JP6914730B2 - Driving support device and driving support method - Google Patents

Description

The present invention relates to a driving support device and a driving support method, and is particularly suitable for use in a driving support device and a driving support method for assisting driving in order to retract a vehicle to a parking position and park the vehicle.

Conventionally, a driving support device for assisting driving for retreating a vehicle to a parking position and parking the vehicle has been known. For example, in Patent Document 1, when the vehicle is parked, an image showing the expected trajectory of the vehicle and an image showing the steering angle of the vehicle are displayed on a display panel provided in the center of the dashboard of the vehicle. , A driving support device for assisting driving for retreating a vehicle to a parking position and parking the vehicle is described.

Japanese Unexamined Patent Publication No. 2011-230615

Normally, when the driver is driving to park the vehicle in the parking position, the display panel provided in the center of the dashboard displays an image to assist the driving. Also, visually check the side mirrors as appropriate to check the situation around the vehicle. By visually observing the side mirrors, it is possible to more accurately grasp the situation around the vehicle, such as the actual sense of distance between the vehicle and an obstacle (for example, another vehicle) located near the parking position of the vehicle. Because it can be done. However, in the technique described in Patent Document 1, when the driver is visually recognizing the side mirror while driving to park the vehicle in the parking position, the driving support provided by the driving support device is provided. There is a problem that information about is not available.

The present invention has been made to solve such a problem, and continuously supports driving even when the driver who drives to park the vehicle in the parking position is visually recognizing the side mirror. The purpose is to be able to obtain information about.

In order to solve the above-mentioned problems, in the present invention, the driver for moving the vehicle from the current position to the parking position while the driver is driving to retract the vehicle to the parking position and park the vehicle. Detects the steering operation to be performed by the driver, and displays the steering operation to be performed by the driver by the display device provided within the effective field of view when the driver sitting in the driver's seat visually recognizes the side mirror. I am trying to do it. Here, the display device is a device provided in the vehicle interior of a vehicle and in which a plurality of light emitters are arranged side by side in a ring shape. Then, in the above-described processing, the rotation direction of the steering wheel is detected as a steering operation to be performed by the driver. Further, a ring-shaped image is displayed on a display panel provided in the center of the dashboard of the vehicle, and the object is moved along the ring-shaped image in the detected rotation direction. Further, one or a plurality of adjacent light emitters are turned on at the same time, and the lighting and extinguishing of the light emitting bodies constituting the display device are controlled so that the light emitting bodies in the lighting state move in the detected rotation direction. The moving speed of the lit illuminant at an arbitrary timing matches the moving speed of the object, and the position of the lit illuminant on the display device at an arbitrary timing is the position of the object in the ring-shaped image. Match.

According to the present invention configured as described above, the driver moves the vehicle to the parking position by the display performed by the display device existing within the range of his / her effective field of view while visually recognizing the side mirror. Therefore, it is possible to recognize what kind of steering operation should be performed, and to operate the steering based on the recognition. That is, according to the invention configured as described above, the driver who drives to park the vehicle in the parking position can continuously obtain information on driving support even when the side mirror is visually recognized. can.

It is a figure which shows the configuration example of the in-vehicle system to which the driving support device which concerns on 1st Embodiment is applied. It is a figure which shows the state when looking at the right front of a vehicle from the inside of a vehicle. It is a front view of the display device. It is a block diagram which shows the functional structure example of the operation support apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the main parking support screen. It is a figure which shows the mode that the lighting LED group moves in a display device. It is a flowchart which shows the operation example of the 2nd steering operation guide part of the driving support device which concerns on 1st Embodiment. It is a block diagram which shows the functional structure example of the operation support apparatus which concerns on 2nd Embodiment. It is a figure which shows the state which the lighting LED group moves together with the state which an object moves. It is a block diagram which shows the functional structure example of the operation support apparatus which concerns on 3rd Embodiment. It is a figure which shows the mode that the lighting LED group moves in a display device. It is a block diagram which shows the functional structure example of the operation support apparatus which concerns on 4th Embodiment. It is a figure which shows the state of the lighting LED group in a display device.

(First Embodiment)
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration example of an in-vehicle system 1 to which the driving support device 100 according to the present embodiment is applied. The in-vehicle system 1 is a system mounted on the vehicle S, and includes a driving support device 100, a touch panel 200, an in-vehicle camera 300, a rear camera 400, a right display device 500R, and a left display device 500L according to the present embodiment. ing.

As shown in FIG. 1, the driving support device 100 according to the present embodiment is provided on the dashboard S1 of the vehicle S. In the present embodiment, the driving support device 100 is provided on the dashboard S1, but the position where the driving support device 100 is provided is not limited to the dashboard S1. The touch panel 200 is a unit including a liquid crystal display panel, an image display panel such as an organic EL panel, and a touch sensor arranged so as to be superimposed on the display panel, and is provided in the central portion of the dashboard S1. Be done. The display panel of the touch panel 200 corresponds to the "display panel" in the claims.

The in-vehicle camera 300 is provided at a position where the face of the driver sitting on the driver's seat, such as the ceiling near the driver's seat, can be photographed. The in-vehicle camera 300 photographs an area including the driver's face at a predetermined cycle, generates captured image data based on the captured result, and outputs the captured image data to the visual state detection unit 13 (described later). The rear camera 400 is provided on the back door of the vehicle S or the like, and photographs the rear of the vehicle S. The rear camera 400 photographs the rear of the vehicle S at a predetermined cycle, generates captured image data based on the captured result, and uses the generated captured image data as a bird's-eye image generation unit 10 (described later) and a first steering operation guide unit. Output to 12 (described later).

The right display device 500R is a dashboard S1 and is provided in the vicinity of the right side mirror S2R of the vehicle S. The left display device 500L is a dashboard S1 and is provided in the vicinity of the left side mirror S2L of the vehicle S. Hereinafter, when the right side mirror S2R and the left side mirror S2L are not distinguished, they are expressed as "side mirrors" and "S2" is added as a reference numeral. Further, hereinafter, when the right display device 500R and the left display device 500L are not distinguished, they are expressed as "display device" and "500" is added as a code. The right display device 500R and the left display device 500L have the same structure, and display the same contents at the same timing in the display described in detail later.

