DRIVING ASSISTANCE DEVICE

Abstract

Driving support device, with: a camera (21) which includes a protective window and is configured to take an image of a peripheral region of its own vehicle through the protective window; a display (50) configured to display a peripheral region image (511) which includes the image captured by the camera; a driver assistance module (10) configured to display the peripheral region image on the display to assist the driver in driving their own vehicle; a washing device (22) capable of selectively performing an air wash by spraying air towards the protective window to wash the protective window without spraying liquid, and a liquid wash by spraying liquid towards the protective window to wash the protective window; and a switching section (530) configured to receive an operation instruction, which is to be performed as either air washing or liquid washing, wherein the driver assistance module (10) is configured to: to cause the washing device to perform the air washing (step 875) if it is determined that a first operation will be performed on the switching section (“No” in step 855); and to cause the washing device to perform the liquid washing (step 860) when it is determined that a second operation will be performed on the switching section (“Yes” in step 855), where the display (50) includes a touch panel (50A) capable of displaying the peripheral region image (511), the switching section includes a touch-sensitive switch capable of detecting a touch operation on the peripheral region image (FRA', RTA', LTA' and RRA') displayed on the touch panel (50A), and the driving assistance module (10) is configured to determine which of the first operation or the second operation is performed, based on an operation mode of the touch operation (step 810 to step 855), characterized by the fact that the driver assistance module (10) is configured to: to determine that the first operation is performed if a persistence period (TO) of the touch operation is shorter than a threshold period (TO1th) (step 830, step 835, and "No" in step 855); and to determine that the second operation is performed if the persistence period (TO) of the touch operation is longer than or equal to the threshold period (TO1th) (step 830, step 835, and “Yes” in step 855).

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The present invention relates to a driving assistance device configured to produce a display to show a peripheral region image containing images captured by cameras, each configured to depict a peripheral region of its own vehicle, in order to assist a driver in driving its own vehicle. 2. Description of the state of the art

[0002] Previously, a driver assistance device was known that is configured to display an image captured by a camera installed on the vehicle on a screen, thereby assisting the driver. One of the known devices is configured to display a touch-panel switch for washing the camera on a screen that shows an image captured by a camera installed on the vehicle, and sprays the washing fluid provided in a tank towards a protective window of the camera installed on the vehicle for a preset spray period when the touch-panel switch is activated (see, for example, paragraphs 0025 and 0028 of Japanese Patent Application Publication JP 2013 - 82 358 A).

[0003] Furthermore, DE 10 2010 041 475 A1 discloses a sensor cover comprising a holder and a washer nozzle. The washer nozzle performs a washing process to clean a lens surface of the optical sensor or a glass surface of a cover glass arranged opposite the lens by spraying a washing fluid, supplied from a washer fluid reservoir, onto the lens surface or the glass surface. The system may also include an air spray device to perform a spraying process to spray air onto the lens surface of the optical sensor or the glass surface of the cover glass. Furthermore, JP 2015 - 214 317 A discloses a vehicle cleaning device that sprays a cleaning fluid onto several cleaning objects, including a windshield and a front sensor.The vehicle washer system may further include an air pump that sprays air mixed with the washer fluid sprayed from the front sensor cleaning nozzle or the rear sensor cleaning nozzle. WO 2014 / 017 015 A1 also discloses a cleaning device for optical sensors in vehicles, equipped with a cleaning fluid nozzle and an air nozzle. In cases where a lens surface of an optical sensor in a vehicle is present, or where a translucent cover protects the lens surface, a cleaning fluid is sprayed from the cleaning fluid nozzle towards the translucent surface of the cover.

[0004] However, if dirt (such as water droplets and dust particles) adheres to the protective window of the vehicle-mounted camera, which can be removed by simply spraying air without spraying the cleaning fluid, the known device sprays the cleaning fluid in response to the touch panel being activated. As a consequence, the amount of cleaning fluid in the tank of the known device decreases rapidly, and the cleaning fluid in the tank is quickly depleted. Therefore, the problem arises that the frequency of refilling the cleaning fluid increases. SUMMARY OF THE INVENTION

[0005] The present invention was made in view of the aforementioned problem and therefore has the objective of providing a driving assistance device capable of washing protective windows and avoiding a rapid loss of washing fluid.

[0006] The problem is solved according to the invention by a driving assistance device according to claim 1. Further features and advantageous embodiments are shown in the dependent claim.

[0007] A driving assistance device (hereinafter also referred to as "the device of the present invention") according to the present invention comprises: a camera that includes a protective window and is configured to capture an image of a peripheral region of one's own car through the protective window; a display configured to show a peripheral region image that includes the image captured by the camera; and a driver assistance module configured to display the peripheral region image on the screen to assist the driver in driving their own vehicle.

[0008] The apparatus of the present invention further comprises: a washing device capable of selectively performing an air wash by spraying air towards the protective window to wash the protective window without spraying liquid, and a liquid wash by spraying liquid towards the protective window to wash the protective window; and a switching section that is configured to receive an operation instruction, which is either air washing or liquid washing.

[0009] The driver assistance module is configured to: to activate the washing device in order to perform the air washing when it is determined that a first operation is to be performed on the switching section; and to activate the washing device to perform the liquid washing when it is determined that a second operation will be performed on the switching section.

[0010] According to this configuration, the washing device can be caused to perform either air washing or liquid washing according to the operation performed on the switching section. Therefore, a passenger can select air washing for dirt that can be removed by air washing and can select liquid washing for dirt that can only be removed by liquid washing. Therefore, according to the device of the present invention, compared to the known device configured to perform liquid washing for all types of dirt, the frequency of liquid washing can be reduced. Consequently, the amount of liquid stored in the tank is less likely to be depleted, and the washing liquid stored in the tank is less likely to run out.

[0011] According to the present invention, the display comprises a touch panel capable of displaying the peripheral region image, wherein the switching section is a switch of a touch detection type that is capable of detecting a touch operation on the peripheral region image displayed on the touch panel, and wherein the drive support module is configured to determine which of the first or second operation is performed, based on an operation mode of the touch operation.

[0012] According to this configuration, the control section is provided as a touch panel configured to display images captured by the cameras. Therefore, the passenger can check the presence or absence of a certain amount of dirt on the protective window based on the image displayed on the touch panel. Simultaneously, if dirt is present on the protective window, the same touch panel can be used to easily initiate appropriate cleaning (either air or liquid cleaning). Thus, passenger comfort can be improved by cleaning the protective window.

[0013] According to the present invention The driver assistance module is configured to: to determine that the first operation is performed if a persistence period of the contact operation is shorter than a threshold period; and to determine that the second operation is performed if the persistence period of the touch operation is longer than or equal to the threshold period.

[0014] In other words, the driving assistance module is configured to determine that the first operation is performed when a so-called "short-throw push operation" is executed on the shift section, and to determine that the second operation is performed when a so-called "push-and-hold operation" is executed. As a result, fluid cleaning is not performed unless the push-and-hold operation is executed, and the probability of fluid cleaning being triggered by an unintended operation is reduced. Therefore, the amount of cleaning fluid is less likely to be depleted.

[0015] In one aspect of the present invention, the driving assistance module is configured to spray only the air in the direction of the protective window after the liquid is sprayed, when the washing device is caused to perform the liquid washing.

