Steering advice system

Abstract

During cornering in sporty driving, it accurately indicates the steering position that allows the driver to maintain their physical balance while performing steering operations. [Solution] The steering advice device comprises an image display unit, a steering position detection unit that detects the steering position, and a steering advice calculation unit. When the steering advice calculation unit detects a corner ahead of the vehicle's path, it calculates the estimated steering angle during cornering based on the vehicle speed and the curvature of the corner, and calculates the post-turn position of the steering position when the vehicle turns using this estimated steering angle. If it determines that this post-turn position is outside the appropriate area set as the absolute area, it sets an instructed steering position within the appropriate area and displays an image of this instructed steering position on the image display unit.

Description

Technical Field

[0001] The present invention relates to a steering advice device.

Background Art

[0002] When a driver sports-drives a vehicle on a racing track such as a circuit, when the driver turns the steering wheel (handle) relatively largely, or when driving through a corner where a high lateral acceleration (lateral G) occurs, it is necessary to hold the steering wheel (hereinafter abbreviated as "steering") to suppress the lateral sway of the body. However, depending on the positions of both hands of the driver holding the steering wheel, it may be difficult to suppress the lateral sway of the body.

[0003] If the driver's body is not supported by both hands holding the steering wheel while the vehicle is cornering, it becomes difficult to perform an accurate accelerator operation or brake operation. Also, beginners find it difficult to grasp the degree of curvature of a corner before entering the corner, and often cannot correctly judge how much to turn the steering wheel when entering a corner at high speed.

[0004] For example, Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2007-83952) discloses detecting the position of the steering wheel held by the driver in front of a corner (curve) existing in front of the vehicle's travel path, and judging whether it is possible to perform the steering required when driving through the corner in front of the travel path from that steering position. And when it is judged that the steering is difficult, a technique for warning the driver to that effect is disclosed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, the technology disclosed in Patent Document 1 only issues a warning if it determines that it is difficult to drive through a corner with the steering wheel in the position the driver is holding. Therefore, the driver cannot recognize which position of the steering wheel they should be holding when driving through a corner.

[0007] Furthermore, the technology disclosed in Patent Document 1 has the disadvantage that it is not possible to know whether the position in which the driver grips the steering wheel can support the driver's body during cornering.

[0008] The present invention aims to provide a steering advice device that can accurately advise on the steering position that allows the driver to perform steering operations while supporting their body during cornering in sports driving. [Means for solving the problem]

[0009] The present invention relates to a steering advice device comprising: an image display unit provided in a position visible to the driver; a vehicle speed detection unit for detecting the vehicle speed of the vehicle; a steering position detection unit for detecting the steering position of the steering wheel held by the driver with both hands; and a steering advice calculation unit, wherein the steering wheel has an absolute region set as an appropriate region in which the driver can perform steering operations properly while holding the steering wheel, and the steering advice calculation unit comprises: a corner detection unit for detecting a corner ahead of the vehicle's path; a curvature calculation unit for calculating the curvature of the corner detected by the corner detection unit; and the vehicle speed detected by the vehicle speed detection unit and the curvature detected by the curvature calculation unit. The system includes: an estimated steering angle calculation unit that calculates an estimated steering angle of the steering wheel during cornering based on the curvature of the wheel; a post-turn position calculation unit that calculates the post-turn position of the steering wheel when the steering is performed using the estimated steering angle calculated by the estimated steering angle calculation unit; an appropriate area determination unit that determines whether the post-turn position calculated by the post-turn position calculation unit is outside the appropriate area; an instructed steering wheel position setting unit that sets an instructed steering wheel position within the appropriate area if the appropriate area determination unit determines that the post-turn position calculated by the post-turn position calculation unit is outside the appropriate area; and a display instruction unit that displays an image of the instructed steering wheel position set by the instructed steering wheel position setting unit on the image display unit. [Effects of the Invention]

[0010] According to the present invention, when a corner is detected ahead in the path of travel, the estimated steering angle during cornering is calculated. If the position after steering, where the driver is holding the steering wheel, is outside the appropriate range, a guided steering position is set within the appropriate range, and an image of this guided steering position is displayed on the image display unit. This makes it possible to accurately advise the guided steering position that allows the driver to operate the steering wheel while supporting their body during cornering in sports driving. [Brief explanation of the drawing]