The right display device 500R is provided within the effective field of view of the driver when the driver seated in the driver's seat visually recognizes the right side mirror S2R. In FIG. 1, reference numeral P indicates the position of the driver's eyes seated in the driver's seat, and reference numeral QR indicates the range of the effective field of view when the driver visually recognizes the right side mirror S2R. Therefore, when the driver seated in the driver's seat is visually recognizing the right side mirror S2R, the driver can visually recognize the display of the right display device 500R and recognize the display content. Similarly, the left display device 500L is provided within the range of the driver's effective field of view when the driver seated in the driver's seat visually recognizes the left side mirror S2L. In FIG. 1, the reference numeral QL indicates the range of the effective field of view when the driver visually recognizes the left side mirror S2L. Therefore, when the driver seated in the driver's seat is visually recognizing the left side mirror S2L, the driver can visually recognize the display of the left display device 500L and recognize the display content.

FIG. 2 is a diagram schematically showing a state when the right front of the vehicle S is viewed from the inside of the vehicle S in a simplified manner. FIG. 3 is a view showing a front view of the display device 500 together with the tweeter S3a described later. As shown in FIG. 2, a tweeter unit S3 is provided at the right end of the dashboard S1. Although not shown in FIG. 2, a tweeter unit S3 is also provided at the left end portion of the dashboard S1 in the same manner as the tweeter unit S3 provided at the right end portion. The tweeter unit S3 includes a tweeter S3a and a tweeter cover S3b that protects the tweeter S3a. The tweeter cover S3b has a function of protecting the tweeter S3a and a function of preventing the light emitted by the display device 500 from leaking to the outside of the vehicle.

As shown in FIGS. 2 and 3, the display device 500 is a device in which a plurality of LEDs 50 (corresponding to “light emitters” in the claims) are arranged side by side in a ring shape. The LEDs 50 constituting the display device 500 are arranged side by side in a ring shape along the outer circumference of the tweeter S3a so as to surround the outer circumference of the tweeter S3a. In addition to the function of supporting parking described later, the display device 500 allows the user to open / close any door of the vehicle S, turn on / off the accessory switch, turn on / off the engine switch, and the like. Each LED 50 has an illumination function of decorating the interior of the vehicle by lighting / blinking in a predetermined mode when the predetermined action is performed. As described above, since the display device 500 has both the parking support function and the illumination function, the cost can be reduced as compared with the case where an independent device for each of these functions is provided in the vehicle S. ..

Further, by arranging the LEDs 50 in a ring shape surrounding the tweeter S3a to form the display device 500, the following effects can be obtained. That is, the tweeter is a speaker that outputs high-frequency sound with high directivity, and when it is installed in the vehicle S, the tweeter is usually installed so that the front surface of the tweeter faces the inside of the vehicle in consideration of the acoustic effect in the vehicle. It is provided in S. Also in the present embodiment, each of the tweeters S3a provided at the right end portion and the left end portion of the dashboard S1 is provided so that the front surface thereof faces the inside of the vehicle S. Therefore, when the driver sitting in the driver's seat visually recognizes the side mirror S2, he / she can visually recognize the display device 500 located in the vicinity of the side mirror S2 in a state close to the front view, and can see the side mirror S2. In the visually recognized state, the display of the display device 500 can be accurately visually recognized and the display contents can be recognized.

Under the configuration of the in-vehicle system 1 described above, the driving support device 100 according to the present embodiment provides information on driving support on the touch panel 200 provided in the central portion of the dashboard S1 when the driver parks the vehicle S. Is displayed to assist the driver in driving. The driver can park the vehicle S more smoothly by visually recognizing the touch panel 200 while driving to park the vehicle S. Here, it is assumed that the driver appropriately visually recognizes the side mirror S2 and confirms the situation around the vehicle S while driving to park the vehicle S. By visually recognizing the side mirror S2, the situation around the vehicle S, such as the actual sense of distance between the vehicle S and an obstacle (for example, another vehicle) located near the parking position of the vehicle S, can be more accurately observed. This is because it can be grasped. Then, while the side mirror S2 is being visually recognized, the touch panel 200 is in a state of being located outside the range of the driver's effective field of view, and the driver cannot obtain the information displayed on the touch panel 200. Based on the above, the operation support device 100 according to the present embodiment has the following configuration and executes the following processing.

FIG. 4 is a block diagram showing a functional configuration example of the operation support device 100 according to the present embodiment. As shown in FIG. 4, the driving support device 100 according to the present embodiment has, as its functional configuration, a bird's-eye view image generation unit 10, a target steering operation detection unit 11, a first steering operation guide unit 12, a visual state detection unit 13, and a visual state detection unit 13. A second steering operation guide unit 14 is provided.

Each of the above functional blocks 10 to 14 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 10 to 14 is actually configured to include a computer CPU, RAM, ROM, etc., and is a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. Is realized by the operation of.

The bird's-eye view image generation unit 10 generates bird's-eye view image data by converting the viewpoint of the captured image data input from the rear camera 400. The bird's-eye view image data is image data in which a bird's-eye view image obtained by converting the image recorded in the captured image data into a bird's-eye view is recorded. The generation of bird's-eye image data is appropriately executed by existing image processing including viewpoint conversion processing. The bird's-eye view image generation unit 10 outputs the generated bird's-eye view image data to the target steering operation detection unit 11 and the first steering operation guide unit 12. The bird's-eye view image generation unit 10 generates bird's-eye view image data based on each of the captured image data input from the rear camera 400 at a predetermined cycle, and the target steering operation detection unit 11 has a cycle synchronized with the predetermined cycle. The bird's-eye view image data is output to the first steering operation guide unit 12.

The target steering operation detection unit 11 detects the steering operation that the driver should currently perform in order to move the vehicle S from the current position to the parking position when the vehicle S is being driven to park. .. Hereinafter, the steering operation that the driver should perform at the present time in order to move from the current position to the parking position is referred to as "target steering operation", and the information indicating the target steering operation is referred to as "target steering operation information". In the present embodiment, the target steering operation is the rotation direction of the steering wheel S4 (FIG. 3) (hereinafter referred to as "target rotation direction") and the rotation amount of the steering wheel S4 (hereinafter referred to as "target rotation amount"). It is a combination. The target rotation amount corresponds to the rotation amount of the steering wheel S4 required to change the current steering angle of the vehicle S to the steering angle of the vehicle S currently required to move the vehicle S to the parking position. do.

