JP4006969B2 - Driving assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a driving support device that supports driving of a driver by displaying a predicted trajectory of a vehicle on a road surface.
[0002]
[Prior art]
  Conventionally, when driving a vehicle, it has been necessary to perform an operation in consideration of a vehicle sense (a grasp of the width of the vehicle, the length of the wheelbase, the corners of the vehicle body, etc.).
  As an auxiliary means for grasping the vehicle sensation, for example, as described in JP-A-6-270752, the vehicle width is parallel and linear laser light is irradiated toward the road surface in the traveling direction of the vehicle. In this conventional structure, it is determined whether or not the vehicle can pass without touching the obstacle and without taking off the wheel in the current wheel steering angle state. It was impossible to recognize.
[0003]
  On the other hand, it is also known that a back monitor device is attached to a predetermined part of the instrument panel in front of the driver's seat and the rear of the vehicle is displayed on the screen of the back monitor device to assist driving when the vehicle is moving backward. In this conventional apparatus, it is necessary for the occupant to check the screen by moving the line of sight when the vehicle is moving backward.
[0004]
[Problems to be solved by the invention]
  The present invention detects the vehicle steering angle, predicts the trajectory of the vehicle based on the detected steering angle, and directly displays the predicted trajectory on the road surface, so that the vehicle contacts the obstacle at the current steering angle. Can recognize whether or not the vehicle can pass without removing the wheel, and the occupant does not have to move the line of sight while facing the direction of travel, and the above recognition is performed very easily and reliably. You can, andThe predicted trajectory on the steering direction side is displayed on the road surface with the display unit provided on the anti-steering direction side, and the predicted trajectory on the anti-steering direction side is displayed on the road surface with the display unit provided on the steering direction side. By doingThere is a possibility that the display is difficult to hit an obstacle and can be displayed even on a road surface hidden behind the obstacle as viewed from the vehicle side, as compared with a display unit that executes such a display on the steering direction side display unit. An object of the present invention is to provide a driving support device capable of providing more reliable display.
[0005]
[Means for Solving the Problems]
  A driving support device according to the present invention is a driving support device that supports driving by displaying a predicted trajectory of a vehicle on a road surface, and includes a steering angle detection means that detects a wheel steering angle of the vehicle, a vehicle front portion or a vehicle rear portion. Left and right of at least one vehicleSet inKerareTheA display unit; and a control unit that controls the display unit. The control unit includes a locus on a steering direction side and an anti-steering direction side of the vehicle based on the steering angle detected by the steering angle detection unit and the vehicle traveling direction. PredictIn addition, the predicted trajectory on the steering direction side is displayed on the road surface with a display unit provided on the anti-steering direction side. The display unit is controlled to display, and the display unit is controlled to display the predicted trajectory on the anti-steering direction side on the road surface by the display unit provided on the steering direction side.Is a thing(Refer to the embodiment in FIGS. 7 and 8).
[0006]
  As the display unit having the above configuration, a plurality of laser diodes (light emitting means) for irradiating laser light may be used, or a liquid crystal projector may be used.
  According to the above configuration, the steering angle detecting means detects the wheel steering angle of the vehicle, and the display unit is on the road surface.predictionThe trajectory is displayed, and the control means controls the display unit. The above-mentioned control means predicts the trajectory of the vehicle based on the steering angle detected by the steering angle detection means, and displays the trajectory on the road surface on the steering direction side ( (Predicted prediction trajectory display) is executed by a display unit provided on the side opposite to the steering direction.
[0007]
  As a result, it is possible to recognize whether or not the vehicle can pass without touching an obstacle at the current steering angle and without taking off the wheel, and the occupant moves his / her line of sight while keeping the direction of travel. There is no need, and the recognition can be performed very easily and reliably.
[0008]
  Moreover,The display unit is controlled to display the predicted trajectory on the steering direction side on the road surface by the display unit provided on the anti-steering direction side, and the predicted trajectory on the anti-steering direction side is displayed on the steering direction side. Since the display unit is controlled to display on the road surface by the unit,There is a possibility that the display is difficult to hit an obstacle and can be displayed even on a road surface hidden behind the obstacle as viewed from the vehicle side, as compared with a display unit that executes such a display on the steering direction side display unit. And more reliable display can be obtained.
[0009]
  In one embodiment of the invention,The predicted trajectories on the steering direction side and the anti-steering direction side are respectively predicted by the control means, and when the vehicle moves forward, the predicted trajectory on the anti-steering direction side of the corner portion outside the front portion of the vehicle and the steering of the vehicle inner rear wheel At least one of the direction side predicted trajectories is displayed on the road surface, the anti-steering direction side predicted trajectory of the corner portion outside the front of the vehicle is displayed on a display unit provided on the steering direction side of the front of the vehicle, The predicted trajectory on the steering direction side of the vehicle inner rear wheel is displayed on a display unit provided on the anti-steering direction side of the front part of the vehicle.Is a thing(Refer to the embodiment in FIGS. 7 and 8).
