JP2001180401A - Driving support device and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To form an optimum image conformed to a driver's intention. SOLUTION: This driving support device has an image pickup device equipped on a vehicle; a display part provided with a display screen; an operating means for selecting a display function; an image forming-processing means 91 for forming an image on the display screen; and a display history judging-processing means 92 for judging whether there is a history of the execution of display function in the present vehicle condition. The image forming-processing means 91 forms an image corresponding to the executed display function when there is the history of the execution of display function in the present vehicle condition, and forms an image corresponding to the selected display function when there is no history of the execution of display function in the present vehicle condition. When there is a history of the execution of display function in the present vehicle condition, only the optimum image conformed to a driver's intention can be automatically formed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device and a driving support method.

[0002]

2. Description of the Related Art Conventionally, a vehicle such as an automobile generally has a large vehicle body. When a driver sits in a driver's seat and looks out of the vehicle, a blind spot is formed near the outer periphery of the vehicle. Therefore, the driver usually looks at the image reflected from the side mirror and the rearview mirror, puts his face out of a window, and gets off the vehicle to check the state outside the vehicle.

However, the range of the image obtained by the side mirror and the rearview mirror is determined by the dimensions of the side mirror and the rearview mirror, so that the range of the image that can be confirmed is limited. Further, it is troublesome to check the state outside the vehicle by putting a face out of the window or getting off the vehicle. Therefore, a driver often drives by estimating a blind spot, in which case the vehicle may come into contact with an obstacle or the wheels may fall into a groove on a road shoulder.

[0004] Therefore, in order to photograph the left and right sides behind the vehicle in the blind spot portion for the driver, the first and second sections are used.
There is provided a driving assistance device in which third and fourth cameras are provided to photograph the left and right cameras in front of the vehicle, respectively (see JP-A-5-310078).
In this case, by synthesizing information of the image of the object photographed by the first to fourth cameras, the first and second images on the left and right sides on the rear side of the vehicle are added to the four areas of the display screen. In addition, third and fourth images on both the left and right sides in front of the vehicle can be formed.

[0005]

However, in the above-mentioned conventional driving support apparatus, the first to fourth images are provided to the driver in parallel and simultaneously, so that the first to fourth images are provided to the driver. The operation for obtaining necessary information from the image No. 4 is troublesome. Further, by operating a predetermined selection key or the like, a required one of the first to fourth images can be selected and formed over the entire display screen. Therefore, the operation for forming an image is troublesome. Further, since the driver needs thinking in order to select an optimal image, useful information on the image may be overlooked. In addition, if the information requires urgency, it is difficult to select an image immediately, and the operation becomes more troublesome.

SUMMARY OF THE INVENTION The present invention solves the problems of the above-mentioned conventional driving support device, and can form an optimum image that meets the driver's intention among images of a blind spot for the driver. An object of the present invention is to provide a driving support device and a driving support method capable of simplifying an operation for forming an image.

[0007]

For this purpose, in a driving support apparatus according to the present invention, an image pickup apparatus mounted on a vehicle for photographing a predetermined object, a display unit having a display screen, and
Operating means for operating the driver to select a preset display function; image forming processing means for forming an image obtained by photographing on the display screen; and vehicle situation detection for detecting a current vehicle situation Means and a display history determination processing means for determining whether there is a history of execution of the display function in the current vehicle situation.

The image forming processing means forms an image corresponding to the executed display function when there is a history of execution of the display function in the current vehicle situation among the images, and If there is no history of the execution of the display function in, an image corresponding to the selected display function is formed by operating the operation means.

In another driving support apparatus of the present invention, the number of images corresponding to the executed display function is equal to the number of images corresponding to the display function selected by operating the operation means. Is done.

In the driving assistance method of the present invention, a predetermined object is photographed, a display function set in advance is selected, and an image obtained by photographing is formed on a display screen.
The current vehicle status is detected, and it is determined whether or not there is a history of executing the display function in the current vehicle status.

[0011] If there is a history of the execution of the display function in the current vehicle situation among the images, an image corresponding to the executed display function is formed, and the display function is executed in the current vehicle situation. If there is no history, an image corresponding to the display function selected by operating the operation means is formed.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a functional block diagram of a driving support device according to an embodiment of the present invention.

In the figure, C _FL , C _FR , C _RL , C _RR are:
A camera mounted on the vehicle and serving as an imaging device for taking an image of a predetermined object, 22 is a display as a display unit having a display screen, and 25 is operated by a driver to select a preset display function. Switch 91 as an operating means for forming an image obtained by photographing on the display screen, and an image forming processing means 14 for detecting a situation where a vehicle is currently placed, that is, a current vehicle situation. A beacon sensor 92 serving as a vehicle status detecting means for performing a display history determining processing means for determining whether there is a history of executing the display function in the current vehicle status.

The image forming processing means 91 forms an image corresponding to the executed display function when there is a history of execution of the display function in the current vehicle situation, and the display function is executed in the current vehicle situation. If there is no history, an image corresponding to the display function selected by operating the selection switch 25 is formed.

FIG. 2 is a conceptual diagram of a vehicle according to the embodiment of the present invention, and FIG. 3 is a block diagram showing a control device of the vehicle according to the embodiment of the present invention.

In FIG. 2, reference numeral 11 denotes a vehicle, and an obstacle sensor S is provided at the center of the front end (upper end in the figure) of the vehicle 11.
_FM , the obstacle sensor S _FL and the camera C _FL at the left front end, the obstacle sensor S _FR and the camera C _{FR at} the right front end, the obstacle sensor S _ML and the camera C _{ML at} the center of the left end, and the center of the right end. Obstacle sensor S _MR and camera C _MR , obstacle sensor S _{RM at} the center of the rear end (lower end in the figure), obstacle sensor S _RL and camera C _RL at the left rear end, and obstacle sensor at the right rear end. An S _RR and a camera C _RR are respectively mounted.

The camera C_FL, C_FR, C_ML, C_MR,
C_RL, C_RRConsists of a CCD camera,
To photograph roads, trenches, walls, parts of the vehicle 11, etc. outside the vehicle
An imaging device is configured. Also, the obstacle sensor S_FM, S_FL, S
_FR, S_ML, S_MR, S_RM, S_RL, S _RRIs an ultrasonic sensor,
It consists of laser, millimeter wave radar, etc.
Distance detecting means for detecting the distance to an obstacle
To achieve. Note that the obstacle sensor S_FM, S_FL, S_FR, S_ML,
S_MR, S_RM, S_RL, S_RRInstead of the camera C_FL, C
_FR, C_ML, C_MR, C_RL, C_RRPicture of the image obtained by
An image processing apparatus for performing image processing on image data is provided, and
The distance between the vehicle 11 and the obstacle is indirectly controlled by the processing device.
It can also be detected.

Next, a control device of the vehicle 11 will be described.

