JP4769631B2 - Vehicle driving support device and vehicle driving support method - Google Patents

Description

  The present invention relates to a vehicle driving support device and a vehicle driving support method, and more particularly to a vehicle driving support device and a vehicle driving support that are suitable for supporting driving of a vehicle by displaying a driving assist line that assists the driving of the vehicle. Regarding the method.

  In recent years, as a system for assisting driving of a vehicle, an image representing a situation around the vehicle is displayed on a display, and on this image, both ends of the vehicle in the vehicle width direction are used as a travel assist line for assisting the travel of the vehicle. There has been proposed a system for displaying the expected trajectory in an overlapping manner.

  Also, in this type of system, the margin on displaying the driving assistance line is set by the user's manual operation, and the position on the screen corresponding to the position where the margin is added to both ends in the vehicle width direction of the vehicle In addition, it has been proposed to display a travel assistance line (see, for example, Patent Document 1).

JP 2005-319851 A

  However, since the margin of the conventional travel auxiliary line is assumed to be set by a user's manual operation, there has been a problem that the operation becomes complicated.

  Therefore, the present invention has been made in view of such a problem, and can reduce the user's labor when displaying a suitable travel assistance line for assisting the traveling of the vehicle. An object of the present invention is to provide a vehicle driving support device and a vehicle driving support method that can be improved.

  In order to achieve the above-described object, a vehicle driving support device according to the present invention looks down at the vehicle and its surroundings from above the vehicle by using a photographing device for photographing the periphery of the vehicle and a captured image of the photographing device. The vehicle / periphery display processing device that generates a displayed image and displays it on the display unit, the tire locus calculation device that calculates the tire locus of the vehicle based on the steering angle of the steering wheel of the vehicle, and the tire locus calculation device The driving auxiliary line for assisting the driving of the vehicle located outside the tire trajectory in the vehicle width direction as a reference is looked down on the vehicle and its surroundings from above the vehicle. A travel auxiliary line display processing device that is displayed overlaid on the image, wherein the travel auxiliary line display processing device is a reference point that is a point through which the travel auxiliary line passes, A reference point adapted to at least one of a surrounding situation, a driving operation state of the vehicle, a structure of the vehicle, and a characteristic of a user of the vehicle is automatically determined, and the tire trajectory passes through the determined reference point. It is formed so that the said driving assistance line which has a shape along may be displayed. Further, by adopting such a configuration, the driving auxiliary line display processing device allows the reference to meet at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle. It is possible to automatically determine a point and display a driving assistance line passing through the determined reference point.

  Further, the vehicle driving support device according to the present invention is configured such that, when a driving operation for making the vehicle travel while turning in one direction in the vehicle width direction is performed, the tire trajectory calculation device is connected to the outer wheel side of the vehicle. And the travel auxiliary line display processing device passes through the front end portion of the vehicle and is parallel to the vehicle width direction, so as to calculate the tire locus of the front wheel of the vehicle and the tire locus of the rear wheel on the inner ring side of the vehicle. The center of the intersection of the first virtual straight line and the second virtual straight line passing through the outer ring side end in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction. Assuming a first circle having a radius adapted to at least one of the state, the structure of the vehicle and the characteristics of the user of the vehicle, the outer ring side of the vehicle calculated by the tire trajectory calculation device is assumed. The tire track of the front wheels Along the third imaginary straight line passing through the center of curvature of the tire locus and the end point on the outer wheel side of the front wheel axle on the outer wheel side, the first circle is in contact with the vehicle in the vehicle width direction from the outside on the basis of the vehicle. And the contact point between the tire trajectory of the front wheel on the outer ring side after the movement and the first circle is determined as the reference point on the outer ring side, and the outer wheel side passing through the determined reference point on the outer ring side is determined. It is characterized by being formed so as to display a travel auxiliary line. In addition, when the driving operation for making the vehicle travel while turning in one direction in the vehicle width direction is performed, the tire locus calculating device passes the rear end portion of the vehicle. Centering on the intersection of a fourth virtual straight line parallel to the vehicle width direction and a fifth virtual straight line passing through the inner ring side end of the vehicle in the vehicle width direction and orthogonal to the vehicle width direction, Assuming a second circle having a radius adapted to at least one of a situation, a driving operation state of the vehicle, a structure of the vehicle, and a characteristic of a user of the vehicle, the tire locus calculation device calculates the second circle. Further, the tire circle of the rear wheel on the inner ring side of the vehicle is moved along the sixth imaginary straight line passing through the center of curvature of the tire locus and the end point on the inner ring side of the axle of the rear wheel on the inner ring side. The vehicle in the vehicle width direction It is moved to a position where it comes into contact with the outer side, and the contact point between the tire track of the rear wheel on the inner ring side after the movement and the second circle is determined as the reference point on the inner ring side, and the determined inner ring side The travel auxiliary line on the inner ring side passing through the reference point is displayed. And by adopting such a configuration, the contact point between the first circle and the tire track of the front wheel on the outer wheel side after movement is determined as a reference point on the outer wheel side by the travel auxiliary line display processing device, The point of contact between the circle of the wheel and the tire track of the rear wheel on the inner ring side after movement is determined as the reference point on the inner wheel side, and the driving assist lines on the outer wheel side and the inner wheel side passing through the determined reference points are displayed. It becomes possible.

  Furthermore, the vehicle driving assistance device according to the present invention is such that the travel assistance line display processing device has the travel assistance on the outer wheel side when a change in the radius of the first circle in a predetermined time exceeds a threshold value. When the line display color is changed and the change in the radius of the second circle at a predetermined time exceeds a threshold value, the display color of the inner wheel side auxiliary driving line is changed. It is characterized by having. By adopting such a configuration, when the change in the radius of the first circle or the second circle exceeds the threshold value by the travel assist line display processing device, the travel assist line is displayed. By changing the color, it is possible to notify the user to that effect.

  Furthermore, the vehicle driving assistance device according to the present invention is configured such that the travel assistance line display processing device individually sets the radius of the first circle and the radius of the second circle. It is characterized by that. And by adopting such a configuration, the radius of the first circle and the radius of the second circle can be individually set by the traveling auxiliary line display processing device, and thereby the reference on the outer ring side can be set. It becomes possible to individually determine the point and the reference point on the inner ring side.

  Further, the vehicle driving support device according to the present invention includes a parking line distance detection device that detects a distance in the vehicle width direction between a parking line existing in the vicinity of the vehicle in the vehicle width direction and the vehicle, A situation around the vehicle is a distance in the vehicle width direction between the parking line and the vehicle, and the driving assistance line display processing device is at least the parking line detected by the parking line distance detection device and the vehicle The reference point is adapted to determine the distance between the vehicle and the vehicle in the vehicle width direction. By adopting such a configuration, a reference point adapted to at least the distance in the vehicle width direction between the parking line and the vehicle detected by the parking line distance detection device is automatically set by the driving assistance line display processing device. It is possible to display the driving assistance line passing through the determined reference point.

  Furthermore, the vehicle driving support device according to the present invention includes an obstacle distance detection device that detects a distance between an obstacle present around the vehicle and the vehicle, and the situation around the vehicle is determined by the obstacle. The reference point adapted to the distance between the obstacle and the vehicle detected by the obstacle distance detection device is at least a distance between the obstacle and the vehicle. It is characterized by being formed to decide. And by adopting such a configuration, a reference point adapted to at least the distance between the obstacle and the vehicle detected by the obstacle distance detection device is automatically determined by the auxiliary travel line display processing device. It is possible to display a travel assistance line passing through the determined reference point.

  Furthermore, the vehicle driving support device according to the present invention includes a vehicle position detection device that detects the position of the vehicle, wherein a situation around the vehicle is set to the position of the vehicle, and the driving assistance line display processing device is The reference point is adapted to determine at least the reference point adapted to the position of the vehicle detected by the vehicle position detecting device. By adopting such a configuration, a reference point suitable for at least the position of the vehicle detected by the vehicle position detection device is determined by the auxiliary travel line display processing device, and the vehicle travels through the determined reference point. An auxiliary line can be displayed.

  In the vehicle driving support device according to the present invention, the driving operation state of the vehicle is a steering angle of the steering wheel of the vehicle, and the travel auxiliary line display processing device is adapted to at least a steering angle of the steering wheel of the vehicle. The reference point is formed so as to be determined. And by adopting such a configuration, a reference point suitable for the steering angle of the steering wheel of the vehicle detected by at least the steering angle detection device is determined by the traveling auxiliary line display processing device, and the determined reference point It is possible to display a driving assistance line that passes through.

