JP4992789B2 - Driving support device, driving support display control method and program - Google Patents

Description

  The present invention relates to a driving assistance device, a driving assistance display control method, and a program.

  Patent Document 1 discloses a parking assistance device that can be used even by a beginner to perform a parking operation with peace of mind. This parking assist device captures the rear of the vehicle with a camera and displays the travel prediction trajectory on the rear image on the display. In addition, the parking assist device alerts the driver by displaying a caution area, which is a measure of the proximity distance to the rear, on the rear image on the display.

  In addition, as an indication of the proximity distance to the rear, a guide line (hereinafter simply referred to as “guide line”) that is an indication of the vehicle width and the distance from the vehicle may be displayed on the display together with an image. Are known.

JP 2000-78566 A (Claims, FIG. 13 etc.)

  The camera attached to the vehicle together with the parking assist device described in Patent Document 1 has different attachment positions depending on the type of vehicle, the shape of the vehicle body, and the like. Therefore, it is necessary to change the setting of the above-described attention area and guide line display position according to the camera mounting position.

  For example, as shown in FIG. 8, these settings can be performed in a vehicle production line process using a diagnosis screen 70 displayed on a display screen that cannot be directly operated by a user (driver). For example, when the type of vehicle on which the driving support device is mounted is a sedan, the pattern selection key 71 displayed on the diagnosis screen 70 is pressed to designate the currently selected N mark 72 as the S mark 73. Need to be changed. When the S mark 73 is designated, the setting for sedan is automatically reflected for each element described above. If the vehicle type is “wagon”, the W mark 74 is designated. If the vehicle type other than the above is the standard setting, the N mark 72 is designated as it is. Reflected.

  However, even if the display position of the guide line can be appropriately set by the key operation described above, it is difficult to confirm at a glance whether or not the setting has been reflected. Furthermore, it is very time-consuming and time-consuming to perform the setting operation and the visual confirmation by the key operation described above for each vehicle in the vehicle production line process.

  Therefore, in view of the above-described problems, the present invention has an object to provide a driving support device, a driving support display control method, and a program in which a guide line can be easily set and the setting result can be easily confirmed visually. To do.

A driving support apparatus according to the present invention includes a vehicle type determination unit that determines the type of a vehicle , a storage unit that stores a guide line as a guide for the width of the vehicle and / or the distance from the vehicle for each type of vehicle, From the vehicle type information determined by the type determination unit, the camera installation position set in advance in the vehicle according to the vehicle type, the distance from the camera installation position to the center of the vehicle body, the imaging angle of the camera, and the camera installation position A display position adjustment unit that adjusts the display position of the guide line based on either one of the distance to the left end of the vehicle or the right end of the vehicle width or a plurality of these elements, and the display position adjustment together with the image captured by the camera And a display unit for displaying the guide line adjusted by the unit .

  The driving support device according to the present invention has the following features in addition to the above-described configuration of the invention. That is, the shape of the guide line is stored in the storage unit as a shape in which a figure is arranged in the center of the cross line for each type of vehicle, or a shape of only the cross line.

  The driving support device according to the present invention has the following features in addition to the above-described configuration of the invention. In other words, the vehicle type determination unit is configured to determine based on the vehicle type information acquired from the ECU that controls the vehicle.

The driving support display control method according to the present invention includes a vehicle type determination step for determining a vehicle type, vehicle type information determined in the vehicle type determination step, and attachment of a camera set in advance in the vehicle based on the vehicle type. Position, the distance from the camera mounting position to the center of the vehicle body, the angle at which the camera captures, the distance from the camera mounting position to the vehicle width left end or vehicle width right end, or one or more of these elements Based on the display position adjustment step for adjusting the display position of the guide line as a guide for the width of the vehicle and / or the distance from the vehicle, and the guide line adjusted by the display position adjustment step together with the image captured by the camera is displayed. And a display step .

  The program according to the present invention causes a computer to function as the above-described driving support device.

  According to the present invention, it is possible to provide a driving support device, a driving support display control method, and a program that can easily set a guide line and can easily check the setting result visually.

  Hereinafter, a driving assistance device, a driving assistance display control method, and a program according to an embodiment of the present invention will be described with reference to the drawings. The driving support device and the program will be described using the navigation unit 10 as an example. A method for controlling the driving assistance display will be described together with the operation of the navigation unit 10.