In FIG. 3, reference numeral 12 denotes the overall control of the vehicle 11.
The control device 13 controls the entire navigation device.
It is a navigation control unit that performs control. The control device 12 includes:
Receive location information from beacons arranged along the road
To detect the current position of the vehicle 11, that is, the current position
Beacon sensor 14 as current position detecting means
Mela C_FL, C_FR, C_ML, C_MR, C_RL, C_RR, Left and right ui
Anchor switch W_L, W _R, A shift lever not shown,
The speed is selected by operating speed selection means such as switches and keys.
Position switch that detects the selected range and gear position
H15, driver depresses brake pedal (not shown)
Brake switch 16 to detect vehicle speed, vehicle speed
Speed sensor 17 detects the steering rudder angle
The steering angle sensor 18 is not shown.
Switch 19 for operating the wiper, obstacle
Sensor S_FM, S_FL, S_FR, S_ML, S_MR, S_RM, S_RL, S
_RRDirection sensor 2 for detecting the direction the vehicle 11 is facing
0, set in advance by the driver's operation
Selection switch 25 for selecting each displayed function, and
And a memory 23 as recording means. In addition, before
The ranges are forward range, neutral range and reverse range.
Range, parking range, low range, second range
Etc.

The steering angle sensor 18
For example, an optical rotation sensor, a rotation resistance sensor, an angle sensor mounted on a wheel, not shown, attached to a rotating portion of a steering wheel, not shown, and the like are used.

In addition to the beacon sensor 14,
Steering angle sensor 18, direction sensor 20, GPS
(Global positioning system), a geomagnetic sensor, a distance sensor, a gyro sensor, an altimeter, and the like can also be used as the current position detecting means. The GPS detects a current position on the earth by receiving a radio wave generated by an artificial satellite, the geomagnetic sensor detects a direction in which the vehicle is facing by measuring geomagnetism, and the distance sensor detects a road direction. The distance between the above predetermined points is detected. As the distance sensor, for example,
A device that measures the number of rotations of the wheel and detects the distance based on the number of rotations, a device that measures the acceleration and integrates the acceleration twice to detect the distance, and the like can be used. The gyro sensor detects the rotational angular velocity of the vehicle, and uses a gas rate gyro, a vibration gyro, or the like. Then, the direction in which the vehicle is facing can be detected by integrating the rotational angular velocity detected by the gyro sensor. The beacon sensor 14 and the GPS can each independently detect the current position. In the case of a distance sensor, the distance detected by the distance sensor and the azimuth detected by the geomagnetic sensor and the gyro sensor are used. The current position is detected by the combination. Also, the current position can be detected by combining the distance detected by the distance sensor and the steering angle detected by the steering steering angle sensor 18.

The navigation control unit 13 is connected to a database 21 storing various navigation data and a display 22. In the present embodiment, the selection switch 25 is provided for exclusive use.
2 can be used as a selection switch.

Next, the cameras C _FL , C _FR , C _ML ,
C _MR, C _RL, camera C _FL disposed at four corners of the vehicle 11 of the _{C RR, C FR, C RL} , the C _RR will be described.

The cameras C _FL , C _FR , C _RL , and C _RR correspond to the vehicle 1
1 so that it is possible to capture the necessary range for estimating the extension of the front end, rear end, left end and right end of the vehicle, and moreover, the direction of the line of sight when the driver sits in the driver's seat and looks out of the vehicle. They are arranged in the same direction.

By the way, various display functions for photographing a blind spot for the driver by the cameras C _FL , C _FR , C _RL , and C _RR and forming an image obtained by the photographing are set as driving assistance functions. An image corresponding to a display function among the images obtained by the photographing is formed on the display 22.

In the present embodiment, as the display functions, a margin display function, an obstacle avoidance display function, a parking operation display function, a blind corner display function, a rear blind spot display function, a white line display function, and the like are set. The border display function checks the outside of the vehicle when the vehicle 11 is bordered, the obstacle avoidance display function avoids an obstacle outside the vehicle, and the parking operation display function places the vehicle 11 in the parking space. When guiding, the blind corner display function is used to check the condition of wide roads when going from narrow roads to wide roads,
The rear blind spot display function checks the rear of the vehicle 11 when changing lanes on a highway, etc., and the white line display function checks the white line of the road when running the vehicle 11 at night when it is raining. Are selected respectively. Among them, the margin display function, the obstacle avoidance display function, the parking operation display function and the blind corner display function are selected by the driver turning on the selection switch 25 during low-speed driving, and the rear blind spot display function and the white line display function are selected. It is automatically selected according to the operating state of a head lamp, a wiper, and the like (not shown) during middle / high speed traveling. The selection switch 2
5 is automatically turned on when there is a history of execution of the display function in the current vehicle situation.

For this purpose, the selection switch 25 is
Select the border display function when aligning both 11 to the left
Switch 26 for turning, the right edge of the vehicle 11
Right-aligned button for selecting the border display function when performing alignment
Switch 27, rims the vehicle 11 forward or backward
A central switch 28 for selecting the border display function at the time.
When avoiding obstacles at the left front end of the vehicle 11,
Left front switch 31 for selecting the harmful avoidance display function,
When avoiding obstacles at the right front end of the vehicle 11,
Right front switch 32 for selecting the harmful avoidance display function,
When avoiding obstacles at the left rear end of the vehicle 11,
Rear left switch 33 for selecting the harmful substance avoidance display function,
When avoiding obstacles at the right rear end of the vehicle 11,
Right rear switch 34 for selecting the harmful substance avoidance display function,
When parking the vehicle 11 in the rear left parking space
Left parking switch for selecting car operation display function
(P_L35) Park the vehicle 11 in the rear right parking space
Right parking to select the parking operation display function when letting the car
Switch (P_R) 36, while traveling forward on a wide road
When checking the left front direction of the vehicle 11,
Front left switch (B_FL) 3
7. The front right of the vehicle 11 while traveling forward on a wide road
Select the blind corner display function when checking the direction
Front right switch (B _FR38) Drive backward on a wide road
When checking the rear left direction of the vehicle 11
Rear left switch (B
_RL39) While traveling backward on a wide road, the vehicle 11
When checking the rear right direction, select the blind corner display function.
Right rear switch (B_RR) 40, display white line
And a white line display switch 46 for performing the operation. The above
Left alignment switch 26, right alignment switch 27 and center switch
Switch 28, the front switch 3
1, right front switch 32, left rear switch 33 and right rear switch
Switch 34 switches the corner switch to the left parking switch 35 and
The right and left parking switches 36 switch the parking switch
Switch 37, right front switch 38, left rear switch 39 and
Blind switch by rear right switch 40
Is composed.

Next, the operation of the driving support device having the above-described configuration will be described.

