Vehicle driving support system, and steering angle detection device

• US 6,411,867 B1
• Filed: 10/26/2000
• Issued: 06/25/2002
• Est. Priority Date: 10/27/1999
• Status: Expired due to Term

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Toshihiro, Shimizu, Sakiyama, Kazuhiro, Sako, Kazuya
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/695,849
• Time in Patent Office: 607 Days
• Field of Search: 701/1, 701/35, 701/36, 701/49, 701/58, 701/59, 701/23, 701/25, 701/41, 701/72, 307/10.1, 340/901, 340/903, 340/937
• US Class Current: 701/1
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

A camera unit 10 is mounted on a vehicle 3. When an attempt is made to park the vehicle 3 in a parking lot, a predicted path 5a and guidelines 5b are displayed on an information display 4 together with an image. Data to be used for displaying the predicted path 5a and the guidelines 5b are stored beforehand in internal memory of an image processing circuit 19 provided in a parking assist ECU 6 so that the data can be selected in accordance with specifications, such as the type of the vehicle 3. The predicted path 5a is computed on the basis of a steering angle detected by a steering angle sensor provided in an exposed portion of the steering shaft 11. The length or color of the predicted path 5a is changed in accordance with the speed of the vehicle 3. Further, a vehicle driving support system is provided with a back sonar 17, and hence the length or color of the predicted path 5a is also changed in accordance with the result of detection of an obstacle.

Claims

1. A driving support system for a vehicle comprising:

a camera for capturing an image of surroundings of the vehicle;

a steering angle sensor for detecting a steering angle of the vehicle;

a travel prediction section for predicting a travel path of the vehicle on the basis of the steering angle detected by the steering angle sensor to calculate a predicted travel curve based on the travel path predicted;

a memory storing data on specifications for each of different types of vehicles, the data on specifications pertaining to a space occupied by each of the different types of vehicles when the vehicle moves along the predicted travel curve obtained by the travel prediction section;

a selection operation section for allowing a user to select a specific data for the vehicle from the data for the different types of vehicle;

a controller for computing a path pertaining to a space where the vehicle is to pass in accordance with the movement of the vehicle, on the basis of the predicted travel curve predicted by the travel prediction section, using the specific data selected by the user'"'"'s selection in the selection operation section; and

a display section for displaying the path calculated in the controller and the image captured by the camera.

2. The driving support system as defined in claim 1, wherein the data in the memory comprises information concerning a wheeltread of the vehicle, a wheelbase of the vehicle, the amount of kingpin offset, or a height at which the camera is to be mounted.

3. A driving support system for a vehicle comprising:

a camera for capturing a image of surroundings of the vehicle;

a steering angle sensor for detecting a steering angle of the vehicle;

a travel prediction section for predicting a travel path of the vehicle on the basis of the steering angle detected by the steering angle sensor to calculate a predicted travel curve based on the travel path predicted;

a memory storing data on specification of the vehicle, the data on specification pertaining to a space occupied by the vehicle when the vehicle moves along the predicted travel curve obtained by the travel prediction section;

a controller for computing a path pertaining to a space where the vehicle is to pass in accordance with the movement of the vehicle, on the basis of the predicted travel curve predicted by the travel prediction section, using the data on specification of the vehicle; and

a display section for displaying the path computed in the controller and the image captured by the camera,

wherein the controller causes the display section to display the path computed in the controller if a speed of the vehicle does not exceed a predetermined speed.

4. The driving support system as defined in claim 3, wherein the controller does not cause the display section to display the path computed in the controller if a speed of the vehicle exceeds the predetermined speed.

5. The driving support system as defined in claim 3, wherein the control section matches the predetermined speed to a speed limit imposed on vehicle-mounted equipment.

6. A driving support system for a vehicle comprising:

a camera for capturing a image of surroundings of the vehicle;

a steering angle sensor for detecting a steering angle of the vehicle;

a travel prediction section for predicting a travel path of the vehicle on the basis of the steering angle detected by the steering angle sensor to calculate a predicted travel curve based on the travel path predicted;

a memory storing data on specification of the vehicle, the data on specification pertaining to a space occupied by the vehicle when the vehicle moves along the predicted travel curve obtained by the travel prediction section;

a controller for computing a path pertaining to a space where the vehicle is to pass in accordance with the movement of the vehicle, on the basis of the predicted travel curve predicted by the travel prediction section, using the data on specification of the vehicle; and

a display section for displaying the path computed in the controller and the image captured by the camera,

wherein the controller causes the display section to display guidelines extending along with both sides of the vehicle when a speed of the vehicle does not exceed a predetermined speed.

7. The driving support system as defined in claim 6, wherein the controller does not cause the display section to display the guidelines when the speed of the vehicle exceeds the predetermined speed.

8. The driving support system for a vehicle comprising:

a camera for capturing a image of surroundings of the vehicle;

a steering angle sensor for detecting a steering angle of the vehicle;

a travel prediction section for predicting a travel path of the vehicle on the basis of the steering angle detected by the steering angle sensor to calculate a predicted travel curve based on the travel path predicted;

a memory storing data on specification of the vehicle, the data on specification pertaining to a space occupied by the vehicle when the vehicle moves along the predicted travel curve obtained by the travel prediction section;

a controller for computing a path pertaining to a space where the vehicle is to pass in accordance with the movement of the vehicle, on the basis of the predicted travel curve predicted by the travel prediction section, using the data on specification of the vehicle; and

a display section for displaying the path computed in the controller and the image captured by the camera,

wherein the controller changes the length or color of the path displayed, in accordance with a speed of the vehicle.

9. The driving support system as defined in claim 8, wherein the controller changes the length or color of the path in stepwise according to the speed of the vehicle.

10. A driving support system for a vehicle comprising:

a camera for capturing a image of surroundings of the vehicle;

a steering angle sensor for detecting a steering angle of the vehicle;

a travel prediction section for predicting a travel path of the vehicle on the basis of the steering angle detected by the steering angle sensor to calculate a predicted travel curve based on the travel path predicted;

a memory storing data on specification of the vehicle, the data on specification pertaining to a space occupied by the vehicle when the vehicle moves along the predicted travel curve obtained by the travel prediction section;

an obstacle detecting section for detecting an obstacle which is present in a travel direction of the vehicle;

a controller for computing a path pertaining to a space where the vehicle is to pass in accordance with the movement of the vehicle, on the basis of the predicted travel curve predicted by the travel prediction section, using the data on specification of the vehicle; and

a display section for displaying the path computed in the controller and the image captured by the camera,

wherein the controller changes the length or color of the path, in accordance with a detection result performed by the obstacle detecting section.

11. The vehicle driving support system as defined in claim 10, wherein the obstacle detecting section outputs at least one of a plurality of predetermined detection signals in accordance with a distance to the obstacle detected, and the controller changes the length or color of the path in stepwise according to the one of the detection signals output from the obstacle detecting section.