vehicle

Abstract

To improve rough-road traveling performance of a vehicle.SOLUTION: A vehicle 1 includes a display (navigation screen 5 and HUD 6), and a processor 71 that allows the display to display a panoramic image indicating surrounding situations of the vehicle 1 as if the vehicle 1 is photographed from above the vehicle 1. The panoramic image includes: icons that are superimposed and displayed on the panoramic image and indicate positions of a plurality of wheels 84; and a recommended route that is superimposed and displayed on the panoramic image and indicates a route that the plurality of wheels 84 should take to pass.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] This disclosure relates to vehicles.

Background Art

[0002] The peripheral image generation device disclosed in Japanese Patent Application Laid-Open No. 2022-82487 (Patent Document 1) includes a composite image generation unit that generates an underfloor transmission image, which is a composite image obtained by transmitting the bottom of a vehicle. The composite image generation unit is configured to generate, as the underfloor transmission image, an image showing a part or all of the ground located below the vehicle, with a vehicle boundary line indicating the boundary of the range where the vehicle body exists superimposed thereon, and to generate an image in which a decoration of a predetermined pattern is added to the vehicle boundary line.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Depending on the vehicle type, it is required that the vehicle be capable of traveling on rough roads (such as off-road). Also, depending on the driver's place of residence, there may be situations where the vehicle has to travel on rough roads (such as snowy roads). To prepare for such driving conditions, it is desirable for the vehicle to have high rough-road driving performance.

[0005] This disclosure has been made to solve the above problems, and one of the objects of this disclosure is to improve the rough-road driving performance of a vehicle.

Means for Solving the Problems

[0006] (1) A vehicle according to an aspect of the present disclosure travels using a plurality of wheels. The vehicle includes a display and a processor that causes the display to display a panoramic image showing a surrounding situation of the vehicle as if the vehicle were photographed from above the vehicle. The panoramic image includes an icon that is superimposed on the panoramic image and indicates positions of the plurality of wheels, and a recommended route that is superimposed on the panoramic image and indicates a route through which the plurality of wheels preferably pass.

[0007] In the configuration of (1) above, an icon indicating the positions of the plurality of wheels and the recommended route are superimposed on the panoramic image. Thereby, it becomes possible for the driver to drive while checking the positional relationship between the positions of the plurality of wheels and the recommended route. Therefore, according to the configuration of (1) above, the rough-road traversability of the vehicle can be improved.

[0008] (2) The vehicle further includes a ground surface shape sensor that measures the shape of the ground surface on which the vehicle travels. The processor determines a recommended route according to the measurement result by the ground surface shape sensor.

[0009] In the configuration of (2) above, the recommended route is determined according to the measurement result by the ground surface shape sensor (that is, the shape of the ground surface). Therefore, even if there are some obstacles (including rubble, rocks, fallen trees, protrusions, holes, grooves, etc.) on the ground surface, the vehicle can preferably traverse rough roads while avoiding the obstacles.

[0010] (3) The processor determines a recommended route while avoiding obstacles higher than the lowest ground clearance of the vehicle and not avoiding obstacles lower than the lowest ground clearance of the vehicle.

[0011] In the configuration of (3) above, obstacles higher than the lowest ground clearance are avoided, while for obstacles lower than the lowest ground clearance, the recommended route is determined without avoiding them. Thereby, while avoiding damage to the vehicle, the range of route selection is widened, so that it becomes possible to more reliably secure the recommended route.

[0012] (4) The panoramic image further includes a first icon and a second icon. The first icon is superimposed on the panoramic image in a first display mode and indicates an obstacle higher than the lowest ground clearance. The second icon is superimposed on the panoramic image in a second display mode different from the first display mode and indicates an obstacle lower than the lowest ground clearance.

[0013] In the above (4), it is distinguished whether the obstacle is higher or lower than the lowest ground clearance of the vehicle. Therefore, the driver can more surely avoid an obstacle higher than the lowest ground clearance of the vehicle, and it is also possible to drive without avoiding an obstacle lower than the lowest ground clearance of the vehicle. Thus, it becomes possible for the vehicle to more appropriately avoid obstacles and suitably travel on a rough road.

[0014] (5) The processor determines a recommended route so that a plurality of wheels pass over the ruts formed on the snow accumulated on the ground surface.