FIG. 4 is a first main flowchart showing the operation of the driving support apparatus according to the embodiment of the present invention, and FIG.
FIG. 6 is a second main flowchart showing the operation of the driving assistance device according to the embodiment of the present invention, FIG. 6 is a third main flowchart showing the operation of the driving assistance device according to the embodiment of the present invention, and FIG. It is a 4th main flowchart which shows operation of the driving assistance device in an embodiment.

First, the control device 12 (FIG. 3)
Read various data and signals through the navigation control unit 13
No. In the present embodiment, the control device 12
Current position detected by the sensor 14, camera C_FL,
C_FR, C_ML, C_MR, C_RL, C _RRTaken by
Image data of the image of the shadow portion, turn signal switch W_L, W _R
ON / OFF signal, position switch 15 ON / OFF
Signal, brake switch 16 on / off signal, vehicle speed
The vehicle speed V detected by the sensor 17 and the steering rudder
Steering angle detected by angle sensor 18, wiper switch
19 ON / OFF signals, obstacle sensor S_FM, S_FL,
S_FR, S_ML, S_MR, S_RM, S_RL, S_RRObstacle detection signal
Signal, direction signal detected by direction sensor 20, selection
ON / OFF signal of switch 25 and database 21
The navigation information recorded in is read. Ma
Fog light switch, head lamp not shown
Read ON / OFF signals of switches, hazard lamps, etc.
Put in.

Subsequently, the display history determination processing means 92 (FIG. 1) of the control device 12 determines whether there is a history of the display function being executed in the situation where the vehicle 11 is currently placed, that is, in the current vehicle situation. Judge whether or not. In the present embodiment, a current position, a vehicle 1
The approach direction of the vehicle 1, the traveling direction of the vehicle 11, and the like are used. Then, a display function history is set as a table in the memory 23, and the display history determination processing means 92 refers to the display function history to determine whether there is a history of execution of the display function in the current vehicle situation. Judge.

If there is no history of the execution of the display function in the current vehicle situation, the control device 12 determines whether the vehicle speed V is lower than a threshold value V1, and if the vehicle speed V is lower than the threshold value V1. , It is determined whether the selection switch 25 has been turned on. Then, when the selection switch 25 is turned on, which of the display functions of the margin display function, the obstacle avoidance display function, the parking operation display function, and the blind corner display function is selected as the display function at the time of low-speed traveling is performed. And performs one of the border display processing, the obstacle avoidance display processing, the parking operation display processing, and the blind corner display processing based on the determination result. For this purpose, the control device 12 includes a margin display processing unit, an obstacle avoidance display processing unit, a parking operation display processing unit, and a blind corner display processing unit (not shown) as display processing units.

On the other hand, if there is a history of the execution of the display function in the current vehicle situation, the control device 12 determines which of the margin display function, the obstacle avoidance display function, the parking operation display function and the blind corner display function. It is determined whether or not the display function has been executed, and based on the determination result, one of the display processes of the margin display process, the obstacle avoidance display process, the parking operation display process, and the blind corner display process is performed. In addition,
In this case, the number of images formed in the display function already performed is equal to the number of images formed in the display function to be performed, and the type of image, that is, which camera C _FL is stored in the memory 23. , C _FR , C _RL , and C _RR are recorded as to whether or not the image is of the portion to be imaged.

When the vehicle speed V is equal to or higher than the threshold value V1, the control device 12 determines whether the headlamp switch and the wiper switch 19 are turned on based on the on / off signals of the headlamp switch and the wiper switch 19. Judge whether. When both the headlamp switch and the wiper switch 19 are turned on, the control device 1
The white line display processing means 2 performs white line display processing. On the other hand, the headlamp switch and the wiper switch 1
When at least one of the switches 9 is not turned on, a rear blind spot display processing unit (not shown) of the control device 12 performs a rear blind spot display process.

The vehicle speed V is lower than the threshold value V1, and
When the selection switch 25 is not turned on, the detection distance determination unit (not shown) of the control device 12 detects the distance between the vehicle 11 and the obstacle based on the sensor output of each obstacle detection signal, It is determined whether the detected distance, that is, the detected distance is equal to or greater than a reference value. And
When the detection distance is shorter than the reference value, the detection distance determination unit determines whether the vehicle 11 is approaching an obstacle based on the amount of change in the detection distance. When the vehicle 11 is approaching an obstacle, the image forming processing unit 91 outputs the image of the vehicle 11 captured by the cameras C _FL , C _FR , C _RL , and C _RR .
The left front end portion, the right front end portion, the left rear end portion, and the right rear end portion of the vehicle, that is, images of four corners are formed on the display screen of the display 22, and a warning that the vehicle 11 is approaching an obstacle is issued. . In the present embodiment, the warning is
Although it is formed on the display screen of the display 22, it can also be performed by audio output by the audio output unit of the navigation device.

Subsequently, the controller 12 determines whether the current position is on a narrow road and near an intersection where there is no signal, and whether the detected distance is equal to or greater than a reference value. If the road is near an intersection with no traffic light and the detection distance is shorter than the reference value, the blind corner display processing means performs blind corner display processing.

Next, the flowchart will be described. Step S1 Data and symbols are read. Step S2: It is determined whether or not there is a history of the execution of the display function in the current vehicle situation. If there is a history of execution of the display function in the current vehicle situation, the process proceeds to step S3, and if not, the process proceeds to step S10. Step S3: It is determined whether the margin display function has been executed. Step S6 when the margin display function is executed
On the other hand, if not executed, the process proceeds to step S4. Step S4: It is determined whether or not the obstacle avoidance display function has been executed. If the obstacle avoidance display function has been executed, the process proceeds to step S7; otherwise, the process proceeds to step S5.
Proceed to. Step S5: It is determined whether or not the parking operation display function has been executed. If the parking operation display function has been executed, the process proceeds to step S8, and if not, the process proceeds to step S9. Step S6: A margin display process is performed, and the process ends. Step S7: Obstacle avoidance display processing is performed, and the processing ends. Step S8: Perform a parking operation display process, and end the process. Step S9: Perform a blind display process and end the process. Step S10: It is determined whether the vehicle speed V is lower than the threshold value V1. If the vehicle speed V is lower than the threshold value V1, step S
If the vehicle speed V is equal to or higher than the threshold value V1, the process proceeds to step S11.
Proceed to 15. Step S11: It is determined whether or not the selection switch 25 has been turned on. If the selection switch 25 has been turned on, the process proceeds to step S12; otherwise, the process proceeds to step S19. Step S12: It is determined whether or not the margin display function is selected. Step S if the margin display function is selected
In step S6, if no selection is made, the process proceeds to step S13. Step S13: It is determined whether or not the obstacle avoidance display function is selected. If the obstacle avoidance display function is selected, the process proceeds to step S7. If the obstacle avoidance display function is not selected, the process proceeds to step S7.
Proceed to 14. Step S14: It is determined whether or not the parking operation display function is selected. If the parking operation display function is selected, the process proceeds to step S8, and if not, the process proceeds to step S9. Step S15: It is determined whether or not the headlamp switch is turned on. If the headlamp switch has been turned on, the process proceeds to step S17, and if not, the process proceeds to step S16. Step S16 A rear blind spot display process is performed, and the process ends. Step S17: It is determined whether or not the wiper switch 19 has been turned on. If the wiper switch 19 has been turned on, the process proceeds to step S18, and if not, the process proceeds to step S16. Step S18: A white line display process is performed, and the process ends. Step S19: It is determined whether or not the detection distance is equal to or longer than the reference value. If the detection distance is equal to or longer than the reference value, the process returns. If the detection distance is shorter than the reference value, the process returns to step S20.
Proceed to. Step S20: It is determined whether the vehicle 11 is approaching an obstacle. If the vehicle 11 is approaching an obstacle, the process proceeds to step S21, and if not, the process returns. Step S21 A corner image is formed. Step S22: A warning is issued that the vehicle 11 is approaching an obstacle. Step S23: It is determined whether the vehicle is on a narrow road and near an intersection with no traffic light. On narrow roads, and
If it is near the intersection where there is no signal, the process returns to step S14, and if it is not near, the process proceeds to step S24. Step S24: It is determined whether or not the detection distance is equal to or longer than the reference value. If the detection distance is equal to or longer than the reference value, the process returns. If the detection distance is shorter than the reference value, the process returns to step S14.
Return to

