JP5110343B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle by displaying a captured image of a vehicle traveling direction on a monitor screen, and in particular, a driving support device that facilitates stopping at a desired position during backward movement such as garage parking. About.

  In order to support driving during parking in the garage, a CCD camera and a distance sensor for measuring the distance are installed around the vehicle body, the situation around the vehicle is detected, and the vehicle periphery is displayed on a monitor screen provided in the vehicle interior. There is known a device for displaying a surrounding image in a bird's eye view and notifying the driver of the surrounding situation (see, for example, Patent Document 1). This prior art assumes that the distance from the vehicle to an object such as an obstacle or target around the vehicle can be accurately measured. However, the objects present around the vehicle are different in every case, and a complicated distance measuring system is required to measure the distance to such an object. In addition, the calculation load required to generate a bird's eye view from the obtained distance information is large, and it is difficult to employ such a driving support device for a general vehicle.

In addition, a parking assist device that omits the distance measurement system and displays the vehicle travel prediction trajectory obtained based on the steering angle obtained by the steering sensor on the rear shot image acquired by the camera during parking travel is displayed. (For example, see Patent Document 2). According to this technology, it is possible to check the position on the rear road when the vehicle travels backward by using the predicted traveling locus, so that the driving operation such as parking is easier than driving relying only on the rearview mirror. However, when a vehicle is parked backward in a vacant lot or a cargo handling area, there are many obstacles such as walls and road objects such as a cargo handling platform on the depth side of the parking run. Therefore, whether the door provided at the rear of the vehicle can be opened without such interference with the road object, or whether the load protruding from the rear of the vehicle can get over the road object, etc. It is not very useful for driving judgment in consideration of the height level between the vehicle and the road object.
Japanese Patent Laid-Open No. 7-17328 (paragraph numbers 0013-0016, FIG. 2) JP 2004-142741 A (paragraph number 0006-0012, FIG. 13)

  In view of the above situation, the object of the present invention is to provide an effective support for driving determination in consideration of the height level between the vehicle and the object on the road without requiring a distance measuring system with equipment and cost burden. It is providing the driving assistance device which can perform.

In order to solve the above-described problems, in the driving support device according to the present invention that supports driving of a vehicle by displaying a captured image of the vehicle traveling direction on a monitor screen, the vehicle is opened and closed around a longitudinal axis provided in the vehicle. to the lower end portion projecting up behind by opening the back door, or the target part is a lower part that projects up to the rear by the opening of the hatchback door for opening and closing swing about the horizontal axis provided on said vehicle An intersection line between a reference vertical plane parallel to the vehicle width direction at a position corresponding to the position in the vehicle traveling direction and the ground is displayed on the monitor screen as a baseline, and the ground height of the target portion on the reference vertical plane Is displayed on the monitor screen.

  In this configuration, for example, a rear captured image of the height of the ground of a protruding portion of the rear portion of the vehicle (an example of the attention portion protruding in one direction from the vehicle) previously defined as the attention portion when traveling backward is displayed. Consider a reference vertical plane parallel to the vehicle width direction set at a predetermined position in the vehicle traveling direction so that it can be confirmed on the monitor screen. A line indicating the ground height of the target portion (projection) on the reference vertical plane is displayed as a level line, and an intersection line between the reference vertical plane and the ground is displayed as a base line superimposed on the monitor image. The For example, if the position of a certain object (on-road object) reflected in the travel destination of the vehicle in the photographed image matches the position of the reference vertical plane, an indication of the height relationship between the object and the target part (protruding part) is obtained. It will be indicated by the level line. At that time, the baseline is used as an index for confirming whether the position of the object matches the position of the reference vertical plane. When the object is an upright wall, the target part is the rear end of the load protruding from the rear of the vehicle, and the reference vertical plane is set to the rear end position of the load, the ground installation line and the base line of the upright wall are displayed on the monitor screen. Since the rear end of the load loaded on the vehicle comes into contact with the upright wall body, the vehicle is stopped in front of the vehicle so that parking at the edge of the wall is realized. More importantly, if the level line is displayed on the top of the upright wall on the monitor screen at that time, you can get an indication that the vehicle can move further back while the load gets over the upright wall. . If the attention part is defined not as the rear end of the load but as the back door, the driver can easily know the parking position where the back door can be opened with respect to the upright wall. In other words, in the driving support device according to the present invention, the object defined between the vehicle and the object on the road is appropriately selected by defining what is defined as the target portion protruding in one direction from the vehicle and the position of the reference vertical plane corresponding to the target portion. In consideration of the height level of the vehicle, it is possible to provide effective support for driving determination in vehicle travel regardless of reverse travel or forward travel.

