Driving assistance apparatus and driving assistance method

• US 9,659,223 B2
• Filed: 10/24/2013
• Issued: 05/23/2017
• Est. Priority Date: 11/16/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Itou, Arata, Matsumoto, Muneaki
• Primary Examiner(s): Perungavoor, Sath V
• Assistant Examiner(s): Duley, Janese
• Application Number:
  US14/432,321
• Publication Number:
  US 20150286880A1
• Time in Patent Office: 1,307 Days
• Field of Search: None
• CPC Class Codes: B60K 1/00 Arrangement or mounting of electrical propulsion units B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00; electric transmission arrangements B60K17/12; electric equipment or propulsion of electrically-propelled vehicles per se B60L; current-collectors for power supply lines of electrically-propelled vehicles B60L5/00
• CPC Class Codes: B60K 1/04 of the electric storage means for propulsion exchanging batteries for electric propulsion of vehicles B60L53/80; for auxiliary purposes only B60R16/04; supplying batteries to, or removing batteries from, vehicles B60S5/06
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 53/37 using optical position determination, e.g. using cameras
• CPC Class Codes: B60L 53/38 specially adapted for charging by inductive energy transfer
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

A driving assistance apparatus captures with a camera a video image showing an area, which surrounds a vehicle and includes a target on a road surface; generates a positioning video image for positioning the vehicle; and displays the generated positioning video image on a display monitor. The driving assistance apparatus also acquires a relative location of the target with respect to the vehicle. Further, based on the relative location of the target, the driving assistance apparatus switches the display mode of the positioning video image displayed on the display monitor between a first display mode (in which the target moves with respect to the vehicle) and a second display mode (in which the vehicle moves with respect to the target).

Claims

1. A driving assistance apparatus that assists a driver of a vehicle in positioning the vehicle with respect to a target on a road surface before stopping the vehicle, the driving assistance apparatus comprising:

a vehicle-mounted camera that captures a video image showing an area around the vehicle, the area including the target;

an image generation section that generates a positioning video image to position the vehicle with respect to the target, based on the video image captured by the vehicle-mounted camera, even when the target is beneath the vehicle;

a display monitor that displays the positioning video image; and

an acquisition section that acquires a relative location of the target with respect to the vehicle, wherein

the image generation section selectively generates the positioning video image in a first display mode or the positioning video image in a second display mode based on the relative location of the target,

the first display mode being a display mode in which the target moves with respect to the vehicle,

the second display mode being a display mode in which the vehicle moves with respect to the target,

the image generation section generates the positioning video image by combining a vehicle outline image with the video image captured by the vehicle-mounted camera, the vehicle outline image being indicative of an outline of the vehicle, and

the image generation section generates the positioning video image by combining a target image with the vehicle outline image, the target image being indicative of the location of the target, when the target is hidden from the vehicle-mounted camera by the vehicle.

2. The driving assistance apparatus according to claim 1, wherein:

the image generation section generates the positioning video image by

converting the video image captured by the vehicle-mounted camera to a video image representing an overhead shot of the vehicle and

combining a vehicle outline image with the converted video image, the vehicle outline image being indicative of an outline of the vehicle.

3. The driving assistance apparatus according to claim 2, wherein

the image generation section generates the positioning video image by combining a target image with the vehicle outline image, the target image being indicative of the location of the target, when the target is located below the vehicle.

4. The driving assistance apparatus according to claim 1, wherein

the image generation section generates the positioning video image by combining a mark image with the vehicle outline image, the mark image being indicative of an in-vehicle positioning mark used to position the vehicle with respect to the target.

5. The driving assistance apparatus according to claim 1, wherein

the image generation section generates the positioning video image in the second display mode when the target is within a switching range predefined around the vehicle.

6. The driving assistance apparatus according to claim 1, wherein:

the vehicle includes

an electric motor that generates a driving force to run the vehicle,

a battery that supplies electric power to the electric motor, and

a power receiver that receives electric power that is stored in the battery, from an outside source separate from the vehicle, in a non-contact manner; and

the target is a power feeder that supplies electric power to the power receiver in a non-contact manner.

8. The driving assistance apparatus according to claim 2, wherein

the image generation section generates the positioning video image by combining a mark image with the vehicle outline image, the mark image being indicative of an in-vehicle positioning mark used to position the vehicle with respect to the target.

7. A driving assistance method that assists a driver of a vehicle in positioning the vehicle with respect to a target on a road surface before stopping the vehicle, the driving assistance method comprising:

capturing a video image showing an area around the vehicle, the area including the target;

acquiring a relative location of the target with respect to the vehicle;

selecting, as a display mode used when the video image showing the area around the vehicle is to be displayed in a display monitor, a selected display mode that is one of a first display mode and a second display mode, based on the relative location of the target,

the first display mode being a display mode in which the target moves with respect to the vehicle,

the second display mode being a display mode in which the vehicle moves with respect to the target;

generating a positioning video image by combining a vehicle outline image with the video image by combining a vehicle outline image with the video image captured by the vehicle-mounted camera, the vehicle outline image being indicative of an outline of the vehicle of an outline of the vehicle;

generating the positioning video image to position the vehicle with respect to the target even while the target is beneath the vehicle by combining a target image with the vehicle outline image, the target image being indicative of the location of the target, when the target is hidden from the vehicle-mounted camera by the vehicle; and

displaying, in the display monitor, the video image showing the area around the vehicle in the selected display mode.