Driving assistance device

Abstract

The present invention provides a driving assistance device capable of easily selecting a towed vehicle from a plurality of candidate vehicles on a vehicle selection screen displayed on a display device when driving assistance is performed on a towing vehicle that tows the towed vehicle. A driving assistance device (1) that assists a passenger (user) in a towing vehicle (2) in vehicle operation, the driving assistance device (1) being configured so as to display, on a liquid crystal display (15), a vehicle selection screen (71) for selecting a towed vehicle (3) to be towed by the towing vehicle (2) from among one or more candidate vehicles (40); a vehicle assistance unit that uses a candidate vehicle (40) selected by the user in the vehicle selection screen (71) as a towed vehicle (3) to be towed by the towing vehicle (2), and that assists the towed vehicle (3) using information relating to the towed vehicle (3); on the other hand, a candidate vehicle image (41), which is an image of a candidate vehicle captured by a rear camera (9), is displayed on a vehicle selection screen (71) for each candidate vehicle that is a selection candidate.

Description

Technical Field

[0001] This invention relates to a driving assistance device for assisting the driving of a vehicle. Background Technology

[0002] Previously, there were known driving assistance devices that assisted in driving various vehicles in different scenarios; or replaced the driver in performing part or all of the driving operations; or provided information for driving operations. For example, there are known parking assistance devices, which calculate the driving trajectory when parking and guide and control the vehicle by parking along the calculated trajectory.

[0003] Here, especially when providing the aforementioned driving assistance to a tractor (trailer) towing a towed vehicle (trailer), it is necessary to consider not only the behavior of the tractor but also the behavior of the towed vehicle when providing driving assistance. Furthermore, it is therefore necessary to have information about the towed vehicle connected to the tractor at the device side. Information about the towed vehicle may include, for example, the position of the towed vehicle's connector and its wheelbase. Therefore, Japanese Patent Application Publication No. 2020-37301 discloses the following technology: in a control device for corner control used to prevent swaying motion that occurs during the driving of a tractor towing a towed vehicle, information about the towed vehicle is pre-registered in a memory, and this information is retrieved from the device side by reading the registered information from the memory.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2020-37301 (Paragraph 0016)

[0005] Here, the position of the connector and the wheelbase are inherent parameters that vary from vehicle to vehicle. Therefore, for example, as in Patent Document 1 above, if the information of the vehicle to be towed is pre-stored in the memory, it is necessary to pre-store the information of multiple vehicles to be towed, especially when there is a possibility of towing multiple vehicles. Moreover, when implementing driving assistance, it is necessary to select the information of the vehicle to be towed from the stored information of multiple vehicles to be towed. Summary of the Invention

[0006] The present invention was made to solve the above-mentioned existing problems, and its purpose is to provide a driving assistance device that allows the driver to easily select the towed vehicle from multiple candidate vehicles in the vehicle selection screen displayed on the display device when providing driving assistance to the towing vehicle.

[0007] To achieve the above objectives, the driving assistance device of the present invention is a driving assistance device that assists a user in vehicle operation in a tractor unit, wherein a vehicle selection screen is displayed on a display device to select a towed vehicle from one or more candidate vehicles to be towed by the tractor unit; the candidate vehicles selected by the user in the vehicle selection screen are used as towed vehicles to be towed by the tractor unit, and information related to the towed vehicles is used for assistance; and in the vehicle selection screen, images of the candidate vehicles captured by the imaging device, i.e., candidate vehicle images, are displayed on a unit basis, on a unit basis, of the candidate vehicles that have become the selection candidates.

[0008] According to the driving assistance device of the present invention having the above-described structure, when providing driving assistance to a towing vehicle to tow a towed vehicle, by displaying images of candidate vehicles taken by a camera device on a vehicle selection screen displayed on a display device, the towed vehicle can be easily selected from multiple candidate vehicles. As a result, the operability of vehicle selection can be improved. Attached Figure Description

[0009] Figure 1 This diagram shows the tractor and the towed vehicle in this embodiment.

[0010] Figure 2 It is an enlarged view showing the area near the tractor unit of the tractor.

[0011] Figure 3 This diagram shows the movement of the tractor and the towed vehicle after the hook ball and connector are connected.

[0012] Figure 4 This is a block diagram showing the structure of the driving assistance device in this embodiment.

[0013] Figure 5 This is a diagram representing an example of the information stored in the registration information database.

[0014] Figure 6 This is a flowchart of the candidate vehicle registration processing procedure in this embodiment.

[0015] Figure 7 This is a diagram showing the selection screen for overlay objects displayed on a liquid crystal display.

[0016] Figure 8 This is a diagram showing the vehicle registration screen displayed on the LCD monitor.

[0017] Figure 9 This is a diagram illustrating the calibration process.

[0018] Figure 10 This is a diagram showing the screen displayed on the LCD during the calibration process.

[0019] Figure 11 This is a diagram showing the confirmation screen of the image displayed on the LCD monitor.

[0020] Figure 12 These are other examples of images displayed on a liquid crystal display (LCD) screen.

[0021] Figure 13 This is a flowchart of the candidate vehicle update process in this embodiment.

[0022] Figure 14 This is a diagram showing the screen displaying the updated object selection on the LCD monitor.

[0023] Figure 15 This is a diagram showing the selection screen for information displayed on an LCD monitor.

[0024] Figure 16 This is a flowchart of the candidate vehicle selection process in this embodiment.

[0025] Figure 17 This is a diagram showing the vehicle selection screen displayed on the LCD screen.

[0026] Explanation of reference numerals in the attached figures

[0027] 1…Driver assistance device, 2…Towing vehicle, 3…Towed vehicle, 9…Rear camera, 15…Liquid crystal display (display device), 22…Registration information DB (storage medium), 31…CPU, 32…RAM, 33…ROM, 40…Candidate vehicle, 41…Candidate vehicle image, 56…Candidate image. Detailed Implementation

[0028] Hereinafter, one embodiment of the driving assistance device of the present invention will be described in detail with reference to the accompanying drawings.

[0029] [Explanation of the tractor and the towed vehicle]

[0030] First, the following describes the tractor (trailer) 2 equipped with the driving assistance device 1 of this embodiment and the towed vehicle (trailer) 3 towed by the tractor 2. Figure 1 The diagram shows the tractor 2 and the towed vehicle 3. In particular, the upper diagram shows the state after the tractor 2 and the towed vehicle 3 are connected, while the lower diagram shows the state before the tractor 2 and the towed vehicle 3 are connected.

