WO2015056427A1

WO2015056427A1 - Driving assisting device

Info

Publication number: WO2015056427A1
Application number: PCT/JP2014/005118
Authority: WO
Inventors: 洋一成瀬
Original assignee: 株式会社デンソー
Priority date: 2013-10-15
Filing date: 2014-10-08
Publication date: 2015-04-23
Also published as: JP2015079299A

Abstract

　A driving assisting device (100) records images from a plurality of prescribed directions as recorded images from a plurality of vehicle-mounted cameras (10L, 10R, 12L, 12R) mounted on a vehicle, and displays in a display screen (30) a plurality of selected images selected according to the conditions in which the vehicle is being driven. It is thus possible for a driver to check the safety at a plurality of locations merely by viewing the selected images displayed in the display screen. If an image is selected for a location where safety must be checked according to the driving conditions and this image is displayed in the display screen, then even if there are a plurality of locations where safety should be checked, it is possible to check all of those locations exhaustively and in a short period of time, which enables the vehicle to be driven safely.

Description

Driving assistance device

Cross-reference of related applications

This disclosure is based on Japanese Patent Application No. 2013-246991 filed on October 15, 2013, the contents of which are incorporated herein by reference.

The present disclosure relates to a technology that supports a driver's safety confirmation operation by displaying a photographed image of the periphery of a vehicle on a display screen provided in a vehicle interior.

In order for a vehicle driver to drive a vehicle safely, not only in the direction of travel of the vehicle, but also on the side of the vehicle, safety confirmation regarding the presence of moving objects such as pedestrians and obstacles It is necessary for the driver to execute it reliably.

Actually, however, the driver does not always drive while confirming safety. Therefore, when the vehicle turns right (or left), it is monitored whether the driver has checked the right side of the vehicle (left side when turning left), and the driver is likely to turn right (or left) without confirmation. In such a case, a technique for warning the driver to that effect has been proposed (Patent Document 1). In addition, when the driver tries to check the right side (or left side) of the vehicle, the driver must move the line of sight largely to the right side (or left side), so that attention to the traveling direction of the vehicle may be neglected. . Therefore, a technique has been proposed in which the right or left side of the vehicle is photographed with an in-vehicle camera and the photographed image is displayed on a display screen provided in an instrument panel (so-called instrument panel) on the back side of the handle (Patent Document 2). ). In this way, the right side or the left side of the vehicle can be confirmed without the driver moving the line of sight greatly.

JP 2013-140558 A JP 2007-519984 A

However, with the proposed technology, it is still not easy for the driver to drive the vehicle safely. This is due to the following reason. First, while the vehicle is running, it encounters various driving situations such as changing lanes, turning right, turning left, resuming from a pause, and going backwards. In these driving situations, it is usually necessary to confirm safety at a plurality of locations around the vehicle, and the locations where safety is confirmed differ depending on the driving status of the vehicle. For this reason, it is not easy for the driver to confirm safety without overlooking all parts in a short time, and as a result, it is likely that some parts will drive without confirming safety. is there.

This disclosure has been made in view of the above-described matters, and aims to provide a technology that allows a driver to drive a vehicle safely.

In order to achieve the above-described object, according to an example of the present disclosure, an image of surroundings of a vehicle is displayed on a display screen provided in a vehicle interior, thereby assisting a driver's safety confirmation operation of the vehicle. Provided as a driving assistance device. The driving support device includes a plurality of in-vehicle cameras, a left / right turn operating device, a vehicle speed detector, a driving situation determination unit, an image selection unit, and an image display unit. The plurality of in-vehicle cameras are mounted at a plurality of locations of the vehicle, and images a plurality of images in a predetermined direction as a plurality of captured images. The right / left turn operating device is operated by the driver when the vehicle turns right or left. The vehicle speed detector detects the vehicle speed of the vehicle. The driving state determination unit determines the driving state of the vehicle by detecting an operation state of the right / left turn operating device and the vehicle speed. An image selection part selects a some image as a selection image based on the driving | running state of the said vehicle from the some picked-up images image | photographed with the said vehicle-mounted camera. The image display unit displays a plurality of selected images on the display screen.

Further, according to another example of the present disclosure, the above-described driving state determination unit, image selection unit, and image display unit can be configured as a driving support control device. This device can be provided to the user by connecting it to the plurality of in-vehicle cameras, right / left turn operating devices, and vehicle speed detectors.

According to each of the above two configurations, the driver can confirm the safety of a plurality of locations only by confirming the image displayed on the display screen. In addition, if an image that requires safety confirmation is selected according to the driving situation and displayed on the display screen, even if there are multiple locations where safety confirmation is required, all locations can be confirmed without omission. It becomes possible to drive the vehicle safely.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings.
It is an explanatory view showing a rough configuration of a vehicle equipped with a driving support device of an embodiment of the present disclosure, It is explanatory drawing which showed the imaging | photography range of the vehicle-mounted camera mounted in the driving assistance device It is explanatory drawing about the display screen mounted in the driving assistance device. It is a block diagram which shows the structure of a driving assistance device It is a flowchart of driving support processing It is a flowchart of the process at the time of right and left turn advance executed in the driving support process It is explanatory drawing about three screens which comprise a display screen. It is explanatory drawing which showed a mode that the display content at the time of right turn advance and left turn advance was memorize | stored It is explanatory drawing about the display content displayed on a display screen at the time of right turn advance or left turn advance It is explanatory drawing which showed the image range displayed on a display screen at the time of a right turn advance It is a flowchart of the process at the time of lane change performed within a driving assistance process It is explanatory drawing which showed a mode that the display content at the time of a lane change was memorize | stored It is explanatory drawing about the display contents displayed on a display screen at the time of lane change It is a flowchart of the process at the time of start after a temporary stop executed in the driving support process It is explanatory drawing which showed a mode that the display content at the time of the start after a stop was memorize | stored It is explanatory drawing about the display contents displayed on the display screen when starting after stopping It is explanatory drawing which showed the image range displayed on a display screen at the time of start after stopping once It is a flowchart of the first half part of the reverse process executed in the driving support process It is a flowchart of the latter half part of the reverse processing It is explanatory drawing which showed a mode that the display content at the time of reverse drive was memorize | stored It is explanatory drawing about the display contents displayed on a display screen at the time of reverse running It is explanatory drawing which showed the image range displayed on a display screen at the time of reverse travel.

Hereinafter, examples will be described in order to clarify the above-described embodiment of the present disclosure.

A. Device configuration:
FIG. 1 shows a rough configuration of a vehicle 1 equipped with the driving support device 100 of the present embodiment. The vehicle 1 has a steering wheel 3 that the driver 2 steers, a winker lever 4 that the driver 2 operates when turning right or left, a side mirror 6R that allows the driver 2 to visually recognize the right rear, and a left rear that is visually recognized. The side mirror 6L for driving, the brake pedal 7 that the driver 2 operates to decelerate the vehicle 1, the accelerator pedal 8 that operates to accelerate the vehicle 1, and the traveling direction of the vehicle 1 forward or backward In order to switch, a shift lever 9 operated by the driver 2 is provided. In the present embodiment, the winker lever 4 is also simply referred to as a winker, a direction indicator, or a right / left turn operating device. The brake pedal 7 is also referred to as a deceleration operating device. The shift lever 9 is also referred to as a reverse operation device.

When the driver 2 steers the steering wheel 3, the steering direction and the steering angle are detected by an angle sensor 23 provided on the steering shaft 5. Further, a contact switch 24 is provided at an attachment portion of the winker lever 4, and when the winker lever 4 is set to a right turn state or a left turn state by the driver 2, the contact switch 24 detects the state. When the driver 2 steps on the brake pedal 7, the movement is detected by the brake pedal sensor 27, and when the driver 2 steps on the accelerator pedal 8, the movement is detected by the accelerator pedal sensor 28. Further, when the driver 2 operates the shift lever 9, the movement is detected by the shift sensor 29 provided at the base portion of the shift lever 9. The vehicle speed of the vehicle 1 is detected by a vehicle speed sensor 26. Information detected by these various sensors is supplied to a controller 50 formed mainly by a microcomputer including a central processing unit (CPU). The vehicle speed sensor 26 is also referred to as a vehicle speed detector.

