JP5284206B2 - Driving support device and navigation device - Google Patents

Description

The present invention relates to a driving support device that is mounted on a vehicle and supports driving operations of a driver of the vehicle, particularly parking and stopping operations , and a navigation device using the driving support device.

  In a conventional driving assistance device, when parking, the distance to an obstacle is measured using a laser, etc., three-dimensional coordinate conversion is performed, and an image converted into an angle that is easy to see for the driver to synthesize is synthesized. Display on the screen. Thereby, the driver | operator can grasp | ascertain the positional relationship of a vehicle and an obstruction (for example, refer patent document 1).

JP 2001-2224013 (7th page, 12th page, FIGS. 16-17)

  In the conventional driving support device, the relationship between the vehicle and the obstacle can be grasped, but even if the vehicle and the obstacle are not in contact, the door may not be opened or half-open depending on the positional relationship between the vehicle and the vehicle. Boarding and unloading of passengers and loading and unloading of luggage were restricted, and there was a problem that the convenience of passengers was lacking.

  The present invention has been made to solve the above-described problems, and is intended to provide a driving support device that is easy to understand opening and closing of a door when parking and stopping and is excellent in convenience for passengers.

The driving support apparatus according to the present invention includes a vehicle database in which vehicle data is recorded, a data analysis unit, and a display generation unit. The data analysis unit uses the obstacle data from the obstacle detection unit that detects obstacles around the vehicle and the vehicle data from the vehicle database to determine the distance between the door and the obstacle when the vehicle door is opened. calculate. The display generation unit generates an image of the vehicle and the obstacle viewed from a plurality of directions and displays the image on the display unit, and displays the width of the door or the distance between the door and the obstacle as a numerical value in real time. When the distance between the door and the obstacle when the door is opened is equal to or less than a predetermined value, a place where the distance is equal to or less than the predetermined value is marked and highlighted. The image of the vehicle and the obstacle viewed from a plurality of directions includes a top view of the vehicle and the obstacle viewed from above, a side view of the vehicle and the obstacle viewed from the side, and a front surface of the vehicle and the obstacle viewed from the front. It is an image in which a figure or a rear view of a vehicle and an obstacle viewed from the rear is displayed at the same time .

According to the present invention, an image of a vehicle and an obstacle viewed from a plurality of directions is generated and displayed on the display unit, and the width of the door or the distance between the door and the obstacle is displayed in real time as a numerical value. when the distance between the door and the obstacle when opened the door of the vehicle is equal to or less than a predetermined value, have rows highlight mark the location becomes equal to or less than a predetermined value, the vehicle and obstacle multiple directions The images seen from above are a top view of the vehicle and obstacles viewed from above, a side view of the vehicle and obstacles viewed from the side, a front view of the vehicle and obstacles viewed from the front, or the vehicle and obstacles behind Since the rear view seen from the above is an image that is displayed at the same time , a driving support device that is highly convenient for the passenger can be obtained.

It is a block diagram which shows the driving assistance apparatus of Embodiment 1-3 of this invention. It is a flowchart which shows operation | movement of Embodiment 1-3 of this invention. It is an example of the screen display which shows Embodiment 1 of this invention. It is an example of the screen display which shows Embodiment 2 of this invention. It is an example of another screen display which shows Embodiment 2 of this invention. It is an example of another screen display which shows Embodiment 2 of this invention. It is an example of the screen display which shows Embodiment 3 of this invention. It is an example of another screen display which shows Embodiment 3 of this invention.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a driving support apparatus according to Embodiment 1 of the present invention. The operation input unit 1 includes an operation panel such as a touch panel mounted on a monitor or the like, a remote controller, and the like, and receives user operations. The vehicle information acquisition unit 2 detects the degree of opening and closing of a door such as a half door, detection of parking of a back gear and a shift lever, detection of a vehicle speed, detection of a side brake, and the like. The vehicle control unit 21 refers to the vehicle information from the vehicle information acquisition unit 2 and controls the vehicle such as opening and closing of the door and stopping of the vehicle. The vehicle DB (Data Base) 3 includes, for example, an HDD (Hard Disk Drive), a large-capacity memory, and the like. The outline of the vehicle, photographs and pictures of the vehicle, the position of the door when fully opened, and the locus when the door is opened and closed Vehicle data such as the position of the camera, sensor, etc.