[0011] [Figure 1]Schematic diagram of the steering advice system [Figure 2] Diagram illustrating the steering wheel position displayed on the head-up display. [Figure 3] Front view of the steering wheel where the left and right steering position sensors are mounted. [Figure 4] An explanatory diagram showing an example of a steering point to advise on when entering a corner. [Figure 5] Flowchart showing the rudder position indicator display routine [Figure 6A] Diagram illustrating the driver's steering position as detected by the steering position sensor. [Figure 6B] An explanatory diagram showing the steering wheel turned while the driver maintains the steering position. [Figure 7A] This diagram illustrates the driver's steering position detected by the steering position sensor and the instructed steering position. [Figure 7B] This is an explanatory diagram showing the steering wheel turned to the indicated steering position shown in Figure 7A. [Figure 7C] Figure 7A is an explanatory diagram showing an example of displaying the steering position image and the indicated steering position image. [Figure 8A] An explanatory diagram showing the instructed steering position to set when the driver's steering position interval is narrow. [Figure 8B] This is an explanatory diagram showing the steering wheel turned to the indicated steering position shown in Figure 8A. [Figure 8C] Figure 8A is an explanatory diagram showing an example of displaying the steering position image and the indicated steering position image. [Figure 9A] This diagram illustrates the driver's predicted steering position and the instructed steering position before entering a curve. [Figure 9B] This is an explanatory diagram showing the steering wheel turned to the indicated steering position shown in Figure 9A. [Figure 9C] Figure 9A is an explanatory diagram showing an example of displaying the steering position image and the indicated steering position image. [Modes for carrying out the invention]

[0012] Hereinafter, an embodiment of the present invention will be described based on the drawings. The vehicle (own vehicle) M shown in FIG. 1 is a sports-type vehicle. The own vehicle M can travel on a circuit. Also, as the own vehicle M, a right-steering vehicle is shown in this embodiment (see FIG. 2).

[0013] This own vehicle M is equipped with a steering advice device 1. This steering advice device 1 includes a steering advice calculation unit 11.

[0014] This steering advice calculation unit 11, a map locator calculation unit 13 described later, and a forward driving environment recognition unit 21d described later are composed of microcontrollers. The microcontroller includes a CPU, a RAM, a ROM, a rewritable non-volatile memory (flash memory or EEPROM), and peripheral devices. The RAM of the microcontroller is provided as a work area for the CPU, and various data in the CPU are temporarily stored. Also, the ROM stores programs and fixed data necessary for the CPU to execute each process. Note that the CPU is also called a MPU (Microprocessor) or a processor. Alternatively, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used instead of the CPU. Or the CPU, GPU, and GSP may be selectively combined and used.

[0015] On the input side of this steering advice calculation unit 11, a locator unit 12 and a camera unit 21 are connected. Further, on the input side of this steering advice calculation unit 11, a left steering position sensor array 16L and a right steering position sensor array 16R as a steering position detection unit, a steering angle sensor 17, and a vehicle speed sensor 18 as a vehicle speed detection unit are connected. On the other hand, a HUD (Head-Up Display) 31 is connected to the output side of this steering advice calculation unit 11.

[0016] The steering angle sensor 17 detects the steering angle of the steering wheel (front wheel). The vehicle speed sensor 18 detects the vehicle speed (own vehicle speed) of the vehicle M. The vehicle speed sensor 18 detects the own vehicle speed from, for example, the average value of the wheel speeds detected by wheel speed sensors installed on all four wheels.

[0017] The locator unit 12 estimates the position of the vehicle M on the road map (vehicle position) and acquires road map data ahead of this vehicle position. Meanwhile, the camera unit 21 acquires information about the driving environment ahead of the vehicle M.

[0018] The locator unit 12 comprises a map locator calculation unit 13 and a road map database 14. The road map database 14 stores digital map data. The road map information in the digital map data includes at least the course specification data of the circuit track that the vehicle M intends to drive on (course width, curvature of corners and hairpins, banking, etc.) and their position coordinate data (latitude, longitude, altitude). For convenience, the course specification data of the circuit track and their position coordinate data will be collectively referred to as "course information" below.

[0019] Furthermore, a GNSS (Global Navigation Satellite System) receiver 15 is connected to the input side of the map locator calculation unit 13. The GNSS receiver 15 receives positioning signals transmitted from multiple positioning satellites. The map locator calculation unit 13 includes a vehicle position estimation calculation unit 13a and a map information acquisition unit 13b.