The vehicle 1 of the present embodiment includes a plurality of in-vehicle cameras. That is, the

front cameras

10R and 10L mounted on the front portion of the vehicle 1, the right camera 12R mounted on the right portion of the vehicle 1, the left camera 12L mounted on the left portion of the vehicle 1, and the

vehicle Rear cameras

14R, 14L, and 14C mounted on the rear portion of 1 are mounted. In particular, the front camera 10R is referred to as a first vehicle-mounted camera, the front camera 10L is referred to as a second vehicle-mounted camera, the right camera 12R is referred to as a third vehicle-mounted camera, and the left camera 12L is referred to as a fourth vehicle-mounted camera. Further, the rear camera 14R is also referred to as a fifth vehicle-mounted camera, the rear camera 14L is referred to as a sixth vehicle-mounted camera, and the rear camera 14C is referred to as a seventh vehicle-mounted camera. Further, a right speaker 32R is mounted on the right side of the vehicle interior of the vehicle 1, and a left speaker 32L is mounted on the left side of the vehicle interior. The right speaker 32R and the left speaker 32L are also referred to as warning devices.

As shown in FIG. 2, the front camera 10R mounted on the front of the vehicle 1 captures an image in the right direction (front right image V1) from the front of the vehicle 1, and the front camera 10L An image in the left direction from the front of 1 (front left image V2) is taken. Further, the right camera 12R is mounted on the right side mirror 6R to capture the right rear image (side right image V3) of the vehicle 1, and the left camera 12L is mounted on the left side mirror 6L. The left rear image (side left image V4) is taken. Further, the rear camera 14R mounted on the rear portion of the vehicle 1 captures an image in the right direction from the rear portion of the vehicle 1 (rear right image V5), and the rear camera 14L has an image in the left direction from the rear portion of the vehicle 1 (rear). The left image V6) is taken, and the rear camera 14C takes a rearward image (the rear middle image V7) straight from the rear of the vehicle 1. FIG. 2 also shows the mounting positions of the right speaker 32R and the left speaker 32L in the vehicle interior.

FIG. 3 shows a state in which the passenger compartment is viewed from the driver's seat toward the front of the vehicle 1 in the traveling direction. As shown in the figure, a display screen 30 such as a liquid crystal display device is mounted on a portion called an instrument panel on the back side of the handle 3 when viewed from the driver's seat. As will be described in detail later, images taken by the various vehicle-mounted cameras described above are displayed on the display screen 30. 3 also shows a blinker lever 4, a brake pedal 7, an accelerator pedal 8, a shift lever 9, a face camera 16, and the like.

FIG. 3 shows an example in which the handle 3 is on the right side of the vehicle and the driver is on the right side. Further, FIGS. 10 and 17 described later show an example in which a vehicle travels on a left-hand traffic road. Needless to say, this embodiment is also applicable to a vehicle having a handle on the right side of the vehicle and a driver's seat on the left side. Furthermore, this embodiment is not limited to left-hand traffic and can also be applied to right-hand traffic.

FIG. 4 shows the overall configuration of the driving support apparatus 100 of the present embodiment. Images captured by the

front cameras

10R and 10L, the right camera 12R, the left camera 12L, and the

rear cameras

14R, 14L, and 14C are input to the controller 50. When the driver 2 operates the blinker lever 4 or steers the steering wheel 3, the movement is detected by the contact switch 24 and the angle sensor 23 and input to the controller 50. Further, when the driver 2 steps on the brake pedal 7 or the accelerator pedal 8 or operates the shift lever 9, the movement is detected by the brake pedal sensor 27, the accelerator pedal sensor 28, and the shift sensor 29, and is sent to the controller 50. Entered. Further, the vehicle speed detected by the vehicle speed sensor 26 is also input to the controller 50.

Upon receiving these pieces of information, the controller 50 performs various processes to be described later, outputs various images to the display screen 30, and outputs sounds and sound effects from the right speaker 32R and the left speaker 32L. To do. Further, the controller 50 has a built-in storage 52 mainly composed of a memory or the like, and stores various data used for executing various processes described later.

B. Driving support processing:
FIG. 4 shows a flowchart of the driving support process executed by the driving support device 100 of this embodiment. This process is mainly executed by the controller 50 of the driving support device 100.

Here, the flowchart described in this application or the process of the flowchart is configured by a plurality of sections (or referred to as steps), and each section is expressed as S10, for example. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Furthermore, each section configured in this way can be referred to as a circuit, device, module, means. In addition, each of the above sections or a combination thereof includes not only (i) a section of software combined with a hardware unit (eg, a computer), but also (ii) hardware (eg, an integrated circuit, As a section of (wiring logic circuit), it can be realized with or without the function of related devices. Furthermore, the hardware section can be configured inside the microcomputer.

As shown in the figure, in the driving support process, first, it is determined whether or not the operation state of the shift lever 9 (so-called shift position) is set to the “reverse (reverse) position” (S10). If it is set to the reverse position (S10: yes), the reverse driving process (S400) for driving support when the vehicle 1 is moving backward is started.

On the other hand, when the shift position is not set to the reverse position (S10: no), it is determined whether or not the winker lever 4 is in the operation state of either the right turn state or the left turn state (S12). . As a result, when the vehicle is in a right turn state or a left turn state (S12: yes), it is determined whether or not the vehicle speed of the vehicle 1 is equal to or lower than a first threshold speed (for example, 10 km / h) (S14). In the present embodiment, different threshold speeds are defined below for the first threshold speed, but this first threshold speed is also simply referred to as a threshold speed. If the speed is equal to or lower than the first threshold speed (S14: yes), it is determined that the vehicle 1 is in a driving situation where the vehicle 1 enters an intersection or the like and is about to make a right turn or a left turn. (S100) is started. On the other hand, if the vehicle speed of the vehicle 1 is greater than the first threshold speed (S14: no), it is determined that the vehicle 1 is in a driving situation in which a lane change is to be made, and a hatched line change process described later is performed. (S200) is started.

On the other hand, when the winker lever 4 is not in the right turn or left turn operation state (S12: no), it is determined whether or not the brake pedal 7 is depressed (S16). If the brake pedal 7 is depressed (S16: yes), it is determined whether or not the vehicle speed of the vehicle 1 has decreased to a second threshold speed or less (S18). Here, the second threshold speed is set to a speed sufficiently lower than the above-described first threshold speed (for example, 2 km / h). If it has not decreased to the second threshold speed or less (S18: no), it is determined whether or not the brake pedal 7 is depressed (S16). Thus, when the brake pedal 7 is stepped on (S16: yes), the same determination is repeated until the vehicle speed falls below the second threshold speed.

Then, when the vehicle speed decreases to the second threshold speed or less (S18: yes), it is determined whether or not the driver 2 has released his / her foot from the brake pedal 7 (S20). If the driver 2 has not released his / her foot from the brake pedal 7 (S20: no), after confirming that the vehicle speed is equal to or lower than the second threshold speed (S18: yes), whether or not he / she has released his / her foot from the brake pedal 7 Is determined (S20). As a result, when the foot is released from the brake pedal 7 (S20: yes), it is considered that after the driver 2 steps on the brake pedal 7 to stop the vehicle 1 and then starts again, it will be described later. The start process (S300) is started after the stop.