[0015] In the configuration of the above (5), the recommended route is determined so that a plurality of wheels pass over the ruts. Thereby, compared with the case where a plurality of wheels do not pass over the ruts, the slippage of the wheels (tires) is reduced. Thus, according to the configuration of the above (5), it becomes possible for the vehicle to suitably travel on a rough road.

Effect of the Invention

[0016] According to the present disclosure, the rough road running performance of the vehicle can be improved.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[0019] [Embodiment] [Vehicle Configuration] FIG. 1 is a diagram showing the vehicle configuration in the present embodiment. The vehicle 1 includes a panoramic view camera 2, an advanced driving assistance system (ADAS) 3, a ground surface shape sensor 4, a navigation screen 5, a head-up display (HUD) 6, an electronic control unit (ECU) 7, and a drive system 8.

[0020] The panoramic view camera 2 includes, for example, a front camera, a rear camera, a left side camera, and a right side camera (none of which are shown), and captures images of the surroundings of the vehicle 1. From these images, a panoramic image showing the situation around the vehicle 1 as if the vehicle 1 was photographed from above the vehicle 1 is generated.

[0021] The ADAS 3 is configured to assist the driver when the driver drives the vehicle 1. Specifically, the ADAS 3 may include functions such as ACC (Adaptive Cruise Control System), FCW (Forward Collision Warning), AEBS (Advanced Emergency Braking System), LDW (Lane Departure Warning), and LKAS (Lane Keeping Assist System).

[0022] The ground surface shape sensor 4 measures the shape (undulation) of the ground surface on which the vehicle 1 travels. More specifically, the ground surface shape sensor 4 may be a LiDAR (Light Detection And Ranging) sensor, a light sectioning sensor using the light sectioning method, a stereo vision sensor using stereo vision, or a combination of two or three of these.

[0023] The navigation screen 5 and the HUD 6 display a panoramic image. At least one of the navigation screen 5 and the HUD 6 corresponds to the "display" according to the present disclosure.

[0024] The ECU 7 includes a processor 71 and a memory 72. The processor 71 may be read as a circuit or a processing circuit. The ECU 7 generates a panoramic image for display on the navigation screen 5 and the HUD 6 based on a plurality of images captured by the paranoma view camera 2. The panoramic image will be described with reference to FIGS. 2 and 3. Further, the ECU 7 executes route recommendation processing (details will be described later) and displays the route determined by the route recommendation processing on the panoramic image. Furthermore, the ECU 7 causes the vehicle 1 to travel by controlling the drive system 8 in cooperation with the ADAS 3. Note that the ECU 7 may be divided into a plurality of units for each function.

[0025] The drive system 8 includes, as constituent devices for driving the vehicle 1, a battery 81, a power control unit (PCU) 82, a motor generator 83, and a plurality of wheels (tires) 84. In this example, an example in which the vehicle 1 is a four-wheeled vehicle will be described, but the number of the wheels 84 is not particularly limited.

[0026] Since various situations may occur in which the vehicle 1 travels on rough roads, it is desirable for the vehicle 1 to have high rough-road traversability. Therefore, in the present embodiment, the vehicle 1 is configured to display, on a panoramic image, a route on which driving is desirable, more specifically, a route with less unevenness on the ground surface.

[0027] <Panoramic image> The ECU 7 has, as driving modes of the vehicle 1, a "rubble road mode" and a "snow road mode" in this example. Both the rubble road mode and the snow road mode are modes for allowing the four wheels 84 to pass through a route with as little unevenness on the ground surface as possible and without hindering the driving of the vehicle 1. As will be described below, the ECU 7 determines a "recommended route" according to the driving mode, and superimposes and displays various information including the recommended route on the panoramic image.

[0028] ≪Rubble road mode≫ FIG. 2 is a diagram schematically showing an example of a panoramic image in the rubble road mode. The panoramic image IMG1 shown in FIG. 2 includes an icon indicating the vehicle body V (outer shape) of the vehicle 1. In the present embodiment, icons indicating the positions of the four wheels 84 (two front wheels FW and two rear wheels RW) are superimposed and displayed on the panoramic image IMG1.