[0031] Here, the tractor unit 2 is also referred to as a trailer, configured to tow the towed vehicle 3 and allow it to move. The tractor unit 2 can be, for example, a car powered by an internal combustion engine (such as an engine) (internal combustion engine vehicle), a car powered by an electric motor (such as a motor) (electric vehicle, fuel cell vehicle, etc.), or a car powered by both (hybrid vehicle). Furthermore, there are no restrictions on the type of vehicle; as long as it has the towing device 4 described later, it can be either a regular car or a large commercial trailer (trailer unit).

[0032] In addition, such as Figure 1 As shown, the towing device 4 (hook) configured for towing the towed vehicle 3 protrudes from the lower part of the center of the rear bumper of the towing vehicle 2, for example, in the vehicle width direction. Figure 2 A particularly enlarged view shows the area near the traction device 4.

[0033] like Figure 2 As shown, the towing device 4 is fixed to, for example, a frame of the towing vehicle 2. As an example, the towing device 4 includes a hook ball 5 with a spherical front end that is erected vertically (in the vehicle's vertical direction). The hook ball 5 is covered by a connector 7 located at the front end of the connecting member 6 fixed to the towed vehicle 3, thereby connecting the towing vehicle 2 and the towed vehicle 3. The shapes of the hook ball 5 and the connector 7 are not limited to those shown. Figure 2 The shape shown can be any shape, as long as it can connect the tractor 2 and the towed vehicle 3. In addition, although the towing device 4 is fixed to the tractor 2, it can be a component that can be removed by using tools or the like, and can be replaced according to the towed vehicle 3.

[0034] Furthermore, with the hook ball 5 and connector 7 connected, the hook ball 5 transmits its forward, backward, left, and right movements to the towed vehicle 3 (connecting component 6) according to the movement of the tractor 2. Additionally, as... Figure 3 As shown, even when the connector 7 is connected to the hook ball 5, the angle of the connector 7 relative to the hook ball 5 can be freely (but with an upper limit), and the towed vehicle 3 can swing (rotate) relative to the towed vehicle 2 in the vehicle width direction.

[0035] On the other hand, such as Figure 1As shown, a rear camera (shooting device) 9 is installed on the wall of the rear cargo door on the rear side of the tractor 2. The rear camera 9 is, for example, a digital camera with a built-in CCD, CIS, or other imaging element. The rear camera 9 can output moving image data (captured image data) at a specified frame rate. The rear camera 9 has a wide-angle lens or a fisheye lens, and its optical axis is set to be obliquely downward, enabling it to capture a range of, for example, 140° to 220° in the horizontal direction. Therefore, when the towed vehicle 3 is connected, the rear camera 9 can output data capturing a wide range of images including the towed vehicle 3 located at the rear.

[0036] Furthermore, when the towed vehicle 3 is connected, the field of view of the rear camera 9 also includes the towing device 4 and the hook ball 5 located at the rear end of the towing vehicle 2. Therefore, the image data captured by the rear camera 9 can be used, for example, to detect the connection status of the towing vehicle 2 and the towed vehicle 3 (e.g., connection angle (hook angle), whether connected, etc.). Moreover, as described later, the image of the towed vehicle 3 captured by the rear camera 9 can also be used as a candidate vehicle image (thumbnail image) when registering the towed vehicle 3. The mechanism for detecting the connection status of the towing vehicle 2 and the towed vehicle 3 can also replace the rear camera 9, and a sensor provided on the towing device 4 can be used instead. In addition to the rear camera 9, cameras for capturing images of the periphery of the towing vehicle 2 can also be provided to capture images of the front and sides.

[0037] On the other hand, the towed vehicle 3, also known as a trailer, is towed by the aforementioned towing vehicle 2. Therefore, it is essentially different from the towing vehicle 2, lacking an engine or motor as a drive source. Furthermore, it lacks a steering mechanism (steering system) for changing the direction of the wheels. Examples of this type include camping trailers with internal living space, and light trailers for transporting vehicles or boats. The towed vehicle 3 includes a main body, multiple (in this embodiment, two) trailer wheels, a connecting component 6, and a connector 7.

[0038] Here, as Figure 1 As shown, the connecting member 6 is located at the lower part of the central part of the main body of the towed vehicle 3 in the vehicle width direction, and is configured to protrude forward (in the direction of travel) from the front end of the main body.

[0039] In addition, such as Figure 2 As shown, connector 7 is located at the front end of connecting member 6 and has a spherical recess covering hook ball 5. Furthermore, as described above, by connecting connector 7 covering hook ball 5, the towing vehicle 3 and towing vehicle 2 are rotatably connected (see reference). Figure 3Furthermore, the length of the connecting component 6 and its height above the ground (i.e., the position of the connector 7 of the towed vehicle 3) vary depending on the type of towed vehicle 3. In this embodiment, the connector 7 is located at least in a position where it can connect with the hook ball 5 of the towed vehicle 2.

[0040] Furthermore, the relationship between the towing vehicle 2 and the towed vehicle 3 is not one-to-one. For example, the towing vehicle 2 can connect to and tow any towed vehicle 3 selected from multiple towed vehicles 3, depending on the purpose of travel. For example, when going on a trip, a camping trailer can be connected; when transporting a car or boat, a light trailer can be connected, etc., allowing for free selection. That is, the connecting component 6 of the towed vehicle 3 is not a component inherent to each vehicle; for example, it is a universal component that is common to each vehicle manufacturer.

[0041] Furthermore, in the driving assistance device 1 of this embodiment, information related to a candidate towed vehicle 3 (e.g., the position of the connector, trailer wheelbase, etc.) can be pre-registered. When the towed vehicle 3 is connected to the tractor 2, by selecting the information of the currently connected towed vehicle 3 from the registered information, appropriate driving assistance matching the currently towed vehicle 3 can be implemented. Details will be described later.

[0042] [Explanation of Driving Assistance Devices]

[0043] Next, the driving assistance device 1 equipped on the tractor 2 will be described. The driving assistance device 1 is a device used to assist the driver in operating the vehicle when the tractor 2 is connected to the towed vehicle 3. In the following description, the driving assistance device 1 will be described as a driving assistance device, especially as a parking assistance device when parking in a designated parking space, but it is not limited to parking assistance. For example, it can also be a device for exiting a parking space or for driving assistance during normal driving on the road. Figure 4 This is a block diagram showing the structure of the driving assistance device 1 in this embodiment.

[0044] like Figure 4As shown, the driving assistance device 1 of this embodiment includes: vehicle information DB21 that records various data related to the towing vehicle 2; registration information DB22 that records various data pre-registered related to vehicles that are candidates for being towed vehicles 3; and a driving assistance ECU 23 that performs various calculations based on the input information. Furthermore, the driving assistance device 1 is connected via a vehicle network such as CAN to an operation unit 14 that receives operations from passengers (users) of the towing vehicle 2; a liquid crystal display 15 that displays driving assistance information such as images captured by the rear camera 9, vehicle registration screens (described later), and vehicle selection screens to the passengers of the towing vehicle 2; and a speaker 16 that outputs voice guidance related to driving assistance. Moreover, the driving assistance device 1 is also connected via a vehicle network such as CAN to various sensors such as the rear camera 9 installed on the towing vehicle 2; the vehicle control ECU 24 that performs various controls on the towing vehicle 2; and a vehicle speed sensor 25, a steering sensor 26, and a shift position sensor 27.

