Reversing support device and vehicle

Abstract

To allow a driver to more simply park a vehicle at appropriate distance from an obstacle on a side of the vehicle.SOLUTION: A reversing support device 20 comprises a control unit which monitors a use situation of each seat on a driver seat side and a front passenger seat side of a vehicle 10, sets reference distance of each of the driver seat side and the front passenger seat side according to the use situation, and displays, when an obstacle is detected on a side of a space to be predicted as a progress destination of the vehicle 10, a guide element showing a position distant from the detected obstacle by the reference distance on a picture reflecting an image at a back of the vehicle 10 to support reversing of the vehicle 10 in the reversing of the vehicle 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a reverse assist device and a vehicle.

Background Art

[0002] Patent Document 1 discloses a device that superimposes and displays on a display a rear image of a vehicle captured by a camera and a distance reference line indicating a position separated from the vehicle by a predetermined distance in order to assist in the parking operation of the vehicle. Patent Document 2 discloses a device that, when a vehicle before parking is detected, determines the characteristics of the vehicle or the characteristics of the driver of the vehicle, sets a parking frame according to the characteristics, and transmits information indicating the parking frame to the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a vehicle occupant gets out of the vehicle, the side door may be opened and closed after parking. Depending on the structure of the side door, the side door may come into contact with an obstacle on the side of the vehicle when it is opened. To avoid such a situation, it is desirable to park at a certain distance from the obstacle. However, conventional devices do not necessarily support parking at an appropriate distance from an obstacle on the side of the vehicle.

[0005] An object of the present disclosure is to enable a driver to more easily park at an appropriate distance from an obstacle on the side of the vehicle.

Means for Solving the Problems

[0006] The reverse assist device according to the present disclosure is configured to monitor the usage status of each seat on the driver's side and the passenger's side of the vehicle, set a reference distance for each of the driver's side and the passenger's side according to the usage status, and when an obstacle is detected on the side of the space predicted as the travel destination of the vehicle during reverse travel of the vehicle, display a guide element indicating a position separated from the detected obstacle by the reference distance on a screen that displays an image behind the vehicle to assist the reverse travel of the vehicle. The reverse assist device is provided with a control unit.

Advantages of the Invention

[0007] According to the present disclosure, a driver can more easily park the vehicle at an appropriate distance from an obstacle on the side of the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0010] In each figure, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0011] Referring to FIG. 1, the configuration of the vehicle 10 according to this embodiment will be described.

[0012] The vehicle 10 is, for example, any type of automobile such as a gasoline vehicle, a diesel vehicle, a hydrogen vehicle, an HEV, a PHEV, a BEV, or an FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. The vehicle 10 is driven by a driver, but the driving may be automated at a specific level. The level of automation is, for example, any one of levels 1 to 4 in the SAE level classification. "SAE" is an abbreviation for Society of Automotive Engineers. The vehicle 10 may be a vehicle dedicated to MaaS. "MaaS" is an abbreviation for Mobility as a Service.

[0013] The vehicle 10 includes a reverse assist device 20, a camera 30, and a display 40. The reverse assist device 20 can communicate with the camera 30 and the display 40 via a network such as a cable or CAN, or wirelessly. "CAN" is an abbreviation for Controller Area Network. The reverse assist device 20 may be able to communicate with an external server such as a cloud server via a network such as the Internet.

[0014] The reverse assist device 20 is a computer mounted on the vehicle 10. The camera 30 is a so-called back camera, specifically, a video camera attached to the rear of the vehicle 10. The display 40 is a so-called back monitor, specifically, an LCD or an organic EL display attached to the dashboard of the vehicle 10. Alternatively, the display 40 may be an LCD or an organic EL display attached to the rearview mirror of the vehicle 10. Alternatively, the display 40 may be a HUD. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electro luminescent. "HUD" is an abbreviation for head-up display.

[0015] With reference to FIGS. 1 to 4, the outline of this embodiment will be described.

[0016] The reverse assist device 20 monitors the usage status of each seat on the driver's side and the passenger's side of the vehicle 10. For example, the reverse assist device 20 monitors the usage status of the driver's seat, the passenger's seat, the rear seat on the driver's side, and the rear seat on the passenger's side of the vehicle 10, respectively.