  Furthermore, the vehicle driving support device according to the present invention includes a traveling direction detection device that detects a traveling direction of the vehicle, wherein a driving operation state of the vehicle is a traveling direction of the vehicle, and the traveling auxiliary line display processing device Is configured to determine at least the reference point that matches the traveling direction of the vehicle detected by the traveling direction detection device. By adopting such a configuration, a reference point suitable for at least the traveling direction of the vehicle detected by the traveling direction detection device is determined by the traveling auxiliary line display processing device, and passes through the determined reference point. It is possible to display the driving assistance line.

  Furthermore, the vehicle driving support device according to the present invention includes a user information detection device that detects at least one of an age group and a gender of the user of the vehicle, and the characteristic of the user of the vehicle is that of the user. The driving assistance line display processing device is determined to be at least one of an age group and sex, and the reference point suitable for at least one of the age group and sex of the user detected by the user information detection device is determined. It is characterized by being formed as follows. And by adopting such a configuration, a reference point adapted to at least one of the age group and gender of the vehicle user determined by the user determination device is determined by the travel auxiliary line display processing device, It is possible to display a travel assistance line that passes through the determined reference point.

  Further, the vehicle driving support method according to the present invention generates an image in which the vehicle and its surroundings are looked down from above the vehicle using captured images of the surroundings of the vehicle and displays them on a display unit. A travel for assisting the travel of the vehicle such that the tire trajectory of the vehicle is calculated based on the steering angle of the steering wheel and is located outside the calculated tire trajectory with respect to the vehicle in the vehicle width direction. The auxiliary line is a reference point that is a point through which the travel auxiliary line passes when displaying the vehicle and its surroundings on an image of the vehicle viewed from above, the situation around the vehicle, A reference point conforming to at least one of the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle is automatically determined, and the shape along the tire locus passes through the determined reference point. It is characterized by displaying the traveling auxiliary lines as having. And by adopting such a method, a reference point adapted to at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle and the characteristics of the user of the vehicle is automatically determined, It is possible to display a travel assistance line that passes through the determined reference point.

  Furthermore, in the vehicle driving support method according to the present invention, when a driving operation for making the vehicle travel while turning in one direction in the vehicle width direction is performed, the tire locus of the front wheel on the outer wheel side of the vehicle, The tire trajectory of the rear wheel on the inner ring side of the vehicle is calculated, passes through the front end portion of the vehicle and parallel to the vehicle width direction, and passes through the end portion on the outer ring side in the vehicle width direction of the vehicle. Centered on the intersection with the second virtual straight line orthogonal to the vehicle width direction, and adapted to at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle Assuming a first circle having a radius of the calculated size, the calculated tire locus of the front wheel on the outer ring side of the vehicle is expressed by the center of curvature of the tire locus and the end point on the outer ring side of the axle of the front wheel on the outer ring side. Along the third imaginary straight line The first circle is moved to a position in contact with the vehicle in the vehicle width direction from the outside with respect to the vehicle, and the contact point between the tire track of the front wheel on the outer ring side after the movement and the first circle is set as a reference on the outer ring side. It is characterized in that it is determined as a point, and a driving assistance line on the outer ring side passing through the determined reference point on the outer ring side is displayed. In addition, the vehicle driving support method is configured such that when a driving operation is performed to advance the vehicle while bending the vehicle in one direction in the vehicle width direction, the vehicle passes through the rear end portion of the vehicle and is parallel to the vehicle width direction. 4 and the fifth virtual straight line passing through the inner ring side end in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction, the situation around the vehicle, and the driving operation of the vehicle Assuming a second circle having a radius adapted to at least one of the state, the structure of the vehicle and the characteristics of the user of the vehicle, the calculated tire trajectory of the rear wheel on the inner ring side of the vehicle , Along the sixth imaginary straight line passing through the center of curvature of the tire locus and the end point on the inner ring side of the rear wheel axle on the inner ring side, from the outside with respect to the vehicle in the vehicle width direction to the second circle. Move to a position where it touches, and move this Determining a contact point between the tire locus of the rear wheel on the inner wheel side and the second circle as a reference point on the inner wheel side, and displaying a traveling auxiliary line on the inner wheel side passing through the determined reference point on the inner wheel side It is a feature. And by adopting such a method, the contact point between the first circle and the tire track of the front wheel on the outer wheel side after movement is determined as the reference point on the outer ring side, and the second circle and the inner ring side after movement are determined. It is possible to determine the contact point with the tire locus of the rear wheel as a reference point on the inner wheel side, and display the driving assist lines on the outer wheel side and the inner wheel side passing through the determined reference points.

  Furthermore, the vehicle driving support method according to the present invention changes the display color of the driving assist line on the outer wheel side when the change in the radius of the first circle in a predetermined time exceeds a threshold value, In addition, when the change in the radius of the second circle at a predetermined time exceeds a threshold value, the display color of the inner wheel side travel auxiliary line is changed. And by adopting such a method, when the change in the radius of the first circle or the second circle exceeds the threshold, the display color of the driving assistance line is changed to that effect. Can be notified to the user.

  The vehicle driving support method according to the present invention is characterized in that the radius of the first circle and the radius of the second circle are individually set. And by adopting such a method, the reference point on the outer ring side and the reference point on the inner ring side are individually determined by setting the radius of the first circle and the radius of the second circle individually. It becomes possible to do.

  Further, in the vehicle driving support method according to the present invention, the situation around the vehicle is a distance in the vehicle width direction between a parking line and the vehicle existing in the vicinity of the vehicle in the vehicle width direction, The reference point adapted to the distance in the vehicle width direction between the parking line and the vehicle is determined. And by adopting such a method, a reference point suitable for at least the distance in the vehicle width direction between the parking line and the vehicle is automatically determined, and a driving assistance line passing through the determined reference point is determined. It is possible to display.

  Furthermore, in the vehicle driving support method according to the present invention, the situation around the vehicle is a distance between the obstacle present around the vehicle and the vehicle, and at least between the obstacle and the vehicle. It is characterized in that the reference point adapted to the distance between them is determined. And by adopting such a method, it becomes possible to determine a reference point suitable for at least the distance between the obstacle and the vehicle, and to display a driving assistance line passing through the determined reference point. .

  The vehicle driving support method according to the present invention is characterized in that a situation around the vehicle is a position of the vehicle, and at least the reference point suitable for the position of the vehicle is determined. By adopting such a method, it is possible to determine a reference point that matches at least the position of the vehicle and to display a driving assistance line that passes through the determined reference point.

  Furthermore, the vehicle driving support method according to the present invention is characterized in that the driving operation state of the vehicle is a steering angle of the steering wheel of the vehicle, and at least the reference point suitable for the steering angle of the steering wheel of the vehicle is determined. It is said. By adopting such a method, it is possible to determine a reference point that is at least suitable for the steering angle of the steering wheel of the vehicle, and display a travel assistance line that passes through the determined reference point.

  Furthermore, the vehicle driving support method according to the present invention is characterized in that a driving operation state of the vehicle is a traveling direction of the vehicle, and at least the reference point adapted to the traveling direction of the vehicle is determined. By adopting such a method, it is possible to determine a reference point that is at least adapted to the traveling direction of the vehicle and display a travel assistance line that passes through the determined reference point.

  In the vehicle driving support method according to the present invention, the characteristics of the user of the vehicle are at least one of the age group and sex of the user, and at least one of the age group and sex of the user is adapted. The reference point is determined. Then, by adopting such a method, it is possible to determine a reference point suitable for at least one of the age group and gender of the vehicle user and display a driving assistance line passing through the determined reference point. It becomes possible.

  According to the present invention, a reference point suitable for at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle is automatically determined, and the determined reference point As a result of displaying the travel auxiliary line passing through the vehicle, it is possible to reduce the user's labor when displaying the travel auxiliary line suitable for assisting the traveling of the vehicle, and to improve the handleability.

  Further, according to the present invention, the contact point between the first circle and the tire locus of the front wheel on the outer wheel side after movement is determined as the reference point on the outer ring side, and the second circle and the rear wheel on the inner ring side after movement are determined. The contact point with the tire trajectory is determined as the reference point on the inner wheel side, and the outer wheel side and inner wheel side travel auxiliary lines passing through the determined reference points can be displayed, so that no complicated operation by the user is required. In order to assist the travel of the vehicle, a more suitable travel assist line can be displayed.