[0016] According to this configuration, if the liquid washing is performed and the previously sprayed liquid remains on the protective window, it can be blown away by the air. Therefore, after the liquid washing, the likelihood of "the washing liquid in the form of droplets on the protective window, dirt particles, dust, and the like, which continue to mix with the droplets, and that the droplets dry while the dirt particles, dust, and the like adhere to the protective window" can be reduced.

[0017] For the sake of clarity, names and / or reference numerals used in subsequently described embodiments of the present invention have been added in parentheses in the preceding description, and components of the invention have been assigned accordingly. However, the respective components of the present invention are not limited to the embodiments described by the names and / or reference numerals. Further objects, features, and associated advantages of the present invention can be understood by referring to the description of the embodiments of the present invention provided with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic system configuration representation to illustrate a driving assistance device (this assistance device) according to an embodiment of the present invention. Fig. 2A is an explanatory illustration to demonstrate a mounting position of a [product / item] in [a specific context]. Fig. 1 illustrated front camera system. Fig. 2B is an explanatory illustration to demonstrate an assembly position of a [product / item] in [a specific context]. Fig. 1 illustrated camera system on the left side. Fig. 2C is an explanatory diagram illustrating an assembly position of a [product / item] in [context]. Fig. 1 illustrated rear camera system. Fig. Figure 3 is a detailed explanatory illustration to demonstrate a washing facility. Fig. Figure 4 is an explanatory illustration to depict the imaging regions of the respective cameras. Fig. Figure 5 is an explanatory illustration to demonstrate a low-speed driving assistance screen. Fig. 6A is a timing diagram to illustrate the operations of a switching section, an air pump, an on / off valve, and a washing fluid pump when air washing is performed. Fig. Figure 6B is a timing diagram to illustrate operations of the switching section, air pump, on / off valve, and wash fluid pump when the liquid washing is performed. Fig. 7 is a flowchart illustrating a routine executed by a CPU of a Fig. The driver assistance ECU shown in section 1 is executed. Fig. Figure 8 is a flowchart illustrating a routine executed by the CPU of the system. Fig. The driver assistance ECU shown in section 1 is executed. DESCRIPTION OF THE EXAMPLES OF EXECUTION

[0018] A description of a driving assistance device according to an embodiment of the present invention is now provided with reference to the drawings.

[0019] Fig. Figure 1 is a schematic system configuration diagram illustrating the driver assistance device (hereinafter sometimes referred to as "this assistance device") according to the embodiment of the present invention. When a vehicle in which this assistance device is installed needs to be distinguished from other vehicles, the vehicle is referred to as "own vehicle SV". This assistance device is a device configured to present images captured by cameras imaging a peripheral region of own vehicle SV to a driver in order to assist the driver's driving, and furthermore includes a function for washing the protective windows of the cameras.

[0020] This assistance device includes a driver assistance ECU 10, also called a driver assistance module 10. An ECU is an abbreviation for "Electronic Control Unit" and includes a microcomputer as its main component. The microcomputer includes a CPU 11 and memory facilities, such as a ROM 12 and a RAM 13. The CPU 11 executes instructions (programs and routines) stored in the ROM 12 to perform various functions.

[0021] This assistance device further comprises a front camera system 20A, a left-side camera system 20B, a right-side camera system 20C, a rear camera system 20D, a washer fluid reservoir 30, a washer fluid pump 40, a display 50, wheel speed sensors 60, a gearshift position sensor 65, and a bird's-eye view switch 67. The front camera system 20A, the left-side camera system 20B, the right-side camera system 20C, and the rear camera system 20D are referred to as "camera systems 20" when it is not necessary to distinguish between these systems. The driver assistance ECU 10 is connected to the camera systems 20, the washer fluid pump 40, the display 50, the wheel speed sensors 60, the gearshift position sensor 65, and the bird's-eye view switch 67.

[0022] First, a description of the camera systems 20 is provided.

[0023] The front camera system 20A is positioned centrally in the vehicle's width direction and at the front end section FR of the vehicle SV. The left-side camera system 20B is positioned on the left side of the vehicle SV. The right-side camera system 20C is positioned on the right side of the vehicle SV. The rear camera system 20D is positioned centrally in the vehicle's width direction and at the rear end section RR of the vehicle SV.

[0024] In particular, as in Fig. As illustrated in Figure 2A, the front camera system 20A is located at the center of the front radiator grille FG of the vehicle SV, in the direction of the vehicle's width. As shown in Figure 2A, the front camera system 20A is positioned at the center of the front grille FG of the vehicle SV. Fig. As illustrated in Figure 2B, the left-side camera system 20B is provided in a left-side mirror (LSM) of the vehicle SV. The right-side camera system 20C is provided in a right-side mirror (RSM) of the vehicle SV in the same way as the left-side camera system 20B. As shown in Figure 2B, the left-side camera system 20B is provided in a right-side mirror (RSM) of the vehicle SV. Fig. As illustrated in Figure 2C, the rear camera system 20D is provided at a center point in the vehicle width direction of the trunk TR of the vehicle SV.

[0025] As in Fig. As illustrated in Figure 2A, the front camera system 20A comprises a camera 21A configured to record a scene of a region that can be mapped, and a washing device 22A configured to wash a protective window 211A of the camera 21A. The protective window 211A is a translucent panel element (e.g., a window made of transparent glass or transparent resin) (not shown) and is provided to protect a lens of the camera 21A from dirt, dust, and the like.

[0026] The washing device 22A includes a nozzle 221A. The nozzle 221A protrudes outside the vehicle above the protective window 211A. As shown in Fig. As illustrated in Figure 3, a spray opening 221a is formed in the vicinity of a tip section of the nozzle 221A to face the protective window 211A. The washing device 22A is capable of selectively performing either an air wash or a liquid wash.

[0027] Air washing means washing the protective window 211A by spraying only compressed air from the spray opening 221a towards the protective window 211A, without spraying any washing liquid. Liquid washing means washing the protective window 211A by first spraying a mixture of the washing liquid and compressed air from the spray opening 221a towards the protective window 211A, and then spraying only compressed air. In this example, the washing liquid is water, but it can be a liquid containing cleaning agents.

[0028] Similarly, as in Fig. As illustrated in Figure 2B, the camera system 20B comprises a camera 21B and a washing device 22B. The camera 21B includes a protective window 211B. The washing device 22B includes a nozzle 221B and is configured to spray compressed air or a mixture of washing liquid and compressed air from a spray opening (not shown) located near the tip of the nozzle 221B, in the direction of the protective window 211B, thereby washing the protective window 211B. In other words, the washing device 22B is capable of selectively performing either air washing or liquid washing.

[0029] Furthermore, the camera system 20C comprises a camera 21C and a washing device 22C. The camera 21C includes a protective window 211C. The washing device 22C includes a nozzle 221C and is configured to spray compressed air or a mixture of washing liquid and compressed air from a spray opening (not shown) located near the tip of the nozzle 221C towards the protective window 211C, thereby washing the protective window 211C. In other words, the washing device 22C is capable of selectively performing either air washing or liquid washing.

[0030] Similarly, as in Fig. As illustrated in Figure 2C, the rear camera system 20D comprises a camera 21D and a washing device 22D. The camera 21D includes a protective window 211D. The washing device 22D includes a nozzle 221D and is configured to spray compressed air or a mixture of washing fluid and compressed air from a spray port (not shown) located near the tip of the nozzle 221D, towards the protective window 211D, thereby washing the protective window 211D. In other words, the washing device 22D is capable of selectively performing either air washing or liquid washing.