In the present embodiment, the target steering operation detection unit 11 calculates the target steering operation (combination of the target rotation direction and the target rotation amount) by itself based on the input from the bird's-eye view image generation unit 10 and other inputs. , Detect target steering operation. The process of calculating the target steering operation is appropriately performed using the existing technology.

To briefly explain an example of the process, the target steering operation detection unit 11 parks the vehicle S in the bird's-eye view image data based on the bird's-eye view image data (image data in which the bird's-eye view image of the area behind the vehicle S is recorded). The parking position to be parked (the area where the vehicle S should be parked) is specified. The identification may be automatically performed by various image recognition such as recognition of an image representing the white line of the parking frame, and the user is made to input a predetermined parking position in advance and is performed based on the predetermined input. You may. Next, the target steering operation detection unit 11 calculates the route from the current position of the vehicle S to the parking position.

Detection values are input to the target steering operation detection unit 11 from a vehicle speed sensor that detects the vehicle speed, a yaw rate sensor that detects the yaw rate applied to the vehicle S, and a steering angle sensor that detects the steering angle of the vehicle S. Based on the detected values of these sensors, the target steering operation detection unit 11 reflects the vehicle speed of the vehicle S, the yaw rate applied to the vehicle S, and the steering angle of the vehicle S, so that the vehicle S moves from the current position to the parking position. The steering operation (combination of the rotation direction and the amount of rotation of the steering wheel S4) that the driver should perform at the present time in order to travel along the route is calculated as the target steering operation. The processing described above is only an example, and a configuration using another sensor (a radar sensor used for detecting obstacles around the vehicle S or a camera that photographs the outside of the vehicle other than the rear camera 400) may be used as the sensor. , The target steering operation may be calculated by another method. Further, a part or all of the processing may be performed by an external device capable of communicating with the driving support device 100, and the target steering operation detection unit 11 may communicate with the external device to detect the target steering operation.

After detecting the target steering operation, the target steering operation detection unit 11 outputs the target steering operation information indicating the detected target steering operation to the first steering operation guide unit 12 and the second steering operation guide unit 14. The target steering operation detection unit 11 detects the target steering operation based on each of the bird's-eye view image data input from the bird's-eye view image generation unit 10 at a predetermined cycle, and the first steering is performed in a cycle synchronized with the predetermined cycle. Target steering operation information is output to the operation guide unit 12 and the second steering operation guide unit 14.

The first steering operation guide unit 12 is used for captured image data input from the rear camera 400, bird's-eye view image data input from the bird's-eye view image generation unit 10, and target steering operation information input from the target steering operation detection unit 11. Based on this, the main parking support screen IF1 is displayed on the touch panel 200. In particular, the main parking support screen IF1 includes a steering operation guide image G3 (described later), and the first steering operation guide unit 12 displays the steering operation guide image G3 to display the target steering operation detection unit. An image showing the steering operation (target steering operation) detected by 11 is displayed on the touch panel 200 provided at the center of the dashboard S1 of the vehicle S. Hereinafter, the processing of the first steering operation guide unit 12 will be described in detail.

FIG. 5 is a diagram showing an example of the main parking support screen IF1. As shown in FIG. 5, the main parking support screen IF1 includes a shooting result screen IF11 displayed on the left side and a bird's-eye view screen IF12 displayed on the right side. The shooting result screen IF11 is a screen that displays the shooting result of the rear camera 400 as a moving image in real time. The first steering operation guide unit 12 displays the shooting result screen IF11 based on the shot image data input from the rear camera 400 at a predetermined cycle.

The bird's-eye view screen IF12 is a screen in which a bird's-eye view image of the area behind the vehicle S is displayed together with an image representing the vehicle S. As shown in FIG. 5, the bird's-eye view screen IF12 includes an area A1 in which a bird's-eye view image of an area behind the vehicle S is displayed and an area A2 in which an image representing the vehicle S is displayed. The first steering operation guide unit 12 displays a bird's-eye view image of the area behind the vehicle S as a moving image in real time in the area A1 based on the bird's-eye view image data input from the bird's-eye view image generation unit 10. Further, the first steering operation guide unit 12 displays a fixed screen in which the vehicle body image G1 representing the vehicle body of the vehicle S is displayed in the area A2 based on the template data prepared in advance as the background image. The relationship between the region of the vehicle body image G1 on the bird's-eye view screen IF12 and the area A1 of the bird's-eye view image behind the vehicle S corresponds to the relationship between the region of the vehicle body of the actual vehicle S and the region behind the actual vehicle S. ing.

As shown in FIG. 5, the tire image G2 is displayed in the area A2 in association with the vehicle body image G1. The tire image G2 is an image showing the tires of the vehicle S, and is displayed in a state of being tilted with respect to the vehicle body image G1 according to the current steering angle of the vehicle S. The vehicle S according to the present embodiment is a four-wheeled vehicle with front wheels steered, and the tire image G2 corresponding to the front wheels is displayed in a state of being tilted with respect to the vehicle body image G1 according to the current steering angle of the vehicle S. Will be done. A detection value is input to the first steering operation guide unit 12 from the steering angle sensor at a predetermined cycle. Then, the first steering operation guide unit 12 detects the steering angle based on the detection value input from the steering angle sensor, processes the template data of the tire image G2 according to the steering angle, and is appropriate for the area A2. Display by superimposing on the position.

As shown in FIG. 5, the steering operation guide image G3 is displayed in the area A2. The steering operation guide image G3 is a ring-shaped ring image G31 surrounding the vehicle body image G1 (corresponding to the “ring-shaped image” in the claims) and an object moving on the ring image G31 along the ring image G31. It has G32. In the present embodiment, the first steering operation guide unit 12 operates the target steering operation by moving the object G32 in the following modes based on the target steering operation information input from the target steering operation detection unit 11. Notify your hand.

That is, the object G32 is a strip-shaped image curved along the circumference of the ring image G31. Further, the shape of the object G32 is a fixed shape. The first steering operation guide unit 12 moves the object G32 clockwise while the target rotation direction is clockwise based on the target steering operation information input from the target steering operation detection unit 11 at a predetermined cycle. , The object G32 is moved counterclockwise while the target rotation direction is counterclockwise. At that time, the first steering operation guide unit 12 increases the moving speed of the object G32 as the target rotation amount increases according to the amount of the target rotation amount.

