 4 and attention to the surroundings including the front and sides of the vehicle 1 not reflected on the information display 4 is insufficient.
[0144]
  Further, in order to improve safety when parked backward, speed control can be performed so that the travel speed of the vehicle 1 does not exceed a certain speed when input to the back gear, for example. The speed control can also be performed when an obstacle sensor such as the back sonar 17 detects the obstacle 47 or the like. By limiting the reverse speed at the time of reverse travel or when detecting an obstacle so as not to exceed a certain speed, it is possible to prevent a collision at the time of reverse movement or to reduce an impact at the time of collision.
[0145]
  FIG. 8 shows a schematic configuration for performing parking assist in a driving assistance apparatus as a second embodiment of the present invention. In this embodiment, parts corresponding to those in the embodiment of FIG. 1 are denoted by the same reference numerals, and redundant description is omitted. The camera unit 50 according to the present embodiment can change the direction of the visual field 50a by remote control using the remote controller 51. The camera unit 50 is attached to the rear part of the vehicle 1 and is also provided with a backlight 52 for illuminating a visual field 50a captured by the camera unit 50 at night. The backlight 52 illuminates in accordance with the direction of the visual field 50a of the camera unit 50 in conjunction with the remote operation of the camera unit 50 by the remote controller 51. In the present embodiment, not only parking assistance based on images using the information display 4 but also the throttle control 53 and the brake control 54 are performed by the parking assist ECU 56 to assist smooth parking. The information display 4 displays driving support information using the progress prediction curve 55a and the guideline 55b.
[0146]
  Although the backlight 52 mounted on the vehicle 1 can be used as the backlight 52, as an option, it is preferable to attach a dedicated product corresponding to the camera unit 50 as a retrofit. In particular, when a mechanism for changing the irradiation direction is provided, the option is easier. If the irradiation direction can be changed, for example, when the shift lever 8 of the transmission is operated to enter the back gear, the irradiation direction of the backlight 52 is directed downward, so that visibility can be improved even in the dark such as at night. Can be improved.
[0147]
  FIG. 9 shows an example of an image for driving support displayed in the embodiment of FIG. In the present embodiment, the guideline 55b is curved and displayed according to the image distortion of the wide-angle camera. The camera used as the camera unit 50 uses a wide-angle lens in order to ensure as wide a visual field 50a as possible. Therefore, in the rear image of the parking position 40 or the like, actually, even a straight portion is imaged as a curved image. Therefore, it is possible to provide more accurate driving assistance by curving the guideline 55b according to the distortion of the image.
[0148]
  In addition, when a part of the vehicle body of the vehicle 1 such as a bumper is included in the field of view 50a of the wide-angle camera unit 50, the vehicle body is closer to the field. The width of the car body in the video looks larger than the video. As long as the progress prediction curve 55a is displayed in a width corresponding to the width of the vehicle body, the width of the vehicle body is larger in the vicinity of the vehicle body when a part of the vehicle body is visible, as in the guideline 55b. I can see it. In the present embodiment, when the progress prediction curve 55a or the guideline 55b is displayed in correspondence with the vehicle width of the vehicle 1, the portion where the vehicle 1 of the vehicle 1 is close to the vehicle body is hidden, and the portion Judgment will be left to the driver.
[0149]
  In the portion where the deviation occurs in the vicinity of the vehicle body as described above, the progress prediction curve 55a and the guideline 55b can be widened and displayed continuously on both sides of the vehicle body. The portion of the progress prediction curve 55a or the guideline 55b that is displayed wide is wider than the actual vehicle width. Therefore, if there is no surrounding vehicle or obstacle in the wide display portion, the safety can be ensured more reliably.
[0150]
  Further, as described above, the guideline 55b is parallel to the side of the vehicle parked at another parking position or the white line drawn to the parking position 40 when the vehicle 1 is parked at the parking position 40. As a result, the vehicle 1 can be parked at the parking position 40 with the steering at the center position.