[0017] As shown in FIG. 2, the reverse assist device 20 sets the reference distances for the driver's seat side and the passenger seat side according to the usage status of each seat on the driver's seat side and the passenger seat side. For example, when the reverse assist device 20 detects that a child is sitting in the rear seat on the driver's seat side, based on the protruding length LA when the driver's door 11A on the driver's seat side reaches the minimum opening required for the driver to get out, and the protruding length LC when the door 11C of the rear seat on the driver's seat side reaches the maximum opening, the reference distance DA on the driver's seat side is set. In the example shown in FIG. 2, since LA < LC, LC = DA, that is, the reference distance DA on the driver's seat side is set to the same distance as the protruding length LC. For example, when the reverse assist device 20 detects that a passenger is sitting in the passenger seat and no passenger is sitting in the rear seat on the passenger seat side, the reference distance DB on the passenger seat side is set based on the protruding length LB when the door 11B of the passenger seat reaches the minimum opening required for the passenger to get out. In the example shown in FIG. 2, LB = DB, that is, the reference distance DB on the passenger seat side is set to the same distance as the protruding length LB.

[0018] As shown in FIG. 3, when the vehicle 10 is reversing, the reverse assist device 20 determines whether there is an obstacle on the side of the space 60 predicted as the travel destination of the vehicle 10. In the example shown in FIG. 3, the parked vehicle 50A is detected as an obstacle on the side corresponding to the driver's seat side of the space 60, and the wall 50B is detected as an obstacle on the side corresponding to the passenger seat side of the space 60.

[0019] As shown in FIG. 4, when the reverse assist device 20 detects an obstacle, it displays a guide element indicating a position separated from the detected obstacle by the reference distance on the screen 41 that projects the rear image 31 of the vehicle 10 to assist the reverse of the vehicle 10. In this embodiment, the screen 41 is a back view screen, but it may also be a 360-degree view screen. In the example shown in FIG. 4, as the guide element on the driver's seat side, a guide line 42A indicating a position separated from the parked vehicle 50A by the reference distance DA on the driver's seat side is displayed, and as the guide element on the passenger seat side, a guide line 42B indicating a position separated from the wall 50B by the reference distance DB on the passenger seat side is displayed.

[0020] According to the present embodiment, the driver can visually recognize a position at a reference distance from an obstacle on the side of the vehicle 10 by the guide element displayed on the screen 41. Therefore, the driver can more easily park at an appropriate distance from the obstacle. For example, when a child sitting in the rear seat on the driver's side gets out and forcefully opens the door 11C, it becomes easy to know how much distance should be kept from the parked vehicle 50A so that the door 11C does not contact the parked vehicle 50A. When the child is sitting in the child seat, it becomes easy to know how much distance should be kept from the parked vehicle 50A to make it easy to get the child out of the child seat. When a passenger sitting in the passenger seat gets out and the door 11B does not contact the wall 50B, it also becomes easy to know how much distance should be kept from the wall 50B to park.

[0021] Referring to FIG. 5, the configuration of the reverse assist device 20 according to the present embodiment will be described.

[0022] The reverse assist device 20 includes a control unit 21, a storage unit 22, and a communication unit 23.

[0023] The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for field-programmable gate array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 21 executes processes related to the operation of the reverse assist device 20 while controlling each part of the reverse assist device 20.

[0024] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, a RAM, a ROM, or a flash memory. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. The RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. The ROM is, for example, an EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The flash memory is, for example, an SSD. "SSD" is an abbreviation for solid-state drive. The magnetic memory is, for example, an HDD. "HDD" is an abbreviation for hard disk drive. The storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used for the operation of the reverse assist device 20 and data obtained by the operation of the reverse assist device 20.

[0025] The communication unit 23 includes at least one communication module. The communication module is a module corresponding to an in-vehicle communication standard such as CAN, a wired LAN communication standard such as Ethernet (registered trademark), a wireless LAN communication standard such as IEEE802.11, a mobile communication standard such as LTE, 4G standard, or 5G standard, or a short-range wireless communication standard such as Bluetooth (registered trademark). "LAN" is an abbreviation for local area network. "IEEE" is an abbreviation for Institute of Electrical and Electronics Engineers. "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 23 receives data used for the operation of the reverse assist device 20 and transmits data obtained by the operation of the reverse assist device 20.

[0026] The functions of the reverse assist device 20 are realized by executing the program according to the present embodiment by a processor as the control unit 21. That is, the functions of the reverse assist device 20 are realized by software. The program causes the computer to execute the operation of the reverse assist device 20, causing the computer to function as the reverse assist device 20. That is, the computer functions as the reverse assist device 20 by executing the operation of the reverse assist device 20 according to the program.

