TWI564187B - Vehicle reversing system with steering assist wheel and mirror reversing image and method thereof - Google Patents

Description

Vehicle reversing system with steering assist wheel and mirror reversing image and method thereof

The present invention relates to a vehicle reversing system having a mirrored reversing image and a method thereof, and more particularly to a vehicle reversing system having a steering assisting wheel disposed at the rear of the vehicle to dominate the reversing deflection direction and a method thereof.

For the first time, please refer to the perspective view of the vehicle reversing system of the prior art as shown in FIG. 1A and the image display of the image display unit of the vehicle reversing system of FIG. 1A. According to the conventional vehicle reversing method with the reversing lens 10 and the display 11, the existing front steering wheel 12 is used to match the mirrored rear image 13 taken by the reversing lens 10 in the display 11, and then the steering wheel 14 is struck. In the same direction as the intended turning direction 15 in the mirrored rear image 13 of the display 11, the front steering wheel 12 is deflected to complete the reverse steering action (not shown).

However, since the front steering wheel 12 described above is reversed on the rear side of the traveling direction of the vehicle, the steering behavior of the front wheel leading to the normal vehicle turning forward is greatly different, which makes the driver easy. Adaptation problems, especially after driving into small and deep industrial roads or lanes, traditional markets, and the need to reverse the car, will make the driver feel the difficulty of reversing.

In addition, because the mirror image of the rear view taken by the conventional reversing lens is a mirror image opposite to the image of the actual rear view of the car, it is more difficult for the driver to drive the steering wheel in the brain according to the mirror image. The correct steering wheel steering must be combined with the display to display the image and look back at the real scene behind the car, constantly changing the steering correction, down The car process is very hard and inhuman.

It is an object of the present invention to provide a vehicle reversing system and method having a steering assist wheel and a mirrored reversing image, with a reverse steering steering wheel disposed at the rear of the vehicle to cooperate with the front steering wheel to drive the reverse steering.

To achieve the foregoing objective, the present invention provides a vehicle reversing system having a steering assist wheel and a mirrored reversing image, including a driving computer, a rear road condition capturing unit, an image display unit, a reverse direction control device, and a steering assist unit. The rear road condition capturing unit is disposed on a vehicle body for ingesting a rear image of the vehicle behind the vehicle body; the image display unit is for viewing by the driver in the rear direction of the vehicle for driving according to the rear image of the vehicle Displaying an auxiliary reversing image, the displayed auxiliary reversing image is a real instant mirror image behind the vehicle; the reversing direction control device is configured to output a reversing control signal of a front steering wheel in the corner direction and the corner angle in the reverse state; the steering assisting unit setting a steering assisting wheel at the rear of the vehicle and a steering mechanism for deflecting a corner, the steering mechanism is electrically connected to the driving computer, and according to the reverse control signal provided by the driving computer, the reverse direction directional deflection corresponding to the reverse direction control device The auxiliary wheel, and the steering angle of the steering auxiliary wheel is greater than or equal to the rotation angle of the front steering wheel. The driving computer is in telecommunication connection with the reverse direction control device, and drives the vehicle according to the reverse control signal.

In one embodiment, the steering assisting wheel is an externally mounted wheel that is detachably assembled to a base disposed below the vehicle body behind the rear wheel axis of the vehicle. The base has a steering mechanism and the steering mechanism is Motor gear assembly.

In one embodiment, the steering system of the vehicle is a four-wheel steering, and the steering assist unit is the second rear wheel of the four-wheel steering system and its steering mechanism.

In an embodiment, the underside of the body behind the rear wheel axis includes a base for assembling or dismounting the steering assist wheel.

In an embodiment, the reverse direction control device is a steering wheel or a square of the vehicle. Control the device in a direction other than the disk.

In an embodiment, the first direction control device and the second direction control device are both a steering wheel and the second direction control device is coupled to the steering column of the steering wheel of the first direction control device.

The vehicle reversing method with the steering assisting wheel and the mirroring reversing image includes the steps of: first providing the vehicle reversing system; and then assembling the steering assisting wheel to contact the ground; when detecting that the vehicle is in the reverse gear position Entering a rotation direction direction and a size of the reverse direction control device corresponding to the direction of the turn-in direction displayed in the image display unit; and the steering assist wheel reverse direction corresponding to the corner direction, and the steering assist The corner size of the wheel is greater than or equal to the corner angle of the front steering wheel.

