Driving assistance systems

Abstract

The present invention provides a driver assistance device that enables easy selection of a towed vehicle from multiple candidate vehicles on a vehicle selection screen displayed on a display device when providing driver assistance to a towing vehicle that is towing a towed vehicle. [Solution] A driving support device 1 that assists the occupant (user) in the towing vehicle 2, displays a vehicle selection screen 71 on a liquid crystal display 15 for selecting a towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40, and provides support using information about the towed vehicle, with the candidate vehicle 40 selected by the user on the vehicle selection screen 71 being used as the towed vehicle 3 to be towed by the towing vehicle 2, while the vehicle selection screen 71 is configured to display a candidate vehicle image 41, which is an image of the candidate vehicle captured by a rear camera 9, for each candidate vehicle to be selected.

Description

Technical Field

[0001] The present invention relates to a driving support device that performs driving support for a vehicle.

Background Art

[0002] Conventionally, there are known driving support devices that assist in the driving operation of a vehicle in various scenes, perform part or all of the driving operation on behalf of the driver, or guide information for performing the driving operation. For example, in parking support, which is one of the above driving supports, it is known to calculate a traveling trajectory when parking and perform guidance and vehicle control so that parking is performed according to the calculated traveling trajectory.

[0003] Here, particularly when performing the above driving support for a towing vehicle (tractor) towing a towed vehicle (trailer), it is necessary to perform driving support considering not only the behavior of the towing vehicle but also the behavior of the towed vehicle. And for that purpose, it was necessary to grasp the information of the towed vehicle connected to the towing vehicle on the device side. Examples of the information of the towed vehicle include the position of the coupler of the towed vehicle and the wheelbase. Therefore, Japanese Unexamined Patent Application Publication No. 2020-37301 discloses a control device that performs steering angle control to prevent the roll motion that occurs during the running of a towing vehicle towing a towed vehicle. The information of the towed vehicle is registered in a memory in advance, and the information is read from the memory to acquire the information on the device side.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, the coupler position and wheelbase are unique parameters that differ for each towed vehicle. Therefore, if, for example, information about the towed vehicle is stored in memory in advance, as in Patent Document 1 above, it would be necessary to store information for each of the multiple towed vehicles in advance, especially if there is a possibility of towing multiple towed vehicles. Then, when providing driving assistance, the information of the towed vehicle to be towed must be selected from the stored information of multiple towed vehicles.

[0006] The present invention was made to solve the aforementioned problems of the conventional invention, and aims to provide a driving assistance device that enables the towing vehicle to easily select a towed vehicle from among multiple candidate vehicles on a vehicle selection screen displayed on a display device when providing driving assistance to a towing vehicle that is towing a towed vehicle. [Means for solving the problem]

[0007] To achieve the above objective, the driving support device according to the present invention is a driving support device that assists a user in operating a towing vehicle, and displays a vehicle selection screen on a display device for selecting a towed vehicle to be towed by the towing vehicle from one or more candidate vehicles, and provides support using information about the towed vehicle for the candidate vehicle selected by the user on the vehicle selection screen as the towed vehicle to be towed by the towing vehicle, and on the vehicle selection screen displays a candidate vehicle image, which is an image of the candidate vehicle captured by an imaging device, for each of the candidate vehicles that can be selected. [Effects of the Invention]

[0008] According to the driver assistance device of the present invention having the above configuration, when providing driver assistance to a towing vehicle that is towing a towed vehicle, the vehicle selection screen displayed on the display device shows images of each candidate vehicle captured by the imaging device, making it possible to easily select a towed vehicle from among multiple candidate vehicles. As a result, it is possible to improve the operability related to vehicle selection. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows the towing vehicle and towed vehicle according to this embodiment. [Figure 2] This is a magnified view of the area around the towing device of a towing vehicle. [Figure 3] This diagram shows the movement of the towing vehicle and the towed vehicle when the hitch ball and coupler are connected. [Figure 4] This is a block diagram showing the configuration of the driver assistance system according to this embodiment. [Figure 5] This diagram shows an example of the information stored in the registration information database. [Figure 6] This is a flowchart of the candidate vehicle registration processing program according to this embodiment. [Figure 7] This diagram shows the overwrite target selection screen displayed on the LCD screen. [Figure 8] This diagram shows the vehicle registration screen displayed on an LCD screen. [Figure 9] This is a diagram illustrating the calibration process. [Figure 10] This figure shows the screen displayed on the liquid crystal display during the calibration process. [Figure 11] This diagram shows the image confirmation screen displayed on the liquid crystal display. [Figure 12] This diagram shows another example of an image confirmation screen displayed on an LCD screen. [Figure 13] This is a flowchart of the candidate vehicle update processing program according to this embodiment. [Figure 14] This diagram shows the update target selection screen displayed on the LCD screen. [Figure 15] This diagram shows the information item selection screen displayed on the LCD screen. [Figure 16] This is a flowchart of the candidate vehicle selection process program according to this embodiment. [Figure 17] This diagram shows the vehicle selection screen displayed on the LCD screen.

Best Mode for Carrying Out the Invention

[0010] Hereinafter, a specific embodiment of the driving support device according to the present invention will be described in detail with reference to the drawings.

[0011] 〔Explanation of Tractor and Trailer〕 First, a tractor (tractor) 2 equipped with the driving support device 1 according to the present embodiment and a trailer (trailer) 3 towed by the tractor 2 will be described below. FIG. 1 is a diagram showing the tractor 2 and the trailer 3. In particular, the upper figure shows a state in which the tractor 2 and the trailer 3 are connected, and the lower figure shows a separated state before the tractor 2 and the trailer 3 are connected.

[0012] Here, the tractor 2, also called a tractor, is configured to be able to tow the trailer 3 and travel. The tractor 2 may be, for example, an automobile (internal combustion engine automobile) having an internal combustion engine (engine, etc.) as a drive source, an automobile (electric vehicle, fuel cell vehicle, etc.) having an electric motor (motor, etc.) as a drive source, or an automobile (hybrid vehicle) having both of them as drive sources. Also, regardless of the vehicle type, as long as it has a towing device 4 described later, it may be an ordinary vehicle or a commercial large tractor (trailer head).

[0013] Further, as shown in FIG. 1, a towing device 4 (hitch) for towing the trailer 3 is arranged to project from the lower part of, for example, the central part in the vehicle width direction of the rear bumper of the tractor 2. FIG. 2 is a diagram showing an enlarged view of the vicinity of the towing device 4.

