JP6376936B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a technique for supporting driving in which a vehicle that pulls a trailer moves backward.

  As a technology for assisting in driving the vehicle that pulls the trailer, the relative positional relationship between the vehicle and the trailer is detected from the image of the trailer taken by the camera provided at the rear of the vehicle, and based on the detected positional relationship. There is a known technique for calculating a trailer trajectory that is expected when the vehicle is moved backward as it is, and displaying the calculated trajectory superimposed on an image behind the trailer taken by a camera provided at the rear of the trailer. (For example, Patent Document 1).

JP 2006-256544 A

When the vehicle that pulls the trailer is moved backward, a collision between the rear portion of the vehicle and the front portion of the trailer occurs when the difference in the traveling direction between the vehicle and the trailer increases.
And the driving assistance technology that presents the trailer movement trajectory that is expected when the vehicle is driven backward as described above cannot sufficiently support the prevention of such a collision.
SUMMARY OF THE INVENTION An object of the present invention is to support driving that reverses a vehicle that pulls a trailer in a form that can prevent a collision between the vehicle and the trailer.

  In order to achieve the above object, the present invention provides a driving support device that supports driving in which a vehicle that pulls a trailer moves backward, a camera that is fixed to the vehicle that captures the trailer, and an image captured by the camera. Trailer recognition means for recognizing the orientation of the trailer relative to the vehicle, steering angle detection means for detecting the steering angle of the vehicle, and the direction of the trailer recognized by the trailer recognition means when the vehicle is moving backward, Based on the steering angle detected by the rudder angle detecting means, a collision presence / absence judging means for judging whether or not the vehicle and the trailer collide when moving backward at the current rudder angle, and the collision presence / absence judging means include the vehicle and the trailer. And a guiding means for outputting a message for urging to avoid the collision.

  Here, such a driving support device calculates whether or not the collision caused by changing the steering angle of the vehicle can be avoided when the collision determination unit determines that the vehicle and the trailer collide. In the guide means, when the collision presence / absence determining means calculates that the collision can be avoided by changing the steering angle of the vehicle, a message prompting the change of the steering angle is output as the message. May be.

Further, the above-described driving support device calculates whether or not the collision caused by changing the rudder angle of the vehicle can be avoided when the collision determination unit determines that the vehicle and the trailer collide, and When the collision presence / absence determining means calculates that the collision cannot be avoided even if the steering angle of the vehicle is changed, the guidance means may output a message for urging forward as the message. .
Further, in the above driving support device, the trailer when the vehicle travels backward at the current steering angle based on the orientation of the trailer recognized by the trailer recognition unit with respect to the vehicle and the steering angle detected by the steering angle detection unit. It is also preferable to provide trailer prediction trajectory display means for predicting the movement trajectory and displaying the predicted movement trajectory.

  According to the driving support device as described above, when the vehicle that pulls the trailer moves backward at the same steering angle, if the vehicle and the trailer collide, the message is output to urge the avoidance of the collision. Guidance can be provided.

  More specifically, the driving support device may cause a collision between the vehicle and the trailer when the vehicle that pulls the trailer is moved backward at the same steering angle. When the vehicle does not collide, the driver is instructed to change the rudder angle, or when the vehicle and the trailer collide if the vehicle continues to reverse regardless of the rudder angle, the vehicle is guided to the driver to advance. be able to.

  Therefore, according to the present invention, it is possible to support the operation of moving the vehicle that pulls the trailer backward in a form that can prevent the collision between the vehicle and the trailer.

  As described above, according to the present invention, it is possible to support the operation of moving the vehicle that pulls the trailer backward in a form that can prevent the collision between the vehicle and the trailer.

It is a block diagram which shows the structure of the driving assistance device which concerns on embodiment of this invention. It is a figure which shows the vehicle and trailer which concern on embodiment of this invention. It is a flowchart which shows the reverse drive assistance process which concerns on embodiment of this invention. It is a flowchart which shows the example of a display of the driving assistance device which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows a configuration of a driving support device according to the present embodiment. Here, the driving support device is a device mounted on a vehicle such as a four-wheeled vehicle or a truck, and as shown in FIG. It is a device that supports driving for moving the vehicle 1 that pulls the trailer 2 for transporting an object backward. The trailer 2 may be one on which a load such as a trailer house is fixedly placed.