[0029] In addition, obstacles X and Y existing on the ground surface are displayed on the panoramic image IMG1, and a recommended route (indicated by ROUTE) through which the four wheels 84 are desirably to pass is displayed. The obstacle X is an object having a height equal to or higher than the lowest ground clearance of the vehicle 1. The obstacle Y is an object having a height lower than the lowest ground clearance of the vehicle 1. When the vehicle 1 passes through the obstacle X, the vehicle body V (such as a bumper or an under cover) may come into contact with the obstacle X, while the vehicle body V does not come into contact with the obstacle Y even when the vehicle 1 passes through the obstacle Y. Therefore, the recommended route is determined so as to avoid the obstacle X while not particularly avoiding the obstacle Y. Note that the icon of the obstacle X corresponds to the "first icon" according to the present disclosure, and the icon of the obstacle Y corresponds to the "second icon" according to the present disclosure.

[0030] In addition, in the panoramic image IMG1, a puddle formed on the ground surface (indicated by PUDDLE) is also displayed. Although it is difficult to estimate the depth of the puddle from the vehicle 1, if the wheel 84 gets stuck in a deep puddle, the vehicle 1 may become inoperable. Therefore, the recommended route is determined so that the four wheels 84 do not pass through the puddle.

[0031] Furthermore, when the road width is narrow, if the vehicle 1 travels in a groove (indicated by GROOVE) at the road edge, the vehicle 1 may derail and become inoperable. Therefore, the recommended route is determined so that the four wheels 84 do not pass through the groove (or its vicinity) at the road edge.

[0032] <<Snow Road Mode>> FIG. 3 is a diagram schematically showing an example of a panoramic image in the snow road mode. Similar to the rubble road mode, also in the snow road mode, in the panoramic image IMG2, an icon indicating the vehicle body V of the vehicle 1, an icon indicating the positions of the four wheels 84 (FW and RW), and the recommended route are superimposed and displayed. The recommended route in the snow road mode is determined so that the four wheels 84 pass through the rut (indicated by RUT) formed on the snow accumulated on the ground surface.

[0033] The panoramic image IMG1 in FIG. 2 and the panoramic image IMG2 in FIG. 3 are displayed on at least one of the navigation screen 5 and the HUD 6. From the viewpoint of reducing the driver's viewpoint movement to improve safety and reduce fatigue, it is desirable that the panoramic images IMG1 and IMG2 are displayed on the HUD 6.

[0034] <<Route Recommendation Processing Flow>> Figure 4 is a flowchart showing the processing procedure regarding mode switching in the route recommendation process. The processing shown in this flowchart is executed when a predetermined condition is satisfied (for example, at every predetermined cycle). Each step is realized by software processing by the ECU 7, but may also be realized by hardware (electric circuit) arranged in the ECU 7. Hereinafter, steps are abbreviated as S. In this example, the rubble road mode is the default driving mode.

[0035] In S1, the ECU 7 determines whether snow accumulation has been detected. The ECU 7 can detect snow accumulation, for example, by determining whether a characteristic pattern (such as the color and shadow of snow, the depression of ruts, etc.) has been extracted from the surface of the ground covered with snow in the image captured by the panoramic view camera 2. This image processing (and other image processing described later) can be realized using known image recognition techniques such as machine learning. If snow accumulation has not been detected (NO in S1), the ECU 7 maintains the default rubble road mode (S2).

[0036] If snow accumulation has been detected (YES in S1), the ECU 7 displays a message on the navigation screen 5 and / or the HUD 6 to confirm with the driver whether the driving mode can be switched (S3). When the driver performs an operation to approve the switching of the driving mode (YES in S4), the ECU 7 switches the driving mode from the rubble road mode to the snow road mode (S5). When the driver performs an operation to reject the switching of the driving mode or does not perform any operation (NO in S4), the ECU 7 maintains the driving mode in the rubble road mode (S2).

[0037] Although it is desirable to obtain the driver's approval when switching the driving mode, the ECU 7 may be configured to be able to switch the driving mode without the driver's approval. The ECU 7 may be configured to allow the driver to select the driving mode manually.

[0038] ≪Rubble Road Mode≫ FIG. 5 is a flowchart showing the processing procedure of route recommendation processing in the rubble road mode. The processing shown in the flowchart of FIG. 5 and FIG. 6 described later is also called from the main routine and repeatedly executed every time a predetermined condition is satisfied (typically, every predetermined period).