Next, the subroutine of the margin display processing in step S6 in FIG. 4 will be described.

FIG. 8 is a diagram showing a subroutine of margin display processing according to the embodiment of the present invention.

The vehicle status registration determination processing means (not shown) of the control device 12 (FIG. 3) determines whether or not the current vehicle status is registered in the function use history. The vehicle situation learning processing means which is not performed registers and learns the current vehicle situation in the function use history.

Subsequently, an image selection processing means (not shown) of the control device 12 determines which rim switch has been turned on in the current vehicle situation and the position switch 1
It is determined whether the forward range is selected based on the on / off signal of No. 5. And the left alignment switch 26
Is turned on and the forward range is selected, the image forming processing means 91 (FIG. 1) forms the image P _FL of the left front end portion of the vehicle 11 on the display screen of the display 22, and the left alignment switch 26 is turned on. When the forward range is not selected, that is, when the reverse range is selected, the image forming processing means 91 forms an image _PRL of the left rear end portion of the vehicle 11 on the display screen. When the center switch 28 is turned on and the forward range is selected, the image forming processing unit 91 forms the image P _{FL of the} vehicle 11 and the image P _FR of the right front end portion adjacent to one display screen. and, central switch 28 is turned on, if the reverse range is selected, the image forming processing unit 91 is arranged adjacent the image P _RR of the image P _RL and the right rear portion of the vehicle 11 in one of the display screen Form. Then, right-aligned switch 27 is turned on, if the forward range is selected, the image forming processing section 91 is formed adjacent to the display screen the image P _FR of the vehicle 11, right-justified switch 27 is turned on, When the reverse range is selected, the image forming processing means 91
_Forms an image P _RR of the vehicle 11 on a display screen.

Note that the images P _FL , P _FR , P _RL , and P _RR include:
A part of the vehicle 11, the groove 52, the wall 53, and the like are displayed, and a display line 54 indicating the outermost edge of the vehicle 11 is displayed. The display line 54 is set by lowering the outermost line of the vehicle 11 vertically to the ground and extending the line in the front-rear direction of the vehicle 11, and is projected toward the front or rear of the vehicle 11. In some drawings, the groove 52, the wall 53, and the like are not shown.

Thus, the images P _FL , P _FR , P _RL ,
After the _PRR is formed, when the parking range is selected, the controller 12 turns off the rim switch.

For example, when the vehicle is to be stopped immediately near the groove 52 on the left side of the road during forward running, the driver turns on the left alignment switch 26. In this state, when the vehicle speed V becomes lower than the threshold value V1, an image P _FL is formed on the display screen. The driver may change the display line 54 to the groove 5 on the image P _FL.
When the driving operation is performed so as not to overlap with 2, the rim can be easily performed.

Depending on the situation, it is necessary to move the vehicle 11 backward. However, when the reverse range is selected, the image _PRL is formed on the display screen, so that the display line 54 _overlaps with the groove 52 on the image _PRL. The driving operation may be performed so as not to become impossible.

Next, the flowchart will be described. Step S6-1: It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is registered in the function use history, step S6-3.
If not registered, the process proceeds to step S6-2. Step S6-2: The current vehicle status is registered in the function use history. Step S6-3: It is determined which rim switch is turned on. If the right alignment switch 27 is turned on, the process proceeds to step S6-4. If the left alignment switch 26 is turned on, the process proceeds to step S6-5. If the center switch 28 is turned on, the process proceeds to step S6-10. Step S6-4: It is determined whether or not the forward range is selected. If the forward range has been selected, the process proceeds to step S6-6. If the forward range has not been selected, the process proceeds to step S6.
Proceed to -7. Step S6-5: It is determined whether or not the forward range is selected. If the forward range has been selected, the process proceeds to step S6-8. If the forward range has not been selected, the process proceeds to step S6.
Go to -9. Step S6-6 The image P _FR is formed. Step S6-7 forms the image P _RR. Step S6-8 An image P _FL is formed. Step S6-9 forms the image P _RL. Step S6-10: It is determined whether or not the forward range is selected. When the forward range is selected, the process proceeds to step S6-11, and when the forward range is not selected, the process proceeds to step S6-12. Step S6-11: The images P _FL and P _FR are formed adjacent to one display screen. Step S6-12: The images P _RL and P _RR are formed adjacent to one display screen. Step S6-13: It is determined whether or not the parking range is selected. If the parking range has been selected, the process proceeds to step S6-14, and if not, the process returns. Step S6-14: Turn off the rim switch and return.

Next, another example of the display line will be described. In this case, an example of a display line displayed on the image P _FL will be described.

FIG. 9 is a diagram showing another first example of the display line according to the embodiment of the present invention, and FIG. 10 is a diagram showing another second example of the display line according to the embodiment of the present invention. 1
Reference numeral 1 denotes another third display line in the embodiment of the present invention.
It is a figure showing the example of.

The display line 55 shown in FIG.
When the vehicle 1 is moved forward, the vehicle 1
1 represents the predicted trajectory line through which the outermost edge passes. FIG.
Indicate the outermost edge of the tire 56. Then, the display line 58 shown in FIG.
This represents a predicted trajectory line through which the outermost edge of the tire 56 passes when the vehicle 11 advances.

The images P _FL (FIG. 8), P _FR , P _RL , P
You can also display pictures on the _RR .

FIG. 12 is a diagram showing a picture displayed on an image according to the embodiment of the present invention.