  The obstacle detection unit 4 includes a camera, an ultrasonic sensor, a laser sensor, an on-vehicle radar, and the like, and detects an obstacle by photographing and measuring the vicinity of the vehicle. The data analysis unit 5, the display generation unit 6, and the voice guidance generation unit 7 are composed of, for example, a microcomputer and a memory, and operate according to an application program. The data analysis unit 5 controls the entire apparatus and uses the image data from the obstacle detection unit 4 and the sensor measurement data and the vehicle data from the vehicle DB 3, and the vehicle and the door when the vehicle is fully opened. A distance and position between the door opening / closing locus and the obstacle are calculated three-dimensionally. At that time, a place where the distance from the obstacle becomes 0, that is, a collision or predicted contact place is also calculated from the movement of the vehicle.

  The display generation unit 6 stores the vehicle from the data analysis unit 5 and the position data of the door when the vehicle is fully opened, the opening / closing locus of the door and the obstacle, the vehicle data from the vehicle DB 3 and the data stored in advance here. Using the photograph or picture data of a certain vehicle etc. and obstacle data such as a photographed image from the obstacle detection unit 4 such as a live-action image, coordinate conversion is performed, and the side, upper, front, and rear of the own vehicle An image of the vehicle with the door opened, the trajectory of opening and closing the door, and an obstacle as viewed from an arbitrary direction such as an oblique direction is generated and displayed on the display unit 8 such as a monitor. In addition, according to the distance from the obstacle, a guidance display for the vehicle occupant is also generated for driving support. The display unit 8 is composed of, for example, an LCD (Liquid Crystal Display), and in response to a signal sent from the display generation unit 6, the vehicle when the door is opened, the opening / closing locus of the door, obstacles, guidance Display messages on the screen.

  The voice guidance generation unit 7 uses the distance and position data from the data analysis unit 5 to the obstacle, and according to the distance to the obstacle, the voice guidance for driving support in association with the display of the display generation unit 6. And outputs sound to the sound output unit 9 such as a speaker. The voice output unit 9 is composed of, for example, an amplifier and a speaker, and outputs the guidance message sent from the voice guidance generation unit 7 by voice.

  The obstacle detection unit 4, the display unit 8, and the audio output unit 9 of the driving support device use a camera, a sensor, a monitor, a speaker, or the like provided in the vehicle, or a portable device that can be attached to and detached from or communicated with the vehicle. Other monitors and speakers may be used. Further, the vehicle information acquisition unit 2 uses a door opening / closing position sensor provided in the vehicle, a transmission gear sensor, a shift lever sensor, a vehicle speed pulse, a brake sensor, and the like, and the vehicle control unit 21 also includes a door provided in the vehicle. An opening / closing motor, a vehicle control motor, a brake, or the like may be used.

  The operation of the driving support apparatus configured as described above will be described with reference to the flowchart of FIG. FIG. 3 shows an example of a screen display in the case of an up-and-down opening / closing type rear gate 11 that opens up and down around a horizontal core installed in a ceiling portion at the rear of the vehicle as an example of a vehicle door.

  First, in step S100, the driving support device waits for detection of a back gear from the vehicle information acquisition unit 2 or waits for input of a “parking / stop guidance” button from the operation input unit 1 such as a touch panel. When the user moves backward and parks, when the back gear is detected, or when the user presses the “parking stop guidance” button to stop on the road shoulder or the like while moving forward, the obstacle detection unit 4 An obstacle around the vehicle is detected by photographing or measuring the vehicle periphery using various sensors (step S110).

  Next, the data analysis unit 5 uses the obstacle data from the obstacle detection unit 4 and the vehicle data from the vehicle DB 3 to three-dimensionally determine the position and distance a between the own vehicle and the obstacle and the predicted collision location. (Step S120). In addition, when the door is fully opened and when the door is opened and closed, the position and distance b of the obstacle and the position b, the expected contact location, and when the door is opened, the door is half open, The door opening width c and the door opening angle θ are calculated (step S130).