  FIG. 1 shows a configuration of a safe driving support system including a navigation unit 10 according to an embodiment of the present invention, a camera 20 that can capture the rear of a vehicle, and an ECU (Engine Control Unit) 30 that controls the entire vehicle. FIG.

  The navigation unit 10 mainly has a function of supporting driving of the vehicle. For example, a GPS (Global Positioning System) function or an image captured by the camera 20 is displayed on a display as a display unit 18 (see FIG. 2) described later. It is a device that projects and supports safe driving. Further, the navigation unit 10 can detect that the gear of the vehicle has entered reverse (reverse) based on the vehicle signal S1 output from the ECU 30. The navigation unit 10 can automatically perform driving support by switching the screen displayed on the display unit 18 by the vehicle signal S1 from a normal navigation image to an image obtained by imaging the rear of the vehicle. Further, the navigation unit 10 receives information indicating the vehicle type from the EUC 30, that is, the vehicle signal S2 that is vehicle type information. The navigation unit 10 is connected to a camera detection terminal T1 that detects a connection state of the camera 20. The navigation unit 10 supplies power W (6 V in this embodiment) to the camera 20.

  The camera 20 has a function of obtaining power W from the navigation unit 10 and imaging the rear of the vehicle. The camera 20 has a function of outputting the captured video signal U1 to the navigation unit 10. In addition, the camera 20 is attached to the rear in order to image the rear of the vehicle. However, the attachment position of the camera 20 is not limited to the rear side of the vehicle, and may be attached to any position on the outer periphery of the vehicle such as the right side surface and the left side surface of the vehicle.

  The ECU 30 has a function of performing electronic control of the entire vehicle. The ECU 30 according to the present embodiment has a function of notifying a control unit 11 (see FIG. 2) of the navigation unit 10 described later, in particular, a “vehicle type” that is information indicating the type of vehicle.

  FIG. 2 is a block diagram showing a main configuration of the navigation unit 10 shown in FIG.

  The navigation unit 10 includes a control unit 11. The control unit 11 includes a storage unit 12, a vehicle type determination unit 16, a display position adjustment unit 17, a display unit 18, and a control function unit 19 that controls these units as main components. In addition, the navigation unit 10 may have a gyro sensor that detects acceleration of movement of the vehicle, a GPS receiver that receives radio waves from a satellite, a key device, a USB I / F that can be connected to a USB cable, and the like. Good.

  The control unit 11 includes a CPU (Central Processing Unit) and the like, and has a function of controlling the entire navigation unit 10. That is, the control unit 11 can be divided into functions such as the storage unit 12, the vehicle type determination unit 16, the display position adjustment unit 17, the display unit 18, and the control function unit 19 according to functions to be performed. The control unit 11 can realize information processing as software, which is a function performed by each unit described above, using a CPU, HDD (Hard Disk Drive), a liquid crystal display, or the like as hardware resources.

  The storage unit 12 includes, for example, an HDD or a non-volatile memory, and various programs (not shown) for the control function unit 19 to operate the navigation unit 10, the shape data 13 of the guide line 64, the vehicle type data 14, and a guide described later. Various data such as display position data 15 of lines 61 to 64 (see FIG. 5) are stored. Moreover, it also has a function as a temporary data area for the control function unit 19 to calculate.

  FIG. 3 is a diagram illustrating an example of the shape data 13 of the guide line 64 stored in the storage unit 12 of the navigation unit 10 illustrated in FIG. As shown in FIG. 3, the sedan guide line 64 </ b> A is arranged such that a black square is superimposed on the center portion of the crosshair. The coupe guide line 64B has a black circle disposed at the center of the crosshair. In the minivan guide line 64C, no mark is arranged at the center of the crosshair.

  The vehicle type data 14 is data stored in association with the shape data 13 described above, and is, for example, vehicle type data such as a sedan, a coupe, and a minivan. The display position data 15 is stored in association with the shape data 13 and the vehicle type data 14 of the guide line 64. Details of the display position data 15 will be described later together with the display position adjustment unit 17.

  The display may be changed depending on the type of vehicle. For example, in the case of a sedan, a character “S” or a sedan picture mark is displayed at the end of the screen, or the color and brightness of the guide lines 61 to 64 are changed in advance for each type of vehicle. Also good.

  The vehicle type determination unit 16 is realized by an information processing program using software, and has a function of determining the type of vehicle. Specifically, this is a program that obtains a vehicle signal S2, which is information indicating the vehicle type, from the ECU 30 that controls the entire vehicle, and determines the vehicle type from the information. The vehicle type determination unit 16 determines which of the guide lines 64A to 64C shown in FIG.