  Furthermore, according to the present invention, when the change in the radius of the first circle or the second circle exceeds the threshold, the user is notified by changing the display color of the driving assistance line. As a result, safe driving can be performed by the driver of the vehicle.

  Furthermore, according to the present invention, the reference point on the outer ring side and the reference point on the inner ring side can be individually determined by individually setting the radius of the first circle and the radius of the second circle. As a result, a more suitable travel assistance line can be displayed to assist the travel of the vehicle without requiring a complicated operation by the user.

  In addition, according to the present invention, it is possible to automatically determine a reference point suitable for at least the distance in the vehicle width direction between the parking line and the vehicle, and to display a travel assistance line passing through the determined reference point. As a result, it is possible to display the travel assistance line that is suitable for the distance in the vehicle width direction between the parking line and the vehicle without requiring a complicated operation by the user.

  Furthermore, according to the present invention, it is possible to determine a reference point suitable for at least the distance between the obstacle and the vehicle, and to display a driving assistance line passing through the determined reference point. A driving assistance line suitable for the distance between the obstacle and the vehicle can be displayed without any operation.

  Furthermore, according to the present invention, it is possible to determine a reference point suitable for at least the position of the vehicle, and to display a driving assistance line passing through the determined reference point, so that no complicated operation by the user is required. The driving assistance line suitable for the position of the vehicle can be displayed.

  In addition, according to the present invention, it is possible to determine a reference point suitable for at least the steering angle of the steering wheel of the vehicle, and to display a travel auxiliary line that passes through the determined reference point. As a result, a complicated operation by the user is required. It is possible to display a driving assistance line suitable for the steering angle of the steering wheel of the vehicle.

  Furthermore, according to the present invention, it is possible to determine a reference point suitable for at least the traveling direction of the vehicle and to display a travel auxiliary line passing through the determined reference point, so that no complicated operation by the user is required. The driving assistance line adapted to the traveling direction of the vehicle can be displayed.

  Furthermore, according to the present invention, it is possible to determine a reference point suitable for at least one of the age group and gender of a vehicle user and display a driving assistance line passing through the determined reference point. The driving assistance line suitable for at least one of the age group and sex of the user of the vehicle can be displayed without requiring a complicated operation by the user.

  Hereinafter, embodiments of a vehicle driving support apparatus and a vehicle driving support method according to the present invention will be described with reference to FIGS. 1 to 4.

  As shown in FIG. 1, the vehicle driving support device 1 according to the present embodiment includes four in-vehicle cameras 2, 3, 5, and 6 as photographing devices that photograph the periphery of the vehicle. Of these four in-vehicle cameras 2, 3, 5 and 6, one in-vehicle camera 2 is a front camera 2 attached to the front portion (for example, in the emblem) of the vehicle. The optical axis of this lens is directed in a direction that is inclined vertically downward with respect to the horizontal direction (a diagonally downward front of the vehicle). The other in-vehicle camera 3 is a back camera 3 attached to the rear part of the vehicle (for example, near the rear license plate), and the optical axis of the lens of the back camera 3 is in the horizontal direction. It is directed in the direction inclined vertically downward (backward obliquely downward of the vehicle). Further, the other in-vehicle camera 5 is a right side camera 5 attached to the right side of the vehicle (for example, in the right door mirror), and the optical axis of the lens of the right side camera 5 is in the horizontal direction. It is directed in a direction that is inclined vertically downward (slightly downward on the right side of the vehicle). Furthermore, the remaining one in-vehicle camera 6 is a left side camera 6 attached to the left side of the vehicle (for example, in the left door mirror), and the optical axis of the lens of the left side camera 6 is horizontal. It is directed in a direction that is directed vertically downward with respect to the direction (downward diagonally to the left of the vehicle).

  A vehicle / periphery drawing unit 7 as a vehicle / periphery display processing device is connected to each of the in-vehicle cameras 2, 3, 5, 6 and the vehicle / peripheral drawing unit 7 is connected to each of the in-vehicle cameras 2, 3, 5, 6. Five or six captured images are input.

  The vehicle / periphery drawing unit 7 uses the input captured images of the in-vehicle cameras 2, 3, 5, and 6 to look down on the vehicle and its surroundings from above the vehicle (upper virtual viewpoint). Vehicle / periphery drawing data, which is the drawing data, is generated.

  Note that an image of such a vehicle and its surroundings looking down from above the vehicle can be drawn using the technique described in, for example, Japanese Patent Laid-Open No. 2001-347909, pamphlet of International Publication 00/64175, and the like. it can.

  A superimposing unit 40 is connected to the output side of the vehicle / peripheral drawing unit 7, and a display 9 (display unit) is connected to the output side of the superimposing unit 40.

  The vehicle / periphery drawing unit 7 outputs the vehicle / periphery drawing data to the display 9 via the superimpose unit 40, thereby displaying an image in which the vehicle and its surroundings are looked down from above the vehicle. It is supposed to be. Note that when an obstacle such as another vehicle exists around the vehicle 11, an image indicating the obstacle is also displayed.

  Furthermore, the vehicle driving support device 1 in the present embodiment includes a rudder angle information acquisition unit 8. The rudder angle information acquisition unit 8 includes information (hereinafter referred to as rudder angle information and the steering angle of the steering wheel of the vehicle). Called). The rudder angle information acquisition unit 8 may acquire rudder angle information from, for example, a known in-vehicle rudder angle sensor (see, for example, FIG. 4 of JP-A-11-334470).

  A tire track calculation unit 10 as a tire track calculation device is connected to the steering angle information acquisition unit 8, and the steering angle information acquired by the steering angle information acquisition unit 8 is input to the tire track calculation unit 10. It has come to be.

  Then, the tire trajectory calculation unit 10 has, as a real-world coordinate system, a plane coordinate having a point on the plane of the vehicle 11 (for example, a center point in the vehicle width direction at the front end of the vehicle 11) as an origin (0, 0). (Hereinafter referred to as real world coordinates) and by using information on the dimensions of each part of the vehicle 11 (axle width, front wheel rear wheel distance, etc.), the tire coordinate points in real world coordinates (in other words, The coordinate point of the outer end in the vehicle width direction of the axle is grasped. In addition, what is necessary is just to store the information of the dimension of each part of the vehicle 11 in memory | storage parts, such as memory, as the state which the tire locus calculation part 10 can use. The tire trajectory calculation unit 10 calculates the tire trajectory of the vehicle drawn by virtually transitioning the tire coordinate points on the real world coordinates according to the steering angle, based on the input steering angle information. It is like that.

  For example, as shown in FIG. 2, the tire locus calculation unit 10 advances while moving the vehicle 11 in one direction (rightward in FIG. 2) in the vehicle width direction (lateral direction in FIG. 2) (forward in FIG. 2). ), When a steering wheel operation for tilting the two tires 12 and 13 of the front wheels with respect to the straight traveling direction is performed, this is detected based on the steering angle information. ing. In FIG. 2, the left front wheel tire 12 is the outer wheel side tire 12, and the right front wheel tire 13 is the inner wheel side tire 13.

  Based on the steering angle information, the tire trajectory calculation unit 10 calculates the Ackermann tire trajectory of the front wheel on the outer wheel side as the tire trajectory of the front wheel on the outer wheel side (the left front wheel in FIG. 2) (hereinafter referred to as the outer wheel side front wheel Ackerman trajectory Lo). And an Ackermann tire trajectory of the inner wheel side rear wheel (hereinafter referred to as an inner wheel side rear wheel Ackermann trajectory Li) as a tire trajectory of the inner wheel side rear wheel.

  The outer wheel side front wheel Ackerman locus Lo is, for example, the intersection of the extension line of the outer wheel side front wheel axle 15 and the extension line of the inner wheel side rear wheel axle 16 common to both Ackerman tire loci Lo and Li. A circle or arc having a radius of rotation as a line segment connecting the center of curvature S and the end point 15a on the outer ring side of the axle 15 of the front wheel on the outer ring side. You may make it calculate by calculating | requiring. In this case, information on the inclination of the axle 15 of the front wheel on the outer wheel side with respect to the vehicle width direction may be required, but in that case, the steering wheel information and the axle 15 of the front wheel on the outer wheel side corresponding thereto are previously provided. The information on the inclination of the front wheel 15 on the outer wheel side may be uniquely determined by the steering angle information.