  In the present invention, it is important to accurately set the reference vertical plane in order to accurately grasp the height level with the object on the road. For this reason, in order to align the base line with the ground position of a ground installation such as a traveling obstacle in the captured image, the position of the base line can be adjusted on the monitor screen. A great advantage can be obtained if the level line is adjusted based on the position-adjusted baseline. By adjusting the baseline representing the intersection line between the reference vertical plane and the ground surface on the monitor screen, the baseline is accurately aligned with the desired position in the captured image, and as a result, the reference vertical plane is captured. This is because it is possible to accurately match the position of the desired object in the image.

  If the position of the base line can be adjusted on the monitor screen in this way, the level line position can be corrected by aligning the base line with the ground position of the ground installation that is relatively distant from the monitor screen. By comparing the level line displayed at that time and the top of the ground installation, it is possible to grasp in advance the relationship between the height of the ground installation and the height of the vehicle attention part. Bring.

As one of the more practical embodiments, when the target portion is a lower end portion that protrudes rearward to the maximum by opening a back door that opens and closes around a longitudinal axis provided in the vehicle, the baseline Is determined by the intersection position of the reference vertical plane and the opening / closing swing locus of the back door, triggered by a command input by the driver's operation when the road object reaches the ground position in the captured image. A configuration is proposed in which the door opening limit is displayed on the monitor screen as a side line.
In this configuration, the target portion is a lower end portion that protrudes rearward at the maximum when the back door is opened, and the farthest end in the open / close locus of the back door collides with an object on the road (for example, an upright wall), that is, the back After the vehicle has moved backward to a position where the door can be fully opened, a position where the vehicle can further move backward is indicated according to the command of the driver. That is, a side line is displayed that indicates the degree to which the back door cannot be opened as it moves backward. As a result, the stop position for ensuring the required degree of opening and closing of the back door can be easily known.

In yet another practical embodiment, when the target portion is a lower end portion that protrudes rearward to the maximum by opening a hatchback door that opens and closes around a horizontal axis provided in the vehicle, When the baseline reaches the ground position of the object on the road in the photographed image, it is determined by the intersection position of the reference vertical plane and the opening / closing swing trajectory of the hatchback door using a command input by the driver's operation as a trigger. The openable / closable limit position of the hatchback door is represented by the level line.
In this structure, the said attention part is made into the lower end part which protruded back most by opening | release of a hatchback door. Depending on the driver's command, depending on the opening / closing angle of the hatchback door, immediately after the farthest end of the opening / closing locus of the hatchback door collides with an object on the road (for example, an upright wall), that is, after moving backward to a position where the hatchback door can be fully opened Will indicate the position where you can go further. In other words, the level line indicates the range in which the hatchback door can be opened in the reverse position. For this reason, the stop position can be easily determined according to the required opening / closing degree of the hatch back door.

  In the driving support device according to the present invention, the area defined by the base line and the level line on the reference vertical plane is used when the driver grasps the standard of the height level between the predetermined target portion and an arbitrary ground installation. It becomes an important indicator. Therefore, in order to clarify this region on the photographed image, it is also proposed that the translucent plane including the base line and the level line is displayed so as to be superimposed on the photographed image. Such a translucent plane can be easily realized by lowering the brightness of the corresponding area when the shooting screen is bright, or by increasing the brightness of the corresponding area when the shooting screen is dark, and of course by changing the hue etc. It can also be realized.

  First, the principle of the driving support apparatus according to the present invention will be described with reference to the schematic diagram shown in FIG. In this schematic diagram, an automobile 10 as a vehicle is mounted with a camera 1 at the rear of the vehicle with a rear view field for confirmation of the rear. A monitor 30 that displays a photographed image from the camera 1 is installed at a position that is easy to see from the driver inside the vehicle. In order to confirm the front, it is preferable to mount the camera 1 with the front in the field of view on the front of the vehicle. The automobile 10 includes a rearward projecting portion at the rear of the vehicle, and this rear projecting portion is referred to as an attention portion 20 here. The target portion 20 may be a projecting portion that is structurally formed at the rear of the vehicle, or may be a load loaded on a loading platform such as a pickup truck. Furthermore, a back door that opens and closes around the vertical axis and a hatchback that opens and closes around the horizontal axis, and precisely the opening and closing traces thereof, also fall within the category. Further, the driving support device according to the present invention displays the captured image of the vehicle traveling direction (here, the backward direction) on the monitor screen to assist the driving of the vehicle, and the attention unit 20 and the road object during the backward traveling This is to check for interference. Therefore, also in the attention part 20, the last point at the lowest end (referred to as the attention point 20a) is particularly important.