In the figure, reference numeral 53 denotes a wall disposed at the edge of the road, and 51 denotes a road surface. In this case, a stereoscopic image can be formed by displaying a picture on the images P _FL (FIG. 8), P _FR , P _RL , and P _RR .

When the vehicle 11 is moved backward, the images P _RL and P _RR and the image of the vehicle 11 can be formed on one display screen.

FIG. 13 is a diagram showing another example of an image formed in the margin display processing according to the embodiment of the present invention.

As shown in the figure, when the vehicle is going to stop immediately in the vicinity of the groove 52 (FIG. 8) on the left side of the road while traveling backward, the images P _FL and P _RL and the image of the vehicle 11 are displayed as one display. Formed on the screen.

In a vehicle equipped with a four-wheel steering mechanism, the images P _FL and P _RL and the image of the vehicle 11 can be formed on one display screen even during forward running.

Next, the subroutine of the obstacle avoidance display processing in step S7 in FIG. 4 will be described.

FIG. 14 is a diagram showing a subroutine of an obstacle avoidance display process according to the embodiment of the present invention.

First, the vehicle status registration determination processing means includes:
It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is not registered, the vehicle status learning processing unit registers and learns the current vehicle status in the function use history.

Subsequently, the image selection processing means performs a corner switch determination process, determines which corner switch has been turned on in the current vehicle situation, and, based on the determination result, determines the image P _FL (FIG. 8). ), P _FR , P _RL , and P _RR to form an image at a predetermined corner. Then, the control device 12 determines whether or not the detection distance detected by the detection distance determination means is equal to or longer than a reference value, and turns off the angle switch when the detection distance is equal to or longer than the reference value.

Next, the flowchart will be described. Step S7-1: It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is registered in the function use history, step S7-3.
If not registered, the process proceeds to step S7-2. Step S7-2: The current vehicle status is registered in the function use history. Step S7-3: Perform a square switch determination process. Step S7-4: An image of a corner is formed. Step S7-5: It is determined whether or not the detection distance is equal to or more than a reference value. When the detected distance is equal to or longer than the reference value, the process proceeds to step S7-6, and when the detected distance is shorter than the reference value, the process returns. Step S7-6: Turn off the square switch and return.

Next, an example of an image P _FL when an obstacle is avoided will be described.

FIG. 15 is a diagram showing a first example of an image formed by the obstacle avoidance display processing according to the embodiment of the present invention, and FIG. 16 is formed by the obstacle avoidance display processing according to the embodiment of the present invention. FIG. 7 is a diagram illustrating a second example of an image.

In the figure, reference numeral 11 denotes a vehicle, and 61 denotes another vehicle as an obstacle. In this case, in the first example of the image P _FL (FIG. 8), when the vehicle 11 is moved forward, a display indicating a predicted trajectory line through which the outermost edge of the vehicle 11 passes in accordance with the magnitude of the steering angle. When the line 55 and the vehicle 11 are moved backward, the display line 63 representing the predicted trajectory line through which the outermost edge of the vehicle 11 passes according to the magnitude of the steering angle is the image P.
Displayed in _FL . When the outside of the vehicle is dark, or when the vehicle 11 is placed on the road surface 51 (FIG. 12) by the sun or the light of the lighting lamp.
Alternatively, in a case where a shadow of another object appears, if the color of the vehicle 11 is dark, it becomes difficult to determine the outline of the vehicle 11 on the display screen. Therefore, the outline 67 can be displayed so as to overlap the periphery of the vehicle 11.

In the second example of the image P _FL , a distance line 64 which is a measure of the distance between the vehicle 61 and the vehicle 11 is used.
To 66 are distances from the vehicle 11 (for example, “15 cm”,
“50 cm”, “2 m”, etc.) can be displayed on the image P _FL .

Therefore, for example, when the driver turns on a predetermined corner switch, an image of the corner corresponding to the corner switch is formed on the display screen. In addition, display lines 55 and 63 representing predicted trajectory lines through which the outermost edge of the vehicle 11 passes are displayed in an overlapping manner in accordance with the magnitude of the steering angle. Therefore,
The driver can the display line 55 and 63 to avoid the perform driving operation so as not to overlap in the vehicle 61 on the image P _FL, easily obstacles. The images P _FL , P _FR ,
Obstacle sensors S _FL in P _RL , P _RR (FIG. 2), S _FR ,
The portion on which S _RL and S _RR are mounted can be displayed in a warning color or blinked.

Next, the subroutine of the parking operation display process in step S8 in FIG. 5 will be described.

FIG. 17 is a diagram showing a subroutine of a parking operation display process in the embodiment of the present invention, FIG. 18 is an explanatory diagram of a parking operation in the embodiment of the present invention, and FIG. 19 is a parking diagram in the embodiment of the present invention. FIG. 20 is a diagram illustrating a first example of an image formed by the operation display process, and FIG. 20 is a diagram illustrating a second example of an image formed by the parking operation display process according to the embodiment of the present invention.

First, the vehicle status registration determination processing means includes:
It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is not registered, the vehicle status learning processing unit registers and learns the current vehicle status in the function use history.

Subsequently, the image selection processing means selects the forward range based on which parking switch has been turned on in the current vehicle situation and on / off signals of the position switch 15 (FIG. 3). Judge whether it is. Then, the left parking switch 35 is turned on,
When the forward range is selected, the image forming processing means 91 (FIG. 1) forms an image _{PRL of the} vehicle 11 on the display screen, the left parking switch 35 is turned on, and the reverse range is selected. The image forming processing means 91
One image P _RL , P _RR is formed adjacent to one display screen.

Further, the right parking switch 36 is turned on,
When the forward range is selected, the image forming processing means 91 forms an image P _{RR of the} vehicle 11 on the display screen, and when the left parking switch 35 is turned on and the reverse range is selected, the image forming process is performed. The processing means 91 forms the images P _RL and P _RR of the vehicle 11 adjacent to one display screen.

When the forward range is selected,
In the images P _RL and P _RR , a part of the vehicle 11 is displayed, and as shown in FIGS.
The parking frame 71 set by the parking frame setting processing means (not shown) is displayed. Accordingly, when the driver puts the white line of the parking space (not shown) in the parking frame 71 while moving the vehicle 11 forward, the driver can stop the vehicle 11 at the optimum position as shown in FIG. When the reverse range is selected, a part of the vehicle 11 is displayed in the images P _RL and P _RR , and a white line 72 of a target parking space where the vehicle 11 is to be parked is displayed. The parking frame 71 can be set by an experiment, or can be calculated and set based on the specifications of the vehicle 11, the design standard of the parking lot, and the like.

Thus, the images P _FL , P _FR , P _RL ,
After the _PRR is formed, when the parking range is selected, the control device 12 turns off the parking switch.

By the way, the target parking space is confirmed at the position ST1 in FIG. 18, the vehicle 11 is advanced to the position ST2 where the parking operation is started, and is moved to the parking space via the position ST3. When stopping, in order to perform the parking operation properly, the position ST2 is required.
Must be set appropriately and a target must be determined at the position ST3.