[0020] The vehicle position estimation calculation unit 13a estimates the vehicle's position from the positioning signal received by the GNSS receiver 15. The map information acquisition unit 13b acquires road map information of the circuit that the vehicle M intends to drive on from the digital map data stored in the road map database 14, based on the vehicle position information estimated by the vehicle position estimation calculation unit 13a. Alternatively, the driver may manually search the digital map data for the road map information of the circuit that the vehicle M intends to drive on and have the map information acquisition unit 13b download it.

[0021] The camera unit 21 is fixed to the upper center of the front part of the interior of the vehicle M. The camera unit 21 consists of an on-board camera consisting of a main camera 21a and a sub-camera 21b, which are arranged symmetrically on either side of the center in the width direction of the vehicle, an image processing unit (IPU) 21c, and a forward driving environment recognition unit 21d. This camera unit 21 is a stereo camera that captures a predetermined area in front of the vehicle M using both cameras 21a and 21b. The IPU 21 processes the surrounding environment images in front of the vehicle in the direction of travel, captured by both cameras 21a and 21b, according to a predetermined image processing method and outputs them to the forward driving environment recognition unit 21d.

[0022] The forward driving environment recognition unit 21d recognizes the road shape (course width, curvature, etc.) and obstacles ahead on the circuit course on which the vehicle M is driving, based on the received image information of the driving environment in front of the vehicle M.

[0023] The left and right steering position sensor arrays 16L and 16R detect the position in which the driver's hands Lh and Rh are holding the rim 2r of the steering wheel 2. Here, "holding the steering wheel" refers to the state in which the driver is gripping the rim 2r of the steering wheel 2 with a gripping force greater than a predetermined amount so that it can be operated.

[0024] As shown in Figure 3, the left and right steering position sensor arrays 16L and 16R are located on the rim 2r of the steering wheel 2. The left and right steering position sensor arrays 16L and 16R are located in the second quadrant (upper left quarter region) and the first quadrant (upper right quarter region) of the rim 2r, respectively, when the steering wheel 2 is in the neutral position (steering position during straight-line driving).

[0025] The left and right steering position sensor arrays 16L and 16R are each composed of first to sixth pressure sensors L1 to L6 and R1 to R6, respectively, which equally divide the quadrant. The first to sixth pressure sensors L1 to L6 and R1 to R6 are, for example, piezoelectric sensors.

[0026] The steering advice calculation unit 11 detects the driver's steering position by comparing physical quantities such as voltages generated at each pressure sensor L1-L6, R1-R6 when the driver grips the rim 2r of the steering wheel 2. Note that the number of pressure sensors constituting each steering position sensor array 16L, 16R is not limited to six.

[0027] Furthermore, a Head-Up Display (HUD) 31 is connected to the output side of the steering advice calculation unit 11. This HUD 31 is installed in the instrument panel Mi shown in Figure 2. The image projected from this HUD 31 is projected onto an image display unit 31a set on the front windshield glass Mw. The image display unit 31a is set in a position that does not obstruct the driver's field of view and can be viewed without significantly shifting the driver's gaze. In this embodiment, the image display unit 31a is set on the lower left of the front windshield glass Mw. A color image is projected from the HUD 31. The image display unit 31a is a reflective film coated on the front windshield glass Mw. This reflective film is a half-mirror.

[0028] The image projected onto the image display unit 31a is reflected and visible to the driver. The image displayed on the image display unit 31a is an image (steering wheel image) 2i that mimics the steering wheel 2. This steering wheel image 2i is always displayed in a neutral position. Therefore, even if the driver turns the steering wheel 2 left or right, the steering wheel image 2i does not rotate in sync with that movement.

[0029] As shown in Figure 4, the rim of the steering image 2i is divided into display areas corresponding to the first to sixth pressure sensors L1 to L6 and R1 to R6 of the left and right steering position sensor arrays 16L and 16R located on the rim 2r of the steering wheel 2. For convenience, the same symbols as the respective pressure sensors L1 to L6 and R1 to R6 will be assigned to each display area below.

[0030] As shown in Figures 2 and 4, the steering position images Lc and Rc and the instructed steering position images Lf and Rf are displayed in the first to sixth display areas L1 to L6 and R1 to R6 of the steering image 2i before entering a corner.

[0031] The steering position images Lc and Rc show the position where the driver is keeping the steering wheel rim 2r. The indicated steering position images Lf and Rf are images that indicate the position where the steering wheel should be kept before entering a corner. The steering position images Lc and Rc and the indicated steering position images Lf and Rf displayed on the steering image 2i will be explained in detail in the flowchart described later.

