Vehicle inspection method and vehicle inspection system

Abstract

In this vehicle inspection method for a vehicle comprising a controller for automatically controlling the vehicle speed on the basis of a forward monitoring image, a wheel of the vehicle is supported by a vehicle support device (S1), a vehicle speed signal for the vehicle supported by the vehicle support device is acquired (S2), a virtual image of the environment visible ahead of the vehicle is generated such that the virtual image synchronizes with the vehicle speed signal (S3), and the virtual image is displayed such that a camera, which is mounted on the vehicle and which generates the forward monitoring image, photographs the virtual image (S4).

Description

[Technical Field]

[0001] The present invention relates to a vehicle inspection method and a vehicle inspection system. [Background technology]

[0002] There are known driving assistance devices that automatically control at least one of the steering angle and the vehicle speed to assist vehicle driving. For example, Patent Document 1 listed below describes a driving assistance device for a vehicle that detects an obstacle based on an image captured by a camera and automatically applies the brakes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-196276 Summary of the Invention [Problem to be solved by the invention]

[0004] In the past, when repairs to the driving assistance device described above were completed, it was confirmed that there were no malfunctions and that the system was operating normally, but it was not confirmed whether the repaired driving assistance device was able to perform as intended. The present invention aims to confirm whether a repaired driving assistance device that automatically controls at least the vehicle speed to assist vehicle driving can perform as intended when repairs are completed. [Means for solving the problem]

[0005] According to one aspect of the present invention, there is provided a vehicle inspection method for a vehicle including a controller that automatically controls vehicle speed based on a forward monitoring image, the vehicle inspection method including: supporting wheels of the vehicle with a vehicle support device; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen forward from the vehicle such that the virtual image is synchronized with the vehicle speed signal; and displaying the virtual image as if it were captured by a camera mounted on the vehicle that generates the forward monitoring image. [Effects of the Invention]

[0006] According to the present invention, when repairs are completed on a driving assistance device that automatically controls at least the vehicle speed to assist vehicle driving, it is possible to confirm whether the repaired driving assistance device can perform as intended. The objects and advantages of the invention will be realized and attained by means of the elements and combinations set forth in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic configuration diagram of an example of a vehicle inspection system according to an embodiment; [Figure 2] FIG. 1 is a schematic diagram illustrating the configuration of a video display device attached to a camera. [Figure 3] 1 is a flowchart illustrating an example of a vehicle inspection method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] (composition) 1 is a schematic diagram of an example of a vehicle inspection system according to an embodiment. The vehicle inspection system 1 is a system for inspecting a driving assistance device 11 of a vehicle 10 to be inspected. The driving assistance device 11 includes a camera 12 and a controller 13. The controller 13 is an electronic control unit that provides driving assistance for the subject vehicle 10. The controller 13 executes driving assistance control that automatically controls at least the vehicle speed of the subject vehicle 10, based on a forward-looking image generated by the camera 12 capturing an image of the environment ahead of the subject vehicle 10 and various vehicle information obtained from the subject vehicle 10 by the vehicle sensor 14. The controller 13 includes an electronic circuit having a processor 13a and peripheral components such as a storage device 13b, etc. The processor 13a may be, for example, a CPU or an MPU. The storage device 13b may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 13b may include a register, a cache memory, a memory such as a ROM and a RAM used as a main memory device, etc. The functions of the controller 13 described below are realized by, for example, the processor 13a executing a computer program stored in the storage device 13b.

[0009] The vehicle sensors 14 include, for example, a vehicle speed sensor that detects the vehicle speed of the subject vehicle 10, a wheel speed sensor that detects the rotational speed of the wheels of the subject vehicle 10, a three-axis acceleration sensor that detects the acceleration and deceleration in three axes of the subject vehicle 10, a steering angle sensor that detects the steering angle of the steering wheel, a steering angle sensor that detects the steering angle of the steered wheels, a yaw rate sensor that detects the yaw rate of the subject vehicle 10, an accelerator sensor that detects the accelerator opening of the subject vehicle 10, and a brake sensor that detects the amount of brake operation by the occupant.