[0151]
  Furthermore, the driving support when the vehicle 1 is parked at the parking position 40 can be made easier to understand by setting the width of the guide line 55b to be larger than the actual width of the vehicle 1. For example, the guideline 55b is displayed wider than the actual vehicle width by a certain distance, and the guideline 55b is a white line in the parking position 40, a boundary line with an adjacent parking position, or a vehicle already parked at an adjacent parking position. If the steering is returned to the center position when it is overlapped with the side surface, the steering can be straightened and the vehicle can be parked. In addition, the width | variety which displays the guideline 55b can also be set as the structure which can be set according to the actual conditions, such as a parking lot which users, such as a driver, use regularly. If the parking lot is used regularly, a value suitable for the parking position 40 can be set as a certain distance. When parking lots are not specified, the minimum value necessary for opening and closing the door and entering and exiting is set as a certain distance to ensure that the driver can leave the vehicle 1 after parking. Make sure you do.
[0152]
  In FIG. 9, the line which shows the stop position 57 of the vehicle 1 is displayed in the vicinity of the vehicle 1 of the guideline 55b. In the rear image, a line is displayed at a certain distance from the rear end of the vehicle 1, and the vehicle is stopped when the line of the parking frame at the parking position 40 reaches that position. As a certain distance, set a value as small as possible so that the bumper at the rear end of the vehicle 1 does not come in contact with an obstacle or a vehicle stop so that parking can be easily performed in a narrow parking space. Is preferred.
[0153]
  The guideline 55b is displayed with, for example, a dotted line, and is less noticeable than the progress prediction curve 55a. As a result, the progress prediction curve 55a is emphasized as a result, and driving guidance that is easier for the driver to understand can be provided. Further, the length for displaying the guide line 55 b can be changed in conjunction with the back sonar 17. For example, the length of displaying the guide line 55b is shortened according to the alarm stage when the back sonar 17 detects the obstacle 47. As a result, the driver can obtain a guide for the moving distance, and thus can receive driving assistance in a state close to an actual driving feeling.
[0154]
  FIG. 10 illustrates the present invention.AssumptionThe schematic structure as a driving assistance device of vehicles as a 3rd embodiment is shown. In the present embodiment, the changeover switch 60 is provided to enable switching between the parallel parking mode or the normal parking mode in which the information display 4 performs the parallel parking support 61 or the normal parking support 62. In the normal parking mode, irradiation of the visual field 50a of the camera unit 50 and the backlight 52 is performed with emphasis on the rear of the vehicle 1. In the parallel parking mode, irradiation of the visual field 50a of the camera unit 50 and the backlight 52 is also performed on the side of the vehicle.
[0155]
  Note that switching between the parallel parking mode and the normal parking mode can also be performed automatically. For example, the turn signal lamp 63 or the hazard lamp 64 and the operation of the shift lever 8 for putting the transmission into the back gear can be performed on the condition that it is regarded as parallel parking. The navigation device 15 can also refer to map data about the current position of the vehicle 1 and automatically switch to the normal parking mode if the current position is in the parking lot and to the parallel parking mode if the current position is on the road. Further, it is possible to determine whether or not parallel parking is based on a change in the turning angle of the steering wheel 7. For example, in parallel parking, the frequency of changing the steering direction of the vehicle 1 by performing a steering operation by turning back or the like increases. A typical steering operation pattern is stored in the storage memory 29 or the like, and when the operation is performed, it is regarded as parallel parking and is automatically switched to the parallel parking mode.
[0156]
  FIG. 11 shows the present invention.AssumptionAs a fourth embodiment, a configuration in which a plurality of camera units 10 are arranged around the vehicle body of the vehicle 1 and images from the plurality of camera units 10 are simultaneously arranged and displayed on the same screen is shown. The camera unit 10 is disposed on each of the front left L, the front right R, and the rear B of the vehicle 1 and captures an image in each field of view 10a.
[0157]
  FIG. 12 shows an example of screen division when images from a plurality of camera units 10 are simultaneously displayed on the display screen of the information display 4 in the embodiment of FIG. By dividing the screen and displaying the video, all the screens can be viewed within one screen. FIG. 12A shows a state in which only the rear B video is displayed by temporal division. Other images are automatically switched and displayed at regular intervals. Switching of the screen may be performed manually by the driver, but if it is performed automatically, the trouble of switching can be saved.