[0039] Referring to FIGS. 2 and 5, in S201, the ECU 7 determines whether the vehicle 1 is traveling on a rubble road. The ECU 7 may determine that the vehicle 1 is traveling on a rubble road when the unevenness of the ground surface is detected by the ground surface shape sensor 4. The ECU 7 may determine that the vehicle 1 is traveling on a rubble road when minute vibrations characteristic of a rubble road are detected by an acceleration sensor (G sensor). When the vehicle 1 is not traveling on a rubble road (NO in S201), the ECU 7 skips the subsequent processing and returns the processing to the main routine. When the vehicle 1 is traveling on a rubble road (YES in S201), the ECU 7 advances the processing to S202.

[0040] In S202, the ECU 7 determines whether a driver operation requesting driving support by the ADAS 3 has been performed (whether the switch of the ADAS 3 is on). When driving support is requested (YES in S202), the ECU 7 accepts the support by the ADAS 3 so that the recommended route determined in the subsequent processing is passed through by the four wheels 84 (S203). The ECU 7, for example, restricts the speed (vehicle speed) of the vehicle 1, displays a message prompting deceleration, or supports the driver's steering so that the four wheels 84 do not deviate from the recommended route based on the support of the ADAS 3. When driving support is not requested (NO in S202), the ECU 7 does not accept the support by the ADAS 3 (S204).

[0041] In S205, the ECU 7 superimposes and displays an underfloor transmission image including an icon indicating the positions of the four wheels 84 on the panoramic image. The icon is maintained constantly displayed during the subsequent processing.

[0042] In S206, the ECU 7 detects obstacles, puddles, and ditches at the road edge around the vehicle 1 based on the measurement results from the panoramic view camera 2 and / or the ground surface shape sensor 4. Note that the obstacles can be detected by the panoramic view camera 2, LiDAR, light section sensor, stereo vision, etc. The puddles can be detected by the panoramic view camera 2, stereo vision, etc. The ditches at the road edge can be detected by the panoramic view camera 2, LiDAR, light section sensor, stereo vision, etc.

[0043] In S207, the ECU 7 superimposes and displays icons indicating the positions and shapes of the obstacles X and Y on the panoramic image such that the obstacle X having a height equal to or higher than the lowest ground clearance of the vehicle 1 is displayed in a certain color (e.g., red), and the obstacle Y having a height less than the lowest ground clearance of the vehicle 1 is displayed in another color (e.g., yellow). Note that since the lowest ground clearance of the vehicle 1 is a known value for the ECU 7, the ECU 7 can determine whether the height of the obstacle is equal to or higher than the lowest ground clearance or less than it.

[0044] In S208, the ECU 7 superimposes and displays an icon of the puddle on the panoramic image such that the puddle is displayed in a color different from the above two colors (e.g., light blue).

[0045] In S209, the ECU 7 superimposes and displays the shape of the ditch at the road edge on the panoramic image such that the ditch at the road edge is displayed in a color different from the above three colors (e.g., white).

[0046] In S210, the ECU 7 determines the recommended routes for the four wheels 84 such that the vehicle 1 (the vehicle body) does not pass over an obstacle having a height equal to or higher than the lowest ground clearance of the vehicle 1, and none of the four wheels 84 passes through a puddle, and none of the four wheels 84 derails into the ditch at the road edge. Then, the ECU 7 superimposes and displays the determined recommended routes on the panoramic image. After that, the ECU 7 returns the process to the main routine. Thereby, a series of processes are repeatedly executed.

[0047] Note that the obstacle, the puddle, the groove at the road edge, and the recommended route will all remain superimposed on the panoramic image at the same time. Therefore, the execution order of the processes in S207 to S210 is not particularly limited.

[0048] ≪Snow Road Mode≫ FIG. 6 is a flowchart showing the processing procedure of the route recommendation process in the snow road mode.

[0049] Referring to FIGS. 3 and 6, in S501, the ECU 7 determines whether the vehicle 1 is traveling on a snow road. As described above, the ECU 7 can determine whether the vehicle 1 is traveling on a snow road by determining whether there is snow accumulation in the image captured by the panoramic view camera 2. If the vehicle 1 is not traveling on a snow road (NO in S501), the ECU 7 skips the subsequent processing and returns the processing to the main routine. If the vehicle 1 is traveling on a snow road (YES in S501), the ECU 7 advances the processing to S502.

[0050] The processing regarding the ADAS 3 in S502 to S504 is equivalent to the corresponding processing in the rubble road mode (see S202 to S204 in FIG. 5), and thus the description will not be repeated.