  The camera 1 is set so as to have an angle of view with a shooting range of the ground 2 sufficiently behind the vehicle including the bumper 12 of the vehicle 10 as a lower limit. Since the camera 1 is fixed to the automobile 10, the position of the bumper 12 in the image captured by the camera 1 is unchanged. An appropriate colored (for example, red) thick line indicating the bumper position in an easy-to-understand manner can be superimposed on the captured image and displayed on the monitor screen. A line indicating the bumper position is referred to as a bumper line 31.

  Furthermore, the vertical part that is perpendicular to the ground 2 and parallel to the vehicle cross section passes through the attention part 20, particularly the attention point 20a that is the rearmost end of the lowest part, or passes through a point that is a predetermined distance away from the attention point 20a. A plane (hereinafter referred to as a reference vertical plane) 3 is set. As shown in FIG. 1A, the intersection line between the reference vertical plane 3 and the ground 2 is displayed as a base line 32 on the monitor screen. At the same time, the target portion 20 on the reference vertical plane 3, specifically, a level line 33 indicating the ground height of the target point 20 a of the target portion 20 is overlaid on the captured image and displayed on the monitor screen. When the reference vertical plane 3 is set so as to pass through the point of interest 20a, the base line 32 is a line indicating the position of the point of interest 20a vertically projected onto the ground 2. As shown in FIG. 1B, the position of the vehicle when the base line 32 is reached at the ground position of an object on the road (for example, a traveling obstacle) shown on the monitor screen is defined as a vehicle rearward protruding portion. The target point 20a of the target unit 20 is the position where the object on the road matches. Furthermore, if the road object is almost upright, if the level line 33 exceeds the top (highest part) of the road object on the monitor screen at this time, the attention unit 20 moves the road object over the road object. It is possible to determine that it is possible to get over and go further. In this case, the vehicle can move backward until the bumper line 31 reaches the ground position (ground line) of the object on the road. On the other hand, if the level line 33 is below the top of the object on the road (see FIG. 1 (b)), the target part 20 and the object on the road collide, so it is impossible to move backward further. It can be judged that there is.

  When the position of the reference vertical plane 3 can be arbitrarily set, the height of the road object can be determined before the vehicle moves backward toward the road object. As shown in FIG. 2, first, the base line is adjusted on the monitor screen so as to coincide with the ground position (ground line) of the object on the road. That is, by setting the reference vertical plane 3 to the position of the road object, the interference relationship between the road object and the attention unit 20 can be roughly known in advance.

   Therefore, in the driving support device based on the above-described principle, the reference vertical surface 3 and the ground 2 are determined based on the position of the attention portion 20 (more precisely, the attention point 20a) as some rear protrusion defined in the automobile 10. The intersection line is displayed as a baseline 32 on the monitor screen. Furthermore, the level line 33 indicating the ground height of the target portion 20 on the reference vertical plane 3 is displayed on the monitor screen, so that the driver can easily understand the interference relationship between the on-road target portion and the vehicle portion existing on the travel extension. It becomes possible to grasp.

  In order to configure such a driving support apparatus, it is assumed that the camera 1 that captures the periphery of the traveling direction of the automobile 10 and the monitor 30 that displays the captured image are provided. As shown in FIG. 3, the core part of the driving support apparatus according to the present invention is constructed by hardware and / or software in a controller 5 generally called an in-vehicle personal computer. In the controller 5, functional elements for various functions other than the driving support device are constructed. As particularly related to the present invention, an operation input unit 51 that enables an operation command by a driver, a travel distance calculation unit 52 that calculates a travel distance of the automobile 1, a command sent via an input / output interface 53, Based on the data, the driving support module 60 that sets the definition of the attention unit 20 in the automobile 1 and generates the base line 32, the level line 33, and, if necessary, the bumper line 31, is sent from the driving support module 60. Based on information such as the base line 32 and the level line 33, a combining unit 54 that superimposes driving support indexes such as the base line 32 and the level line 33 on an appropriate position of the captured image from the camera 1 is transferred from the combining unit 54. A video control unit 55 that converts the captured image data into a video signal and sends it to the monitor 30; It is.