  Thereafter, in step S140, the display generation unit 6 displays the position of the vehicle and the door when the vehicle is fully opened in order to display a view of the vehicle and an obstacle viewed from an arbitrary direction such as side, upper, front, rear, and diagonal directions. And the coordinate conversion of the position of the opening / closing locus of the door and the position of the obstacle is performed. Using the coordinate-converted data, an image for displaying a view of the own vehicle that has opened the door, the opening / closing locus of the door, and the obstacle is generated and displayed on the display unit 8 such as a monitor.

  Specifically, the image for view display is created by first measuring a three-dimensional distance to an obstacle using a distance measuring device such as an ultrasonic sensor, an in-vehicle radar, or a laser, or from the vehicle DB 3. The three-dimensional distance to the obstacle is obtained by image processing using the difference between corresponding positions of the image using the position of the in-vehicle camera and the two in-vehicle cameras. Next, these data are coordinate-transformed to create an image from an arbitrary direction (for example, the side or upper side of the car). As these methods, for example, the method described in Patent Document 1 may be used. At this time, the view display image may be a real image from the in-vehicle camera, or may be a photograph or a picture stored in advance in the vehicle DB 3. In addition, when there is one on-vehicle camera, the camera is moved quickly to use images taken from two places, or an image taken by switching light paths from two places fast using a prism or mirror is used. Also good.

An example of creating a view display screen is shown in FIG. This figure is a side view of a vehicle that is parked while moving backward horizontally. A locus 12 at the tip when the rear gate 11 is opened is displayed with a dotted line, and an obstacle 10 such as a tree is displayed at the rear of the vehicle. Seeking the shortest portion a ₁ in the horizontal direction (the moving direction of the vehicle) of the vehicle and the obstacle 10 when closing the rear gate in step S120, the movement in the horizontal direction (vehicle rear gate path 12 and the obstacle 10 in step S130 finding the shortest portion _{b 1} direction).

In order to avoid a collision accident between the vehicle and the obstacle, the data analysis unit 5 preferentially performs this determination. Therefore, in step S150, when the distance a between the vehicle and the obstacle is equal to or less than the collision warning distance d, guidance processing is performed in step S155. FIG. 3D shows a case where the distance between the vehicle and the obstacle is a ₂ ≦ collision warning distance d. At this time, the display generation unit 6 displays a display unit such as a monitor for guidance to the passenger of the vehicle. 8, “Collision notice” or the like is displayed, and the voice guidance generation unit correlates with the display of the display generation unit. In addition, the distance to the obstacle is displayed in real time, such as “20cm left”, and related to this, voice guidance is given and an alarm sound is sounded as “the car body will collide in another 20cm”. You may do it. Further, the predicted collision location may be highlighted, or the predicted collision location may be voice-guided.

  At this time, the data analysis unit 5 may output data for stopping the vehicle to the vehicle control unit 21 that controls the vehicle. The vehicle control unit 21 applies a brake based on this data to stop the vehicle. As a result, a collision accident between the vehicle and the obstacle can be prevented.

  As a result, collision accidents between the vehicle and the obstacle can be reduced. At this time, when the obstacle also collides with the door when fully opened (b ≦ 0), the rear gate 11b may be displayed at the limit position where opening and closing is possible. Thereafter, the process goes to step S180.

Next, the data analysis unit 5 performs this determination in order to avoid an accident in which the door is inadvertently opened when the door is inadvertently opened. Therefore, when the distance a between the vehicle and the obstacle is larger than the collision warning distance d in step S150, the data analysis unit 5 opens the door when fully opened in step S160 and the distance between the obstacle and the opening / closing locus of the door. It is determined whether b is 0 or less. FIG. 3C shows a case where the distance b ₃ ≦ 0 between the locus of the rear gate and the obstacle. In this case, since the door is not fully opened, guidance processing is performed in step S165.

  First, the rear gate 11a is displayed at a limit position that can be opened and closed by an obstacle. Further, for guidance to the vehicle passenger, the display generation unit 6 displays a “rear gate opening / closing caution” or the like on the display unit, and the voice guidance generation unit correlates with the display of the display generation unit. Speech synthesis of “rear gate opening / closing” is performed and output to the speech output unit 9 such as a speaker. Also, the rear gate opening width c and this angle θ are displayed in real time, such as “The rear gate opens only 30 cm” and “The rear gate opens only 30 °.” You may give guidance or sound an alarm. Further, the predicted contact location may be highlighted, or the predicted contact location may be voice-guided. As a result, it is possible to reduce the number of accidents where the vehicle passenger inadvertently opens the door and touches the obstacle. Thereafter, the process goes to step S180.