[0031] In the following, when it is not necessary to distinguish cameras 21A to 21D from one another, cameras 21A to 21D will be referred to as "Cameras 21". When it is not necessary to distinguish washing devices 22A to 22D from one another, they will be referred to as "Washing Devices 22". When it is not necessary to distinguish protective windows 211A to 211D from one another, protective windows 211A to 211D will be referred to as "Protective Windows 211". When it is not necessary to distinguish nozzles 221A to 221D from one another, nozzles 221A to 221D will be referred to as "Nozzles 221".

[0032] The respective in Fig. The cameras 21 shown in Figure 1 are connected to the driver assistance ECU 10. Each of the cameras 21 is configured to transmit image data, representing the image that is captured each time a predetermined time period has elapsed, to the driver assistance ECU 10.

[0033] The washer fluid is stored in the washer fluid tank 30. The washer fluid pump 40 is configured to draw the washer fluid stored in the washer fluid tank 30 by rotating an electric motor and then supply the pressurized washer fluid to the washing devices 22 of the respective camera systems 20. The electric motor of the washer fluid pump 40 is connected to the driving assistance ECU 10 and is configured to receive a command from the driving assistance ECU 10 to activate (rotate) or stop the pump itself.

[0034] The washer fluid pump 40 and the left-side camera system 20B are connected to each other via line 70B. Line 70A, connected to the front camera system 20A, branches off at branch point A of line 70B. Line 70C, connected to the right-side camera system 20C, also branches off at branch point B of line 70B. Line 70D, connected to the rear camera system 20D, also branches off at branch point C of line 70B. Furthermore, the washer fluid pump 40 and the washer fluid tank 30 are connected to each other via line 71.

[0035] If it is not necessary to distinguish between lines 70A to 70D, they are referred to as "lines 70". (Referring to) Fig. Section 3 now describes the washing device 22 of the camera system 20.

[0036] The washing device 22 comprises, in addition to the nozzle 221, a merging connection 222, an on / off valve 223, and an air pump 224. The nozzle 221 is attached to one end in a longitudinal direction of the merging connection 222, and an air pump 224 is connected to the other end via a line 72. Furthermore, the line 70, which is connected to the washing fluid pump 40 and is configured to supply the washing fluid to the washing device 22, is connected at one end in a direction perpendicular to the longitudinal direction of the merging connection 222, and the on / off valve 223 is provided in the line 70.

[0037] The spray opening 221a and the flow passage 221b are provided in the nozzle 221. As described above, the spray opening 221a is provided at the position of the nozzle 221 that faces the protective window 211 of the camera 21. The flow passage 221b extends from one end on one side of the merging connection 222 of the nozzle 221 towards the spray opening 221a.

[0038] The on / off valve 223 is provided in line 70 in the vicinity of the washing device 22 and is configured to open / close a flow passage for the washing liquid in line 70 to supply the washing liquid to the washing device 22. Specifically, the on / off valve 223 of the washing device 22A is located at a desired position in line 70A between the [unclear - possibly "the point where the washing liquid is located"] Fig. The illustrated branch point A and the washing unit 22A are provided. The on / off valve 223 of the washing unit 22B is located at a desired position on line 70B between the in Fig. The illustrated branch point C and the washing unit 22B are provided. The on / off valve 223 of the washing unit 22C is located at a desired position on line 70C between the branch point C and the washing unit 22B. Fig. The illustrated branch point B and the washing unit 22C are provided. The on / off valve 223 of the washing unit 22D is located at a desired position on line 70D between the in Fig. The branch point C and the washing device 22D are illustrated in Figure 1. As a result, the respective on / off valves 223 are configured to open / close the flow passages of the lines configured to supply the washing fluid to the washing devices 22 according to the respective on / off valves 223.

[0039] The on / off valve 223 is an electromagnetic on / off valve connected to the drive assistance ECU 10. The on / off valve 223 is configured to set its own state to an open or closed state in response to a command from the drive assistance ECU 10. When the on / off valve 223 is in the open state, the flow passage through the on / off valve 223 is opened, and the wash fluid therefore flows through the flow passage. Conversely, when the on / off valve 223 is in the closed state, the flow passage through the on / off valve 223 is closed, and the wash fluid is therefore blocked in the flow passage.

[0040] The air pump 224 is configured to compress air by rotating an electric motor and to expel the compressed air from the line 72 connected to it. The electric motor of the air pump 224 is connected to the driving assistance ECU 10 and is configured to receive a command from the driving assistance ECU 10 to activate (rotate) or stop the pump itself.

[0041] A first flow passage 222a and a second flow passage 222b are configured in a T-shape within the merging connection 222. Specifically, the first flow passage 222a is configured to extend longitudinally through the merging connection 222, and the second flow passage 222b is configured perpendicular to the first flow passage 222a from a midpoint of the first flow passage 222a. One end of the first flow passage 222a is connected to line 72, and the other end of the first flow passage 222a is connected to the flow passage 221b of the nozzle 221. Furthermore, one end of the second flow passage 222b is connected to line 70, and the other end of the second flow passage 222b is connected to the first flow passage 222a.

[0042] When this support device causes the washing device 22 to perform the air washing, this support device is configured to activate the air pump 224 and close the on / off valve 223. When the air pump 224 is activated, the compressed air flows through line 72, passes through the first flow passage 222a into the merging connection 222, passes through the flow passage 221b into the nozzle 221, and is sprayed from the spray orifice 221a of the nozzle 221. This support device is configured to stop the operation of the air pump 224 at a time when a predetermined period TA1 (see Fig. 6A) since the time at which the air pump 224 is activated.

[0043] On the other hand, when this support device causes the washing device 22 to perform the liquid washing, this support device activates the air pump 224 and opens the on / off valve 223. Furthermore, this support device activates the washing liquid pump 40 when the on / off valve 223 opens. In this case, the washing liquid flows through line 70, passes through the second flow passage 222b into the merging connection 222, and flows into the first flow passage 222a. The compressed air also passes through line 72 and flows into the first flow passage 222a.As a result, the washing liquid and the compressed air are mixed in the first flow passage 222a, a mixture resulting from the mixture of the washing liquid and the compressed air passes through the flow passage 221b in the nozzle 221, and is sprayed from the spray opening 221a of the nozzle 221.

[0044] This support device is configured to set the on / off valve 223 to the closed state at a time when a predetermined period TL1 (see Fig. 6B) since “a time at which the air pump 224 is activated and the on / off valve 223 is moved to the open state” has elapsed, and to stop the washing liquid pump 40 at a time at which the on / off valve 223 is moved to the closed state. Furthermore, this support device is configured to stop the operation of the air pump 224 at a time at which a predetermined period TA2 (see Fig. 6B) since “the time at which the air pump 224 is activated and the on / off valve 223 is brought into the open state.” The predetermined period TA2 is set to a value greater than the predetermined period TL1, and after the mixture containing the washing liquid is sprayed from the spray opening 221a, only the compressed air is sprayed from the spray opening 221a. As a result, the washing liquid remaining on the protective window 211 can be blown off by the compressed air, and the probability that “the washing liquid remains on the protective window 211 in the form of droplets after the liquid washing, that dirt particles, dust, and the like continue to mix with the droplets, and that the droplets dry with the dirt particles, dust, and the like, and adhere to the protective window 211” can be reduced.

