Control device, control method, and control program

Abstract

A control device, a control method, and a control program are provided that can easily grasp the position where the relative angle between a moving body and a trailer is a predetermined angle. [Solution] The system includes an external environment information acquisition unit (55) that acquires external environment information about a vehicle (10) capable of first and second travel and towing a trailer (60), and a display control unit (56) that displays a peripheral image of the vehicle (10) based on the external environment information. The display control unit (56) superimposes a guide image on the peripheral image when the vehicle (10) is capable of the first travel. The guide image includes a first guide image (71) that shows first travel paths (73a, 73b) for at least one of the vehicle (10) and the trailer (60) when the vehicle (10) makes the first travel from its current position. The first guide image (71) is a frame image (75a, 75b) that can identify a predetermined position on the first travel paths (73a, 73b) where the relative angle between the vehicle (10) and the trailer (60) is a predetermined angle.

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Conventionally, there is known a technique for superimposing guide lines indicating a predicted vehicle travel area based on the vehicle travel state on a vehicle surroundings image while the vehicle is traveling / turning. For example, Patent Document 1 describes a parking assistance device that includes: a route acquisition unit that, when a target parking position for a towed vehicle is set, acquires a guide route that extends from the target parking position as a starting point for guiding the towed vehicle to the target parking position; and a display processing unit that, when the guide route is acquired, displays the guide route superimposed on a surroundings image, in which the target parking positions include a pair of target positions corresponding to the width of the towed vehicle, and the display processing unit displays the guide route that extends from at least one of the pair of target positions that is located on the inner side of the turning of the towed vehicle, superimposed on the surroundings image.

[0004] Patent document 2 also describes a vehicle that includes a control module that displays on a display the area behind the vehicle, a general-purpose steering guide line, and a trailer hitching steering guide line during a vehicle reversing event, the general-purpose steering guide line starting from an upright side, indicating the projected trajectory of the vehicle, and having a reach that is maintained regardless of changing steering angles, and the trailer hitching steering guide line starting from a hitch point, indicating the projected path of the hitch point, and having a reach that is adjusted based on changing steering angles. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-069717 [Patent Document 2] Patent No. 6823097 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when a vehicle is towing a trailer, if a vehicle guide image and a trailer guide image are displayed, the guide images become complicated and difficult for the user to understand. Furthermore, when a vehicle moves backward or forward while towing a trailer, it is difficult for the user to grasp the traveling status, including, for example, the relative angle between the towing vehicle and the towed trailer. However, Patent Documents 1 and 2 do not disclose any technology for easily grasping the traveling status of the towing vehicle and the towed vehicle. Therefore, there is room for further improvement in the display of guide images on the towing vehicle.

[0007] The present invention aims to provide a control device, a control method, and a control program that can easily grasp the position where the relative angle between a moving body and a trailer is a predetermined angle, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0008] The present invention provides an external environment information acquisition unit that acquires external environment information of a mobile body that is capable of first and second movement and towing a trailer; a display control unit that displays a peripheral image of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; It is a control device.

[0009] The present invention provides A control method by a control device that acquires external environment information of a moving body capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; It is a control method.

[0010] The present invention provides A control program for a control device that acquires external environment information of a moving body capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; It is a control program. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that can easily grasp the position where the relative angle between the moving body and the trailer is a predetermined angle. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of the vehicle shown in FIG. 1. FIG. [Figure 4] 10 is a diagram showing an example of a guide image displayed on a surrounding image of a vehicle 10. FIG. [Figure 5] 10 is a diagram showing a first modified example of a guide image displayed on a surrounding image of the vehicle 10. FIG. [Figure 6] FIG. 10 is a diagram showing an example of a guide image displayed on a rear image. [Figure 7] 10 is a diagram showing an example of a guide image displayed on a peripheral image when the vehicle 10 is moving forward. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0014] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view showing an example of a vehicle equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle shown in Fig. 1. Vehicle 10 is an example of the "mobile body" of the present invention.

[0015] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The vehicle 10 is also an automobile capable of towing, for example, a trailer. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, i.e., a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of the front wheels may be steerable wheels.

[0016] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around this rotation shaft.