  The display position adjustment unit 17 is realized by an information processing program using software, and refers to the mounting position information of the camera 20 and the angle information captured by the camera 20 as the display position data 15 stored in the storage unit 12. It has a function of adjusting the display positions of the guide lines 61 to 64 in the display unit 18. Specifically, this is a program for calculating at which coordinate position of the display unit 18 the guide lines 61 to 64 are drawn based on the display position data 15 stored in the storage unit 12.

  Hereinafter, specific adjustment contents performed by the display position adjustment unit 17 will be described. FIGS. 4 to 7 show a flowchart of a camera mounting position, a display screen example, and control processing used in the safe driving support system adopting the present invention.

  FIG. 4 is a diagram in which the camera 40A used in the safe driving support system shown in FIG. 1 is attached to the rear of the sedan vehicle X1. As shown in FIG. 4, it is assumed that the camera 40A is attached to Z2 which is shifted to the left by a predetermined distance A from the vehicle body center Z1 of the sedan vehicle X1 and is at a height B from the ground. .

  FIG. 5 is a diagram illustrating a display screen 60 that displays an image captured by the camera 40 </ b> A illustrated in FIG. 4, and illustrates that the display screen 60 includes a rear image and a guide line. As shown in FIG. 5, together with the video imaged by the camera 40A, guide lines 61, 62, 63 indicating the width of the sedan vehicle X1 and the distance from the vehicle X1, and a central cross guide line 64 indicating the center of the vehicle X1. Is displayed on the display screen 60.

  The display position adjustment unit 17 moves the display positions of the guide lines 61 to 64 by an amount AA corresponding to a predetermined distance A (see FIG. 4) from the vehicle body center Z1, that is, the center position of the display screen 60. When Z2 is Z2, the display positions of the guide lines 61 to 64 are adjusted so that Z1 shown in FIG. 5 is positioned at a position moved to the left by AA from Z2. Note that the positions of the frontmost guide line 61, the center guide line 62, and the rearmost guide line 63 are determined in advance by the distance from the rearmost position. For example, the guide line 61 is determined with a position 1 m before the distance from the rear as a guide, the guide line 62 is determined with a position 3 m before, and the guide line 63 is determined with a position 6 m before. . For this reason, the display position adjustment unit 17 also changes the display positions of the guide lines 61, 62, 63 depending on the height B at which the camera 40A is attached.

  FIG. 6 is a diagram showing angles taken by the cameras 40B and 40C used in the safe driving support system shown in FIG. 1, and FIG. 6A is a vertical inclination from the ground surface 71 of the sedan vehicle X2. This is a case where the angle is α, and (B) is a diagram showing a case where the angle β is an angle β indicating a left-right inclination with respect to the parallel line 72 with respect to the rear of the sedan vehicle X3. is there.

  As shown in FIG. 6 (A), when the image captured by the camera 40B attached to the sedan vehicle X2 is a predetermined angle α that is an upward / downward tilt from the ground surface 71, FIG. Similarly, as shown in B), the display position adjustment unit 17 is also the same when the predetermined angle β indicating the left-right inclination with respect to the parallel line 72 with respect to the rear of the sedan vehicle X3 is used. The guide lines 61 to 64 are changed in consideration of these elements so that they are appropriately displayed.

  That is, the display position data 15 (the predetermined distance A, the predetermined height B, the predetermined angle α, and the predetermined angle β) that are the above-described elements are different depending on the type of vehicle. Therefore, the display position adjustment unit 17 can change the display positions of the guide lines 61 to 64 depending on the type of vehicle.

  The display unit 18 is composed of a liquid crystal display, a touch panel, and the like, and functions to output the shape data 13 determined by the vehicle type determination unit 16 and the display position adjustment unit 17 and guide lines 61 to 64 based on the display position data 15. Have In addition, the guide lines 61 to 64 are displayed so as to overlap with the image captured by the camera 20.

  Thus, by setting the shape data 13 to be different for each vehicle type, it is possible to easily confirm visually that the setting result has been reflected. Further, the vehicle type can be determined and determined by comparing the vehicle type data 14 and the vehicle type acquired from the ECU 30. Further, the shape data 13 associated with the determined vehicle type is obtained, and the guide lines 61 to 64 are set at appropriate positions on the display unit 18 in accordance with the display position data 15 associated with the shape data 13. it can.

