Driving support apparatus for tow coupling

• US 9,799,132 B2
• Filed: 10/28/2016
• Issued: 10/24/2017
• Est. Priority Date: 03/02/2011
• Status: Active Grant

• Current Assignee: Panasonic Automotive Systems Company of America (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Inventors: Okano, Kenji, Kishi, Yashio
• Primary Examiner(s): WILLIAMS, JEFFERY A
• Application Number:
  US15/336,979
• Publication Number:
  US 20170053428A1
• Time in Patent Office: 361 Days
• Field of Search: 348148
• CPC Class Codes: B60D 1/36 for facilitating connection, e.g. hitch catchers , visual guide means, signalling aids B60D1/465 takes precedence; vehicle signalling in general B60Q; optical arrangements specially adapted for viewing trailer-hitches B60R1/003
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• 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 2300/808 for facilitating docking to a trailer
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/0295 by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source
• CPC Class Codes: Y02T 10/84 Data processing systems or methods, management, administration

Abstract

A driving support device outputs, to a display means (103), a superimposed image in which a pair of left and right planar predicted trajectory guide marks (405), (406) corresponding to steering of the vehicle are superimposed onto a captured vehicle-rearview image including the tow vehicle connector (402) and the towed-vehicle connector (404). An image superimposing unit (112) superimposes sides (405a), (406a) of the predicted trajectory guide marks (405), (406) that are on the vehicle-width-center side further towards the outer edge relative to the tow vehicle connector (402), and superimposes sides (405b), (406b) of the predicted trajectory guide marks (405), (406) that are on the outer-edge side in the vehicle-width direction as predicted trajectories of the side edges of the vehicle.

Claims

1. A driving support apparatus comprising:

a non-transitory computer readable medium configured to store steps of a control program and captured images of an area behind a vehicle;

a processor configured to execute the steps of the control program, the processor having a plurality of sections;

an image acquiring section that acquires a captured image of the area behind the vehicle supported by the driving support apparatus, the area including a tow coupler at a rear portion of the vehicle and a tow-target coupler of a tow-target vehicle to be coupled to the tow coupler; and

a superimposing section that superimposes a pair of left and right planar predicted-trajectory guide marks in accordance with steering operation of the vehicle supported by the driving support apparatus, on the captured image acquired by the image acquiring section and that outputs a superimposed image, wherein

each of the pair of left and right planar predicted-trajectory guide marks comprises at least a first line that forms a first side of the predicted-trajectory guide mark located toward a center of the vehicle'"'"'s rear width and a second line that forms a second side of the predicted-trajectory guide mark located toward an outer edge of the vehicle'"'"'s rear width, the first line being separated from the second line,

the superimposing section superimposes first lines of the predicted-trajectory guide marks starting at positions on either side of the tow coupler, such that the first lines of the predicted-trajectory guide marks indicate an alignment of a predicted-trajectory of the tow coupler with respect to the tow-target coupler of the tow-target vehicle, wherein a distance between the first lines of the predicted-trajectory guide marks is similar to a width of the tow coupler, and

the superimposing section superimposes second lines in of the predicted-trajectory guide marks starting near both rear corners of the vehicle, said second lines indicating a predicted trajectory of the vehicle'"'"'s rear width.

2. The driving support apparatus according to claim 1, further comprising a display that displays the superimposed image provided by the superimposing section, wherein

the display displays the tow coupler in a gap between the first line of the left planar predicted-trajectory guide mark and the first lines of the right predicted-trajectory guide mark.

3. The driving support apparatus according to claim 2, further comprising a backward imaging section that captures an image of the area behind the vehicle supported by the driving support apparatus and that outputs the captured image to an image processing section.

4. The driving support apparatus according to claim 1, further comprising an image conversion section that generates an overhead view image by converting a view point of the captured image acquired from the image acquiring section, wherein

the superimposing section superimposes the pair of left and right planar predicted-trajectory guide marks in accordance with the steering operation of the vehicle supported by the apparatus, on the overhead view image generated by the image conversion section, in place of the captured image acquired by the image acquiring section, and that outputs the superimposed image.

5. The driving support apparatus according to claim 1, wherein a color of the first line and a color of an area between the first line and the second line are different from each other.

6. The driving support apparatus according to claim 1, further comprising a display that displays the superimposed image provided by the superimposing section, wherein

the display displays the captured image acquired by the image acquiring section in an area between the first line and the second line in the superimposed image.

7. The driving support apparatus according to claim 6, wherein the display does not display the captured image on the first line in the superimposed image.

8. The driving support apparatus according to claim 1, wherein the first lines of each of the predicted-trajectory guide marks are located on a center side of the vehicle'"'"'s rear width, on each side of the tow coupler.