[0051] In S505, the ECU 7 superimposes and displays an underfloor transmission image including icons indicating the positions of the four wheels 84 on the panoramic image.

[0052] In S506, the ECU 7 detects the rut based on the measurement results by the panoramic view camera 2 and / or the ground surface shape sensor 4. The rut can be detected based on the color difference in the image captured by the panoramic view camera 2 (the rut is darker than the surroundings) or the shadow (the shadow of the rut). The rut can also be detected by the unevenness (presence or absence of depressions) of the ground surface by the ground surface shape sensor 4.

[0053] In S507, the ECU 7 determines the recommended routes for the four wheels 84 so that all four wheels 84 pass over the rut. Then, the ECU 7 superimposes and displays the determined recommended routes on the panoramic image.

[0054] As described above, in the present embodiment, the positions of the four wheels 84 are superimposed and displayed on the panoramic image, and the recommended routes are superimposed and displayed on the panoramic image so that the four wheels 84 pass over a route with less unevenness on the ground surface. As a result, the driver can drive while constantly checking the positional relationship between the position of the wheel 84 and the recommended route, so that the vehicle 1 can suitably traverse a rough road while avoiding obstacles etc. (obstacles, puddles, grooves, etc.) present on the ground surface. Therefore, according to the present embodiment, the rough road traversability of the vehicle 1 can be improved.

[0055] Also, in the present embodiment, an obstacle X that is higher than the minimum ground clearance is displayed in red, and an obstacle Y that is lower than the minimum ground clearance is displayed in yellow. This is an example of a display mode in which obstacles etc. that the driver should pay more attention to are displayed more prominently. However, the method of making some obstacles more prominent than others is not limited to differences in color. For example, the ECU 7 may control the navigation screen 5 and / or the HUD 6 so that obstacles to be made particularly prominent are displayed with thick solid lines, while obstacles to be made less prominent are displayed with thin lines and / or dotted lines. Alternatively, the ECU 7 may blink obstacles to be made particularly prominent. The ECU 7 may control a speaker (not shown) to emit a warning sound when the vehicle 1 approaches an obstacle to be made particularly prominent.

[0056] Note that in the present embodiment, it has been described that the ECU 7 has two driving modes (rubble road mode and snow road mode). However, the ECU 7 may have only one of the driving modes. Alternatively, without distinguishing the driving modes by the ECU 7, it may simply be that the icons indicating the positions of the four wheels 84 and the recommended routes are superimposed and displayed on the panoramic image on the navigation screen 5 and / or the HUD 6.

[0057] The embodiments disclosed this time should be considered illustrative in all respects and not restrictive. The scope of the present disclosure is shown by the scope of claims rather than the description of the above-described embodiments, and it is intended that all modifications within the meaning and scope equivalent to the scope of claims be included.

Explanation of Signs

[0058] 1 Vehicle, 2 Panoramic view camera, 3 ADAS, 4 Ground surface shape sensor, 5 Navigation screen, 6 HUD, 7 ECU, 71 Processor, 72 Memory, 8 Drive system, 81 Battery, 83 Motor generator, 84 Wheels, 84F Front wheels, 84R Rear wheels.

Claims

1. A vehicle that travels using a plurality of wheels, a display, and a processor that causes the display to display a panoramic image showing the situation around the vehicle as if the vehicle was photographed from above the vehicle, wherein the panoramic image includes an icon that is superimposed on the panoramic image and indicates the positions of the plurality of wheels, and a recommended route that is superimposed on the panoramic image and indicates a route through which the plurality of wheels preferably pass.

2. The vehicle further includes a ground surface shape sensor that measures the shape of the ground surface on which the vehicle travels, and the processor determines the recommended route according to the measurement result by the ground surface shape sensor. The vehicle according to Claim 1.

3. The vehicle according to Claim 2, wherein the processor determines the recommended route so as to avoid obstacles higher than the lowest ground clearance of the vehicle while not avoiding obstacles lower than the lowest ground clearance.

4. The panoramic image further includes a first icon that is superimposed on the panoramic image in a first display mode and indicates an obstacle higher than the lowest ground clearance, and a second icon that is superimposed on the panoramic image in a second display mode different from the first display mode and indicates an obstacle lower than the lowest ground clearance. The vehicle according to Claim 3.

5. The vehicle according to Claim 2, wherein the processor determines the recommended route so that the plurality of wheels pass through the ruts formed on the snow accumulated on the ground surface.

Images