Driving assistance method and driving assistance system

Abstract

To allow a driver to intuitively recognize whether a vehicle may come into contact with an obstacle on the side of the vehicle when moving the vehicle sideways.SOLUTION: A driving assistance system 3 assists in driving by displaying on a display device 9 a guide line L1 marking a travel scheduled trajectory of a vehicle. The driving assistance system generates the guide line L1 in an advancing direction of the vehicle, sets an outside 41 in a vehicle width direction of the generated guide line L1 to a position at an outside end in the vehicle width direction of a door mirror of the vehicle, and displays the set guide line L1 on the display device 9 so that the guide line will be superposed on a road surface in the advancing direction of the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance method and a driving assistance device. [Background technology]

[0002] Conventionally, a display device that displays a graphic superimposed on a bird's-eye view image to prevent the vehicle from hitting an obstacle on the side is disclosed in Patent Document 1. When the display device disclosed in Patent Document 1 detects an obstacle on the side of the vehicle, it displays a boundary guide indicating the height from the road surface to the door mirror superimposed on the bird's-eye view image around the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-188058 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional display devices described above only indicate the height of the door mirrors using boundary guides, and can only indicate whether the door mirrors are higher or lower than the obstacle. Therefore, when pulling the vehicle over to the side, the distance to the obstacle on the side of the vehicle cannot be displayed, which causes a problem in that the driver cannot intuitively recognize whether the vehicle will come into contact with the obstacle.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a driving assistance method and a driving assistance device that allow a driver to intuitively recognize whether or not the vehicle will come into contact with an obstacle on the side of the vehicle when pulling over to the side of the vehicle. [Means for solving the problem]

[0006] A driving assistance method and driving assistance device according to one aspect of the present invention generates guide lines in the direction of travel of the vehicle, sets the outer side of the generated guide lines in the vehicle width direction to the position of the outer end of the vehicle's door mirror in the vehicle width direction, and displays the set guide lines on a display device so that they are superimposed on the road surface in the direction of travel of the vehicle. [Effects of the Invention]

[0007] According to the present invention, when the vehicle is pulled over to the side of a road, the driver can intuitively recognize whether or not the vehicle will come into contact with an obstacle on the side of the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a driving assistance system including a driving assistance device according to an embodiment. [Figure 2] FIG. 2 is a flowchart showing a processing procedure of the driving assistance process performed by the driving assistance device according to one embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of guide lines displayed by a driving assistance device according to an embodiment. [Figure 4] FIG. 4 is a flowchart showing a processing procedure of an obstacle detection process performed by a driving assistance device according to an embodiment. [Figure 5] FIG. 5 is a diagram illustrating an example of an obstacle detected by a driving assistance device according to an embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of an obstacle detected by a driving assistance device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a driving assistance method and a driving assistance device according to this embodiment will be described with reference to the drawings. In the description of the drawings, the same parts are given the same reference numerals and the description thereof will be omitted.

[0010] [Driver assistance system configuration] The configuration of a driving assistance system including a driving assistance device according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the driving assistance system according to this embodiment. As shown in Fig. 1, the driving assistance system 1 includes a driving assistance device 3, a vehicle information database 5, a map database 7, and a display device 9.

[0011] The driving assistance system 1 is a system that is mounted on a vehicle and provides driving assistance by displaying guide lines indicating the planned driving path of the vehicle on a display device 9. For example, when parking or stopping along a white line or avoiding an obstacle such as a wall, it is necessary to move the vehicle close to the side of the vehicle to avoid contact with the obstacle on the side of the vehicle. Therefore, the driving assistance system 1 displays guide lines indicating the planned driving path of the vehicle so that the driver can intuitively recognize whether or not the vehicle will contact an obstacle on the side of the vehicle.

[0012] In order to detect the driving state of the vehicle, the driving assistance system 1 is connected to a vehicle speed sensor 11, a gyro sensor 12, a steering sensor 13, an accelerator sensor 14, and a brake sensor 15. Data detected by these sensors is output to the driving assistance device 3 and recorded in a storage device such as a memory (not shown).

[0013] The driving assistance system 1 is also connected to a GPS (Global Positioning System) receiver 16 to acquire the current position of the vehicle, and to a VICS (registered trademark) (Vehicle Information and Communication System) 17 to acquire traffic information. The acquired data is output to the driving assistance device 3 and recorded in a storage device such as a memory (not shown).