[0045] The operation unit 14 is a user interface provided on the instrument panel and steering wheel of the tractor 2. It handles operations such as registering vehicles (hereinafter referred to as candidate vehicles) to be towed by the tractor 3, selecting a vehicle from the candidate vehicles to be towed, and providing instructions to passengers for driver assistance. It also includes various keys, buttons, and other operation switches (not shown). Furthermore, the driver assistance ECU 23 controls the execution of various corresponding actions based on switch signals output by pressing these switches. Additionally, the operation unit 14 may also have a touch panel located in front of the LCD display 15. Furthermore, it may include a microphone and a voice recognition device.

[0046] The LCD display 15 is a type of display device installed on the instrument panel of the tractor 2. It displays a vehicle registration screen for registering candidate vehicles and a vehicle selection screen for selecting a vehicle from the candidate vehicles to be towed. Furthermore, when parking assistance is activated, it also displays images captured by the rear camera 9 and overhead views of the vehicle's surroundings generated based on images captured by multiple cameras, including the rear camera 9. Additionally, the LCD display 15 can also function as a display for a navigation device.

[0047] In addition, based on instructions from the driver assistance ECU 23, the speaker 16 outputs audio guidance to direct driving when parking assistance is activated. Furthermore, the speaker 16 can also function as a speaker for a navigation system.

[0048] In addition, the vehicle information DB21 is a storage mechanism that stores various information related to the tractor 2. For example, it stores the installation position of the rear camera 9 of the tractor 2 (height from the ground, left-right position, distance from the rear of the vehicle), optical axis direction, the installation position of the hook ball 5 (height from the ground, distance from the rear of the vehicle), overall length, vehicle width, wheelbase, minimum turning radius, etc. It also stores the distance from the rear axle of the tractor 2 to the connection point between the tractor 2 and the towed vehicle 3 (the position of the hook ball 5). This information is basically fixed, so although it is information registered by personnel at the vehicle manufacturer at the factory, as mentioned above, since the towing device 4 installed on the tractor 2 is a replaceable component, the information related to the hook ball 5 is designed to be information that passengers can register after the vehicle leaves the factory.

[0049] On the other hand, the registration information DB22 is a storage mechanism that distinguishes and stores various information related to candidate vehicles registered by passengers, on a per-vehicle basis. Here, Figure 5 This is a diagram representing an example of the information stored in the registration information DB22.

[0050] like Figure 5 As shown, the registration information DB22 stores, on a per-candidate-vehicle-40 basis (connected to the tractor 2, thus equivalent to the towed vehicle 3), the registration date for registering information on the candidate vehicle 40, the distance A of the tractor 2 from the rear end of the vehicle to the location of the hook ball 5, the height B of the connector 7 of the candidate vehicle 40 from the ground, and the distance C (trailer wheelbase) from the rotation center of the candidate vehicle 40 to the connection point (position of the hook ball 5) between the tractor 2 and the candidate vehicle 40. Here, the rotation center of the candidate vehicle 40 is also represented as a reference point; when the candidate vehicle 40 is a single axle (with two wheels), the axle center becomes the rotation center. On the other hand, when the candidate vehicle 40 is a dual-axle vehicle (with four wheels), the rotation center exists between the two axles (its position varies depending on the load distribution). Furthermore, while the distance A of the tractor 2 from the rear end of the vehicle to the location of the hook ball 5 should ideally be information related to the tractor 2, the towing device 4 is a component that can be replaced depending on the towed vehicle 3; therefore, in this embodiment, it is stored as information related to the candidate vehicle 40. In addition to the above information, the left and right positions of connector 7, the distance from the front of the vehicle to connector 7, the total length of candidate vehicle 40, vehicle width, minimum turning radius, etc., can also be included in the information related to candidate vehicle 40.

[0051] In addition, the registration information DB22 also stores a candidate vehicle image 41 in association with information related to the aforementioned candidate vehicle 40. The candidate vehicle image 41 is an image of the candidate vehicle 40 taken by the rear camera 9 of the tractor 2. Moreover, as described later, the candidate vehicle image 41 is used as a thumbnail image in the vehicle selection screen for selecting a vehicle from the candidate vehicles 40 to be towed.

[0052] Furthermore, as described later, the information related to the candidate vehicles 40 stored in the registration information DB22 is input by the passenger of the tractor 2 through operation based on the vehicle registration screen displayed on the LCD 15. As candidate vehicles 40 are added, information is input for each one and registered (stored) in the registration information DB22 as information related to the candidate vehicle 40. Additionally, an upper limit is set on the number of candidate vehicles that can be registered in the registration information DB22 (e.g., three vehicles). If the upper limit is exceeded, the passenger can select and overwrite information related to unwanted candidate vehicles 40. Furthermore, the registered information can also be updated (corrected) through user operation. The storage medium for the vehicle information DB21 and the registration information DB22 can be, for example, a memory card. Alternatively, it can be located in the storage area within the driver assistance ECU 23 (e.g., RAM, flash memory).

[0053] On the other hand, the driver assistance ECU (electronic control unit) 23 is an electronic control unit that performs overall control of the driver assistance device 1. In addition to a CPU 31 that serves as a computing and control unit, and a RAM 32 that serves as working memory during various calculations and stores track data such as when generating parking tracks, as well as a control program, it also stores a candidate vehicle registration processing program (described later) recorded on the CPU 31. Figure 6 Candidate vehicle update processing procedure (refer to) Figure 13 Candidate vehicle selection processing procedure (refer to) Figure 16The ECU 23 contains internal storage devices such as ROM 33 and flash memory 34 for programs read from ROM 33. Additionally, the driver assistance ECU 23 performs various functions as processing algorithms. These functions include: displaying a vehicle selection screen on the LCD 15 showing which vehicles 3 to be towed by the tractor 2 will be selected from one or more candidate vehicles 40; providing assistance by using information related to the towed vehicle 3 when the candidate vehicle 40 selected by the passenger (user) in the vehicle selection screen is selected as the towed vehicle 3 to be towed by the tractor 2; acquiring information related to the candidate vehicle 40; correcting the acquired information related to the candidate vehicle 40 by performing prescribed driving while the candidate vehicle 40 is connected to the tractor 2; and registering the information related to the candidate vehicle 40 in association with the candidate vehicle image 41.