In an embodiment, after the step of detecting that the vehicle is in the reverse gear position, the "mirror reversing" function is alerted in the image display unit with a bold color.

In an embodiment, the steering assist wheel is a free steering wheel or a corner that maintains a straight direction when the vehicle cuts out the reverse mode.

The invention is characterized in that the outer wheel of the external steering auxiliary wheel or the four-wheel drive vehicle disposed under the vehicle body behind the rear wheel axis can be used when long-distance reversing is required (the external steering auxiliary wheel can be removed after being placed normally) Inside the car, and when it is needed, it is set up.) The main steering is generated in front of the forward direction of the car body, and the handling of the reverse driving is closer to the handling when turning normally. In addition, when the second direction control device is used for reverse driving, the current reverse mode of the driver can be relatively reminded to be performed under the state of being guided by the mirror image display unit and the steering assist wheel.

10‧‧‧Reversing lens

11‧‧‧ Display

12‧‧‧ front steering wheel

13‧‧‧Mirror image after car

14‧‧‧Steering wheel

15‧‧‧ intends to move in

20,20’‧‧‧ Vehicles

21‧‧‧ body

22‧‧‧ pedestal

23‧‧‧ front steering wheel

24‧‧‧ rear wheel axis

30‧‧‧ Driving computer

40‧‧‧Car rear road capture unit

41‧‧‧After the car, live video

50‧‧‧Image display unit

51‧‧‧Assisted reversing images

60‧‧‧Reversing direction control device

61‧‧‧Reversing control signal

62‧‧‧First direction control device

621‧‧‧ steering column

63‧‧‧Second direction control device

70,70’‧‧‧ steering auxiliary unit

71,71’‧‧‧ steering auxiliary wheel

80,80’‧‧‧ intends to move in

A‧‧‧The rear direction

B, B’, B” ‧ ‧ corner direction

C, C’, C” ‧ ‧ corner size

Step S10~Step S50‧‧‧ Method flow

1A is a perspective view of a prior art vehicle reversing system.

FIG. 1B is a schematic diagram showing an image displayed by the image display unit of the vehicle reversing system of FIG. 1A.

2 is a top plan view showing the assembly of the steering assist wheel of the embodiment of the vehicle reversing system of the present invention.

3A is a perspective view of a rear view image of an embodiment of a vehicle reversing system of the present invention.

FIG. 3B is a schematic diagram showing an image displayed by the image display unit of FIG. 3A.

4A is a top plan view showing the operation of the reverse state of the embodiment of the vehicle reversing system of the present invention.

4B is a schematic diagram showing an image displayed by the image display unit of FIG. 4A.

FIG. 5A is a top plan view showing the operation of the reverse state of another embodiment of the vehicle reversing system of the present invention. FIG.

FIG. 5B is a schematic diagram showing an image displayed by the image display unit of FIG. 5A.

6 is a top plan view of a second direction control device of the embodiment of the vehicle reversing system of the present invention.

FIG. 7 is a flow chart showing the steps of an embodiment of the vehicle reversing method of the present invention.

The embodiment of the present invention will be described with reference to the drawings.

