JP7087332B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JP7087332B2 JP7087332B2 JP2017197151A JP2017197151A JP7087332B2 JP 7087332 B2 JP7087332 B2 JP 7087332B2 JP 2017197151 A JP2017197151 A JP 2017197151A JP 2017197151 A JP2017197151 A JP 2017197151A JP 7087332 B2 JP7087332 B2 JP 7087332B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/005—Steering specially adapted for trailers operated from tractor steering system
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
- B60R1/003—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like for viewing trailer hitches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0065—Type of vehicles
- B60R2021/0069—Trailers, e.g. caravans
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
Description
12 被牽引車両
24 撮像部
500 運転支援装置
502 連結角度取得部
503 画像処理部
512 表示処理部(通知処理部)
513 音声処理部(通知処理部)
Claims (6)
- 牽引車両と当該牽引車両に連結された被牽引車両との連結角度を取得する連結角度取得部と、
前記連結角度に基づく前記牽引車両の向きと前記被牽引車両の向きとのズレが所定以上の状態で前記牽引車両が運転される場合において、前記牽引車両の操舵角により、当該操舵角が保たれた状態で前記牽引車両が移動した場合に前記牽引車両の移動距離が所定の距離以下の範囲内で前記牽引車両の向きと前記被牽引車両の向きとが実質的に一致した直列状態が実現される際に、前記牽引車両内で所定の通知を行う通知処理部と、
前記牽引車両に設けられる撮像部の撮像結果に基づいて、前記牽引車両の周辺の状況が表された周辺画像として、前記牽引車両の周辺の状況が俯瞰態様で表された俯瞰画像を生成する画像処理部と、を備え、
前記通知処理部は、前記牽引車両および前記被牽引車両の現在の状態と前記直列状態との関係を表す直列状態指標を前記俯瞰画像上に重畳して表示することで前記所定の通知を行う表示処理部を含み、
前記直列状態指標は、前記直列状態が実現された場合に前記牽引車両および前記被牽引車両が向く方向を表す第1の指標を含み、
前記直列状態指標は、前記直列状態が実現されるまでに前記牽引車両が旋回する方向を表す第2の指標を含み、
前記直列状態指標は、前記直列状態が実現された場合における想定上の前記牽引車両を表す第3の指標を含む、
運転支援装置。 - 前記通知処理部は、前記連結角度に基づく前記ズレが所定以上であると判定され、かつ前記牽引車両が後進のために停車している状況で、前記操舵角により、当該操舵角が保たれた状態で前記牽引車両の前記後進が開始した場合に当該後進の距離が前記所定の距離以下の範囲内で前記直列状態が実現される際に、前記所定の通知を行う、
請求項1に記載の運転支援装置。 - 前記表示処理部は、前記直列状態指標が表示された状態で前記牽引車両の移動が開始した場合、前記直列状態指標の表示を継続し、その後実際に前記直列状態が実現された場合、前記俯瞰画像上から前記直列状態指標を消去する、
請求項1または2に記載の運転支援装置。 - 前記画像処理部は、前記周辺画像として、前記牽引車両の左右両側の状況が同時に表された両側画像を生成し、
前記表示処理部は、前記直列状態指標が表示された状態で前記牽引車両の移動が開始した場合において、所定の条件が満たされた場合、前記牽引車両の左右両側の状況が表された両側画像を表示する、
請求項1~3のいずれか1項に記載の運転支援装置。 - 前記通知処理部は、第1の音声を出力することで前記所定の通知を行う音声処理部を含む、
請求項1~4のいずれか1項に記載の運転支援装置。 - 前記音声処理部は、前記第1の音声の出力に応じて前記牽引車両の移動が開始した場合において、その後実際に前記直列状態が実現された場合、第2の音声を出力する、
請求項5に記載の運転支援装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017197151A JP7087332B2 (ja) | 2017-10-10 | 2017-10-10 | 運転支援装置 |
US16/648,890 US11584436B2 (en) | 2017-10-10 | 2018-10-03 | Driver assistance device |
PCT/JP2018/037122 WO2019073885A1 (ja) | 2017-10-10 | 2018-10-03 | 運転支援装置 |
CN201880060854.5A CN111108022B (zh) | 2017-10-10 | 2018-10-03 | 驾驶辅助装置 |
Applications Claiming Priority (1)
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JP2017197151A JP7087332B2 (ja) | 2017-10-10 | 2017-10-10 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
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JP2019069718A JP2019069718A (ja) | 2019-05-09 |
JP7087332B2 true JP7087332B2 (ja) | 2022-06-21 |