  At this time, the data analysis unit 5 may output data on a limit position at which the door can be opened and closed to the vehicle control unit 21 that controls opening and closing of the door of the vehicle. Based on this data, the vehicle control unit 21 automatically opens the door until just before the door contacts with the obstacle, or even if the door is opened manually, the vehicle control unit 21 immediately before the door contacts with the obstacle. The door may be locked so as not to open, or the door opening / closing mechanism may be braked. As a result, a contact accident between the door and the obstacle can be prevented.

Subsequently, the data analysis unit 5 performs this determination in order to avoid an accident in which the door when fully opened contacts an obstacle. Therefore, if the distance b between the fully opened door and the opening / closing locus of the door and the obstacle is greater than 0 in step S160, the data analysis unit 5 determines that the distance b to the obstacle is the door contact in step S170. It is determined whether the distance is equal to or less than the warning distance e. FIG. 3B shows a case where the distance between the rear gate trajectory and the obstacle is b ₂ > 0 and b ₂ ≦ e. In this case, the door is fully opened, but it is likely to come into contact with an obstacle, so guidance processing is performed in step S175.

  At this time, for guidance to the vehicle passenger, the display generation unit 6 displays “rear gate contact caution” or the like on the display unit, and the voice guidance generation unit relates to the display of the display generation unit, This “rear gate contact caution” is synthesized and output to the audio output unit 9 such as a speaker. In addition, the distance to the contact may be displayed in real time, or voice guidance or an alarm sound may be generated in association with the distance, such as “the rear gate will come into contact after 15 cm”. Further, the predicted contact location may be highlighted, or the predicted contact location may be voice-guided. Thereby, the contact accident between a door and an obstacle can be reduced. Thereafter, the process goes to step S180.

  If the distance b between the fully opened door and the opening / closing locus of the door and the obstacle exceeds the door contact warning distance e in step S170, the risk of contact with the obstacle can be ignored. Go to S180. In this step, when the vehicle information acquisition unit 2 confirms that the vehicle has stopped based on information from the vehicle speed pulse, etc., when the gear is put in the parking position, when the side brake is used, For example, it is determined whether a button such as “End” or “Return” has been pressed. In these cases, parking / stop guidance is terminated. If the vehicle is moving or if the “end” button or the like is not pressed, the process returns to step S110 to continue parking / stop guidance.

  In addition, in the case of FIG. 3B, for example, in the case of opening / closing of the door and guidance for driving support using the length and height of the vehicle when the door is fully opened, the vehicle has already collided with an obstacle. It is determined that the door is not open. However, there is no actual collision and the door can be opened. Thus, by using the trajectory when the door is opened / closed, the collision can be determined more accurately and the passenger can easily determine whether the door is opened / closed visually, thereby improving the convenience of the passenger. .

  In FIG. 3, the locus of the tip of the rear gate is indicated by a dotted line, but it may be a solid line, a broken line, or the like, and the color and line thickness may be changed. In order to make it easy to see, the fan-shaped portion formed by the locus of the tip of the rear gate and the rear gate and the vehicle may be colored, semi-transparent, hatched or textured.

  In order to alert the passengers, the guidance process first displays the guidance on the contact between the obstacle and the door in yellow on the screen in response to the distance between the vehicle and the obstacle becoming shorter. (Step S175) Next, the door opening / closing caution guidance may be displayed in orange or light red (step S165), and finally the collision caution guidance with an obstacle may be displayed in red (step S155). At this time, the display may blink, or the blinking speed may be increased in three stages.

  Similarly, when performing voice guidance, the volume may be initially reduced (step S175), then the volume may be slightly increased (step S165), and finally the volume may be further increased (step S155). Also, a warning sound may be used. In this case, the pitch is lowered at the beginning, the interval between sounds is lengthened (step S175), and then raised or shortened slightly (step S165). It may be further increased or shortened (step S175). Further, the volume and the pitch may be continuously increased in correspondence with the distance between the door and the obstacle and between the vehicle and the obstacle within each step of Step S175, Step S165, and Step S155. The interval between warning sounds and the blinking speed of the display may be continuously increased. Thus, the passenger can sensibly determine the distance from the obstacle.