[0032] Furthermore, as shown in Figure 3, the optimal region Lar,Rar is set as an absolute region at the position where the steering wheel 2 is installed. This optimal region Lar,Rar is the region in which the driver can perform proper steering operations when seated in the seat and steering the rim 2r of the steering wheel 2 with both hands Lh,Rh.

[0033] In this embodiment, the appropriate left and right regions Lar,Rar are set to the area 90° to the left and right from the upper center of the steering wheel 2 when the driver is facing the steering wheel 2 directly. However, the appropriate left and right regions Lar,Rar are not limited to this and may be set to an area of ​​more than 90° to the left and right from the upper center of the steering wheel 2.

[0034] These left and right optimal regions, Lar and Ra, indicate the optimal steering range for the driver. Since these optimal regions, Lar and Ra, are absolute regions, their set positions do not change even when the steering wheel 2 is turned, as shown in Figure 6B.

[0035] The steering advice calculation unit 11 detects the position where the driver is holding the steering wheel 2 when the vehicle M approaches a corner ahead. The steering advice calculation unit 11 then checks whether these steering wheel positions Lc and Rc are appropriate when the vehicle is driving through the corner. If the steering advice calculation unit 11 determines that the position where the driver is holding the steering wheel 2 is not appropriate, it displays appropriate instruction steering wheel position images Lf and Rf on the steering wheel image 2i of the image display unit 31a.

[0036] The display of the steering advice calculation unit 11's instructed steering position images Lf and Rf is specifically controlled according to the steering position instruction display routine shown in Figure 5. This routine is executed at predetermined calculation cycles after the system starts up. The steering advice calculation unit 11 receives the position information of the vehicle M estimated by the vehicle position estimation calculation unit 13a of the map locator calculation unit 13, and the course information of the circuit track that the vehicle M intends to drive on, acquired by the map information acquisition unit 13b.

[0037] When the vehicle M is driving on the circuit under the driver's control, the steering advice calculation unit 11 first estimates the vehicle's position on the circuit course (step S1). The vehicle's position is estimated by map matching the position information of the vehicle M estimated by the vehicle position estimation calculation unit 13a with the road map data of the circuit.

[0038] Next, the steering advice calculation unit 11 checks whether or not there is a corner ahead of the vehicle M's path (step S2). Whether or not there is a corner ahead of the vehicle M's path is determined based on the vehicle's position estimated in step S1 and the course information. Alternatively, the corner may be detected based on the driving environment information in front of the vehicle M acquired by the camera unit 21. Note that the processing in step S2 corresponds to the corner detection unit of the present invention.

[0039] When the steering advice calculation unit 11 determines that there is a corner ahead of the traveling route of the host vehicle M (YES), it proceeds to step S3. On the other hand, when the steering advice calculation unit 11 determines that no corner is detected ahead of the traveling route of the host vehicle M (NO), it exits the routine.

[0040] When the steering advice calculation unit 11 proceeds to step S3, it calculates the estimated lateral acceleration (estimated lateral G) and the estimated steering angle. During cornering, the steering is gradually increased from the corner entry and gradually decreased as it heads towards the corner exit. The estimated steering angle is the largest steering angle during cornering.

[0041] The steering advice calculation unit 11 calculates the estimated lateral G and the estimated steering angle based on the host vehicle speed detected by the vehicle speed sensor 18 and the curvature of the corner. The curvature of the corner is obtained from the course information. Alternatively, the curvature of this corner may be calculated based on the traveling environment information in front of the host vehicle M obtained by the camera unit 21. Therefore, the process in step S3 is equipped with the functions of the estimated steering angle calculation unit and the curvature calculation unit of the present invention.

[0042] Next, the steering advice calculation unit 11 compares the estimated lateral G with the lateral G determination threshold value Gs (step S4). This lateral G determination threshold value Gs is a value such that the lateral G generated during cornering does not strongly feel lateral sway to the driver. If the lateral G (low speed, or small steering angle, etc.) does not strongly feel lateral sway to the driver, the driver does not need to switch the steering 2 before entering the corner. This lateral G determination threshold value Gs may be a fixed value, or may be a variable value that can be set in advance by the driver.

[0043] Then, when the estimated lateral G ≥ Gs (YES), the steering advice calculation unit 11 proceeds to step S5. Also, when the estimated lateral G < Gs (NO), the steering advice calculation unit 11 exits the routine.