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JP2017197151A Active JP7087332B2 (ja) | 2017-10-10 | 2017-10-10 | 運転支援装置 |
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US (1) | US11584436B2 (ja) |
JP (1) | JP7087332B2 (ja) |
CN (1) | CN111108022B (ja) |
WO (1) | WO2019073885A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US11433812B2 (en) * | 2018-10-29 | 2022-09-06 | Ford Global Technologies, Llc | Hitching maneuver |
US11560026B2 (en) * | 2020-11-06 | 2023-01-24 | GM Global Technology Operations LLC | System and method for hitch angle estimation |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003511288A (ja) | 1999-10-02 | 2003-03-25 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 駐車する車両の周辺状況を監視するための装置 |
JP2009060499A (ja) | 2007-09-03 | 2009-03-19 | Sanyo Electric Co Ltd | 運転支援システム及び連結車両 |
JP2011131678A (ja) | 2009-12-24 | 2011-07-07 | Fujitsu Ten Ltd | 画像処理装置、画像処理システム、および、画像処理方法 |
JP2016137802A (ja) | 2015-01-27 | 2016-08-04 | 日野自動車株式会社 | 連結車両の連結角取得装置及び連結車両の運転支援システム |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102009012253A1 (de) * | 2009-03-07 | 2010-09-09 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Unterstützung beim Rückwärtsfahren eines Gespanns aus Zugfahrzeug mit Anhänger |
DE102012015435A1 (de) * | 2012-08-03 | 2014-02-06 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Rangieren eines Anhängers |
US9558409B2 (en) * | 2012-09-26 | 2017-01-31 | Magna Electronics Inc. | Vehicle vision system with trailer angle detection |
US20150115571A1 (en) * | 2013-10-24 | 2015-04-30 | GM Global Technology Operations LLC | Smart tow |
US10800454B2 (en) * | 2017-06-05 | 2020-10-13 | Ford Global Technologies, Llc | Trailer backup assist input with gesture interface for multiple control modes |
-
2017
- 2017-10-10 JP JP2017197151A patent/JP7087332B2/ja active Active
-
2018
- 2018-10-03 US US16/648,890 patent/US11584436B2/en active Active
- 2018-10-03 WO PCT/JP2018/037122 patent/WO2019073885A1/ja active Application Filing
- 2018-10-03 CN CN201880060854.5A patent/CN111108022B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003511288A (ja) | 1999-10-02 | 2003-03-25 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 駐車する車両の周辺状況を監視するための装置 |
JP2009060499A (ja) | 2007-09-03 | 2009-03-19 | Sanyo Electric Co Ltd | 運転支援システム及び連結車両 |
JP2011131678A (ja) | 2009-12-24 | 2011-07-07 | Fujitsu Ten Ltd | 画像処理装置、画像処理システム、および、画像処理方法 |
JP2016137802A (ja) | 2015-01-27 | 2016-08-04 | 日野自動車株式会社 | 連結車両の連結角取得装置及び連結車両の運転支援システム |
Also Published As
Publication number | Publication date |
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US11584436B2 (en) | 2023-02-21 |
US20200223482A1 (en) | 2020-07-16 |
JP2019069718A (ja) | 2019-05-09 |
WO2019073885A1 (ja) | 2019-04-18 |
CN111108022A (zh) | 2020-05-05 |
CN111108022B (zh) | 2022-03-08 |
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