  Now, referring back to FIG. 1, the driving support device includes a gear position sensor 101 that detects the gear position (back, drive, first speed, second speed, etc.) of the transmission of the vehicle 1, and the steering angle (tire direction) of the vehicle 1. Steering angle sensor 102, rear camera 103, trailer recognition unit 104, vehicle trajectory calculation unit 105, trailer trajectory calculation unit 106, collision prediction unit 107, control unit 108, display device 109, and audio output device 110. .

Moreover, the rear camera 103 is provided in the rear part of the vehicle 1 as shown in FIG.
Here, the trailer 2 includes a cart unit 201 including a rectangular frame and left and right wheels as viewed from the top and bottom, and a connecting unit 202 coupled to the front of the cart unit 201. The connecting part 202 has a Y-shape that extends rearward when viewed from the top and bottom, and a hitch ball provided at the rear part of the vehicle 1 is connected to the front end of the connecting part 202, and the vertical axis is a rotational axis. As shown in FIG. Note that the lateral width of the rear end of the connecting portion 202 is smaller than the lateral width of the front end of the carriage portion 201.

Further, as shown in FIG. 2b, markers 210 are fixedly provided on the upper left and right ends of the front end of the carriage unit 201 of the trailer 2, respectively.
The rear camera 103 is arranged so that the marker 210 can be photographed regardless of the load.
Next, the trailer recognizing unit 104 recognizes the marker 210 in the image captured by the rear camera 103, and from the position of each marker 210 in the image, the left-right direction of the front end of the carriage unit 201 of the trailer 2 shown in FIG. The vehicle in the direction of the width W, the direction θC of the trailer 2 in the front-rear direction of the vehicle 1 shown in FIG. 2c, the direction from the center position in the left-right direction of the rear end of the vehicle 1 toward the right end of the front end of the carriage unit 201 of the trailer 2 A direction θR with respect to the front-rear direction of 1 and a direction θL with respect to the front-rear direction of the vehicle 1 in the direction from the center position in the left-right direction of the rear end of the vehicle 1 toward the left end of the front end of the carriage unit 201 of the trailer 2 The trailer recognition unit 104 also calculates a distance L from the rear end of the vehicle 1 to the carriage unit 201 of the trailer 2 shown in FIG. 2B from W, θL, and θR.

Note that the lateral width W of the front end of the carriage unit 201 of the trailer 2 and the distance L from the rear end of the vehicle 1 to the carriage unit 201 of the trailer 2 are fixed values for each combination of the vehicle 1 and the trailer 2. The trailer recognition unit 104 may be set in advance.
Next, as shown in FIG. 2c, the rudder angle sensor 102 detects the tire orientation θT with respect to the front-rear direction of the vehicle 1.
In such a configuration of the driving support device, the control unit 108 performs the driving support process described below when the gear position sensor 101 is in the back (R) position.
In FIG. 3, the procedure of the reverse drive assistance apparatus which the control part 108 performs is shown.
As shown in the figure, in this reverse driving support process, the control unit 108 first causes the vehicle trajectory calculation unit 105 of the vehicle 1 when moving backward at the current steering angle of the vehicle 1 detected by the steering angle sensor 102. The movement trajectory is calculated as an expected vehicle trajectory (step 302).

  Next, the trailer trajectory calculation unit 106 indicates the movement trajectory of the trailer 2 when the vehicle 1 moves backward in the expected vehicle trajectory, and the vehicle 1 in the front-rear direction of the own trailer recognized by the trailer recognition unit 104. Is calculated as an expected trailer trajectory based on the orientation θC with respect to the front-rear direction (step 304).

  Next, the collision prediction unit 107 is made to predict whether or not a collision between the vehicle 1 and the trailer 2 occurs when the vehicle travels backward at the current steering angle from the predicted vehicle path and the predicted trailer path (step 306). ).