[0045] The in Fig. 1. The illustrated display 50 includes a touch panel (a touch-sensitive display) 50A. The display 50 is configured to receive display information from various ECUs and a navigation device in the vehicle SV and to display the information on the touch panel 50A. When a passenger in the vehicle SV touches a screen on the touch panel 50A, the display 50 receives an actuation input corresponding to the touched position. As shown in Fig. As illustrated in Figure 2A, the indicator 50 is mounted above an instrument panel in the cabin of the vehicle SV.

[0046] The wheel speed sensor 60 is provided for each of the wheels of the vehicle SV and detects a predetermined number of pulse signals (wheel pulse signals) that are output each time each wheel has rotated once. The wheel speed sensor 60 then transmits the detected wheel pulse signal to the driving assistance ECU 10. The driving assistance ECU 10 calculates a rotational speed (wheel speed) of each wheel based on the number of pulses per unit period of the wheel pulse signal transmitted by each wheel speed sensor 60, and calculates a speed (vehicle speed) Vs of the vehicle SV based on the wheel speeds of the respective wheels.

[0047] The shift lever position sensor 65 is configured to detect the range to which an automatic transmission shift lever (not shown) is set and outputs a signal (range signal) corresponding to the detected range. The drive assistance ECU 10 is configured to detect the range to which the shift lever is set based on the range signal received from the shift lever position sensor 65. The shift lever is set to a drive range (D), a reverse range (R), a neutral range (N), or a park range (P). When the shift lever is set to the drive range and no brake is applied, the vehicle SV moves forward. Conversely, when the shift lever is set to the reverse range and no brake is applied, the vehicle SV moves backward.

[0048] The bird's-eye view switch 67 is a physical switch located near the steering wheel of the vehicle SV and is used to display a low-speed driving assistance screen 500, comprising a bird's-eye view screen 510, which will be described later, on the display 50. The bird's-eye view switch 67 is configured to transition to an ON state when a push-down operation is performed in an OFF state, and to transition to the OFF state when the push-down operation is performed in the ON state. When the bird's-eye view switch 67 is in the ON state, it outputs an operation signal (high-level signal) to the driving assistance ECU 10.

[0049] Referring to Fig. Section 4 now provides a description of the imaged regions of the respective cameras 21. A fisheye lens or the like is used as the lens of each of the cameras 21, and the viewing angle of each of the cameras 21 is greater than or equal to 180 degrees. Therefore, the imaging areas of the respective cameras 21 are in Fig. 4 illustrates.

[0050] Specifically, the imaging area of ​​camera 21A is the area between line A-1 and line A-2, indicated by dashed lines. The imaging area of ​​camera 21B is the area between line B-1 and line B-2, indicated by dash-dot lines. The imaging area of ​​camera 21C is the area between line C-1 and line C-2, indicated by dash-dot lines. The imaging area of ​​camera 21D is the area between line D-1 and line D-2, indicated by dashed lines. The driver assistance ECU 10 is configured to use the images captured by all cameras 21A to 21D to detect the entire periphery of the vehicle SV. (Overview of the operation)

[0051] An overview of an operation of this assistance device is now provided. This assistance device is configured to display the low-speed driving assistance screen 500 (see Fig. 5) to assist the driver during low-speed driving by displaying the information on the touch panel 50A of the display 50 when both of the following conditions (1) and (2) are met. (1) The vehicle speed Vs of the own vehicle SV is less than or equal to a threshold speed Vs1th. (2) The gearshift lever position is in the driving range (D), the reverse range (R) or the neutral range (N).

[0052] This assistance device acquires portions of image data from cameras 21A to 21D at predetermined intervals. It then generates image data (hereinafter referred to as "3D image data") within a curved 3D surface of the peripheral region of the vehicle SV, based on the acquired image data. Specifically, this assistance device projects each pixel value of the image data from cameras 21A to 21D onto a pixel contained within a curved 3D surface in a hemispherical shape. The bottom of the curved 3D surface is centered around the vehicle SV. The pixel of the image data and the corresponding pixel of the curved 3D surface are pre-associated. This assistance device uses the generated 3D image data to display the Low-Speed ​​Driving Assistance Display 500.

[0053] The processing of the generation of such 3D image data is a known technology (see, for example, Japanese patent application publication no. 2012-217000).

[0054] Referring to Fig. 5 now provides a description of the low-speed driving assistance screen 500.

[0055] The low-speed driving assistance screen 500 comprises the bird's-eye view screen 510 and an area-associated screen 520. A self-vehicle image and a peripheral region image 512 are displayed on the bird's-eye view screen 510. The self-vehicle image is an image of the self-vehicle SV when viewed directly from above (as seen in bird's-eye view) and is preset in this assistance device. The peripheral region image 512 is an image obtained when the peripheral region of the self-vehicle SV is viewed directly from above in the 3D image data.

[0056] An image viewed in a direction corresponding to the gearshift lever's range from a viewing point corresponding to the gearshift lever's range in the 3D image data is displayed in the range-associated screen 520. If the gearshift lever position is the driving range or the neutral range, as in Fig. As illustrated in Figure 5, an image viewed from a vantage point behind the vehicle SV, looking towards the front of the vehicle SV, is displayed in the 3D image data on the area-associated screen 520. Conversely, if the gearshift lever position is in reverse, an image viewed from a vantage point in front of the vehicle SV, looking towards the rear of the vehicle SV, is displayed in the 3D image data on the area-associated screen 520, which is not shown in Figure 5. Fig. 5 is shown.

[0057] The 3D image data is pre-split to form a front region (FRA), a right-side region (RTA), a left-side region (LTA), and a rear-side region (RRA), as shown in Fig. Figure 4 illustrates this when the vehicle SV is viewed directly from above. Specifically, pixels in the front region FRA of the 3D image data are associated with the pixels of the image data from camera 21A. Pixels in the right-side region RTA of the 3D image data are associated with the pixels of the image data from camera 21B. Pixels in the left-side region LTA of the 3D image data are associated with the pixels of the image data from camera 21C. Pixels in the rear region RRA of the 3D image data are associated with the pixels of the image data from camera 21D.

[0058] A detailed description of the forms of the respective regions FRA, RTA, LTA and RRA is now provided.

[0059] The front region FRA is a region on the front side of the vehicle SV, and is a region defined by partition lines DL1, DL2 and DL3, which are located in Fig. As illustrated in Figure 4, the system is partitioned or divided. Partition line DL1 is a line segment connecting a point RP1, located a predetermined distance to the right side of a frontal section of the right side of the vehicle SV, and a point LP1, located a predetermined distance to the left side of the vehicle SV, also located a predetermined distance to the frontal section of the left side. Partition line DL2 is a line segment from a point RSP, located on the frontal section of the right side of the vehicle SV, to a predetermined distance along a straight line passing through point RSP and RP1.Similarly, a partition line DL3 is a line segment from a point LSP located on a front side of the left side of the own vehicle SV to a predetermined distance along a straight line passing through point LSP and point LP1.

[0060] In particular, the FRA front region is a region that meets both of the following two conditions. - A region on the front of the vehicle SV with respect to the partition line DL1. - A region on one side of camera 21A with respect to "the line segment DL2 from point RP1", and simultaneously on the side of camera 21A with respect to "the line segment DL3 from point LP1".