[0017] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

[0018] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0019] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the outside world of the vehicle 10 to obtain images of the outside world for recognizing the vehicle 10 and its surroundings. The images of the area around the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0021] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0022] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0023] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, i.e., the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission. Note that the sensor group 16 may also include, for example, a target detection sensor capable of detecting targets around the vehicle 10. Targets include trailers connected to (towed by) the vehicle 10, other vehicles around the vehicle, and the like. The target detection sensor includes, for example, radar, lidar (light detection and ranging or laser imaging detection and ranging), sonar, a yaw rate sensor, a magnetic sensor, and a steering angle sensor.

[0024] The operation detection unit 38 detects the operation content performed by the user using the operation input unit 14, and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (selector lever or selector).

[0025] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that has a map information database.

[0026] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to movement assistance for the vehicle 10 via the touch panel 42. Movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include an automatic parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking via a user's operation. The exit assistance buttons include an automatic exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving via a user's operation. Furthermore, for example, an overhead image generated by combining images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is displayed on the touch panel 42. Note that a component other than the touch panel 42, for example, an information terminal such as a smartphone or tablet, may be used as the input device or the display device.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the memory unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" in the present invention.

[0029] The calculation unit 52 includes an outside world information acquisition unit 55 , a display control unit 56 , and a notification unit 57 .

[0030] The external environment information acquisition unit 55 acquires external environment images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R from each camera. The external environment information acquisition unit 55 acquires external environment information of the vehicle 10 towing the trailer based on the external environment images acquired from each camera.

[0031] The display control unit 56 displays a peripheral image of the vehicle 10 based on the external environment information acquired by the external environment information acquisition unit 55. The "periphery image" may be an overhead image, a rear image (rear image), left and right side images (side images), etc. The peripheral image may include not only an image of the surroundings but also an image of the vehicle 10 (for example, an image of the vehicle 10 in an overhead image). The peripheral image may also be generated by combining multiple pieces of external environment information.

[0032] The vehicle 10 is capable of, for example, first and second travel while towing a trailer. "First travel" refers to travel with the transmission mode in reverse, i.e., "backing up." "Second travel" refers to travel with the transmission mode in drive, i.e., "forward." The second travel is travel in the opposite direction of wheel rotation to the first travel. When the vehicle 10 is in a state where the first travel is possible, the display control unit 56 displays a guide image superimposed on an image of the surroundings of the vehicle 10. "A state where the vehicle 10 is capable of the first travel" refers to a state where the gear position (transmission mode) is in reverse. Note that the state where the vehicle 10 is capable of the first travel may also be when the vehicle 10 is reversing.

[0033] The guide image displayed superimposed on the peripheral image includes a first guide image showing a first travel route of at least the vehicle 10 and the trailer towed by the vehicle 10 when the vehicle 10 makes a first travel from its current position. The "first travel route" is a route calculated from the current position and orientation of the vehicle 10, the trailer hitch angle, trailer specification information (shape (including size), wheel position, etc.), and the first travel direction. The first travel direction is the direction in which the vehicle 10 towing the trailer is desired to reverse, and is a direction that the user can select within a range of, for example, -30 degrees to +30 degrees.

[0034] The first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the vehicle 10 and the trailer towed by the vehicle 10 is a predetermined angle. The "relative angle" refers to the trailer hitch angle. The "predetermined angle" is, for example, 0 degrees. The predetermined angle may be an angle in a range close to 0 degrees (for example, -5 degrees to +5 degrees). The "image that can identify a predetermined position" is, for example, an image that displays a marking on the predetermined position. The first guide image is an image that displays a marking on the predetermined position. The "image that displays a marking on the predetermined position" is an image in which an image that marks the predetermined position is superimposed at a position corresponding to the predetermined position in the peripheral image. The image that displays a marking may be, for example, a two-dimensional image or a three-dimensional image of at least one of the vehicle 10 and the trailer, or may be a frame image that surrounds the predetermined position. However, the image that can identify a predetermined position is not limited to an image that displays a marking, as long as it is an image that allows the user to grasp the predetermined position.

[0035] The predetermined position is a portion of the range on the first travel route where the relative angle is the predetermined angle, including the position closest to the current position of the vehicle 10. Alternatively, the predetermined position may be a position on at least one of the vehicle 10 and the trailer where the relative angle is the predetermined angle on the first travel route.

[0036] The display control unit 56 changes the display mode of the marking when at least one of the vehicle 10 and the trailer reaches a predetermined position. "Changing the display mode" means changing the display mode so that the user's visibility of the marking is reduced. Changing the display mode so that visibility is reduced means, for example, hiding the marking, displaying it in a faint light, or displaying it as a dotted line so that it is less noticeable.