[0014] Furthermore, the driving assistance system 1 is connected to an exterior camera 21, a radar 22, a laser range finder 23, and a sonar 24 in order to acquire the external conditions around the vehicle. The exterior camera 21 is an imaging means mounted on the vehicle to capture images of the surroundings of the vehicle, and in particular includes a front camera that captures images in front of the vehicle and a rear camera that captures images behind the vehicle.

[0015] The radar 22 and laser range finder 23 are mounted on the vehicle to detect objects around the vehicle and measure the distance to each point on the detected objects. The sonar 24 is also mounted on the vehicle to detect objects around the vehicle. The captured images and detected data are output to the driving assistance device 3 and recorded in a storage device such as a memory (not shown).

[0016] The driving assistance device 3 is a device that is mounted on a vehicle and provides driving assistance by displaying guide lines that indicate the planned driving trajectory of the vehicle on a display device 9. Specifically, the driving assistance device 3 generates guide lines in the direction of travel of the vehicle, sets the outer side of the generated guide lines in the vehicle width direction to the positions of the outer edges of the vehicle's door mirrors in the vehicle width direction, and displays the set guide lines on the display device 9 so that they are superimposed on the road surface in the direction of travel of the vehicle. As a result, the outer side of the guide lines indicates the positions of the outer edges of the door mirrors, allowing the driver to intuitively recognize whether or not the vehicle will come into contact with an obstacle on the side of the vehicle.

[0017] The vehicle information database 5 stores vehicle information that indicates the shape of the vehicle body. The vehicle information includes the dimensions of each part of the vehicle body, including the overall length, overall width, and overall height of the vehicle, as well as data that indicates the three-dimensional shape of the entire vehicle body using three-dimensional CAD (Computer Aided Design) data.

[0018] The map database 7 stores map information. The map information is high-precision three-dimensional map data such as HD maps, and includes not only position information on the map of three-dimensional objects such as traffic lights and utility poles installed on roads and sidewalks, or lane boundaries, but also road structure information such as the number of lanes on the road, road boundaries, and stop lines.

[0019] The display device 9 is a device that displays images output from the driving assistance device 3, and includes a head-up display mounted on the vehicle and a display of the navigation device. The head-up display includes a projection unit that projects images, a screen that reflects the images, a Fresnel mirror, etc., and displays support images such as guide lines in a display area that is provided so as to overlap the position of the vehicle's windshield. In addition, when the vehicle is backing up and an image from the backup camera is displayed on the display of the navigation device, the support images such as guide lines are superimposed on the image from the backup camera.

[0020] Next, we will explain the configuration of the driving assistance device 3. As shown in Fig. 1, the driving assistance device 3 includes an external information acquisition unit 31, a vehicle position calculation unit 32, a vehicle control unit 33, a guide line generation unit 34, an obstacle detection unit 35, and a display control unit 36.

[0021] The external information acquisition unit 31 acquires external information about the surroundings of the current position of the vehicle. Specifically, the external information acquisition unit 31 acquires images captured by the exterior camera 21 and data on objects around the current position of the vehicle detected by the radar 22, the laser range finder 23, and the sonar 24. The external information acquisition unit 31 also acquires road structure such as the number of lanes on the road the vehicle is traveling on, the positions of steps, and the positions of traffic lights from map information stored in the map database 7.

[0022] The vehicle position calculation unit 32 acquires the signal received by the GPS receiver 16 and calculates the current position of the vehicle. At this time, the vehicle position calculation unit 32 acquires highly accurate map information stored in the map database 7 and calculates with high accuracy the lane on the road on which the vehicle is traveling and even the position within the lane.

[0023] The vehicle control unit 33 acquires data indicating the vehicle's running state and performs vehicle control necessary for driving assistance. Specifically, the vehicle control unit 33 acquires data indicating the vehicle's running state from the in-vehicle network in addition to the sensors 11 to 15, and performs processes such as determining the vehicle's traveling direction and whether the vehicle's power supply is on or off.

[0024] The guide line generation unit 34 generates guide lines that indicate the planned travel path of the vehicle in the vehicle's traveling direction. The guide lines are displayed on the display device 9 so as to be superimposed on the road surface in the vehicle's traveling direction, and extend in the vehicle's traveling direction to indicate the planned travel path of the vehicle. The guide line generation unit 34 sets the outer side of the generated guide line in the vehicle width direction to the position of the outer edge of the vehicle's door mirror in the vehicle width direction, and sets the inner side of the guide line in the vehicle width direction to the position of the outer edge of the vehicle's tire in the vehicle width direction. Therefore, the width of the guide line is the distance from the outer edge of the tire to the outer edge of the door mirror.