[0061] In a region (DA1) filled with slanted lines extending from partition line DL2 to line C-1 (denoted as a dash-dot line), an imaging region of camera 21A and an imaging region of camera 21C overlap. Pixels contained in region DA1 of the 3D image data are associated with pixels in the image data of camera 21A. Furthermore, in a region (DA2) filled with slanted lines extending from partition line DL3 to line B-1 (denoted as a dash-dot line), the imaging regions of camera 21A and an imaging region of camera 21B overlap. Pixels contained in region DA2 of the 3D image data are associated with pixels in the image data of camera 21A.

[0062] The region on the right side RTA is a region on the right side of the vehicle SV, and is a region defined by partition line DL2 and partition line DL4, which is in Fig. As illustrated in Figure 4, the system is divided or partitioned. Partition line DL4 comprises line DL4A and line DL4B. Line DL4A is a line extending parallel to a longitudinal axis of the vehicle SV from point RRP, which indicates a rear end section of the right side of the vehicle SV, to point RP2 located a predetermined distance to the rear. Line DL4B is a line extending from point RP2 to a predetermined distance along a straight line that curves towards the right side, such that the angle at point RP2 with respect to line DL4A has a predetermined value.

[0063] In particular, the region on the right side of RTA is a region that meets both of the following conditions. - A region on one side of camera 21C with respect to "the partition line DL2 from point RSP". - A region on the side of camera 21C with respect to partition line DL4.

[0064] In a region (DA3) filled with oblique lines extending from partition line DL2 to line A-1 (indicated by a dashed line), an imaging region of camera 21A and an imaging region of camera 21C overlap. Pixels contained in region DA3 of the 3D image data are associated with pixels in the image data of camera 21C. Furthermore, in a region (DA4) filled with oblique lines extending from partition line DL4 to line D-2 (indicated by a dashed line), the imaging regions of camera 21B and an imaging region of camera 21D overlap. Pixels contained in region DA4 of the 3D image data are associated with pixels in the image data of camera 21C.

[0065] The region on the left side LTA is located on the left side of the player's vehicle SV and is divided or partitioned by partition line DL3 and partition line DL5. Partition line DL5 comprises line DL5A and line DL5B. Line DL5A extends parallel to a longitudinal axis of the player's vehicle SV from a point LRP, which indicates a rearward section of the left side of the player's vehicle SV, to a point LP2 located a predetermined distance to the rear. Line DL5B extends from point LP2 to a predetermined distance along a straight line that curves towards the left side, such that the angle at point LP2 with respect to line DL5A is of a predetermined value.

[0066] In particular, the region on the left side of LTA is a region that meets both of the following two conditions. - A region on one side of camera 21B with respect to "the partition line DL3 from point LSP". - A region on the side of camera 21B with respect to partition line DL5.

[0067] In a region (DA5) filled with oblique lines extending from partition line DL3 to line A-2 (indicated as a dashed line), an imaging region of camera 21A and an imaging region of camera 21B overlap. Pixels contained in region DA5 of the 3D image data are associated with pixels in the image data of camera 21B. Furthermore, in a region (DA6) filled with oblique lines extending from partition line DL5 to line D-1 (indicated as a dashed line), the imaging regions of camera 21B and an imaging region of camera 21D overlap. Pixels contained in region DA6 of the 3D image data are associated with pixels in the image data of camera 21B.

[0068] The rear region RRA is a region on the rear side of the own vehicle SV, and is a region partitioned by partition lines DL4, DL5, and DL6. Partition line DL6 is a line segment that connects points RRP and LRP on the own vehicle SV.

[0069] In particular, the return region RRA is a region that meets both of the following two conditions. - A region on the rear of the vehicle SV with respect to the partition line DL6. - A region on one side of camera 21D with respect to line segment DL4, and simultaneously on the side of camera 21D with respect to line segment DL5.

[0070] In a region (DA7) filled with oblique lines extending from partition line DL4 to line C-2 (denoted as a dash-dot line), an imaging region of camera 21D and an imaging region of camera 21C overlap. Pixels contained in region DA7 of the 3D image data are associated with pixels in the image data of camera 21D. Furthermore, in a region (DAS) filled with oblique lines extending from partition line DL5 to line B-2 (denoted as a dash-dot line), the imaging regions of camera 21D and an imaging region of camera 21B overlap. Pixels contained in region DA8 of the 3D image data are associated with pixels in the image data of camera 21D.

[0071] In this way, this support device is configured to partition the peripheral region of the vehicle SV in the 3D image data into regions (individual regions) corresponding to the cameras 21. Furthermore, this support device is configured to pre-associate the pixels contained in the respective partitioned individual regions with the pixels of the image data from the cameras 21 according to the respective individual regions.

[0072] Regions FRA', RTA', LTA' and RRA' of the peripheral region image 512, which are in the Fig. The five illustrated bird's-eye view screens (510) contain individual regions in which the pixels contained in the respective regions FRA, RTA, LTA, and RRA of the 3D image data are displayed. Fig. 5 The partition lines DL1 to DL6, which are configured to partition the respective regions FRA', RTA', LTA' and RRA', are illustrated for descriptive purposes but are not actually displayed.

[0073] In other words, the image captured by camera 21A in region FRA' is included in the peripheral region image 512, which is in Fig. As illustrated in Figure 5, the image taken by camera 21B is displayed in region LTA'. The image taken by camera 21C is displayed in region RTA'. The image taken by camera 21D is displayed in region RRA'.

[0074] When this support device displays the low-speed driving support screen 500, this support device sets switching sections 530A to 530D, which are configured to receive “an operation of activating the washing devices 22, which are configured to wash the protective windows 211 of the respective cameras 21 according to the respective regions FRA', LTA', RTA' and RRA'”.

[0075] Specifically, a function of the front switching section 530A is assigned to region FRA'. A function of the left-side switching section 530B is assigned to region LTA'. A function of the right-side switching section 530C is assigned to region RTA'. A function of the rear switching section 530D is assigned to region RRA'. If the respective switching sections 530A to 530D do not need to be distinguished from one another, they are referred to as "switching sections 530".

[0076] In other words, when the passenger touches region FRA' (a touch operation is performed on region FRA'), this support device activates washing unit 22A. When the touch operation is performed on region LTA', this support device is configured to activate washing unit 22B. When the touch operation is performed on region RTA', this support device activates washing unit 22C. When the touch operation is performed on region RRA', this support device activates washing unit 22D.

[0077] As described above, the washing device 22 is capable of selectively performing air washing or liquid washing. Therefore, if a duration period (operation period TO) of a state in which the touch operation is performed by the passenger of the vehicle SV on the region set to switching section 530 of the peripheral region image 512 is shorter than or equal to a threshold period TO1th, this support device determines that an operation of instructing air washing is performed. Subsequently, this support device causes the washing device 22 to perform air washing according to switching section 530 set to the region on which the touch operation is performed (hereinafter sometimes referred to as the "corresponding washing device 22").If, on the other hand, the operating period TO of switching section 530 is longer than the threshold period TO1th, this support device determines that a liquid washing instruction operation is to be performed and causes the corresponding washing device 22 to perform the liquid washing. The air washing instruction operation is sometimes referred to as the "first operation" or "first-mode operation." The liquid washing instruction operation is sometimes referred to as the "second operation" or "second-mode operation."

[0078] Referring to Fig. 6A now provides a detailed description of the operations of the air pump 224, the on / off valve 223 and the washing fluid pump 40 at a time when the air washing is performed.