  Similarly, the inner wheel side rear wheel Ackermann trajectory Li obtains the center of curvature S and uses the center of curvature S as the center of rotation, and the center of curvature S and the end point 16a on the inner wheel side of the axle 16 of the rear wheel on the inner wheel side. You may make it calculate by calculating | requiring the circle | round | yen or circular arc (namely, virtual locus | trajectory of the coordinate point of the tire in real world coordinates) which made the connecting line segment a rotation radius.

  The tire trajectory calculation unit 10 calculates and holds a plurality of patterns of Ackermann tire trajectories Lo and Li respectively corresponding to the steering angles of the plurality of patterns, and the steering angle information is obtained from the steering angle information acquisition unit 8. When input, the Ackermann tire tracks Lo and Li having a pattern corresponding to the steering angle information may be extracted immediately.

  The tire locus calculation unit 10 is connected to a travel assistance line drawing unit 17 that constitutes a driving assistance line display processing device. The tire assistance line drawing unit 17 includes a tire locus calculated by the tire locus calculation unit 10. Information is entered.

  Then, the travel auxiliary line drawing unit 17 uses the inputted tire track information to assist the travel of the vehicle 11 positioned outside the tire track with reference to the vehicle 11 in the vehicle width direction. A travel assist line having a shape along the tire locus is determined.

  When determining the travel assistance line, the travel assistance line drawing unit 17 first sets the surrounding conditions of the vehicle 11, the driving operation state of the vehicle 11, the structure of the vehicle, and the use of the vehicle as a reference point through which the travel assistance line passes. A reference point adapted to at least one of the person's characteristics is automatically determined.

  The travel auxiliary line drawing unit 17 determines a travel auxiliary line that passes through the reference point.

  Further, the travel auxiliary line drawing unit 17 generates travel auxiliary line drawing data for drawing an image of the determined travel auxiliary line.

  A superimposing unit 40 is connected to the driving assistance line drawing unit 17. The superimposing unit 40 includes driving assistance line drawing data generated by the driving assistance line drawing unit 17 and vehicle / periphery drawing. The vehicle / periphery drawing data output from the unit 7 is input.

  The superimposing unit 40 functions as a driving assistance line display processing device, and combines the drawing data input from the driving assistance line drawing unit 17 and the vehicle / periphery drawing unit 7 and outputs the combined drawing data to the display 9. In addition, a driving assistance line is displayed in an overlapping manner on an image of the vehicle and its surroundings as viewed from above the vehicle.

  As a more specific configuration for displaying such a travel auxiliary line, in the present embodiment, a camera image acquisition unit 18 is connected to the in-vehicle cameras 2, 3, 5, and 6, and this camera image acquisition is performed. The unit 18 is adapted to acquire data of the video images taken by the in-vehicle cameras 2, 3, 5, and 6.

  A white line recognition / distance calculation unit 19 as a parking line distance detection device is connected between the camera image acquisition unit 18 and the travel auxiliary line drawing unit 17, and the white line recognition / distance calculation unit 19 includes a camera. Data of the captured video of the in-vehicle cameras 2, 3, 5, and 6 acquired by the video acquisition unit 18 is input.

  Then, the white line recognition / distance calculation unit 19 recognizes a white line as a parking line existing in the vicinity of the vehicle 11 in the vehicle width direction from the input video data of the in-vehicle cameras 2, 3, 5, and 6. In addition, a distance in the vehicle width direction between the recognized white line and the vehicle 11 (hereinafter referred to as a white line distance) is calculated.

  The white line recognition / distance calculation unit 19 outputs the calculated white line distance data to the travel auxiliary line drawing unit 17 as information on the situation around the vehicle 11.

  Furthermore, the vehicle driving support device 1 in this embodiment has a radar device 20 such as a millimeter wave radar, and this radar device 20 is irradiated and reflected on obstacles around the vehicle 11 such as other vehicles. It is designed to detect electromagnetic waves.

  A radar detection result acquisition unit 22 is connected to the radar device 20, and the radar detection result acquisition unit 22 acquires a detection result of the radar device 20.

  An obstacle distance detection unit 21 as an obstacle distance detection device is connected between the radar detection result acquisition unit 22 and the travel auxiliary line drawing unit 17. The obstacle distance detection unit 21 includes a radar detection unit. The detection result of the radar apparatus 20 acquired by the result acquisition unit 22 is input.

  The obstacle distance detection unit 21 calculates a distance between the vehicle 11 and the obstacle (hereinafter referred to as an obstacle distance) based on the input detection result of the radar device 20. .

  The obstacle distance detection unit 21 outputs the calculated obstacle distance data to the travel auxiliary line drawing unit 17 as information on the situation around the vehicle 11.

  Further, the vehicle driving support device 1 has a navigation information acquisition unit 23 connected to a vehicle navigation device (not shown) mounted on the vehicle 11, and the navigation information acquisition unit 23 is connected to the vehicle navigation device from the vehicle navigation device. As navigation information, information such as GPS information, gyro bearing information, autonomous navigation position information, and vehicle speed pulse is acquired.

  A vehicle position detection unit 24 as a vehicle position detection device is connected between the navigation information acquisition unit 23 and the driving assistance line drawing unit 17. The vehicle position detection unit 24 is connected to the vehicle position detection unit 24 by the navigation information acquisition unit 23. The acquired navigation information is input.

  And the vehicle position detection part 24 detects the specific position of the vehicle 11 based on the input navigation information. Specific positions of the vehicle 11 detected by the vehicle position detection unit 24 include positions such as a three-dimensional parking lot and an outdoor parking lot. Note that the presence of the vehicle 11 in the multi-story parking lot is detected, for example, when the gyro bearing information indicating that the vehicle 11 is turning is acquired in a non-positioning GPS state. May be.

  The vehicle position detection unit 24 is configured to output the detected position data of the vehicle 11 to the travel assistance line drawing unit 17 as information on the situation around the vehicle 11.

  Furthermore, in this embodiment, the rudder angle information acquisition part 8 outputs the acquired rudder angle information to the driving assistance line drawing part 17 as information on the driving operation state of the vehicle 11.

  Furthermore, the vehicle driving support device 1 includes a traveling direction detection unit 26 as a traveling direction detection device, and gear position information indicating the gear position of the vehicle 11 is input to the traveling direction detection unit 26. It has become.

  And the advancing direction detection part 26 detects the advancing direction (namely, forward or backward) of the vehicle 11 based on the input gear position information.

  The traveling direction detection unit 26 outputs information on the detected traveling direction of the vehicle 11 to the traveling auxiliary line drawing unit 17 as information on a driving operation state of the vehicle 11.

  Further, the vehicle driving support device 1 includes a user information detection unit 27 as a user information detection device, and the user information detection unit 27 is information indicating characteristics of the user of the vehicle 11 (hereinafter referred to as “user information detection unit 27”). As user characteristic information), information including at least one of the age group and sex of the user is detected. Note that the user information detection unit 27 may also detect user characteristic information about a user other than the driver when a user (passenger) other than the driver exists. More specifically, the user information detection unit 27 may determine and detect the user's age group and gender by recognizing an image of the user image taken by the in-vehicle camera. Alternatively, the user information detection unit 27 may detect the user characteristic information by acquiring information about the age and sex of the user input by the user using an input device such as a touch panel.

  The user information detection unit 27 outputs the detected user characteristic information to the travel auxiliary line drawing unit 17.

  Furthermore, the vehicle driving support device 1 has a vehicle structure information storage unit 28, and information related to the structure of the vehicle 11 is stored in the vehicle structure information storage unit 28. The information related to the structure of the vehicle 11 includes, for example, information on the opening / closing width of the door, information on the vehicle type, information on the seat arrangement state (trunk space state), and the like. In addition, the vehicle structure information storage unit 28 may store other information related to the dimensions (total length, vehicle width, axle width, front wheel rear wheel distance, etc.) of each part of the vehicle 11.

  Information relating to the structure of the vehicle 11 stored in the vehicle structure information storage unit 28 is read out by the traveling auxiliary line drawing unit 17.

  The travel auxiliary line drawing unit 17 includes a reference circle assumption unit 29, and the white line distance information output from the white line recognition / distance calculation unit 19 is input to the reference circle assumption unit 29. ing. The reference circle assumption unit 29 is configured to receive the obstacle distance information output from the obstacle distance detection unit 21. Further, the reference circle assumption unit 29 is configured to receive information on the position of the vehicle 11 output from the vehicle position detection unit 24. Furthermore, the reference circle assumption unit 29 is input with the information on the traveling direction of the vehicle 11 output from the traveling direction detection unit 26. In addition, the user characteristic information output from the user information detection unit 27 is input to the reference circle assumption unit 29. Further, information relating to the structure of the vehicle 11 read from the vehicle structure information storage unit 28 is input to the reference circle assumption unit 29. In addition, the steering angle information acquired by the steering angle information acquisition unit 8 is input to the reference circle assumption unit 29.