[0014] As shown in Figure 2, the towing device 4 is fixed to, for example, the frame of the towing vehicle 2. The towing device 4, as an example, has a hitch ball 5 with a spherical tip that is erected vertically (in the vertical direction of the vehicle). A coupler 7, which is provided on the tip of a connecting member 6 fixed to the towed vehicle 3, covers the hitch ball 5, thereby connecting the hitch ball 5 and the coupler 7, and as a result the towing vehicle 2 and the towed vehicle 3 are connected. However, the shape of the hitch ball 5 and the coupler 7 is not limited to the shape shown in Figure 2; any shape that allows the towing vehicle 2 and the towed vehicle 3 to be connected is acceptable. In addition, although the towing device 4 is fixed to the towing vehicle 2, it is a component that can be removed using tools, and can be replaced, for example, to match the towed vehicle 3 to be towed.

[0015] When the hitch ball 5 and coupler 7 are connected, the hitch ball 5 transmits forward, backward, left, and right movements to the towed vehicle 3 (connecting member 6) in accordance with the movement of the towing vehicle 2. Furthermore, as shown in Figure 3, even when the coupler 7 is connected to the hitch ball 5, the angle of the coupler 7 relative to the hitch ball 5 can be freely displaced (with an upper limit), allowing the towed vehicle 3 to swing (rotate) in the width direction relative to the towing vehicle 2.

[0016] On the other hand, as shown in Figure 1, a rear camera (imaging device) 9 is installed on the wall of the rear hatch of the towing vehicle 2. The rear camera 9 is a digital camera that incorporates an image sensor such as a CCD or CIS. The rear camera 9 can output video data (image data) at a predetermined frame rate. The rear camera 9 has a wide-angle lens or a fisheye lens, and its optical axis is set diagonally downward, allowing it to capture an area in the horizontal direction of, for example, 140° to 220°. Therefore, when the towed vehicle 3 is coupled, the rear camera 9 can output image data of a wide area including the towed vehicle 3 located behind it.

[0017] Furthermore, when the towed vehicle 3 is coupled, the range that the rear camera 9 can capture also includes the towing device 4 and hitch ball 5 located at the rear end of the towing vehicle 2. Therefore, the image data captured by the rear camera 9 can be used, for example, to detect the coupling state of the towing vehicle 2 and the towed vehicle 3 (e.g., coupling angle (hitch angle), whether or not they are coupled, etc.). Moreover, as described later, the image of the towed vehicle 3 captured by the rear camera 9 can also be used as a candidate vehicle image (thumbnail image) when registering the towed vehicle 3. However, instead of the rear camera 9, a sensor installed on the towing device 4 may be provided as a means of detecting the coupling state of the towing vehicle 2 and the towed vehicle 3. In addition, cameras that capture the front and sides may be provided as imaging devices for capturing the area around the towing vehicle 2, in addition to the rear camera 9.

[0018] On the other hand, the towed vehicle 3 is also called a trailer and is towed by the towing vehicle 2 described above. Therefore, unlike the towing vehicle 2, it basically does not have an engine or motor as a drive source. It also does not have a steering system for changing the direction of the wheels. Examples include camping trailers that have living space inside, and light trailers that carry cars or boats. The towed vehicle 3 comprises a main body, multiple (two in this embodiment) trailer wheels, a connecting member 6, and a coupler 7.

[0019] Here, as shown in Figure 1, the connecting member 6 is provided at the lower part of the center of the main body of the towed vehicle 3 in the width direction, and is positioned to protrude forward (in the direction of travel) from the front end of the main body.

[0020] Furthermore, as shown in Figure 2, the coupler 7 is provided at the front end of the connecting member 6 and has a spherical recess that covers the hitch ball 5. As described above, the towed vehicle 3 is rotatably connected to the towing vehicle 2 by the coupler 7 covering the hitch ball 5 (see Figure 3). The length of the connecting member 6 and its height from the ground surface (i.e., the position of the coupler 7 on the towed vehicle 3) vary depending on the type of towed vehicle 3. However, in this embodiment, it is assumed that the coupler 7 is positioned at least in a position where it can be connected to the hitch ball 5 on the towing vehicle 2.

[0021] Furthermore, the relationship between the towing vehicle 2 and the towed vehicle 3 is not one-to-one. For example, the towing vehicle 2 can connect to and tow any towed vehicle 3 selected from among several towed vehicles 3 according to the purpose of travel. For example, when going on a trip, a camping trailer can be connected, and when transporting a car or boat, a light trailer can be connected. In other words, the connecting members 6 provided by the towed vehicle 3 are not unique to each vehicle, but are common to each vehicle manufacturer, for example, and are versatile members.

[0022] Furthermore, the driver assistance device 1 according to this embodiment allows for the pre-registration of information regarding the towed vehicle 3 that is a candidate to be towed by the towing vehicle 2 (for example, the position of the coupler and the trailer wheelbase). When a towed vehicle 3 is connected to the towing vehicle 2, the device can select the information of the currently connected towed vehicle 3 from the registered information, thereby enabling appropriate driver assistance tailored to the towed vehicle 3 currently being towed. Details will be described later.

[0023] [Explanation of driver assistance systems] Next, the driver assistance device 1 equipped in the towing vehicle 2 will be described. The driver assistance device 1 is a device that assists the driver in operating the vehicle while the towing vehicle 2 is connected to the towed vehicle 3. In the following description, the driver assistance device 1 will be described as a device that provides parking assistance when parking in a designated parking space, but it is not limited to parking assistance and may also be a device that provides assistance when exiting a parking space, for example, or driving assistance related to normal driving on the road. Figure 4 is a block diagram showing the configuration of the driver assistance device 1 according to this embodiment.

[0024] As shown in Figure 4, the driver assistance device 1 according to this embodiment includes a vehicle information DB 21 in which various data related to the towing vehicle 2 are recorded, a registration information DB 22 in which various data registered in advance regarding candidate vehicles for the towed vehicle 3 are recorded, and a driver assistance ECU 23 that performs various calculation processing based on the input information. The driver assistance device 1 is also connected via an in-vehicle network such as CAN to an operation unit 14 that receives operations from the occupant (user) of the towing vehicle 2, a liquid crystal display 15 that displays driver assistance-related information such as images captured by the rear camera 9 and the vehicle registration screen and vehicle selection screen described later to the occupant of the towing vehicle 2, and a speaker 16 that outputs voice guidance related to driver assistance. Furthermore, the driver assistance device 1 is also connected via an in-vehicle network such as CAN to the rear camera 9 installed on the towing vehicle 2, a vehicle control ECU 24 that performs various controls on the towing vehicle 2, a vehicle speed sensor 25, a steering sensor 26, a shift position sensor 27, and other various sensors.