[0079] In the Fig. In the illustrated example 6A, the touch operation on switching section 530 of any of the switching sections 530A to 530D starts at time t1, and this touch operation is terminated at time t2, at which time one period TO1 has elapsed since time t1. Therefore, the operation period TO of switching section 530 is the period TO1, and, as in Fig. As illustrated in Figure 6A, this period TO1 is shorter than the previously set threshold period TO1th. Therefore, this support device determines that the operation (first operation) of instructing air washing is executed.

[0080] Therefore, this support device activates the air pump 224 of the corresponding washing unit 22 of the actuated switching section 530 at time t2, when the operation on the switching section 530 is completed. This support device stops the operation of the air pump 224 at time t3, when the predetermined period TA1 has elapsed since time t2. This support device keeps the washing fluid pump 40 in a stopped state and keeps the on / off valve 223 in the closed state as long as no operation (second operation) of instructing the liquid washing is performed, as described later.

[0081] As a result, the air pump 224 draws in air, compresses the drawn-in air, and expels the compressed air into line 72 during a period from time t2 to time t3. The compressed air is sprayed from the spray opening 221a of the nozzle 221 towards the protective window 211 of the camera 21, thereby washing the protective window 211. In contrast, the on / off valve 223 continues to close the flow passage in line 70 during the period from time t2 to time t3, with the washing fluid not being sprayed from the spray opening 221a, and only the compressed air being sprayed from the spray opening 221a.

[0082] Referring to Fig. Section 6B now provides a detailed description of the operations of the air pump 224, the on / off valve 223 and the washing liquid pump 40 when the liquid washing is performed.

[0083] In a Fig. In the example illustrated in Figure 6B, the touch operation on any of the switching sections 530 starts at time t4, and this touch operation is terminated at time t5, at which time one period TO2 has elapsed since time t4. Therefore, the actuation or operation period TO of the switching section 530 is period TO2, and, as shown in Figure 6B, Fig. As illustrated in Figure 6B, this period TO2 is longer than the threshold period TO1th. Therefore, this support device determines that the operation (second operation) of instructing the liquid washing is performed.

[0084] Therefore, this support device activated the washing fluid pump 40 and opened the on / off valve 223 of the corresponding washing device 22 of the actuated switching section 530, thereby opening the flow passage of the corresponding washing device 22 at time t5, when the actuation of the switching section 530 ends. Furthermore, this support device activated the air pump 224 of the washing device 22 at time t5. As a result, the mixture of washing fluid and compressed air was sprayed from the spray opening 221a at time t5. Consequently, the washing fluid, together with the compressed air, collided with the protective window 211 with an impact force, and thus the protective window 211 was effectively cleaned.

[0085] At time t6, when the predetermined period TL1 has elapsed since time t5, this support device stops the washing liquid pump 40 and closes the on / off valve 223 of the corresponding washing device 22, thereby closing the flow passage of the washing device 22. However, this support device does not stop the air pump 224, but continues its operation at time t6. Subsequently, this support device stops the operation of the air pump 224 at time t7, when the predetermined period TA2, which is longer than the predetermined period TL1, has elapsed since time t5. Therefore, only compressed air is sprayed from the spray opening 221a during the period from time t6 to time t7.As a result, the washing liquid remaining on the protective window 211 can be blown away by the compressed air, and the probability that “the washing liquid remains on the protective window 211 after the liquid washing, and the washing liquid dries while dirt particles, dust, and the like adhere to the protective window 211” can be reduced.

[0086] As described above, this support device is configured to adjust the respective switching sections 530 according to the respective washing devices 22, which are configured to wash the corresponding cameras 21, on the bird's-eye view screen 510, on which the images captured by the respective cameras 21 are displayed. As a result, the passenger of the vehicle SV can visually inspect the images displayed on the bird's-eye view screen 510 to check whether or not dirt is adhering to the protective windows 211 of the respective cameras.

[0087] Furthermore, if dirt adheres to the protective window 211 of any of the cameras 21, the passenger can determine whether the dirt can be removed by air washing alone or only by liquid washing, and can then operate the switching section 530 according to the result of this determination. Therefore, if dirt that can be removed by air washing alone is present, air washing is performed, and if dirt that can only be removed by liquid washing is present, the probability of liquid washing is increased. As a result, the number of liquid washing operations can be reduced, and the amount of washing fluid used can be decreased.

[0088] Furthermore, if the operation period TO of any of the switching sections 530 is shorter than the threshold period TO1th, this support device determines that the operation (first operation) of instructing air scrubbing is executed. Conversely, if the operation period TO of any of the switching sections 530 is longer than or equal to the threshold period TO1th, this support device determines that the operation (second operation) of instructing liquid scrubbing is executed. As a result, the probability of liquid scrubbing being unintentionally performed by an operation can be reduced, and the scrubbing liquid stored in the tank is less likely to be depleted. (Specific operation)

[0089] CPU 11 of the driver assistance ECU 10 is configured to execute a routine that is represented as a flowchart in Fig. Figure 7 illustrates this, each time a predetermined period has elapsed. The in Fig. Routine 7, illustrated, is a routine for displaying the Low Speed ​​Driving Assistance screen 500.

[0090] Therefore, CPU 11 starts processing step 700 of Fig. 7 at a predetermined time, proceeds to step 705, obtains the image data from the respective cameras 21A to 21D, and proceeds to step 710.

[0091] In step 710, CPU 11 generates the 3D image data based on the respective elements of the image data obtained in step 705 as described above, and proceeds to step 715. In step 715, CPU 11 obtains the vehicle speed Vs of its own vehicle SV based on the wheel pulse signals from the wheel speed sensors 60, and proceeds to step 720.

[0092] In step 720, CPU 11 determines whether the absolute value of the vehicle speed Vs is less than or equal to the threshold speed Vs1th. If the absolute value of the vehicle speed Vs is less than or equal to the threshold speed Vs1th, CPU 11 makes a "yes" determination in step 720 and proceeds to step 725.

[0093] In step 725, the CPU 11 obtains the range signal from the shift lever position sensor 65 in order to detect the range to which the shift lever is set, which is represented by the range signal, and proceeds to step 730.

[0094] In step 730, the CPU 11 determines whether the area detected in step 725 is the driving area (D), the neutral area (N) or the reverse area (R).

[0095] If the area is one of the driving range (D), the neutral range (N) or the reverse range (R), the CPU 11 makes a "yes" determination in step 730 and proceeds to step 735.

[0096] In step 735, CPU 11 generates the image (peripheral region image 512) of the peripheral region of the user's own vehicle SV at the time when the user's own vehicle SV is viewed directly from above, within the 3D image data generated in step 710. CPU 11 then combines the generated peripheral region image 512 and the previously set image of the user's own vehicle to generate the display data for the bird's-eye view screen 510.

[0097] The CPU 11 then proceeds to step 740, sets the switching sections 530A to 530D to the corresponding regions FRA', LTA', RTA' and RRA' of the peripheral region image 512 of the bird's-eye view screen 510, which is generated in step 735, and proceeds to step 745.

[0098] In step 745, if the area is the driving area (D) or the neutral area (N), CPU 11 generates the image in the 3D image data from the viewpoint behind the vehicle SV, looking towards the front of the vehicle SV, and generates the display data for the area-associated screen 520, which contains the generated image. Conversely, if the area is the reverse area (R), CPU 11 generates the image in the 3D image data from the viewpoint in front of the vehicle SV, looking towards the rear of the vehicle SV, and generates the display data for the area-associated screen 520, which contains the generated image.