  Here, the prediction of whether or not a collision will occur in the collision prediction unit 107 is performed when the vehicle 1 moves backward at the current steering angle, for example, by using an angle obtained by subtracting an appropriate margin from 90 degrees or 90 degrees as a safety angle. At each position on the expected trailer trajectory, the angle (θR, θL) with respect to the front-rear direction of the vehicle 1 in the direction from the center in the left-right direction from the rear end of the vehicle toward the left-right end of the front end of the carriage unit 201 of the trailer 2 When neither of them exceeds the safe angle, it is predicted that no collision will occur, and any of the angles (θR, θL) with respect to the longitudinal direction of the vehicle 1 is greater than the safe angle at any position on the predicted trailer trajectory. In such a case, the collision is predicted to occur. The angles (θR, θL) at the position X on the expected trailer trajectory can be calculated as follows.

  That is, as shown in FIG. 2d, when calculating θR, when θC and θR are measured counterclockwise when viewed from above, the vehicle 1 is moved backward to the position Y on the expected vehicle trajectory. The position on the expected trailer trajectory where the trailer 2 should be located is defined as a position X, and the vehicle 1 when the vehicle 1 is located at the position Y in the front-rear direction of the trailer 2 when the trailer 2 is located at the position X. The angle θR is θR = θC + arctan (W / 2L) based on the direction θC with respect to the front-rear direction, the distance L from the rear end of the vehicle 1 to the carriage unit 201 of the trailer 2 and the lateral width W of the front end of the carriage unit 201. ).

  Similarly, in calculating θL, assuming that θC and θL are measured clockwise as viewed from above, trailer 2 is positioned when vehicle 1 is moved backward to position Y on the expected vehicle trajectory. Assuming that the position on the expected trailer trajectory is supposed to be the position X, the direction θC with respect to the longitudinal direction of the vehicle 1 when the vehicle 1 is located at the position Y in the longitudinal direction of the trailer 2 when the trailer 2 is located at the position X, The angle θL can be calculated as θL = θC + arctan (W / 2L) from the distance L from the rear end of the vehicle 1 to the carriage 201 of the trailer 2 and the lateral width W of the front end of the carriage 201. it can.

  If no collision between the vehicle 1 and the trailer 2 is predicted (step 308), for example, as shown in FIG. 4a, an expected trailer trajectory 401 of the trailer 2 and a figure 402 simulating the vehicle 1 and the trailer 2 are simulated. At the same time, it is displayed on the display device 109 (step 314). Then, the processing returns to step 302.

  However, a trailer rear photographing camera for photographing the rear side of the trailer 2 is provided at the rear part of the trailer 2, and as shown in FIG. 4B, an expected trailer trajectory 401 is superimposed on the image 403 behind the trailer photographed by the trailer direction photographing camera. You may make it do.

  Now, returning to FIG. 3, when a collision between the vehicle 1 and the trailer 2 is predicted (step 308), the collision prediction unit 107 determines whether the collision can be avoided by changing the steering angle of the vehicle 1. (Step 310).

  Here, if the direction θC of the trailer 2 with respect to the front-rear direction of the vehicle 1 increases by a certain angle θth or more, the collision between the vehicle 1 and the trailer 2 cannot be avoided regardless of the steering angle at which the vehicle 1 is moved backward. The angle θth is determined depending on the distance L from the rear end of the vehicle 1 to the front end of the carriage unit 201 of the trailer 2 and the lateral width W of the front end of the carriage unit 201.

In addition, the determination as to whether or not a collision can be avoided by changing the steering angle of the vehicle can be performed as follows, for example.
That is, a table indicating the relationship between the distance L, the width W, and the angle θth or a calculation formula for calculating the angle θth from the distance L and the width W is set in the collision prediction unit 107 in advance. Then, the collision prediction unit 107 calculates the angle θth from the distance L and width W recognized by the trailer recognition unit 104 using a table or a calculation formula, and the vehicle 1 in the front-rear direction of the trailer 2 recognized by the trailer recognition unit 104. When the direction θC with respect to the front-rear direction is less than the angle θth, it is determined that the collision can be avoided by changing the steering angle of the vehicle 1, and the vehicle 1 in the front-rear direction of the trailer 2 recognized by the trailer recognition unit 104 is determined. When the direction θC with respect to the front-rear direction is equal to or larger than the angle θth, it is determined that a collision cannot be avoided even if the steering angle of the vehicle 1 is changed.