[0025] The control unit 14 is located on the instrument panel or steering wheel of the towing vehicle 2 and is a user interface that accepts operations such as registration of candidate vehicles for the towed vehicle 3 (hereinafter referred to as candidate vehicles), selection of the vehicle to be towed from among the candidate vehicles, and instructions from the occupant in driving assistance. It has multiple operation switches (not shown), such as various keys and buttons. The driving assistance ECU 23 controls the system to execute various operations based on the switch signals output when each switch is pressed. The control unit 14 may also have a touch panel located in front of the liquid crystal display 15. It may also have a microphone and a voice recognition device.

[0026] The liquid crystal display 15 is a type of display device and is installed on the instrument panel of the towing vehicle 2. It displays a vehicle registration screen for registering candidate vehicles and a vehicle selection screen for selecting the vehicle to be towed from among the candidate vehicles. Furthermore, when parking assistance is performed, it also displays images captured by the rear camera 9 and overhead images of the area around the vehicle generated based on images captured by multiple cameras, including the rear camera 9. The liquid crystal display 15 may also be used for the navigation system.

[0027] Furthermore, speaker 16 outputs voice guidance and other information to guide the driver during parking assistance based on instructions from the driver assistance ECU 23. Speaker 16 may also be used in conjunction with the navigation system.

[0028] Furthermore, the vehicle information DB21 is a storage means that stores various information about the towing vehicle 2. For example, the installation position of the rear camera 9 (height from the ground, position in the left and right directions, distance from the rear end of the vehicle), the optical axis direction, the installation position of the hitch ball 5 (height from the ground, distance from the rear end of the vehicle), the overall length, vehicle width, wheelbase, minimum turning radius, etc., are stored for the towing vehicle 2. The distance from the rear axle of the towing vehicle 2 to the connection point between the towing vehicle 2 and the towed vehicle 3 (position of the hitch ball 5) is also stored. The above information is basically fixed information and is registered by personnel from the vehicle manufacturer at the time of factory shipment. However, as mentioned above, the towing device 4 attached to the towing vehicle 2 is a replaceable component, so the information regarding the hitch ball 5 can be registered by the occupants after factory shipment.

[0029] On the other hand, the registration information DB22 is a storage means in which various information about candidate vehicles registered by the occupants is stored separately for each candidate vehicle. Here, Figure 5 is a diagram showing an example of the information stored in the registration information DB22.

[0030] As shown in Figure 5, the registration information DB22 stores the following information for each candidate vehicle 40 (corresponding to the towed vehicle 3 when connected to the towing vehicle 2): the registration date on which the candidate vehicle 40's information was registered, the distance A from the rear end of the towing vehicle 2 to the installation position of the hitch ball 5, the height B of the coupler 7 from the ground surface for the candidate vehicle 40, and the distance C from the rotation center of the candidate vehicle 40 to the connection point between the towing vehicle 2 and the candidate vehicle 40 (the position of the hitch ball 5) (corresponding to the trailer wheelbase). Here, the rotation center of the candidate vehicle 40 is also referred to as the reference point, and if the candidate vehicle 40 has one axle (two wheels), the axle center becomes the rotation center. On the other hand, if the candidate vehicle 40 has two axles (four wheels), the rotation center exists between the two axles (its position varies depending on the load distribution). Furthermore, regarding the towing vehicle 2, the distance A from the rear end of the vehicle to the installation position of the hitch ball 5 is normally information about the towing vehicle 2, but since the towing device 4 is a component that can be replaced to match the towed vehicle 3 to be towed, in this embodiment it is stored as information about the candidate vehicle 40. In addition to the above information, the left-right position of the coupler 7, the distance from the front of the vehicle to the coupler 7, the overall length of the candidate vehicle 40, the vehicle width, the minimum turning radius, etc. may also be included as information about the candidate vehicle 40.

[0031] Furthermore, the registration information DB22 also stores candidate vehicle images 41 in association with the information about the candidate vehicles 40 mentioned above. The candidate vehicle image 41 is an image of the target candidate vehicle 40 captured by the rear camera 9 installed on the towing vehicle 2. The candidate vehicle image 41 is then used as a thumbnail image on the vehicle selection screen to select the vehicle to be towed from among the candidate vehicles 40, as will be described later.

[0032] Furthermore, the information regarding the candidate vehicles 40 stored in the registration information DB22 is entered by the occupant of the towing vehicle 2 through operations performed according to the vehicle registration screen displayed on the LCD display 15, as described later. Each time a candidate vehicle 40 is added, it is entered one by one and registered (stored) in the registration information DB22 as information about the candidate vehicle 40. Note that there is an upper limit (for example, 3 vehicles) on the number of candidate vehicles that can be registered in the registration information DB22, and if the number of registrations exceeds the upper limit, the occupant can select and overwrite the information of unnecessary candidate vehicles 40. In addition, the registered information can also be updated (modified) by the user. For example, a memory card can be used as the storage medium for the vehicle information DB21 and the registration information DB22. Furthermore, it may also be stored in the storage area of ​​the driver assistance ECU23 (for example, RAM or flash memory).

[0033] On the other hand, the driver assistance ECU (Electronic Control Unit) 23 is an electronic control unit that controls the entire driver assistance system 1, and includes a CPU 31 as a calculation device and control device, a RAM 32 which is used as working memory when the CPU 31 performs various calculations and stores trajectory data when a parking trajectory is generated, a ROM 33 which stores control programs as well as candidate vehicle registration processing programs (see Figure 6), candidate vehicle update processing programs (see Figure 13), and candidate vehicle selection processing programs (see Figure 16), and a flash memory 34 which stores programs read from the ROM 33, among other internal storage devices. The driver assistance ECU 23 executes various functions as a processing algorithm. For example, the system includes a function to display a vehicle selection screen on the liquid crystal display 15 for selecting a towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40; a function to provide support using information about the towed vehicle 3, with the candidate vehicle 40 selected by the occupant (user) on the vehicle selection screen being the towed vehicle 3 to be towed by the towing vehicle 2; a function to acquire information about the candidate vehicles 40; a function to calibrate the acquired information about the candidate vehicles 40 by having the towing vehicle 2 perform a predetermined drive while the candidate vehicles 40 are coupled to it; and a function to register the information about the candidate vehicles 40 in association with a candidate vehicle image 41.