[0027] The program can be stored in a non-transitory computer-readable medium. Examples of non-transitory computer-readable media include flash memory, magnetic recording devices, optical discs, magneto-optical recording media, or ROM. The program can be distributed, for example, by selling, transferring, or lending a portable medium such as an SD card, DVD, or CD-ROM that stores the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the server's storage and transferring the program from the server to other computers. The program may be provided as a program product.

[0028] The computer stores, for example, a program stored in a portable medium or a program transferred from a server, once, in the main memory device. Then, the computer reads the program stored in the main memory device with a processor and executes, with the processor, processing according to the read program. The computer may directly read the program from the portable medium and execute processing according to the program. The computer may sequentially execute processing according to the received program each time a program is transferred from the server to the computer. The processing may be executed by a so-called ASP-type service that realizes the function only by execution instructions and result acquisition without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. The program is information for use in processing by an electronic computer and includes those conforming to the program. For example, data that is not a direct instruction to the computer but has the property of defining the computer's processing corresponds to "those conforming to the program".

[0029] Some or all of the functions of the reverse assist device 20 may be realized by a programmable circuit or a dedicated circuit as the control unit 21. That is, some or all of the functions of the reverse assist device 20 may be realized by hardware.

[0030] Referring to FIG. 6, the operation of the reverse assist device 20 according to the present embodiment will be described. The operations described below correspond to the reverse assist method according to the present embodiment. That is, the reverse assist method according to the present embodiment includes steps S1 to S6 shown in FIG. 6.

[0031] In S1, the control unit 21 monitors the usage status of each seat on the driver's side and the passenger's side of the vehicle 10.

[0032] Specifically, when the vehicle 10 is a two-seater vehicle, the control unit 21 monitors, as the usage status, whether there is an occupant sitting in each of the driver's seat and the passenger's seat of the vehicle 10 using an in-vehicle camera or a seating sensor. The control unit 21 may monitor whether there is luggage placed on the passenger's seat using an in-vehicle camera or a seating sensor.

[0033] When the vehicle 10 is a four-seater or five-seater vehicle, the control unit 21 monitors, as the usage status, whether there is an occupant sitting in each of the driver's seat, the passenger's seat, the rear seat on the driver's side, and the rear seat on the passenger's side of the vehicle 10 using an in-vehicle camera or a seating sensor. The control unit 21 may further monitor whether there is an occupant sitting in the center of the rear seat using an in-vehicle camera or a seating sensor. The control unit 21 may monitor whether there is luggage placed in each of the driver's seat, the passenger's seat, the rear seat on the driver's side, and the rear seat on the passenger's side using an in-vehicle camera or a seating sensor. The control unit 21 may further monitor whether there is luggage placed in the center of the rear seat using an in-vehicle camera or a seating sensor.

[0034] When the vehicle 10 is a vehicle with a seating capacity of 7 to 9 people, the control unit 21 monitors, as the usage status, whether there is an occupant sitting in the driver's seat, the front passenger seat, the rear seats in the second and third rows on the driver's side, and the rear seats in the second and third rows on the front passenger side, respectively, using an in-vehicle camera or a seating sensor. The control unit 21 may further monitor, using an in-vehicle camera or a seating sensor, whether there is an occupant sitting in the center of the rear seats in the second row, the third row, or both. The control unit 21 may monitor, using an in-vehicle camera or a seating sensor, whether there is a luggage placed in the driver's seat, the front passenger seat, the rear seats in the second and third rows on the driver's side, and the rear seats in the second and third rows on the front passenger side, respectively. The control unit 21 may further monitor, using an in-vehicle camera or a seating sensor, whether there is a luggage placed in the center of the rear seats in the second row, the third row, or both.

[0035] In S2, the control unit 21 sets the reference distances for the driver's side and the front passenger side, respectively, according to the usage status of each seat on the driver's side and the front passenger side. In a situation where there is no driver sitting in the driver's seat, since it is not necessary to execute the steps after S2, the control unit 21 may wait until it detects a situation where there is a driver sitting in the driver's seat.