[0054] Furthermore, the vehicle control ECU 24 is an electronic control unit that controls the tractor 2. The vehicle control ECU 24 is connected to various drive units of the vehicle, such as the steering system, brakes, accelerator, and transmission. In this embodiment, for example, during parking assistance (assisting parking in a parking space), the tractor 2 can be automated by controlling each drive unit. Specifically, the driver assistance ECU 23 sends various assistance information related to automated driving assistance generated by the driver assistance device 1 to the vehicle control ECU 24 via CAN. The vehicle control ECU 24 uses the received assistance information to implement automated driving assistance after it begins. Examples of assistance information include, for instance, information indicating the recommended travel path of the tractor 2 and the towed vehicle 3, the vehicle speed along the travel path, and the steering angle. In automated driving assistance, only steering can be performed automatically, or the drive source, brakes, and transmission can also be controlled automatically. On the other hand, the aforementioned automated driving assistance is not mandatory for the tractor 2; the tractor 2 can also be configured as a vehicle that can only be manually driven. In this case, when parking assistance is performed, instead of the aforementioned automatic driving assistance, guidance is provided for steering, braking, accelerator, and gear shifting positions to guide the vehicle along the recommended driving trajectory.

[0055] In addition, the vehicle speed sensor 25 is composed of active wheel speed sensors installed on the wheels of the tractor 2, which detect the rotational speed of the wheels and output a speed signal. Furthermore, the steering sensor 26 is installed inside the steering mechanism, detects the steering angle when the steering wheel is turned, and outputs a steering angle signal. Moreover, the shift position sensor 27 is built into the shift lever and detects whether the shift position is in any of the following positions: "P (Park)," "N (Neutral)," "R (Reverse)," "D (Drive)," "2 (Second Gear)," or "L (Low Gear)."

[0056] The driving assistance ECU23 can obtain the current speed, distance traveled, steering angle, and gear shift position of the tractor 2 based on the output signals from the various sensors mentioned above.

[0057] [Explanation of the processing procedures performed in driver assistance devices]

[0058] Next, based on Figure 6 The candidate vehicle registration processing procedure executed by the driving assistance ECU 23 in the driving assistance device 1 having the above structure will be described. Figure 6 This is a flowchart of the candidate vehicle registration process in this embodiment. Here, the candidate vehicle registration process is executed when the operation unit 14 of the tractor 2 receives a prescribed operation to begin registering information related to a candidate vehicle, and a process for newly registering information related to a candidate vehicle that has become a candidate for the towed vehicle 3. Furthermore, this is based on the premise that the candidate vehicle 40 is connected to the tractor 2. Additionally, in the following... Figure 6 , Figure 13 as well as Figure 16 The program shown in the flowchart is stored in the RAM32 and ROM33 of the driving assistance device 1 and is executed by the CPU31.

[0059] First, in step (hereinafter referred to as S)1, CPU31 determines whether there is any vacancy in the number of registrations related to the candidate vehicle in registration information DB22. For example... Figure 5 As shown, although the registration information DB22 distinguishes and stores information related to candidate vehicles registered by passengers of the tractor 2 on a per-candidate-vehicle basis, there is an upper limit (e.g., three vehicles) on the number of candidate vehicles that can register information in the registration information DB22. Therefore, in S1 above, it is determined whether there is any vacancy relative to this upper limit.

[0060] Furthermore, if there is a vacancy in the number of registrations for candidate vehicles (S1: Yes), proceed to S3. Conversely, if there is no vacancy in the number of registrations for candidate vehicles (S1: No), proceed to S2.

[0061] In S2, CPU31 selects candidate vehicles to be covered based on passenger actions. For example, in the above S2, such as Figure 7As shown, the LCD display 15 displays an overlay selection screen 51. In the overlay selection screen 51, candidate vehicle images 41 are displayed in units of candidate vehicles currently registered in the registration information DB22. That is, the candidate vehicle images 41 are displayed as a list of thumbnail images. Passengers can visually confirm the candidate vehicle images 41 displayed on the overlay selection screen 51 and select information of candidate vehicles to be overlaid (i.e., the objects to be deleted). That is, by using a touch panel or the like to select candidate vehicle images 41, information of candidate vehicles associated with the selected candidate vehicle image 41 is selected as the overlay object. Furthermore, in Figure 7 In the example shown, although only candidate vehicle image 41 is displayed, information about the candidate vehicle, i.e., Figure 5 The registration date, parameter values ​​A, B, and C are displayed together with the candidate vehicle image 41. Furthermore, user-defined vehicle names and registration names can also be displayed.

[0062] In S3, CPU31 identifies candidate vehicles for newly registered objects based on the passenger's input. For example, in the above S3, such as... Figure 8 As shown, the LCD screen 15 displays the vehicle registration screen 52. The vehicle registration screen 52 first displays an input screen for the distance A from the rear of the tractor 2 to the setting position of the hook ball 5. After the passenger inputs the value of distance A using the operation unit 14, they select the "Next" icon. Next, the vehicle registration screen 52 displays an input screen for the height B of the connector 7 of the candidate vehicle 40 from the ground. After the passenger inputs the value of height B using the operation unit 14, they select the "Next" icon. Finally, the vehicle registration screen 52 displays an input screen for the distance C (equivalent to the trailer wheelbase) from the rotation center of the candidate vehicle 40 to the connection point (position of the hook ball 5) between the tractor 2 and the candidate vehicle 40. After the passenger inputs the value of distance C using the operation unit 14, they select the "Next" icon. This concludes the input of the candidate vehicle information. The input units for distances A to C are... Figure 8 Although it is a metric unit, it can also be an imperial unit.

[0063] Next, in S4, CPU31 performs a calibration process using the candidate vehicle information input in S3 as the target. Furthermore, the calibration process in S4 is a correction process performed by actually driving the vehicle to ensure the correctness of the candidate vehicle information input in S3. However, performing the calibration process in S4 is not mandatory and can be done only when the passenger requests it.

[0064] If the calibration process begins in S4 above, driving instructions are output to the passenger through the LCD display 15 or speaker 16. For example, instructions such as "Please proceed in a straight line," "Please turn left," and "Please turn right" are output sequentially. Furthermore, if... Figure 9 As shown, when the passenger of tractor 2 is instructed to "Proceed in a straight line," the steering wheel is in a neutral position, and tractor 2 moves forward. Conversely, when the passenger is instructed to "Turn left," tractor 2 moves forward with the steering wheel turned to the left. And when the passenger is instructed to "Turn right," tractor 2 moves forward with the steering wheel turned to the right. Furthermore, assuming the candidate vehicle 40 is connected to tractor 2, candidate vehicle 40 also moves forward along with tractor 2.