  The operation input unit 51 uses a key matrix created by a touch panel normally mounted on a monitor screen, and a correction button 51a, a direction key 51b, and a set button 51c whose functions will be described later are constructed. Of course, hardware buttons installed separately or software buttons created by the GUI of the controller 5 may be adopted.

  The driving support module 60 stores the attention part definition part 61 that defines the attention part 20 (attention point 20a) and determines the coordinate position thereof based on the input data, and the coordinate position of the defined attention part 20 is stored. A target portion position information table 62 to be stored, a reference vertical surface setting unit 63 for setting the reference vertical surface 3 described above, and a position of the baseline 32 on the photographing screen based on the set reference vertical surface 3. The base line generation unit 64 that generates drawing information related to the base line 32 and supplies the drawing information to the combining unit 54, and calculates the position of the level line 33 on the photographing screen based on the set reference vertical plane 3 and the level line 33 A level line generation unit 65 that generates drawing information relating to the combination unit 54 and generates the drawing information related to the bumper line 31 although it is not an essential requirement of the present invention. Bumper line generator 66 providing is provided. Each of the baseline generation unit 64 and the level line generation unit 65 has a baseline position calculation unit 64a that calculates the position of the baseline in the captured image as a core functional element, and a level that calculates the position of the level line in the captured image. A line position calculation unit 65a is included. The baseline generation unit 64 also includes a baseline adjustment unit 64b that changes the set position of the reference vertical plane 3 by moving the baseline 32 displayed together with the captured image on the monitor screen. For this reason, it is convenient to combine at least the base line 32 with the captured image in the combining unit 54.

  As a special example, when the target portion 20 is a back door that opens and closes around the vertical axis, the angle at which the back door can be opened and closed varies depending on the distance from the obstacle on the road such as an upright wall. In this apparatus, the limit opening / closing degree of the back door in such a case can be indicated by the movement of two side lines displayed on the monitor. For this purpose, for example, a sideline generation unit 67 that generates information on the sideline based on the distance between the vehicle and the obstacle on the road and the door locus data and supplies the information to the combining unit 54 can be provided as an optional function.

  In order to make the relationship between the base line 32 and the level line 33 that play an important role in driving support according to the present invention stand out on the monitor screen, a rectangular plane having the base line 32 as the lower side and the level line 33 as the upper side. A region (rectangular shape is an example) can be created. Furthermore, a function of making the rectangular plane region semi-transparent, that is, creating a visual change (lightness difference, hue difference, etc.) different from other regions as long as the captured image can be seen may be given to the combining unit 54.

Next, embodiments in which the driving support apparatus according to the present invention is applied to various automobiles will be described with reference to the drawings.
[Example 1]
In this embodiment, the automobile 1 to which the present invention is applied is like a pickup truck having a cargo bed at the rear, and the lower end of the rear end of the cargo that protrudes rearward from the cargo bed is the attention portion 20 or the attention point. 20a. For this reason, in this embodiment, since the position of the attention part 20 differs depending on the load on the loading platform, it is redefined by the attention part definition part 61 each time. In other words, the attention portion definition section 61 determines the coordinate position of the attention portion 20 in the vehicle based on the attention portion information input through the operation input portion 51 every time a load protruding backward from the loading platform is loaded, and the attention portion position information table 62. Will be recorded. In the case of a load that fits in the loading platform, the rear end of the loading platform becomes the attention portion 20, so it is preferable to use position information on the attention portion (rear loading end) set in advance on the manufacturer side.

The operation of the present driving support device in the case where the lower end portion of the rear end of the load is defined as the attention portion 20 will be described with reference to the schematic explanatory view of FIG. 4 and the flowchart of FIG.
First, it is checked whether or not the attention part 20 is defined (# 01). If not, information on the attention part 20 such as the amount of protrusion of the cargo from the rear end of the loading platform is input (# 02). Based on the input information about the attention part 20, attention part position information is recorded in the attention part position information table 62 (# 03). When the vehicle starts to travel backward for the purpose of parking in a garage or the like, the camera 1 that captures the rear periphery is activated in order to display a captured image of the rear of the vehicle on the monitor 30 (# 04). Here, first, the reference vertical plane setting unit 63 sets the reference vertical plane 3 that passes through the lower end of the rear end of the load, which is the target section 20, using the position information read from the target section position information table 62. The baseline position calculation unit 64a calculates the position of the baseline 32 using the setting information of the reference vertical plane 3 (# 05), and the level line position calculation unit 65a calculates the position of the level line 33 (# 06). . The calculation of each line position is the calculation of the position of a point on the ground that is a predetermined distance away from the vehicle in the captured image coordinates acquired by the camera 1, and this is apparent from the schematic diagram of FIG. Thus, the calculation can be easily performed using the projection matrix defined by the camera parameters and the distance to the ground in the camera optical axis. When the base line position and the level line position are obtained, the base line generation unit 64 and the level line generation unit 65 give attribute values such as the width, length, and color of the base line 32 and the level line 33 to the synthesis unit 54, respectively. By sending the image, the base line 32 and the level line 33 are displayed on the monitor 30 while being superimposed on the photographed image (# 07). In addition, since this bumper line generation part 66 is provided in this driving assistance device, the bumper line 31 is also displayed on the monitor 30.