[0010] The driving assistance control by the controller 13 may include, for example, automatic brake control that activates the brake device 15 in response to an obstacle ahead of the subject vehicle 10 to automatically slow down or stop the subject vehicle 10. Furthermore, for example, the driving assistance control by the controller 13 may include constant speed running control that controls the driving force source 16 that generates the driving force for the subject vehicle 10 and the brake device 15 to run the subject vehicle 10 at a constant speed. For example, the driving assistance control by the controller 13 may include inter-vehicle distance control that controls the driving force source 16 and the braking device 15 to maintain the inter-vehicle distance between the subject vehicle 10 and the preceding vehicle at a target inter-vehicle distance according to the vehicle speed.

[0011] Furthermore, the driving assistance control by the controller 13 may include driving assistance control that automatically controls the steering angle of the subject vehicle 10 to assist in driving the vehicle. For example, it may include lane departure prevention control that controls the steering angle of the subject vehicle 10 to prevent the subject vehicle 10 from deviating from the driving lane. In the following description, the driving assistance functions of the driving assistance device 11 that perform automatic braking control, constant speed driving control, vehicle-to-vehicle distance control, and lane departure prevention control may be referred to as the "automatic braking function," the "constant speed driving function," the "vehicle-to-vehicle distance control function," and the "lane departure prevention function," respectively.

[0012] The vehicle inspection system 1 includes at least a vehicle support device 20, an image generating device 30, and an image display device . The vehicle support device 20 may be, for example, a chassis dynamo or a free roller. The vehicle support device 20 includes rollers 21a and 21b that support the front wheels 17F of the vehicle 10 under test, and rollers 21c and 21d that support the rear wheels 17R. The rollers 21a to 21d are rotatably supported by bearings at the base of the vehicle support device 20. The direction of the rotation axes of the rollers 21a to 21d is parallel to the vehicle width direction of the vehicle 10 under test when the vehicle 10 is placed on the vehicle support device 20.

[0013] The vehicle support device 20 is equipped with a vehicle speed sensor 22 that detects the vehicle speed of the subject vehicle 10. The vehicle speed sensor 22 detects the vehicle speed of the subject vehicle 10 based on the rotation speed of the rollers 21a to 21d that support the drive wheels of the subject vehicle 10. The vehicle speed sensor 22 generates vehicle speed information that indicates the vehicle speed of the subject vehicle 10 and outputs it to the image generation device 30. Since the wheels 17F and 17R are supported by rotatable rollers 21a to 21d, the actual longitudinal position of the body of the subject vehicle 10 does not change even if the drive wheels of the subject vehicle 10 rotate. Therefore, the vehicle speed information output by the vehicle speed sensor 22 does not indicate the actual vehicle speed of the subject vehicle 10, but is information that simulates the vehicle speed calculated based on the wheel speed of the subject vehicle 10. In this specification, the expression "vehicle speed information of the subject vehicle 10" is used to mean information simulating the vehicle speed calculated based on the wheel speed of the subject vehicle 10, or information on the vehicle speed calculated based on the wheel speed of the subject vehicle 10, or information equivalent thereto, rather than information on the actual vehicle speed of the subject vehicle 10.

[0014] Note that the vehicle speed information of the subject vehicle 10 may be acquired from the controller 13 of the driving assistance device 11. For example, the controller 13 may output information on the vehicle speed detected by a vehicle speed sensor of the vehicle sensor 14 to the image generation device 30 as the vehicle speed information of the subject vehicle 10. Furthermore, for example, the controller 13 may output information on a target vehicle speed set as a target vehicle speed of the subject vehicle 10 in automatic brake control, constant speed cruise control, or inter-vehicle distance control to the image generation device 30. When the vehicle speed information of the subject vehicle 10 is acquired from the controller 13, the vehicle speed sensor 22 can be omitted.