[0037] When at least one of the vehicle 10 and the trailer reaches a predetermined position, the notification unit 57 notifies the user that they have reached the predetermined position. The notification unit 57 notifies the user by, for example, outputting a voice message or displaying a message image. Specifically, the notification unit 57 may output a voice message such as "The turn has been completed" or "The vehicle and trailer are now aligned" or may display a message.

[0038] The calculation unit 52 also performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the calculation unit 52. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. The calculation unit 52 also performs auxiliary parking assistance and auxiliary leaving assistance when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10. During the automatic parking assistance and automatic leaving assistance, the user may be inside the vehicle 10 or may be outside the vehicle 10 after getting out of the vehicle 10.

[0039] For example, the calculation unit 52 performs movement control to move the vehicle 10 based on external images of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R and a parking space designated by the user. The movement control includes parking control to automatically park the vehicle 10 in a predetermined parking space (target parking position) and exit control to automatically exit the vehicle 10 from the predetermined parking space to a target movement position. The calculation unit 52 can execute the parking control and the exit control in accordance with instruction signals input from the outside via the input / output unit 50. The input from the outside includes input via wireless communication from an information terminal or the like portable by the user of the vehicle 10. The calculation unit 52 can also transmit information related to the parking control and the exit control to an external information terminal via the input / output unit 50.

[0040] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0041] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0042] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablet terminals that can be carried by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface for performing UWB communication with the information terminal.

[0043] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0044] The braking force control system 28 is provided in the braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0045] <Example of guide image display> Fig. 4 is a diagram showing an example of a guide image displayed on the peripheral image of the vehicle 10. As shown in Fig. 4, the peripheral image 5 in this example is an image displayed as an overhead image. The peripheral image 5 is displayed on the touch panel 42 of the navigation device 18, for example.

[0046] The peripheral image 5 in this example is an image that is displayed when the gear position of the vehicle 10 is put into reverse. The peripheral image 5 displays the vehicle 10 towing a trailer. However, the vehicle displayed in the peripheral image 5 is an "image of the vehicle 10" created by the display control unit 56. In the following description, the "image of the vehicle 10" will be simply referred to as the vehicle 10a. The trailer displayed in the peripheral image 5 is also an "image of the trailer" created by the display control unit 56. In the following description, the "image of the trailer" will be simply referred to as the trailer 60. Also, a slide bar 81 is displayed in the peripheral image 5 to indicate the direction in which the vehicle 10a towing the trailer 60 will reverse.

[0047] By sliding the slide bar 81 in the direction of the left arrow 82a or the direction of the right arrow 82b, the user can specify the direction in which the vehicle 10a towing the trailer 60 should reverse, for example, in the range of -30 degrees to +30 degrees. In this example, the slide bar 81 is slid to +30 degrees in the direction of the right arrow 82b to reverse the vehicle 10a towing the trailer 60 30 degrees to the right. The "right" in the 30 degrees to the right direction refers to the right direction when the driver of the vehicle 10a is riding in the vehicle and looking ahead, for example. The trailer 60 is connected to the vehicle 10a via a hitch ball 61.

[0048] The vehicle 10a calculates a path (first traveling path 73a) along which it will move backward while steering so as to face the instructed direction (30 degrees to the right) in conjunction with the movement of the slide bar 81. The vehicle 10a further calculates a path (first traveling path 73b) along which it will move backward straight while the relative angle between the vehicle 10a and the trailer 60 towed by the vehicle 10a remains at 0 degrees (hitch angle 0 degrees). The first traveling path 73a and the first traveling path 73b are paths along which at least one of the vehicle 10a and the trailer 60 towed by the vehicle 10a will pass. The first traveling path 73a is a path along which the vehicle 10a will move backward straight while the steering wheel 110 of the vehicle 10a is turned, and is therefore calculated as a path with a wider area than the width of the first traveling path 73b along which the vehicle 10a will move backward straight. The first travel path 73b is an extension path that continues from the first travel path 73a, and is calculated as the path that the vehicle 10a and the trailer 60 would take if they were to back up while the hitch angle between the vehicle 10a and the trailer 60 remained at 0 degrees.

[0049] The vehicle 10a displays a first guide image 71 showing the calculated first travel route 73a and first travel route 73b, superimposed on the peripheral image 5. In this example, the first guide image 71 is displayed as an image in which the first travel route 73a and first travel route 73b are filled in with a predetermined color.