  The driver moves the vehicle backward while checking the state of the rear on the monitor screen of the monitor 30. When there is an object on the road such as an obstacle or a handling platform on the extension in the subsequent traveling direction, it is necessary to stop the vehicle so that the attention portion 20 that is the rear end of the vehicle is positioned immediately before the object on the road. is there. Therefore, the vehicle moves backward until the baseline 32 as the projected ground position of the attention unit 20 comes just before the ground position of the road object (indicated by a two-dot chain line in the monitor screen of FIG. 4), and then stops ( # 08). In order to make the height level of the road object and the target portion 20 on the monitor screen accurate, it is necessary to accurately match the baseline 32 with the ground position of the road object. Since it is inevitable that the stop position varies for an unskilled driver, the function of the baseline adjustment unit 64b is used for software correction of the stop position. That is, when it is determined that the ground position of the base line 32 and the object on the road is shifted (# 09 Yes branch), movement correction of the reference vertical plane 3 through adjustment of the base line 32 is prepared in the operation input unit 51. This is started by the correction button 51a. The position of the base line 32 is adjusted until the ground position of the object on the road matches the base line 32 while viewing the base line 32 moving on the monitor screen by operating the direction key 51b. Thereby, the position of the baseline 32 is corrected (# 10). The reference vertical plane setting unit 63 changes the set position of the reference vertical plane 3, and the level line position calculation unit 65 a recalculates the position of the level line 33 corresponding thereto, and the updated level line information is sent to the synthesis unit 34. Since it is sent out, the height level of the target portion 20 in the reference vertical plane 3 set up in front of the object on the road accurately is displayed as a level line 33 on the monitor screen (# 11). Thereby, it becomes possible to easily grasp the comparison of the height level between the attention portion 20 and the road object.

  If the level line 33 is below the top of the road object on this monitor screen (FIG. 4 (b)) (# 12 No branch), further reverse will cause the target 20 and the road object to collide. Park at # 13. On the contrary, when the level line 33 exceeds the top of the road object (FIG. 4C) (# 12 Yes branch), the attention unit 20 gets over the road object, so that further backward movement is possible. For example, it is possible to reverse the vehicle to the bare parking position where the bumper line 31 is aligned with the ground position of the road object (# 14).

  In the above description, the adjustment of the baseline (as a result, the movement of the reference vertical plane 3) has been used to compensate for variations in stopping accuracy that align the baseline 32 with the ground position of the object on the road. This function can also be used to obtain an indication of the height comparison between a distant road object and the target portion 20. That is, following the display of the baseline 32 in step # 07, the driver presses a guide button (not shown; may also be used as the correction button 51a) prepared in the operation input unit 51. To enter the reference mode, and operate the direction key 51b to bring the base line 32 to the ground position of the road object far away, and compare the level line 33 displayed at that time with the top of the road object. Thus, it is possible to know in advance whether or not the attention unit 20 interferes with the road object (see FIG. 6). After knowing the guideline, if the vehicle is switched to the normal mode and the vehicle moves backward after step # 08, the driver can move the vehicle 10 backward with a margin.

[Example 2]
In this embodiment, the automobile 1 to which the present invention is applied is like an RV car having a double-sided back door around the vertical axis at the rear. When the back door is closed, the rear end of the vehicle is the bumper 12 or the back door. However, when opening and closing of the back door is taken into consideration, the rear end of the vehicle is an open back door. For this reason, here, the lower end portion of the back door that protrudes rearward at the maximum by opening is defined as the basic attention portion 20 or the attention point 20a. For this reason, in this embodiment, since the position of the attention part 20 is determined by the design value of the back door, the attention part 20 is previously defined by the attention part definition part 61. However, since the rearward protrusion amount of the back door varies depending on the opening / closing angle, the door locus data is recorded in the attention portion position information table 62, and, if necessary, the lower end of the back door defined by the door locus data. The position of the part is defined as a special attention part 20 or attention point 20a.