[0044] When the process proceeds to step S5, the steering advice calculation unit 11 detects the current position (steering position) in which the driver is keeping the rim 2r of the steering wheel 2. The position of the rim 2r in which the driver is keeping the wheel is detected based on signals from the first to sixth pressure sensors L1 to L6 and R1 to R6 of the left and right steering position sensor arrays 16L and 16R provided on the rim 2r.

[0045] The steering advice calculation unit 11 sets the position of the pressure sensor that detects the strongest pressure among the pressure sensors L1 to L6 of the left steering position sensor array 16L as the steering position Lc for the left hand Lh. The steering advice calculation unit 11 also sets the position of the pressure sensor that detects the strongest pressure among the pressure sensors R1 to R6 of the right steering position sensor array 16R as the steering position Rc for the right hand Rh.

[0046] Figures 6A to 9A illustrate the configuration for setting the steering positions Lc and Rc for the driver's left and right hands Lh and Rh.

[0047] In Figure 6A, as indicated by the hatching, the steering advice calculation unit 11 detects the strongest pressure from the fourth pressure sensor L4 of the left steering position sensor array 16L and the third pressure sensor R3 of the right steering position sensor array 16R. Therefore, the steering advice calculation unit 11 sets the positions of the left fourth pressure sensor L4 and the right third pressure sensor R3 as the steering positions Lc and Rc for the left hand Lh and right hand Rh, respectively.

[0048] Furthermore, as shown by the hatching in Figure 7A, the steering advice calculation unit 11 detects the strongest pressure from the first pressure sensor L1 of the left steering position sensor array 16L and the first pressure sensor R1 of the right steering position sensor array 16R. Therefore, the steering advice calculation unit 11 sets the positions of the left and right first pressure sensors L1 and R1 as the steering positions Lc and Rc for the left hand Lh and right hand Rh, respectively.

[0049] Furthermore, as shown in Figure 8A with hatching, the steering advice calculation unit 11 detects the strongest pressure from the fifth pressure sensor L5 of the left steering position sensor array 16L and the fourth pressure sensor R4 of the right steering position sensor array 16R. Therefore, the steering advice calculation unit 11 sets the positions of the left fifth pressure sensor L5 and the right fourth pressure sensor R4 as the steering positions Lc and Rc for the left hand Lh and right hand Rh, respectively.

[0050] Furthermore, as shown by the hatching in Figure 9A, the steering advice calculation unit 11 detects the strongest pressure from the first pressure sensor L1 of the left steering position sensor array 16L and the sixth pressure sensor R6 of the right steering position sensor array 16R. Therefore, the steering advice calculation unit 11 sets the positions of the left first pressure sensor L1 and the right sixth pressure sensor R6 as the steering positions Lc and Rc for the left hand Lh and right hand Rh, respectively.

[0051] Next, the steering advice calculation unit 11 calculates the positions of the retained steering position Lc and Rc (post-turn position) when the steering wheel is turned using the estimated steering angle calculated in step S3 (step S6). If the estimated steering angle is, for example, 30° to the left, it can be estimated that the driver will retain the steering wheel rim 2r of the steering wheel 2 and turn it 30° to the left. Therefore, the retained steering position Lc and Rc will also move 30° in the same direction. Note that the processing in step S6 corresponds to the post-turn position calculation unit of the present invention.

[0052] The steering advice calculation unit 11 then checks whether the steering hold positions Lc and Rc after steering are within the appropriate region Lar and Rar (see Figure 3) (step S7). If the steering hold positions Lc and Rc after steering are within the appropriate region Lar and Rar (NO), the process branches to step S8. If the steering hold positions Lc and Rc after steering are outside the appropriate region Lar and Rar (YES), the process proceeds to step S10. Note that the processing in step S7 corresponds to the appropriate region determination unit of the present invention.

[0053] For example, even if the steering wheel 2 is turned 30° to the left from the state shown in Figure 6A, the steering positions Lc and Rc remain within the appropriate range Lar and Rar, as shown in Figure 6B. Also, if the steering wheel 2 is turned 30° to the left from the state shown in Figure 7A, the right steering position Rc remains within the appropriate range Rar, but the left steering position Lc falls outside the appropriate range Lar, as shown in Figure 7B.

[0054] Furthermore, even when the steering wheel 2 is turned 30° to the left from the state shown in Figure 8A, the steering positions Lc and Rc remain within the appropriate range Lar and Rar, as shown in Figure 8B. Moreover, when the steering wheel 2 is turned 30° to the left from the state shown in Figure 9A, the left and right steering positions Lc and Rc move out of the appropriate range Lar and Rar, as shown in Figure 9B.