[0010]
  According to the above configuration, when the vehicle moves forward, at least one of the predicted trajectory of the corner outside the front part of the vehicle and the predicted trajectory of the rear wheel inside the vehicle is displayed, so that the occupant is most concerned when steering the vehicle. It is possible to easily determine whether or not the portion can pass satisfactorily, and to reduce driving fatigue.
[0011]
  In one embodiment of the invention,The predicted trajectories on the steering direction side and the anti-steering direction side are respectively predicted by the control means. When the vehicle is moving backward, the predicted trajectory on the anti-steering direction side of the corner outside the rear of the vehicle and the steering direction side on the rear side of the vehicle At least one of the predicted trajectories is displayed on the road surface, the predicted trajectory on the anti-steering direction side of the rear part of the vehicle is displayed on a display unit provided on the steering direction side of the rear part of the vehicle, and the predicted trajectory on the steering direction side of the rear part of the vehicle Is displayed on a display unit provided on the side opposite to the steering direction at the rear of the vehicle.Is a thing(See the embodiment in FIG. 11).
[0012]
  According to the above configuration, at least one of the predicted trajectory of the corner outside the rear of the vehicle and the predicted trajectory of the rear wheel inside the vehicle is displayed when the vehicle is moving backward. It is possible to easily determine whether or not the vehicle can pass well and to reduce driving fatigue.
[0013]
  In one embodiment of the invention,4. The driving assistance apparatus according to claim 3, wherein when the vehicle is moving backward, the vehicle is added to a predicted trajectory on a corner opposite to the rear side of the rear side of the vehicle or on a steering direction side of the rear side of the vehicle. In addition, the predicted trajectory on the side opposite to the steering direction of the corner outside the front of the vehicle is displayed,
The predicted trajectory on the anti-steering direction side of the front part of the vehicle is displayed on a display unit provided on the steering direction side of the front part of the vehicle.(See the embodiment in FIG. 11).
  According to the above configuration, when the vehicle is moving backward, at least one of the predicted trajectory of the corner outside the rear of the vehicle and the predicted trajectory inside the vehicle is displayed, and the predicted trajectory outside the front of the vehicle is also displayed. It is possible to easily determine whether or not the corners on the outside of the vehicle as the most worrisome part of the front of the vehicle can be satisfactorily passed at the time of reverse driving by vehicle steering, and to further reduce driving fatigue Can do.
[0014]
  In one embodiment of the invention,The control means sets the number of target trajectories corresponding to the predicted trajectory based on the road information acquired by the road information acquiring means for acquiring road information, and sets the set target trajectory and the predicted trajectory in the same display unit. To control the display unit to display on the road surface
Is a thing(Refer to the embodiment in FIGS. 7 and 8).
[0015]
  The target trajectory having the above configuration means a substantially ideal trajectory through which the vehicle can pass without touching an obstacle or without taking off the wheel.
  According to the above configuration, the predicted trajectory and the target trajectory are directly displayed on the road surface by the display unit. Therefore, by performing steering so that the predicted trajectory substantially matches the target trajectory, the occupant can change the traveling direction during driving. There is no need to move the line of sight in a state where it is facing, an appropriate steering operation can be performed, and traveling along the target locus can be performed easily and reliably.
[0016]
  In one embodiment of the present invention, the predicted trajectory and the target trajectory are displayed with different display colors.
  According to the above configuration, the predicted trajectory and the target trajectory directly displayed on the road surface can be clearly distinguished and recognized by their display colors, so that convenience can be improved.
[0017]
  In one embodiment of the invention,The control means acquires road shape information and sets a target locus based on the acquired information.Is a thing(See the example in FIG. 5).
[0018]
  According to the above configuration,The control means includesSince the information on the road shape is acquired and the target trajectory is set based on this information, the optimal target trajectory can be set and displayed. As a result, the driver can travel more safely, and the driver Improved convenience.
[0019]
  In one embodiment of the invention,Position information acquisition means for acquiring the current position information of the host vehicle is provided, and the control means is based on the current position information acquired by the position information acquisition means and the surrounding road information acquired from the map data of the map eye memory. If it is determined whether or not the current position of the host vehicle is a location that requires display of the predicted trajectory and the target track, and if it is determined that the current position of the host vehicle is a location that requires the display, Control the display unit to display the predicted trajectory and target trajectory on the road surfaceIs a thing(Refer to the embodiment in FIGS. 5 and 6).
[0020]
  The position information acquisition means having the above configuration may be configured by at least one of a navigation device and a GPS sensor. When a trajectory display of the above configuration is required, the vicinity of an intersection, a sharp curve, a parking lot, a narrow alley, a guardrail, etc. It may be set when traveling on cliffs or other places that require display of the trajectory.
[0021]
  According to the above configuration, since the trajectory display is automatically executed at a predetermined condition based on the current position information of the host vehicle, the vehicle can travel more appropriately and safely, and the energy consumption (especially power consumption) can be reduced. Reduction can be achieved.
[0022]
【Example】
  An embodiment of the present invention will be described in detail with reference to the drawings.