By visually recognizing the main parking support screen IF1 and confirming its contents, the driver requests the situation behind the vehicle S, the steering angle of the vehicle S at the present time, and the parking position of the vehicle S at the present time. It is possible to recognize the steering operation to be performed. The main parking support screen IF1 illustrated in FIG. 5 is a simplified and schematic representation of the screen displayed on the touch panel 200 for convenience of explanation, and the mode of the screen is not limited to the example. Moreover, the information contained in the screen is not limited to the example. For example, the route of the vehicle S when the vehicle S travels at the current steering angle may be displayed on the shooting result screen IF1 or the bird's-eye view screen IF2 in a predetermined manner.

The visibility state detection unit 13 detects whether or not the driver is visually recognizing the side mirror S2 (either the right side mirror S2R or the left side mirror S2L) based on the captured image data input from the in-vehicle camera 300. do. The processing of the visual state detection unit 13 is appropriately executed by analyzing the captured image data using the existing technique.

Briefly explaining an example of the process, the visual state detection unit 13 analyzes the captured image data in response to the input of the captured image data from the in-vehicle camera 300, and the face image (driver) included in the captured image data. Face image) is recognized. Face image recognition is appropriately performed using existing face recognition technology. Next, the visual state detection unit 13 identifies an eye region in the driver's face image, tracks and analyzes the face region and the eye region, and detects the driver's line of sight. When detecting the line of sight, the visual state detection unit 13 detects the direction of the face, the position of the black eyes in the eye area, etc., and comprehensively considers the direction of the face, the position of the black eyes, etc., and detects the line of sight. conduct. The visual state detection unit 13 detects that the detected line of sight is directed toward the side mirror S2, detects that the driver is visually recognizing the side mirror S2, and the detected line of sight is not directed toward the side mirror S2. , Detects that the driver is not visually recognizing the side mirror S2.

The second steering operation guide unit 14 displays a display indicating the steering operation (target steering operation) detected by the target steering operation detection unit 11 in the range of the effective field of view when the driver seated in the driver's seat visually recognizes the side mirror S2. The display device 500 provided inside is used to perform the operation.

In particular, in the present embodiment, the second steering operation guide unit 14 is detected by the target steering operation detection unit 11 while the visibility state detection unit 13 detects that the driver is visually recognizing the side mirrors. While the display device 500 is made to display the steering operation, the target steering operation detection unit 11 detects the driver while the visibility state detection unit 13 detects that the driver is not visually recognizing the side mirror S2. The display device 500 is not allowed to display the steering operation.

Further, in the present embodiment, the second steering operation guide unit 14 sets one or a plurality of adjacent (three in the present embodiment) LEDs 50 to be lit at the same time by the target steering operation detection unit 11. The lighting and extinguishing of the LEDs 50 constituting the display device 500 are controlled so that the LED 50 in the lit state moves toward the detected rotation direction (target rotation direction). At that time, the second steering operation guide unit 14 increases the speed at which the lit LED 50 moves as the rotation amount (target rotation amount) of the steering wheel S4 detected by the target steering operation detection unit 11 increases.

Hereinafter, the processing of the second steering operation guide unit 14 will be described in detail. The second steering operation guide unit 14 is connected to a drive circuit that controls the drive of the LED 50 of the display device 500, and by outputting a control signal to the drive circuit, an arbitrary LED 50 can be displayed at an arbitrary timing. It can be turned on and off. Hereinafter, the second steering operation guide unit 14 outputs a control signal to the drive circuit to turn on or off the LED 50 of the display device 500. Simply, "The second steering operation guide unit 14 turns on the LED 50. It may be expressed as "control".

The second steering operation guide unit 14 turns off all the LEDs 50 constituting the display device 500 while the visible state detection unit 13 detects that the driver is not visually recognizing the side mirror S2. As a result, when the driver is visually recognizing the touch panel 200 or the outside of the vehicle through the windshield, the LED 50 of the display device 500 is lit to prevent the driver's visual recognition from being affected. ..

The second steering operation guide unit 14 has the target steering detected by the target steering operation detection unit 11 in the following aspects while the visible state detection unit 13 detects that the driver is visually recognizing the side mirror S2. The display device 500 is made to display the operation. In the present embodiment, while the visible state detection unit 13 detects that the driver is visually recognizing the side mirror S2, the second steering operation guide unit 14 is the right display device 500R and the left display device 500L. Have both of them display a display indicating the target steering operation. This is because when the driver visually recognizes the side mirror S2, the right side mirror S2R and the left side mirror S2L may be visually recognized alternately and continuously. In this regard, the second steering operation guide unit 14 is provided only on the display device 500 (either the right display device 500R or the left display device 500L) provided in the vicinity of the side mirror S2 visually recognized by the driver. It may be configured to display a display indicating the target steering operation.

That is, the second steering operation guide unit 14 acquires the target rotation direction and the target rotation amount based on the target steering operation information input from the target steering operation detection unit 11. Then, when the target rotation direction is the clockwise direction, the second steering operation guide unit 14 controls each LED 50 so that the three adjacent LEDs 50 in the lit state move clockwise. On the other hand, when the target rotation direction is the counterclockwise direction, the second steering operation guide unit 14 controls each LED so that the three adjacent LEDs 50 in the lit state move counterclockwise.

In the following description, one or a plurality of adjacent (three in the present embodiment) LEDs that are simultaneously lit by the second steering operation guide unit 14 are referred to as “lighting LED group”. Also in each embodiment described later, one or a plurality of adjacent LEDs 50 that are lit at the same time are referred to as "lighting LED group".

When moving the lighting LED group, the second steering operation guide unit 14 increases the moving speed of the lighting LED group as the target rotation amount increases. In the present embodiment, the moving speed of the lighting LED group is the rotation angle of the lighting LED group per unit time (when the lighting LED group rotates clockwise, it is the rotation angle in the clockwise direction. When the lighting LED group rotates counterclockwise, it means a rotation angle in the counterclockwise direction).