[0158]
  In FIG. 12 (2), the screen is divided into left and right, and images of front left L and front right R are respectively displayed. In FIG. 12 (3), the screen is vertically divided into two parts, the upper part is further divided into left and right parts to display the front left L and the front right R, and the lower part displays the video of the rear B. In FIG. 12 (4), a display in a state where the top and bottom of FIG. 12 (3) are switched is performed. In FIG. 12 (5), the front left L and front right R images are partially displayed on the left and right of the upper part of the screen displaying the rear B image.
[0159]
  In FIG. 12 (6), the video images of the front left L and the front right R are displayed on the left and right parts of the upper part with the straight lines connecting the center of the upper side of the rectangular screen and the left and right ends of the lower side as the boundary lines. The image of the rear B is displayed in the part. In FIG. 12 (7), the video images of the front left L and the front right R are displayed on the left and right parts of the lower part with the straight lines connecting the center of the lower side of the rectangular screen and the left and right ends of the upper side as the boundary lines. The image of the rear B is displayed in the part. In FIG. 12 (8), the rear video image is displayed by drawing the boundary line so as to connect the center of the upper side and the vicinity of the center of the left side and the right side in the same video layout as FIG. 12 (6). Is relatively large. In FIG. 12 (9), a rear B image is displayed by drawing the boundary line between the center of the lower side and the vicinity of the center of the left side and the right side with the same video arrangement as in FIG. 12 (7). Is relatively large.
[0160]
  In FIG. 12 (10), the same video layout as in FIG. 12 (8) is used, and the boundary line has a curved shape that bulges and extends to the portion displaying the rear B video. In FIG. 12 (11), the same video layout as in FIG. 12 (6) is used, and the boundary line has a curved shape that bulges and extends to the portion displaying the rear B video. In FIG. 12 (12), the same video layout as in FIG. 12 (6) is used, and the boundary line has a curved shape that bulges and extends over the portion displaying the front left L and front right R images.
[0161]
  The screen division as shown in FIG. 12 can be performed in various other shapes. Each display pattern is preferably automatically switched according to the running state of the vehicle. For example, when traveling normally, two screens of front left L and front right R as shown in FIG. 12 (2), and when moving backward, front left L as shown in any of FIGS. 12 (3) to (12), By automatically changing the display pattern according to the situation on the three screens of the front right R and the rear B, an easy-to-understand display for the driver can be performed. Further, the side screen can be displayed in combination with the front display screen or the rear screen in conjunction with the lighting of the blinker lamp 63 by the operation of the direction indicator or the change of the steering angle.
[0162]
  FIG. 13 shows a state in which the vehicle illustration 70 is displayed in the screen division state shown in FIG. 12 (3) to facilitate the positional relationship between the video from each camera unit 10 and the vehicle 1. By displaying the vehicle illustration 70 together, the direction of the video can be easily understood.
[0163]
  Further, as shown in FIG. 14, the position of the vehicle illustration 70 is preferably moved in conjunction with switching of the screen division display pattern. For example, in the temporal screen division as shown in FIG. 12 (1), as shown in FIG. 14 (1), FIG. 14 (2) and FIG. 14 (3), rear B, front left L and front right R By moving the position of the vehicle illustration 70 to the upper center, lower right, and lower left of the screen, respectively, it is possible to easily show which direction the image is. In the screen division of FIG. 12 (2), as shown in FIG. 14 (4), the vehicle illustration 70 is moved to the center of the lower part to clearly show that the images of the front left L and the front right R are displayed. be able to.
[0164]
  FIG. 15 is a display screen as shown in FIG. 12 (1), and shows a state in which the direction 71 and the range 72 of the camera image are displayed together with the vehicle illustration 70. Thereby, it is possible to easily display which camera unit 10 displays the video. Furthermore, if the direction of the vehicle illustration 70 is changed according to the turning angle of the steering wheel 7, the relationship between the image and the traveling direction can be displayed in an easily understandable manner.