As described above, when any one of the right / left turn forward process (S100), the lane change process (S200), the start process after stop (S300), or the reverse process (S400) is executed, the vehicle 1 It is determined whether or not to end the operation (S22). In addition, when the driver 2 decelerates by stepping on the brake pedal 7, but the driver 2 lifts his / her foot from the brake pedal 7 before the vehicle speed drops to 0 km / h (S16: no), driving It is determined whether or not to end (S22). As a result, when it is determined that the operation is not finished (S22: no), the process returns to the top of the process, and after determining whether or not the shift lever 9 is set to the reverse position (S10), the series of the above-described steps is continued. Repeat the process. On the other hand, when it is determined that the driving is finished (S22: yes), the driving support process shown in FIG. 5 is finished.

As described above, in the driving support processing of this embodiment, the driving state of the vehicle 1 is determined based on the set position of the shift lever 9, the operating state of the winker lever 4, the operating state of the brake pedal 7, the vehicle speed of the vehicle 1, and the like. To do. Then, depending on the driving situation, the right / left turn forward process (S100), the lane change process (S200), the start process after stop (S300), or the reverse process (S400) described below is started. Thus, appropriate driving assistance is realized according to the driving situation.

C. Processing when turning right or left:
FIG. 6 shows a flowchart of the forward / left turn forward processing. As described above, this process is performed when the winker lever 4 is operated to be in a right turn or a left turn (S12: yes in FIG. 5) and the vehicle speed is equal to or lower than the first threshold speed (S14: yes), it is mainly executed by the controller 50 of the driving support device 100.

When the right / left turn forward processing (S100) is started, it is first determined whether or not the operation state of the winker lever 4 is the right turn state (S102). As described above, the operation state of the winker lever 4 is detected by the contact switch 24 and input to the controller 50. Therefore, the controller 50 can determine whether or not the winker lever 4 is in a right turn state. As a result, when the winker lever 4 is in the right turn state (S102: yes), the front right image V1 photographed by the front camera 10R and the side right image V3 photographed by the right camera 12R are displayed on the display screen 30. (S104). On the other hand, when the winker lever 4 is not in the right turn state (that is, in the left turn state) (S102: no), the front left image V2 photographed by the front camera 10L and the left side photographed by the left camera 12L The image V4 is displayed on the display screen 30 (S104).

Here, as shown in FIG. 7, the display screen 30 includes a display area at the center of the screen (center screen 31C), a display area on the right side of the central screen 31C (right screen 31R), and a display on the left side of the central screen 31C. The area (left screen 31L) is roughly divided into three screens. During normal driving, a vehicle speed meter is displayed on the central screen 31C. Also, predetermined instruments are displayed on the right screen 31R and the left screen 31L, respectively.

Further, when the winker lever 4 is determined to be in a right turn state (S102: yes) or in a left turn state (S102: no) in the right / left turn advance processing (S100), the center of the display screen 30 is displayed. The images to be displayed on the screen 31C, the right screen 31R, and the left screen 31L are preset in the storage 52 of the controller 50. FIG. 8 shows a state in which display contents on each screen (the central screen 31C, the right screen 31R, and the left screen 31L) of the display screen 30 are stored in association with the operation state of the blinker lever 4. . As shown in the figure, when the winker lever 4 is in the right turn state, the front right image V1 is displayed on the center screen 31C of the display screen 30, the side right image V3 is displayed on the right screen 31R, and the left screen is displayed. The fact that a vehicle speed meter is displayed is stored in 31L. When the winker lever 4 is in a left turn state, the front left image V2 is displayed on the center screen 31C of the display screen 30, the side left image V4 is displayed on the left screen 31L, and the vehicle speed is displayed on the right screen 31R. The fact that the meter is displayed is stored.

When the controller 50 determines whether or not the winker lever 4 is in the right turn state (S102 in FIG. 6), the controller 50 displays an image on the display screen 30 by referring to the correspondence relationship stored in the storage 52 in FIG. As a result, for example, when the winker lever 4 is in a right turn state (S102: yes), as shown in FIG. 9A, the front right image V1 is displayed on the central screen 31C, and the right screen 31R is on the side. The right image V3 is displayed (S104). Accordingly, the display position of the vehicle speed meter displayed on the central screen 31C moves to the left screen 31L. When the winker lever 4 is in the left turn state (S102: no), as shown in FIG. 9B, the front left image V2 is displayed on the center screen 31C, and the side left image is displayed on the left screen 31L. V4 is displayed (S106). Along with this, the vehicle speed meter displayed on the central screen 31C moves to the right screen 31R.

Of the various images displayed on the display screen 30, the images taken by the

front cameras

10R, 10L, the right camera 12R, the left camera 12L, and the

rear cameras

14R, 14C, 14L are in a normal state. In order to distinguish from the displayed images of various instruments, they may be referred to as “photographed images”. Further, in the above-described driving support processing and right / left turn forward processing, the driving state of the vehicle 1 is determined based on the operation state of the shift lever 9 and the blinker lever 4 and whether the vehicle speed is equal to or lower than the first threshold speed. Processing is performed by the controller 50. In addition, processing for selecting an image (also referred to as a selection image) to be displayed on the display screen 30 from the captured images according to the driving situation of the vehicle 1 is performed by the controller 50 referring to the storage 52, and further The controller 50 performs the process of displaying the selected captured image (that is, the selected image) on the display screen 30. Therefore, the controller 50 of the present embodiment is also referred to as an operation state determination unit, an image selection unit, an image display unit, or an operation state determination circuit, an image selection circuit, and an image display circuit by executing each process. . Storage 52 is also referred to as image storage.

Subsequently, the controller 50 detects the position of the line of sight of the driver 2 by analyzing an infrared image obtained by photographing the face of the driver 2 with the face camera 16 (S108 in FIG. 6). As a method for detecting the position of the driver's line of sight, various known methods can be used. For example, the position of the eyes of the driver 2 is detected from the facial image captured by the facial camera 16. Further, the direction of the line of sight of the driver 2 is detected from the position of the pupil with respect to the position of the eyes. Based on the position of the eyes and the direction of the line of sight, the position of the line of sight of the driver 2 (that is, where the driver 2 is looking) can be detected.

Thereafter, it is determined whether or not the driver 2 has confirmed any of the captured images displayed on the display screen 30 (S110). For example, when the winker lever 4 is set to the right turn state, as illustrated in FIG. 9A, the front right image V1 is displayed on the center screen 31C, and the side right image V3 is displayed on the right screen 31R. It is displayed. Therefore, if it is detected that the driver's line of sight has remained on the central screen 31C for a predetermined time or longer, for example, it is determined that the driver 2 has confirmed the front right image V1 displayed on the central screen 31C (S110). : Yes). After the fact that the front right image V1 has been confirmed is stored in the storage 52 (S112), the display of the front right image V1 is terminated (S114). That is, since the front right image V1 is displayed on the central screen 31C, the display of the central screen 31C is changed from the front right image V1 to a normal display (here, a vehicle speed meter) by terminating the display of the front right image V1. Switch. Along with this, the display on the left screen 31L on which the vehicle speed meter has been displayed until then is also switched to the normal display (various instruments) illustrated in FIG.

Also, when it is detected that the line of sight of the driver 2 remains on the right screen 31R for a certain time or longer, the same processing is performed on the side right image V3. On the other hand, if the driver's 2 line of sight does not remain in the front right image V1 of the central screen 31C or the side right image V3 of the right screen 31R for a certain period of time, any captured image is not driven. It is determined that it has not been confirmed by the person 2 (S110: no). Although the case where the winker lever 4 is in the right turn state has been described above, when the winker lever 4 is in the left turn state, the front left image V2 displayed on the center screen 31C and the side displayed on the left screen 31L. Similar processing is performed on the left image V4. Note that the controller 50 performs processing for detecting the position of the line of sight by analyzing an infrared image obtained by photographing the face of the driver 2 and detecting the image confirmed by the driver 2 from the position of the line of sight. Yes. Therefore, the controller 50 of this embodiment is also referred to as a line-of-sight detection unit, a confirmation image detection unit, a line-of-sight detection circuit, and a confirmation image detection circuit.