[0065] Furthermore, the CPU 31 acquires the steering angle, travel distance, position shift of the towed vehicle 3, and connection angle (hook angle) between the towing vehicle 2 and the candidate vehicle 40 relative to the aforementioned indicated movement, respectively. The travel distance and steering angle of the towing vehicle 2 can be obtained, for example, from the vehicle speed sensor 25 and the steering sensor 26. The position and hook angle of the towed vehicle 3 can be determined, for example, from images captured by the rear camera 9. Moreover, based on the steering angle, travel distance, position shift of the towed vehicle 3, and connection angle (hook angle) between the towing vehicle 2 and the towed vehicle 3, the CPU 31 verifies whether the values ​​of distances A to C input in S3 are correct, and corrects any discrepancies between the actual and input values. Specifically, the verification is performed based on the difference between the theoretical and measured values ​​derived from distances A to C.

[0066] The calibration method is not limited to the method described above. Alternatively, the travel trajectory depicted by the tractor 2 moving relative to the above-mentioned indication and the travel trajectory depicted by the candidate vehicle 40 can be obtained respectively, and the values ​​of distances A to C can be verified as correct based on the travel trajectories.

[0067] Next, in S5, while performing the calibration process in S4, the CPU 31 acquires the image data captured by the rear camera 9. Furthermore, when the candidate vehicle 40 is connected, the field of view of the rear camera 9 at least includes the candidate vehicle 40. That is, the image data acquired in S5 becomes an image of the candidate vehicle 40 captured by the rear camera 9. Additionally, the image data acquired in S5 can be a single frame or multiple frames. Furthermore, the timing of acquiring the image data captured by the rear camera 9 during the calibration process can be determined either by the device or by the passenger. If the determination is made by the device, for example, it is set to the moment when the steering angle and hook-up angle reach a predetermined angle. On the other hand, as... Figure 10 As shown, when a passenger makes a decision, for example during the calibration process performed in S4 above, the real-time captured image 53 by the rear camera 9 is displayed on the liquid crystal display 15. In addition to the captured image 53, the liquid crystal display 15 also displays a capture icon 54, and acquires the captured image data by the rear camera 9 at the moment the passenger selects the capture icon 54 via a touch panel or the like in S5 above, i.e., the moment indicated by the passenger.

[0068] Furthermore, when determining at what moment the image data captured by the rear camera 9 should be acquired, it is preferable to acquire an image captured, especially when the steering angle of the tractor 2 is within a predetermined angle range (e.g., less than 15 degrees left or right). Accordingly, image data capturing the candidate vehicle 40 from the frontal direction can be acquired as much as possible. Additionally, the predetermined angle range can be set based on user operation. Furthermore, it is also possible to acquire multiple image data in S5 and then allow the passenger to select the image data as the candidate vehicle image 41.

[0069] Next, in S6, the CPU 31 displays the captured image data obtained in S5 as a candidate for the candidate vehicle image 41 on the liquid crystal display 15. For example, as Figure 11 As shown, the liquid crystal display 15 displays an image confirmation screen 55, which displays the captured image data (hereinafter referred to as candidate image 56) obtained in the above-described S5. Additionally, in Figure 11 In the example shown, only one candidate image 56 is displayed, but multiple candidate images 56 taken at different times can also be displayed, allowing passengers to select one of them as the candidate vehicle image 41.

[0070] In particular, in this embodiment, during the calibration process, the tractor 2 moves forward, turns right, and turns left, so as... Figure 12As shown, the candidate images 56 captured by the rear camera 9 when moving forward, when turning right, and when turning left can be displayed on the image confirmation screen 55, allowing the passenger to select one of them as the candidate vehicle image 41.

[0071] Additionally, if a passenger is not satisfied with the displayed candidate image 56, they can choose not to register it as candidate vehicle image 41. Furthermore, even if candidate vehicle image 41 is not registered at that moment, it can be added to the candidate vehicle image list later.

[0072] Next, in S7, the CPU 31 selects the image from the candidate images 56 displayed in S6 as the candidate vehicle image 41 based on the passenger's operation. Alternatively, it can register the candidate image 56 as the candidate vehicle image 41 after processing it based on the passenger's operation. Processing of the candidate image 56 may include cropping only a portion of it, or enlarging or reducing it. Furthermore, image processing is arbitrary; it is also possible to register the candidate image 56 as the candidate vehicle image 41 without processing it.

[0073] In S8, the CPU 31 selects candidate image 56 (or, if processed, the processed image) based on the passenger's operation as candidate vehicle image 41 for photographing the candidate vehicle 40 for this new registration. Furthermore, information related to the candidate vehicle 40 input in S3 and corrected as needed in S4 is stored in the registration information DB22 in association with the candidate vehicle image 41. Figure 5 Additionally, as described later, candidate vehicle image 41 is used as a thumbnail image in the vehicle selection screen for selecting a vehicle from candidate vehicles 40 to be towed.

[0074] In addition, in S2 above, if the passenger's operation specifies the information of the candidate vehicle 40 to be covered, the information related to the candidate vehicle 40 specified by the user is deleted, and the information related to the new candidate vehicle 40 is registered.

[0075] Furthermore, in the example described above, although the acquisition and registration of candidate vehicle images 41 are basically based on the operation of the passenger of the tractor 2, in order to reduce the burden on the passenger, the above processing can also be performed automatically on the device side. For example, in the state where the calibration processing has been performed in S4 above, part or all of the image of the candidate vehicle 40 can be automatically acquired as candidate vehicle images 41 without being triggered by the passenger's operation, and the processing in S6 and S7 can be omitted. The information related to the candidate vehicle 40 input in S3 above and the acquired candidate vehicle image 41 can be automatically registered together. In addition, regarding the processing of candidate image 56 in S7 above, AI can be used to automatically process it into an image of candidate vehicle 40 that is easy to identify in candidate image 56.

[0076] Next, in driver assistance device 1, according to Figure 13 The candidate vehicle update procedure executed by the driver assistance ECU23 is explained. Figure 13 This is a flowchart of the candidate vehicle update processing procedure in this embodiment. Here, the candidate vehicle update processing procedure is executed when a prescribed operation is performed in the operation unit 14 of the tractor 2, updating (changing) the aforementioned candidate vehicle registration processing procedure (see...). Figure 6 The procedure registers information related to the candidate vehicle (including candidate vehicle image 41) in the database. Furthermore, when executing the candidate vehicle update process, the candidate vehicle 40 can be connected to the tractor 2 or not.