[0025] The obstacle detection unit 35 determines whether there is an obstacle in the traveling direction of the vehicle, and determines whether the vehicle will come into contact with the obstacle if it travels. Specifically, the obstacle detection unit 35 detects an obstacle by acquiring data on objects around the current position of the vehicle detected by the radar 22, the laser range finder 23, and the sonar 24, and determines whether the vehicle will come into contact with the obstacle if it travels.

[0026] The display control unit 36 ​​sets the display position of the generated guide lines and outputs them to the display device 9. For example, if the display device 9 is a head-up display, the display position is set so that the guide lines are displayed in a display area that is provided so as to overlap the position of the vehicle's windshield. Also, if the display device 9 is a display for a navigation device, the display position is set so that the guide lines are displayed superimposed on an image from a front camera or a rear camera.

[0027] The driving assistance device 3 is a computer configured with general-purpose electronic circuits including a microcomputer, a microprocessor, and a CPU, as well as peripheral devices such as memory, and is installed with a computer program for executing driving assistance processing. Each function of the driving assistance device 3 can be implemented by one or more processing circuits. The processing circuit may include, for example, a programmed processing device including an electrical circuit, and may also include devices such as an application-specific integrated circuit (ASIC) or conventional circuit components arranged to perform the functions described in the embodiments.

[0028] [Driving assistance processing] Next, the driving assistance process performed by the driving assistance device 3 according to this embodiment will be described. Fig. 2 is a flowchart showing the processing procedure of the driving assistance process. The driving assistance process shown in Fig. 2 starts when the power supply of the vehicle is turned on.

[0029] 2, in step S101, the external information acquisition unit 31 acquires external information about the area around the current position of the vehicle. Specifically, the external information acquisition unit 31 acquires images captured by the exterior camera 21 and acquires data about objects around the current position of the vehicle detected by the radar 22, the laser range finder 23, and the sonar 24.

[0030] Furthermore, the external information acquisition unit 31 acquires the current position of the vehicle calculated by the host vehicle position calculation unit 32, and acquires road information within a predetermined range from the acquired current position of the vehicle. For example, the external information acquisition unit 31 acquires the positions of bumps and white lines on the road on which the vehicle is traveling from map information stored in the map database 7.

[0031] In step S103, the vehicle control unit 33 acquires the vehicle's running state. Specifically, the vehicle control unit 33 acquires data indicating the vehicle's running state, such as speed and accelerator opening, from the sensors 11 to 15, and in particular acquires the vehicle's steering angle from the steering sensor 13. In addition to these sensors 11 to 15, the vehicle control unit 33 acquires data indicating the vehicle's running state, such as gear position, via the in-vehicle network.

[0032] In step S105, the vehicle control unit 33 determines whether the vehicle is moving forward, and if it is determined that the vehicle is moving forward, the process proceeds to step S107, and if it is determined that the vehicle is not moving forward, the process proceeds to step S109. For example, the vehicle control unit 33 determines that the vehicle is moving forward when the gear position of the vehicle is in a forward position such as drive. The vehicle control unit 33 may also continuously measure the current position of the vehicle using the GPS receiver 16, and determine that the vehicle is moving forward when the vehicle is displacing forward.

[0033] In step S107, the guide line generating unit 34 generates guide lines that indicate the planned travel path of the vehicle toward the front of the vehicle. The guide lines are lines that extend in the vehicle's traveling direction to indicate the planned travel path of the vehicle. The guide lines are displayed as straight lines when the vehicle is traveling straight, and when the vehicle is turning left or right, the tips of the guide lines are displayed bending left or right in conjunction with the steering angle of the vehicle.

[0034] Then, the guide line generating unit 34 sets the outer side of the generated guide line in the vehicle width direction to the position of the outer end of the vehicle's door mirror in the vehicle width direction, and sets the inner side of the guide line in the vehicle width direction to the position of the outer end of the vehicle's tire in the vehicle width direction.

