JPS6148098A - Display unit for vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a display device for a vehicle that can contribute to ensuring appropriate driving operations, particularly when parking a vehicle in a garage or parallel parking.

[Technical Background of the Invention] In general, 1. For example, driving into a garage or parallel parking requires not only beginners but also experienced drivers to make several turns while assessing the surroundings of their vehicle. Yes, it is difficult.

Therefore, there has long been a desire for a device that would be able to ensure appropriate driving operations from the J3 during relatively distant driving operations such as parking in a garage or parallel parking.

[Object of the Invention] The present invention has been made in view of the above, and an object thereof is to provide a display device for a vehicle that can contribute to ensuring appropriate driving operations.

[Summary of the Invention] In order to achieve the above object, the present invention, as shown in FIG. Based on the object distance to the object existing in Based on the direction, the expected movement trajectory of the own vehicle from the current position of the own vehicle is determined by the expected movement trajectory detection means 9, and the position of the object at each movement position of the own vehicle determined by the position detection means 5 and the position of the own vehicle relative to the object are determined. The gist is that the current position is displayed on the display means 1'1, and on this display, the predicted movement trajectory of the own vehicle obtained by the predicted movement trajectory detection means 9 is also displayed.

[Embodiments of the invention] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 shows the configuration of a vehicle display device according to an embodiment of the present invention. In the figure, 21 is a distance measurement sensor, 23 is a steering angle sensor that detects the steering angle of the steering wheel, 25 is a travel distance detection sensor that detects the distance traveled by the own vehicle, and 27 is used to detect whether the own vehicle is moving forward or backward. Advance to
The backward detection device 29 is a control circuit comprised of a microcomputer or the like that reads signals from these sensors or detection devices as appropriate, performs processing to be described later, and displays the processing results on a display device 31. Distance sensor 21
are composed of radars that use lasers, ultrasonic waves, or the like as a distance measuring medium, and are installed on both sides of the vehicle. The mileage sensor 25 detects the mileage by counting vehicle speed pulses output from, for example, a vehicle speed sensor (not shown).

The forward/backward detection device 27 detects, for example, the set position of a shift lever, and outputs a signal indicating forward movement or backward movement depending on the detected position. That is, for example, if the shift lever is in the reverse position, a signal indicating reverse is output, and if the shift lever is in the low or top position, a signal indicating forward movement is output. The steering angle sensor 23 constitutes direction detection means and detects the turning angle of the steering wheel.

Next, the operating principle of the vehicle display device according to this embodiment will be explained in the third section.
This will be explained using FIGS. 7 to 7.

A vehicle 33 shown in FIG. 3 is equipped with the vehicle display device shown in FIG.
The left distance measurement sensor 21L and the right distance measurement sensor 2 that constitute the
1R are shown attached to the front left side and right side of the vehicle 33, respectively. Each distance sensor 21
L and 21R output e.g. laser or ultrasonic waves from the position attached to the side of the vehicle in a direction perpendicular to each side of the vehicle and toward the outside of the vehicle as described above, and The object is to detect an object that exists outside in the direction perpendicular to the side of the object, and also to detect the distance to the object.

Assuming that the vehicle 33 is now traveling on the road 35 in the direction indicated by an arrow 47 as shown in FIG. , and the distance to each detected object. In the case of FIG. 4, the left distance measuring sensor 21L of the vehicle 33 first detects the left wall 43 of the road, immediately detects the utility pole 49, and then detects the left wall 43. Next, after detecting the wall 41a at the back of the garage 41, the wall 43 on the left side of the road is detected again. Further, the right distance measuring sensor 21R detects the right wall 45 of the road, immediately detects the vehicle 39 parked on the right side, and then detects the right wall 45.

Thereafter, after detecting the vehicle 39 parked on the right side again, the right wall 45 is detected. In this figure, the parts of each object detected by each distance measurement sensor 21L and 21R, that is, the part of each object on which the laser, ultrasonic wave, etc. output from the distance measurement sensor hit and are reflected, are indicated by diagonal lines. There is.