  Subsequently, the operation of the navigation unit 10 will be described with reference to the drawings. FIG. 7 is a flowchart showing a process for controlling the driving support display of the navigation unit 10 shown in FIG.

  The control unit 11 of the navigation unit 10 starts a process for controlling the driving support display when the power is turned on or the display position of the guide lines 61 to 64 is set (START).

  The control function unit 19 determines whether or not the vehicle type determination unit 16 has received the vehicle type (step S100). Specifically, it is determined whether or not a vehicle signal S2 that is information indicating “vehicle type” is received from the ECU 30 of the vehicle.

  When receiving the vehicle signal S2 from the ECU 30 of the vehicle (Yes in step S100), the control function unit 19 determines the type of the received vehicle and determines the guide lines 61 to 64 that match the vehicle type. That is, the control function unit 19 includes guide lines 61 to 64 as guides for the width of the vehicle and / or the distance from the vehicle among the guide lines suitable for each vehicle type stored in the storage unit 12, and the vehicle signal A guide line for the vehicle that matches S2 is determined (step S101). If the vehicle signal S2 cannot be received from the ECU 30 of the vehicle (No in step S100), the determination process in step S100 is repeated.

  The display position adjustment unit 17 of the control unit 11 acquires the display position information associated with the guide lines 61 to 64 determined in step S101, and adjusts the display position (step S102).

  The control function unit 19 outputs the guide lines 61 to 64 adjusted in step S102 to the display unit 18 together with the video imaged by the camera 20 attached to the outside of the vehicle (step S103), and controls the driving support display. End (END).

  That is, the navigation unit 10 receives the vehicle width and / or the vehicle according to the step of receiving the type information indicating the type of the vehicle (step S100), the step of determining the type of the vehicle (step S101), and the type of the vehicle. A step of determining guide lines 61 to 64 as a guide of the distance (step S101), a step of adjusting the display positions of the determined guide lines 61 to 64 (step S102), and a camera attached to the outside of the vehicle The step of outputting the guide lines 61 to 64 together with the video imaged in (Step S103), and the process of controlling the driving support display.

  By performing such control processing, the guide lines 61 to 64 can be easily set, and the setting result can be easily confirmed visually. In step S100, the vehicle signal S2 that is the vehicle type information is acquired from the ECU 30 and the guide lines 61 to 64 are determined, so that the guide lines 61 to 64 determined by the type of the vehicle are automatically changed. be able to. Further, since the automatically determined guide line 64 has a different shape depending on the type of vehicle, it is possible to easily confirm the setting visually. Moreover, the display position of a guide line can be adjusted by adjusting according to the display position of the guide lines 61-64 previously preserve | saved in the memory | storage part 12 by step S102. For example, the distance A from the attachment position of the camera 40A shown in FIG. 4 to the center Z1 of the vehicle body, the height B from the ground, the distance C from the attachment position of the camera 40A to the right end of the vehicle width or the right end of the vehicle width. , Distances W1 and W2 from the rear of the cameras 40B and 40C set for each type of vehicle shown in FIGS. 6A and 6B, and angles α and β taken by the cameras 40B and 40C. The display position of the guide line can be adjusted based on any one of these or a plurality of these elements. Therefore, even if the cameras are mounted at different positions for each type of vehicle, such as the cameras 40A to 40C, the guide lines 61 to 64 can be automatically adjusted and set appropriately.

  The navigation unit 10 has been described as an embodiment of the present invention. However, the present invention is not limited to this, and various modifications and changes can be made without departing from the spirit of the invention.

  For example, in the above-described embodiment, the camera 20 that displays the rear image of the vehicle has been described as an example. In addition to this, for example, the present invention may be applied to a side camera that projects the side of the vehicle or a front camera that projects the front.

  Moreover, in the said embodiment, the attachment position of the camera 20 is fixed and the angle which images is also fixed. In addition to this, for example, when the driver can adjust the mounting position of the camera 20 within a predetermined range or when the imaging angle can be freely changed, the guide lines 61 to 64 displayed on the display unit 18 accordingly. It is necessary to adjust the display position. In that case, a sensor that periodically detects the angle of the camera 20 may be provided, and the display positions of the guide lines 61 to 64 may be corrected and displayed from the angle detected by the sensor.