  The drawing shows a driving assistance device, in FIG.,Display units 3 and 3 as display means are provided at both left and right portions of the front bumper 2 of the vehicle 1. The above-described display unit 3 is provided not only on the front bumper 2 but also on the left and right parts of the rear bumper, and on the lower part or side part of the vehicle body as required. The above-described display unit 3 is provided in the bumper via a light-transmitting member such as a windshield and a seal member, and is configured to transmit laser light from a laser diode described later.
[0023]
  The display unit 3 described above is configured as shown in FIG. That is, a plurality of ball screws 4 and 5 are respectively mounted horizontally and in parallel, and a step motor 6 is attached to the other end of each ball screw 4 whose one end (left end in the drawing) is pivotally supported. A step motor 7 is attached to one end of each ball screw 5 on which the upper right end is pivotally supported.
[0024]
  Also,The above-described ball screws 4 and 5 are provided so that the laser diodes 8 and 9 can move independently in the lateral direction, and the predicted locus is directly displayed on the road surface by the combination of the above-described elements 4, 6 and 8. While the display unit 10 is configured, the display unit 11 that directly displays the target locus on the road surface is configured by the combination of the above-described elements 5, 7, and 9.
[0025]
  further,The display color of the predicted trajectory by the display unit 10 is set to, for example, red, and the display color of the target trajectory by the display unit 11 is set to, for example, yellow, and these two displays can be distinguished from each other. ing.
[0026]
  Here, each of the laser diodes 8 and 9 described above moves independently in the lateral direction along the ball screws 4 and 5 when the corresponding step motors 6 and 7 are driven.
  The display unit 3 described above may employ the structure shown in FIGS. 3 and 4 instead of the configuration shown in FIG.
[0027]
  The display unit 3 shown in FIGS. 3 and 4 is configured as follows. That is, the plurality of guide members 12 and 13 are horizontally and parallelly mounted, the laser diode 8 is attached to the guide member 12 via the slider 14, and the DC motor 15 is attached to the back surface of the slider 14.
[0028]
  Further, the pinion 17 provided on the rotating shaft of the DC motor 15 described above is engaged with the rack 16 that is horizontally spaced apart from the back portion of the guide member 12, and the laser diode 8 is moved in the lateral direction when the DC motor 15 is driven. It is configured as appropriate.
[0029]
  Similarly, a laser diode 9 is attached to the guide member 13 via a slider 18, and a DC motor 15 is attached to the back surface of the slider 18.
  Furthermore, the pinion 17 provided on the rotating shaft of the DC motor 15 described above is engaged with the rack 16 that is horizontally spaced apart from the back of the guide member 13, and the laser diode 9 is moved in the lateral direction when the DC motor 15 is driven. It is configured accordingly.
[0030]
  Here, a combination of the above-described elements 8, 12, 14, 15, 16, and 17 constitutes the display unit 10 that directly displays the predicted trajectory on the road surface, while each of the above-described elements 9, 13, 18, 15, 16 , 17 constitutes the display unit 11 for directly displaying the target trajectory on the road surface, and the display colors of the predicted trajectory and the target trajectory are different from each other.
[0031]
  FIG. 5 is a control circuit block diagram of the driving support device. The CPU 20 is stored in the ROM 27 based on inputs from the ignition switch 21, the steering angle sensor 22, the vehicle speed sensor 23, the GPS sensor 24, the navigation device 25, and the map memory 26. In accordance with the program, the display units 10 and 11 of the display unit 3 are driven and controlled, and the RAM 28 stores necessary data and the like.
[0032]
  The steering angle sensor 22 described above is a steering angle detection unit that detects the wheel steering angle of the vehicle 1. The CPU 20 is a control unit that controls the display unit 3.
  The map memory 26 described above is road information acquisition means for acquiring road shape information. The GPS sensor 24 and the navigation device 25 are position information acquisition means for acquiring current position information of the host vehicle.
[0033]
  Further, the CPU 20 described above also serves as target setting means (see step S6 in the flowchart shown in FIG. 6) for setting a predetermined target locus in accordance with a route guidance path (so-called navigation route) preset by the navigation device 25.
[0034]
  Moreover, the CPU 20 described above predicts the trajectory of the vehicle 1 based on the steering angle detected by the steering angle sensor 22, and displays the predicted trajectory on the road surface 10 of the display unit 3 described above. To control.
[0035]
  Further, when the vehicle 1 moves forward, the above-mentioned predicted trajectory is a predicted trajectory on the anti-steering direction side of the front part of the vehicle. For example, when the steering wheel is turned to the right as shown in FIGS. And the predicted trajectory of the wheel on the steering direction side at the rear of the vehicle, for example, the predicted trajectory B of the right rear wheel when the steering wheel is turned to the right as shown in FIG.
[0036]
  Further, the CPU 20 described above causes the display unit 11 of the display unit 3 to display the road surface target trajectories α and β (see FIG. 7) based on the target trajectory set by the target setting means (see step S6 in FIG. 6). Control.