[0099] The CPU 11 then proceeds to step 750, displays the low-speed driving assistance screen 500 on the display 50 (touch panel 50A) based on the image data of the bird's-eye view screen 510 generated in step 735 and the display data of the area-associated screen 520 generated in step 745, and proceeds to step 755.

[0100] In step 755, the CPU 11 sets the value of a bird's-eye view flag to "1" and proceeds to step 795 to temporarily terminate this routine. The bird's-eye view flag is set to "1" while the low-speed driving assistance screen 500 is displayed.

[0101] Furthermore, if CPU 11 proceeds to step 720, and the absolute value of the vehicle speed Vs is higher than the threshold speed Vs1th, CPU 11 makes a "no" determination in step 720 and proceeds to step 760.

[0102] In step 760, the CPU 11 determines whether the bird's-eye view switch 67 is still actuated or not. Specifically, if an actuation or operation signal is input from the bird's-eye view switch 67, the CPU 11 determines that the bird's-eye view switch 67 is actuated.

[0103] If the bird's-eye view switch 67 is not activated, the CPU 11 makes a "yes" determination in step 760 and does not display the low-speed driving assistance screen 500. Therefore, the CPU 11 proceeds to step 765 to set the value of the bird's-eye view flag to "0" and continues to step 795 to temporarily terminate this routine.

[0104] On the other hand, if the bird's-eye view switch 67 is activated, the CPU 11 makes a "no" determination in step 760 and proceeds to processing step 735 to display the low-speed driving assistance screen 500.

[0105] If the CPU 11 continues to step 730, and the range of the gear selector is not one of the driving range (D), the neutral range (N) or the reverse range (R) (in other words, the range of the gear selector is the park range (P)), the CPU 11 makes a "no" determination in step 730 and proceeds to processing step 760.

[0106] CPU 11 of the driver assistance ECU 10 is configured to execute a routine that is described as a flowchart of Fig. 8 illustrates that it differs from the flowchart of Fig. The seven illustrated routines differ each time a predetermined period has elapsed. The in Fig. Routine 8, illustrated, is a routine for activating the washing device 22 to perform air or liquid washing according to the touch operation mode on the switching section 530. Specifically, CPU 11 is configured to execute the routine of Fig. 8 for the respective regions FRA', LTA', RTA' and RRA' (in other words, to execute the washing device 22 according to "the front switching section 530A, the left-side switching section 530B, the right-side switching section 530C, and the rear switching section 530D", each set to these individual regions) independently of one another. Now a description is provided while focusing on a specific switching section from these switching sections.

[0107] Therefore, the CPU 11 starts processing step 800 of Fig. 8 at a predetermined time, proceeds to step 805, and determines whether the value of the bird's-eye view flag is set to "1" or not.

[0108] If the value of the bird's-eye view flag is not set to "1", in other words, if the value of the bird's-eye view flag is set to "0", the low-speed driving assistance screen 500 will not be displayed, and therefore the shift section 530 cannot be operated. Therefore, in this case, CPU 11 makes a "no" determination in step 805 and proceeds directly to step 895 to temporarily terminate this routine.

[0109] When the value of the bird's-eye view flag is set to "1", in other words, when the low-speed driving assistance screen 500 is displayed, the CPU 11 makes a "yes" determination in step 805 and proceeds to step 810. In step 810, the CPU 11 determines whether or not the touch operation is performed on the specific switching section 530, which is set to any of the respective regions FRA', LTA', RTA', and RRA' of the peripheral region image 512 of the low-speed driving assistance screen 500 (whether or not the specific switching section 530 is touched by a finger).

[0110] When the touch operation is performed on the specific switching section 530, the CPU 11 makes a "yes" determination in step 810 and proceeds to step 815. In step 815, the CPU 11 determines whether the value of an operation flag corresponding to the specific switching section 530 is set to "0" or not.

[0111] If the value of the operation flag corresponding to specific switching section 530 is set to "0", CPU 11 makes a "yes" determination in step 815, proceeds to step 820, sets the value of the operation flag to "1", and proceeds to step 825. In step 825, CPU 11 sets a timer TM for specific switching section 530 to "0" to initialize the timer TM. Thus, when the passenger touches the region to which specific switching section 530 is set, the value of the operation flag corresponding to specific switching section 530 is set to "1", and when the touch operation on that region is complete (when the passenger releases their finger from the region), the value of the operation flag corresponding to specific switching section 530 is set to "0" (see steps 865 and 880, which are described later).As the passenger continues to touch the region, the system continues to add "1" to the timer TM corresponding to the specific switching section 530 (see step 845, which is described later). Therefore, the value of the timer TM represents the actuation or operation period (a duration period of the state in which the touch operation is performed on switching section 530) TO of the specific switching section 530.

[0112] The CPU then proceeds to step 830 and determines whether the timer TM corresponding to the specific switching section 530 is greater than or equal to a threshold timer TM1th. In other words, the processing in step 830 is to determine whether the operating period TO of the specific switching section 530 is longer than or equal to the threshold period TO1th.

[0113] If the timer TM corresponding to specific switching section 530 is shorter than the threshold timer TM1th—in other words, if the operation period TO of specific switching section 530 is shorter than the threshold period TO1th—the CPU 11 makes a "no" determination in step 830 and proceeds to step 835. In step 835, the CPU 11 sets the value of a push-and-hold flag corresponding to specific switching section 530 to "0". The CPU 11 then proceeds to step 895 to temporarily terminate this routine.

[0114] If the timer TM corresponding to specific switching section 530 is greater than or equal to the threshold timer TM1th—in other words, if the operation period TO of specific switching section 530 is longer than or equal to the threshold period TO1th—the CPU 11 makes a "yes" determination in step 830 and proceeds to step 840. In step 840, the CPU 11 sets the value of the push-and-hold flag corresponding to specific switching section 530 to "1" and proceeds to step 895 to temporarily terminate this routine. Thus, the push-and-hold flag corresponding to specific switching section 530 is set to "1" if the actuation or operation period TO of specific switching section 530 is longer than or equal to the threshold period TO1th.

[0115] If CPU 11 continues to step 815, and the value of the operation flag according to specific switching section 530 is not set to "0"—in other words, if the value of the operation flag according to specific switching section 530 is set to "1"—CPU 11 makes a "no" determination in step 815 and proceeds to step 845. In step 845, CPU 11 sets a value obtained by adding "1" to the value of timer TM according to specific switching section 530 as a new value for timer TM and proceeds to the processing of step 830.

[0116] Furthermore, if CPU 11 proceeds to step 810 and the specific switching section 530 is not activated, CPU 11 makes a "no" determination in step 810 and proceeds to step 850. In step 850, CPU 11 determines whether the value of the operation flag corresponding to the specific switching section 530 is set to "1" or not.

[0117] If the value of the operation flag corresponding to specific switching section 530 is not set to "1"—in other words, if the value of the operation flag corresponding to specific switching section 530 is set to "0"—this value represents that specific switching section 530 was not activated at the time this routine was last executed. In this case, CPU 11 makes a "no" determination in step 850 and proceeds to step 895 to temporarily terminate this routine.

[0118] Conversely, if the value of the operation flag corresponding to specific switching section 530 is set to "1", this value represents that the operation on specific switching section 530 was completed at the time this routine was last executed. In this case, CPU 11 makes a "yes" determination in step 850 and proceeds to step 855 to determine whether the value of the push-and-hold flag corresponding to specific switching section 530 is set to "1" or not.