  The reference circle assumption unit 29 detects, based on the steering angle information, that the driving operation for causing the vehicle 11 to travel while turning in one direction in the vehicle width direction as shown in FIG. 2 has been performed. Then, as shown in FIG. 2, an outer ring side reference circle Co as a first circle and an inner ring side reference circle Ci as a second circle are assumed on the above-described real world coordinates. .

The outer wheel side reference circle Co assumes the first virtual straight line L ₁ (first virtual straight line) parallel to the vehicle width direction passing through the front end of the vehicle 11 on the real world coordinates, and the vehicle width of the vehicle 11 A second virtual straight line L ₂ (second virtual straight line) orthogonal to the vehicle width direction passing through the outer ring side end in the direction is assumed on the real world coordinates, and an intersection Po of both virtual straight lines L ₁ and L ₂ is defined as And can be assumed by determining the radius. The first virtual straight line L ₁ and the second virtual straight line L ₂ can assume by using information dimension of each part of the vehicle 11 stored in a memory or the like. The end portion of the outer ring side in the vehicle width direction of the second virtual straight line L ₂ passes through the vehicle 11 may also end of the projection projecting from the body of the vehicle 11, such as a door mirror 14.

Similarly, the inner ring side reference circle Ci assumes a fourth virtual straight line L ₄ (fourth virtual straight line) passing through the rear end portion of the vehicle 11 and parallel to the vehicle width direction on the real world coordinates. A fifth virtual straight line L ₅ (fifth virtual straight line) orthogonal to the vehicle width direction passing through the inner ring side end in the vehicle width direction is assumed on the real world coordinates, and the intersection of both virtual straight lines L ₄ and L ₅ It can be assumed by determining Pi and further determining the radius. End of the inner ring side in the vehicle width direction of the fifth imaginary line which L ₅ through the vehicle 11 may also end of the projection projecting from the body of the vehicle 11, such as a door mirror 14.

  In the present embodiment, the reference circle assumption section 29 is an element (hereinafter referred to as a radius determination element) for determining the radius size of the outer ring side reference circle Co and the radius size of the inner ring side reference circle Ci. At least one of the white line distance, the obstacle distance, the position of the vehicle 11, the traveling direction of the vehicle 11, the characteristics of the user of the vehicle 11, the structure of the vehicle 11, and the steering angle of the steering wheel of the vehicle 11 is adopted. . The reference circle assumption unit 29 assumes an outer ring side reference circle Co and an inner ring side reference circle Ci having a radius suitable for the radius determining element.

  Note that the information about the radius determining element is input from each component 19, 19, 24, 26, 27, 28 on the input side of the reference circle assumption unit 29 as described above.

  Here, as the radii of the outer wheel side reference circle Co and the inner wheel side reference circle Ci are larger, the outer wheel side travel assist line 36 and the inner wheel side travel assist line 37 described later are more in the vehicle width direction than the Ackermann tire tracks Lo, Li. For example, the user can quickly grasp an obstacle that may collide with the vehicle 11.

  When determining the radii of the outer ring side reference circle Co and the inner ring side reference circle Ci, for example, when the white line distance is used as a radius determining element, the width of the parking space of the vehicle 11, that is, the left and right white lines of the vehicle 11 is determined. The distance between the outer ring side reference circle Co and the inner ring side reference circle Ci is calculated by taking the difference between the distance (for example, 250 cm) and the vehicle width (180 cm) of the vehicle 11 and dividing the difference by 2 (35 cm). Good. Note that this white line distance deviates from the radius determining element when no white line is detected.

  When the obstacle distance is used as a radius determining factor, the radius of the reference circles Co and Ci may be increased as the obstacle distance is decreased. Note that this obstacle distance deviates from the radius determining element when no obstacle is detected in the region detectable by the laser device 20.

  Furthermore, when the position of the vehicle 11 is used as a radius determining element, the radius of the reference circles Co and Ci is different depending on whether the vehicle 11 is in the indoor parking lot or the outdoor parking lot. May be. For example, as navigation information, width data indicating the width of the parking lot corresponding to the position of the vehicle 11 is acquired, and based on the acquired width data, the reference circle in the case where the vehicle 11 exists in a narrow indoor parking lot The radius of Co and Ci may be set larger than the radius of the reference circles Co and Ci when the vehicle 11 is present in a wide outdoor parking lot.

  Furthermore, when the traveling direction of the vehicle 11 is a radius determining factor, the radius of the reference circles Co and Ci when the vehicle 11 moves backward is larger than the radius of the reference circles Co and Ci when the vehicle 11 moves forward. You may make it enlarge only predetermined size (for example, 5 cm). This is because it is preferable that the obstacle is detected as soon as the driving operation is difficult.

  Further, when the characteristic of the user of the vehicle 11 is used as a radius determining factor, the radius of the reference circles Co and Ci may be increased as the driver is older.

  Further, when the structure of the vehicle 11 is used as a radius determining element, the vehicle type in which the handle is attached to the outer ring side has a radius of the inner ring side reference circle Ci rather than the vehicle type in which the handle is attached to the inner ring side. May be increased.

  Furthermore, when the steering angle of the steering wheel is used as a radius determining element, the radius of the reference circles Co and Ci may be increased as the steering angle increases.

  Further, the reference circle assumption unit 29 may set the size of one radius as the size of a radius common to both the outer ring side reference circle Co and the inner ring side reference circle Ci, You may make it set the magnitude | size of the radius of Ci separately so that it may mutually differ.

  The travel auxiliary line drawing unit 17 includes a reference point determination unit 31, and the reference point determination unit 31 includes information on the outer ring side reference circle Co and the inner ring side reference circle Ci assumed by the reference circle assumption unit 29. Is entered.

  The reference point determination unit 31 determines the reference point through which the travel assistance line passes by using the information of the input outer ring side reference circle Co and the inner ring side reference circle Ci.

That is, as shown in FIG. 2, the reference point determination unit 31 is configured so that the common curvature center S of the outer wheel side front wheel Ackermann locus Lo and the inner wheel side rear wheel Ackermann locus Li and the outer wheel side of the front wheel axle 15 on the outer wheel side of the vehicle 11. A third virtual straight line L ₃ (third virtual straight line) passing through the end point 15a is assumed. The third imaginary straight line L _3, for example, can be determined by previously grasped the coordinate point of the coordinate point and the center of curvature S of the end points 15a in the real world coordinates as described above, taking the difference between the two coordinate points . Then, the reference point determining unit 31, the outer wheel side wheel Ackerman locus Lo, from the outside (left side in FIG. 2) in the vehicle width direction relative to the vehicle 11 to the outer ring side reference circle Co along a third imaginary straight line L ₃ It moves to the position where it touches. Then, the reference point determination unit 31 determines a contact point between the outer wheel side front wheel Ackermann locus L′ o after movement and the outer wheel side reference circle Co as an outer wheel side reference point (hereinafter referred to as an outer wheel side reference point 32). It is like that. The position of the outer ring side reference point 32 depends on the size of the radius of the outer ring side reference circle Co. As the radius of the outer ring side reference circle Co is adapted to the radius determining element (white line distance, obstacle distance, etc.), the outer ring side reference point 32 is also adapted to the radius determining element ( The reference point is set at a position (suitable for displaying a driving assistance line preferable for assisting safe driving).

Further, as shown in FIG. 2, the reference point determination unit 31 includes an inner wheel in the axle 16 of the common center of curvature S of the outer wheel side front wheel Ackermann locus Lo and the inner wheel side rear wheel Ackerman locus Li and the rear wheel side axle of the vehicle 11. A sixth virtual straight line L ₆ (sixth virtual straight line) passing through the end point 16a on the side is assumed. The sixth imaginary line L _6, for example, can be determined by previously grasped the coordinate point of the coordinate point and the center of curvature S of the end points 15a in the real world coordinates as described above, taking the difference between the two coordinate points . Then, the reference point determining unit 31, outer inner ring side rear wheel Ackerman locus Li, in the vehicle width direction relative to the vehicle 11 to the sixth imaginary line L ₆ inner side reference circle Ci along (right side in FIG. 2) It moves to the position where it touches. Then, the reference point determination unit 31 determines the contact point between the inner ring side rear wheel Ackermann locus L′ i after movement and the inner ring side reference circle Ci as an inner ring side reference point (hereinafter referred to as an inner ring side reference point 33). It is supposed to be. The position of the inner ring side reference point 33 depends on the radius of the inner ring side reference circle Ci. As the radius of the inner ring side reference circle Ci is adapted to the radius determining element, the inner ring side reference point 33 is also a reference point set at a position adapted to the radius determining element. Yes.