[0055] Therefore, the steering patterns in Figures 7A and 9A are determined to be YES in step S7. Also, the steering patterns in Figures 6A and 8A are determined to be NO in step S7.

[0056] When the process branches to step S8, the steering advice calculation unit 11 compares the interval θh between the left and right steering positions Lc and Rc with the interval determination threshold θsp. Note that the processing in step S8 corresponds to the interval comparison unit of the present invention.

[0057] This spacing threshold θsp is a value used to determine whether the distance θh between the driver's hands Lh and Rh, which are maintaining the left and right steering positions Lc and Rc, is sufficient to support the driver's body when steering. This spacing threshold θsp may be a fixed value such as 75°, or it may be a variable value set by the driver.

[0058] Then, if the steering advice calculation unit 11 determines that θh ≥ θsp (YES), it proceeds to step S9. If θh ≥ θsp, it can be estimated that the driver can support their body without changing the steering position of the steering wheel 2. This corresponds to the steering pattern in Figure 6A, and is determined to be YES in step S8.

[0059] On the other hand, if the steering advice calculation unit 11 determines that θh < θsp (NO), it proceeds to step S10. If θh < θsp, it estimates that the current steering position interval is narrow, and the driver will have difficulty supporting their body while steering unless they change their grip on the steering wheel 2. This corresponds to the steering pattern in Figure 8A, and is determined to be NO in step S8.

[0060] When the process proceeds to step S9, the steering advice calculation unit 11 hides the instructed steering position to be displayed on the image display unit 31a and exits the routine. As a result, the steering advice calculation unit 11 outputs a hide signal to the HUD 31. In accordance with the hide signal from the steering advice calculation unit 11, the HUD 31 does not project the steering image 2i onto the image display unit 31a.

[0061] Furthermore, when the system proceeds from step S7 or from step S8 to step S10, the steering advice calculation unit 11 calculates the appropriate steering position Lf and Rf for the driver during cornering. In this embodiment, the appropriate steering position during straight-line driving is set to the position that can be detected by the left and right first pressure sensors L1 and R1 (so-called 9 and 15 o'clock). Note that the processing in step S10 corresponds to the steering position setting unit of the present invention.

[0062] The steering advice calculation unit 11 sets the instructed steering positions Lf and Rf according to the conditions 1) and 2) shown below.

[0063] Condition 1) If it is estimated that at least one of the steering positions Lc and Rc after steering is outside the appropriate range Lar and Rar, - Set the instructive steering positions Lf and Rf to change the hands Lh and Rh that are holding the steering in the steering positions Lc and Rc on the side that is about to lose control, to positions within the appropriate range Lar and Rar where the pressure sensor closest to the first pressure sensor can be detected.

[0064] Condition 2) If both the steering hold positions Lc and Rc after steering are within the appropriate range Lar and Rar, but the distance θh between the steering hold positions Lc and Rc is estimated to be narrower than the distance determination threshold θsp, - Set instructed steering positions Lf and Rf to shift the steering position to a position within the appropriate range Lar and Rar where the pressure sensor closest to the first pressure sensor can be detected.

[0065] Below, Figures 7A to 9A illustrate the steering hold patterns when attempting to turn the steering wheel 2 before a left corner, and the instructed steering hold positions Lf and Rf set by the steering advice calculation unit 11 according to conditions 1) and 2) will be specifically explained.

[0066] Condition 1) In the steering hold pattern shown in Figure 7A, even when the steering wheel 2 is turned, the steering hold position Rc of the right hand Rh remains within the appropriate region Rar. Therefore, the steering advice calculation unit 11 does not calculate an instructed steering hold position. On the other hand, when the steering wheel 2 is turned, the steering hold position Lc of the left hand Lh moves out of the appropriate region Lar. Therefore, the steering advice calculation unit 11 sets the left instructed steering hold position Lf as a position that is within the appropriate region Lar and can be detected by the third pressure sensor L3, which is closest to the first pressure sensor L1.