[0015] The image generation device 30 is an electronic control unit that generates a virtual image (i.e., a simulation image) of the environment seen ahead from the subject vehicle 10. In the following description, the virtual image generated by the image generation device 30 will be simply referred to as a "virtual image." The image generation device 30 includes an electronic circuit having a processor 31 and peripheral components such as a storage device 32. The processor 31 may be, for example, a CPU or an MPU. The storage device 32 may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 32 may include memories such as a register, a cache memory, and a ROM and a RAM used as a main memory device. The functions of the image generation device 30 described below are realized by, for example, the processor 31 executing a computer program stored in the storage device 32.

[0016] The image generating device 30 generates a virtual image so that the viewpoint of the virtual image changes in synchronization with the vehicle speed of the subject vehicle 10, based on the vehicle speed information of the subject vehicle 10 acquired from the vehicle speed sensor 22 or the controller 13. In other words, when the vehicle speed of the subject vehicle 10 indicated by the vehicle speed information is greater than 0, the image generating device 30 generates a virtual image so that the amount of movement of the subject vehicle 10 according to the vehicle speed is equal to the amount of movement of the viewpoint of the virtual image.

[0017] For example, the image generation device 30 may generate a computer graphics (CG) image as a virtual image. In the following description, a virtual image generated as a CG image may be referred to as a "CG virtual image." When generating a CG virtual image, the image generation device 30 places objects (for example, obstacles such as other vehicles and people, traffic lights, traffic signs, and road surface markings (for example, lane boundaries, stop lines, road markings, and buildings) in the virtual space, and calculates the position of the subject vehicle 10 in the virtual space based on the vehicle speed information of the subject vehicle 10. In the following description, an object virtually placed in the CG virtual image will be referred to as a "virtual object," and the position of the virtual object or the subject vehicle 10 in the virtual space will be referred to as a "virtual position." When a moving object is placed as the virtual object, the image generation device 30 calculates the virtual position of the virtual object, which changes over time.

[0018] The image generating device 30 calculates the relative positional relationship between the virtual position of the subject vehicle 10 and the virtual position of the virtual object, and generates a CG virtual image of the environment seen ahead from the subject vehicle 10 based on the calculated relative positional relationship. For example, the image generation device 30 may generate a CG virtual image in accordance with a predetermined test method. For example, the image generation device 30 may generate a CG virtual image in which a moving obstacle (e.g., another vehicle or a person) appears in front of the subject vehicle 10 in accordance with a scenario defined by the predetermined test method. The predetermined test method may be, for example, a test method defined by the New Car Assessment Programme (NCAP). The method may be such that an obstacle appears when the subject vehicle 10 is traveling within a vehicle speed range defined for the test speed of the scenario and the accelerator opening is detected to be constant.

[0019] Furthermore, for example, the image generating device 30 may generate a virtual image in which the viewpoint changes in synchronization with the vehicle speed of the subject vehicle 10, based on an actual image obtained by capturing an image of the actual environment. In this case, for example, the image generating device 30 reads the actual image and location information that records the location where the actual image was captured, the moving speed of the image capturing device, etc. For example, the image generating device 30 may read information recorded by a drive recorder. The recorded information of the drive recorder includes information recorded on a forward monitoring image captured by a camera mounted on a moving vehicle (e.g., the subject vehicle 10 or another vehicle), the vehicle's speed at each point in time when the forward monitoring image was captured, and the vehicle's position measured by a positioning device such as a GPS. The image generating device 30 may generate a virtual image in which the viewpoint position changes in synchronization with the vehicle speed of the subject vehicle 10 by controlling the playback speed of the actual image based on the vehicle speed information of the subject vehicle 10 obtained from the vehicle speed sensor 22 or the controller 13 and the recorded information of the drive recorder.