[0036] Specifically, when the vehicle 10 is a two-seater vehicle, the control unit 21 sets the reference distance DA on the driver's seat side based on the protruding length LA when the driver's door 11A of the driver's seat reaches the minimum opening required for the driver to get out. For example, the control unit 21 sets the reference distance DA on the driver's seat side to the same distance as the protruding length LA. The protruding length LA may be preset as a fixed value or may be dynamically calculated according to the build of the driver. When the control unit 21 detects that a passenger is sitting in the passenger seat, it sets the reference distance DB on the passenger seat side based on the protruding length LB when the passenger's door 11B of the passenger seat reaches the minimum opening required for the passenger to get out. For example, the control unit 21 sets the reference distance DB on the passenger seat side to the same distance as the protruding length LB. The protruding length LB may be preset as a fixed value or may be dynamically calculated according to the build of the passenger. When the control unit 21 determines that the passenger sitting in the passenger seat is a child, it may set the reference distance DB on the passenger seat side based on the protruding length LBm when the passenger's door 11B of the passenger seat reaches the maximum opening. For example, the control unit 21 may set the reference distance DB on the passenger seat side to the same distance as the protruding length LBm. When the control unit 21 detects that there is luggage placed in the passenger seat, it may set the reference distance DB on the passenger seat side based on the protruding length LBb when the passenger's door 11B of the passenger seat reaches the minimum opening required to unload the luggage. For example, the control unit 21 may set the reference distance DB on the passenger seat side to the same distance as the protruding length LBb. The protruding length LBb may be preset as a fixed value or may be dynamically calculated according to the size of the luggage.

[0037] When the vehicle 10 is a 4- or 5-seater vehicle, when the control unit 21 detects a situation where there is no occupant sitting in the rear seat on the driver's side, based on the protruding length LA, it sets the reference distance DA on the driver's side in the same manner as when the vehicle 10 is a 2-seater vehicle. When the control unit 21 detects a situation where there is an occupant sitting in the rear seat on the driver's side, it sets the reference distance DA on the driver's side based on the protruding length LA and the protruding length LCm when the door 11C of the rear seat on the driver's side reaches the minimum opening required for the occupant to get out. For example, if LA < LCm, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LCm. If LA = LCm or LA > LCm, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LA. The protruding length LCm may be preset as a fixed value, or may be dynamically calculated according to the build of the occupant. When the control unit 21 determines that the occupant sitting in the rear seat on the driver's side is a child, it may set the reference distance DA on the driver's side based on the protruding length LA and the protruding length LC when the door 11C of the rear seat on the driver's side reaches the maximum opening. In the example shown in FIG. 2, since LA < LC, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LC. If LA = LC or LA > LC, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LA. When the control unit 21 detects a situation where there is luggage placed in the rear seat on the driver's side, it may set the reference distance DA on the driver's side based on the protruding length LA and the protruding length LCb when the door 11C of the rear seat on the driver's side reaches the minimum opening required for unloading the luggage. For example, if LA < LCb, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LCb. If LA = LCb or LA > LCb, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protruding length LA. The protruding length LCb may be preset as a fixed value, or may be dynamically calculated according to the size of the luggage. When the control unit 21 detects a situation where there is an occupant sitting in the passenger seat and no occupant sitting in the rear seat on the passenger side, based on the protruding length LB, it sets the reference distance DB on the passenger side in the same manner as when the vehicle 10 is a 2-seater vehicle.When the control unit 21 detects a situation where there is no occupant sitting in the passenger seat and there is an occupant sitting in the rear seat on the passenger seat side, the control unit 21 sets the reference distance DB on the passenger seat side based on the protruding length LD when the door 11D of the rear seat on the passenger seat side reaches the minimum opening required for the occupant to get off. For example, the control unit 21 sets the reference distance DB on the passenger seat side to the same distance as the protruding length LD. The protruding length LD may be preset as a fixed value or may be dynamically calculated according to the build of the occupant. When the control unit 21 determines that the occupant sitting in the rear seat on the passenger seat side is a child, the control unit 21 may set the reference distance DB on the passenger seat side based on the protruding length LDm when the door 11D of the rear seat on the passenger seat side reaches the maximum opening. For example, the control unit 21 may set the reference distance DB on the passenger seat side to the same distance as the protruding length LDm. When the control unit 21 detects a situation where luggage is placed in the rear seat on the passenger seat side, the control unit 21 may set the reference distance DB on the passenger seat side based on the protruding length LDb when the door 11D of the rear seat on the passenger seat side reaches the minimum opening required for unloading the luggage. For example, the control unit 21 may set the reference distance DB on the passenger seat side to the same distance as the protruding length LDb. The protruding length LDb may be preset as a fixed value or may be dynamically calculated according to the size of the luggage. Regarding the setting of the reference distance DB on the passenger seat side when a situation where there is an occupant sitting in the passenger seat and there is also an occupant sitting in the rear seat on the passenger seat side is detected, since it is the same as the setting of the reference distance DA on the driver's seat side when a situation where there is an occupant sitting in the rear seat on the driver's seat side is detected, the description is omitted. When it is determined that the occupant sitting in the passenger seat is a child, the protruding length LBm is applied instead of the protruding length LB. When a situation where luggage is placed in the passenger seat is detected, the protruding length LBb is applied instead of the protruding length LB. When it is further monitored in S1 whether there is an occupant sitting or luggage placed in the center of the rear seat, the center of the rear seat may also be regarded as the rear seat on the driver's seat side. That is, it may be regarded that there are two rear seats on the driver's seat side.