The second steering operation guide unit 14 determines the moving speed by performing the following processing, for example. That is, the range in which the value of the target rotation amount can be taken is divided in advance, and the movement speed is associated with each division. Regarding the association, the larger the rotation amount, the faster the moving speed is associated. Then, the second steering operation guide unit 14 specifies the target rotation amount category based on the target steering operation information, and sets the moving speed associated with the specified category as the moving speed when moving the lighting LED group. decide.

FIG. 6 is a diagram showing how the lighting LED group moves in the display device 500 under the control of the second steering operation guide unit 14 in order to explain the processing of the second steering operation guide unit 14. FIG. 6A shows how the lighting LED group moves when the target rotation direction is the clockwise direction and the target rotation amount is smaller than the target rotation amount in FIG. 6B. In FIG. 6A, the moving speed of the lighting LED group is 180 ° per second. On the other hand, FIG. 6B shows how the lighting LED group moves when the target rotation direction is clockwise and the target rotation amount is larger than the target rotation amount in FIG. 6A. There is. In FIG. 6B, the moving speed of the lighting LED group is 360 ° per second.

As shown in FIGS. 6 (A) and 6 (B), the second steering operation guide unit 14 does not change the number of LEDs 50 included in the lighting LED group according to the magnitude of the value of the target rotation amount. As a result, in the present embodiment, the number of LEDs 50 included in the lighting LED group remains "3" regardless of the size of the target rotation amount value. On the other hand, the second steering operation guide unit 14 moves the lighting LED group at a faster moving speed as the target rotation amount is larger.

In the present embodiment, the display of the display device 500 is performed in the above manner, thereby achieving the following effects. That is, in the display device 500, the LEDs 50 are arranged side by side in a ring shape, which reminds us of the ring-shaped handle S4, and the handle S4 is the one in which the lighting LED group rotates in one rotation direction. It reminds us of how it rotates in the direction of rotation. Further, when the moving speed of the LED 50 is high, it reminds us that the handle S4 is rotating faster and larger than when it is slow. Based on this, by displaying the display device 500 in the above-described manner, the driver visually recognizes the display device 500 and recognizes the rotation direction of the lighting LED group and the degree of speed at which the lighting LED group moves. By doing so, it is possible to intuitively and quickly recognize the rotation direction in which the handle S4 should be rotated and the degree of rotation amount in order to park the vehicle S at the parking position.

Further, in the present embodiment, the display device 500 is provided within the range of the effective field of view when the driver is visually recognizing the side mirror S2. Then, since the display device 500 is displayed in the above-described manner when the driver is visually recognizing the side mirror S2, the driver continues to display the side mirror S2 at the present time. Information (information on driving support) indicating which rotation direction and how much rotation amount the handle S4 should be rotated can be obtained.

FIG. 7 is a flowchart showing an operation example of the second steering operation guide unit 14 of the driving support device 100 according to the present embodiment. The flowchart shown in FIG. 7 is executed triggered by the driver notifying the driver to park the vehicle S by a touch operation or the like on the touch panel 200. In the following description, at the start of the operation of FIG. 7, it is detected by the visual recognition state detection unit 13 that the driver is not visually recognizing the side mirror S2, and all the LEDs 50 constituting the display device 500 are detected. Is in the off state.

As shown in the flowchart of FIG. 7, the second steering operation guide unit 14 determines whether or not the parking of the vehicle S is completed (step S1), and the visible state detection unit 13 allows the driver to use the side mirror S2. It is determined whether or not it is detected that the user is visually recognizing (step S2). The second steering operation guide unit 14 continues the processes of steps S1 and S2 until parking is completed or the visibility state detection unit 13 detects that the driver is visually recognizing the side mirror S2. Execute.

When the parking of the vehicle S is completed (step S1: YES), the second steering operation guide unit 14 turns off all the LEDs 50 constituting the display device 500 when there is a lit LED 50. The termination process to be executed after the parking is completed is executed (step S3), and the process is terminated.

When it is detected by the visibility state detection unit 13 that the driver is visually recognizing the side mirror S2 before the parking of the vehicle S is completed (step S2: YES), the second steering operation guide unit 14 determines. The target steering operation information input from the target steering operation detection unit 11 is acquired (step S4). The second steering operation guide unit 14 controls lighting and extinguishing of each LED 50 constituting the display device 500 based on the acquired target steering operation information, and displays a display indicating the target steering operation in the above-described manner. (Step S5).

After that, the second steering operation guide unit 14 determines whether or not the parking of the vehicle S is completed (step S6), and the driver does not visually recognize the side mirror S2 by the visibility state detection unit 13. It is determined whether or not it has been detected (step S7). When the second steering operation guide unit 14 detects that the driver is not visually recognizing the side mirror S2 by the visibility state detection unit 13 in a state where parking is not completed (step S7: NO), a processing procedure. Is returned to step SA4.

When the parking of the vehicle S is completed (step S6: YES), the second steering operation guide unit 14 executes the end process (step S3), and ends the process. When it is detected by the visual inspection state detection unit 13 that the driver is not visually recognizing the side mirror S2 before the parking of the vehicle S is completed (step S7: YES), the second steering operation guide unit 14 determines. All the LEDs 50 constituting the display device 500 are turned off (step S8), and the processing procedure is shifted to step S1.

As described in detail above, in the driving support device 100 according to the first embodiment, the vehicle S is parked from the current position while the driver is driving to retract the vehicle S to the parking position and park the vehicle S. The steering operation to be performed by the driver in order to move to the position is detected, and the display device 500 provided within the effective field of view when the driver sitting in the driver's seat visually recognizes the side mirror S2 allows the driver to perform the steering operation. Displays a display indicating the steering operation to be performed by.

According to this configuration, the driver can move the vehicle S to the parking position by the display performed by the display device 500 existing within the range of his / her effective field of view while visually recognizing the side mirror S2. It is possible to recognize whether such a steering operation should be performed, and to operate the steering based on the recognition. That is, according to the first embodiment configured as described above, the driver who drives to park the vehicle S in the parking position continues to support the driving even when he / she is visually recognizing the side mirror S2. Information can be obtained.