[0037]
  Here, the above-described target setting means (see step S6 in FIG. 6) sets the target trajectories α and β based on the information acquired by the road information acquisition means (see the map memory 26).
  Moreover, the above-described CPU 20 controls the above-described display unit 3 under a predetermined condition based on the current position information of the host vehicle acquired by the position information acquisition unit (see the GPS sensor 24 and the navigation device 25).
[0038]
  The above-mentioned predetermined condition time is when the vehicle is traveling in the vicinity of an intersection (before the intersection), a sharp curve, a parking lot, a narrow alley, a cliff road without a guardrail, or other places that require display of a locus.
  Furthermore, the CPU 20 described above controls the display unit 3 so that the steering direction side locus is displayed on the display unit 3 provided on the anti-steering direction side. For example, when the steering wheel is turned to the right as shown in FIGS. 7 and 8, the trajectories B and β of the right rear wheel are displayed by the display unit 3 provided on the left side, and the trajectory A of the left front corner of the vehicle is displayed. , Α are displayed by the display unit 3 provided on the right side.
[0039]
  Instead of the configuration for acquiring the road shape information from the map memory 26 described above, the latest road shape information may be acquired by performing transmission / reception with the map distribution center. In such a case, a transmission / reception means may be provided in the CPU 20 of FIG.
[0040]
  The operation of the driving support apparatus configured as described above will be described in detail below with reference to the flowchart shown in FIG.
  In step S1, the CPU 20 determines whether or not the ignition switch 21 is ON. When NO is determined (when the ignition switch 21 is OFF), the process proceeds to step S2, and when YES is determined (when the ignition switch 21 is ON). The process proceeds to another step S3.
[0041]
  In step S2, the CPU 20 turns off the laser diodes 8 and 9 and ends the process.
[0042]
  On the other hand, in step S3 described above, the CPU 20 obtains and specifies the position of the host vehicle by matching the input from the GPS sensor 24 and the road map (so-called map) read from the map memory 26, Get information on surrounding roads from map data.
[0043]
  Next, in step S4, the CPU 20 determines whether or not the travel position of the host vehicle is a location that requires a trajectory display (for example, determines whether it is before the intersection and in the vicinity of the intersection), and proceeds to step S5 when determining NO. On the other hand, when YES is determined, the process proceeds to another step S6.
[0044]
  In response to the fact that the locus display is unnecessary in step S5 described above, the CPU 20 turns off the laser diodes 8 and 9, and then returns to step S3.
  On the other hand, in step S6, the CPU 20 responds to the need for the trajectory display, and the target trajectory according to the predicted trajectory (see FIGS. 7 and 8A and B) and the navigation route based on the current steering angle and vehicle speed. The locus (see α and β in FIGS. 7 and 8) is calculated. However, at this time, the trajectories A, B, α, and β are not displayed on the road surface, and trajectory data for driving the display unit 3 is obtained. The vehicle speed signal is reflected on the moving speed of moving the laser diodes 8 and 9.
[0045]
  In step S7, the CPU 20 controls the movement of the positions of the laser diodes 8 and 9 of the display units 10 and 11 so that the trajectories A, B, α, and β can be displayed on the road surface as calculated.
[0046]
  Next, in step S8, the CPU 20 turns on each of the laser diodes 8 and 9, respectively. In this way, when the laser diodes 8 and 9 are turned on, the laser beam is irradiated onto the road surface. As shown in FIG. 7 and FIG.,The predicted trajectories A and B and the target trajectories α and β are directly illuminated in a curved line with different display colors on the road surface, and the occupant (in particular, the driver) has the current predicted trajectories A and B coincide with the target trajectories α and β. Alternatively, if the steering operation is performed so as to substantially match, the vehicle can be moved without touching an obstacle or without taking off the wheel.
[0047]
  When the host vehicle 1 passes through a location where a trajectory display is necessary, for example, an intersection, the determination is NO in step S4 by the repeated processing of the flowchart, and then the process proceeds to the next step S5. In step S5, the laser diodes 8 and 9 are turned off. Of course.
[0048]
  As described above, the driving support apparatus of the embodiment shown in FIGS. 1 to 8 is a driving support apparatus that supports driving by displaying the predicted trajectories A and B of the vehicle 1 on the road surface. Steering angle detecting means for detecting the angle (see the steering angle sensor 22), display means for displaying a predetermined locus on the road surface (see the display unit 3), and control means for controlling the display means (see the display unit 3). The control means (see CPU 20) predicts the vehicle trajectory based on the steering angle detected by the steering angle detection means (see the steering angle sensor 22), and the predicted prediction trajectory A, The display means (see display unit 3) is controlled to display B on the road surface.
[0049]
  According to this configuration, the steering angle detection means (see the steering angle sensor 22) detects the wheel steering angle of the vehicle 1, the display means (see the display unit 3) displays a predetermined locus on the road surface, and the control means (CPU 20). Reference) controls the display means (see display unit 3), but the above-mentioned control means (see CPU 20) determines the trajectory of the vehicle 1 based on the steering angle detected by the steering angle detection means (see steering angle sensor 22). The above-described display means (see display unit 3) is controlled to predict and to display the predicted prediction trajectories A and B directly on the road surface.