[0165]
  FIG. 16 shows the display of the camera image 71 by the screen division as shown in FIG. 12 between the navigation screen 15 and the audio screen 42 from the navigation device 15 and the audio device 16 on the information display 4 and simultaneously displays them. Is shown in a simplified manner. By effectively using the display screen of the information display 4, information necessary for driving the vehicle 1 can be efficiently provided to the driver or the like.
[0166]
  FIG. 17 shows a state where a plurality of display images are switched by the wipe method. In a state where the entire image A screen is displayed, for example, display of the next image B is started from the left side of the screen. The boundary line between the image B and the image A sequentially shifts to the right, and when the transition is completed, the image B is displayed on the entire screen. If the entire screen is switched from the image A to the image B in an appropriate manner, it is difficult to follow the change. However, if the screen is switched by the wipe method, the change in the displayed image can be easily followed. . Further, as shown in FIGS. 12 (2) to 12 (12), even when the screen is divided, the display mode can be switched by the wipe method.
[0167]
  FIG. 18 shows a state in which the video display in the screen division state is changed by the wipe method in the division display area and the display position according to the turning angle of the steering. For example, basically, the divided state shown in FIG. 12 (3) is set, the display area of the rear B is reduced when moving forward, and the display area in the bending direction is increased according to the turning angle of the steering wheel when turning left and right. To do. When moving backward, the display area of the rear B is increased. As a result, it is possible to emphasize a moving image and to support safety confirmation.
[0168]
  FIG. 19 illustrates the present invention.AssumptionThe schematic structure of the driving assistance apparatus as 5th Embodiment is shown. In the present embodiment, the display screen of the information display 74 is configured to allow input by a touch panel method, and multi-screen display is performed. The parking assist ECU 76 detects the presence or absence of the obstacle 47 with an obstacle sensor such as the back sonar 17 or the corner sensor 18, and when the obstacle 47 is detected, notifies the driver or the like on a screen display.
[0169]
  FIG. 20 shows the switching state of the obstacle display screen of the information display 74 according to this embodiment. FIG. 20A shows a state where screen display is performed during normal driving or parking assist by multi-screen display. When an obstacle is detected, the screen is switched to an obstacle display screen as shown in FIG. 20B or 20C. On the obstacle display screen shown in FIG. 20B, the direction of the obstacle 77 is displayed by a vehicle illustration 70 and an arrow 78. By detecting the obstacle 77, the color of the obstacle display screen can be changed to alert the driver or the like. In the obstacle display screen shown in FIG. 20C, the ratio of displaying the video from the camera unit 10 capturing the obstacle 77 can be increased to make the video easier to see.
[0170]
  FIG.AssumptionAs a sixth embodiment, a configuration is shown in which a plurality of camera units 10 are arranged, images captured by the camera units 10 are seamlessly synthesized and displayed, and driving assistance is performed. As shown in FIG. 21 (a), for example, three camera units 10L, 10B, and 10R are arranged to capture an image behind the vehicle 1, and the respective fields of view 10La, 10Ba, and 10Ra are partially overlapped. Make sure you do. FIG. 21B shows a display screen of the touch panel type information display 74 as shown in FIG. In this display screen, the images captured by the three camera units 10L, 10B, and 10R are seamlessly connected by expansion / contraction or adjustment of the cut-out portion, and displayed as a wide range of continuous images.
[0171]
  FIG. 22 shows a state in which an image of the entire circumference of the vehicle 1 is captured and displayed. As shown in FIG. 22A, six camera units 10F, 10FL, 10FR, 10B, 10BL, and 10BR are arranged around the vehicle 1, respectively, and an image of the entire circumference is captured. As shown in FIG. 22 (b), when the images from the respective camera units 10F, 10FL, 10FR, 10B, 10BL, and 10BR are combined and displayed on the display screen of the information display 74, the safety of the entire vehicle circumference is confirmed. Is possible on one screen. Further, in cooperation with the back sonar 17 and the corner sensor 18, a warning telop can be displayed on the screen corresponding to the direction in which the obstacle is detected, or the color can be changed.