  Next, when it is determined that a collision can be avoided by changing the steering angle of the vehicle 1 (step 310), a message for guiding the driver to change the steering angle is output (step 316). . Then, the processing returns to step 302.

  The message output in this step 316 is, for example, a message such as “If you move backwards, it will collide with the trailer 2. Please loosen the rudder angle” is displayed on the display device 109 or output from the audio output device 110 as an audio message. By doing.

  On the other hand, if it is determined that the collision cannot be avoided even if the rudder angle of the vehicle 1 is changed (step 310), a message for guiding the driver forward is output (step 312). Then, the processing returns to step 302.

  The output of the message in step 312 is, for example, a message such as “If you move backward, it will collide with the trailer 2. Please move forward and try again” on the display device 109 or a voice output device as a voice message. This is done by outputting from 110.

Then, the processing returns to step 302.
The reverse driving support process performed by the control unit 108 has been described above.
As described above, according to the present embodiment, when the vehicle 1 that pulls the trailer 2 moves backward, regardless of the steering angle, if the vehicle 1 and the trailer 2 collide with each other, the vehicle 1 moves forward. To the driver. Further, there is a possibility that the vehicle 1 and the trailer 2 will collide when the vehicle continues to reverse with the rudder angle as it is. However, if the rudder angle is changed and the vehicle 1 and the trailer 2 do not collide, the driver is informed of the rudder angle. Guide changes.

  Therefore, according to the present embodiment, it is possible to support driving in which the vehicle 1 that pulls the trailer 2 moves backward in a form that can prevent a collision between the vehicle 1 and the trailer 2.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Trailer, 101 ... Gear position sensor, 102 ... Rudder angle sensor, 103 ... Rear camera, 104 ... Trailer recognition part, 105 ... Vehicle locus calculation part, 106 ... Trailer locus calculation part, 107 ... Collision prediction part , 108 ... control unit, 109 ... display device, 110 ... audio output device, 201 ... truck unit, 202 ... connecting unit, 210 ... marker, 401 ... expected trailer trajectory.

Claims (5)

A driving support device that supports driving to drive a vehicle that pulls a trailer backward,
A camera fixed to the vehicle for photographing the trailer;
Trailer recognition means for recognizing a direction of the trailer with respect to the vehicle from an image captured by the camera;
Rudder angle detecting means for detecting the rudder angle of the vehicle;
When the vehicle travels backward at the current rudder angle, the vehicle and the trailer are moved backward at the current rudder angle based on the direction of the trailer recognized by the trailer recognizing unit and the rudder angle detected by the rudder angle detecting unit. A collision existence judging means for judging whether or not to collide,
A driving support apparatus, comprising: a guidance unit that outputs a message that prompts the collision avoidance when the collision determination unit determines that the vehicle and the trailer collide. The driving support device according to claim 1,
The collision presence / absence determining means calculates whether it is possible to avoid a collision by changing the steering angle of the vehicle when it is determined that the vehicle and the trailer collide,
The guidance means outputs a message prompting the change of the steering angle as the message when the collision presence / absence determination means calculates that the collision can be avoided by changing the steering angle of the vehicle. Driving assistance device. The driving support device according to claim 1,
The collision presence / absence determining means calculates whether it is possible to avoid a collision by changing the steering angle of the vehicle when it is determined that the vehicle and the trailer collide,
The guide means outputs a message prompting forward as the message when the collision presence / absence determining means calculates that the collision cannot be avoided even if the steering angle of the vehicle is changed. . The driving support device according to claim 2,
The guide means outputs a message prompting forward as the message when the collision presence / absence determining means calculates that the collision cannot be avoided even if the steering angle of the vehicle is changed. . The driving support device according to claim 1, 2, 3 or 4,
Based on the direction of the trailer recognized by the trailer recognition unit with respect to the vehicle and the rudder angle of the vehicle detected by the rudder angle detection unit, a trail of movement of the trailer when moving backward at the current rudder angle is predicted. A driving support apparatus comprising trailer prediction trajectory display means for displaying a predicted movement trajectory.