In the first embodiment, while the visible state detecting unit 13 detects that the driver is not visually recognizing the side mirror S2, the second steering operation guide unit 14 is all that constitute the display device 500. The LED 50 was turned off. In this regard, the second steering operation guide unit 14 continuously displays the target steering operation detection unit on the display device 500 regardless of whether or not the driver is visually recognizing the side mirror S2 by the visibility state detection unit 13. It may be configured to display the target steering operation detected by 11. In this case, the driving support device 100 does not need to have the visual state detection unit 13 as a functional block. According to this configuration, when the driver visually recognizes the side mirror S2, the display device 500 reliably displays the target steering operation detected by the target steering operation detection unit 11 without a time lag. Can be.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. In the following second embodiment, the components corresponding to the components of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 8 is a block diagram showing a functional configuration example of the driving support device 100A according to the second embodiment together with other devices included in the vehicle-mounted system 1A according to the second embodiment. As is clear from the comparison between FIGS. 8 and 4, the driving support device 100A according to the second embodiment includes the second steering operation guide unit 14A instead of the second steering operation guide unit 14. The functional configuration is different from that of the driving support device 100 according to the first embodiment.

In the first embodiment described above, the second steering operation guide unit 14 moves the lighting LED group in the display device 500 regardless of the movement of the object G32 displayed on the touch panel 200 by the first steering operation guide unit 12. rice field. In this regard, in the present embodiment, the second steering operation guide unit 14A moves the lighting LED group by reflecting the movement of the object G32. Hereinafter, the processing of the second steering operation guide unit 14A according to the present embodiment will be described in detail.

As described above, the first steering operation guide unit 12 moves the object G32 along the ring-shaped ring image G31 surrounding the vehicle body image G1, thereby notifying the driver of the target steering operation. Then, in the present embodiment, the second steering operation guide unit 14A makes the moving speed of the LED 50 at an arbitrary timing match the moving speed of the object G32 with respect to the moving speed of the lighting LED group. That is, the second steering operation guide unit 14A controls lighting and blinking of the LEDs 50 constituting the display device 500 so that the moving speed of the LED 50 matches the moving speed of the object G32 at any timing.

Further, the second steering operation guide unit 14A makes the position of the lighting LED group in the display device 500 at an arbitrary timing coincide with the position of the object G32 in the ring image G31. That is, the second steering operation guide unit 14A of the LED 50 constituting the display device 500 so that the position of the lighting LED group in the display device 500 coincides with the position of the object G32 in the ring image G31 at any timing. Control lighting and blinking. The fact that the position of the lighting LED group on the display device 500 and the position of the object G32 on the ring image G31 match means that the relative position of the lighting LED group with respect to the rotation center point on the display device 500 and the steering operation guide image. It means that the relative position of the object G32 with respect to the rotation center point in G3 coincides.

FIG. 9A is a diagram showing an example of how the object G32 moves in the steering operation guide image G3. In FIG. 9A, the state JA1 shows the state of the object G32 at the timing T1, the state JA2 shows the state of the object G32 at the timing T2 250 milliseconds after the timing T1, and the state JA3 shows the state of the object G32 at the timing T2. , The state of the object G32 at the timing T3 250 milliseconds after the timing T2 is shown. In FIG. 9A, the object G32 is moving at a moving speed of 360 ° per second.

9 (B) shows the lighting LED group (FIG. 9) under the control of the second steering operation guide unit 14A according to the present embodiment when the object G32 is moving in the embodiment shown in FIG. 9 (A). In the example of (B), it is a figure which shows the state that three adjacent LEDs 50) move. In FIG. 9B, the state JB1 shows the state of the lighting LED group at the timing T1, the state JB2 shows the state of the lighting LED group at the timing T2, and the state JB3 shows the state at the timing T3. Indicates the state of the lighting LED group.

As shown in FIG. 9B, in the present embodiment, when the object G32 is moving at a moving speed of 360 ° per second, the second steering operation guide unit 14A sets the lighting LED group for 1 second. Move at a moving speed that moves 360 ° per unit. Further, as shown in FIGS. 9A and 9B, the second steering operation guide unit 14A sets the position of the lighting LED group on the display device 500 at an arbitrary timing of the object G32 on the ring image G31. Match the position.

In the present embodiment, the display of the display device 500 is performed in the above manner, thereby achieving the following effects. That is, it is assumed that the driver alternately repeats the visual recognition of the touch panel 200 and the visual recognition of the side mirror S2 accompanied by the visual recognition of the display device 500 when the driver is driving for parking. Based on this, by matching the position and moving speed of the lighting LED group in the display device 500 with the position and moving speed of the object G32 in the ring image G31 displayed on the touch panel 200, the driver can replace the touch panel 200. When the display device 500 is visually recognized, and when the touch panel 200 is visually recognized instead of the display device 500, the rotation direction in which the handle S4 should be rotated and the degree of the rotation amount are recognized smoothly and without discomfort. can. In particular, when the value of the target rotation amount is the same, the moving speed of the lighting LED group and the moving speed of the object G32 match, so that the driver moves for each device (display device 500 or touch panel 200) to be visually recognized. It is not necessary to change the degree of rotation to be recalled depending on the moving speed of the target (lighting LED group or object G32), which is highly convenient for the driver.

The second steering operation guide unit 14A acquires information on the moving speed and position of the object G32 from the first steering operation guide unit 12, and adjusts the position and moving speed of the lighting LED group based on the acquired information. do. However, what kind of method is used by the second steering operation guide unit 14A to match the position of the lighting LED group with the position of the object G32 and the moving speed of the lighting LED group with the moving speed of the object G32. May be good.

Further, in the present embodiment, the second steering operation guide unit 14A is configured to match the position of the lighting LED group in the display device 500 with the position of the object G32 in the ring image G31. In this regard, the second steering operation guide unit 14A may be configured so that only the moving speed of the lighting LED group in the display device 500 matches the moving speed of the object G32 in the ring image G31. Even with this configuration, when the driver visually recognizes the display device 500 instead of the touch panel 200 and when he / she visually recognizes the touch panel 200 instead of the display device 500, the driver smoothly turns the handle S4 without any discomfort. It is possible to recognize the rotation direction to be moved and the degree of rotation amount. However, the configuration in which the positions match with the moving speed is more comfortable when the driver visually recognizes the display device 500 instead of the touch panel 200 and when the driver visually recognizes the touch panel 200 instead of the display device 500. , The rotation direction in which the handle S4 should be rotated and the degree of rotation can be recognized more smoothly.