[0067] Furthermore, in the steering hold pattern shown in Figure 9A, when the steering wheel 2 is turned, the steering hold positions Lc and Rc of both hands Lh and Rh move out of the appropriate regions Lar and Rar. Therefore, the steering advice calculation unit 11 sets the position that can be detected by the third pressure sensor L3, which is closest to the first pressure sensor L1, within the left appropriate region Lar as the left steering hold position Lf. On the other hand, since the right first pressure sensor R1 is located within the right appropriate region Rar, the steering advice calculation unit 11 sets the position that can be detected by this right first pressure sensor R1 as the right steering hold position Rf.

[0068] Condition 2) In the steering hold pattern shown in Figure 8A, the distance θh between the steering hold positions Lc and Rc is narrow (θh < θsp). Therefore, the steering advice calculation unit 11 sets the position where steering can be detected by the third pressure sensor L3, which is closest to the left first pressure sensor L1, within the left optimal region Lar, as the left indicated steering hold position Lf. On the other hand, since the right first pressure sensor R1 is located within the right optimal region Rar, the steering advice calculation unit 11 sets the position where steering can be detected by the right first pressure sensor R1 as the right indicated steering hold position Rf.

[0069] Subsequently, the steering advice calculation unit 11 outputs instruction signals to the HUD 31 to display the instruction steering positions Lf and Rf calculated in step S10 (step S11), and exits the routine. Note that the processing in step S11 corresponds to the display instruction unit of the present invention.

[0070] Then, the HUD 31 displays the current steering position images Lc,Rc and the instructed steering position images Lf,Rf on the steering image 2i of the image display unit 31a, in accordance with the instruction signal from the steering advice calculation unit 11. By displaying the current steering position images Lc,Rc and the instructed steering position images Lf,Rf on the steering image 2i, the driver can instantly identify which direction to move and change their grip with both hands Lh,Rh from the current steering position.

[0071] Various methods can be considered for instantly distinguishing between the steering position images Lc and Rc and the indicated steering position images Lf and Rf. For example, the steering position images Lc and Rc could be displayed in a chromatic color such as green, and the indicated steering position images Lf and Rf could be flashed or blinked in a chromatic color such as red. Alternatively, the steering position images Lc and Rc and the indicated steering position images Lf and Rf could be displayed in different chromatic colors.

[0072] Figures 7C to 9C illustrate the image display patterns corresponding to the steering patterns shown in Figures 7A to 9A above.

[0073] Figure 7C shows that when steering wheel 2 is turned, only the left steering position Lc moves out of the left appropriate area Lar. Therefore, the steering image 2i displays the left instruction steering position Lf, which requires switching only the left and right steering positions Lc and Rc, and the left hand Lh.

[0074] In Figure 8C, because the distance between the left and right steering positions Lc and Rc is narrow, the steering image 2i displays the left and right steering positions Lc and Rc, as well as the left and right instruction steering positions Lf and Rf, which indicate switching between the left and right Lh and Rh hands.

[0075] Figure 9C shows that when steering wheel 2 is turned, the left and right steering positions Lc and Rc move out of the appropriate range Lar and Rar. Therefore, steering image 2i displays the left and right steering positions Lc and Rc, as well as the instruction steering positions Lf and Rf, which require switching the hands Lh and Rh.

[0076] Thus, in this embodiment, when a driver is racing on a race track such as a circuit, the system advises the driver on the appropriate steering position Lf and Rf before entering a corner. As a result, during cornering, the driver's body can be supported by both hands Lh and Rh that are used to maintain steering position 2. Because the driver's body is securely supported during cornering, they can perform precise steering, acceleration, and braking operations.

[0077] Furthermore, images of the indicated steering positions Lf and Rf are displayed on the steering image 2i projected from the HUD 31 onto the image display unit 31a set on the front windshield glass Mw. As a result, the driver can instantly recognize the indicated steering positions Lf and Rf without significantly shifting their gaze before entering a corner.

[0078] Furthermore, the steering image 2i displays images of the current steering positions Lc and Rc, as well as images of the indicated steering positions Lf and Rf. Therefore, the driver can instantly determine which direction to move and switch hands (Lh and Rh) from the current steering position. In this case, if it is not necessary to switch hands (Lh and Rh) from either the steering position Lc or Rc, the indicated steering positions Lf and Rf are not displayed, allowing the driver to instantly recognize that only one hand (Lh or Rh) needs to be switched without hesitation.

[0079] In addition, if the steering wheel 2 does not require the driver to change their grip position from the current steering wheel position Lc or Rc to the indicated steering wheel position Lf or Rf after turning, the steering wheel image 2i will not be displayed, thus reducing the inconvenience experienced by the driver.