First, a schematic top view of the steering assist wheel assembly of the embodiment of the vehicle reversing system of the present invention illustrated in FIG. 2, a perspective view of the rear view image of the vehicle reversing system embodiment of the present invention illustrated in FIG. 3A, and FIG. 3B The schematic diagram of the image displayed by the image display unit of FIG. 3A is shown. In the embodiment of the vehicle reversing system with the steering assisting wheel and the mirroring reversing image of the present invention, the vehicle reversing system comprises: a driving computer 30, a rear road condition capturing unit 40, an image display unit 50, and a reverse direction control device 60. And steering auxiliary unit 70. The aforementioned traveling computer 30 is disposed on one of the vehicles 21 of the vehicle 20. The rear road condition capturing unit 40 is disposed on the vehicle body 21 for taking a post-vehicle instant image 41 toward the rear of the vehicle body 21. The image display unit 50 is configured to display the auxiliary reverse image 51 according to the rear-facing instant image 41. The displayed auxiliary reverse image 51 is behind the vehicle 20. The real, instant image 41 of the car that has not been processed by the opposite image. The reverse direction control device 60 is configured to output a reverse steering direction B of the front steering wheel 23 and a reverse control signal 61 of the corner size C when the vehicle 20 is switched to the reverse state. The reverse control signal 51 drives the vehicle 20. The steering assisting unit 70 is provided with at least one steering assisting wheel 71 disposed at the rear of the vehicle 20 and a steering mechanism (not shown) for deflecting the steering assisting wheel 71 by a corner, the steering mechanism being electrically connected to the driving The computer 30, according to the reverse control signal 61 provided by the driving computer 30, further deflects the steering assisting wheel 71 correspondingly to the corner direction of the reverse steering direction control device 60, and the steering assisting wheel 71 deflects the corner size C' , C" is greater than or equal to the corner size C of the front steering wheel (please refer to the description below).

In an embodiment of the steering assisting unit 70, a pedestal 22 is further disposed under the vehicle body 21 behind the wheel axis 24 of the vehicle 20. The steering mechanism is disposed on the base 22, and the steering assisting wheel 71 is detachable. Assembly on the steering mechanism, which is a motor gear assembly; and in another embodiment, the vehicle 20' is a four-wheel steering model (not a front-wheel steering vehicle) The steering assist unit 70' is the two rear wheels of the four-wheel steering system and the steering mechanism is also a corresponding component in the four-wheel steering system.

4A is a top view of the reverse state of the embodiment of the vehicle reversing system of the present invention, and FIG. 4B is a schematic view of the image displayed by the image display unit of FIG. 4A. In the illustrated embodiment, it is assumed that the vehicle 20 is scheduled to reverse and turn to the intended direction 80. First, after the vehicle 20 enters the reverse mode, the after-image image 41 captures the real-time traffic image via the rear-vehicle driving unit 40, and displays the auxiliary reversing image 51 via the image display unit 50. The auxiliary reversing image 51 is the rear of the vehicle. The mirror image of the instant image 41 is referenced by the driver to the auxiliary reverse image 51, and the direction B of the reverse direction control device 60 is directed to the pseudo steering direction 80 displayed in the auxiliary reverse image 51 to control the reverse direction. The device 60 triggers a reverse control signal 60 (the reverse control signal 60 includes parameters such as the corner direction B and the corner size C of the front steering wheel 23) and is sent to the driving computer 30 to cause the driving computer 30 to drive the vehicle 20 accordingly. The actuation unit operates. In addition, the assembled steering assisting wheel 71 will correspondingly and reversely deflect the corner direction and size (ie, the deflection-rotation direction B' and the corner size C') according to the reverse control signal 60 to form a vehicle 20 (reverse) ) the direction of the front leading steering steering wheel with the existing front After the steering wheel 23, the handling of the reverse can be improved. And the rotation angle C' of the steering assisting wheel 71 is greater than or equal to the rotation angle C of the front steering wheel.

5A is a top view of the reverse state of the vehicle reversing system of the present invention, and FIG. 5B is a schematic view of the image displayed by the image display unit of FIG. 5A. In the present embodiment, it is assumed that the vehicle 20' is scheduled to reverse and turn to the intended direction 80. First, after the vehicle 20 enters the reverse mode, the after-image image 41 captures the real-time traffic image via the rear-vehicle driving unit 40, and displays the auxiliary reversing image 51 via the image display unit 50. The auxiliary reversing image 51 is the rear of the vehicle. The mirror image of the instant image 41 is referenced by the driver to the auxiliary reverse image 51, and the direction B of the reverse direction control device 60 is directed to the intended steering direction 80' displayed in the auxiliary reverse image 51 to make the reverse direction The control device 60 triggers a reverse control signal 60 (the reverse control signal 60 includes parameters such as the corner direction B and the corner size C of the front steering wheel 23) and is sent to the driving computer 30 to cause the driving computer 30 to drive the vehicle 20 accordingly. The corresponding actuation unit operates. In addition, the steering assisting unit 70' of the vehicle 20' (ie, the steering assisting wheel 71' of the second two wheels) will correspondingly and reversely deflect the direction and magnitude of the corner (ie, the direction of the deflection of one turn B) and the size of the corner according to the reverse control signal 60. C"), after the guide wheel that forms the front dominant steering in the traveling (reverse) direction of the vehicle 20' is engaged with the existing front steering wheel 23, the reverse turning radius can be greatly reduced to improve the handling of the reverse. And the rotation angle C" of the steering assisting wheel 71' is greater than or equal to the rotation angle C of the front steering wheel.