[0034] Furthermore, the vehicle control ECU 24 is an electronic control unit that controls the towing vehicle 2. The vehicle control ECU 24 is also connected to various drive units of the vehicle, such as the steering, brakes, accelerator, and transmission. In this embodiment, for example, when performing parking assistance to help park in a parking space, it is possible to perform automatic driving assistance for the towing vehicle 2 by controlling each drive unit. Specifically, the driving assistance ECU 23 transmits various support information related to automatic driving assistance generated by the driving assistance device 1 to the vehicle control ECU 24 via CAN. The vehicle control ECU 24 then uses the received support information to perform automatic driving assistance after the assistance has started. Support information includes, for example, the recommended driving trajectory for the towing vehicle 2 and the towed vehicle 3, and information indicating the vehicle speed and steering angle when driving according to the driving trajectory. In addition, in automatic driving assistance, only the steering operation may be automated, or the control of the drive source, brakes, and transmission may also be automated. On the other hand, the installation of the above-mentioned automatic driving assistance is not mandatory for the towing vehicle 2, and the towing vehicle 2 may be a vehicle that can only be driven manually. In that case, when parking assistance is performed, instead of the above-mentioned automated driving assistance, the system will provide guidance on steering, braking, acceleration, and shift position to guide the vehicle along the recommended driving path.

[0035] Furthermore, the vehicle speed sensor 25 consists of an active wheel speed sensor attached to the wheel of the towing vehicle 2, which detects the rotational speed of the wheel and outputs a speed signal. The steering sensor 26 is installed inside the steering device and detects the steering angle when the steering wheel is turned, which outputs a steering angle signal. In addition, the shift position sensor 27 is built into the shift lever and detects whether the shift position is "P (parking)", "N (neutral)", "R (reverse)", "D (drive)", "2 (2nd gear)", or "L (low)".

[0036] The driver assistance ECU23 can acquire the current vehicle speed, mileage, steering angle, shift position, etc. of the towing vehicle 2 based on the output signals from the various sensors mentioned above.

[0037] [Description of processing programs executed in the driver assistance system] Next, the candidate vehicle registration processing program executed by the driver assistance ECU 23 in the driver assistance device 1 having the above configuration will be explained with reference to Figure 6. Figure 6 is a flowchart of the candidate vehicle registration processing program according to this embodiment. Here, the candidate vehicle registration processing program is executed when a predetermined operation to start the registration of information about candidate vehicles is received at the operation unit 14 of the towing vehicle 2, and is a program that newly registers information about candidate vehicles that are candidates for towed vehicle 3. It is also assumed that a candidate vehicle 40 is coupled to the towing vehicle 2. The programs shown in the flowcharts in Figures 6, 13 and 16 below are stored in the RAM 32 and ROM 33 of the driver assistance device 1 and are executed by the CPU 31.

[0038] First, in step 1 (hereinafter abbreviated as S), the CPU 31 determines whether there is space available for registration of candidate vehicle information in the registration information DB 22. As shown in Figure 5, the registration information DB 22 stores information about candidate vehicles registered by the occupants of the towing vehicle 2, separated by candidate vehicle. However, there is an upper limit (for example, 3 vehicles) on the number of candidate vehicles for which information can be registered in the registration information DB 22. Therefore, in S1, it is determined whether there is space available up to that upper limit.

[0039] If it is determined that there are available slots for candidate vehicles (S1:YES), the process proceeds to S3. Conversely, if it is determined that there are no available slots for candidate vehicles (S1:NO), the process proceeds to S2.

[0040] In S2, the CPU 31 selects the candidate vehicle information to be overwritten based on the occupant's operation. For example, in S2, as shown in Figure 7, the overwrite target selection screen 51 is displayed on the liquid crystal display 15. On the overwrite target selection screen 51, candidate vehicle images 41 are displayed for each candidate vehicle currently registered in the registration information DB 22. That is, candidate vehicle images 41 are displayed in a list as thumbnail images. The occupant can view the candidate vehicle images 41 displayed on the overwrite target selection screen 51 and select the candidate vehicle information to be overwritten (i.e., the information to be deleted). That is, by selecting a candidate vehicle image 41 using a touch panel or the like, the information of the candidate vehicle associated with the selected candidate vehicle image 41 is selected as the target to be overwritten. In the example shown in Figure 7, only the candidate vehicle image 41 is displayed, but the candidate vehicle information, i.e., the registration date and the parameter values ​​A, B, and C shown in Figure 5, may also be displayed along with the candidate vehicle image 41. Furthermore, the vehicle name and registration name arbitrarily set by the user may also be displayed.

[0041] In S3, the CPU 31 inputs information about candidate vehicles to be newly registered based on the operator's input. For example, in S3, as shown in Figure 8, the vehicle registration screen 52 is displayed on the liquid crystal display 15. On the vehicle registration screen 52, first, an input screen is displayed for the towing vehicle 2 to input the distance A from the rear end of the vehicle to the installation position of the hitch ball 5. The operator uses the control unit 14 to input the value of distance A and then selects the "Next" icon. Next, the vehicle registration screen 52 displays an input screen for the candidate vehicle 40 to input the height B of the coupler 7 from the ground. The operator uses the control unit 14 to input the value of height B and then selects the "Next" icon. Finally, the vehicle registration screen 52 displays an input screen for the distance C (corresponding to the trailer wheelbase) from the rotation center of the candidate vehicle 40 to the connection point between the towing vehicle 2 and the candidate vehicle 40 (the position of the hitch ball 5). The operator uses the control unit 14 to input the value of distance C and then selects the "Next" icon. With these steps, the input of candidate vehicle information is completed. Note that while the input units for distances A to C are shown as metric units in Figure 8, they may also be imperial units.

[0042] Next, in S4, the CPU 31 performs a calibration process targeting the candidate vehicle information entered in S3. The calibration process in S4 is a process that involves actually driving the vehicle to ensure the accuracy of the candidate vehicle information entered in S3. However, performing the calibration process in S4 is not mandatory and may be performed only if the occupant requests it.

[0043] When the calibration process starts in S4, the liquid crystal display 15 or speaker 16 outputs driving instructions to the occupant. For example, the instructions "move straight ahead," "turn left," and "turn right" are output in sequence. As shown in Figure 9, in response to the instruction "move straight ahead," the occupant of the towing vehicle 2 moves the towing vehicle 2 forward with the steering wheel in the neutral position. In response to the instruction "turn left," the occupant moves the towing vehicle 2 forward with the steering wheel turned to the left. In response to the instruction "turn right," the occupant moves the towing vehicle 2 forward with the steering wheel turned to the right. It is assumed that the candidate vehicle 40 is coupled to the towing vehicle 2, so the candidate vehicle 40 moves forward together with the towing vehicle 2.

[0044] The CPU 31 then acquires the steering angle of the towing vehicle 2, the distance traveled, the change in the direction of the towed vehicle 3, and the change in the connection angle (hitch angle) between the towing vehicle 2 and the towed vehicle 3, respectively, for the towing vehicle 2 and the candidate vehicle 40 that are moving in response to the above instructions. The distance traveled and steering angle of the towing vehicle 2 can be obtained, for example, from the vehicle speed sensor 25 and the steering sensor 26. The direction and hitch angle of the towed vehicle 3 can be determined, for example, from the image captured by the rear camera 9. Then, based on the steering angle of the towing vehicle 2, the distance traveled, the change in the direction of the towed vehicle 3, and the change in the connection angle (hitch angle) between the towing vehicle 2 and the towed vehicle 3, the CPU 31 verifies whether the values ​​of distances A to C input in S3 are accurate, and corrects them if there is a discrepancy between the actual values ​​and the input values. Specifically, the above verification is performed from the difference between the theoretical value derived from distances A to C and the measured value.