  In the above embodiment, a program for realizing each function is recorded in advance in the storage unit 12 of the navigation unit 10 described above. In addition, for example, these programs may be stored in the storage unit 12 before the shipment of these devices, or may be stored in the storage unit 12 after the shipment of these devices. . Moreover, a part of program memorize | stored in the memory | storage part 12 may be memorize | stored after shipment of these apparatuses. As described above, the program stored in the storage unit 12 after shipment is a program installed on a computer-readable recording medium such as a CD-ROM (Compact Disc Read Only Memory) or a semiconductor memory. Alternatively, it may be downloaded from a server device or the like via a transmission medium such as the Internet. Some or all of these programs may be stored in an external storage device other than the storage unit 12, such as an HDD, or a device detachable from the navigation unit 10, such as a memory card or a CD-ROM. In particular, since the shape data 13, the vehicle type data 14, and the display position data 15 of the guide line 64 are data closely related to the type of vehicle, they are stored in a memory card that is removable from the navigation unit 10, and are stored in the navigation unit 10. It is good to be provided with. Thereby, the navigation unit 10 can respond | correspond to the classification of various vehicles by replacing | exchanging and mounting a memory card.

  The present invention can be applied to all driving support apparatuses, driving support display control methods, and programs. That is, it can be applied to a navigation unit as a driving support device.

It is a figure which shows the structure of the safe driving assistance system containing the navigation unit which concerns on embodiment of this invention. It is a figure which shows the main structures of the navigation unit shown in FIG. It is a figure which shows an example of the guide line preserve | saved at the memory | storage part of the navigation unit shown in FIG. FIG. 2 is a view in which a camera used in the safe driving support system shown in FIG. 1 is attached to the rear of a sedan vehicle. It is a figure which shows the back image and guide line which were imaged with the camera of the sedan vehicle shown in FIG. It is a figure which shows the angle which the camera used in the safe driving assistance system shown in FIG. 1 images, (A) is a case where it is the angle (alpha) which is the up-down inclination from the ground surface of a sedan vehicle. (B) is a figure which shows the case where it is the angle (beta) which shows the inclination to the left and right when the parallel line with respect to the back of a sedan vehicle is made into a reference | standard. It is a flowchart figure which shows the process which controls the driving assistance display of the navigation unit shown in FIG. It is a figure which shows the content which this applicant developed previously, and is a figure which shows the diagnosis screen operated in the manufacturing line process of a vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Navigation unit (driving support device), 11 Control part, 12 Storage part, 16 Vehicle classification determination part, 17 Display position adjustment part, 18 Display part, 19 Control function part 20, 40A, 40B, 40C Camera, 30 ECU, 61 , 62, 63 Guide line, 64 Guide line, S2 Vehicle signal (vehicle type information)

Claims (5)

A vehicle type determination unit for determining the type of vehicle;
A storage unit for storing the guide wire as a guide of the distance from the width and / or vehicles of the vehicle for each type of the vehicle,
The vehicle type information determined by the vehicle type determination unit, the camera mounting position set in advance in the vehicle according to the vehicle type, the distance from the camera mounting position to the center of the vehicle body, and the imaging of the camera A display position adjusting unit that adjusts the display position of the guide line based on one or a plurality of elements of an angle, a distance from the camera mounting position to a vehicle width left end or a vehicle width right end of the vehicle ,
A display unit that displays a guide line adjusted by the display position adjustment unit together with an image captured by the camera;
A driving support device comprising: The shape of the guide wire is
The driving support device according to claim 1, wherein the storage unit stores a shape in which a figure is superimposed on a center portion of a crosshair for each type of vehicle, or a shape of only a crosshair. . The vehicle type determination unit
Driving support apparatus according to claim 1 or 2, characterized in that determining the type of the vehicle based on the type information of the vehicle acquired from the ECU to control the vehicle. Vehicle type determination step for determining the type of vehicle;
Vehicle type information discriminated in the vehicle type discriminating step, a camera mounting position set in advance in the vehicle according to the vehicle type, a distance from the camera mounting position to the center of the vehicle body, and imaging of the camera The width of the vehicle and / or the distance from the vehicle based on one or a plurality of factors from the mounting angle of the camera to the left end of the vehicle width or the right end of the vehicle width. A display position adjustment step for adjusting the display position of the guide line as a guide,
A display step of displaying a guide line adjusted by the display position adjustment step together with an image captured by the camera;
A method for controlling driving assistance display, comprising: A program for causing a computer to function as the driving support device according to any one of claims 1 to 3.

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