Subsequently, it is determined whether or not the vehicle speed of the vehicle 1 has exceeded a third threshold speed (S116). Here, the third threshold speed is lower than the first threshold speed (see S14 in FIG. 5) used to determine whether the vehicle 1 is going to turn right or left, or to change lanes. The speed is set to be higher (for example, 5 km / h) than the threshold speed (see S18 in FIG. 5). As a result, when the vehicle speed does not exceed the third threshold speed (S116: no), it is considered that the vehicle 1 has not yet started from the state of waiting for a right turn or waiting for a left turn, and therefore the winker lever 4 is returned. After confirming that it is not present (S122: no), the position of the line of sight of the driver 2 is detected again (S108), and the above-described series of processing (S110 to S116) is repeated.

On the other hand, when the vehicle speed of the vehicle 1 exceeds the third threshold speed (S116: yes), it is considered that the vehicle 1 is about to start from a state of waiting for a right turn or waiting for a left turn. Therefore, the controller 50 in the photographed image displayed on the display screen 30 (the front right image V1 and the side right image V3 when in the right turn state, and the front left image V2 and the side left image V4 when in the left turn state). Then, it is determined whether there is an unconfirmed image that has not yet been confirmed by the driver 2 (S118). As a result, when there is no unconfirmed image (S118: no), after confirming that the winker lever 4 is not returned (S122: no), the position of the driver's line of sight is detected again. (S108), the above-described series of processing (S110 to S116) is repeated.

On the other hand, if an unconfirmed image exists (S118: yes), the driver 2 is warned to that effect (S120). That is, if making a right turn, it is necessary to confirm the front right image V1 and the side right image V3. If making a left turn, it is necessary to confirm the front left image V2 and the side left image V4. Corresponding to these, these captured images are displayed on the display screen 30. Nevertheless, if it is considered that the vehicle 1 is about to start without confirming some captured images, the driver 2 is warned to that effect.

Also, the importance level is set in advance for the captured image displayed on the display screen 30, and when the warning is given to the driver 2 in S120, the warning is made with a configuration according to the importance level of the unconfirmed image. For example, as described above with reference to FIG. 8, the storage 52 of the controller 50 stores in advance that the front right image V1 and the side right image V3 are displayed when turning right. It is stored in advance that the image having a high degree is the side right image V3. Similarly, when turning left, it is stored that the side left image V4 and the front left image V2 are displayed, but the fact that the side left image V4 is more important than the front left image V2 is stored. ing. Therefore, if the unconfirmed image is a high-importance image, a warning is given with a different configuration (for example, at a high volume) from the case where it is not. Alternatively, if the importance of the unconfirmed image is not high, only a warning sound is output, and if the importance of the unconfirmed image is high, in addition to outputting the warning sound, a warning may be given by blinking a lamp, for example. .

In the present embodiment, the importance of the captured image displayed on the display screen 30 is stored in the storage 52. Therefore, the storage 52 of this embodiment is also referred to as importance storage. Further, in the example illustrated in FIG. 8, one of the two captured images displayed on the display screen 30 is set as a highly important image. However, the number of images with high importance does not have to be one, and both of the captured images may be set to images with high importance, or conversely, any of the captured images has high importance. It does not matter if it is not set. Furthermore, the number of captured images displayed on the display screen 30 is not limited to two, and may be one or a larger number of captured images may be displayed.

Further, when warning the driver 2 that there is an unconfirmed image, the warning may be made with a configuration corresponding to the unconfirmed image. For example, if the side right image V3 is not confirmed at the time of a right turn, a voice “Please check the right side of the vehicle” can be played from the right speaker 32R. Alternatively, a sound indicating the display position of the unconfirmed image may be played, such as “Please check the image on the right screen of the monitor”. Similarly, if the left-side image V4 is not confirmed at the time of the left turn, the voice “Please check the left side of the vehicle” from the left speaker 32L or “Check the image on the left screen of the monitor” You may play the voice.

Thereafter, it is determined whether or not the winker lever 4 is returned from the right turn state or the left turn state (S122). As a result, when the winker lever 4 has been returned from the right turn state or the left turn state (S122: yes), it is considered that the driver 2 has stopped the right turn or the left turn of the vehicle 1. Therefore, the display on the display screen 30 is restored to the normal display content shown in FIG. 7 (S124), and the right / left turn advance processing in FIG. 6 is terminated, and then the driving support processing in FIG. 5 is restored. On the other hand, when the winker lever 4 is not returned from the right turn state or the left turn state (S122: no), the position of the driver's line of sight is detected again (S108), and the series of processes described above are continued. (S110 to S116) are repeated.

When the right / left turn advance processing (S100) as described above is performed, for example, when the vehicle 1 is turned to the right as shown in FIG. 10, the presence or absence of a pedestrian can be confirmed using the front right image V1. The presence or absence of a moving body such as a motorcycle behind can be confirmed using the right image V3. In addition, since both the front right image V1 and the side right image V3 are displayed on the display screen 30, the driver 2 can confirm these captured images without moving the line of sight greatly. For this reason, even when there is an oncoming vehicle as illustrated in FIG. 10, while paying attention to the movement of the oncoming vehicle, at the same time, the presence or absence of a pedestrian trying to cross a pedestrian crossing and a moving body approaching from behind ( The presence or absence of a motorcycle, etc.). Furthermore, in the driving support device 100 of the present embodiment, the images of a plurality of places shown in FIG. 2 are taken, but the display screen 30 shows necessary places according to the driving situation of the vehicle 1 (shown in FIG. In the case of a right turn, two captured images of the front right image V1 and the side right image V3) are displayed. For this reason, the driver | operator 2 can confirm the safety | security in a required location easily and for a short time only by seeing the display screen 30. FIG. In addition, if there is an unconfirmed image in the captured image displayed on the display screen 30, the driver 2 is warned to that effect, so even if there are many places to be confirmed for safety, the driver It is possible to prevent the vehicle 1 from being driven while 2 forgets to confirm safety.

D. Processing when changing lanes:
In the above, since the winker lever 4 is set to either the right turn state or the left turn state (S12: yes in FIG. 5) and the vehicle speed is equal to or lower than the first threshold speed (S14: yes), the vehicle 1 turns right. Alternatively, the process for assisting the driver 2 in confirming safety when the vehicle is determined to make a left turn (the process at the time of right / left turn advance) has been described. On the other hand, the winker lever 4 is set to either the right turn state or the left turn state (S12: yes in FIG. 5), but when the vehicle speed is not lower than the first threshold speed (S14: no), Since it is considered that the vehicle is not going to turn right or left, but is simply changing the lane, the following lane change processing (S200) is performed.

FIG. 11 shows a flowchart of the lane change process. This process is also executed mainly by the controller 50 of the driving support apparatus 100, similarly to the above-described right / left turn forward process (S100). Also in the lane change process (S200), it is first determined whether or not the operating state of the winker lever 4 is the right turn state (S202), as in the above-described right / left turn advance process (S100). As a result, if the winker lever 4 is in the right turn state (S202: yes), the side right image V3 captured by the right camera 12R is displayed on the right screen 31R of the display screen 30 (S204). On the other hand, when the winker lever 4 is not in the right turn state (that is, in the left turn state) (S202: no), the left side image V4 photographed by the left camera 12L is displayed on the left screen of the display screen 30. It is displayed on 31L (S204).