[0045] However, the calibration method is not limited to the method described above. Alternatively, the travel trajectory drawn by the towing vehicle 2 moving in response to the above instructions and the travel trajectory drawn by the candidate vehicle 40 may be obtained, and the values ​​of distances A to C may be verified from these travel trajectories to determine whether they are accurate.

[0046] Next, in S5, the CPU 31 acquires image data captured by the rear camera 9 while the calibration process is being executed in S4. Note that the candidate vehicle 40 is included in the imaging range of the rear camera 9 when it is coupled to the vehicle. That is, the image data acquired in S5 is an image of the candidate vehicle 40 captured by the rear camera 9. Note that the image data acquired in S5 may consist of only one frame or multiple frames. Furthermore, the timing of acquiring the image data captured by the rear camera 9 during the calibration process may be determined by the device or by the occupant. If the device makes the decision, for example, it may be at the timing when the steering angle or hitch angle reaches a predetermined angle. On the other hand, if the occupant makes the decision, for example, as shown in Figure 10, the real-time image 53 captured by the rear camera 9 during the calibration process in S4 is displayed on the liquid crystal display 15. In addition to the captured image 53, an image capture icon 54 is displayed on the liquid crystal display 15. In step S5, the image capture data captured by the rear camera 9 is acquired at the moment the occupant selects the image capture icon 54 using the touch panel or the like, i.e., at the moment instructed by the occupant.

[0047] Furthermore, when the device determines when to acquire the image data captured by the rear camera 9, it is particularly desirable to acquire the image data when the steering angle of the towing vehicle 2 is within a predetermined angle range (for example, 15 degrees or less to the left or right). This makes it possible to acquire image data of the candidate vehicle 40 from as far forward as possible. The predetermined angle range may also be set based on user operation. In addition, in S5, it is also possible to acquire multiple image data and then have the occupant select the image data to be used as the candidate vehicle image 41.

[0048] Next, in S6, the CPU 31 displays the image data acquired in S5 as a candidate for the candidate vehicle image 41 on the liquid crystal display 15. For example, as shown in Figure 11, an image confirmation screen 55 is displayed on the liquid crystal display 15, and the image data acquired in S5 (hereinafter referred to as candidate image 56) is displayed on the image confirmation screen 55. In the example shown in Figure 11, only one candidate image 56 is displayed, but multiple candidate images 56 taken at different times may be displayed, and the occupant may be asked to select the image to be the candidate vehicle image 41 from among them.

[0049] In particular, in this embodiment, the towing vehicle 2 is made to move straight, turn right, and turn left during the calibration process. As shown in Figure 12, the image confirmation screen 55 displays candidate images 56 captured by the rear camera 9 when moving straight, candidate images 56 captured by the rear camera 9 when turning right, and candidate images 56 captured by the rear camera 9 when turning left, respectively, and it is possible to have the occupant select the image to be used as the candidate vehicle image 41 from among them.

[0050] Furthermore, if the crew does not like the displayed candidate image 56, they can choose not to register it as candidate vehicle image 41. Even if candidate vehicle image 41 is not registered at this point, it can be added and registered later.

[0051] Next, in S7, the CPU 31 selects an image from the candidate images 56 displayed in S6 to be used as the candidate vehicle image 41 based on the occupant's input. It is also possible to process the candidate image 56 based on the occupant's input and then register it as the candidate vehicle image 41. For example, processing the candidate image 56 can be done by cropping only a part of the candidate image 56, or by enlarging or reducing it. Image processing is optional, and it is also possible to register the candidate image 56 as the candidate vehicle image 41 without processing it.

[0052] In S8, the CPU 31 takes the candidate image 56 (or the processed image if processed) selected based on the occupant's operation and uses it as the candidate vehicle image 41, which is an image of the candidate vehicle 40 to be newly registered. The CPU 31 then associates the candidate vehicle image 41 with the information about the candidate vehicle 40 that was input in S3 and calibrated as necessary in S4, and stores it in the registration information DB 22 (Figure 5). The candidate vehicle image 41 is used as a thumbnail image on the vehicle selection screen to select the vehicle to be towed from among the candidate vehicles 40, as will be described later.

[0053] Furthermore, if the information of the candidate vehicle 40 to be overwritten in S2 is specified based on the occupant's operation, the information of the candidate vehicle 40 specified by the user is deleted, and then the information of the new candidate vehicle 40 is registered.

[0054] Furthermore, in the example described above, the acquisition and registration of candidate vehicle images 41 are basically performed based on the operation of the occupant of the towing vehicle 2, but in order to reduce the burden on the occupant, these processes may be performed automatically on the device side. For example, while the calibration process is being performed in S4, part or all of the image of the candidate vehicle 40 may be automatically acquired as candidate vehicle image 41 without any operation by the occupant, and the processes in S6 and S7 may be omitted, and the information about the candidate vehicle 40 input in S3 may be automatically registered in association with the acquired candidate vehicle image 41. In addition, the processing of the candidate image 56 in S7 can also be automatically processed using AI, for example, to make the candidate vehicle 40 included in the candidate image 56 easier to identify.

[0055] Next, the candidate vehicle update processing program executed by the driver assistance ECU 23 in the driver assistance device 1 will be explained with reference to Figure 13. Figure 13 is a flowchart of the candidate vehicle update processing program according to this embodiment. Here, the candidate vehicle update processing program is executed when a predetermined operation is received at the operation unit 14 of the towing vehicle 2, and is a program that updates (changes) the information (including the candidate vehicle image 41) of the candidate vehicle registered in the aforementioned candidate vehicle registration processing program (see Figure 6). Note that when the candidate vehicle update processing program is executed, the towing vehicle 2 may be connected to or not connected to the candidate vehicle 40.

[0056] First, in S11, the CPU 31 displays a list of candidate vehicles 40 currently registered in the registration information DB 22. For example, in S11, as shown in Figure 14, the update target selection screen 61 is displayed on the liquid crystal display 15. On the update target selection screen 61, a candidate vehicle image 41 is displayed for each candidate vehicle currently registered in the registration information DB 22. That is, the candidate vehicle images 41 are displayed in a list as thumbnail images. The occupant can view the candidate vehicle images 41 displayed on the update target selection screen 61 and select the candidate vehicle to be updated (i.e., the information to be updated). In the example shown in Figure 14, only the candidate vehicle image 41 is displayed, but the candidate vehicle information, namely the registration date and the parameter values ​​A, B, and C shown in Figure 5, may also be displayed along with the candidate vehicle image 41. Furthermore, the vehicle name and registration name arbitrarily set by the user may also be displayed.