[0050] Furthermore, the vehicle 10a displays on the peripheral image 5 a predetermined position on the first travel path 73a and the first travel path 73b where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees, that is, a predetermined position where the hitch angle is 0 degrees and the vehicle 10a and the trailer 60 are aligned in a straight line. The predetermined position is displayed as a marking on the peripheral image 5. In this example, the marking is displayed as frame images 75a, 75b that surround the predetermined position.

[0051] The frame image 75a is a frame image that indicates the position of at least one of the vehicle 10a and the trailer 60 when the vehicle 10a starts to back up from its current position and the vehicle 10a and the trailer 60 first align in a straight line. The frame image 75a is a frame image that is closest to the current position of the vehicle 10a within the range in which the vehicle 10a and the trailer 60 align in a straight line on the first travel path 73a and the first travel path 73b. The frame image 75b is a frame image that indicates the position of at least one of the vehicle 10a and the trailer 60 when the vehicle 10a and the trailer 60 align in a straight line, but is farther away from the current position of the vehicle 10a than the frame image 75a. When it is desired to efficiently move the vehicle 10a and the trailer 60 forward, the guide image of the frame image 75a that is closest to the current position of the vehicle 10a is the guide image that is preferred by the user.

[0052] Furthermore, the vehicle 10a may calculate a route (second travel route 74) for moving forward (straight) from a position where the vehicle 10a and the trailer 60 have a hitch angle of 0 degrees, that is, a position where the vehicle 10a has backed up to the first travel route 73b. The second travel route 74 is a route taken by at least one of the vehicle 10a and the trailer 60 towed by the vehicle 10a, and is calculated as a straight route extending along the first travel route 73b. The vehicle 10a displays second guide images 72a and 72b indicating the calculated second travel route 74 by superimposing them on the peripheral image 5. The second guide images 72a and 72b are displayed, for example, as images of two roughly parallel broken lines along both sides of the second travel route 74.

[0053] After operating the slide bar 81 to indicate the direction in which the vehicle 10a should reverse, the user can step on the accelerator pedal of the vehicle 10a, and while looking at the first guide image 71 on which the frame images 75a and 75b are displayed, the vehicle 10a towing the trailer 60 can be automatically steered to reverse along the first guide image 71. Note that when the vehicle 10a towing the trailer 60 reaches the position of the frame image 75a, the frame image 75a may be displayed in a dimmed manner to reduce visibility, for example.

[0054] <Modifications of guide images> FIG. 5 is a diagram showing a first modified example of a guide image displayed on the surroundings image of the vehicle 10. In FIG.

[0055] The display of the first travel path 73a and the first travel path 73b in the first guide image 71, and the display of the second guide images 72a and 72b along both sides of the second travel path 74 are the same as the display example of the guide images described in Figure 4.

[0056] On the other hand, with regard to the display of the predetermined position where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees, in the case of the first modified example, the marking display image indicating the predetermined position is displayed as a two-dimensional vehicle image 76a representing the vehicle 10a and a two-dimensional trailer image 76b representing the trailer 60. Note that in this example, both the vehicle image 76a and the trailer image 76b are displayed as two-dimensional images indicating the predetermined position, but this is not limiting, and for example, only one of the vehicle image 76a and the trailer image 76b may be displayed.

[0057] <Guide image in rear view> FIG. 6 is a diagram showing an example of a guide image displayed on a rear image. The peripheral image 5 in this example is an image that displays external information about the vehicle 10 as a rear image, and is displayed, for example, when the user selects "rear image display" by switching the display image. The gear position of the vehicle 10 is switched to reverse. Also, the slide bar 81, which indicates the direction of reversal of the vehicle 10a towing the trailer 60, has been slid +30 degrees in the direction of the right arrow 82b. In other words, the peripheral image 5 in this example is the rear image that is displayed when "rear image display" is selected by switching the display image in the peripheral image 5 (bird's-eye view image) described in FIG. 4.

[0058] 6, the peripheral image 5 displays a first guide image 71 in which the first travel paths 73a, 73b are displayed in solid color, and a predetermined position where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees is marked with a frame image 75a. The peripheral image 5 also displays second guide images 72a, 72b in which two dashed lines extend along both sides of the second travel path 74. Although not shown in the present example for ease of viewing, the trailer 60 towed by the vehicle 10a also appears in reality in the peripheral image 5.