[0119] If the value of the push-and-hold flag corresponding to specific switching section 530 is set to "1", the operation period TO of switching section 530 is longer than or equal to the threshold period TO1th, and the operation on the specific switching section has been terminated. Therefore, if the value of the push-and-hold flag corresponding to specific switching section 530 is "1", the operation (second operation) of instructing the washing device 22 to perform liquid washing according to specific switching section 530 can be determined to be executed. Therefore, in this case, the CPU 11 makes a "yes" determination in step 855 and proceeds to step 860 to execute a control to cause the washing device 22 to perform liquid washing according to specific switching section 530.In other words, the CPU 11 opens the on / off valve 223, and actuates the washing liquid pump 40 from this time until a time when the predetermined period TL1 has elapsed, and actuates the air pump 224 of the washing device 22 according to the specific switching section 530 from this time until a time when the predetermined period TA2 has elapsed (see . Fig. 6B).

[0120] The CPU then proceeds to step 865 to set the value of the operation flag to "0" according to the specific switching section 530, proceeds to step 870 to set the value of the push-and-hold flag to "0" according to the specific switching section 530, and proceeds to step 895 to temporarily terminate this routine.

[0121] If, on the other hand, the value of the push-and-hold flag corresponding to specific switching section 530 is not set to "1", the switching operation on switching section 530 has been completed while the operation period TO of specific switching section 530 is shorter than the threshold period TO1th. Therefore, if the value of the push-and-hold flag corresponding to specific switching section 530 is not set to "1", it can be determined that the operation (first operation) of instructing the air washing device 22 according to specific switching section 530 is to be executed. Therefore, in this case, CPU 11 makes a "no" determination in step 855 and proceeds to step 875 to control the initiation of the air washing device 22 according to specific switching section 530.

[0122] The CPU then proceeds to step 880 to set the value of the operation flag to "0" according to the specific switching section 530. The CPU then proceeds to step 895 to temporarily terminate this routine.

[0123] As described above, according to this support device, the function of the switching sections 530 for performing the operation of washing the protective windows 211 of the respective cameras 21 is added to the bird's-eye view screen 510, on which the images captured by the respective cameras 21 are displayed. Therefore, the passenger can intuitively determine which camera 21 has a protective window 211 that needs to be washed and whether air washing or liquid washing is to be performed.

[0124] The present invention is not limited to the embodiment described above, and various modified examples can be applied within the scope of the present invention. For example, when the touch operation is performed on the switching section 530, the CPU 11 can determine that the touch operation has been performed once, regardless of the duration of the touch operation. Subsequently, the CPU 11 can determine that the operation (the first operation or the operation in first mode) of instructing air washing is performed if the touch operation is performed only once in a predetermined period, and determine that the operation (the second operation or the operation in second mode) of instructing liquid washing is performed if the touch operation is performed twice (or more) in the predetermined period.

[0125] Furthermore, this support device can be provided independently of the display 50 (the touch panel 50A, which is a touch-sensitive type display) and can be configured to use a variety of switches corresponding to the regions FRA', LTA', RTA' and RRA', respectively, in order to detect (determine) the washing device 22 to be operated, and which of the first or second operation is the operation.

[0126] In the aforementioned embodiment, when the washing device 22 performs the liquid washing, the washing device 22 sprays the mixture of the washing liquid and the compressed air from the spray opening 221a; however, only the washing liquid alone can be sprayed from the spray opening 221a. In this case, the CPU 11 activates the air pump 224 at time t5, which is in Fig. As illustrated in Figure 6B, the air pump 224 is not activated at time t6, when the on / off valve 223 switches to the closed state, but rather it is activated and stops the operation of the air pump 224 at time t7. In other words, only the washing liquid from the spray opening 221a needs to be removed within a period from time t5 to time t6, which is shown in Figure 6B. Fig. Figure 6B illustrates the process of liquid washing. If liquid washing continues, CPU 11 can only spray compressed air for a short period before the washing liquid is sprayed. Additionally, air pump 224 can always be stopped while liquid washing is running.

[0127] In the aforementioned embodiment, when the washing device 22 performs air washing, it sprays compressed air alone without spraying the washing liquid. However, the spraying of compressed air can be combined with another washing mode that differs from the spraying of the washing liquid. One example of a washing mode that differs from the spraying of the washing liquid is a mode of applying vibration to the protective window 211. As a result of applying vibration to the protective window 211, dirt, such as water droplets and particles adhering to the protective window 211, is removed.In particular, the washing device 22 comprises a (not shown) vibration application device configured to apply the vibration to the protective window 211, and the vibration application device applies the vibration to the protective window 211 for a predetermined period when the washing device 22 sprays the compressed air.

[0128] In the above embodiment, the low-speed driving assistance screen 500 is displayed when the vehicle speed Vs of the own vehicle SV is less than or equal to the threshold speed Vs1th, however, the configuration is not limited to this example.

[0129] A driver assistance device comprises a camera (21) for capturing an image of a peripheral region of the vehicle through a protective window (211), and a driver assistance module (10) for displaying a peripheral region image on a display (50) to assist the driver in operating the vehicle. The device further comprises a washing unit (22) capable of selectively performing an air wash (spraying air towards the protective window without spraying liquid) and a liquid wash (spraying liquid towards the protective window), and a switching section (530) for receiving an instruction specifying which of the air wash or liquid wash operations is performed.The driving assistance module causes the washing device to perform air washing when a first operation is performed; and causes the washing device to perform liquid washing when a second operation is performed.

Claims

[1] Driving support device, with: a camera (21) which includes a protective window and is configured to take an image of a peripheral region of its own vehicle through the protective window; a display (50) configured to display a peripheral region image (511) which includes the image captured by the camera; a driver assistance module (10) configured to display the peripheral region image on the display to assist the driver in driving their own vehicle; a washing device (22) capable of selectively performing an air wash by spraying air towards the protective window to wash the protective window without spraying liquid, and a liquid wash by spraying liquid towards the protective window to wash the protective window; and a switching section (530) configured to receive an operation instruction, which is to be performed as either air washing or liquid washing, wherein the driver assistance module (10) is configured to: to cause the washing device to perform the air washing (step 875) if it is determined that a first operation will be performed on the switching section (“No” in step 855); and to cause the washing device to perform the liquid washing (step 860) when it is determined that a second operation will be performed on the switching section (“Yes” in step 855), where the display (50) includes a touch panel (50A) capable of displaying the peripheral region image (511), the switching section includes a touch-sensitive switch capable of detecting a touch operation on the peripheral region image (FRA', RTA', LTA' and RRA') displayed on the touch panel (50A), and the driving assistance module (10) is configured to determine which of the first operation or the second operation is performed, based on an operation mode of the touch operation (step 810 to step 855), characterized by , that the driver assistance module (10) is configured to: to determine that the first operation is performed if a persistence period (TO) of the touch operation is shorter than a threshold period (TO1th) (step 830, step 835, and "No" in step 855); and to determine that the second operation is performed if the persistence period (TO) of the touch operation is longer than or equal to the threshold period (TO1th) (step 830, step 835, and “Yes” in step 855). [2] Driving assistance device according to claim 1, wherein the driving assistance module (10) is configured to cause the washing device (22) to spray the liquid and subsequently to spray the air alone in the direction of the protective window when the washing device (22) is caused to perform the liquid washing (see step 860 and TL1 and TL2 of Fig. 6B).

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