In the storage 52 of the controller 50, when the winker lever 4 is determined to be in the right turn state (S202: yes) and in the left turn state (S202: no) during the lane change processing (S200). The display contents of the display screen 30 are stored in advance. That is, as shown in FIG. 12, when the winker lever 4 is in a right turn state, a normal image (see FIG. 7) is displayed on the left screen 31L and the central screen 31C of the display screen 30, and the right screen 31R. Stores that the side right image V3 is to be displayed. Further, when the winker lever 4 is in the left turn state, it is stored that the side left image V4 is displayed on the left screen 31L of the display screen 30, and the normal image is displayed on the center screen 31C and the right screen 31R. ing. When the controller 50 determines whether or not the winker lever 4 is in the right turn state (S202 in FIG. 11), the controller 50 displays an image on the display screen 30 by referring to the correspondence relationship in FIG. FIGS. 13A and 13B illustrate images displayed on the display screen 30 when the winker lever 4 is in a right turn state or a left turn state.

Subsequently, the controller 50 detects the position of the line of sight of the driver 2 by analyzing the infrared image of the face of the driver 2 taken by the face camera 16 (S208). The driver 2 confirms the photographed image displayed on the display screen 30 (in the case of a right turn, the side right image V3 displayed on the right screen 31R. In the case of a left turn, the side left image V4 displayed on the left screen 31L). It is determined whether or not (S210). As a result, when the line of sight of the driver 2 remains on the captured image displayed on the display screen 30 for a certain time or more, it is determined that the driver 2 has confirmed the captured image (S210: yes), After the fact that the captured image has been confirmed is stored in the storage 52 (S212), the display of the captured image is terminated (S214). On the other hand, the line of sight of the driver 2 is the captured image displayed on the display screen 30 (the right side image V3 displayed on the right screen 31R in the case of a right turn. The left side displayed on the left screen 31L in the case of a left turn. If the image V4) does not stay for a certain time or longer, it is determined that the driver 2 has not confirmed the captured image (S210: no).

Subsequently, it is determined whether or not the driver 2 of the vehicle 1 has turned the handle 3 (S216). That is, when the winker lever 4 is set to the right turn state (S202: yes), it is considered that the steering wheel 3 is rotated clockwise by the driver 2. Conversely, when the winker lever 4 is set to the left turn state (S202: no), it is considered that the driver 3 rotates the handle 3 counterclockwise. Therefore, in S216, it is determined whether or not the steering wheel 3 has been turned by detecting the steering angle of the steering wheel 3 using the angle sensor 23. As a result, if the handle 3 has not yet been turned (S216: no), it is determined whether or not the winker lever 4 has been returned (S222). If the winker lever 4 has been returned (S222: yes), it is considered that the driver 2 has stopped changing the lane, so the display on the display screen 30 is changed to the normal display content illustrated in FIG. After returning (S226), the lane change time process of FIG. 11 is terminated, and the process returns to the driving support process of FIG.

If the winker lever 4 is not returned (S222: no), it is determined whether or not the vehicle speed of the vehicle 1 is equal to or lower than the first threshold speed (S224). Here, the first threshold speed is used to determine whether the vehicle is turning right or left or changing lanes when the blinker lever 4 is operated in the driving support process of FIG. 5 described above. The threshold speed (see S12 in FIG. 5). As a result, if the vehicle speed of the vehicle 1 is higher than the first threshold speed (S224: no), it is considered that the driver 2 is still trying to change the lane, so the position of the driver's gaze is detected again. (S208), the above-described series of processes (S210 to S224) are repeated. On the other hand, when the vehicle speed of the vehicle 1 has decreased below the first threshold speed (S224: yes), the intention of the driver 2 is not to change the lane but to turn the vehicle 1 to the right or left. It is thought that there was. Therefore, in this case, after the display on the display screen 30 is restored to the normal display content illustrated in FIG. 7 (S226), the lane change process in FIG. 11 is terminated and the process returns to the driving support process in FIG. To do. In the driving support process, the winker lever 4 is in the operating state (S12: yes in FIG. 5) and the vehicle speed is determined to be equal to or lower than the first threshold speed (S14: yes). The left turn forward processing (S100) is started.

In the above, the processing when the winker lever 4 is set to the right turn state or the left turn state but the driver 2 has not yet turned the steering wheel 3 (S216: no) has been described. On the other hand, when the driver 2 turns the steering wheel 3 (S216: yes), the captured image displayed on the display screen 30 (the side right image V3 for a right turn and the side left image V4 for a left turn) is displayed. Then, it is determined whether or not the image is an unconfirmed image that has not yet been confirmed by the driver 2 (S218).

As a result, when the captured image on the display screen 30 has already been confirmed (S218: no), the setting of the blinker lever 4 and the vehicle speed of the vehicle 1 are confirmed (S222, S224), and the blinker lever 4 is returned. The position of the line of sight of the driver 2 is detected again unless one of the following conditions is satisfied (S222: yes) or the vehicle speed is lower than the first threshold speed (S224: yes) ( In step S208, the above-described series of processing is repeated. If any one of the conditions is satisfied, the display on the display screen 30 is restored to the normal display content illustrated in FIG. 7 (S226), and the lane change processing in FIG. Returning to the driving support process of FIG.

On the other hand, when the captured image displayed on the display screen 30 is an unconfirmed image (S218: yes), the driver 2 is warned to that effect (S220). At the time of warning, when the unconfirmed image is the side right image V3, for example, if the unconfirmed image is the side right image V3, a sound “Please confirm the right side of the vehicle” is played from the right speaker 32R, In the case of the left image V4, a voice “Please check the left side of the vehicle” can be played from the left speaker 32L. Note that, as illustrated in FIGS. 12 and 13, in the lane change processing of the present embodiment, only one of the side right image V3 and the side left image V4 is displayed on the display screen 30. No importance is set for the image. However, the importance may be set in advance, and the warning may be made with a configuration according to the set importance.

As described above, in the driving support device 100 according to the present embodiment, even when the driver 2 is about to change the lane, the driver 2 displays the photographed image of the location where the driver 2 should confirm the safety on the display screen 30. Can be reduced.

E. Processing when starting after stopping:
In the above, when the winker lever 4 is set to either the right turn state or the left turn state (S12: yes in FIG. 5), the right / left turn advance processing (S100) and the lane that support the driver's 2 safety check The change processing (S200) has been described. On the other hand, when the winker lever 4 is not operated (S12: no in FIG. 5), the brake pedal 7 is depressed (S16: yes), and the vehicle speed of the vehicle 1 decreases below the second threshold speed. (S18: yes) After that, when the driver 2 lifts his / her foot from the brake pedal 7 (S20: yes), it is considered that the driver 2 is about to start after stopping once. After the stop, a start time process (S300) is performed.

FIG. 14 shows a flowchart of the process at the time of starting after stopping once. This process is also executed mainly by the controller 50 of the driving support device 100, similarly to the above-described right / left turn forward process (S100) and lane change process (S200).

When the start time processing after stopping (S300) is started, the front right image V1 photographed by the front camera 10R and the front left image V2 photographed by the front camera 10R are displayed on the display screen 30 (S302). In the storage 52 of the controller 50, as shown in FIG. 15, display contents to be displayed on the display screen 30 during the starting process after being temporarily stopped are stored. By referring to this display content, the controller 50 displays the front right image V1 on the right screen 31R of the display screen 30 and the front left image V2 on the left screen 31L. In addition, a normal image is displayed on the central screen 31 </ b> C of the display screen 30. FIG. 16 illustrates how each image is displayed on the display screen 30 in this way.

Subsequently, the controller 50 detects the position of the line of sight of the driver 2 by analyzing an infrared image obtained by photographing the face of the driver 2 with the face camera 16 (S304 in FIG. 14). Then, it is determined whether or not the driver 2 has confirmed either the front right image V1 on the right screen 31R or the front left image V2 on the left screen 31L (S306). For example, if the driver's line of sight has remained in the front right image V1 for a certain time or more, it is determined that the driver 2 has recognized the front right image V1. Further, if the driver's line of sight has remained in the front left image V2 for a certain time or more, it is determined that the front left image V2 has been recognized. As a result, when any one of the captured images (the front right image V1 or the front left image V2) is confirmed by the driver 2 (S306: yes), after storing which captured image is confirmed in the storage 52 (S308) The display of the confirmed captured image is terminated (S310). On the other hand, when the driver 2 has not confirmed any photographed image (S306: no), the process of storing the confirmed photographed image (S308) and the display of the confirmed photographed image are finished. The process (S310) is not performed.