In general, if the vehicle 11 is located inside the minimum turning radius required for performing the parking operation at the position ST2, the vehicle cannot be parked at once, and a switching operation is required. Therefore, the minimum turning radius of a normal passenger car is generally about 5 [m], so that if a position advanced by two vehicles from the target parking space is set as the position ST2, parking can be performed at once.

In the present embodiment, as shown in FIG. 19, at position ST2, a parking frame 71 is displayed on image _PRL and a white line 72 is displayed. Therefore,
The driver turns the steering wheel to the maximum and the vehicle 1
When the vehicle 1 is moved backward, it can be easily parked in the parking space.

While the vehicle 11 is moved backward from the position ST2 to the parking space via the position ST3, the images P _RL and P _RR are formed on one display screen. In this case, as shown in FIG. 20, an image P _RL is formed on the left side of the display screen, and an image P _RR is formed on the right side. A display line 54 is displayed, and the interval between the images P _RL and P _RR is determined by the operation. Is set so that the user can feel it.

As shown in FIG. 20, a target parking frame reference line 75 can be displayed on the images P _RL and P _RR . The target parking frame reference line 75 represents the shape of the parking space when the vehicle 11 is accurately parked in the standard parking space.

Therefore, for example, when the driver
When the left parking switch 35 is turned on and the forward range is selected in order to park the vehicle in the parking space by the left rear parking, an image _PRL is formed, and the parking frame 71 is formed in the image _PRL.
Is formed. When the vehicle 11 is moved forward so that the white line 72 enters the parking frame 71, the vehicle 11 is moved to the position S.
Can be placed at T2. Subsequently, when the driver selects the reverse range, images P _RL and P _RR are formed on one display screen, and a white line 72 is formed on the image P _RL . Therefore,
When the vehicle 11 is moved backward to fit in the parking space,
The vehicle 11 can be easily parked in the parking space. When the predicted trajectory line corresponding to the steering angle is displayed as a display line on the image _PRL , the vehicle 11 can be more easily parked in the parking space.

Next, the flowchart will be described. Step S8-1: It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is registered in the function use history, step S8-3.
If not registered, the process proceeds to step S8-2. Step S8-2: The current vehicle status is registered in the function use history. Step S8-3: It is determined which parking switch has been turned on. When the right parking switch 36 is selected, the process proceeds to step S8-4, and when the left parking switch 35 is selected, the process proceeds to step S8-5. Step S8-4: It is determined whether or not the forward range is selected. If the forward range has been selected, the process proceeds to step S8-6. If the forward range has not been selected, the process proceeds to step S8.
Proceed to -7. Step S8-5: It is determined whether or not the forward range is selected. If the forward range has been selected, the process proceeds to step S8-8. If the forward range has not been selected, the process proceeds to step S8.
Go to -9. Step S8-6 forms the image P _RR. Step S8-7: The images P _RL and P _RR are formed adjacent to one display screen. Step S8-8 forms the image P _RL. Step S8-9: The images P _RL and P _RR are formed adjacent to one display screen. Step S8-10: It is determined whether or not the parking range is selected. Step S8 when the parking range is selected
The process proceeds to -11, and returns if not selected.
Step S8-11: Turn off the parking switch and return.

Next, the subroutine of the blind corner display processing in step S9 in FIG. 5 will be described.

FIG. 21 shows a subroutine of a blind corner display process according to the embodiment of the present invention.
FIG. 23 is a diagram showing another first example of an image formed by the blind corner display processing according to the embodiment of the present invention, FIG. 23 is an explanatory diagram of the blind corner display processing according to the embodiment of the present invention, and FIG. FIG. 14 is a diagram illustrating another second example of the image formed by the blind corner display process according to the embodiment.

First, the vehicle status registration determination processing means includes:
It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is not registered, the vehicle status learning processing unit registers and learns the current vehicle status in the function use history.

Subsequently, the image selection processing means sets the position
Based on the ON / OFF signal of the switch 15 (FIG. 3).
Determine whether the forward range has been selected. Soshi
When the forward range is selected, the image forming process
The processing means 91 (FIG. 1) _FL, P_FRThe one display screen
When the reverse range is selected.
In this case, the image forming processing means 91_RL, P_RROne
Is formed adjacent to the display screen. Note that the image P_FLTo
Is a part of the vehicle 11, an obstacle 75 on the left front and a distance scale
77 is the image P_FRIs a part of the vehicle 11
The harmful substance 76 and the distance scale 78 correspond to the image P_RLHas a vehicle 1
1, the left rear obstacle 79 and the distance scale 81
Image P_RRIs a part of the vehicle 11, an obstacle 80
And a distance scale 82 are displayed. The distance
Heights 77, 78, 81, and 82 are distances from vehicle 11 (eg,
For example, "1m", "3m", "10m", etc.)
Is done.

Next, when the driver starts the vehicle 11 and the vehicle speed V becomes equal to or higher than the threshold value V1, the control device 12
Turns off the blind switch.

Each of the distance scales 77, 78, 81, 82
Represents the distance from the vehicle 11 on the road surface 51 (FIG. 12), so that the driver can read the distance and use it as a guide for performing the driving operation.

Therefore, for example, the driver depresses a brake pedal (not shown) during forward traveling to turn on the front left switch 37 and the front right switch 38, and thereafter,
When the vehicle speed V becomes lower than the threshold value V1, the images P _FL , P
_FR is formed on the display screen. Further, when the driver depresses the brake pedal during reverse traveling and turns on the front left switch 37 and the front right switch 38, and thereafter, when the vehicle speed V becomes lower than the threshold value V1, the images P _RL and P _{RR are displayed.}
Is formed on the display screen. Therefore, the driver can easily confirm the left front, the right front, the left rear, and the right rear of the vehicle 11 on a wide road.

In FIG. 21, the images P _FL and P _FR or the images P _RL and P _RR are formed on one display screen. However, as shown in FIG. One image, for example, the image P _FL can also be formed.

By the way, at an intersection, two roads are not necessarily orthogonal to each other, but may intersect at an angle β as shown in FIG. In this case, as shown in FIG. 24, distance scales 77a and 78a are displayed in correspondence with the road intersection state. The distance scales 77a and 78a are inclined by angles β _L and β _{R with} respect to the distance scales 77 and 78 when the road is orthogonal. Note that the angles β _L and β _R are the navigation data stored in the database 21, the cameras C _FL , C _FR ,
The calculation is based on the specifications of C _RL and C _RR, the specifications of the cameras C _FL , C _FR , C _RL , and C _RR mounted on the vehicle body.