[0020] The image display device 40 displays the virtual image generated by the image generation device 30. The image display device 40 may include, for example, a screen disposed in front of the subject vehicle 10 and a projection device that projects the virtual image onto the screen. Alternatively, the image display device 40 may be a display monitor device disposed in front of the subject vehicle 10 that displays the virtual image. At this time, it is preferable to align the relative positional relationship between the screen or display monitor device and the vehicle support device 20 in the vertical direction and in the width direction of the vehicle 10 to be inspected so that the vanishing point of the virtual image displayed on the screen or display monitor device is located on the optical axis of the camera 12.

[0021] In addition, it is preferable to align the relative positional relationship in the fore-and-aft direction between the screen or display monitor device and the vehicle support device 20 so that when the virtual image displayed on the screen or display monitor device is photographed by the camera 12, the angle of view of the partial image of the virtual image that appears in the image captured by the camera 12 is equal to the angle of view of the camera 12 itself. For example, when the angle of view and aspect ratio of the virtual image are equal to the angle of view and aspect ratio of the camera 12, it is preferable to align the relative positional relationship in the front-to-back direction so that the four corners of the virtual image coincide with the four corners of the capture range of the camera 12. When aligning the screen or display monitor device with the vehicle support device 20, for example, a virtual image displayed on the screen or display monitor device may be photographed by the camera 12, and alignment may be performed based on the still images or video output from the camera 12 so as to satisfy the conditions for the relative positional relationship in each of the above directions. In addition, the height from the road surface, the imaging angle relative to the direction of travel, and the imaging range of the camera 12 for each vehicle type may be stored in a database in advance, and information corresponding to the vehicle type of the subject vehicle 10 may be obtained from the database and the height, angle, and longitudinal position of the screen or display monitor device may be automatically adjusted so that the viewpoint of the virtual image has the same relative positional relationship as the viewpoint when the subject vehicle 10 is imaging on the road.

[0022] The image display device 40 may include an image display device that can be attached to the camera 12. Figure 2 is a schematic diagram of the configuration of an image display device that is attached to the camera 12. The image display device 40 in Figure 2 comprises a display element 41 that displays a virtual image and an optical system 42 that forms a virtual image VI of the image displayed on the display element 41 in front of the objective lens LO of the camera 12, and is detachably attached to the camera 12 by a fixing device not shown. By attaching the image display device 40 itself to the camera 12, even if an inspection is carried out with the headlights 18 of the subject vehicle 10 turned on, it is possible to prevent the camera 12 from being unable to capture a virtual image due to the light from the headlights 18 being reflected on the image display surface of the image display device 40, and to prevent the deterioration of the forward monitoring image generated by capturing the virtual image with the camera 12. In addition, when displaying a virtual image on an image display device 40 that can be attached to the camera 12, the same virtual image may be displayed on both the image display device 40 that can be attached to the camera 12 and a display monitor device for the operator so that the operator (inspector, inspector) inspecting the subject vehicle 10 can visually view the same virtual image in real time.

[0023] (Vehicle inspection method) A description will now be given of a vehicle inspection method using the above vehicle inspection system 1. Fig. 3 is a flowchart of an example of the vehicle inspection method when inspecting the automatic braking function. In step S1, the subject vehicle 10 is placed on the vehicle support device 20, which is a chassis dynamometer or free rollers, and the subject vehicle 10 is made to run with the wheels 17F and 17R supported by the rollers 21a to 21d. At this time, since the wheels 17F and 17R are supported by the rotatable rollers 21a to 21d, only the drive wheels of the subject vehicle 10 rotate, and the actual longitudinal position of the subject vehicle 10 does not change. In this specification, the expression "running the subject vehicle 10" is used to mean that the drive wheels of the subject vehicle 10 are driven on the vehicle support device 20.