It is worth mentioning that the aforementioned vehicle 20 or 20' may be a front wheel drive, a rear wheel drive or a four wheel drive.

Referring to FIG. 6 , a schematic top view of the second direction control device of the vehicle reversing system embodiment of the present invention is illustrated. The foregoing reverse direction control device 60 may be the steering wheel of the vehicle 20, 20', or the vehicle 20, 20' may include a first direction control device 62 and a steering capable of controlling the reversing of the vehicle 20, 20' The second direction control device 63 is the second direction control device 63. The first direction control device 62, the second party The control device 63 is a steering wheel and the second direction control device 63 is coupled to the steering column 621 of the steering wheel of the first direction control device 62.

Please refer to FIG. 7 for a flow chart of the steps of the embodiment of the vehicle reversing method of the present invention. The method of this embodiment includes: first performing step S10 to provide the vehicle reversing system in the foregoing embodiment. Step S20 is further performed. When the steering assisting wheel 71 is not an externally mounted wheel, the process directly jumps to the next step (ie, step S30). Otherwise, when the steering assisting wheel 71 is an externally mounted wheel, the steering assisting wheel is assembled. 71, making it contact with the ground, and since the steering assist unit 70 that controls the steering assist wheel 71 is controllable by the driving computer 30 and is located at the front side of the reverse vehicle for leading the steering, the vehicle's reverse steering control can be improved. Suitable for reversing over long distances. Then, after step S30 is continued, it is detected that the vehicle 20, 20' is in the reverse gear position (that is, whether the driving computer 30 captures the reverse signal sent to the driving computer 30 when the driver uses the gearshift lever to cut into the reverse gear). You can continue to enter the following steps designed for reversing, and the side will continue to detect the reverse mode start signal of the vehicle 20, 20'. After the vehicle 20, 20' enters the reverse mode, the process proceeds to step S40, and the direction and magnitude of the direction of the reverse direction control device 60 is input. The direction of the turn-in is corresponding to the direction of the turn indicated by the image display unit 50. The same direction. Finally, step S50 is performed, the steering assist wheels 71, 71' are reversely corresponding to the corner direction B, and the corner sizes C', C" of the steering assist wheels 71, 71' are greater than or equal to the corner size C of the front steering wheel. .

Further, in an embodiment, after the step of detecting that the vehicle is in the reverse gear position, the image display unit is alerted with a "mirror reversing" function in a bold color to remind the driver to distinguish from the mirror reversing habit. .

When the steering assist wheel is in the form of an external wheel, the external wheel is a free steering wheel or a corner that maintains a straight direction (ie, a deflection angle of zero) when the vehicle cuts out the reverse mode.

In summary, the present invention has at least the following advantages: the present invention is provided with an external steering assisting wheel below the rear body of the rear wheel axle, or two wheels after being built into the four-wheel steering system. Steering steering wheel, (the external steering auxiliary wheel can be removed and placed in the rear car, and can be assembled when long-distance reversing is required), and since the steering auxiliary wheel can be reversed in the car body The direction of the front produces a dominant steering effect, and the handling of the reverse driving is closer to the handling when turning normally. Furthermore, the image displayed in the image display unit of the rear view image is a mirror image, and the driver can follow the guidance of the display to perform the control when the vehicle is traveling (non-reverse) (ie, to turn to the right side of the image) When the reverse direction control device - that is, the steering wheel is also turned to the right direction), the intuitiveness of the control can also be improved. In addition, when the second direction control device is used for reverse driving, the current reverse mode of the driver can be relatively reminded that the image display unit in the mirror image is combined with the state guided by the steering assist wheel.

The embodiments or examples of the technical means adopted by the present invention are not intended to limit the scope of implementation of the present patent. That is, the equivalent changes and modifications made in accordance with the scope of the patent application of the present invention or the scope of the invention are covered by the scope of the invention.