Further, while the vehicle 33 is moving in the direction shown by the arrow 47, the operation of detecting the distance to each object by each distance measuring sensor is the operation of the vehicle display device shown in FIG. 2 mounted on the vehicle 33. This is performed together with the distance sensor 25 detecting the distance traveled by the vehicle. That is, at this time,
The distance from each distance sensor 21L and 21R to the object in the left and right side directions at the movement position is detected from each distance sensor 21L and 21R in correspondence with or in synchronization with each travel distance of the vehicle, that is, each movement position of the vehicle, and the distance to the detected object is detected. The distance and the traveling distance of the vehicle at the time of detecting the object, that is, the moving position information of the vehicle are supplied to the control circuit 29 in sequence or in synchronization. For this reason, the control circuit 29 sequentially stores information regarding each traveling distance of the vehicle, that is, each moving distance, and the distance to the object existing on the left and right sides of the vehicle corresponding to each moving distance, which are sequentially supplied in this way. By converting the coordinates of this information and outputting it to the display device 31, it is possible to display each object as shown in FIG. 5, for example. In FIG. 5, each detected object is indicated by a solid line with a dash attached to each symbol. Further, in FIG. 5, the current position of the vehicle 33 is also indicated by the reference numeral 33'.

The travel distance of the vehicle from the travel distance sensor 25, that is, the moving position is, for example, a position in the center of the vehicle,
The 1i control circuit 29 displays the current position and shape of the vehicle on the display device 31 as indicated by reference numeral 33' by storing in advance position information and shape information regarding the outer shape of the vehicle as well as the center position of the vehicle. 1. The driver of the vehicle can read the display 3 displayed in this way.
By looking at 1, the position of the own vehicle on the road, '
It is possible to instantly know the position to the left wall of the J-Narichi and the position to the right wall, as well as the position of the garage relative to the own vehicle and the position of each vehicle parked on the right side.

Next, a case will be described in which the vehicle is parked while being backed into the garage 41 while viewing the image displayed on the display device 31 in this manner. In this case, in order to move the vehicle backward, the shift lever of the vehicle is first operated to the reverse position, so the forward/backward detection device 27 identifies that the vehicle is in reverse from this reverse position information, and transfers this backward information to the control circuit. Supply to 29. When the steering wheel is rotated to put the vehicle 33 into the garage 41, the rotation angle of the steering wheel is detected by the steering angle sensor 23.
and is supplied to the control circuit 29. The control circuit 29 includes: 1) η reverse information and the steering angle sensor 23;
Displays the vehicle's 1st and 2nd backward travel trajectory determined based on the rotation angle of the steering wheel from '! It is displayed on the iA device 3 as shown in FIG. In this Figure 6,
The trajectories of the rear left end, rear right end, and front right end of the vehicle 33 are indicated by symbols 51, 53, and 55, respectively. It can be seen that in each trajectory of the vehicle shown in FIG. 6, the vehicle 33 cannot smoothly enter the garage 41 because it hits the wall 43'. By appropriately operating the steering wheel while driving backwards, the vehicle can be reliably placed into the garage 41 without colliding with the left side wall of the road. FIG. 7 shows the state when the vehicle is further retreated toward the garage 41 from the position shown in FIG. In this figure, the vehicle is depicted as being at the center and objects around the vehicle move around the center of the vehicle, but on the contrary, objects around the vehicle are fixed and the vehicle is moved. It is also easy to display.

Next, the operation of this embodiment will be explained using the processing flow shown in FIG.

In Figure 8, turn on the operation switch of the vehicle display device.
Then, the pre-stored shape of the host vehicle is displayed on the display device 31 (steps 110 and 120). At this position, the distance to the object detected by the distance measuring sensor 21 is read, and the read object position is converted into, for example, x-y coordinates (steps 130 and 140>).

The concept of this x-y coordinate is as shown in FIG. 9, when the vehicle 33 moves in the 1' direction indicated by the arrow 34,
X- Let the origin of the Y coordinate be 0 (0,0).

Then, from this origin O, if we set an x-axis whose positive direction is the right direction of the vehicle, and a y-axis whose positive direction is the traveling direction of the vehicle, distance sensors 21L and 2 installed on the left and right sides of the vehicle are set.
Each position of 1R is a distance PJi from the origin ○ in the y-axis direction.
d, points pb and p located at distance -〇 and distance 1)llfc in the x-axis direction, and located at distances a from each of these ranging sensors 211- and 21R in the left and right side directions;
The coordinates of a are (-b-c, d) and (a +c
, d). In this way, the data regarding the distance of each detected object converted into the x-y coordinate position is stored in the memory (step 150). In the memory, for example, data regarding one coordinate is stored in 2 bytes. , 1 byte represents the X coordinate, and the remaining 1 byte represents the y coordinate, and the coordinates of the object detected by the right ranging sensor 21R are stored in the memory area, for example from address 100H to 2F.
The coordinates of the object detected by the left ranging sensor 21L are stored, for example, from address 300H to address 4FFH. Then, the objects on the left are stored in the order detected by the respective distance measuring sensors from addresses 100H and 101) (and the objects on the right are stored sequentially from addresses 300H and 1301H).