[0077] First, in S11, CPU31 displays a list of candidate vehicles 40 currently registered in registration information DB22. For example, in the above S11, such as Figure 14 As shown, the LCD 15 displays an update target selection screen 61. In the update target selection screen 61, candidate vehicle images 41 are displayed in units of candidate vehicles currently registered in the registration information DB22. That is, the candidate vehicle images 41 are displayed as a list of thumbnail images. Passengers can visually confirm the candidate vehicle images 41 displayed on the update target selection screen 61 and select information about a candidate vehicle referred to as an update target (i.e., an object for updating information). Furthermore, Figure 14 In the example shown, although only candidate vehicle image 41 is displayed, information about the candidate vehicle, i.e., Figure 5 The registration date, parameter values ​​A, B, and C are displayed together with the candidate vehicle image 41. Furthermore, user-defined vehicle names and registration names can also be displayed.

[0078] Then, in S12, the CPU 31 selects information about candidate vehicles that will become the objects of the updated information based on the passenger's operation. Specifically, the passenger selects a candidate vehicle image 41 using a touch panel or the like in the update object selection screen 61, and the update object selects information about the candidate vehicle associated with the selected candidate vehicle image 41.

[0079] Next, in S13, CPU31 selects the information item that becomes the update target from the candidate vehicle information selected in S12, based on the passenger's operation. For example, in S13, such as... Figure 15 As shown, the LCD display 15 displays an information selection screen 62. The information selection screen 62 displays three icons: 'Trailer Information', 'Trailer Image', and 'Calibration'. For example, if a passenger wants to correct the distance values ​​A to C, they select the 'Trailer Information' icon. Similarly, if a passenger wants to replace the candidate vehicle image 41 or register a new one, they select the 'Trailer Image' icon. Furthermore, if a passenger wants to repeat the calibration process described in S4, they select the 'Calibration' icon.

[0080] Furthermore, when updating the information of the candidate vehicles selected in S12, especially candidate vehicle image 41 (S14: Yes), three icons—"New Registration," "Change," and "Delete"—are displayed on the information item selection screen 62. For example, if a passenger wants to register a new candidate vehicle image 41 relative to the information of a candidate vehicle that has not yet been registered, they select the "New Registration" icon. If a passenger wants to replace an already registered candidate vehicle image 41 with another image, they select the "Change" icon. If a passenger wants to delete an already registered candidate vehicle image 41, they select the "Delete" icon. Regarding "Delete," only the candidate vehicle image 41 registered in the registration information DB22 is deleted (information other than candidate vehicle image 41, such as distance values ​​A to C, are retained), so an explanation is omitted.

[0081] On the other hand, when 'new registration' or 'change' is selected, in S15, the CPU 31 acquires the captured image data of the candidate vehicle 40, which has become the object of the updated candidate vehicle image 41. Furthermore, when the candidate vehicle 40 is linked, the field of view of the rear camera 9 at least includes the candidate vehicle 40. That is, the captured image data acquired in S15 becomes an image captured by the rear camera 9 when the candidate vehicle 40, which has become the object of the update information, is linked. For example, an image captured by the rear camera 9 when parking assistance was provided to the candidate vehicle 40, which has become the object of the update information, in the past can be cited. However, even without a link, the candidate vehicle 40 can be captured if it is within a close proximity to the link, so a link is not necessary.

[0082] Furthermore, the image data acquired in S15 above can be a single frame or multiple frames. Also, the timing of acquiring the image data captured by the rear camera 9 during parking assistance can be determined either by the device or by the passenger. If the determination is made by the device, for example, it is set at the moment when the steering angle and hook-up angle reach a predetermined angle. On the other hand, as... Figure 10 As shown, when the passenger makes a decision, for example during the execution of parking assistance, the real-time captured image 53 taken by the rear camera 9 is displayed on the LCD screen 15. In addition to the captured image 53, the LCD screen 15 also displays a capture icon 54, and obtains the captured image data taken by the rear camera 9 at the time when the passenger selected the capture icon 54 via the touch panel or the like in S15, i.e., the time indicated by the passenger.

[0083] Furthermore, when determining at what moment to acquire the image data captured by the rear camera 9, it is preferable to acquire an image captured, particularly when the steering angle of the tractor 2 is within a predetermined angle range (e.g., less than 15 degrees left or right). This allows for the acquisition of image data capturing the candidate vehicle 40 from the frontal direction as much as possible. Additionally, the predetermined angle range can be set based on user operation.

[0084] Next, in S16, the CPU 31 displays the captured image data obtained in S15 as a candidate for the new candidate vehicle image 41 on the liquid crystal display 15. For example, as Figure 11 As shown, the liquid crystal display 15 displays an image confirmation screen 55, and the image data (candidate image 56) acquired in S15 is displayed on the image confirmation screen 55. Additionally, in Figure 11In the example shown, although only one candidate image 56 is displayed, multiple candidate images 56 taken at different times can also be displayed, allowing passengers to select one as the new candidate vehicle image 41. Additionally, if passengers are not satisfied with the displayed candidate image 56, they can choose not to register it as (not update information) candidate vehicle image 41.

[0085] Next, in S17, the CPU 31 selects an image from the candidate images 56 displayed in S16 as a new candidate vehicle image 41 based on the passenger's operation. Alternatively, it can register the candidate image 56 as a candidate vehicle image 41 after processing it based on the passenger's operation. Processing of the candidate image 56 can include, for example, cropping only a portion of the candidate image 56, or enlarging or reducing it. Furthermore, image processing is arbitrary; it is also possible to register the candidate image 56 as a candidate vehicle image 41 without processing it.

[0086] Then, in S18, the CPU31 replaces the candidate image 56 (or the processed image if it has been processed) selected based on the passenger's operation with the new candidate vehicle image 41 registered as the object of the updated information for the candidate vehicle 40. That is, while maintaining the information related to the candidate vehicle (the values ​​of distances A to C) in the information registered in the registration information DB22, only the candidate vehicle image 41 is replaced with the new image.

[0087] On the other hand, in the determination process of S14 above, if it is determined that the value of distance A to C should be updated (S14: No), the process moves to S19.

[0088] In S19, CPU31 uses passenger input to identify candidate vehicles for updating. This is essentially the same as in S3 and... Figure 8 The content already explained is the same, so the explanation is omitted. Furthermore, it is possible to update all values ​​from distances A to C, or only a portion of the values.

[0089] Then, in S20, the CPU31 will take the information related to the new candidate vehicle 40 input in S19 and register the new information of the candidate vehicle 40 as the object of the updated information. That is, in the information registered in the registration information DB22, only the information related to the candidate vehicle input in S19 will be replaced, while other information and the candidate vehicle image 41 will be maintained.

[0090] Additionally, in the information item selection screen 62, although the explanation regarding the desire to perform calibration again is omitted, the process ends after performing the aforementioned S4 procedure.