The operation of the present driving support apparatus in the case where the lower end portion of the double-spread type back door around the vertical axis is defined as the attention portion 20 will be described with reference to the schematic explanatory diagrams of FIGS. 7 and 8 and the flowchart of FIG.
In this case, since the attention part 20 is defined in advance by the manufacturer, there is no need to input information relating to the attention part 20, so steps # 01 to # 03 of the flowchart according to FIG. 5 used for explaining the first embodiment. Is omitted. When the vehicle starts to travel backward for the purpose of parking in a garage or the like, the camera 1 that captures the rear periphery is activated to display a captured image of the rear of the vehicle on the monitor 30 (# 21). At the same time, the lower end portion of the back door that protrudes rearward at the maximum based on the door locus data read from the attention position information table 62 is the attention portion 20, and the reference vertical plane setting portion 63 is the attention portion 20 of the back door. A reference vertical plane 3 passing through the lower end is set. The baseline position calculation unit 64a calculates the position of the baseline 32 using the setting information of the reference vertical plane 3 (# 22), and the level line position calculation unit 65a calculates the position of the level line 33 (# 23). . Accordingly, as shown in FIG. 7A, the base line 32 is adjusted to the ground position of the road object while looking at the base line 32 and the level line 33 displayed together with the captured image on the monitor screen (# 24). (# 25). Thereafter, the adjustment work of the baseline 32 performed as necessary is performed when it is determined that the ground position of the base line 32 and the object on the road is shifted as in the first embodiment (# 26 Yes branch). In this baseline adjustment operation performed using the operation of the correction button 51a as a trigger, the position of the baseline 32 is adjusted by manual operation of the driver's direction key 51b (# 27). As a result, the reference vertical plane setting unit 63 changes the setting position of the reference vertical plane 3, and the level line position calculation unit 65a recalculates the position of the level line 33 corresponding thereto, and the updated level line information is synthesized. Therefore, the height level of the target portion 20 on the reference vertical plane 3 set up in front of the road object is displayed as a level line 33 (# 28). At this time, since the level line 33 representing the height level of the target portion 20 is accurately compared with the height level of the object on the road, the level line 33 is displayed on the monitor simultaneously with the base line 32 from the beginning. Instead, the level line 33 may be displayed only after the baseline adjustment operation or by operating another button such as the set button 51c when the baseline adjustment is unnecessary.

In any case, the stop position where the ground position of the object on the road and the base line 32 coincide with each other on the monitor screen is a position where a space enough to completely open and close the back door is provided between the object on the road. . Also, by comparing the level line 33 and the top of the object on the road at that time, there is a possibility that the vehicle can be moved backward while guaranteeing complete opening and closing of the back door, that is, the possibility that the back door can open and close freely by getting over the object on the road Can be grasped.
For example, if the level line 33 is above the top of the road object on this monitor screen (# 29 Yes branch), the backdoor can be opened and closed without being hindered by the road object. It is possible to reverse the vehicle to the last parking position where the bumper line 31 is aligned with the ground position of the object (# 30).

  When the level line 33 is below the top of the road object (FIG. 7B) (# 12 No branch), further reverse travel means that the opening angle of the back door is limited by the road object. As shown in FIG. 8, a side line 34 is displayed on the monitor screen so that the driver can easily grasp the relationship between the further reverse and the limit opening angle of the back door. When the side line 34 is displayed, as can be understood from the schematic diagram shown in FIG. 8, the reference vertical plane 3 is moved in accordance with the moving distance of the vehicle after the base line 32 is adjusted to the ground position of the object on the road. (# 31). This vehicle travel distance information is obtained from the travel distance calculation unit 52. The intersection of the re-set reference vertical plane 3 and the backdoor opening / closing locus is calculated as a target portion for the side line 34 by the side line generation unit 67, and drawing information regarding the side line 34 is sent to the synthesis unit 54. The side line 34 is displayed on the monitor screen (# 32). Here, when the back door opening / closing degree indicated by the side line is still sufficiently satisfied (FIG. 8 (a), # 33 Yes branch), the vehicle further moves backward (# 34). The backward movement while checking the degree of opening / closing of the back door can be continued until the bumper line 31 coincides with the ground position of the object on the road as long as the degree of opening / closing of the back door which is sequentially changed by the side line 34 can be satisfied. When the vehicle moves backward, the side line approaches the both edges of the road object on the monitor screen. The position where both coincide is the retreat limit position. When the open / closed degree of the back door reaches the desired limit (# 33 No branch) or when the bumper line 31 coincides with the ground position of the object on the road (# 35 Yes branch), the vehicle is parked at that position (# 36). .