  The travel auxiliary line drawing unit 17 includes a travel auxiliary line determination unit 35, and the travel auxiliary line determination unit 35 includes an outer wheel side reference point 32 and an inner wheel side reference point 33 determined by the reference point determination unit 31. Is input together with information on the outer wheel side front wheel Ackerman locus L′ o after movement and information on the inner wheel side rear wheel Ackerman locus L′ i after movement.

Then, the traveling auxiliary line determination unit 35 passes through the outer wheel side reference point 32 based on the input information on the outer wheel side reference point 32 and the information on the outer wheel side front wheel Ackermann locus L′ o after movement, and on the outer wheel side. An outer wheel side travel auxiliary line (hereinafter referred to as an outer wheel side travel auxiliary line 36) having a shape along the front wheel Ackermann locus Lo is determined. Incidentally, the outer ring side travel assisting line 36 in FIG. 2, a curved portion 36a in the traveling direction front side than the intersection point p ₁ between the outer side front wheel Ackerman trajectory of the moved L'o a third imaginary straight line L _3, the intersection It is formed by a linear portion 36b of the moving direction rearward than p _1. The curved portion 36a has a shape superimposed on the outer wheel side front wheel Ackermann locus L'o after movement. Also, straight portions 36b, the the intersection p ₁ to the position leading to the rear end of the vehicle 11, is extended so as to be perpendicular to the vehicle width direction. The outer wheel side travel auxiliary line 36 composed of the curved portion 36a and the straight portion 36b is nothing but a shape along the outer wheel side front wheel Ackermann locus Lo.

Further, the travel auxiliary line determination unit 35 passes through the inner wheel side reference point 33 based on the input information on the inner wheel side reference point 33 and the information on the moved inner wheel side rear wheel Ackermann locus L′ i, and An inner wheel side travel auxiliary line (hereinafter referred to as an inner wheel side travel auxiliary line 37) having a shape along the side rear wheel Ackermann locus Li is determined. Incidentally, the inner ring side travel assisting line 37 in FIG. 2, the intersection of the imaginary straight line L ₇ extending in a direction perpendicular to the inner ring side reference point 33 as the vehicle width direction, an inner ring side rear wheel Ackerman trajectory L'i after movement a curved portion 37a in the traveling direction front side than p _2, is formed by a linear portion 37b of the moving direction rearward side of the intersection p _2. The curved portion 37a has a shape superimposed on the inner ring side rear wheel Ackermann locus L′ i after movement. The straight line portion 37 b has a shape connecting the intersection point p ₂ and the inner ring side reference point 33. The inner wheel side travel auxiliary line 37 composed of the curved portion 37a and the straight portion 37b is nothing but the shape along the inner wheel side rear wheel Ackermann locus Li.

  The travel auxiliary line drawing unit 17 includes a travel auxiliary line drawing data generation unit 39, and the travel auxiliary line drawing data generation unit 39 includes the outer wheel side travel auxiliary line 36 determined by the travel auxiliary line determination unit 35. And the information of the inner ring | wheel side travel auxiliary line 37 is input.

  Then, the travel auxiliary line drawing data generating unit 39 draws the coordinates for displaying the information on the input outer wheel side travel auxiliary line 36 and the inner wheel side travel auxiliary line 37 on the display 9 from the aforementioned real world coordinates. Is converted to image information, and the auxiliary driving line drawing data for drawing the outer wheel side driving auxiliary line 36 and the inner wheel side driving auxiliary line 37 is generated by converting the information after the coordinate conversion into image information. It has become.

  Then, the travel auxiliary line drawing data generation unit 39 outputs the generated travel auxiliary line drawing data to the superimposing unit 40. The driving assistance line drawing data output to the superimpose unit 40 is combined with the vehicle / periphery drawing data and output to the display 9 as described above.

  As a result, as shown in FIG. 3, the image of the outer wheel side travel assist line 36 and the inner wheel side travel assist line 37 are superimposed on the image of the display 9 as viewed from above the vehicle. Displayed. In FIG. 3, an image of the vehicle in the parking lot and its surroundings (parking scene, white line, obstacle) looking down from above the vehicle is displayed together with images of the driving assistance lines 36 and 37. In addition, as shown in FIG. 3, the travel assistance line drawing data generation unit 39 allows the user to grasp the steering angle of the steering wheel of the vehicle 11 at a glance for tires having a rotation angle corresponding to the steering angle. An image may be displayed.

  The image displayed on the display 9 changes every moment according to changes in the driving operation state (steering angle, traveling direction, etc.) of the vehicle and surrounding conditions (approach of other vehicles, etc.).

  Next, a vehicle driving support method using the above-described vehicle driving support device 1 will be described as an embodiment of the vehicle driving support method according to the present invention.

  In this embodiment, as shown in FIG. 4, after starting the process for displaying the driving assistance line superimposed on the image of the vehicle and its surroundings as viewed from above the vehicle, step 1 (FIG. In ST <b> 1), the vehicle / periphery drawing unit 7 generates vehicle / periphery drawing data using the captured images of the in-vehicle cameras 2, 3, 5, and 6. The vehicle / periphery drawing data only needs to be generated before step 12 (ST12) described later in FIG.

  Next, in step 2 (ST2), when a driving operation for advancing the vehicle 11 while turning the vehicle 11 in one direction in the vehicle width direction is performed by a steering operation of the driver of the vehicle 11, this is expressed as steering angle information and Detected by the steering angle information acquisition unit 8 and the traveling direction detection unit 26 via the gear position information.

  Next, in step 3-1 (ST 3-1), the tire locus calculation unit 10 calculates the outer wheel side front wheel Ackermann locus Lo. At the same time, in step 3-2 (ST3-2), the tire track calculation unit 10 calculates the inner wheel side rear wheel Ackermann track Li.

Next, in step 4-1 (ST 4-1), the first virtual straight line L ₁ is assumed by the reference circle assumption unit 29. At the same time, it is assumed in step 4-2 (ST4-2), the reference circle assuming unit 29, a fourth imaginary line _{L 4.}

Next, in Step 5-1 (ST 5-1), the second virtual straight line L ₂ is assumed by the reference circle assumption unit 29. At the same time, it is assumed in step 5-2 (ST5-2), the reference circle assuming unit 29, a fifth imaginary line _{L 5.}

Next, steps in 6-1 (ST6-1), the reference circle assuming unit 29 obtains first and the virtual straight line _{L 1} to an intersection Po of the second virtual straight line _{L 2.} At the same time, in step 6-2 (ST6-2), the reference circle assuming unit 29 obtains a fourth imaginary line _{L 4} an intersection Pi of the fifth imaginary line _{L 5.}

  Next, in step 7-1 (ST7-1), the reference circle assumption unit 29 assumes an outer ring side reference circle Co having a radius that matches the radius determining element described above. At the same time, in step 7-2 (ST7-2), the reference circle assumption unit 29 assumes an inner ring-side reference circle Ci having a radius that matches the radius determining element.

Next, in step 8-1 (ST8-1), the reference point determining unit 31, the outer wheel side wheel Ackerman locus Lo, and the third virtual line _L vehicle 11 to the outer ring side reference circle Co along _three as a reference vehicle Move from the outside in the width direction to the touching position. At the same time, in step 8-2 (ST8-2), the reference point determining unit 31, the inner side rear wheel Ackerman locus Li, the vehicle 11 as a reference to the inner ring side reference circle Ci along the sixth imaginary line _{L 6} It is moved from the outside in the vehicle width direction to the position where it touches.

  Next, in step 9-1 (ST9-1), the reference point determination unit 31 determines the contact point between the outer wheel side front wheel Ackermann locus L'o after movement and the outer wheel side reference circle Co as the outer wheel side reference point 32. . At the same time, in step 9-2 (ST9-2), the reference point determination unit 31 determines the contact point between the inner ring side rear wheel Ackermann locus L′ i after movement and the inner ring side reference circle Ci as the inner ring side reference point 33. To do.