[0050]
  As a result, it is possible to recognize whether or not the vehicle 1 can pass without touching an obstacle at the current steering angle and without taking off the wheel. There is no need to move it, and the above recognition can be performed very easily and reliably, which is particularly convenient at night.
[0051]
  Further, when the vehicle 1 moves forward, the predicted trajectory is at least one of a predicted trajectory A on the anti-steering direction side of the front part of the vehicle and a predicted trajectory B of the wheel (namely, rear wheel) on the steering direction side of the rear part of the vehicle. (However, in this embodiment, both are set).
[0052]
  According to this configuration, when the vehicle is moving forward, at least one of the predicted trajectory A of the corner outside the front part of the vehicle and the predicted trajectory B of the rear wheel inside the vehicle is displayed. It is possible to easily determine whether or not the portion to be passed can be satisfactorily passed, and it is possible to reduce driving fatigue.
[0053]
  Further, target setting means (see step S6) for setting predetermined target loci α and β is provided, and the control means (see CPU 20) is arranged on the road surface based on the target locus set by the target setting means (see step S6). The display means (see display unit 3) is controlled to display the target trajectories α, β.
[0054]
  According to this configuration, the predicted trajectories A and B and the target trajectories α and β are displayed directly on the road surface by the display means (see the display unit 3). By performing matching steering, it is not necessary for the occupant to move in the direction of travel while driving and it is not necessary to move the line of sight, and appropriate steering operation can be performed easily and reliably to the target locus. You can travel along.
[0055]
  In addition, the predicted trajectories A and B and the target trajectories α and β are displayed with different display colors.
  According to this configuration, the predicted trajectories A and B directly displayed on the road surface and the target trajectories α and β can be clearly distinguished and recognized by their display colors, thereby improving convenience. it can.
[0056]
  Further, road information acquisition means (see map memory 26) for acquiring road shape information is provided, and the target setting means (see step S6) is based on the information acquired by the road information acquisition means (see map memory 26). Trajectories α and β are set.
[0057]
  According to this configuration, road shape information is acquired by the road information acquisition means (see map memory 26), and the target trajectories α and β are set based on the road shape information. Thus, the display can be performed. As a result, safer driving is possible, and the convenience of the driver is improved.
[0058]
  In addition, position information acquisition means (see the GPS sensor 24 and the navigation device 25) for acquiring the current position information of the host vehicle is provided, and the control means (see the CPU 20) is based on the information acquired by the position information acquisition means at a predetermined condition. The display means (see display unit 3) is controlled.
[0059]
  According to this configuration, since the display of the trajectories A, B, α, β is automatically executed at a predetermined condition based on the current position information of the host vehicle, the vehicle can travel more appropriately and safely, Energy consumption (especially power consumption) can be reduced.
[0060]
  Further, a plurality of the display means (see the display unit 3) are provided on the left and right of the vehicle 1 in the front part and / or the rear part of the vehicle in the vehicle traveling direction, and the control means (see the CPU 20) is provided with the trajectories B, β on the steering direction side. The display means (see display unit 3) is controlled so as to be displayed by display means (see display unit 3) provided on the counter-steer direction side.
[0061]
  According to this configuration, since the trajectory display in the steering direction is executed by the display means (see display unit 3) provided on the side opposite to the steering direction, the display is executed by the display means on the steering direction side. Compared to the above, the possibility that the display is difficult to hit the obstacle and can be displayed even on the road surface hidden by the obstacle when viewed from the vehicle 1 side is increased, and a more reliable display can be obtained.
  Here, it is needless to say that the display of the trajectories A and α on the side opposite to the steering direction may be executed by display means (see display unit 3) provided on the steering direction side.
[0062]
  9, 10 and 11 show another embodiment of the driving support device. In this embodiment, the vehicle 1 and the plurality of display units 3 shown in FIGS.
  In the control circuit block diagram of the driving support apparatus shown in FIG. 9, the CPU 20 as the control means is based on an input from an ignition switch 21, a steering angle sensor 22, a vehicle speed sensor 23, and a reverse switch 29 that detects the reverse travel of the vehicle. The display unit 10 of the display unit 3 is driven and controlled in accordance with a program stored in the ROM 27, and the RAM 28 stores necessary data and the like.
[0063]
  Here, the steering angle sensor 22 described above is a steering angle detection unit that detects the wheel steering angle of the vehicle 1, the display unit 3 is a display unit that displays a predetermined locus on the road surface, and the CPU 20 controls the display unit 3. The CPU 20 predicts the trajectory of the vehicle 1 based on the steering angle detected by the steering angle sensor 22, and uses the predicted prediction trajectories X, Y, and Z (see FIG. 11) on the road surface. The control of the display unit 3 so as to directly display is the same as in the previous embodiment.