Subsequently, it is determined whether or not the vehicle speed of the vehicle 1 exceeds the third threshold speed (S312). Here, the third threshold speed is a threshold speed used to determine whether or not the vehicle has started from a state of waiting for a right turn or waiting for a left turn in the right / left turn advance processing described above with reference to FIG. The third threshold speed is set to a speed (for example, 5 km / h) higher than a second threshold speed (see S18 in FIG. 5) for determining whether or not the vehicle 1 has stopped. As a result, when the vehicle speed does not exceed the third threshold speed (S312: no), it is considered that the vehicle 1 has not yet started from the stop state, so whether or not the winker lever 4 is operated. If it is determined (S314) and it is not operated (S314: no), the position of the line of sight of the driver 2 is detected again (S304), and the above-described series of processing is repeated. Further, when the winker lever 4 is operated (S314: yes), it is considered that the driver 2 is going to turn right or left once from the stopped state. Therefore, the display on the display screen 30 is restored to the normal display contents shown in FIG. 7 (S320), and after the temporary stop and start processing shown in FIG. 14, the process returns to the driving support process shown in FIG. In the driving support process, it is determined that the winker lever 4 is in the operating state (S12: yes in FIG. 5) and the vehicle speed is equal to or lower than the first threshold speed (S14: yes). (S100) is started.

On the other hand, when the vehicle speed of the vehicle 1 exceeds the third threshold speed (S312: yes), it is considered that the vehicle 1 is about to start from a stopped state. Therefore, the controller 50 determines whether or not there is an unconfirmed image that has not yet been confirmed by the driver 2 in the captured images (front right image V1 and front left image V2) displayed on the display screen 30 ( S316). As a result, when there is no unconfirmed image (S316: no), the display on the display screen 30 is restored to the normal display content shown in FIG. After the process is completed, the process returns to the driving support process of FIG. On the other hand, if an unconfirmed image exists (S316: yes), the driver 2 is warned to that effect with a configuration according to the importance of the unconfirmed image (S318). That is, as shown in FIG. 15, the storage 52 of the controller 50 stores not only the captured image to be displayed on the display screen 30 but also information related to the importance of the captured image. Therefore, when warning that there is an unconfirmed image, the volume of the warning is varied according to the importance of the unconfirmed image. Further, when warning the driver 2 that there is an unconfirmed image, the warning may be made with a configuration corresponding to the unconfirmed image. For example, when the unconfirmed image is the front right image V1, it is possible to play a voice “Please confirm the front right side of the vehicle” from the right speaker 32R. Alternatively, a sound indicating the display position of the unconfirmed image may be played, such as “Please check the image on the right screen of the monitor”.

In the example shown in FIG. 15, only one of the two captured images displayed on the display screen 30 is set as a highly important image. However, the number of images with high importance does not have to be one. For example, both the captured images may be set to images with high importance, and conversely, neither captured image may be set to an image with high importance. Further, the number of captured images displayed on the display screen 30 is not limited to two, and may be one or a larger number.

After that, the display on the display screen 30 is restored to the normal display content shown in FIG. 7 (S320), and after the temporary stop process shown in FIG. 14 is completed, the process returns to the driving support process shown in FIG.

When the start-after-stop process (S300) as described above is performed, the front right image V1 displayed on the display screen 30 when the vehicle 1 is started after being stopped at a small intersection as shown in FIG. And the safety in the left-right direction can be confirmed using the front left image V2.

In addition, since motorcycles and automobiles usually pass on the left side, motorcycles may approach at a high speed from the right side of the vehicle 1 when entering a small intersection as shown in FIG. Higher and more likely to collide with the encounter. On the other hand, from the left side of the vehicle 1, since a pedestrian or the like whose speed is slower than that of a motorcycle or the like approaches, it can be said that the possibility of colliding with an encounter is low. Based on this viewpoint, the storage 52 that is referred to in the start-up process after the stop temporarily stores the front right image V1 among the captured images (the front right image V1 and the front left image V2) displayed on the display screen 30. It is set to an image with high importance. For this reason, when the driver 2 is likely to overlook an approaching vehicle approaching from the right side, the driver 2 can be surely warned.

F. Backward processing:
In the above, when the shift lever 9 is not set to the reverse position (S10: no in FIG. 5), the processing for right / left turn advance (S100) and the processing for lane change (S200) to assist the driver 2 in confirming safety And the process at the time of starting after a stop (S300) was demonstrated. On the other hand, when the shift lever 9 is set to the reverse position (S10: yes in FIG. 5), the following reverse time process (S400) is performed.

FIG. 18 and FIG. 19 show a flowchart of the reverse processing. This process is also executed mainly by the controller 50 of the driving support apparatus 100, similarly to the various processes (S100, S200, S300) described above.

When the reverse processing (S400) is started, it is first determined whether or not the driver 2 has turned the steering wheel 3 to the right (S402). As a result, when the handle 3 is turned rightward (S402: yes), the side right image V3, the rear left image V6, and the rear middle image V7 are respectively displayed on the right screen 31R, the left screen 31L, It is displayed on the central screen 31C (S404). On the other hand, if the driver 2 has not turned the handle 3 to the right (S402: no), it is determined whether or not the handle 3 has been turned to the left (S406). As a result, when the handle 3 is turned leftward (S406: yes), the left side image V4, the rear right image V5, and the rear middle image V7 are respectively displayed on the left screen 31L and the right screen of the display screen 30. 31R is displayed on the central screen 31C (S408). On the other hand, when the driver 2 does not turn the steering wheel 3 leftward (S406: no), the rear middle image V7 is displayed on the central screen 31C of the display screen 30, and the right screen 31R and the left screen 31L The normal image illustrated in FIG. 7 is displayed.

Also in the reverse processing (S400), the storage 52 of the controller 50 stores in advance the correspondence between the driving situation and the display content of the display screen 30 as illustrated in FIG. By referring to the correspondence relationship, a captured image corresponding to the steering direction of the handle 3 is displayed on the display screen 30. FIG. 21A illustrates the display content of the display screen 30 when the driver 2 turns the handle 3 clockwise in the reverse travel process. FIG. 21B illustrates the display of the driver 2 The display content of the display screen 30 when the handle 3 is turned counterclockwise is illustrated in FIG. 21C, and the display content of the display screen 30 when the driver 2 does not turn the handle 3 is illustrated.

Subsequently, the controller 50 detects the position of the driver's line of sight (S412 in FIG. 18). And it is judged whether the driver | operator 2 confirmed the picked-up image displayed on the display screen 30 (S414). As a result, when the photographed image is confirmed by the driver 2 (S414: yes), which photographed image is confirmed is stored in the storage 52 (S416), and the display of the confirmed photographed image is ended (S416). S418). On the other hand, if the driver 2 has not confirmed the captured image (S414: no), the process of storing the confirmed captured image (S416) and the process of terminating the display of the confirmed captured image (S418) is not performed.

Subsequently, it is determined whether or not the accelerator pedal 8 of the vehicle 1 is depressed by the driver 2 (S420). If the accelerator pedal 8 is not depressed (S420: no), it is considered that the driver 2 has not yet started the reverse movement, so that the operation state (shift position) of the shift lever 9 remains set at the reverse position. Is determined (S426 in FIG. 19). If the shift lever 9 is in the reverse position (S426: yes), the process returns to the top of the process, and it is determined whether or not the steering wheel 3 has been turned clockwise by the driver 2 (S402), and then the series described above. Repeat the process.

