JP7147300B2 - 牽引支援装置 - Google Patents
牽引支援装置 Download PDFInfo
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- JP7147300B2 JP7147300B2 JP2018128596A JP2018128596A JP7147300B2 JP 7147300 B2 JP7147300 B2 JP 7147300B2 JP 2018128596 A JP2018128596 A JP 2018128596A JP 2018128596 A JP2018128596 A JP 2018128596A JP 7147300 B2 JP7147300 B2 JP 7147300B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—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
- B60R1/002—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
- B60R1/003—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like for viewing trailer hitches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/02—Steering specially adapted for trailers for centrally-pivoted axles
- B62D13/025—Steering specially adapted for trailers for centrally-pivoted axles the pivoted movement being initiated by the coupling means between tractor and trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
Claims (5)
- 被牽引車両を連結可能な牽引車両に設けられた撮像部で周辺画像として撮像された、前記牽引車両の後方領域を含む後方画像と前記牽引車両の側方領域を含む側方画像とを逐次取得する画像取得部と、
前記牽引車両と前記被牽引車両との連結角度を取得する角度取得部と、
前記被牽引車両を連結した前記牽引車両が後退走行可能な状態で、表示部に前記側方画像が表示されている場合に、前記牽引車両の後退走行時の操舵で前記連結角度を小さくする変更制御が不能となる第一の角度以上になった場合、前記表示部に表示する前記周辺画像を前記側方画像から前記被牽引車両と前記牽引車両とを連結する連結部材が表示された前記後方画像に切り替える表示処理部と、
を備える牽引支援装置。 - 前記表示処理部は、前記被牽引車両を連結した前記牽引車両が後退走行可能な状態に移行した場合に、前記表示部に前記周辺画像として前記後方画像を表示し、前記牽引車両の前後方向を基準に前記連結角度が前記第一の角度より小さい第二の角度以上になった場合に前記表示部に表示する前記周辺画像を前記被牽引車両の旋回内側の前記側方画像に切り替え、前記第一の角度になった場合に前記表示部に表示する前記周辺画像を前記後方画像に切り替える、請求項1に記載の牽引支援装置。
- 前記表示処理部は、前記連結角度が前記第一の角度以上になった場合に表示する前記後方画像における車幅方向の表示領域を、前記牽引車両が後退走行可能な状態に移行した場合に表示する前記後方画像における車幅方向の表示領域より広げる、請求項2に記載の牽引支援装置。
- 前記連結角度が前記第一の角度になった場合に、前記牽引車両の後退走行時の操舵で前記連結角度を小さくする変更制御が不能であることを報知する報知部をさらに備える、請求項1から請求項3のいずれか1項に記載の牽引支援装置。
- 前記表示処理部は、前記連結角度が前記第一の角度以上になった場合に、前記牽引車両と前記被牽引車両とが接触する可能性のある位置を前記表示部に表示する、請求項1から請求項4のいずれか1項に記載の牽引支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018128596A JP7147300B2 (ja) | 2018-07-05 | 2018-07-05 | 牽引支援装置 |
US16/502,243 US11292387B2 (en) | 2018-07-05 | 2019-07-03 | Towing assistance apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018128596A JP7147300B2 (ja) | 2018-07-05 | 2018-07-05 | 牽引支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020006777A JP2020006777A (ja) | 2020-01-16 |
JP7147300B2 true JP7147300B2 (ja) | 2022-10-05 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2018128596A Active JP7147300B2 (ja) | 2018-07-05 | 2018-07-05 | 牽引支援装置 |
Country Status (2)
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US (1) | US11292387B2 (ja) |
JP (1) | JP7147300B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102650306B1 (ko) * | 2018-10-16 | 2024-03-22 | 주식회사 에이치엘클레무브 | 차량 제어 시스템, 차량 제어 방법 |
US11975614B2 (en) * | 2021-08-11 | 2024-05-07 | Ford Global Technologies, Llc | Vehicle-to-vehicle towing communication link |
JP2023177148A (ja) * | 2022-06-01 | 2023-12-13 | 株式会社ジェイテクト | 連結車両の後退制御装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012222391A (ja) | 2011-04-04 | 2012-11-12 | Denso Corp | 車両後方監視装置 |
JP2014502582A (ja) | 2011-01-13 | 2014-02-03 | コンチネンタル オートモーティブ システムズ インコーポレイテッド | 後退移動中に車両−トレーラユニットを操作するシステムおよび方法 |
WO2014174028A1 (en) | 2013-04-26 | 2014-10-30 | Jaguar Land Rover Limited | Vehicle hitch assistance system |
DE102014015753A1 (de) | 2014-10-23 | 2016-04-28 | Man Truck & Bus Ag | Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Fahrzeug-Gespanns, insbesondere eines Nutzfahrzeug-Gespanns |
JP2016119526A (ja) | 2014-12-19 | 2016-06-30 | アルパイン株式会社 | 牽引車両周囲画像生成装置および牽引車両周囲画像生成方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2447672B (en) * | 2007-03-21 | 2011-12-14 | Ford Global Tech Llc | Vehicle manoeuvring aids |
JPWO2012117693A1 (ja) * | 2011-03-02 | 2014-07-07 | パナソニック株式会社 | 運転支援装置及び牽引車 |
US9854209B2 (en) * | 2011-04-19 | 2017-12-26 | Ford Global Technologies, Llc | Display system utilizing vehicle and trailer dynamics |
GB2505666B (en) | 2012-09-06 | 2015-07-01 | Jaguar Land Rover Ltd | Method and system for preventing instability in a vehicle-trailer combination |
-
2018
- 2018-07-05 JP JP2018128596A patent/JP7147300B2/ja active Active
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2019
- 2019-07-03 US US16/502,243 patent/US11292387B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014502582A (ja) | 2011-01-13 | 2014-02-03 | コンチネンタル オートモーティブ システムズ インコーポレイテッド | 後退移動中に車両−トレーラユニットを操作するシステムおよび方法 |
JP2012222391A (ja) | 2011-04-04 | 2012-11-12 | Denso Corp | 車両後方監視装置 |
WO2014174028A1 (en) | 2013-04-26 | 2014-10-30 | Jaguar Land Rover Limited | Vehicle hitch assistance system |
DE102014015753A1 (de) | 2014-10-23 | 2016-04-28 | Man Truck & Bus Ag | Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Fahrzeug-Gespanns, insbesondere eines Nutzfahrzeug-Gespanns |
JP2016119526A (ja) | 2014-12-19 | 2016-06-30 | アルパイン株式会社 | 牽引車両周囲画像生成装置および牽引車両周囲画像生成方法 |
Also Published As
Publication number | Publication date |
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US11292387B2 (en) | 2022-04-05 |
US20200010018A1 (en) | 2020-01-09 |
JP2020006777A (ja) | 2020-01-16 |
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