  Further, the voice guidance generation unit 7 is configured such that the distance between the vehicle and the door when the vehicle is fully opened and the opening / closing locus of the door and the obstacle is equal to or less than a predetermined value (collision warning distance d or door contact warning distance e). Voice guidance is performed from the voice output unit (speaker, etc.) closest to the place where it is located, or the phase of the voice is adjusted, and multiple voice output units are used to Voice guidance may be performed so that it can be heard from the direction. In addition, since the distance between the door when fully opened and the opening / closing locus of the door and the obstacle becomes 0 or less when the voice guidance generation unit 7 is in contact with the obstacle when the door is opened, the voice guidance generation unit 7 is closest to the contact location. Voice guidance may be performed from the voice output unit, or the voice phase may be adjusted, and voice guidance may be performed so that sound can be heard from the direction of the place in contact with the obstacle using a plurality of voice output units. In these cases, since the direction of collision or contact can be known by sound, it is possible to call attention and further reduce collisions and contact accidents.

  In the driving support device configured in this way, the opening / closing locus of the door when parking and stopping is displayed, and the positional relationship between the vehicle, the door, and the obstacle can be understood. Can be recognized. As a result, it is possible to easily determine whether or not passengers can get on and off and load and unload luggage, and a driving assistance device that is highly convenient for passengers can be obtained. At that time, the driver is guided by screen and voice according to the distance to the obstacle, so that the driver can recognize the contact with the obstacle and the half-opening of the door, and the collision and the contact accident can be reduced. . In addition, because the vehicle is controlled by outputting the data of the limit position where the door can be opened and closed, or the data of stopping the vehicle, the contact accident between the door and the obstacle or the collision accident between the vehicle and the obstacle Can be reduced.

Embodiment 2. FIG.
In the first embodiment, the open / close state of the up-and-down open / close rear gate is displayed using a side view seen from the side of the vehicle during parking. In the second embodiment, the door that opens to the left and right during parking is displayed. A driving support device that displays the open / closed state of a door that slides back and forth will be described.

  The apparatus configuration is the same as the block diagram of FIG. 1, and the process flow is the same as the flowchart of FIG. Here, in order to display the open / closed state of the door that opens to the left and right and the door that slides back and forth, a top view viewed from above the vehicle and the display of the locus when the door is opened and closed will be described with reference to FIGS. To do.

FIG. 4 shows a screen display example of a vehicle viewed from above, which has a left and right open / closed rear gate 13 that opens to the left and right around a vertical core installed on a side portion of the rear part of the vehicle, and is parked in reverse. Indicates. First, in step S100, after detecting the back gear or pressing the “parking / stop guidance” button, the obstacle 10 around the host vehicle is detected (step S110), and the position and distance a ₁ between the vehicle and the obstacle, The position and distance b ₁ between the rear gate when fully opened, the opening / closing locus and the obstacle, the predicted location of collision and contact, and the like are obtained (steps S120 and S130). Thereafter, as shown in FIG. 4A, the locus 14 of the tip when the rear gate 13 is opened is displayed with a dotted line, and a view display is displayed in which an obstacle 10 such as a tree is displayed at the rear of the vehicle (step S140). ).

Thereafter, when the vehicle moves backward, the distance b ₂ between the rear gate and trajectory and the obstacle of the opening and closing of the full open is below the door contact warning distance e (step S170), as shown in FIG. 4 (b) "rear gate A “contact caution” is displayed and voice guidance is provided (step S175). Further reverse the vehicle, if the distance b ₃ to the rear gate and trajectory and the obstacle of the opening and closing of the full open becomes 0 or less (step S160), the display in the "rear gate opening and closing care" as shown in FIG. 4 (c) And voice guidance is performed (step S165). At this time, the rear gate 13a may be displayed at a limit position that can be opened and closed by an obstacle, and the opening width c of the rear gate and the angle θ may be displayed in real time, or voice guidance may be provided. Further, the vehicle may be controlled so that the door is opened only up to a limit position where opening and closing is possible.