[0038] When the vehicle 10 is a vehicle with a seating capacity of 7 to 9 people, generally, the number and arrangement of the doors are the same as those of a vehicle with a seating capacity of 4 or 5 people. Therefore, regarding the setting of the reference distance DA on the driver's seat side and the reference distance DB on the passenger seat side when the vehicle 10 is a vehicle with a seating capacity of 7 to 9 people, the description is omitted because it is the same as the case when the vehicle 10 is a vehicle with a seating capacity of 4 or 5 people, except that there are two rear seats on each of the driver's seat side and the passenger seat side. When it is further monitored whether a passenger is sitting or luggage is placed in the center of the second-row rear seat in S1, the center of the second-row rear seat may also be regarded as a rear seat on the driver's seat side. That is, it may be regarded that there are at least three rear seats on the driver's seat side. When it is further monitored whether a passenger is sitting or luggage is placed in the center of the third-row rear seat in S1, the center of the third-row rear seat may also be regarded as a rear seat on the driver's seat side. That is, it may be regarded that there are at least three rear seats on the driver's seat side.

[0039] In S3, the control unit 21 determines whether the vehicle 10 is reversing. When it is determined that the vehicle 10 is reversing, that is, when the reverse of the vehicle 10 is detected, the step of S4 is executed. When it is determined that the vehicle 10 is not reversing, that is, when the reverse of the vehicle 10 is not detected, the step of S1 is executed again.

[0040] Specifically, the control unit 21 determines whether the shift lever of the vehicle 10 has been switched to the R range. When the shift lever has been switched to the R range, the step of S4 is executed. When the shift lever is not in the R range, the step of S1 is executed again.

[0041] In S4, the control unit 21 acquires, in real time via the communication unit 23, an image 31 of the rear of the vehicle 10 captured by the camera 30. The control unit 21 outputs, in real time via the communication unit 23, the acquired image 31 of the rear of the vehicle 10 to the display 40. The display 40 projects the image 31 of the rear of the vehicle 10 onto the screen 41 to assist with the reverse movement of the vehicle 10. The step of S4 continues until the reverse movement of the vehicle 10 ends, such as when the shift lever switches from the R range to another range.

[0042] In S5, the control unit 21 determines whether there is an obstacle on the side of the space 60 predicted as the travel destination of the vehicle 10. If it is determined that there is an obstacle, that is, if an obstacle is detected, the step of S6 is executed. If it is determined that there is no obstacle, that is, if no obstacle is detected, the flow shown in FIG. 6 ends.

[0043] Specifically, the control unit 21 specifies the space 60 predicted as the travel destination of the vehicle 10 according to the steering angle of the steering of the vehicle 10. The control unit 21 determines, by analyzing in real time the image 31 of the rear of the vehicle 10 acquired in S4, whether there is an obstacle on each side corresponding to the driver's seat side and the passenger seat side of the space 60. As an image analysis method, a known method can be used. Machine learning such as deep learning may be used. In the example shown in FIG. 3, the parked vehicle 50A is detected as an obstacle on the side corresponding to the driver's seat side of the space 60, and the wall 50B is detected as an obstacle on the side corresponding to the passenger seat side of the space 60. Then, the step of S6 is executed.

[0044] In S6, the control unit 21 displays a guide element indicating a position separated from the obstacle detected in S5 by the reference distance set in S2 on the screen 41 that projects the image 31 of the rear of the vehicle 10.