[0172]
  In the divided display shown in FIG. 21B or FIG. 22B, many images are displayed at the same time, so that only one or a plurality of images can be selected and displayed. The selection may be performed by the driver operating a switch or the like or automatically depending on the driving situation. Moreover, the structure which can scroll a screen and can confirm a wide range continuously is also possible. Since the information display 74 of the present embodiment is capable of touch-panel input, if the image is enlarged by touching the image to be viewed from the display state of FIG. 21B or 22B, You can check the point you want to see in one touch. Note that it is preferable to restore the image enlarged by one touch after a certain period of time. This is because it is possible to omit the manual operation of returning the driver to the original state.
[0173]
  FIG. 23 illustrates the present invention.AssumptionThe schematic structure of the driving assistance apparatus as 7th Embodiment is shown. In this embodiment, the front monitoring camera 80 is installed in the front part of the vehicle body of the vehicle 1, and the roof camera 81 is installed also in the roof which is the highest part of the vehicle body. The driving assistance ECU 84 has basically the same configuration as the parking assist ECU 6 shown in FIG. 3 and performs driving assistance using a front image captured by the front monitoring camera 80. The navigation device 85 includes a memory that captures an image of a forward landscape imaged by the front monitoring camera 80, and can be used for detecting traffic congestion. The captured image is transmitted by the navigation device 85 to a traffic control center or the like installed in the vicinity of the position where the vehicle 1 exists via a wireless radio wave, and wide area driving support is performed. The image captured by the front monitoring camera 80 is also displayed on the information display 4 and can be used for safety confirmation ahead.
[0174]
  The front monitoring camera 80 can also be used as a front vehicle detection camera. If there is a vehicle traveling in front of the traveling direction of the vehicle 1, it is necessary to ensure a distance between the vehicles to prevent a rear-end collision. By combining the function as a front vehicle detection camera with the front monitoring camera 80, a driving support function and a front vehicle detection function can be provided at low cost. The front monitoring camera 80 can also be used as an interrupting vehicle monitoring camera. When an interrupting vehicle enters in front of the traveling direction of the vehicle 1 that is traveling, it is necessary to take countermeasures such as prevention of rear-end collision. By combining the function as an interrupting vehicle monitoring camera with the front monitoring camera 80, a driving support function and an interrupting vehicle detection function can be provided at low cost.
[0175]
  The roof camera 81 images the front from the top of the vehicle roof as the highest position in the vehicle body. When the vehicle 1 passes under an overpass or the like and the vehicle height restriction is provided, whether or not the vehicle can pass is confirmed. It is possible to determine whether or not the vehicle height limit is met based on how the upper limit portion to be passed is viewed.
[0176]
  FIG. 24 shows a state in which the brightness of an image displayed on the information displays 4 and 74 is changed between backward driving and normal driving in each embodiment. When moving backward as shown in FIG. 24A, a bright image is displayed as a whole, and the parking position 40, the progress prediction curves 5a, 55a, etc. are displayed so as to be easily confirmed. During normal driving shown in FIG. 24B, the display is relatively dark. During normal driving, the driver should pay close attention to the front, and it is better not to look at the screen. In this way, when it is necessary to call the driver's attention, it is possible to easily attract the driver's attention by changing to a bright color. When going backwards, brighten the screen to make it easier to see details.
[0177]
  FIG. 25 shows a state in which, in each embodiment, when a rear image is displayed, it is easy to understand that it is a rear image using a display frame 87 in the shape of a rearview mirror. The rear video displayed in the display frame 87 is also corrected by cutting and expansion / contraction by image processing, corrected to the angle of view of the rearview mirror, and changed to a display suitable for the driver's sense as an image reflected on the rearview mirror. . In particular, when using a wide-angle camera, it is difficult to grasp a sense of distance due to image distortion or the like, so it is preferable to perform correction.
[0178]
【The invention's effect】
  According to the present invention, an image of the traveling direction of a vehicle is displayed, and the predicted progress of predicting the course of the vehicle based on the steering angleThe roadIt is possible to display and provide driving assistance. For example, when the vehicle travels backward and parks, the guideline extended in parallel with the vehicle width is displayed on the rear image so as to be displayed, so that the current direction of the vehicle can be easily understood.