[0064]
  In this embodiment, the above-mentioned predicted trajectory when the vehicle is moving backward is the predicted trajectory on the counter-steering direction side of the rear part of the vehicle, for example, the predicted trajectory X at the corner on the left side of the rear when the steering wheel is turned to the right. The predicted trajectory of the wheel on the steering direction side at the rear of the vehicle, for example, when moving backward with the steering wheel turned to the right, is set to both the predicted trajectory Y of the right rear wheel, and the above-mentioned predicted trajectory is opposite to the front of the vehicle. A predicted trajectory on the steering direction side, for example, in the case of turning backward with the right steering wheel turned off, includes a predicted trajectory Z of the front left corner of the vehicle 1.
[0065]
  That is, in this embodiment, as shown in FIG. 11, the above-described predicted trajectories X, Y, and Z are directly displayed on the road surface when the vehicle 1 moves backward.
  In addition, the above-described CPU 20 displays the predicted trajectory Y on the steering direction side on the counter steering direction side (rear left side) in the state shown in FIG. The left and right display units 3 and 3 are controlled so that X is displayed by the display unit 3 provided on the steering direction side (rear right side). In FIG. 11, 30 is another vehicle.
[0066]
  The operation of the driving support apparatus configured as described above will be described in detail below with reference to the flowchart shown in FIG.
  In step Q1, the CPU 20 determines whether or not the ignition switch 21 is ON. When NO is determined (when the ignition switch 21 is OFF), the process proceeds to step Q2, and when YES is determined (when the ignition switch 21 is ON). The process proceeds to another step Q3.
[0067]
  In step Q2, the CPU 20 turns off the laser diode 8 and ends the process.
  In step Q3 described above, the CPU 20 determines whether or not the reverse switch 29 is ON. When NO is determined, the process proceeds to step Q4. When YES is determined, the process proceeds to another step Q5.
[0068]
  In response to the fact that the locus display is unnecessary in step Q4 described above, the CPU 20 turns off the laser diode 8 and then returns to step Q3.
  On the other hand, in step Q5, the CPU 20 calculates a predicted trajectory (see X, Y, and Z in FIG. 11) based on the current steering angle and vehicle speed in response to the need for the trajectory display. However, at this time, the predicted trajectories X, Y, and Z are not displayed on the road surface, and trajectory data for driving the display unit 3 is obtained. The vehicle speed signal is reflected on the moving speed of moving the laser diode 8.
[0069]
  Next, in step Q6, the CPU 20 controls the movement of the positions of the laser diodes 8 of the display units 10, 10 of the left and right display units 3 so that the trajectories X, Y, Z can be displayed on the road surface as calculated.
[0070]
  Next, in step Q7, the CPU 20 turns on each laser diode 8 respectively. In this way, when the laser diode 8 is turned on, the laser beam is irradiated onto the road surface. As shown in FIG.,The predicted trajectories X, Y, and Z are directly illuminated on the road surface, and the occupant (in particular, the driver) confirms the predicted trajectories X, Y, and Z displayed on the road surface directly (see the predicted trajectory Z) or with a door mirror (predicted trajectory X , Y)), the so-called garage can be put in reverse and the occupant can easily determine whether or not the most worried part can pass well. .
[0071]
  The display unit 3 in FIGS. 2 to 4 serves both as a display of the predicted trajectory and the display of the target trajectory. However, when used in the embodiment of FIGS. The laser diodes 8 and 9 are set for displaying a predicted trajectory, and the vertical distance between the ball screws 4 and 5 or the guide members 12 and 13 is set wider than the intervals shown in FIGS. 8 and 9 may be configured to display the above-mentioned predicted trajectories X, Y, and Z.
[0072]
  As described above, the driving support apparatus according to the embodiment shown in FIGS. 9 to 11 is a driving support apparatus that supports driving by displaying the predicted trajectories X, Y, and Z of the vehicle 1 on the road surface. Steering angle detection means for detecting the wheel steering angle (see steering angle sensor 22), display means for displaying predetermined trajectories X, Y, Z on the road surface (see display unit 3), and the display means (see display unit 3) Control means (see CPU 20), and the control means (see CPU 20) predicts the trajectory of the vehicle based on the steering angle detected by the steering angle detection means (see steering angle sensor 22). The display means (see display unit 3) is controlled to display the predicted prediction trajectories X, Y, and Z on the road surface.
[0073]
  According to this configuration, the steering angle detection means (refer to the steering angle sensor 22) detects the wheel steering angle of the vehicle 1, and the display means (refer to the display unit 3) displays predetermined trajectories X, Y, and Z on the road surface. The control means (see CPU 20) controls the display means (see display unit 3), but the above-mentioned control means (see CPU 20) is based on the steering angle detected by the steering angle detection means (see steering angle sensor 22). The trajectory of the vehicle 1 is predicted, and the above-described display means (see the display unit 3) is controlled to display the predicted trajectories X, Y, and Z directly on the road surface.
[0074]
  As a result, it is possible to recognize whether or not the vehicle 1 can pass without contacting the obstacle (see the other vehicle 30) at the current steering angle and without taking off the wheel, and the occupant faces the traveling direction. It is not necessary to move the line of sight at all, and the recognition can be performed very easily and reliably.