[0057] Subsequently, in S12, the CPU 31 selects the information of candidate vehicles to be updated based on the occupant's actions. Specifically, when the occupant selects a candidate vehicle image 41 on the update target selection screen 61 using a touch panel or the like, the information of the candidate vehicle associated with the selected candidate vehicle image 41 is selected as the target for update.

[0058] Next, in S13, the CPU 31 selects the information items to be updated from the candidate vehicle information selected in S12 based on the occupant's operation. For example, in S13, as shown in Figure 15, the information item selection screen 62 is displayed on the liquid crystal display 15. The information item selection screen 62 displays three icons: "Trailer Information," "Trailer Image," and "Calibration." For example, if the occupant wants to correct the distance values ​​A to C, they select the "Trailer Information" icon. Also, if the occupant wants to replace or register a new candidate vehicle image 41, they select the "Trailer Image" icon. Furthermore, if the occupant wants to run the calibration process of S4 again, they select the "Calibration" icon.

[0059] Furthermore, if the candidate vehicle image 41 is to be updated among the candidate vehicle information selected in S12 (S14: YES), three additional icons, "New Registration," "Change," and "Delete," will be displayed on the information item selection screen 62. For example, if the occupant wants to register a candidate vehicle image 41 for a candidate vehicle for which no candidate vehicle image 41 is currently registered, they will select the "New Registration" icon. Also, if the occupant wants to replace an already registered candidate vehicle image 41 with another image, they will select the "Change" icon. Also, if the occupant wants to delete an already registered candidate vehicle image 41, they will select the "Delete" icon. Note that the "Delete" option only deletes the candidate vehicle image 41 registered in the registration information DB22 (other information, such as the distance values ​​A to C, will remain), so no further explanation is needed.

[0060] On the other hand, if "New Registration" or "Change" is selected, in S15 the CPU 31 acquires image data of the candidate vehicle 40 that is the target of updating the candidate vehicle image 41. Note that the candidate vehicle 40 is included at least within the range of the rear camera 9 when it is coupled. That is, the image data acquired in S15 is an image captured by the rear camera 9 when the candidate vehicle 40, the target of the information update, is coupled. For example, an image captured by the rear camera 9 in the past when parking assistance was being performed on the candidate vehicle 40, the target of the information update, could be considered. However, coupling is not mandatory, as it is possible to image the candidate vehicle 40 even if it is not coupled, as long as it is close enough to be coupled.

[0061] Furthermore, the image data acquired in S15 may consist of only one frame or multiple frames. Also, the timing at which to acquire the image data captured by the rear camera 9 during the parking assistance is performed may be determined by the device or by the occupant. If the device makes the decision, for example, it may be when the steering angle or hitch angle reaches a predetermined angle. On the other hand, if the occupant makes the decision, for example as shown in Figure 10, the real-time image data 53 captured by the rear camera 9 during the parking assistance is performed is displayed on the liquid crystal display 15. In addition to the image data 53, an image capture icon 54 is displayed on the liquid crystal display 15, and in S15, the image data captured by the rear camera 9 is acquired at the timing when the occupant selects the image capture icon 54 using the touch panel or the like, i.e., at the timing instructed by the occupant.

[0062] Furthermore, when the device determines when to acquire the image data captured by the rear camera 9, it is particularly desirable to acquire the image data when the steering angle of the towing vehicle 2 is within a predetermined angle range (for example, 15 degrees or less to the left or right). This makes it possible to acquire image data of the candidate vehicle 40 from as far forward as possible. The predetermined angle range may also be set based on user operation.

[0063] Next, in S16, the CPU 31 displays the image data acquired in S15 as a candidate for a new candidate vehicle image 41 on the liquid crystal display 15. For example, as shown in Figure 11, an image confirmation screen 55 is displayed on the liquid crystal display 15, and the image data acquired in S15 (candidate image 56) is displayed on the image confirmation screen 55. In the example shown in Figure 11, only one candidate image 56 is displayed, but multiple candidate images 56 taken at different times may be displayed, and the occupant may be allowed to select the image to be used as the new candidate vehicle image 41. In addition, if the occupant does not like the displayed candidate image 56, they can choose not to register it as a candidate vehicle image 41 (not to update the information).

[0064] Next, in S17, the CPU 31 selects an image from the candidate images 56 displayed in S16 to be designated as the new candidate vehicle image 41 based on the occupant's input. It is also possible to process the candidate image 56 based on the occupant's input and then register it as the candidate vehicle image 41. Processing of the candidate image 56 can include, for example, cropping only a portion of the candidate image 56, or enlarging or reducing it. Image processing is optional, and it is also possible to register the candidate image 56 as the new candidate vehicle image 41 without processing it.

[0065] Subsequently, in S18, the CPU 31 registers the candidate image 56 (or the processed image if processed) selected based on the occupant's operation as a new candidate vehicle image 41 for the candidate vehicle 40 whose information is to be updated. In other words, among the information registered in the registration information DB 22, only the candidate vehicle image 41 is replaced with a new image while maintaining the information related to the candidate vehicle (distance values ​​A to C).

[0066] On the other hand, if the determination process in S14 determines that the values ​​of distances A to C should be updated (S14: NO), the process proceeds to S19.

[0067] In S19, the CPU 31 inputs information about the candidate vehicle to be updated based on the occupant's input. This is basically the same as what was already explained in S3 and Figure 8, so the explanation will be omitted. Note that all of the distance values ​​A to C may be updated, or only some of the values ​​may be updated.

[0068] Subsequently, in S20, the CPU 31 registers the information about the new candidate vehicle 40 entered in S19 as new information for the candidate vehicle 40 to be updated. That is, of the information registered in the registration information DB 22, only the information about the candidate vehicle entered in S19 is replaced, while other information and the candidate vehicle image 41 are maintained.

[0069] Furthermore, if the user requests to perform the calibration process again on the information item selection screen 62, the explanation will be omitted, but the process will terminate after executing the process in S4.

[0070] Next, the candidate vehicle selection processing program executed by the driver assistance ECU 23 in the driver assistance device 1 will be explained with reference to Figure 16. Figure 16 is a flowchart of the candidate vehicle selection processing program according to this embodiment. Here, the candidate vehicle selection processing program is executed, for example, when a towed vehicle 3 is newly connected to the towing vehicle 2, or when driver assistance is started in the towing vehicle 2, and is a program that selects the towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40.