  In addition, since the portion of the predicted route in the vicinity of the vehicle is not displayed, it is left to the driver's judgment even when the predicted route appears in the vicinity of the vehicle and does not fit the back of the vehicle when the predicted route is displayed. , Avoid unnatural displaybe able to.
[0184]
[0185]
[0186]
  In the present invention,Driving assistance can be provided by displaying an image of the traveling direction of the vehicle and by displaying a guideline extending in the traveling direction on both sides in the width direction of the vehicle body. For example, when the vehicle travels backward and parks, the guideline extended in parallel with the vehicle width is displayed on the rear image so as to be displayed, so that the current direction of the vehicle can be easily understood. Further, when the parking frame or the like is drawn with a white line, if the steering is returned to the center position when the white line and the guide line are parallel, the vehicle can be easily parked in a parallel posture within the parking frame. AlsoThe width of the guideline is different from the actual vehicle width near the bumper of the vehicle body due to the effect of the angle of view of the camera. Can do.
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[Brief description of the drawings]
FIG. 1 is a simplified perspective view showing a schematic configuration of a driving support apparatus as a first embodiment of the present invention.
FIG. 2 is a simplified perspective view showing a state in which the vehicle 1 moves backward and parks in the embodiment of FIG. 1;
FIG. 3 is a block diagram showing an electrical configuration of a parking assist ECU 6 according to the embodiment of FIG.
4 is a view showing a parking assist screen displayed on the information display 4 in the embodiment of FIG. 1; FIG.
5 is a diagram showing a state in which a navigation screen 41 and an audio screen 42 are displayed on the information display 4 in the embodiment of FIG.
6 is a diagram showing a state in which back gear input is reported on the information display 4 in the embodiment of FIG. 1; FIG.
7 is a diagram showing a state in which the information display 4 is performing obstacle detection, parking completion notification, and display for prompting visual confirmation in the embodiment of FIG.
FIG. 8 is a simplified block diagram showing a schematic configuration of a driving support apparatus as a second embodiment of the invention.
FIG. 9 is a diagram showing a parking assist screen displayed on the information display 4 in the embodiment of FIG. 8;
FIG. 10 shows the present invention.AssumptionIt is the simplified block diagram which shows the schematic structure of the driving assistance apparatus as 3rd Embodiment.
FIG. 11 shows the present invention.AssumptionFIG. 6 is a simplified plan view showing a state in which a plurality of camera units 10 are arranged around a vehicle body of a vehicle 1 as a fourth embodiment.
FIG. 12 is a diagram showing an example of screen division when images from a plurality of camera units 10 are simultaneously displayed on the display screen of the information display 4 in the embodiment of FIG.
13 is a diagram showing a screen division state and a state where a vehicle illustration 70 is displayed in the embodiment of FIG.
14 is a diagram showing a state in which the position of the vehicle illustration 70 is moved in accordance with the camera image in the embodiment of FIG.
15 is a diagram showing a state in which the direction and range of a camera image are displayed together with a vehicle illustration 70 in the embodiment of FIG.
FIG. 16 is a diagram showing a state in which the camera image 71 is displayed by dividing the screen from the navigation screen 41 or the audio screen 42 in the embodiment of FIG.
FIG. 17 is a diagram showing a state in which a plurality of screen displays are switched by a wipe method in the embodiment of FIG.
18 is a diagram showing a state in which the divided display area and the display position are changed by the wipe method in accordance with the turning angle of the steering in the video display in the surface division state of the embodiment of FIG.
FIG. 19 shows the present invention.AssumptionIt is the simplified block diagram which shows the schematic structure of the driving assistance device as 5th Embodiment.
20 is a diagram showing a switching state of an obstacle display screen of the information display 74 in the embodiment of FIG.
FIG. 21 shows the present invention.AssumptionFIG. 10 is a diagram illustrating a configuration in which a plurality of camera units 10 are arranged as a sixth embodiment, images captured by the camera units 10 are seamlessly combined and displayed, and driving assistance is performed.
22 is a diagram illustrating a state in which an image of the entire circumference of the vehicle 1 is captured and displayed in the embodiment of FIG.
FIG. 23 shows the present invention.AssumptionIt is the simplified block diagram which shows the schematic structure of the driving assistance device as 7th Embodiment.