[0080] Furthermore, the present invention is not limited to the embodiments described above. For example, the image display unit 31a may omit the display of images of the steering positions Lc and Rc, and only display images of the indicated steering positions Lf and Rf. The number of pressure sensors constituting the left and right steering position sensor arrays 16L may be six or more. The appropriate regions Lar and Rar may also be 90° or more. Each sensor constituting the left and right steering position sensor arrays 16L may be a capacitive sensor or an optical sensor. Moreover, the image display unit 31a may be a monitor provided on an instrument panel or the like.

[0081] Furthermore, when there are consecutive corners, the driving style becomes what is known as "out-in-out" driving. In this driving style, the turning radius is large, and relatively, steering 2 is not turned very much. Therefore, the instructed steering positions Lf and Rf set in step S10 are set to positions where the steering wheel is not changed until the vehicle has exited the consecutive corners. [Explanation of symbols]

[0082] 1…Steering advice system, 2... Steering, 2i... Steering wheel image, 2r...rim, 11... Steering advice calculation unit, 12...Locator unit, 13…Map locator calculation unit, 13a... Vehicle position estimation calculation unit, 13b...Map information acquisition unit, 14…Road map database, 15…GNSS receiver, 16L, 16R… Steering position sensor array, 17... Steering angle sensor, 18... Vehicle speed sensor, 21...Camera unit, 21a... Main camera, 21b... Sub-camera, 21d...Forward driving environment recognition unit, 31…HUD 31a...image display section, Gs... Lateral G-force detection threshold, L1~L6, R1~R6…1st to 6th pressure sensors, Lar, Rar... appropriate range, Lc, Rc... Rudder holding position (rudder holding position image), Lf, Rf…Instructed rudder holding position (instructed rudder holding position image), Lh, Rh... left and right hands, M... Own vehicle, Mi... Instrument panel, Mw... Front windshield glass, θsp... Interval judgment threshold, θh...interval

Claims

1. An image display unit located in a position visible to the driver, A vehicle speed detection unit that detects the vehicle speed of the vehicle, A steering position detection unit that detects the steering position of the steering wheel held by the driver with both hands, Steering advice calculation unit and In a steering advice device having, The steering wheel is configured such that an optimal range is defined as an absolute range in which the driver can perform proper steering operations while maintaining the steering wheel's position. The steering advice calculation unit, The corner detection unit detects a corner ahead of the vehicle's path, A curvature calculation unit calculates the curvature of the corner detected by the corner detection unit, An estimated steering angle calculation unit calculates the estimated steering angle of the steering wheel during cornering based on the vehicle speed detected by the vehicle speed detection unit and the curvature of the corner detected by the curvature calculation unit, A steering position calculation unit calculates the steering position of the steering hold position after steering when steering is performed using the estimated steering angle calculated by the estimated steering angle calculation unit, An appropriate region determination unit that determines whether the steering position calculated by the steering position calculation unit falls outside the appropriate region, If the appropriate area determination unit determines that the post-steering position calculated by the post-steering position calculation unit is outside the appropriate area, the instruction steering position setting unit sets an instruction steering position within the appropriate area. A display instruction unit that displays an image of the steering position set by the steering instruction position setting unit on the image display unit. A steering advice device characterized by being equipped with the following features.

2. The steering advice calculation unit, The system further includes an interval comparison unit that compares the interval between the steering positions detected by the steering position detection unit, where the driver holds the steering wheel with both hands, with a preset interval determination threshold. Even if the appropriate area determination unit determines that the post-turn position calculated by the post-turn position calculation unit is within the appropriate area, if the interval comparison unit determines that the interval of the steering position is less than a preset interval determination threshold, the instruction steering position setting unit sets the instruction steering position within the appropriate area and wider than the interval determination threshold. The steering advice device according to claim 1, characterized in that it is a steering advice device.

3. When the steering is in the neutral position, the detection area of ​​the steering position detection unit and the appropriate area are set to the same area. The steering advice device according to claim 1, characterized in that it is a steering advice device.

4. The image display unit is provided on the front windshield glass. The image display unit displays a steering wheel image, and the image of the indicated steering position is displayed on the steering wheel image. The steering advice device according to claim 1, characterized in that it is a steering advice device.

5. The image display unit is provided on the front windshield glass. The image display unit displays a steering image, and on the steering image, an image of the steering position detected by the steering position detection unit and an image of the instructed steering position are displayed. The steering advice device according to claim 1, characterized in that it is a steering advice device.

Images