[0024] In step S2, the image generating device 30 acquires the vehicle speed information of the subject vehicle 10 from the vehicle speed sensor 22 or the controller 13. In step S3, the image generating device 30 generates a virtual image of the environment seen ahead from the subject vehicle 10. When inspecting the automatic braking function, the image generating device 30 may generate, for example, a captured image in which an obstacle (e.g., another vehicle or a person) appears ahead of the subject vehicle 10. The image generating device 30 changes the viewpoint of the virtual image in synchronization with the vehicle speed of the subject vehicle 10 based on the vehicle speed information of the subject vehicle 10. In other words, when the vehicle speed of the subject vehicle 10 is higher than 0, the image generating device 30 generates a virtual image in which an obstacle approaches the viewpoint of the virtual image over time. In step S4, the image display device 40 (for example, a display monitor device arranged in front of the subject vehicle 10) displays the virtual image generated by the image generation device 30.

[0025] In step S5, camera 12 captures the virtual image displayed by image display device 40 to generate a forward monitoring image. Controller 13 recognizes an image of an obstacle in the forward monitoring image (i.e., an image of an obstacle in the virtual image) by performing image recognition processing on the forward monitoring image. For example, controller 13 can recognize the image of an obstacle by an existing method such as pattern matching. The controller 13 executes automatic brake control in response to the recognized obstacle. That is, it activates the brake device 15 of the subject vehicle 10, and reduces the vehicle speed of the subject vehicle 10 traveling on the vehicle support device 20 by braking force, until the subject vehicle 10 stops. The obstacle in the virtual image approaches the viewpoint of the virtual image over time in synchronization with the reduction in the vehicle speed of the subject vehicle 10 due to the braking force.

[0026] Then, it is checked whether the subject vehicle 10 can stop at a position in front of the obstacle in the virtual image. For example, when the image generation device 30 generates a CG virtual image, it checks whether the subject vehicle 10 can stop in front of an obstacle in the virtual space. Whether the subject vehicle 10 can stop in front of the obstacle may be determined or confirmed, for example, by an operator (inspector, inspector) inspecting the subject vehicle 10. The operator may check whether the subject vehicle 10 can stop in front of the obstacle by visually checking the CG virtual image displayed on the image display device 40.

[0027] The vehicle inspection system 1 may also include a diagnostic device 50 that diagnoses the inspection results of the driving assistance device 11. The diagnostic device 50 is an electronic control unit that diagnoses the inspection results of the driving assistance device 11 by the vehicle inspection system 1. The diagnostic device 50 includes an electronic circuit having a processor 51 and peripheral components such as a storage device 52. The processor 51 may be, for example, a CPU or an MPU. The storage device 52 may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 52 may include memories such as a register, a cache memory, and a ROM and a RAM used as a main memory device. The functions of the diagnostic device 50 described below are realized by, for example, the processor 51 executing a computer program stored in the storage device 52.

[0028] The diagnostic device 50 acquires vehicle speed information of the subject vehicle 10 from the vehicle speed sensor 22 or the controller 13, and receives the virtual positions of the obstacle and the subject vehicle 10 in the virtual space from the image generation device 30. The diagnostic device 50 checks whether the subject vehicle 10 can stop in the virtual space at a position in front of the obstacle. For example, the diagnostic device 50 checks whether the subject vehicle 10 can stop (whether the vehicle speed signal indicates 0) before the relative positional relationship between the virtual position of the obstacle and the virtual position of the subject vehicle 10 reaches a positional relationship where the obstacle and the subject vehicle 10 come into contact. If the vehicle speed signal of the subject vehicle 10 indicates 0 before the relative positional relationship between the virtual position of the obstacle and the virtual position of the subject vehicle 10 reaches a positional relationship where the obstacle and the subject vehicle 10 come into contact, it is determined that the subject vehicle 10 has stopped without coming into contact with the obstacle. Furthermore, if there is a delay between the appearance of an obstacle and the time when the controller 13 recognizes the obstacle, or between the time when the brake device 15 operates and decelerates the subject vehicle 10, the subject vehicle 10 will approach the obstacle more closely than if there were no delay. Furthermore, if the braking force generated by the brake device 15 is small, the subject vehicle 10 will travel a longer distance before stopping, and will approach the obstacle more closely. If the relative positional relationship between the virtual position of the obstacle and the virtual position of the subject vehicle 10 is such that the obstacle and the subject vehicle 10 come into contact with each other, it is determined that the subject vehicle 10 did not stop in front of the obstacle. In other words, it is determined that the subject vehicle 10 has come into contact with the obstacle in the virtual image.