Further the vehicle is backward, when the distance a ₂ between the vehicle and the obstacle is equal to or less than the collision warning distance d (step S150), performs display and voice guidance "collision care" as shown in FIG. 4 (d) ( Step S155). At this time, the rear gate 13b may be displayed at a limit position that can be opened and closed by an obstacle, and the opening width c of the rear gate and the angle θ may be displayed in real time, or voice guidance may be provided. Alternatively, the vehicle may be controlled such that the vehicle is stopped by applying a brake or the door is opened only to a limit position where the vehicle can be opened and closed.

  In the case of using the length of the vehicle when the rear gate is fully opened to guide the opening / closing of the rear gate or the obstacle, for example, in the case of FIG. 4B, it has already collided with the obstacle. It is judged that the rear gate is not opened, but it does not actually collide and the rear gate can be opened. Thus, by using the trajectory when the door is opened / closed, the collision can be determined more accurately and the passenger can easily determine whether the door is opened / closed visually, thereby improving the convenience of the passenger. .

FIG. 5 shows a screen display example in which a vehicle 15 having a left / right opening / closing type door 15 that opens to the left and right around a vertical core installed on a side surface portion of the vehicle is viewed from above while the vehicle is parked backward. Show. In this case as well, when parking, the distance a ₁ between the vehicle and the obstacle, the door when fully opened, the distance b ₁ between the opening and closing locus of the door and the obstacle, the predicted location of the collision and contact, etc. are obtained. As shown in FIG. 5A, a view display having the locus 16 of the front end of the door and the obstacle 10 is performed.

Then, the vehicle moves backward, when the distance b ₂ between the door and the trajectory and the obstacle of the opening and closing of the door when fully open is below the door contact warning distance e, the "right door contact as shown in FIG. 5 (b) Attention "is displayed and voice guidance is given. Further reverse the vehicle, if the distance b ₃ of the door and the trajectory and the obstacle of the opening and closing of the door when fully open becomes 0 or less, Ya display of "right door CAUTION" as shown in FIG. 5 (c) Provide voice guidance. At this time, the door 15a may be shown at a limit position where the door can be opened and closed, and the door opening width c and the door angle θ may be displayed in real time, or voice guidance may be provided. Further, the vehicle may be controlled so that the door is opened only up to a limit position where opening and closing is possible.

Further the vehicle is backward, when the distance a ₂ between the vehicle and the obstacle is equal to or less than the collision warning distance d, to view and voice guidance "collision care" as shown in FIG. 5 (d). At this time, the door 15b may be shown at a limit position where the door can be opened and closed, and the door opening width c and the door angle θ may be displayed in real time or voice guidance may be provided. Alternatively, the vehicle may be controlled such that the vehicle is stopped by applying a brake or the door is opened only to a limit position where the vehicle can be opened and closed.

  When guidance is given to whether or not the door can be opened / closed and obstacles using the width of the vehicle when the door is fully open, for example, in the case of FIGS. 5A and 5B, it is determined that the vehicle will collide with the obstacle. It is determined that the door will not open, but in reality it can be opened without colliding. Thus, by using the trajectory when the door is opened / closed, the collision can be determined more accurately and the passenger can easily determine whether the door is opened / closed visually, thereby improving the convenience of the passenger. .

FIG. 6 shows a screen display example in which a vehicle that is installed on a side surface of the vehicle, has a sliding door 17 that protrudes sideways and opens forward and backward, and is parked in reverse is viewed from above. In this case as well, when parking, the distance a ₁ between the vehicle and the obstacle, the sliding door when fully opened, the distance b ₁ between the opening / closing locus of the door and the obstacle, the predicted collision position, etc. are obtained. As shown in (a), the view display including the locus 18 of the sliding door and the obstacle 10 is performed.

Then, the vehicle moves backward, when the distance b ₂ between the fully open time of the sliding door and the trajectory and the obstacle of the opening and closing of the door is below the door contact warning distance e, as shown in FIG. 6 (b) "right slide "Door contact attention" display and voice guidance. Further reverse the vehicle, if the distance b ₃ of the sliding door and the trajectory and the obstacle of the opening and closing of the door when fully open becomes 0 or less, as shown in FIG. 6 (c) of the "right slide door CAUTION" Display and voice guidance. At this time, the sliding door 17a may be shown at a limit position where opening and closing is possible, and the opening width c of the sliding door may be displayed in real time, or voice guidance may be provided. Further, the vehicle may be controlled so that the door is opened only up to a limit position where opening and closing is possible.