[0045] Specifically, when an obstacle is detected on the side corresponding to the driver's seat side of the space 60 in S5, the control unit 21 superimposes a guide line 42A indicating a position separated from the obstacle on the side corresponding to the driver's seat side of the space 60 by a reference distance DA on the driver's seat side on the rear image 31 of the vehicle 10 to generate a superimposed image. When the reference distance DB on the passenger seat side is set in S2 and an obstacle is detected on the side corresponding to the passenger seat side of the space 60 in S5, the control unit 21 superimposes a guide line 42B indicating a position separated from the obstacle on the side corresponding to the passenger seat side of the space 60 by a reference distance DB on the passenger seat side on the rear image 31 of the vehicle 10 to generate a superimposed image. The control unit 21 outputs the generated superimposed image to the display 40 in real time via the communication unit 23. The display 40 projects the superimposed image onto the screen 41 to assist in parking the vehicle 10. In the example shown in FIG. 4, as the guide line 42A, a line indicating a position separated from the parked vehicle 50A by the reference distance DA on the driver's seat side is displayed, and as the guide line 42B, a line indicating a position separated from the wall 50B by the reference distance DB on the passenger seat side is displayed.

[0046] When it is detected in S2 that a passenger is sitting in the rear seat on the passenger seat side and an obstacle is detected on the side corresponding to the passenger seat side of the space 60 in S5, the control unit 21 may determine whether the distance from the obstacle on the side corresponding to the passenger seat side of the space 60 to the space 60 is shorter than the reference distance DB on the passenger seat side. In such a modification, when the control unit 21 determines that the distance from the obstacle on the side corresponding to the passenger seat side of the space 60 to the space 60 is shorter than the reference distance DB on the passenger seat side, the control unit 21 outputs a message prompting the passenger to get out of the rear seat on the driver's seat side. For example, the control unit 21 may display such a message on the screen 41 or output it as voice from the in-vehicle speaker.

[0047] The present disclosure is not limited to the above-described embodiments. For example, two or more blocks described in the block diagram may be integrated, or one block may be divided. Instead of executing two or more steps described in the flowchart in chronological order according to the description, they may be executed in parallel or in a different order according to the processing capabilities of the devices that execute each step, or as necessary. In addition, changes may be made without departing from the spirit of the present disclosure.

Explanation of Signs

[0048] 10 Vehicle 11A, 11B, 11C, 11D Doors 20 Reverse Assistance Device 21 Control Unit 22 Memory Unit 23 Communication Unit 30 Camera 31 Image 40 Display 41 Screen 42A, 42B Guide Lines 50A Parked Vehicle 50B Wall 60 Space

Claims

1. Monitoring the usage status of each seat on the driver's side and the passenger's side of the vehicle, According to the usage status, setting the reference distance for each of the driver's side and the passenger's side, When the vehicle is reversing, if an obstacle is detected on the side of the space predicted as the vehicle's travel destination, on the screen that displays the image behind the vehicle to assist the vehicle in reversing, a guide element indicating a position separated from the detected obstacle by the reference distance is displayed A reverse assist device including a control unit.

2. When the control unit detects, as the usage status, that a passenger is sitting or luggage is placed on the rear seat on the driver's side of the vehicle, based on the protruding length when the door of the driver's seat of the vehicle reaches the minimum opening required for the driver to get out, and the protruding length when the door of the rear seat on the driver's side of the vehicle reaches the minimum opening required for the passenger to get out or unload the luggage, the reverse assist device according to claim 1, which sets the reference distance on the driver's side.

3. When the control unit detects, as the usage status, that a child is sitting on the rear seat on the driver's side of the vehicle, based on the protruding length when the door of the driver's seat of the vehicle reaches the minimum opening required for the driver to get out, and the protruding length when the door of the rear seat on the driver's side of the vehicle reaches the maximum opening, the reverse assist device according to claim 1, which sets the reference distance on the driver's side.

4. The control unit, When detecting, as the usage status, that a passenger is sitting on the rear seat on the passenger's side of the vehicle, based on the protruding length when the door of the rear seat on the passenger's side of the vehicle reaches the minimum opening required for the passenger to get out, sets the reference distance on the passenger's side, When the vehicle is reversing, if the obstacle is detected on the side corresponding to the passenger's side of the space and it is determined that the distance from the obstacle to the space is shorter than the reference distance on the passenger's side, outputs a message prompting the passenger to get out from the rear seat on the driver's side of the vehicle. The reverse assist device according to claim 1.

5. A camera for taking the image, A vehicle comprising the reverse assist device according to any one of claims 1 to 4 and.

Images