On the other hand, when the accelerator pedal 8 is stepped on by the driver 2 (S420: yes in FIG. 18), it is considered that the driver has started the reverse movement, so that the photographed image displayed on the display screen 30 It is determined whether or not an unconfirmed image exists (S422). As a result, if there is an unconfirmed image (S422: yes), the driver 2 is warned to that effect with a configuration according to the importance of the unconfirmed image (S318). As shown in FIG. 20, the storage 52 of the controller 50 stores not only the captured image to be displayed on the display screen 30 but also information related to the importance of the captured image. Further, when a warning is given that the photographed image on the right side of the vehicle 1 (the side right image V3 or the rear right image V5) has not been confirmed, the right speaker 32R is used, and the photographed image on the left side of the vehicle 1 (the side left image V4). In the case of warning that the rear left image V6) is not confirmed, the left speaker 32L may be used for warning. On the other hand, if no unconfirmed image exists (S422: no), no warning is given to the driver 2.

Thereafter, it is confirmed whether or not the shift position of the shift lever 9 remains set at the reverse position (S426 in FIG. 19). If the shift lever 9 remains set at the reverse position (S426: yes), the beginning of the process Returning to step S402, after determining whether or not the steering wheel 3 has been turned clockwise by the driver 2 (S402), the above-described series of processing is repeated. On the other hand, when the shift position of the shift lever 9 has been moved from the reverse position (S426: no), it is considered that the driver 2 has stopped the backward movement of the vehicle 1. Therefore, after the display on the display screen 30 is restored to the normal display content shown in FIG. 7 (S428), the backward process in FIGS. 18 and 19 is terminated and the process returns to the driving support process in FIG. .

By performing the reverse processing (S400) as described above, it is possible to assist the driver 2 in confirming safety when moving the vehicle 1 backward. For example, as shown in FIG. 22A, when the vehicle 1 moves backward while turning right, a side right image V3, a rear left image V6, and a rear middle image V7 are displayed on the display screen 30. For this reason, the driver 2 has a plurality of points such as the distance between the side surface of the vehicle 1 and the vehicle on the right side, the distance between the rear left side of the vehicle 1 and the vehicle on the left side, and the presence of obstacles in the reverse direction. Safety confirmation can be confirmed immediately without greatly moving the line of sight. Further, as shown in FIG. 22B, when the vehicle 1 moves backward while turning left, a side left image V4, a rear right image V5, and a rear middle image V7 are displayed on the display screen 30. For this reason, the driver 2 has a plurality of points such as the distance between the side surface of the vehicle 1 and the left adjacent vehicle, the distance between the rear right side of the vehicle 1 and the right adjacent vehicle, and the presence or absence of an obstacle in the reverse direction. Safety confirmation can be confirmed immediately without greatly moving the line of sight. Further, as shown in FIG. 22 (c), when the vehicle 1 moves backward straight, the rear middle image V7 is displayed on the display screen 30, so the safety of the traveling direction (rear) of the vehicle 1 is confirmed. be able to.

Note that here, when the vehicle 1 moves backward straight, it has been described that normal images (for example, instrument images) are displayed on the left screen 31L and the right screen 31R. However, since it is not necessary to check these instruments while the vehicle 1 is moving backward, in addition to displaying the rear middle image V7 on the central screen 31C, the rear right image V5 is displayed on the right screen 31R. The rear left image V6 may be displayed on the left screen 31L.

Therefore, the driving support apparatus 100 captures images of a plurality of locations around the vehicle 1 and displays captured images of locations determined in advance according to the driving status of the vehicle 1 on the display screen 30. For this reason, even when safety confirmation is required at a plurality of locations according to the driving situation, the driver 2 can easily confirm the safety at all locations, so that the vehicle 1 can be driven safely. .

The driving support apparatus according to one example of the embodiment described in detail above provides the following configurations and can provide the respective effects. The first in-vehicle camera, the second in-vehicle camera, and the third in-vehicle camera are used to capture a plurality of images in a predetermined direction as captured images, and a plurality of selection images selected according to the driving situation of the vehicle are displayed on the display screen. To display. In this way, the driver can confirm the safety of a plurality of locations only by confirming the image displayed on the display screen. In addition, if an image that requires safety confirmation is selected according to the driving situation and displayed on the display screen, even if there are multiple locations where safety confirmation is required, all locations can be confirmed without omission. It becomes possible to drive the vehicle safely.

Further, in the driving support device of the example described above, a deceleration operation device that is operated by the driver to decelerate the vehicle may be provided. Then, when determining the driving situation of the vehicle, not only the operating state of the right / left turn operating device but also the operating state of the deceleration operating device may be detected to determine the driving status of the vehicle. In this way, it is possible to detect that the driver is about to decelerate the vehicle, to finish decelerating, etc., so that the driving situation of the vehicle can be determined more accurately. As a result, a more appropriate image can be selected and displayed on the display screen according to the driving situation.

Further, in the driving support device of the above-described example, a reverse operation device that is operated by the driver to reverse the vehicle may be provided. When determining the driving situation of the vehicle, the operating condition of the reverse operation device may also be detected to determine the driving condition of the vehicle. In this way, it is possible to detect whether or not the driver is going to reverse the vehicle, so that the driving situation of the vehicle can be determined more accurately, and as a result, a more appropriate image is selected and displayed. It can be displayed on the screen.

Further, in the driving support apparatus of the above-described example, it may be stored in advance for each driving state of the vehicle which vehicle-mounted camera should select a captured image. Then, when selecting a selection image to be displayed on the display screen, an image stored in association with the driving situation of the vehicle may be selected. In this way, by storing an appropriate image in advance in association with the driving situation of the vehicle, an appropriate image corresponding to the driving situation can be selected and displayed on the display screen.

Further, in the driving support device of the above example, a confirmation image confirmed by the driver may be detected from the selection images displayed on the display screen by detecting the driver's line of sight. If there is an unconfirmed image that the driver has not confirmed in the selected image displayed on the display screen, the driver may be warned to that effect. This makes it possible for the driver to surely confirm the selected image displayed on the display screen.

Further, in the driving support device of the above-described example that warns the driver of the presence of an unconfirmed image, in a configuration or aspect that can identify whether the unconfirmed image is a captured image captured by the in-vehicle camera. It is good also as warning. In this way, the driver who has been warned can immediately recognize which selected image is unconfirmed, so that safety can be confirmed quickly.

Further, in the above-described driving support device that warns the driver of the existence of an unconfirmed image, the importance of the displayed selection image is stored for each driving situation of the vehicle, and when warning the existence of the unconfirmed image, It is good also as warning with the structure or aspect according to the importance of an image. In this way, when an image with high importance is unconfirmed, a stronger warning can be issued, so that the driver can surely confirm the image.

Moreover, in the driving support apparatus of the above example, at least the following four in-vehicle cameras may be mounted as the in-vehicle cameras. That is, a first in-vehicle camera that is provided at the front of the vehicle and captures an image in the right direction, a second in-vehicle camera that is provided at the front of the vehicle and captures an image in the left direction, and a right side portion of the vehicle And a third in-vehicle camera that captures an image from the right side to the rear and a fourth in-vehicle camera that is disposed on the left side of the vehicle and that captures an image from the left side. It is also good. When the vehicle speed is equal to or lower than a predetermined threshold speed and the right / left turn operating device is in the right turn operation state, the driving state of the vehicle is determined as the right turn forward state, It is good also as displaying the picked-up image by a 3rd vehicle-mounted camera on a display screen. If it carries out like this, a driver | operator can confirm safety | security easily by confirming a display screen at the time of a right turn of a vehicle.