Next, the flowchart will be described. Step S9-1: It is determined whether or not the current vehicle status is registered in the function use history. If the current vehicle status is registered in the function use history, step S9-3.
If not registered, the process proceeds to step S9-2. Step S9-2: Register the current vehicle status in the function use history. Step S9-3: It is determined whether or not the forward range is selected. If the forward range has been selected, the process proceeds to step S9-4. If the forward range has not been selected, the process proceeds to step S9.
Go to -5. Step S9-4: The images P _FL and P _FR are formed adjacent to one display screen. Step S9-5: Images P _RL and P _RR are formed adjacent to one display screen. Step S9-6: It is determined whether or not the vehicle speed V is equal to or higher than the threshold value V1. When the vehicle speed V is equal to or higher than the threshold V1, the process proceeds to step S9-7, and when the vehicle speed V is lower than the threshold V1, the process returns. Step S9-7: Turn off the blind switch and return.

Next, the subroutine of the rear blind spot display processing in step S16 in FIG. 6 will be described.

FIG. 25 is a diagram showing a subroutine of the rear blind spot display processing in the embodiment of the present invention.

In this case, the control device 12 (FIG. 3) determines whether or not the vehicle 11 is traveling on a road having two or more lanes on each side. Determine if it is nearby. If intersection is not nearby, because the driver is considered to have an intention to change lanes, the controller 12, whether the turn signal switch W _L, which turn signal switch of W _R is turned on to decide. If the blinker switch W _L is turned on, the image forming processing unit 91 (FIG. 1) is formed on the display screen an image P _RL, if the winker switch W _R is turned on, the image forming processing unit 91 An image _PRR is formed on a display screen. Whether or not the vehicle 11 is traveling on a road having two or more lanes on each side and whether or not an intersection is near can be determined based on the navigation data stored in the database 21.

Therefore, when changing lanes on a highway or the like, the rear of the vehicle 11 can be easily confirmed.

Next, the flowchart will be described. Step S16-1: It is determined whether the vehicle is traveling on a road having two or more lanes on each side. If the vehicle is traveling on a road with two or more lanes on one side, the process proceeds to step S16-2. If the vehicle is not traveling on a road with two or more lanes on one side, the process returns. Step S16-2: It is determined whether or not the intersection is nearby. When the intersection is near, the process returns. When the intersection is not near, the process proceeds to step S16-3. Step S16-3: It is determined which turn signal switch has been turned on. If the blinker switch W _R is turned on in step S16-4, the winker switch W _L
Is turned on, the process proceeds to step S16-5. Step S16-4: Form an image P _RR and return. Step S16-5 to form an image P _RL, the process returns.

Next, the subroutine of the white line display processing in step S18 in FIG. 6 will be described.

FIG. 26 is a diagram showing a subroutine of white line display processing in the embodiment of the present invention, FIG. 27 is an explanatory diagram of white line display processing in the embodiment of the present invention, and FIG. 28 is a white line in the embodiment of the present invention. FIG. 29 is a diagram illustrating an example of an image formed by a display process, and FIG. 29 is a diagram illustrating another example of an image formed by a white line display process according to the embodiment of the present invention.

In this case, control device 12 (FIG. 3) determines which turn signal switch has been turned on. If the blinker switch W _L is turned on, the image forming processing section 91 is formed on the display screen an image P _FL, if the winker switch W _R is turned on, the image forming processing unit 9
1 forms the image _PFR on the display screen. Also, if the winker switch W _L, W none of the winker switch of _R is not turned on, the controller 12 turns on the side lamps 83, the image forming processing unit 91 image P _FL, scratch P _FR Formed on one display screen. In each of the images P _FL and P _FR , a part of the vehicle 11 and a white line 81 are displayed.

By the way, at night when it is raining, as shown in FIG. 27, when light from an oncoming vehicle is reflected by the water film 82 on the road surface 51 (FIG. 12), a white line 81 is seen. It becomes difficult. That is, the light reflected by the white line 81 at a location away from the vehicle 11
It is difficult to recognize the light even if it reaches the driver's eyes because it is weaker than the light reflected by the light. In contrast, the vehicle 11
Is sufficiently stronger than the light reflected by the water film 82.

Therefore, in the present embodiment, as described above, images P _FL and P _FR near the vehicle 11 taken by the cameras C _FL and C _FR are formed on the display screen. Therefore, the white line 81 can be sufficiently recognized.

When the left and right side lamps 83 disposed near the cameras C _FL and C _FR are turned on, the light reflected by the white line 81 can be further increased.
The white line 81 can be further recognized. Furthermore, vehicle 1
Case of left or right turn 1, turn signal switch W _L,
W _R is accompanied to turn on, the so side lamp 83 is allowed (flashing) it can be stronger the light reflected by the white line 81.

Note that, as shown in FIG.
P_FL, P_FRBy adjusting the arrangement of the
Statue P_FL, P_FREach white line 81 displayed in
Can be arranged as taken by the camera
You. Also, as shown in FIG. 29, the vehicle on the display screen
When it is difficult to determine the contour of the image P, the image P_FL,
P _FRA contour line 84 of the vehicle 11 along the outer peripheral edge of the vehicle 11
Can also be displayed.

Next, the flowchart will be described.
Step S18-1: Turn on any of the blinker switches.
Judge what was done. Turn signal switch W_RIs turned on
If so, the flow proceeds to step S18-2._L
Is turned on, the process goes to step S18-3.
Switch W_L, W _RAny of the blinker switches
If not turned on, the process proceeds to step S18-4.
No. Step S18-2 Image P_FRAnd return
You. Step S18-3 Image P_FLAnd return
You. Step S18-4: The side lamp 83 is turned on. Step S18-5 Image P_FR, P_FLThe one display screen
And return.

As described above, according to the present invention, when there is a history of execution of the display function in the current vehicle situation,
Images _PFL , _PFR , _PRL , P of the blind spot for the driver
Of the _RRs , only an optimal image that meets the driver's intention can be automatically formed, so that necessary information can be easily obtained from the formed image. Then, the image P _FL ,
Since no thought by the driver is required to select P _FR , P _RL , P _RR , useful information on the image is not overlooked.

If there is a history of the execution of the display function in the current vehicle situation, the driver operates the selection switch 25.
Since it is not necessary to turn on, the operation can be simplified. In addition, if the information requires urgency, it is not necessary to select an image, so that the operation can be further simplified.

If there is no history of the execution of the display function in the current vehicle situation, an image is not automatically formed.
For example, when the vehicle 11 is temporarily stopped due to a signal or the like, an image is not formed on the display screen, and an image for the navigation device is not switched to an image for the display function.

[0108] Even if there is an individual difference in the optimum image that matches the driver's intention, the same image as the image formed in a vehicle situation having a history of execution of the display function is formed. The most suitable image can be formed.

Further, when the current position detecting means of the navigation device is used as the vehicle condition detecting means, a new road is formed or the shape of the existing road is changed. Can be reliably formed in the same vehicle condition even when the data is different.

The present invention is not limited to the above embodiments, but can be variously modified based on the gist of the present invention, and they are not excluded from the scope of the present invention.