20‧‧‧ Vehicles

21‧‧‧ body

22‧‧‧ pedestal

23‧‧‧ front steering wheel

24‧‧‧ rear wheel axis

30‧‧‧ Driving computer

40‧‧‧Car rear road capture unit

41‧‧‧After the car, live video

50‧‧‧Image display unit

51‧‧‧Assisted reversing images

60‧‧‧Reversing direction control device

61‧‧‧Reversing control signal

70‧‧‧ steering auxiliary unit

71‧‧‧ steering auxiliary wheel

80‧‧‧ intends to move in

A‧‧‧The rear direction

B, B’‧‧‧ corner direction

C, C’‧‧‧ corner size

Claims (10)

A vehicle reversing system having a steering assisting wheel and a mirroring reversing image, comprising: a row of vehicle computers disposed on one of the vehicle bodies; and a rear road condition capturing unit disposed on the vehicle body for facing the vehicle body An image of the rear view of the vehicle is taken in the rear of the vehicle body; an image display unit is provided for the driver to face the rear of the vehicle to view while driving, and an auxiliary reversing image is displayed according to the instant image of the vehicle, the auxiliary reversing image system of the display a real instant mirror image behind the vehicle; a reverse direction control device electrically connected to the driving computer for outputting a reversing control signal of a front steering wheel in the corner direction and the corner angle to the driving computer in the reverse state; The steering assisting unit is provided with at least one steering assisting wheel disposed at the rear of the vehicle and a steering mechanism for deflecting the steering assisting wheel by a corner, the steering mechanism is electrically connected to the driving computer, and the reverse driving is provided according to the driving computer a steering signal, which in turn reverses the steering assist wheel corresponding to a corner direction of the reverse direction control device, and the steering assist wheel Size-based rotation angle greater than or equal to the size of the front wheel steering angle. The vehicle reversing system having the steering assisting wheel and the mirroring reversing image according to claim 1, wherein a pedestal is further disposed under the vehicle body behind the wheel axis of the vehicle, and the steering mechanism is disposed on the pedestal. The steering assisting wheel train is detachably assembled to the steering mechanism, and the steering mechanism is a motor gear assembly. A vehicle reversing system having a steering assist wheel and a mirrored reversing image according to claim 1, wherein the vehicle has a four-wheel steering system, and the steering assisting unit is the four-wheel steering system. Second rear wheel. A vehicle reversing system having a steering assist wheel and a mirrored reversing image according to claim 1, wherein the reversing direction control device is a steering wheel of the vehicle. A vehicle reversing system having a steering assist wheel and a mirrored reversing image according to claim 1, wherein the vehicle includes a first direction control device and a second direction control device that can control steering of the vehicle to reverse the vehicle. The reverse direction control device is the second direction control device. The vehicle reversing system having the steering assisting wheel and the mirroring reversing image according to claim 5, wherein the first direction control device and the second direction control device are both a steering wheel and the second direction control device group Connected to the steering column of the steering wheel of the first direction control device. A vehicle reversing method having a steering assisting wheel and a mirroring reversing image, the method comprising: providing the vehicle reversing system according to any one of claims 1 to 6; when the steering assisting wheel is an externally mounted wheel, the group The steering assisting wheel is arranged to contact the ground, otherwise the next step is performed; when the vehicle is detected to be in the reverse gear position; the direction and the size of the reverse direction control device are input, and the turning direction corresponds to the image display unit The turning direction shown in the same direction is opposite; and the steering assisting wheel reverse direction corresponds to the corner direction, and the steering assisting wheel has a corner size greater than or equal to the corner angle of the front steering wheel. The vehicle reversing method according to claim 7, wherein after the step of detecting that the vehicle is in the reverse gear position, the image display unit alerts the "image reversing" action message in a bold color to remind the driving By. The vehicle reversing method according to claim 7, wherein the steering assisting wheel is an externally mounted wheel, and the externally mounted wheel is a free steering wheel when the vehicle cuts out the reverse mode. The vehicle reversing method according to claim 7, wherein the externally mounted wheel maintains a corner in a straight direction when the vehicle cuts out the reverse mode.