[0059] In the above description, the overhead image of Fig. 4 and the rear image of Fig. 11 have been described as peripheral images 5 displayed on the touch panel 42 of the navigation device 18, but the present invention is not limited to this. For example, both the overhead image and the rear image may be displayed on the touch panel 42. In this case, the overhead image and the rear image may be displayed side by side, or may be displayed by switching between them.

[0060] Incidentally, when a vehicle (towing vehicle) towing a trailer (towed vehicle) reverses while, for example, turning the steering wheel of the vehicle to change its direction of travel, it is necessary to turn the steering wheel in the opposite direction to the direction of travel immediately after reversing, which makes driving difficult. Furthermore, when attempting to reverse the towing trailer in a straight line, it is necessary to confirm that the vehicle and trailer are aligned in a straight line. Furthermore, when a guide image showing the travel routes of the trailer and vehicle is displayed superimposed on the peripheral image when reversing a vehicle towing a trailer, it can be difficult to recognize the guide images because the guide images of both vehicles are displayed.

[0061] Therefore, the control device (control ECU 20) in an embodiment of the present invention, when the vehicle 10a towing the trailer 60 is in a reverse state allowing it to reverse, displays a first guide image 71 superimposed on the peripheral image 5, the first guide image 71 indicating first travel paths 73a, 73b of the vehicle 10a and the trailer 60 when the vehicle 10a reverses from its current position, and displays, in the first guide image 71, for example, a frame image 75a that can identify a predetermined position on the first travel paths 73a, 73b where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees. With this configuration, the vehicle 10a towing the trailer 60 can be reversed along the first guide image 71 while looking at the first guide image 71 in which the frame image 75a is displayed. Therefore, the predetermined position where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees can be easily grasped. As a result, even when the vehicle 10a towing the trailer 60 is reversed while changing its direction, the user can easily grasp to what position the vehicle 10a should be reversed and stopped.

[0062] Furthermore, according to the control device, the predetermined position where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees is marked and displayed on the peripheral image 5 so as to include the position closest to the current position of the vehicle 10a within the range on the first travel paths 73a, 73b where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees. When changing the reverse direction of the vehicle 10a towing the trailer 60 to travel along the first travel paths 73a, 73b, it is desirable to complete the change of direction in as short a travel distance as possible. For this purpose, it is preferable to mark and display the predetermined position at the closest position from the current position of the vehicle 10a.

[0063] Furthermore, according to the control device, the predetermined position where the relative angle between vehicle 10a and trailer 60 is 0 degrees is the position of at least one of vehicle 10a and trailer 60 where the relative angle is 0 degrees on first travel paths 73a, 73b. For example, the predetermined position may be a position that includes both vehicle 10a and trailer 60, the rearmost position of trailer 60, or the frontmost position of vehicle 10a, and the position may be marked to make it easier for the user to grasp the predetermined value.

[0064] Furthermore, according to the control device, when at least one of the vehicle 10a and the trailer 60 reaches a predetermined position, the marking display is, for example, hidden, thereby allowing the user to easily understand that the relative angle between the vehicle 10a and the trailer 60 has become 0 degrees.

[0065] <Displaying guide images when moving forward> 7 is a diagram showing an example of a guide image displayed on the peripheral image when the vehicle 10 is moving forward. In the above-described embodiment, the guide image is displayed when the vehicle 10a towing the trailer 60 moves backward from its current position, but the present invention is not limited to this. For example, the guide image may be displayed when the vehicle 10a towing the trailer 60 moves forward from its current position.

[0066] The peripheral image 5 (bird's-eye view image) shown in FIG. 7 is an image that is displayed when the gear position of the vehicle 10a is put into drive. The vehicle 10a calculates a path (first traveling path 73a) along which the vehicle 10a will move forward while steering to face the instructed direction (30 degrees to the right) in conjunction with the movement of the slide bar 81. The vehicle 10a further calculates a path (first traveling path 73b) along which the vehicle 10a will move forward straight while the relative angle between the vehicle 10a and the trailer 60 towed by the vehicle 10a remains 0 degrees (hitch angle 0 degrees). The first traveling path 73a and the first traveling path 73b are paths along which at least one of the vehicle 10a and the trailer 60 towed by the vehicle 10a will pass. The first traveling path 73a is a path along which the vehicle 10a will move forward straight, because the first traveling path 73a is a path along which the vehicle 10a will move forward while the steering wheel 110 of the vehicle 10a is turned.