[0075]
  Further, when the vehicle is moving backward, the predicted trajectory is at least one of a predicted trajectory X on the side opposite to the steering direction of the vehicle rear and a predicted trajectory Y on the side of the steering rear of the vehicle (both in this embodiment). Is set.
[0076]
  According to this configuration, when the vehicle 1 moves backward, at least one of the predicted trajectory X of the corner outside the rear of the vehicle and the predicted trajectory Y of the rear wheel inside the vehicle is displayed. It is possible to easily determine whether or not the portion to be passed can be satisfactorily passed, and it is possible to reduce driving fatigue.
[0077]
  Further, the predicted trajectory includes a predicted trajectory Z on the side opposite to the steering direction at the front of the vehicle.
  According to this configuration, when the vehicle 1 moves backward, at least one of the predicted trajectory X of the corner outside the rear of the vehicle and the predicted trajectory Y inside the vehicle is displayed, and the predicted trajectory Z outside the front of the vehicle is displayed. Is also displayed, it is possible to easily determine whether or not the corners on the outside of the vehicle as the most worrisome part of the front part of the vehicle can be satisfactorily passed when the vehicle reverses due to vehicle steering. Can be made.
[0078]
  In addition, a plurality of the display means (see the display unit 3) are provided on the left or right of the vehicle front part and / or the vehicle rear part in the vehicle traveling direction (the vehicle rearward direction when moving backward), and the control means (see the CPU 20) is steered. The display means (see the display unit 3) is controlled so that the direction-side locus Y is displayed by the display means (see the display unit 3) provided on the counter-steer direction side.
[0079]
  According to this configuration, the display of the steering direction trajectory Y is executed by the display means provided on the side opposite to the steering direction (see the display unit 3 on the rear left side in the case of FIG. 11). Compared to what is executed by the direction-side display means, the possibility that the display is difficult to hit the obstacle and can be displayed even on the road surface hidden from the obstacle when viewed from the vehicle side is further increased. A reliable display can be obtained.
[0080]
  FIG. 12 shows still another embodiment of the driving support device, which is a combination of the configuration of FIG. 5 and the configuration of FIG. That is, when the vehicle 1 moves forward, the predicted trajectories A and B and the target trajectories α and β are displayed in different colors based on the flowchart of FIG. 6, and when the reverse switch 29 is turned on, the predicted trajectories X and Y are displayed based on the flowchart of FIG. , Z are displayed.
[0081]
  Even if comprised in this way, there exists an effect substantially the same as each previous Example, In FIG. 12, the same code | symbol is attached | subjected to the part same as the previous figure, and the detailed description is abbreviate | omitted.
[0082]
  Further, in each of the above-described embodiments, the laser diodes 8 and 9 can be appropriately set with an irradiation angle θ1 (see FIG. 13) with respect to the road surface and an irradiation direction angle θ2 (see FIG. 14) that is lateral to the traveling direction. It has become.
[0083]
  The above-mentioned angles θ1 and θ2 may be controllable in real time according to various situations (for example, position detection by GPS sensor 24, map data, vehicle speed, etc.).
[0084]
  When using laser light,In addition to the above-described embodiment using a plurality of laser diodes 8 and 9, as disclosed in Japanese Patent Laid-Open No. 10-3599, a single laser light source and a plurality of galvanometer mirrors are used to scan the locus of the laser. You may comprise so that it may draw.
[0085]
  In the correspondence between the configuration of the present invention and the above-described embodiment,
  The steering angle detection means of the present invention corresponds to the steering angle sensor 22 of the embodiment,
  Similarly,
  The control means corresponds to the CPU 20,
  The target setting means corresponds to step S6,
  The road information acquisition means corresponds to the map memory 26,
  The position information acquisition means corresponds to at least one of the GPS sensor 24 and the navigation device 25.
  The present invention is not limited to the configuration of the above-described embodiment.
[0086]
  For example, when applied to an AT vehicle, it may be detected that the vehicle is moving backward by an inhibitor switch instead of the reverse switch 29. Moreover, as a vehicle, it can apply to a bus | bath, a truck, a one box car, a dump truck, etc. besides the motor vehicle shown in figure.
[0087]
【The invention's effect】
  According to the present invention, the vehicle steering angle is detected, and the detected steering angle is detected.And the vehicle traveling directionBased on vehicleSteering direction side and anti-steering direction sideBy predicting the trajectory and displaying the predicted trajectory directly on the road surface, it is possible to recognize whether the vehicle can pass without touching the obstacle at the current steering angle or without taking off the wheel. There is an effect that the occupant does not need to move the line of sight while keeping the direction of travel, and can perform the above recognition extremely easily and reliably,The predicted trajectory on the steering direction side is displayed on the road surface with the display unit provided on the anti-steering direction side, and the predicted trajectory on the anti-steering direction side is displayed on the road surface with the display unit provided on the steering direction side. SoThere is a possibility that the display is difficult to hit an obstacle and can be displayed even on a road surface hidden behind the obstacle as viewed from the vehicle side, as compared with a display unit that executes such a display on the steering direction side display unit. As a result, a more reliable display can be obtained.