Further the vehicle is backward, when the distance a ₂ between the vehicle and the obstacle is equal to or less than the collision warning distance d, to view and voice guidance "collision care" as shown in FIG. 6 (d). At this time, the slide door 17b may be shown at the limit position where the door can be opened and closed, and the opening width c of the slide door may be displayed in real time, or voice guidance may be provided. Alternatively, the vehicle may be controlled such that the vehicle is stopped by applying a brake or the door is opened only to a limit position where the vehicle can be opened and closed.

  In addition, in the case of, for example, FIGS. 6A and 6B, when the sliding door is opened / closed or the guidance for the obstacle is given using the width of the vehicle when the sliding door is fully opened, the vehicle collides with the obstacle. The door is determined not to open, but the door can be opened without actually colliding. Thus, by using the trajectory when the door is opened / closed, the collision can be determined more accurately and the passenger can easily determine whether the door is opened / closed visually, thereby improving the convenience of the passenger. .

  In the driving support device configured as described above, when viewed from above, the locus of opening and closing of the door such as the rear gate and the sliding door at the time of parking is displayed, and the positional relationship between the vehicle, the door, and the obstacle can be understood. , How to open the door, such as full open or half open. As a result, it is possible to easily determine whether it is possible for the passenger to get on and off and to load and unload the baggage, and a driving support device excellent in the convenience for the passenger can be obtained. At that time, the driver is guided by screen and voice according to the distance to the obstacle, so that the driver can recognize the contact with the obstacle and the half-opening of the door, and the collision and the contact accident can be reduced. . In addition, because the vehicle is controlled by outputting the data of the limit position where the door can be opened and closed, or the data of stopping the vehicle, the contact accident between the door and the obstacle or the collision accident between the vehicle and the obstacle Can be reduced.

Embodiment 3 FIG.
In the first and second embodiments, when the vehicle is parked, the door opening / closing state is grasped by using a side view seen from the side of the vehicle or a top view seen from above. This article describes a driving assistance device that gives you a sense of the situation around your vehicle and the door opening and closing status.

  The apparatus configuration is the same as the block diagram of FIG. 1, and the process flow is the same as the flowchart of FIG. FIG. 7 shows a screen display example of a vehicle having an up-and-down open / close-type rear gate 11 that opens up and down around a horizontal core installed in a ceiling portion at the rear of the vehicle. This figure is a circle view display by combining a view of a vehicle that is moving backward and parked from above and from the side. Here, in order to display the own vehicle and the obstacle 10 and to show the trajectory 12 when the door is opened and closed, hatching processing is performed on an area surrounded by the rear gate and the vehicle. According to the flowchart of FIG. 2, “rear gate contact caution”, “rear gate open / close caution”, “collision caution” and the like are displayed and voice guidance is performed. In addition, it is preferable to highlight the place where the rear gate 11 and the obstacle 10 are likely to come into contact with each other in the top view and the side view, change to a color indicating danger such as red, or perform a blinking process.

FIG. 8 shows a screen display example of a vehicle having a gull wing door 19 that opens up and down around a horizontal core installed in a ceiling portion at the center of the vehicle. This figure is a circle view display that combines a view of a vehicle that is moving backward and parked from above and from the front.
Here, while displaying the own vehicle and the obstacle 10, the locus | trajectory 20 at the time of gull-wing door opening and closing is shown with the dotted line. Also in this case, in accordance with the flowchart of FIG. 2, “left door contact caution”, “left door open / close caution”, “collision caution”, and the like are displayed and voice guidance is performed. Moreover, it is good to mark a place where the door and the obstacle in the top view and the front view are likely to contact each other.

  In this example, two figures in the top, side, and front are used, but the figures seen from the rear may be combined, or three or more of the figures in the top, side, rear, and front may be combined and displayed. May be. Alternatively, a bird's-eye view viewed from an oblique direction may be created and displayed in a three-dimensional manner.