[0111]

As described above in detail, according to the present invention, in the driving assistance device, an imaging device mounted on a vehicle for photographing a predetermined object and a display unit having a display screen are provided. Operating means for selecting a preset display function operated by a driver, image forming processing means for forming an image obtained by photographing on the display screen, and a vehicle condition for detecting a current vehicle condition Detecting means;
Display history determination processing means for determining whether there is a history of the execution of the display function in the current vehicle situation.

The image forming processing means forms an image corresponding to the executed display function when there is a history of execution of the display function in the current vehicle situation among the images, and If there is no history of the execution of the display function in, an image corresponding to the selected display function is formed by operating the operation means.

In this case, a predetermined object is photographed by an imaging device mounted on the vehicle, an image obtained by the photographing is formed on a display screen of a display unit, the current vehicle condition is detected, and the current vehicle condition is detected. It is determined whether there is a history of execution of the display function in the situation.

If there is a history of the execution of the display function in the current vehicle situation, an image corresponding to the executed display function is formed among the images, and the display function is executed in the current vehicle situation. If there is no history, an image corresponding to the display function selected by operating the operation means is formed on the display screen.

Therefore, if there is a history of the execution of the display function in the current vehicle situation, only an optimal image that meets the driver's intention can be automatically formed.
Necessary information can be easily obtained from the formed image. Then, since the driver does not need to think to select an image, useful information on the image is not overlooked.

Further, if there is a history of the execution of the display function in the current vehicle situation, there is no need to operate the operation means, so that the work can be simplified. In addition, if the information requires urgency, it is not necessary to select an image, so that the operation can be further simplified.

When there is no history of the execution of the display function in the current vehicle situation, an image is not automatically formed. Therefore, when it is not necessary to use the display function, the image is displayed on the display screen. No image is formed or the image for the navigation device is switched to the image for the display function.

[0118] Even if there is an individual difference in an optimal image that matches the driver's intention, the same image as that formed in a vehicle situation having a history of execution of the display function is formed. The most suitable image can be formed.

Further, when the current position detecting means of the navigation device is used as the vehicle condition detecting means, a new road is formed or the shape of the existing road is changed. Even if the data is different, an image can be reliably formed in the same vehicle condition.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of a driving support device according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram of a vehicle according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a vehicle control device according to the embodiment of the present invention.

FIG. 4 is a first main flowchart showing an operation of the driving support device according to the embodiment of the present invention.

FIG. 5 is a second main flowchart showing the operation of the driving support device according to the embodiment of the present invention.

FIG. 6 is a third main flowchart showing the operation of the driving support device according to the embodiment of the present invention.

FIG. 7 is a fourth main flowchart illustrating the operation of the driving support device according to the embodiment of the present invention.

FIG. 8 is a diagram showing a subroutine of a margin display process according to the embodiment of the present invention.

FIG. 9 is a diagram showing another first example of the display line in the embodiment of the present invention.

FIG. 10 is a diagram showing another second example of the display line in the embodiment of the present invention.

FIG. 11 is a diagram showing another third example of the display line in the embodiment of the present invention.

FIG. 12 is a diagram showing a picture displayed on an image according to the embodiment of the present invention.

FIG. 13 is a diagram illustrating another example of an image formed in the margin display process according to the embodiment of the present invention.

FIG. 14 is a diagram illustrating a subroutine of an obstacle avoidance display process according to the embodiment of the present invention.

FIG. 15 is a diagram illustrating a first example of an image formed by the obstacle avoidance display processing according to the embodiment of the present invention.

FIG. 16 is a diagram illustrating a second example of an image formed by the obstacle avoidance display processing according to the embodiment of the present invention.

FIG. 17 is a diagram showing a subroutine of a parking operation display process according to the embodiment of the present invention.

FIG. 18 is an explanatory diagram of a parking operation in the embodiment of the present invention.

FIG. 19 is a diagram illustrating a first example of an image formed in the parking operation display processing according to the embodiment of the present invention.

FIG. 20 is a diagram illustrating a second example of an image formed in the parking operation display process according to the embodiment of the present invention.

FIG. 21 is a diagram showing a subroutine of a blind corner display process in the embodiment of the present invention.

FIG. 22 is a diagram illustrating another first example of an image formed by the blind corner display process according to the embodiment of the present invention.

FIG. 23 is an explanatory diagram of a blind corner display process according to the embodiment of the present invention.

FIG. 24 is a diagram illustrating another second example of the image formed by the blind corner display processing according to the present embodiment.

FIG. 25 is a diagram showing a subroutine of a rear blind spot display process in the embodiment of the present invention.

FIG. 26 is a diagram showing a subroutine of a white line display process in the embodiment of the present invention.

FIG. 27 is an explanatory diagram of a white line display process according to the embodiment of the present invention.

FIG. 28 is a diagram illustrating an example of an image formed by white line display processing according to the embodiment of the present invention.

FIG. 29 is a diagram illustrating another example of an image formed in the white line display processing according to the embodiment of the present invention.

[Explanation of symbols]

11 vehicle 14 beacon sensor 22 display 25 selection switch 91 image formation processing means 92 display history judgment processing means _CFL , _CFR , _CML , _CMR , _CRL , _CRR cameras _PFL , _PFR , _PRL , _PRR image

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court ゛ (Reference) B60R 21/00 624F 626G 628C 628D (72) Inventor Seiji Sakakibara 10 Takane, Fujiimachi, Anjo-shi, Aichi Aisin AW Co., Ltd. F term (reference) 5H180 AA01 CC04 FF10 LL01 LL02 LL08

Claims (3)

[Claims] 1. An image pickup apparatus mounted on a vehicle for photographing a predetermined object, a display unit having a display screen, and operation means operated by a driver to select a display function set in advance. Image forming processing means for forming an image obtained by shooting on the display screen, vehicle situation detecting means for detecting a current vehicle situation, and whether there is a history of execution of the display function in the current vehicle situation And a display history judgment processing means for judging whether or not the image forming processing means has an image corresponding to the executed display function when there is a history of execution of the display function in the current vehicle situation among the images. If there is no history of the execution of the display function in the current vehicle situation, an image corresponding to the display function selected by operating the operation means is formed. A driving assistance device characterized by the above-mentioned. 2. The driving support device according to claim 1, wherein the number of images corresponding to the executed display function is made equal to the number of images corresponding to the display function selected by operating the operation means. . 3. An image of a predetermined object to be photographed, a preset display function is selected, an image obtained by the photographing is formed on a display screen, a current vehicle condition is detected, and a current vehicle condition is detected. Determine whether there is a history of the execution of the display function, and among the images, if there is a history of the execution of the display function in the current vehicle situation, forming an image corresponding to the executed display function, A driving support method, wherein an image corresponding to a selected display function is formed by operating an operation unit when there is no history of execution of a display function in a current vehicle situation.