Example 3
In this embodiment, an automobile 1 to which the present invention is applied has a hatchback door that opens and closes around a horizontal axis at the rear part. When the hatchback door is closed, the rear end of the vehicle is the bumper 12 or the hatchback door. However, considering the opening and closing of the hatchback door, the rear end of the vehicle is an open hatchback door. For this reason, here, the lower end portion of the hatchback door at the open / close position that protrudes rearward to the maximum by opening is defined as the basic attention portion 20 or the attention point 20a. For this reason, in this embodiment as well, as in the second embodiment, since the position of the attention portion 20 is determined by the design value of the bachac door, the attention portion 20 is defined in advance by the attention portion definition portion 61. Since the rearward projection amount of the hatchback door also varies depending on the opening / closing angle, the door locus data is recorded in the attention portion position information table 62, and if necessary, the lower end portion of the hatchback door defined by the door locus data is recorded. The position is defined as a special attention part 20 or attention point 20a.

The operation of the present driving support apparatus in the case where the lower end portion of the hatchback door that opens and closes around the horizontal axis is defined as the attention portion 20 will be described with reference to the schematic explanatory diagrams of FIGS. 10 and 11 and the flowchart of FIG.
Since this case is similar to the case of the second embodiment, different points will be described. The process of displaying the baseline 32 on the monitor, the process of adjusting the baseline to the ground position of the object on the road, and the process of adjusting the baseline performed as necessary are the same as in the second embodiment. The same step number is assigned and description thereof is omitted. As is apparent from FIG. 10, the lower end portion of the hatchback door that protrudes rearward at the maximum based on the door trajectory data read from the attention portion position information table 62 is the first attention portion 20, so that the reference vertical plane The setting unit 63 sets the reference vertical plane 3 that passes through the lower end portion of the hatchback door that is the attention unit 20 in the initial stage.

  At the stage where the baseline adjustment executed as necessary is completed, the baseline 32 is displayed on the monitor in a state where it matches the ground position of the object on the road, as shown in FIG. In the positional relationship so far, the level line 33 indicating the rear end portion of the hatchback door opened horizontally, which is the attention portion 20, is not displayed because it is off the monitor screen. Even if the level line 33 is included in the monitor screen, there is not much necessity for the level line 33 until this stage, so it is not necessary to display it.

In any case, the stop position where the ground position of the object on the road and the base line 332 coincide with each other on the monitor screen is a position where a space enough to completely open and close the hatchback door is provided between the object on the road. . When the vehicle further moves backward from this position, the angle at which the hatchback door can be opened and closed, that is, the degree of opening and closing, is limited according to the height of the top of the road object. Therefore, as a trigger operation of another button, such as the set button 51 a, so that the driver of the opening and closing of the relationship between the height and the hatchback door of the top of the road object that varies with reverse travel can be easily grasped In addition, the reference vertical plane 3 is set in accordance with the ground position of the object on the road, and the level line 33 obtained with the intersection of the reference vertical plane 3 and the opening / closing locus of the hatchback door as the attention portion 20 is displayed on the monitor screen. This is an important point of this embodiment. In the case where the display position of the level lines 33 obtained is off the monitor screen also, as shown in FIG. 11 (a), allowed to provisionally displayed at the top of the monitor screen.

  Accordingly, as can be understood from the schematic diagram shown in FIG. 11, the reference vertical plane 3 moves in accordance with the moving distance of the vehicle. The position is also reviewed (# 41). This vehicle travel distance information is obtained from the travel distance calculation unit 52. The position of the level line 33 indicating the height level of the target portion 20 is calculated by the level line position calculation unit 65a. Drawing information related to the level line 33 is sent to the combining unit 54, and the level line 33 is displayed on the monitor screen (# 42). If the hatchback door opening / closing degree indicated by the level line 33 is still satisfactory (# 43 Yes branch), the vehicle further moves backward (# 44). The backward movement while checking the opening / closing degree of the hatchback door can be continued until the bumper line 31 coincides with the ground position of the object on the road as long as the opening / closing degree of the hatchback door can be satisfied. When the open / closed degree of the back door reaches the desired limit (# 43 No branch) or when the bumper line 31 coincides with the ground position of the object on the road (# 45 Yes branch), the vehicle is parked at that position (# 46). .