[0071] First, in S21, the CPU 31 displays a list of candidate vehicles 40 currently registered in the registration information DB 22. For example, in S21, as shown in Figure 17, the vehicle selection screen 71 is displayed on the liquid crystal display 15. On the vehicle selection screen 71, a candidate vehicle image 41 is displayed for each candidate vehicle currently registered in the registration information DB 22. That is, the candidate vehicle images 41 are displayed in a list as thumbnail images. The occupant can view the candidate vehicle images 41 displayed on the vehicle selection screen 71 and select the candidate vehicle that corresponds to the towed vehicle 3 to be towed. In the example shown in Figure 17, only the candidate vehicle image 41 is displayed, but information about the candidate vehicle, namely the registration date and the parameter values ​​A, B, and C shown in Figure 5, may also be displayed along with the candidate vehicle image 41. Furthermore, the vehicle name and registration name arbitrarily set by the user may also be displayed.

[0072] Subsequently, in S22, the CPU 31 selects the towed vehicle 3 from the candidate vehicles registered in the registration information DB 22 based on the occupant's input. Specifically, the occupant selects a candidate vehicle image 41 on the vehicle selection screen 71 using a touch panel or similar, and the candidate vehicle corresponding to the selected candidate vehicle image 41 is selected as the towed vehicle 3. At this time, the occupant of the towing vehicle 2 can select the towed vehicle 3 from among the candidate vehicles using the candidate vehicle image 41, which shows the appearance rather than the name or numerical value, as a clue, making it possible to easily select the towed vehicle 3.

[0073] Next, in S23, the CPU 31 reads the information of the candidate vehicle selected in S22 (specifically, the distance values ​​A to C) from the registration information DB 22 and sets it as information about the towed vehicle 3 currently being towed by the towing vehicle 2.

[0074] Subsequently, in S24, the CPU 31 uses the information of the towed vehicle 3 set in S23 (specifically, the distance values ​​A to C) to perform various driving assistance functions such as parking assistance.

[0075] The following is a brief explanation of the parking assistance provided by the driver assistance device 1, using an example. First, the target parking positions of the towing vehicle 2 and the towed vehicle 3 are set using cameras and sensors, and the orientation of the towing vehicle 2 and the towed vehicle 3 at the parking start position, as well as the connection angle (hitch angle) between the towing vehicle 2 and the towed vehicle 3, are acquired. Next, the CPU 31 acquires information about the towing vehicle 2 and the towed vehicle 3. In particular, the distances A to C set in S23 are acquired for the towed vehicle 3. After that, the CPU 31 uses the acquired information to generate a driving trajectory from the parking start position to the parking target position. In particular, when performing reverse parking, the driving trajectory has a forward section in which the vehicle moves forward to a suitable turning position to enter the parking target position, such as a parking space, and a reverse section in which the vehicle switches to reverse at the turning position and reverses to the parking target position. Then, by controlling each drive unit based on the generated driving trajectory, it is possible to provide parking assistance for the towing vehicle 2. Specifically, the steering, drivetrain, brakes, and transmission are controlled so that the towing vehicle 2 moves from the parking start position to the parking target position along the generated driving trajectory. However, in the above automated driving assistance system, only the steering operation may be automated, while the accelerator, brakes, and shift position may be operated manually. On the other hand, the above automated driving assistance system is not mandatory for the towing vehicle 2, and the towing vehicle 2 may be a vehicle that can only be driven manually. In that case, instead of the above automated driving assistance system, guidance for steering, brakes, accelerator, and shift position will be provided to guide the vehicle along the generated driving trajectory.

[0076] As described in detail above, the driver assistance device 1 and the computer program executed by the driver assistance device 1 according to this embodiment are a driver assistance device 1 that assists the occupant (user) in the towing vehicle 2 in vehicle operation. The driver assistance device 1 displays a vehicle selection screen 71 on the liquid crystal display 15 (S21) for selecting a towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40. The candidate vehicle 40 selected by the user on the vehicle selection screen 71 is designated as the towed vehicle 3 to be towed by the towing vehicle 2, and assistance is provided using information about the towed vehicle (S23, S24). On the other hand, the vehicle selection screen 71 displays a candidate vehicle image 41, which is an image of the candidate vehicle captured by the rear camera 9, for each candidate vehicle that is a candidate for selection. This makes it possible to easily select the towed vehicle 3 from among multiple candidate vehicles. As a result, it is possible to improve the operability related to vehicle selection. Furthermore, the candidate vehicle image 41 displayed on the vehicle selection screen 71 is part or all of the image of the candidate vehicle when it is coupled to the rear of the towing vehicle 2, captured by the rear camera 9, which is provided by the towing vehicle 2 and whose imaging range includes the area behind the towing vehicle 2. Therefore, there is no need to separately prepare an image of the candidate vehicle, and it is possible to generate the candidate vehicle image using the imaging device provided by the towing vehicle 2. Furthermore, information regarding the candidate vehicle 40 is acquired (S3), and the candidate vehicle 40 is coupled to the towing vehicle 2 and driven a predetermined distance to calibrate the acquired information regarding the candidate vehicle (S4). The candidate vehicle image 41 displayed on the vehicle selection screen 71 is part or all of the image of the candidate vehicle 40 taken while the calibration drive is being performed. Therefore, there is no need to separately take an image of the candidate vehicle. By taking an image of the candidate vehicle when calibrating the information regarding the candidate vehicle 40, it is possible to generate the candidate vehicle image at the same time as calibrating the information. Furthermore, information about candidate vehicles 40 is registered in association with candidate vehicle images 41 (S8), and the vehicle selection screen 71 displays a list of candidate vehicle images 41 associated with the currently registered candidate vehicle information (S21). Therefore, even if there are many candidate vehicles, the currently registered candidate vehicles can be easily identified and displayed by the candidate vehicle images 41 displayed in the list.

[0077] [Note] The embodiments described above also disclose the following inventions. In the following description, the names and expressions of corresponding components in the embodiments, as well as the reference numerals used in the drawings, are indicated in parentheses for reference. However, the components of each invention are not limited to these indications.

[0078] (Invention A) The driving assistance device (1) according to claim 2, wherein the candidate vehicle image (41) displayed on the vehicle selection screen (71) is a part or all of an image of the candidate vehicle (40) taken while driving with assistance is being performed.

[0079] According to this, there is no need to separately set up an opportunity to image the candidate vehicle, and by imaging the candidate vehicle when support is provided for the candidate vehicle 40, it becomes possible to generate the candidate vehicle image at the same time as the support.

[0080] (Invention B) The imaging device (9) captures an image (56) of the candidate vehicle (40), and The captured image is processed based on the user's operation. The driver assistance device (1) according to claim 1, wherein the candidate vehicle image (41) is the captured image processed based on user operation.