[0035] For example, as shown in Fig. 3, the guide line generating unit 34 generates a left guide line L1 and a right guide line L2 that indicate the planned travel path of the vehicle toward the front of the vehicle. Because the road shape ahead of the vehicle curves to the left, the guide lines L1 and L2 are generated as curved left lines in conjunction with the driver steering to the left.

[0036] Of the generated guide lines L1 and L2, since vehicles are driven to the left when driving on the left side of the road, the outer side 41 of the left guide line L1 is set to the position of the outer edge of the vehicle's door mirror in the vehicle width direction. On the other hand, the inner side 43 of the guide line L1 is set to the position of the outer edge of the vehicle's tire in the vehicle width direction. However, the inner side 43 of the guide line L1 may be set to the position of the outer edge of the vehicle body in the vehicle width direction instead of the position of the outer edge of the tire.

[0037] This allows the driver to easily recognize the positions of the outer edges of the door mirrors and the outer edges of the tires, so that when pulling the vehicle over, the driver can intuitively recognize whether or not the vehicle will come into contact with an obstacle on the side of the vehicle.

[0038] 3, only the outer side 41 and inner side 43 of the left guide line L1 are set, but the right guide line L2 may also be set with the outer side set to the position of the outer edge of the vehicle's door mirror and the inner side set to the position of the outer edge of the tire. Also, when driving on the right side of the road, only the outer side and inner side of the right guide line L2 may be set.

[0039] In step S109, the vehicle control unit 33 determines whether the vehicle is reversing or not, and if it determines that the vehicle is reversing, proceeds to step S111, and if it determines that the vehicle is not reversing, proceeds to step S115. For example, the vehicle control unit 33 determines that the vehicle is reversing when the gear position is reverse. Alternatively, the vehicle control unit 33 may continuously measure the current position of the vehicle using the GPS receiver 16, and determine that the vehicle is reversing when the vehicle is displaced backward.

[0040] In step S111, the guide line generating unit 34 generates a guide line that indicates the planned travel path of the vehicle toward the rear of the vehicle. As in the case where the vehicle is moving forward, the guide line generating unit 34 sets the outer side of the generated guide line in the vehicle width direction to the position of the outer end of the vehicle's door mirror in the vehicle width direction, and sets the inner side of the guide line in the vehicle width direction to the position of the outer end of the vehicle's tire in the vehicle width direction.

[0041] Furthermore, when the vehicle is moving backward, the guide line generation unit 34 corrects the guide line based on the difference in the inner and outer wheel positions of the vehicle. This correction can be performed based on the distance between the front and rear wheels of the vehicle and the steering angle of the vehicle.

[0042] In step S113, the display control unit 36 ​​displays the guide lines generated in step S107 or step S111 on the display device 9 so as to be superimposed on the road surface in the traveling direction of the vehicle. If the display device 9 is a head-up display, the display control unit 36 ​​sets the display position so that the support image such as the guide lines is displayed in a display area provided at the position of the front window of the vehicle, and outputs the support image.

[0043] If the display device 9 is a display of a navigation device, the display control unit 36 ​​sets the display position so that the support image, such as a guide line, is superimposed on the image from the front camera or the rear camera, and outputs the support image.

[0044] At this time, the display control unit 36 ​​may be configured to display guide lines only when an obstacle or a white line is detected in the traveling direction of the vehicle and the vehicle is traveling toward the obstacle or the white line. In other words, the guide lines may be displayed only when the driver is trying to move the vehicle closer to an obstacle on the side of the road or when the driver is trying to stop the vehicle along a white line.

[0045] In step S115, the vehicle control unit 33 determines whether the vehicle's power supply has been turned off, and if it has not been turned off, returns to step S101, and if it has been turned off, ends the driving assistance processing according to this embodiment.

[0046] [Obstacle detection processing] Next, an obstacle detection process performed by the driving assistance device 3 according to this embodiment will be described. Fig. 4 is a flowchart showing the procedure of the obstacle detection process. The obstacle detection process shown in Fig. 4 starts when the power of the vehicle is turned on.

[0047] 4, in step S201, the obstacle detection unit 35 determines whether or not there is an obstacle in the traveling direction of the vehicle. Specifically, the obstacle detection unit 35 acquires data on objects around the current position of the vehicle detected by the radar 22, the laser range finder 23, and the sonar 24, and determines whether or not there is an obstacle in the traveling direction of the vehicle. If there is no obstacle, the obstacle detection unit 35 continues to monitor for the presence or absence of an obstacle, and if there is an obstacle, the process proceeds to step S203.