  As described above, the camera-monitor system in which the driving support device according to the present invention is mounted on a vehicle such as an automobile sets the vehicle part that is anxious in traveling such as parking as an attention part in advance or each time, This is the introduction of the idea of setting up a virtual surface for calculation which is the reference vertical plane 3 on the ground 2 in the field of view of the camera 1. With this system, the base line representing the ground position and height level of the target part and the coordinate position of the level line are obtained by simple calculation, and the base line and the level line are superimposed on the captured image on the monitor screen. Since they are displayed together, the driver can easily and accurately grasp the three-dimensional positional relationship between the target portion and the road object.

Schematic diagram illustrating the basic principle of the driving support device according to the present invention. Schematic diagram for explaining the basic principle regarding the movement of the reference vertical plane in the driving assistance device according to the present invention. Functional block diagram for a driving assistance device according to the present invention Explanatory drawing of 1st Example of the driving assistance device by this invention The flowchart which shows the flow of the driving assistance in 1st Example of the driving assistance apparatus by this invention. Explanatory drawing of the movement of the reference | standard vertical surface in 1st Example of the driving assistance device by this invention Explanatory drawing of 2nd Example of the driving assistance device by this invention Explanatory drawing of the sideline display showing the back door opening-and-closing limit in 2nd Example of the driving assistance device by this invention. The flowchart which shows the flow of the driving assistance in 2nd Example of the driving assistance apparatus by this invention. Explanatory drawing of 3rd Example of the driving assistance device by this invention Explanatory drawing of the level line showing the hatch back door opening / closing limit in 3rd Example of the driving assistance device by this invention The flowchart which shows the flow of the driving assistance in 3rd Example of the driving assistance device by this invention.

Explanation of symbols

1: Vehicle (car)
2: ground 3: reference vertical plane 10: camera 20: attention part 30: monitor 31: bumper line 32: base line 33: level line 34: side line 54: composition part 61: attention part definition part 62: attention part position information Table 63: Reference vertical plane setting unit 64: Baseline generation unit 65: Level line generation unit

Claims (5)

In a driving support device that supports driving of a vehicle by displaying a captured image of the vehicle traveling direction on a monitor screen,
The lower end portion on the protruding side of the back door that opens and closes around the longitudinal axis provided in the vehicle is the attention portion,
While setting the reference vertical plane parallel to the vehicle width direction at the position where the attention part protrudes backward to the maximum,
The intersection line between the reference vertical plane and the ground is displayed on the monitor screen as a baseline,
When the baseline approaches the position of the object on the road due to the movement of the vehicle, the driver designates the position of the baseline,
During the subsequent movement of the vehicle, the reference vertical plane is fixed at the designated position,
An operation characterized by displaying, on the monitor screen, a level line indicating the ground height of the part of interest in the fixed reference vertical plane when the back door is opened to the fixed reference vertical plane. Support device. 2. The driving support device according to claim 1, wherein an opening limit of the back door determined by an intersection position of the reference vertical plane and the back door opening / closing swing locus is displayed on the monitor screen as a side line. . In a driving support device that supports driving of a vehicle by displaying a captured image of the vehicle traveling direction on a monitor screen,
The lower end portion on the protruding side of the hatchback door that opens and closes around the horizontal axis provided in the vehicle is the attention portion,
While setting the reference vertical plane parallel to the vehicle width direction at the position where the attention part protrudes backward to the maximum,
The intersection line between the reference vertical plane and the ground is displayed on the monitor screen as a baseline,
When the baseline approaches the position of the object on the road due to the movement of the vehicle, the driver designates the position of the baseline,
During the subsequent movement of the vehicle, the reference vertical plane is fixed at the designated position,
An operation characterized by displaying on the monitor screen a level line indicating the ground height of the portion of interest in the fixed reference vertical plane when the hatchback door is opened to the fixed reference vertical plane. Support device. The base line can be adjusted on the monitor screen in order to align the base line with the ground position of the object on the road in the photographed image, and the position of the level line can be determined based on the adjusted base line. It adjusts, The driving assistance apparatus as described in any one of Claims 1-3 characterized by the above-mentioned. The driving assistance apparatus according to any one of claims 1 to 4 , wherein a translucent plane including the base line and the level line is displayed so as to be superimposed on the captured image.

Images