FIG. 24eachIn embodiment, it is a figure which shows the state which changes the brightness of the image displayed on the information displays 4 and 74 at the time of reverse drive and the time of normal driving | running | working.
FIG. 25eachIn the embodiment, when a rear image is displayed, it is a diagram illustrating a state in which it is easy to understand that it is a rear image using a display frame 87 in the shape of a rearview mirror.
[Explanation of symbols]
  1 vehicle
  4,74 Information display
  5a, 55a Progress prediction curve
  5b, 55b Guidelines
  6, 56, 66 Parking assist CPU
  7 Steering
  8 Shift lever
  10, 10B, 10L, 10R, 10F, 10FL, 10FR, 10BL, 10BR, 50 Camera unit
  10a, 10Ba, 10La, 10Ra, 10Fa, 10FLa, 10FRa, 10BLa, 10BRa, 50a Field of view
  12 Angle detection sensor
  13 Center position sensor
  14 Conlite sensor
  15,85 navigation device
  16 Audio equipment
  17 Back Sonar
  18 Corner sensor
  20 DSP
  27 Program memory
  29 Storage memory
  40 parking position
  41 Navigation screen
  42 Audio screen
  43, 44, 45, 46 telop
  47,77 Obstacle
  52 Backlight
  63 Winker lamp
  64 Hazard lamp
  70 vehicle illustration
  71 Camera image
  80 Front surveillance camera
  81 Roof camera
  86 Driving assistance ECU
  87 Display frame
  88 Corrected image

Claims (3)

  1. Display means for displaying a moving image of the vehicle imaged by the camera;
    A course prediction means for predicting the course of the vehicle based on the steering angle for steering the vehicle;
    The predicted course of the vehicle predicted by the route predicting unit, and a driving support unit for displaying together with a part of the vehicle on the image of the traveling direction of the vehicle,
    The driving support device for a vehicle, wherein the driving support means does not display the predicted course in the vicinity of the displayed vehicle.
  2. The driving support means according to display the guidelines extending on both sides of the vehicle body in the width direction in the traveling direction on the traveling direction of the image of the vehicle, the vehicle near the displayed is characterized in that it does not display the guidelines Item 2. A vehicle driving support device according to Item 1.
  3. Display means for displaying a moving image of the vehicle imaged by the camera;
    Driving support means for displaying a guideline extending in the traveling direction on both sides in the width direction of the vehicle body on an image of the traveling direction of the vehicle together with a part of the vehicle,
    The driving support device for a vehicle, wherein the driving support means does not display the guideline in the vicinity of the displayed vehicle.
JP17971899A 1999-06-25 1999-06-25 Vehicle driving support device Expired - Lifetime JP4723703B2 (en)

Priority Applications (1)

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JP17971899A JP4723703B2 (en) 1999-06-25 1999-06-25 Vehicle driving support device

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
JP17971899A JP4723703B2 (en) 1999-06-25 1999-06-25 Vehicle driving support device
US09/598,270 US7366595B1 (en) 1999-06-25 2000-06-21 Vehicle drive assist system
DE60031011T DE60031011T2 (en) 1999-06-25 2000-06-22 Driver assistance system for vehicles
EP00305278A EP1065642B1 (en) 1999-06-25 2000-06-22 Vehicle drive assist system
DE60037222T DE60037222T2 (en) 1999-06-25 2000-06-22 Driver assistance system for vehicles
EP03028607A EP1400410B1 (en) 1999-06-25 2000-06-22 Vehicle drive assist system
EP07116713A EP1870870B1 (en) 1999-06-25 2000-06-22 Vehicle drive assist system
DE60044625A DE60044625D1 (en) 1999-06-25 2000-06-22 Système d'assistance de conduire pour vehicules
US11/504,013 US7640108B2 (en) 1999-06-25 2006-08-15 Vehicle drive assist system
US11/503,899 US7640107B2 (en) 1999-06-25 2006-08-15 Vehicle drive assist system

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JP2001006097A JP2001006097A (en) 2001-01-12
JP4723703B2 true JP4723703B2 (en) 2011-07-13

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