[0048] In step S203, the obstacle detection unit 35 measures the obstacle detected in step S201. Specifically, the obstacle detection unit 35 measures the distance to the obstacle, the direction, the shape, etc., from the data of the obstacle detected by the laser range finder 23.

[0049] For example, as shown in Fig. 5, if the obstacles are a stone wall and a curb on the side of the road, the position, shape, inclination, etc. of stone wall 51 are measured, and the position and shape of roadside curb 53 are measured. Also, as shown in Fig. 6, if the obstacle is a tree on the side of the road, the position, shape, etc. of tree 55 are measured.

[0050] In step S205, the obstacle detection unit 35 determines whether the vehicle is moving toward the shoulder of the road and pulling over to the side of the road. If the vehicle's traveling direction is toward the shoulder of the road on which it is traveling, the obstacle detection unit 35 determines that the vehicle is pulling over to the side of the road, and proceeds to step S207. On the other hand, if the vehicle's traveling direction is not toward the shoulder of the road on which it is traveling, the obstacle detection unit 35 determines that the vehicle is not pulling over to the side of the road, and returns to step S201.

[0051] In step S207, the obstacle detection unit 35 determines whether or not there is a possibility that the vehicle will come into contact with the obstacle detected in step S201. Specifically, the obstacle detection unit 35 compares the position and shape of the obstacle measured in step S203 with vehicle information including the dimensions of each part of the vehicle body and the three-dimensional shape of the entire vehicle body, and determines whether or not there is a possibility that the vehicle will come into contact with the obstacle if the vehicle continues traveling.

[0052] 5, if the obstacle is a stone wall on the side of the road, the obstacle detection unit 35 determines whether there is a possibility that the stone wall 51 will come into contact with the outer side 41 of the guide line L1. Since the outer side 41 of the guide line L1 is set at the position of the outer edge of the door mirror, by determining whether the outer side 41 of the guide line L1 will come into contact with the stone wall 51, it is possible to determine whether the vehicle will come into contact with the stone wall 51.

[0053] The obstacle detection unit 35 also determines whether the curbstone 53 comes into contact with the inside 43 of the guide line L1. Since the inside 43 of the guide line L1 is set at the position of the outer edge of the tire, determining whether the inside 43 of the guide line L1 comes into contact with the curbstone 53 makes it possible to determine whether the vehicle will run over the curbstone 53.

[0054] 6, if there is a tree on the side of the road, the obstacle detection unit 35 uses data on the three-dimensional shape of the entire vehicle body to determine whether the tree 55 will come into contact with the vehicle. Note that when determining whether there is a possibility that an obstacle will come into contact with the vehicle, the obstacle detection unit 35 may add a predetermined length to the three-dimensional shape of the vehicle body. In this way, the obstacle detection unit 35 determines whether there is a possibility that the obstacle will come into contact with the vehicle, and if it determines that there is a possibility of contact, it proceeds to step S209, and if it determines that there is no possibility of contact, it returns to step S201.

[0055] In step S209, the display control unit 36 ​​highlights the guide lines because there is a possibility that the obstacle may come into contact with the vehicle. Specifically, the display control unit 36 ​​outputs a support image including the highlighted guide lines, and causes the display device 9 to highlight the guide lines. At this time, the obstacle detection unit 35 may output an alarm to warn of contact with an obstacle. When an obstacle is detected in this way, the obstacle detection process according to this embodiment ends.

[0056] [Effects of the embodiment] As described above in detail, the driving assistance device 3 according to this embodiment generates guide lines in the vehicle's traveling direction and sets the outer side of the generated guide lines in the vehicle width direction at the outer edge of the vehicle's door mirror in the vehicle width direction. The driving assistance device 3 then displays the set guide lines on the display device 9 so that they are superimposed on the road surface in the vehicle's traveling direction. As a result, since the outer side of the guide lines is set at the position of the outer edge of the door mirror, the driver only needs to pull over to the side of the vehicle so that the outer side of the guide lines does not come into contact with an obstacle. Therefore, when pulling over to the side of the vehicle, the driver can intuitively recognize whether the vehicle will come into contact with an obstacle on the side of the vehicle.

[0057] Furthermore, the driving assistance device 3 according to this embodiment sets the inside of the guide line in the vehicle width direction to the position of the outside end of the tire in the vehicle width direction, which allows the driver to intuitively recognize whether the vehicle will run up onto a curb on the side of the vehicle when pulling over to the side of the vehicle.