(Third Embodiment)
Next, a third embodiment of the present invention will be described with reference to the drawings. In the following third embodiment, the components corresponding to the components of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 10 is a block diagram showing a functional configuration example of the driving support device 100B according to the third embodiment together with other devices included in the vehicle-mounted system 1B according to the third embodiment. As is clear from the comparison between FIGS. 10 and 4, the driving support device 100B according to the third embodiment includes the second steering operation guide unit 14B instead of the second steering operation guide unit 14. The functional configuration is different from that of the driving support device 100 according to the first embodiment.

In the first embodiment described above, the second steering operation guide unit 14 increases the moving speed of the lighting LED group as the target rotation amount increases. On the other hand, in the present embodiment, the larger the target rotation amount of the second steering operation guide unit 14B, the larger the number of LEDs 50 included in the lighting LED group (the number of light emitting bodies to be lit at the same time).

FIG. 11 is a diagram showing how the lighting LED group moves in the display device 500 under the control of the second steering operation guide unit 14B in order to explain the processing of the second steering operation guide unit 14B according to the present embodiment. be. FIG. 11A shows how the lighting LED group moves when the target rotation direction is the clockwise direction and the target rotation amount is smaller than the target rotation amount in FIG. 11B. In FIG. 11A, a group of lighting LEDs including "three" LEDs 50 is moving at a moving speed of 360 ° per second. FIG. 11B shows how the lighting LED group moves when the target rotation direction is the clockwise direction and the target rotation amount is larger than the target rotation amount in FIG. 11A. In FIG. 11B, a group of lighting LEDs including "5" LEDs 50 is moving at a moving speed of 360 ° per second.

As is clear from the comparison between FIGS. 11A and 11B, the second steering operation guide unit 14B does not change the moving speed of the lighting LED group depending on the magnitude of the target rotation amount. On the other hand, the second steering operation guide unit 14B changes the number of LEDs 50 included in the lighting LED group so that the larger the target rotation amount, the larger the number.

In the present embodiment, the display of the display device 500 is performed in the above manner, thereby achieving the following effects. That is, as described in the first embodiment, in the display device 500, the LEDs 50 are arranged side by side in a ring shape, reminiscent of the ring-shaped handle S4, and the lighting LED group rotates in one rotation direction. The state of movement is reminiscent of the state in which the handle S4 rotates in the one rotation direction. Further, when the number of LEDs 50 included in the lighting LED group is large, it reminds us that the handle S4 should be rotated more than when the number of LEDs 50 is small. Based on the above, the driver visually recognizes the display device 500 displayed in the embodiment according to the present embodiment, and recognizes the rotation direction of the lighting LED group and the number of LEDs 50 included in the lighting LED group. Therefore, in order to park the vehicle S at the parking position intuitively and quickly, it is possible to recognize the rotation direction in which the handle S4 should be rotated and the degree of rotation amount to be rotated.

(Fourth Embodiment)
Next, a fourth embodiment of the present invention will be described with reference to the drawings. In the following fourth embodiment, the components corresponding to the components of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 12 is a block diagram showing a functional configuration example of the driving support device 100C according to the fourth embodiment together with other devices included in the vehicle-mounted system 1C according to the fourth embodiment. As is clear from the comparison between FIGS. 12 and 4, the driving support device 100C according to the fourth embodiment includes the second steering operation guide unit 14C instead of the second steering operation guide unit 14. The functional configuration is different from that of the driving support device 100 according to the first embodiment.

In the first embodiment described above, the second steering operation guide unit 14 moves the lighting LED group in the direction corresponding to the target rotation direction according to the target rotation direction. On the other hand, in the present embodiment, the second steering operation guide unit 14C does not move the lighting LED group according to the target rotation direction, and the lighting LED group is positioned at a position according to the target rotation direction. , Each LED 50 constituting the display device 500 is controlled. Specifically, when the target rotation direction is the clockwise direction, the second steering operation guide unit 14C positions the lighting LED group on the right side of the center of the display device 500 in the left-right direction. Further, when the target rotation direction is the counterclockwise direction, the second steering operation guide unit 14C positions the lighting LED group on the left side of the center of the display device 500 in the left-right direction.

Further, in the present embodiment, the second steering operation guide unit 14C increases the number of LEDs 50 included in the lighting LED group as the target rotation amount increases according to the size of the target rotation amount.

FIG. 13 is a diagram showing a state of the lighting LED group in the display device 500 in order to explain the processing of the second steering operation guide unit 14C according to the present embodiment. In FIG. 13 (A), the target rotation direction is the clockwise direction, and the target rotation amount (hereinafter, the target rotation amount in FIG. 13 (A) is a value P1) is the target rotation amount in FIG. 13 (B). The state of the lighting LED group when it is smaller than (hereinafter, the target rotation amount in FIG. 13B is set to the value P2) is shown. The second steering operation guide unit 14C continues the state shown in FIG. 13A without moving the lighting LED group while the target rotation direction is the clockwise direction and the target rotation amount is the value P1. maintain. Further, in FIG. 13A, the number of LEDs 50 included in the lighting LED group is “3”. Although not shown, when the target rotation direction is the counterclockwise direction and the target rotation amount is the value P1, the second steering operation guide unit 14C refers to the lighting LED group shown in FIG. 13 (A). Then, the lighting LED group including the three LEDs 50 is positioned at a symmetrical position with the rotation center point as the point of symmetry.

FIG. 13B shows a state of the lighting LED group when the target rotation direction is the clockwise direction and the target rotation amount is the value P2 (as described above, the value P2> the value P1). The second steering operation guide unit 14C continues the state shown in FIG. 13B without moving the lighting LED group while the target rotation direction is the clockwise direction and the target rotation amount is the value P2. maintain. Further, in FIG. 13B, the number of LEDs 50 included in the lighting LED group is “5”. Although not shown, when the target rotation direction is the counterclockwise direction and the target rotation amount is the value P2, the second steering operation guide unit 14C refers to the lighting LED group shown in FIG. 13 (B). Then, the lighting LED group including the five LEDs is positioned at a symmetrical position with the rotation center point as the point of symmetry.