Further, in the driving support apparatus of the above-described example equipped with the first on-vehicle camera or the fourth on-vehicle camera, if the vehicle speed is equal to or lower than the threshold speed and the right / left turn operation device is in the operation state at the left turn, the vehicle It is also possible to determine that the driving situation is a left turn forward situation, and display a photographed image by the second vehicle-mounted camera and a photographed image by the fourth vehicle-mounted camera on the display screen. If it carries out like this, a driver | operator can confirm safety | security easily by confirming a display screen at the time of a right turn of a vehicle.

In addition, in addition to the 1st vehicle-mounted camera or the 4th vehicle-mounted camera, the driving assistance apparatus of the above-mentioned example can also be provided with the following structures. That is, the driving state determination unit is configured to switch the deceleration operating device from the operating state to the non-operating state without the vehicle being stopped and the right / left turn operating device being in either the right turn or the left turn. If the vehicle is determined to be in a straight start state, the image selection unit determines that the vehicle is in the straight start state, and if the vehicle is determined to be in the straight start state, 2 It can be grasped as a driving support device for selecting a photographed image by a vehicle-mounted camera.

If the driving support device having such a configuration is used, the driver can easily check the safety of a plurality of locations around the vehicle where safety should be confirmed while the vehicle is about to stop after starting.

In addition, the driving support apparatus of the above example may capture a plurality of images in a predetermined direction as captured images using in-vehicle cameras mounted at a plurality of locations of the vehicle. Then, when the driving state of the vehicle is determined based on the operation signal indicating the operation state of the left / right turn operating device and the vehicle speed signal received from the vehicle speed detector, the driving state of the vehicle is selected from a plurality of captured images captured by the in-vehicle camera. A plurality of images may be selected as selected images based on the above and displayed on the display screen.

Even in this way, the driver can confirm the safety of a plurality of locations according to the driving situation only by confirming the selected image displayed on the display screen. For this reason, since it is possible to confirm all parts without omission, it becomes possible to drive the vehicle safely.

In addition, the driving support device of the above-described example is provided as a vehicle-mounted camera at a rear portion of the vehicle and takes a rightward image from the rear portion of the vehicle, and is provided at the rear portion of the vehicle. A sixth vehicle-mounted camera that captures an image in the left direction from the rear can be mounted. When the first vehicle-mounted camera to the sixth vehicle-mounted camera are mounted as described above and further equipped with a reverse operation device, the following configuration can also be provided. That is, the driving state determination unit determines that the driving state of the vehicle is a reverse right-turning state when the steering wheel of the vehicle is steered in the right direction in a state where the reverse operation device is set in the reverse state. When the steering wheel is steered leftward, the driving state of the vehicle is determined as a reverse left turn state, and the image selection unit determines that the vehicle is in the reverse right turn state when the vehicle is determined as the reverse right turn state. When an image of the camera and an image of the sixth in-vehicle camera are selected and the vehicle is determined to be in the reverse left turn situation, an image of the fourth in-vehicle camera and an image of the fifth in-vehicle camera are selected. It can be provided as a driving support device.

By using the driving support device provided in such a configuration, the driver can easily confirm safety at a plurality of locations around the vehicle where safety should be confirmed while the vehicle is going to turn right or left while moving backward. It becomes possible.
Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

Claims

A driving support device for supporting a safety confirmation operation of a driver of the vehicle by displaying an image around the vehicle on a display screen (30) provided in the vehicle interior,
A plurality of in-vehicle cameras (10L, 10R, 12L, 12R) that are mounted at a plurality of locations of the vehicle and that capture a plurality of images in a predetermined direction as a plurality of captured images;
A right / left turn operating device (4) operated by the driver when the vehicle turns right or left;
A vehicle speed detector (26) for detecting the vehicle speed of the vehicle;
A driving condition determination unit that determines the driving condition of the vehicle by detecting an operation state of the right / left turn operating device and the vehicle speed;
An image selection unit that selects a plurality of images as a selection image based on a driving situation of the vehicle from a plurality of the captured images captured by the in-vehicle camera,
A driving support device comprising: an image display unit that displays the plurality of selected images selected on the display screen.
The driving support device according to claim 1,
A deceleration operating device (7) operated by the driver to decelerate the vehicle,
The driving status determination unit determines the driving status of the vehicle by detecting an operating state of the deceleration operating device.
The driving support device according to claim 1 or 2, wherein
A reverse operation device (9) operated by the driver to reverse the vehicle,
The driving status determination unit determines the driving status of the vehicle by detecting an operating state of the reverse operation device.
The driving support device according to any one of claims 1 to 3,
A plurality of the selection images to be selected by the image selection unit includes an image storage (52) stored for each driving situation of the vehicle,
The image selection unit selects the plurality of selected images by referring to the image storage.
The driving support device according to any one of claims 1 to 4,
A line-of-sight detector that detects the line of sight of the driver;
A confirmation image detection unit that detects a confirmation image confirmed by the driver from the plurality of selection images displayed on the display screen based on a detection result of the line of sight;
A driving support device comprising: a warning device (32L, 32R) that warns the driver when there is an unconfirmed image that has not been confirmed by the driver among the plurality of selection images displayed on the display screen.
The driving support device according to claim 5,
The warning device warns in a manner capable of identifying in which aspect the unconfirmed image is a captured image captured by the in-vehicle camera.
The driving support device according to claim 5 or 6, wherein
The importance storage for the plurality of selected images displayed on the display screen includes an importance storage for each driving situation of the vehicle,
The warning device refers to the importance storage and warns in a manner corresponding to the importance of the unconfirmed image.
The driving support device according to claim 1, wherein:
In the plurality of in-vehicle cameras,
A first in-vehicle camera (10R) that is provided at the front of the vehicle and captures an image in the right direction from the vehicle as a captured image;
A second in-vehicle camera (10L) that is provided at the front of the vehicle and captures a left image from the vehicle as a captured image;
A third in-vehicle camera (12R) that is provided on the right side of the vehicle and shoots an image in the rearward direction from the right side as a captured image;
A fourth vehicle-mounted camera (12L) that is provided on the left side of the vehicle and that captures a rearward image from the left side as a captured image.
The driving support device according to claim 8,
The driving state determination unit determines that the driving state of the vehicle is a right turn forward state when the vehicle speed is equal to or lower than a predetermined threshold speed and the operation state of the right / left turn operation device is an operation state at the time of a right turn. And
The said image selection part selects the picked-up image by the said 1st vehicle-mounted camera, and the image | photographed image by the said 3rd vehicle-mounted camera, when the said vehicle is judged as the said right turn advance condition.
The driving support device according to claim 8 or 9, wherein
When the vehicle speed is equal to or lower than the threshold speed and the operation state of the right / left turn operation device is an operation state at the time of a left turn, the driving state determination unit determines that the driving state of the vehicle is a left turn advance state. ,
The said image selection part selects the picked-up image by the said 2nd vehicle-mounted camera, and the image | photographed image by the said 4th vehicle-mounted camera, when the said vehicle is judged as the said left turn advance condition.
A plurality of in-vehicle cameras (10L, 10R, 12L, 12R) that are mounted at a plurality of locations in the vehicle and that capture a plurality of images in a predetermined direction as a plurality of captured images; It is connected to a left / right turn operating device (4) to be operated, a vehicle speed detector (26) for detecting the speed of the vehicle, and a display screen (30) provided in the vehicle interior of the vehicle. By displaying an image on the display screen, a driving support control device that supports a safety confirmation operation of the driver of the vehicle,
A driving condition determination unit that determines the driving condition of the vehicle based on an operation signal indicating an operation state of the right / left turn operating device and a vehicle speed signal received from the vehicle speed detector;
An image selection unit that selects a plurality of images as a selection image based on a driving situation of the vehicle from a plurality of the captured images captured by the in-vehicle camera,
A driving support control device comprising: an image display unit that displays the plurality of selected images selected on the display screen.