  In the driving support device configured as described above, since the display gives a three-dimensional feeling, it is easy to grasp the contact place between the door and the obstacle. Moreover, it becomes easy to prevent contact by detecting and displaying obstacles at high positions such as trees and signboards. Also, it is a kind of gull wing door, and it is easy to grasp the relationship between the opening and closing of the door and the obstacle even in the case of a door that does not move simply left and right and up and down, such as a door that opens obliquely upward. As a result, it is possible to obtain a driving support device that is highly convenient for passengers.

  Note that this driving support device may be combined with a car navigation device. In this case, by using the navigation function and the current position specifying function of the car navigation device, information on the parking lot and road such as the current location and the destination is acquired and displayed on the display unit 8 or voice guidance is provided on the voice output unit 9. And may be used for driving support. In this case, since information that cannot be obtained with an in-vehicle camera or various sensors can be obtained, the convenience of the passengers is further improved when parking at a parking lot such as a destination that is not used and is not used to parking. .

1 Operation Input Unit 2 Vehicle Information Acquisition Unit 3 Vehicle DB
4 Obstacle Detection Unit 5 Data Analysis Unit 6 Display Generation Unit 7 Voice Guidance Generation Unit 8 Display Unit 9 Audio Output Unit 10 Obstacle 11, 11a, 11b Rear Gate (Upper / Lower Opening / Closing Type)
12 Rear gate trajectory 13, 13a, 13b Rear gate (left and right open / close type)
14 Rear gate track 15, 15a, 15b Door 16 Door track 17, 17a, 17b Slide door 18 Slide door track 19 Gullwing door 20 Gullwing door track 21 Vehicle control unit

Claims (9)

A vehicle database that records vehicle data;
Using the obstacle data from the obstacle detection unit that detects obstacles around the vehicle and the vehicle data from the vehicle database, the distance between the door and the obstacle when the door of the vehicle is opened is determined. A data analysis unit to calculate,
A display generation unit that generates an image of the vehicle and the obstacle viewed from a plurality of directions and displays the image on a display unit;
The display generation unit displays the door opening width or the distance between the door and the obstacle in real time as a numerical value, and the distance between the door and the obstacle when the vehicle door is opened is equal to or less than a predetermined value. when it becomes, had rows highlighted with a mark in a location that becomes equal to or less than the predetermined value,
The image of the vehicle and the obstacle viewed from a plurality of directions includes a top view of the vehicle and the obstacle viewed from above, a side view of the vehicle and the obstacle viewed from the side, the vehicle, and the vehicle A driving support device that is an image in which a front view of an obstacle as viewed from the front or a rear view of the vehicle and the obstacle as viewed from the rear is displayed simultaneously .   The display generation unit generates, as the image, an image of the vehicle with the door opened, an opening / closing locus of the door, and the obstacle viewed from a plurality of directions, and displayed on the display unit. The driving support apparatus according to claim 1.   When the distance between the door and the obstacle when the door of the vehicle is opened is equal to or less than a predetermined value, the display generation unit puts a mark on a place where the distance is equal to or less than the predetermined value and performs highlighting. The driving support device according to claim 1, wherein at least one of a distance display between the door and the obstacle and a guidance display to a passenger of the vehicle is performed.   The data analysis unit outputs data for controlling opening / closing of the vehicle door to the vehicle control unit based on a distance between the door and the obstacle when the vehicle door is opened. The driving support device according to claim 1.   The data analysis unit outputs, to the vehicle control unit, data on a limit position at which the door can be opened and closed when the distance between the door and the obstacle when the vehicle door is opened is 0 or less. The driving support device according to claim 4.   When the distance between the door and the obstacle when the door of the vehicle is opened becomes 0 or less, the display generation unit opens the door, the door at the limit position that can be opened and closed, and the obstacle The driving support device according to any one of claims 1 to 5, wherein an image obtained by viewing the vehicle from a plurality of directions is generated and displayed on the display unit.   The display generation unit displays the opening width of the door at the limit position, displays the opening angle of the door, highlights the place where the door contacts the obstacle, and guides the passenger of the vehicle. The driving support device according to claim 6, wherein at least one of the displays is performed. A voice guidance generation unit that generates voice guidance and outputs voice to the voice output unit;
The driving assistance device according to any one of claims 1 to 7, wherein the voice guidance generation unit performs voice guidance to a passenger of the vehicle in association with the display of the display generation unit.   A navigation device using the driving support device according to any one of claims 1 to 8.

Images