As is clear from the comparison between FIGS. 13 (A) and 13 (B), the second steering operation guide unit 14C increases the number of LEDs 50 included in the lighting LED group as the value of the target rotation amount increases.

In the present embodiment, the display of the display device 500 is performed in the above manner, thereby achieving the following effects. That is, as described in the first embodiment, in the display device 500, the LEDs 50 are arranged side by side in a ring shape, reminiscent of the ring-shaped handle S4. Then, considering that when the steering wheel S4 is rotated clockwise, the vehicle S traveling straight is heading to the right, only the LED 50 on the right side of the center in the left-right direction is lit among the LEDs 50 constituting the display device 500. One appearance reminds us that the handle S4 should be turned clockwise. Similarly, among the LEDs 50 constituting the display device 500, the appearance that only the LED 50 on the left side from the center in the left-right direction is lit reminds us that the handle S4 should be turned counterclockwise. Further, when the number of LEDs 50 included in the lighting LED group is large, it reminds us that the handle S4 should be rotated more than when the number of LEDs 50 is small. Based on the above, the driver visually recognizes the display device 500 displayed in the embodiment according to the present embodiment, and recognizes the position of the lighting LED group and the number of LEDs 50 included in the lighting LED group. It is possible to intuitively and quickly recognize the rotation direction in which the handle S4 should be rotated and the degree of rotation amount to be rotated in order to park the vehicle S in the parking position.

In each of the above-described embodiments, the display device 500 is a device in which the LEDs 50 are arranged in a ring shape. In this regard, the display device 500 is composed of a panel capable of displaying an image such as a liquid crystal display panel, and under the control of the second steering operation guide unit 14, the display device 500 displays an image representing a target steering operation (for example, steering). An image corresponding to the operation guide image G3) may be displayed. In this case, the display device 500 is composed of a device having a function of displaying an image on a part of the mirror body of the side mirror S2, and under the control of the second steering operation guide unit 14, the mirror body of the side mirror S2 An image showing the target steering operation (for example, an image corresponding to the steering operation guide image G3) may be partially displayed.

Further, in each of the above-described embodiments, the LEDs 50 constituting the display device 500 are arranged in a ring shape along the outer circumference of the tweeter S3a so as to surround the outer circumference of the tweeter S3a. In this regard, the LED 50 may not be arranged along the outer circumference of the tweeter S3a. For example, the display device 50 may be independently provided in the vehicle S in which the tweeter S3a is not provided.

In addition, each of the above-described embodiments is merely an example of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner. .. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

11 Target steering operation detection unit 12 1st steering operation guide unit 13 Visual condition detection unit 14, 14A, 14B, 14C 2nd steering operation guide unit 50 LED (light emitting body)
100, 100A, 100B, 100C Driving support device 200 Touch panel (display panel)
500R right display device (display device)
500L left display device (display device)
S vehicle S2R right side mirror (side mirror)
S2L left side mirror (side mirror)
S4 handle

Claims (3)

It is a driving support device that supports driving to retract the vehicle to the parking position and park it.
A target steering operation detection unit that detects the steering operation that the driver should perform in order to move the vehicle from the current position to the parking position, and
A first steering operation guide unit that displays an image showing the steering operation detected by the target steering operation detection unit on a display panel provided in the center of the dashboard of the vehicle.
A second steering operation guide that causes a display device provided within the range of the effective field of view when the driver sitting in the driver's seat visually recognizes the side mirror to display the display indicating the steering operation detected by the target steering operation detection unit. With a department ,
The display device is a device provided in the passenger compartment of the vehicle and in which a plurality of light emitters are arranged side by side in a ring shape.
The target steering operation detection unit detects the rotation direction of the steering wheel as a steering operation to be performed by the driver.
The first steering operation guide unit displays a ring-shaped image on the display panel, and moves the object along the ring-shaped image in the rotation direction detected by the target steering operation detection unit. Let me
The second steering operation guide section is
The display device is configured so that one or a plurality of adjacent light emitting bodies are simultaneously lit, and the lit light emitting bodies move in the rotation direction detected by the target steering operation detection unit. Control the lighting and extinguishing of the above illuminant,
The moving speed of the illuminant in the lit state at an arbitrary timing is made to match the moving speed of the object, and the position of the illuminant in the lit state in the display device at an arbitrary timing is displayed as a ring-shaped image. A driving support device characterized in that it matches the position of the above object in. The target steering operation detection unit detects the amount of rotation of the steering wheel in addition to the direction of rotation of the steering wheel as the steering operation to be performed by the driver.
In the first steering operation guide unit, the larger the amount of rotation of the steering wheel detected by the target steering operation detection unit, the faster the moving speed of the object.
The second steering operation guide unit according to claim 1 , wherein the larger the amount of rotation of the steering wheel detected by the target steering operation detection unit, the faster the moving speed of the light emitting body in the lit state. Driving support device. The first step in which the target steering operation detection unit of the driving support device detects the steering operation that the driver should perform in order to move the vehicle from the current position to the parking position.
A second step in which the first steering operation guide unit of the driving support device displays an image representing the steering operation detected by the target steering operation detection unit on a display panel provided in the center of the dashboard of the vehicle. When,
The second steering operation guide unit of the driving support device displays a display indicating the steering operation detected by the target steering operation detection unit within the range of the effective field of view when the driver sitting in the driver's seat visually recognizes the side mirror. It is provided with a third step to be performed by the provided display device.
The display device is a device provided in the passenger compartment of the vehicle and in which a plurality of light emitters are arranged side by side in a ring shape.
In the first step, the target steering operation detection unit detects the rotation direction of the steering wheel as a steering operation to be performed by the driver.
In the second step, the first steering operation guide unit displays a ring-shaped image on the display panel, and the ring-shaped image is displayed in the rotation direction detected by the target steering operation detection unit. Move the object along,
In the third step, the second steering operation guide unit lights one or a plurality of adjacent light emitters at the same time, and lights in the rotation direction detected by the target steering operation detection unit. The lighting and extinguishing of the light emitting body constituting the display device are controlled so that the light emitting body moves, and the moving speed of the light emitting body in the lighting state at an arbitrary timing is made to match the moving speed of the object. At the same time, the driving support method is characterized in that the position of the light emitting body in the lit state on the display device at an arbitrary timing is made to match the position of the object in the ring-shaped image.

Images