[0067] The vehicle 10a displays a first guide image 71 showing the calculated first travel route 73a and first travel route 73b, superimposed on the peripheral image 5. In this example, the first guide image 71 is displayed as an image in which the first travel route 73a and first travel route 73b are filled in with a predetermined color.

[0068] Furthermore, the vehicle 10a displays on the peripheral image 5 a predetermined position on the first travel path 73a and the first travel path 73b where the relative angle between the vehicle 10a and the trailer 60 is 0 degrees, that is, a predetermined position where the hitch angle is 0 degrees and the vehicle 10a and the trailer 60 are aligned in a straight line. The predetermined position is displayed as a marking on the peripheral image 5. In this example, the marking is displayed as a frame image 75a that surrounds the predetermined position. The frame image 75a is a frame image that indicates the position of at least one of the vehicle 10a and the trailer 60 when the vehicle 10a starts moving forward from its current position and the vehicle 10a and the trailer 60 first align in a straight line.

[0069] Furthermore, the vehicle 10a may calculate a route (second travel route 74) for when the vehicle 10a reverses (travels straight) from a position where the hitch angle between the vehicle 10a and the trailer 60 towed by the vehicle 10a is 0 degrees, that is, a position where the vehicle 10a has advanced to the first travel route 73b. The vehicle 10a displays second guide images 72a, 72b indicating the calculated second travel route 74, for example, as images of two broken lines along both sides of the second travel route 74, superimposed on the peripheral image 5.

[0070] The user operates the slide bar 81 to indicate the forward direction of the vehicle 10a, and then depresses the accelerator pedal of the vehicle 10a. While viewing the first guide image 71 on which the frame image 75a is displayed, the vehicle 10a towing the trailer 60 can be automatically steered to move forward along the first guide image 71. When the vehicle 10a towing the trailer 60 reaches the frame image 75a, the frame image 75a may be dimmed to reduce visibility, for example.

[0071] In this way, even when the forward direction of the vehicle 10a towing the trailer 60 is changed, the same effect as when the vehicle 10a is moved by changing the reverse direction can be obtained.

[0072] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0073] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0074] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0075] (1) an external environment information acquisition unit (external environment information acquisition unit 55) that acquires external environment information of a moving body (vehicle 10) capable of first and second travel and pulling a trailer (trailer 60); a display control unit (display control unit 56) that displays a peripheral image (peripheral image 5) of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, the guide image includes a first guide image (first guide image 71) showing a first travel path (first travel paths 73a, 73b) of at least one of the moving body and the trailer when the moving body makes the first travel from the current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; Control device (control ECU 20).

[0076] According to (1), a guide image that can identify a predetermined position where the relative angle between the moving body and the trailer is a predetermined angle is superimposed on the peripheral image, making it easier for the user to grasp the predetermined position.

[0077] (2) The control device according to (1), The first guide image is an image in which the predetermined position is marked. Control device.

[0078] According to (2), the predetermined position is marked, making it easier to grasp the predetermined position.

[0079] (3) The control device according to (2), the marking display is an image of at least one of the moving body and the trailer, or a frame image surrounding the predetermined position; Control device.

[0080] As in (3), it is desirable that the predetermined position be displayed as an image of a moving object, an image of a trailer, or a frame image surrounding the predetermined position.

[0081] (4) The control device according to (2) or (3), the display control unit changes the display mode of the marking when at least one of the moving body and the trailer reaches the predetermined position; Control device.

[0082] According to (4), by changing the display mode of the marking display when the moving body or trailer reaches a predetermined position, the user can easily understand that the moving body and trailer have reached the predetermined position.

[0083] (5) The control device according to any one of (1) to (4), the predetermined position is a portion of the range in which the relative angle is the predetermined angle on the first travel path, the portion including a position closest to the current position of the moving object. Control device.

[0084] As in (5), when a moving body travels while towing a trailer, it is desirable to be able to determine the closest position from the current position of the moving body within a range where the relative angle between the moving body and the trailer is a predetermined angle.

[0085] (6) The control device according to any one of (1) to (5), the predetermined position is a position of at least one of the moving body and the trailer at which the relative angle becomes the predetermined angle on the first travel path; Control device.

[0086] As in (6), the predetermined position may be at least one of the position of the moving body and the position of the trailer.