[Brief description of the drawings]
FIG. 1 is a front view of a vehicle provided with a driving support device of the present invention.
FIG. 2 is a front view illustrating an example of a display unit.
FIG. 3 is a front view showing another embodiment of the display unit.
4 is a partial plan view of FIG. 3;
FIG. 5 is a block diagram of a control circuit of the driving support device.
FIG. 6 is a flowchart showing a trajectory display process.
FIG. 7 is an explanatory diagram showing an example of a locus display.
FIG. 8 is a plan view of FIG.
FIG. 9 is a control circuit block diagram showing another embodiment of the driving support device.
FIG. 10 is a flowchart showing a trajectory display process.
FIG. 11 is a plan view showing an example of a locus display.
FIG. 12 is a control circuit block diagram showing still another embodiment of the driving support device.
FIG. 13 is an explanatory diagram showing an irradiation angle of laser light.
FIG. 14 is an explanatory diagram showing an irradiation direction angle of laser light.
[Explanation of symbols]
  1 ... Vehicle
  3. Display unit
  20 ... CPU (control means)
  22 ... Steering angle sensor (steering angle detection means)
  24 ... GPS sensor (position information acquisition means)
  25. Navigation device (position information acquisition means)
  26 ... Map memory (road information acquisition means)
  S6 ... Target setting means
  A, B ... Predicted trajectory
  α, β… Target locus
  X, Y, Z ... Predicted trajectory

Claims (8)

A driving support device that supports driving by displaying a predicted trajectory of a vehicle on a road surface,
Steering angle detection means for detecting the wheel steering angle of the vehicle;
A display unit was set vignetting on the left and right of the vehicle front or rear of the vehicle at least one of the vehicle,
Control means for controlling the display unit,
The control means predicts the trajectory on the steering direction side and the anti-steering direction side of the vehicle based on the steering angle detected by the steering angle detection means and the vehicle traveling direction , and the predicted trajectory on the steering direction side is anti-steered. While controlling the display unit to display on the road surface with the display unit provided on the direction side,
A driving support device for controlling a display unit to display a predicted trajectory on the anti-steering direction side on a road surface with a display unit provided on the steering direction side . The predicted trajectories on the steering direction side and the anti-steering direction side are predicted by the control means, respectively , and when the vehicle moves forward, the predicted trajectory on the anti-steering direction side of the corner outside the front portion of the vehicle and the steering of the vehicle inner rear wheel At least one of the predicted trajectories on the direction side is displayed on the road surface,
The predicted trajectory on the anti-steering direction side of the corner on the outside of the front of the vehicle is displayed on a display unit provided on the steering direction side of the front of the vehicle,
The driving assistance device according to claim 1 , wherein the predicted trajectory on the steering direction side of the vehicle inner rear wheel is displayed on a display unit provided on the anti-steering direction side of the front portion of the vehicle . Predicted trajectories on the steering direction side and the counter-steering direction side are respectively predicted by the control means,
When the vehicle is moving backward, at least one of a predicted trajectory on the anti-steering direction side of the corner outside the rear of the vehicle and a predicted trajectory on the steering direction side of the rear of the vehicle is displayed on the road surface,
The predicted trajectory on the anti-steering direction side of the rear part of the vehicle is displayed on a display unit provided on the steering direction side of the rear part of the vehicle,
The driving assistance device according to claim 1 , wherein the predicted trajectory on the steering direction side of the rear part of the vehicle is displayed on a display unit provided on the side opposite to the steering direction of the rear part of the vehicle . 4. The driving assist device according to claim 3, wherein, when the vehicle is moving backward, in addition to the predicted trajectory of the corner portion outside the rear portion of the vehicle or the steering direction side of the rear portion of the vehicle, the counter steering direction of the corner portion outside the front portion of the vehicle. Side predicted trajectory,
The driving support device according to claim 3 , wherein the predicted trajectory on the side opposite to the steering direction of the vehicle front is displayed on a display unit provided on the side of the steering front of the vehicle . The control means sets the number of target trajectories corresponding to the predicted trajectory based on the road information acquired by the road information acquisition means for acquiring road information,
Set target locus and the driving support device according to claim 1, wherein the predicted trajectory to control the display unit to be displayed on the road surface in the same display unit. The driving support device according to claim 5, wherein the predicted trajectory and the target trajectory are displayed with different display colors. The control unit acquires information of the road shape, the obtained driving support apparatus according to claim 5, wherein setting the target locus based on the information. Position information obtaining means for obtaining current position information of the own vehicle is provided,
The control means and the current position information acquired by the position information acquisition means, based on the surrounding road information obtained from the map data of the map memory, the current position of the vehicle requires a display of the predicted trajectories and the target locus Determine whether it is a place,
If the current position of the vehicle is determined to be positions that require the display, <br/> claims 5 to the anticipated course and target locus of the vehicle controls the display unit so as to display the road surface The driving support means according to any one of 7 above.

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