[0091] Next, according to Figure 16The candidate vehicle selection process executed by the driver assistance ECU 23 in the driver assistance device 1 is explained. Figure 16 This is a flowchart of the candidate vehicle selection process of this embodiment. Here, the candidate vehicle selection process is executed, for example, when a new towed vehicle 3 is connected to the towing vehicle 2 or when driving assistance is started in the towing vehicle 2, and is a process of selecting the towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40.

[0092] First, in S21, CPU31 displays a list of candidate vehicles 40 currently registered in registration information DB22. For example, in the above-described S21, such as Figure 17 As shown, a vehicle selection screen 71 is displayed on the LCD screen 15. In the vehicle selection screen 71, candidate vehicle images 41 are displayed in units of candidate vehicles currently registered in the registration information DB22. That is, the candidate vehicle images 41 are displayed as thumbnails. Passengers can visually confirm the candidate vehicle images 41 displayed on the vehicle selection screen 71 and select a candidate vehicle that matches the requirements for towing the vehicle 3. Furthermore, Figure 17 In the example shown, although only candidate vehicle image 41 is displayed, information about the candidate vehicle, i.e., Figure 5 The registration date, parameter values ​​A, B, and C are displayed together with the candidate vehicle image 41. Furthermore, user-defined vehicle names and registration names can also be displayed.

[0093] Then, in S22, the CPU31 selects the towed vehicle 3 from the candidate vehicles registered in the registration information DB22 based on the passenger's operation. Specifically, the passenger selects the candidate vehicle image 41 using a touch panel or the like in the vehicle selection screen 71, and selects the candidate vehicle corresponding to the selected candidate vehicle image 41 as the towed vehicle 3. At this time, the passenger of the towing vehicle 2 can select the towed vehicle 3 from the candidate vehicles based on the displayed appearance of the candidate vehicle image 41 rather than its name or value, so the selection of the towed vehicle 3 can be done easily.

[0094] Next, in S23, CPU31 reads the information of the candidate vehicles selected in S22 from the registration information DB22 (specifically, the distance values ​​from A to C), and sets it as information related to the towed vehicle 3 being towed by the current tractor 2.

[0095] Then, in S24, CPU31 uses the information of the towed vehicle 3 set in S23 above (specifically, the distance values ​​A to C) to perform various driving assistance functions such as parking assistance.

[0096] The following is a simple example illustrating the parking assistance implemented in the driver assistance device 1. First, a camera and sensors are used to set the target parking positions for the towing vehicle 2 and the towed vehicle 3, and the orientations of the towing vehicle 2 and the towed vehicle 3 at the starting parking position, as well as the connection angle (hook angle) between the towing vehicle 2 and the towed vehicle 3, are obtained. Next, the CPU 31 obtains information related to the towing vehicle 2 and the towed vehicle 3. In particular, for the information related to the towed vehicle 3, the values ​​of distances A to C set in S23 above are obtained. Then, the CPU 31 uses the obtained information to generate a travel track from the starting parking position to the target parking position. Here, the travel track, especially when reversing, has: a forward section, which is a section that moves forward to a turning position suitable for entering the target parking position such as a parking space; and a reverse section, which is a section that switches from the turning position to reverse and reverses to the target parking position. Furthermore, parking assistance for the towing vehicle 2 can be implemented by controlling each drive unit based on the generated travel track. Specifically, the steering gear, drive source, brakes, and transmission are controlled as the tractor unit 2 moves along the generated driving track from the starting parking position to the target parking position. Furthermore, in the aforementioned automated driving assistance, only the steering gear can be operated automatically, while the accelerator, brakes, and gear shift positions can be operated manually. On the other hand, the aforementioned automated driving assistance is not mandatory for the tractor unit 2, and it can also be configured as a vehicle that can only be manually driven. In this case, instead of the aforementioned automated driving assistance, guidance is provided for steering, braking, accelerator, and gear shift positions to guide movement along the generated driving track.

[0097] As detailed above, the driving assistance device 1 and the computer program executed in the driving assistance device 1 according to this embodiment are driving assistance devices 1 that assist passengers (users) in vehicle operation in a towing vehicle 2. The device can display a vehicle selection screen 71 on the liquid crystal display 15 (S21) to select a towed vehicle 3 from one or more candidate vehicles 40 as the object to be towed by the towing vehicle 2; it can assist in selecting the candidate vehicles 40 selected by the user in the vehicle selection screen 71 as towed vehicles 3 to be towed by the towing vehicle 2 using information related to the towed vehicles (S23, S24); on the other hand, the vehicle selection screen 71 can display images of candidate vehicles taken by the rear camera 9, i.e., candidate vehicle images 41, on a per-candidate-selection-candidate-vehicle basis, making it easy to select a towed vehicle 3 from multiple candidate vehicles. As a result, the operability of vehicle selection is improved.

[0098] Furthermore, the candidate vehicle image 41 displayed in the vehicle selection screen 71 is a part or all of the image of the candidate vehicle when the candidate vehicle 40 is connected to the rear of the tractor 2 by the rear camera 9, which is equipped with the tractor 2 and includes the rear of the tractor 2 in the shooting range. Therefore, it is not necessary to prepare a separate image of the candidate vehicle, and the image of the candidate vehicle can be generated by the shooting device equipped with the tractor 2.

[0099] In addition, information related to candidate vehicle 40 can be obtained (S3). By performing a prescribed drive with candidate vehicle 40 connected to tractor 2, the obtained information related to candidate vehicle is corrected (S4). The candidate vehicle image 41 displayed in vehicle selection screen 71 is a part or all of the image of candidate vehicle 40 taken in the state of driving for correction. Therefore, there is no need to arrange another opportunity to take pictures of candidate vehicle. By taking pictures of candidate vehicle while correcting information related to candidate vehicle 40, candidate vehicle image can also be generated at the same time as information correction.

[0100] In addition, information related to candidate vehicle 40 can be associated with candidate vehicle image 41 for registration (S8), and candidate vehicle image 41 associated with the information of candidate vehicles registered at the current time can be displayed in the vehicle selection screen 71 (S21). Therefore, even if there are multiple candidate vehicles, the candidate vehicle registered at the current time can be easily identified by the candidate vehicle image 41 displayed in the overview.

[0101] [Postscript]

[0102] The above embodiments also disclose the following inventions. In the following description, for ease of reference, the names and representations of the corresponding structures in the embodiments, and the reference numerals used in the drawings, are indicated in parentheses. However, the structural components of each invention are not limited to these annotations.

[0103] (Invention A)

[0104] According to the driving assistance device (1) described in technical solution 2, the candidate vehicle image (41) displayed in the vehicle selection screen (71) is a part or all of the image of the candidate vehicle (40) taken while driving with the assistance described above.

[0105] Therefore, there is no need to arrange separate opportunities to photograph candidate vehicles. Candidate vehicles can be photographed while assisting with candidate vehicle 40, and candidate vehicle images can be generated while assisting.