[0087] (7) The control device according to any one of (1) to (6), and a notification unit (notification unit 57) that notifies a user when at least one of the moving body and the trailer reaches the predetermined position. Control device.

[0088] According to (7), by notifying that the vehicle has reached a predetermined position, it becomes easier to understand that the relative angle between the vehicle and the trailer has reached a predetermined angle.

[0089] (8) A control method by a control device that acquires external environment information of a moving body capable of first and second travel and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; Control method.

[0090] According to (8), a guide image that can identify a predetermined position where the relative angle between the moving body and the trailer is a predetermined angle is superimposed on the peripheral image, making it easier for the user to grasp the predetermined position.

[0091] (9) A control program for a control device that acquires external environment information of a moving body capable of first and second travel and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where the relative angle between the moving body and the trailer is a predetermined angle; Control program.

[0092] According to (9), a guide image that can identify a predetermined position where the relative angle between the moving body and the trailer is a predetermined angle is superimposed on the peripheral image, making it easier for the user to grasp the predetermined position. [Explanation of symbols]

[0093] 5. Peripheral images 10,10a Vehicle 11L, 11R side mirrors 11R Side mirror 11L 12Fr forward camera 12Rr rear camera 12L Left side camera 12R Right side camera 14 Operation input section 16 sensors 18 Navigation devices 20 Control ECU 22 EPS system 24 Communications Department 26 Driving Force Control System 28 Braking force control system 32a Forward Sonar Group 32b Rear Sonar Group 32c Left Sonar Group 32d Right Sonar Group 34a, 34b Wheel sensors 36 Vehicle speed sensor 38 Operation detection unit 42 Touch Panel 44 speakers 50 Input / output section 52 Arithmetic section 54 Memory section 55 External World Information Acquisition Department 56 Display control unit 57 Information Department 60 Trailer 61 Hitch Ball 71 First guide image 72a, 72b Second guide image 73a, 73b First Route 74 Second Route 75a,75b frame image 76a Vehicle image 76b trailer image 81 Slide bar 82a left arrow 82b right arrow 100 Steering angle sensor 102 Torque sensor 104 EPS motor 106 Resolver 108 ECU 110 Steering 112 Steering column 120 Communication equipment 130 Drive ECU 132 Braking ECU

Claims

1. an external environment information acquisition unit that acquires external environment information of a mobile body that is capable of first and second travel and towing a trailer; a display control unit that displays a peripheral image of the moving object based on the external environment information, the display control unit superimposes a guide image on the surrounding image when the first progress of the moving object is possible, the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where a relative angle between the moving body and the trailer is a predetermined angle; Control device.

2. The control device according to claim 1, the first guide image is an image in which the predetermined position is marked; Control device.

3. The control device according to claim 2, the marking display is an image of at least one of the moving body and the trailer, or a frame image surrounding the predetermined position; Control device.

4. The control device according to claim 2, the display control unit changes the display mode of the marking when at least one of the moving body and the trailer reaches the predetermined position; Control device.

5. The control device according to claim 1, the predetermined position is a portion of the range in which the relative angle is the predetermined angle on the first travel path, the portion including a position closest to the current position of the moving object. Control device.

6. The control device according to claim 1, the predetermined position is a position of at least one of the moving body and the trailer at which the relative angle becomes the predetermined angle on the first travel path; Control device.

7. The control device according to any one of claims 1 to 6, a notification unit that notifies a user when at least one of the moving body and the trailer reaches the predetermined position; Control device.

8. A control method by a control device that acquires external environment information of a mobile body that is capable of first and second travel and towing a trailer, and displays a peripheral image of the mobile body based on the external environment information, a processor of the control device, a guide image is superimposed on the peripheral image when the first progress of the moving object is possible; the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where a relative angle between the moving body and the trailer is a predetermined angle; Control method.

9. A control program for a control device that acquires external environment information of a moving body that is capable of first and second movement and towing a trailer, and displays a peripheral image of the moving body based on the external environment information, a processor of the control device; a guide image is superimposed on the peripheral image when the moving object is in the first progress-enabled state; Execute the process, the guide image includes a first guide image showing a first travel path of at least one of the moving body and the trailer when the moving body makes the first travel from a current position, the first guide image is an image that can identify a predetermined position on the first travel route where a relative angle between the moving body and the trailer is a predetermined angle; Control program.

Images