  Next, in step 10-1 (ST10-1), the travel auxiliary line determination unit 35 determines an outer wheel side travel auxiliary line 36 that has a shape along the outer wheel side front wheel Ackermann locus Lo through the outer wheel side reference point 32. . At the same time, in step 10-2 (ST10-2), the travel auxiliary line determination unit 35 determines the inner wheel side travel auxiliary line 37 having a shape along the inner wheel side rear wheel Ackermann locus Li through the inner wheel side reference point 33. To do.

  Next, in step 11-1 (ST11-1), the driving assistance line drawing data generation unit 39 generates driving assistance line drawing data for drawing the outer wheel side driving assistance line 36. At the same time, in step 11-2 (ST11-2), the travel auxiliary line drawing data generating unit 39 generates travel auxiliary line drawing data for drawing the inner wheel side driving auxiliary line 37.

  Finally, in step 12 (ST12), the vehicle / periphery drawing data in step 1 (ST1) and the travel auxiliary line drawing data in step 11-1 (ST11-1) and step 11-2 (ST11-2) are obtained. Combine (superimpose) and output to the display 9.

  Thereby, the display 9 shows an image of the vehicle and its surroundings as seen from above the vehicle as shown in FIG. 3, an image of the outer wheel side travel auxiliary line 36 superimposed on this image, and the inner wheel side travel auxiliary line. 37 images are displayed.

Here, the outer wheel side travel auxiliary line 36 and the inner wheel side travel auxiliary line 37 pass through the outer wheel side reference point 32 and the inner wheel side reference point 33 that are located on the outer side in the vehicle width direction from the Ackermann tire tracks Lo and Li, respectively. It is. Therefore, the traveling auxiliary lines 36 and 37 are the vehicle surrounding conditions, the driving operation state of the vehicle, with respect to the predicted traveling locus of the vehicle corresponding to the Ackermann tire locus Lo and Li extending forward in the traveling direction of the vehicle 11. It has a margin width (for example, W ₁ and W _{2 in} FIG. ₂ ) adapted to at least one of the structure of the vehicle and the characteristics of the vehicle user. This margin is not set by a conventional complicated operation by the user, but is automatically set based on automatic determination of the reference points 23 and 33.

  The driver of the vehicle 11 refers to the images of the outer wheel side travel auxiliary line 36 and the inner wheel side travel auxiliary line 37, while referring to the image of the outer wheel side travel auxiliary line 36 or the image of the inner wheel side travel auxiliary line 37 and the vehicle 11. By operating the handle so that it does not come into contact with images of obstacles around the vehicle, it is possible to safely escape the parking lot.

  As described above, according to the present embodiment, a reference point suitable for at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle is automatically determined. As a result of being able to display the driving assistance line passing through the determined reference point, it is possible to reduce the user's labor when displaying a suitable driving assistance line for assisting the driving of the vehicle. Can be improved.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

  For example, the travel auxiliary line drawing data generation unit 39 determines the radii of the reference circles Co and Ci at a predetermined time when the situation around the vehicle (for example, obstacle distance) and the driving operation state of the vehicle change rapidly. When the change of the vehicle exceeds a threshold value, the display color of the images of the auxiliary driving lines 36 and 37 may be changed to alert the driver. By doing so, a safe driving can be performed by the driver of the vehicle.

  Further, when the vehicle 11 goes straight, for example, an Ackermann tire locus having an infinite turning radius is calculated as the outer wheel side front wheel Ackermann locus Lo, and the outer wheel side reference point 32 is obtained using the calculated Ackermann tire locus. The outer wheel side travel auxiliary line 36 that passes through the outer wheel side reference point 32 and is parallel to the Ackermann tire trajectory having an infinite turning radius may be determined. Further, an Ackermann tire locus having an infinite turning radius is calculated as the inner wheel side rear wheel Ackermann locus Li, an inner wheel side reference point 33 is obtained using the calculated Ackerman tire locus, and the inner wheel side reference point 33 is rotated. The inner wheel side travel auxiliary line 37 parallel to the Ackermann tire trajectory having an infinite radius may be determined. In this case, it is assumed that one side (for example, the left side) in the vehicle width direction is assumed to be the outer ring side and the other side (the right side) in the vehicle width direction is assumed to be the inner ring side. A travel reference line using such an Ackermann tire trajectory having an infinite turning radius is a travel reference line composed of only a straight line portion.

  By the way, in the above-described embodiment, the situation around the vehicle (white line distance, obstacle distance, vehicle position, etc.), vehicle driving operation status (steering angle, traveling direction, etc.), vehicle structure, and vehicle user The reference point (in other words, the size of the radius of the reference circles Co and Ci) that conforms to at least one of the items classified into the respective types of characteristics is automatically determined. In this case, when considering a plurality of items belonging to different categories (for example, the situation around the vehicle, the driving operation state of the vehicle, and the characteristics of the user), the optimal reference point for each of the plurality of items is Different cases are also assumed. In that case, it is only necessary to comprehensively determine a reference point that matches each of the plurality of items (the radius of the reference circles Co and Ci), and determine a reference point that matches all of the plurality of items. . For example, the radius of the reference circles Co and Ci adapted to the situation around the vehicle is 35 cm, the radius of the reference circles Co and Ci adapted to the driving operation state of the vehicle is 45 cm, and the user characteristics are adapted. If the radius of the reference circles Co and Ci is 30 cm, the average of these 36.6 cm is set as the radius of the reference circles Co and Ci that fit all three matters. , Ci may be determined as a reference point that fits all three matters. Or, a reference point that is weighted to a specific item among a plurality of items and determined to be compatible with all of the plurality of items is located close to a reference point that matches only the specific item. It may be.

  This means that when a plurality of items belonging to the same classification are considered at the same time when determining the reference point (for example, as the situation around the vehicle, there are three white line distances, obstacle distances, and vehicle positions. The same applies to the case where matters are considered. Also in this case, it is assumed that the optimal reference point for each of the plurality of items is different, but in this case as well, a reference point (the size of the radius of the reference circles Co and Ci) that matches each is comprehensively determined. It is sufficient to determine a reference point that is suitable for all of a plurality of matters.

  Further, as described above, when the Ackerman tire locus is used as the tire locus of the vehicle 11, the vehicle 11 uses a known so-called Ackermann steering mechanism (a mechanism in which the turning center of the outer ring and the inner ring coincides with the same point). It is preferable to provide. However, tire trajectories other than the Ackermann tire trajectory may be applied to the present invention.

The block diagram which shows embodiment of the vehicle driving assistance apparatus 1 which concerns on this invention Explanatory drawing which shows the determination method of a reference point and a driving assistance line in embodiment of the vehicle driving assistance device 1 which concerns on this invention. The figure which shows the image which looked down at the vehicle and its periphery from the upper direction of the said vehicle, and the image of a driving assistance line in embodiment of the vehicle driving assistance device 1 which concerns on this invention. The flowchart which shows embodiment of the vehicle driving assistance method which concerns on this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle driving assistance device 2 Front camera 3 Back camera 5 Right side camera 6 Left side camera 7 Vehicle / periphery drawing part 9 Display 10 Tire locus calculation part 11 Vehicle 17 Driving assistance line drawing part

Claims (18)