[0106] (Invention B)

[0107] According to the driving assistance device (1) of technical solution 1, an image (56) of the candidate vehicle (40) captured by the above-mentioned shooting device (9) is obtained, and the captured image is processed based on the user's operation. The candidate vehicle image (41) is the captured image processed based on the user's operation.

[0108] Therefore, for example, images of candidate vehicles can be processed in ways that make them easier for users to identify, such as cropping, enlarging, or reducing them, and then registered as candidate vehicle images.

[0109] (Invention C)

[0110] According to the driving assistance device (1) described in technical solution 3 or invention A, the candidate vehicle image (41) displayed in the vehicle selection screen (71) is a part or all of the image of the candidate vehicle (40) taken when the steering angle of the tractor (2) is within a specified angle range, and the angle range is set based on the user's operation.

[0111] Therefore, images of candidate vehicles taken from the user's desired location can be registered as candidate vehicle images. As a result, candidate vehicle images can be set to contain elements that allow the user to easily identify the candidate vehicles.

[0112] (Invention D)

[0113] According to the driving assistance device (1) of technical solution 2, the user who accepts the instruction of the shooting device (9) to take a picture, the candidate vehicle image (41) displayed in the vehicle selection screen (71) is part or all of the image taken by the shooting device according to the instruction of the user.

[0114] Therefore, images of candidate vehicles taken at any time specified by the user can be registered as candidate vehicle images. As a result, candidate vehicle images can be set up so that the user can easily identify the content of the candidate vehicle.

[0115] (Invention E)

[0116] According to the driving assistance device (1) of technical solution 1, when there are multiple images of the same candidate vehicle captured by the above-mentioned shooting device (9), the candidate vehicle image (41) that becomes the object is selected from the multiple images based on the user's operation. In the above-mentioned vehicle selection screen (71), the selected candidate vehicle image is displayed in units of the above-mentioned candidate vehicles that become the selection candidates.

[0117] Therefore, when multiple images of candidate vehicles exist, the image arbitrarily selected by the user from these multiple images can be registered as a candidate vehicle image. As a result, candidate vehicle images can be set that allow users to easily identify the content of the candidate vehicle.

[0118] (Invention F)

[0119] According to the driving assistance device (1) of technical solution 4, in the above-registered information, while maintaining the information related to the above-mentioned candidate vehicle (40), the above-mentioned candidate vehicle image (41) is replaced with a new image.

[0120] Therefore, when a candidate vehicle image needs to be replaced with another image, there is no need to re-enter the candidate vehicle information, which reduces the burden on the user.

[0121] (Invention G)

[0122] According to the driving assistance device (1) described in technical solution 4, it has: a storage medium (22) for storing the information registered above, and when the free capacity of the storage medium is less than a specified capacity, when registering information related to a new candidate vehicle (40), it registers information related to a new candidate vehicle based on deleting the information related to the candidate vehicle specified by the user from the information registered at the current time related to the candidate vehicle.

[0123] Therefore, even when the maximum number of vehicles that can be registered as candidates is reached, information related to new candidate vehicles can be registered after deleting information related to unwanted candidate vehicles.

[0124] (Invention H)

[0125] According to the driving assistance device (1) described in technical solution 3, in the driving state for the above correction, as the above candidate vehicle image (41), a part or all of the image of the above candidate vehicle (40) is acquired, and the information related to the above candidate vehicle and the above candidate vehicle image are automatically registered in association, and the above candidate vehicle image associated with the information related to the above candidate vehicle registered at the current time is displayed in the vehicle selection screen (71).

[0126] Therefore, by displaying candidate vehicle images, the towing vehicle 3 can be easily selected from multiple candidate vehicles. On the other hand, the user's operational burden of acquiring and registering candidate vehicle images can be reduced as much as possible.

[0127] Furthermore, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention.

[0128] For example, in this embodiment, although the image captured by the rear camera 9 while the candidate vehicle 40 is connected to the tractor 2 is registered as candidate vehicle image 41, the image containing the candidate vehicle 40 may not necessarily be captured while the candidate vehicle 40 is connected to the tractor 2. Furthermore, the image may not be captured by a camera on the tractor 2; for example, an image of the candidate vehicle 40 obtained from an external server may be registered as candidate vehicle image 41. Additionally, it is preferable to pre-store images of the candidate vehicles 40 in a database on an external server, for example, including all candidate vehicles 40 sold in the market.

[0129] Furthermore, although the driving assistance device 1 has been described in this embodiment as a device for assisting parking, particularly when parking in a designated parking space, it is not limited to parking assistance. For example, it could also be a device for assisting exiting a parking space or for assisting normal driving on the road. In the above-described driving assistance, appropriate assistance can also be provided by using information related to the candidate vehicle 40 that has been pre-registered in the registration information DB22 and selected by the passenger.

[0130] Furthermore, in this embodiment, although the driver assistance ECU 23 of the driver assistance device 1 is configured to execute the candidate vehicle registration processing procedure ( Figure 6 Candidate vehicle update processing procedure ( Figure 13 Candidate vehicle selection processing procedure Figure 16 The structure of each process can be modified, but the executing entity can be changed appropriately. For example, it can be configured as the control unit of the LCD 15, the vehicle control ECU, the control unit of the navigation device, or other vehicle-mounted devices.

Claims

1. A driving assistance device that assists a user in vehicle operation in a tractor unit, characterized in that, A vehicle selection screen is displayed on the display device, which selects the towed vehicle from one or more candidate vehicles to be towed by the aforementioned tractor. The candidate vehicles selected by the user in the vehicle selection screen will be designated as the towed vehicles to be towed by the tractor, and information related to the towed vehicles will be used as assistance. In the vehicle selection screen, images of the candidate vehicles captured by the camera device are displayed, i.e., candidate vehicle images, on a per-vehicle basis.

2. The driving assistance device according to claim 1, characterized in that, The candidate vehicle image displayed in the vehicle selection screen is a part or all of the image of the candidate vehicle when the candidate vehicle is connected to the rear of the tractor by the shooting device equipped with the tractor and including the rear of the tractor in the shooting range.

3. The driving assistance device according to claim 2, characterized in that, Obtain information related to the aforementioned candidate vehicles. The information obtained regarding the candidate vehicles is corrected by performing prescribed driving with the candidate vehicles connected to the tractor. The candidate vehicle images displayed in the vehicle selection screen are part or all of the images of the candidate vehicles taken under the driving conditions used for the aforementioned corrections.

4. The driving assistance device according to any one of claims 1 to 3, characterized in that, Information related to the aforementioned candidate vehicles will be registered in association with the images of the aforementioned candidate vehicles. The vehicle selection screen displays images of the candidate vehicles associated with information currently registered related to them.

Images