[0081] According to this, captured images of candidate vehicles can be processed, for example by cropping, enlarging, or reducing them, to make them more easily identifiable to users, and then registered as candidate vehicle images.

[0082] (Invention C) The candidate vehicle image (41) displayed on the vehicle selection screen (71) is part or all of an image of the candidate vehicle (40) taken when the steering angle of the towing vehicle (2) is within a predetermined angle range. The driving support device (1) according to claim 3 or invention A, wherein the angle range is set based on user operation.

[0083] According to this, it becomes possible to register images of candidate vehicles taken from the direction desired by the user as candidate vehicle images. As a result, it becomes possible to create candidate vehicle images that are easy for users to identify.

[0084] (Invention D) The imaging device (9) receives instructions from the user to perform imaging, The driver assistance device (1) according to claim 2, wherein the candidate vehicle image (41) displayed on the vehicle selection screen (71) is a part or all of the image captured by the imaging device at the instruction of the user.

[0085] According to this, it becomes possible to register images of candidate vehicles as candidate vehicle images, based on images taken at any time specified by the user. As a result, it becomes possible to create candidate vehicle images that are easy for users to identify.

[0086] (Invention E) When there are multiple images of the same candidate vehicle captured by the imaging device (9), the user selects a candidate vehicle image (41) from among the multiple images to be displayed on the vehicle selection screen (71) based on user operation. The driver assistance device (1) according to claim 1, wherein the vehicle selection screen (71) displays the selected candidate vehicle image for each of the candidate vehicles that are candidates for selection.

[0087] According to this, if there are multiple images of a candidate vehicle, the user can arbitrarily select one of those images to register as the candidate vehicle image. As a result, it becomes possible to create a candidate vehicle image that is easy for the user to identify.

[0088] (Invention F) The driver assistance device (1) according to claim 4, wherein, among the registered information, the information relating to the candidate vehicle (40) is maintained, and the candidate vehicle image (41) is replaced with a new image.

[0089] According to this, if a user wants to replace a candidate vehicle image with another image, they do not need to re-enter the candidate vehicle information, thus reducing the burden on the user.

[0090] (Invention G) The storage medium (22) has a storage medium for storing the registered information, The driver assistance device (1) according to claim 4, which, when registering information about a new candidate vehicle (40) while the free space of the storage medium is less than a predetermined capacity, deletes the information about the candidate vehicle specified by the user from the currently registered information about the candidate vehicle, and then registers the information about the new candidate vehicle.

[0091] According to this, even if the maximum number of candidate vehicles that can be registered is reached, it will be possible to delete information about unnecessary candidate vehicles and then register information about new candidate vehicles.

[0092] (Invention H) While the aforementioned calibration drive is being performed, part or all of the image of the candidate vehicle (40) is acquired as the candidate vehicle image (41), The information regarding the acquired candidate vehicle is automatically registered in association with the acquired image of the candidate vehicle. The driver assistance device (1) according to claim 3, wherein the vehicle selection screen (71) displays a list of candidate vehicle images associated with information about the candidate vehicles currently registered.

[0093] According to this, displaying candidate vehicle images makes it possible to easily select the towed vehicle 3 from among multiple candidate vehicles, while minimizing the user's operational burden related to acquiring and registering candidate vehicle images.

[0094] It should be noted that the present invention is not limited to the embodiments described above, and various improvements and modifications are possible without departing from the spirit of the invention. For example, in this embodiment, an image captured by the rear camera 9 while the candidate vehicle 40 is coupled to the towing vehicle 2 is registered as the candidate vehicle image 41. However, any image containing the candidate vehicle 40 does not necessarily have to be an image captured while the candidate vehicle 40 is coupled to the towing vehicle 2. Furthermore, it is also possible to register an image of the candidate vehicle 40 obtained from an external server, for example, instead of an image captured by the camera on the towing vehicle 2, as the candidate vehicle image 41. It is desirable that the external server pre-stores images of all candidate vehicles 40 sold on the market in its database.

[0095] Furthermore, although the driver assistance device 1 in this embodiment has been described as a device that provides parking assistance when parking in a predetermined parking space, it is not limited to parking assistance. For example, it may also be a device that provides assistance when exiting a parking space or driving assistance for normal driving on the road. In these driver assistance functions as well, appropriate assistance can be provided by using information about candidate vehicles 40 that are pre-registered in the registration information DB22 and selected by the occupant.

[0096] Furthermore, in this embodiment, the candidate vehicle registration processing program (Figure 6), the candidate vehicle update processing program (Figure 13), and the candidate vehicle selection processing program (Figure 16) are executed by the driver assistance ECU 23 of the driver assistance device 1, but the execution entity can be changed as appropriate. For example, the control unit of the liquid crystal display 15, the vehicle control ECU, the control unit of the navigation device, or other in-vehicle devices may be used to execute these processes. [Explanation of Symbols]

[0097] 1...Driving assistance system, 2...Towing vehicle, 3...Towed vehicle, 9...Rear camera, 15...LCD display (display device), 22...Registration information DB (storage medium), 31...CPU, 32...RAM, 33...ROM, 40...Candidate vehicle, 41...Candidate vehicle image, 56...Candidate image

Claims

1. A driving assistance device that assists the user in operating a towing vehicle, The display device shows a vehicle selection screen for selecting the towed vehicle to be towed by the aforementioned towing vehicle from one or more candidate vehicles. In the vehicle selection screen, the candidate vehicle selected by the user is designated as the towed vehicle to be towed by the towing vehicle, and support is provided using information about the towed vehicle. The vehicle selection screen displays a candidate vehicle image, which is an image of the candidate vehicle captured by an imaging device, for each candidate vehicle that is a candidate for selection.

2. The driving support device according to claim 1, wherein the candidate vehicle image displayed on the vehicle selection screen is a part or all of an image of the candidate vehicle when it is coupled to the rear of the towing vehicle, captured by the imaging device provided on the towing vehicle and whose imaging range includes the rear of the towing vehicle.

3. Obtain information regarding the aforementioned candidate vehicles, By having the candidate vehicle perform a predetermined route with the towing vehicle coupled to it, the acquired information regarding the candidate vehicle is calibrated. The driving assistance device according to claim 2, wherein the candidate vehicle image displayed on the vehicle selection screen is a part or all of the image of the candidate vehicle taken while the calibration drive is being performed.

4. Information regarding the candidate vehicle is registered in association with the candidate vehicle image. The driver assistance device according to any one of claims 1 to 3, wherein the vehicle selection screen displays a list of candidate vehicle images associated with information about the candidate vehicles currently registered.

Images