The coordinate data of the object stored in the memory in this way is a point at the corresponding coordinate position centered on the origin ○ of the x-y coordinates which is the center of the own vehicle displayed on the display device 31 in step 120. (Step 1)
60). Next, in step 170, a vehicle speed pulse is detected from the mileage sensor 25. For example, one vehicle speed pulse is output every time the vehicle travels 5 cm, and the operations in steps 130 to 160 described above are performed every time this vehicle speed pulse is generated, that is, every time the vehicle travels 5 cm. As a result, the position of each object detected every 5 cm of the distance traveled by the vehicle is converted into coordinates and stored, and is also displayed as a set of points on a display device, as shown in FIG. 5, for example. It is. Next, input data corresponding to, for example, the rotation angle of the steering wheel from the steering angle sensor 23 (step 180);
Further, the traveling state or the backward state of the vehicle is identified from the forward/reverse detecting device 27 (step 190).

Next, the vehicle moves as a result of detecting the vehicle speed pulse in step 170, and the position of the origin of the x-y coordinates changes due to this movement of the vehicle, so the coordinate data changes due to this movement of the origin. Corrections are made (step 200).

By correcting this coordinate data, a change in the position of the object centered on the host vehicle is output on the display, as shown in FIG. 7. Further, based on the steering angle information detected in step 180 and the forward or backward movement information detected in step 190, the predicted course that the vehicle is about to travel, that is, the predicted movement trajectory of the vehicle is determined, and this predicted movement trajectory is displayed on the display device. (step 210).

The concept of coordinate correction when the coordinate data regarding the position of each object stored in the memory in step 200 is corrected as the vehicle moves is shown in FIGS. 10 and 11.
This will be explained with reference to the figures. The direction in which the vehicle is moving is
There are six possible directions: forward straight forward direction, rearward straight forward direction, forward left rotation, forward right rotation, rear left rotation, and rear right rotation. First, as an example, as shown in FIG. Let's consider the case where the movement progresses by rotation.

Generally, if the actual steering angle of the front wheels of the vehicle is δ, the rotation angle of the vehicle relative to its center of rotation when the vehicle rotates is θ, the unit movement distance is D, the wheelbase is the height, and the turning radius of the vehicle is R. The rotation angle θ is expressed by the following formula.

Therefore, as shown in FIG. 10, the vehicle 33, that is, the center point of the vehicle 33 or the origin O (0, 0) of the x-y coordinates, is centered around the rotation center Re, which is located at a distance of the rotation radius R. Considering the case where the object rotates to the left by an angle θ, the object that does not indicate points pc and pdT'' rotates to the right by an angle θ.In this case, as can be seen from the above equation, the center point O of the vehicle indicated by the arrow 57 The movement distance of points pc and Pd, which are not indicated by arrows 59 and 61, is θ(R
+Xc ) and θ(R+Xd ). Here, in this diagram i10, the two data in parentheses are the X coordinate and the y coordinate 1)'L position. When the point pc moves the distance shown by the arrow 59 and is displaced to the position shown by the point PC', the displacement of the point pc in the X-axis direction and the ylN1 direction is 0 ( R+
Xc ) −5 in (θC−θ/2), and θ(R+Xc)·cos(θG−θ/2) in the y direction. Here, when rotated clockwise by θC=angle θ, (
The new point PC'(Xc',Yc') is expressed as follows.

Since J3 is here and θ= −'X δ, the point PC
'(XC', YC') is as follows.

The above equation is an equation when the vehicle moves forward by rotating to the left, but this equation also holds true when the vehicle moves backward by turning to the right.

On the other hand, when the vehicle rotates clockwise and moves forward, it can be determined in the same way, and the coordinate position in this case is as shown in the following equation.

This formula also holds true when moving backwards by turning left.

Further, when moving straight ahead, the negative displacement of the vehicle in the y direction becomes the displacement of the object, so the new coordinate position is as shown in the following equation.