[0058] Furthermore, the driving assistance device 3 according to this embodiment sets the inside of the guide line in the vehicle width direction to the position of the outside edge of the vehicle body in the vehicle width direction, which allows the driver to intuitively recognize whether or not the vehicle body, as well as the door mirror, will come into contact with an obstacle on the side of the vehicle when pulling over to the side of the vehicle.

[0059] Furthermore, the driving support device 3 according to this embodiment detects an obstacle in the traveling direction of the vehicle, and if there is a possibility that the obstacle may come into contact with the vehicle, highlights the guide line, thereby warning the driver of the possibility of contact with the obstacle.

[0060] Furthermore, when determining whether or not an obstacle may come into contact with the vehicle, the driving assistance device 3 according to this embodiment adds a predetermined length to the three-dimensional shape of the vehicle body, thereby preventing the vehicle from approaching too close to the obstacle.

[0061] Furthermore, the driving assistance device 3 according to this embodiment corrects the guide lines based on the difference in inner wheel radius of the vehicle when the vehicle is backing up. This allows the driver to accurately move the vehicle closer to the side of the road even when the difference in inner wheel radius occurs when the vehicle is backing up.

[0062] Furthermore, the driving assistance device 3 according to this embodiment detects obstacles or white lines in the vehicle's traveling direction and displays guide lines only when the vehicle is traveling toward the obstacle or white line. This reduces the annoyance to the driver because the guide lines are displayed only when the vehicle is moving to the side of the road.

[0063] Although the embodiments of the present invention have been described above, the descriptions and drawings that form part of this disclosure should not be understood to limit the present invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure. [Explanation of symbols]

[0064] 1. Driving assistance systems 3 Driving assistance devices 5. Vehicle information database 7. Map Database 9 Display device 11 Vehicle speed sensor 12 Gyro sensor 13 Steering sensor 14 Accelerator sensor 15 Brake sensor 16 GPS receivers 17 VICS 21 Exterior camera 22 Radar 23 Laser Range Finder 24 Sonar 31 External information acquisition department 32 Vehicle position calculation unit 33 Vehicle control unit 34 Guide line generation unit 35 Obstacle detection unit 36 Display control unit 41 Outside of the guide line in the vehicle width direction 43 Inside of the guide line in the vehicle width direction 51 Stone Wall 53 Curb 55 Thu L1, L2 guide lines

Claims

1. A driving assistance method for assisting driving by displaying guide lines indicating a planned driving path of a vehicle on a display device, comprising: generating the guide line in the traveling direction of the vehicle; setting the outer side of the generated guide line in the vehicle width direction to the position of the outer end of the door mirror of the vehicle in the vehicle width direction; The set guide line is displayed on the display device so as to be superimposed on the road surface in the traveling direction of the vehicle. Driving assistance methods.

2. The inside of the guide line in the vehicle width direction is set at the position of the outside end of the tire of the vehicle in the vehicle width direction. The driving assistance method according to claim 1 .

3. The inside of the guide line in the vehicle width direction is set at the position of the outside end of the vehicle body in the vehicle width direction. The driving assistance method according to claim 1 .

4. An obstacle is detected in the traveling direction of the vehicle, and if there is a possibility that the obstacle may come into contact with the vehicle, the guide line is highlighted. The driving assistance method according to any one of claims 1 to 3.

5. When determining whether or not there is a possibility that the obstacle will come into contact with the vehicle, a predetermined length is added to the three-dimensional shape of the body of the vehicle. The driving assistance method according to claim 4 .

6. When the vehicle is moving backward, the guide line is corrected based on the inner wheel difference of the vehicle. The driving assistance method according to any one of claims 1 to 3.

7. An obstacle or a white line is detected in the traveling direction of the vehicle, and the guide line is displayed only when the vehicle is traveling toward the obstacle or the white line. The driving assistance method according to any one of claims 1 to 3.

8. A driving assistance device that displays guide lines indicating a planned driving path of a vehicle on a display device to assist driving, generating the guide line in the traveling direction of the vehicle; setting the outer side of the generated guide line in the vehicle width direction to the position of the outer end of the door mirror of the vehicle in the vehicle width direction; The set guide line is displayed on the display device so as to be superimposed on the road surface in the traveling direction of the vehicle. Driving assistance device.

Images