A photographing device for photographing the periphery of the vehicle;
A vehicle / periphery display processing device that generates an image of the vehicle and its surroundings looking down from above the vehicle and displays them on a display unit, using a captured image of the photographing device;
A tire locus calculating device for calculating a tire locus of the vehicle based on a steering angle of the steering wheel of the vehicle;
A travel assist line for assisting the travel of the vehicle located outside the tire trajectory calculated by the tire trajectory calculation device in the vehicle width direction with respect to the vehicle is provided around the vehicle and its surroundings. A travel auxiliary line display processing device that displays the image superimposed on the image looking down from above the vehicle,
The travel auxiliary line display processing device is a reference point that is a point through which the travel auxiliary line passes, and the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle A reference point that is adapted to at least one of the following is automatically determined, and the driving assistance line having a shape along the tire trajectory passing through the determined reference point is displayed .
When a driving operation for making the vehicle travel while turning in one direction in the vehicle width direction is performed,
The tire locus calculating device is configured to calculate a tire locus of a front wheel on the outer wheel side of the vehicle and a tire locus of a rear wheel on the inner wheel side of the vehicle;
The travel auxiliary line display processing device,
Centering on the intersection of a first imaginary straight line passing through the front end of the vehicle and parallel to the vehicle width direction and a second imaginary straight line passing through the end on the outer ring side in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction And assuming a first circle having a radius adapted to at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle and the characteristics of the user of the vehicle,
The tire trajectory of the front wheel on the outer wheel side of the vehicle calculated by the tire trajectory calculation device is along a third virtual straight line passing through the center of curvature of the tire trajectory and the end point on the outer wheel side of the front wheel axle on the outer wheel side. The first circle is moved to a position in contact with the first circle from the outside with respect to the vehicle in the vehicle width direction, and the contact point between the tire circle of the front wheel on the outer ring side after the movement and the first circle is set on the outer ring side. As a reference point for
Display the outer wheel side travel auxiliary line passing through the determined outer wheel side reference point,
And,
An intersection of a fourth imaginary straight line passing through the rear end of the vehicle and parallel to the vehicle width direction and a fifth imaginary straight line passing through the end on the inner ring side in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction. Assuming a second circle having a radius that is centered and adapted to at least one of the conditions around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle;
The tire trajectory of the rear wheel on the inner wheel side of the vehicle calculated by the tire trajectory calculation device is a sixth virtual straight line that passes through the center of curvature of the tire trajectory and the end point on the inner wheel side of the axle of the rear wheel on the inner wheel side. Along the tire circle of the rear wheel on the inner ring side after the movement and the contact point of the second circle. Is determined as the reference point on the inner ring side,
A vehicle driving support device configured to display an inner wheel side travel auxiliary line passing through the determined inner wheel side reference point . The travel auxiliary line display processing device,
When the change in the radius of the first circle at a predetermined time exceeds a threshold value, the display color of the travel auxiliary line on the outer wheel side is changed, and the radius of the second circle at the predetermined time is changed. If the change in the size exceeds the threshold value, the vehicle driving support device according to claim 1, characterized in that it is formed so as to change the color of the inner ring side of the drive assistance line. 2. The vehicle driving according to claim 1 , wherein the travel auxiliary line display processing device is configured to individually set a radius of the first circle and a radius of the second circle. Support device. A parking line distance detection device for detecting a distance in the vehicle width direction between the parking line and the vehicle existing in the vicinity of the vehicle in the vehicle width direction;
The situation around the vehicle is the distance in the vehicle width direction between the parking line and the vehicle,
The travel auxiliary line display processing device is configured to determine the reference point adapted to at least a distance in the vehicle width direction between the parking line and the vehicle detected by the parking line distance detection device. The vehicle driving support device according to any one of claims 1 to 3 , wherein the vehicle driving support device is characterized in that: An obstacle distance detection device for detecting a distance between an obstacle present around the vehicle and the vehicle;
The situation around the vehicle is the distance between the obstacle and the vehicle,
The travel auxiliary line display processing device is configured to determine the reference point adapted to the distance between the obstacle and the vehicle detected by at least the obstacle distance detection device. The vehicle driving support device according to any one of claims 1 to 3 . A vehicle position detecting device for detecting the position of the vehicle;
The situation around the vehicle is the position of the vehicle,
The traveling auxiliary line display processing device according to claim 1 to claim 3, characterized in that it is formed to determine the reference point adapted to the position of the vehicle detected by at least the vehicle position detecting device The vehicle driving support device according to any one of the above. The driving operation state of the vehicle is the steering angle of the steering wheel of the vehicle,
The traveling auxiliary line display processing device, at least any one of claims 1 to 3, characterized in that said formed to determine the reference point adapted to the steering angle of the steering wheel of the vehicle The vehicle driving support device described. A traveling direction detection device for detecting a traveling direction of the vehicle;
The driving operation state of the vehicle is a traveling direction of the vehicle,
The travel auxiliary line display processing device is configured to determine at least the reference point adapted to the traveling direction of the vehicle detected by the traveling direction detection device. The vehicle driving support device according to any one of claims 3 to 4. A user information detecting device for detecting at least one of an age group and sex of a user of the vehicle;
The characteristics of the user of the vehicle are at least one of the age group and sex of the user,
The travel auxiliary line display processing device is configured to determine the reference point suitable for at least one of the age group and sex of the user detected by at least the user information detection device. The vehicle driving support device according to any one of claims 1 to 3 . An image obtained by looking down the vehicle and its surroundings from above the vehicle with respect to a travel auxiliary line for assisting the travel of the vehicle located outside the tire trajectory in the vehicle width direction with respect to the vehicle. When displaying overlaid on top,
A reference point that is a point through which the travel auxiliary line passes, and is a reference point that is suitable for at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle Is automatically determined, and the driving assistance line having a shape along the tire trajectory passing through the determined reference point is displayed ,
When a driving operation for making the vehicle travel while turning in one direction in the vehicle width direction is performed,
Calculating the tire locus of the front wheel on the outer wheel side of the vehicle and the tire locus of the rear wheel on the inner wheel side of the vehicle;
Centering on the intersection of a first imaginary straight line passing through the front end of the vehicle and parallel to the vehicle width direction and a second imaginary straight line passing through the end on the outer ring side in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction And assuming a first circle having a radius adapted to at least one of the situation around the vehicle, the driving operation state of the vehicle, the structure of the vehicle and the characteristics of the user of the vehicle,
The calculated tire trajectory of the front wheel on the outer wheel side of the vehicle along the third imaginary straight line passing through the center of curvature of the tire trajectory and the end point on the outer wheel side of the front wheel axle on the outer wheel side is the first circle. The vehicle wheel is moved to a position where it contacts from the outside with respect to the vehicle in the vehicle width direction, and the contact point between the tire track of the front wheel on the outer wheel side after the movement and the first circle is determined as a reference point on the outer wheel side. ,
Display the outer wheel side travel auxiliary line passing through the determined outer wheel side reference point,
And,
An intersection of a fourth imaginary straight line passing through the rear end of the vehicle and parallel to the vehicle width direction and a fifth imaginary straight line passing through the end on the inner ring side in the vehicle width direction of the vehicle and orthogonal to the vehicle width direction. Assuming a second circle having a radius that is centered and adapted to at least one of the conditions around the vehicle, the driving operation state of the vehicle, the structure of the vehicle, and the characteristics of the user of the vehicle;
The calculated tire trajectory of the rear wheel on the inner wheel side of the vehicle along the sixth imaginary straight line passing through the center of curvature of the tire trajectory and the end point on the inner wheel side of the axle of the rear wheel on the inner wheel side is the second trajectory. Is moved to a position in contact with the circle in the vehicle width direction from the outside with respect to the vehicle, and the contact point between the tire locus of the rear wheel on the inner ring side after the movement and the second circle is set as a reference point on the inner ring side. And
A vehicle driving support method comprising displaying an inner wheel side travel auxiliary line passing through the determined inner wheel side reference point . When the change in the radius of the first circle at a predetermined time exceeds a threshold value, the display color of the travel auxiliary line on the outer wheel side is changed, and the radius of the second circle at the predetermined time is changed. The vehicle driving support method according to claim 10 , wherein when the change in size exceeds a threshold value, the display color of the inner wheel side driving assistance line is changed. The vehicle driving support method according to claim 10 , wherein the radius of the first circle and the radius of the second circle are individually set. The situation in the vicinity of the vehicle is a distance in the vehicle width direction between a parking line and the vehicle existing in the vicinity of the vehicle in the vehicle width direction,
The vehicle driving support method according to any one of claims 10 to 12 , wherein the reference point that matches at least a distance in the vehicle width direction between the parking line and the vehicle is determined. The situation around the vehicle is a distance between the vehicle and an obstacle present around the vehicle,
The vehicle driving support method according to any one of claims 10 to 12 , wherein the reference point that matches at least a distance between the obstacle and the vehicle is determined. The situation around the vehicle is the position of the vehicle,
The vehicle driving support method according to any one of claims 10 to 12 , wherein the reference point that matches at least the position of the vehicle is determined. The driving operation state of the vehicle is the steering angle of the steering wheel of the vehicle,
The vehicle driving support method according to any one of claims 10 to 12 , wherein the reference point that matches at least a steering angle of a steering wheel of the vehicle is determined. The driving operation state of the vehicle is a traveling direction of the vehicle,
The vehicle driving support method according to any one of claims 10 to 12 , wherein at least the reference point adapted to the traveling direction of the vehicle is determined. The characteristics of the user of the vehicle are at least one of the age group and sex of the user,
The vehicle driving support method according to any one of claims 10 to 12 , wherein the reference point suitable for at least one of an age group and sex of the user is determined.

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