XC’=XC Yc　’　=Yc　−D When going straight backwards, the formula is as follows.

xc'=Xc YC'=YC+D Furthermore, the vehicle route display? As mentioned above, the expected movement trajectory of the vehicle is determined from the steering angle and forward/backwards information from the steering angle sensor, but in this case, the turning radius R drawn by the center of the vehicle at 83 is It is determined by dividing the wheel base by the actual steering angle δ, that is, R-1/δ.

In this case, regarding the movement of the overall shape of the vehicle, if we consider singular points in the shape of the vehicle, for example, a normal quadrilateral as shown in FIG. 12, each corner point Ma, Mb, M
By storing the coordinates for O and Md in advance,
When the center O of the vehicle rotates with a radius R, the point Ma is the radius of rotation, and the point Mll is the radius of rotation. MCoao radius of rotation (
T"W 璽) 了-y]-]ko12, point Mcl lfi
Since it rotates at times 'E'j radius 1 F] 107 - cloves) 2 (12), a circle with this rotation radius can be drawn on the display device as its expected movement locus.

As described above, at the same time as performing the β positive operation in step 200 in which the coordinate data for each detected object is changed as the vehicle moves, the address on the memory where the coordinate data of each object is written is changed to the address of the vehicle. As the vehicle moves, the addresses shift by two, and the addresses closest to the vehicle are smaller addresses, 100H11018 and 3001-1, 3018, and the ones farthest from the vehicle, that is, the ones that have already passed, are larger addresses, namely 2FEH, 2FEH, and 3001-1,3018. 4
FEH and 4FEH addresses, and the old coordinate data disappears one by one from this final and largest address, and in its place new coordinate data is sequentially input from the smallest and first address as the vehicle advances. These series of operations, that is, the series of operations shown in steps 130 to 210, are performed every time one vehicle speed pulse shown in step 170 is detected, that is, every time the vehicle moves, for example, 5 cm, and every 6 cm. The points of each detected object are collected and displayed on a display device as shown in FIG.

When the vehicle is parked, etc., the expected movement trajectory of the vehicle is displayed on the display device as shown in FIGS. 16 and 7 based on the turning radius from the steering angle data.

In the above embodiment, a case has been described in which one distance measuring sensor 21 is provided on each of the left and right sides of the vehicle near the front, but it goes without saying that the position and number are not limited to these.

[Effects of the Invention] As explained above, according to the present invention, it is possible to display the position of an object around the vehicle at J5 and the current position of the vehicle with respect to the object at each moving position of the vehicle, and
On top of this display, you can also display the predicted trajectory of your vehicle, so you can check the relationship between the position of objects around your vehicle, such as obstacles, and your vehicle's current position. This is effective in ensuring proper driving operations when parking in a garage or parallel parking, for example.

[Brief explanation of the drawing]

FIG. 1 is a diagram corresponding to the claims of this invention, FIG. 2 is a block diagram of a vehicle display device showing an embodiment of this invention, and FIGS. 3 to 7 are diagrams for explaining the invention in detail. 8th
This figure is a flowchart showing the operation of the vehicle display device of FIG. 2, and FIGS. 9 to 12 are diagrams for explaining the coordinate position of an object used in the flowchart of FIG. 8. DESCRIPTION OF SYMBOLS 1... Movement distance detection means, 3... Object distance detection means, 5... Position detection means, 7... Direction detection means, 9.
. . . Expected movement trajectory detection means, 11 . . . Display means. Agent Patent Attorney Yasuo Miyoshi 1 Snow meditation Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 r45' Figure 8 Figure 11 Figure 12

Claims (1)

[Scope of Claims] Traveling distance detecting means for detecting the traveling distance of the own vehicle; Object distance detecting means for detecting the distance to an object existing around the own vehicle; Based on the traveling distance of the own vehicle and the object distance. A position detecting means for detecting the position of an object at each moving position of the own vehicle and the current position of the own vehicle relative to the object; a direction detecting means for detecting the moving direction of the own vehicle; Expected movement trajectory calculating means for calculating an expected movement trajectory of the own vehicle from the current position; Displaying the position of the object at each movement position of the own vehicle obtained and the current position of the own vehicle with respect to the object; and the predicted movement trajectory of the own vehicle. A display device for a vehicle, comprising: a display means for displaying; and a display device for displaying a vehicle.