[0029] If it is determined that the subject vehicle 10 has come into contact with an obstacle in the virtual image, the image generation device 30 generates an image including an animation indicating the contact or an alert display, and the image display device 40 displays the image generated by the image generation device 30.

[0030] Furthermore, for example, if actual footage captured by a drive recorder of a scene in which a vehicle comes into contact with an obstacle or stops just before the collision is available, a virtual image based on such actual footage can be displayed on the image display device 40 to check whether the subject vehicle 10 can stop at a position in front of the obstacle. In this case, for example, by checking whether the vehicle speed information of the subject vehicle 10 becomes 0 and the virtual image becomes still before the scene displayed on the image display device 40 reaches a scene in which the vehicle hits an obstacle or stops just before hitting an obstacle, it is possible to check whether the subject vehicle 10 can stop at a position in front of the obstacle.

[0031] Below, an example of inspecting a driving assistance function other than the automatic braking function will be described. When checking the constant speed cruise function, in step S3, a virtual image of the environment seen ahead from the vehicle traveling on the road is generated. The image generation device 30 may generate a CG virtual image, or may generate the virtual image based on actual images captured by a drive recorder while traveling. In step S5, the vehicle speed information of the subject vehicle 10 is acquired, and it is checked whether the vehicle speed information of the subject vehicle 10 is below the speed limit indicated by the speed limit sign in the virtual image, or below the upper speed limit set in advance for the subject vehicle 10.

[0032] When checking the vehicle distance control function, in step S3, a virtual CG image of the environment seen ahead from a vehicle traveling on a road following a leading vehicle is generated. In step S5, it is checked whether the distance between the subject vehicle 10 and the preceding vehicle is appropriate. For example, the diagnostic device 50 may check whether the distance between the subject vehicle 10 and the preceding vehicle in the virtual space is a target distance set according to the vehicle speed of the subject vehicle 10. Furthermore, an operator (inspector, inspector) inspecting the subject vehicle 10 may visually view the CG virtual image to determine whether the distance between the subject vehicle and the preceding vehicle is appropriate.

[0033] When inspecting the lane departure prevention function, in step S3, a virtual image of the environment seen ahead from a vehicle traveling on a road with a curvature greater than 0 is generated. Image generation device 30 may generate a CG virtual image, or may generate a virtual image based on actual images captured by a drive recorder while traveling. In step S5, a steering angle command signal for the steering angle of the subject vehicle 10 is acquired from the controller 13. Note that the steering actuator of the subject vehicle 10 is disabled in advance so that the steered wheels of the subject vehicle 10 are not actually steered on a chassis dynamometer or free rollers. Based on the steering angle command signal obtained from the controller 13, it is checked whether the steered wheels are being steered in a direction that prevents the subject vehicle 10 from deviating from the lane.

[0034] When inspecting the lane departure prevention function using a CG virtual image, the image generating device 30 may generate a CG virtual image that simulates the steering of the subject vehicle 10. In this case, the image generation device 30 acquires a steering angle command signal of the subject vehicle 10 from the controller 13, calculates the yaw angle of the body of the subject vehicle 10 in the virtual space based on the vehicle speed information and the steering angle command signal of the subject vehicle 10, and generates a CG virtual image of the environment seen ahead from the vehicle based on the calculated yaw angle.

[0035] In addition to the driving assistance functions described above, the auto high beam function of the subject vehicle 10 may also be inspected. The auto high beam function is a function that detects the light from the headlights of an oncoming vehicle using an illuminance sensor attached somewhere on the body of the subject vehicle 10 (for example, on a side mirror), and automatically switches the headlights 18 of the subject vehicle 10 between high beam and low beam. When checking the auto high beam function, for example, a virtual image of passing an oncoming vehicle at night is displayed to check whether the headlights 18 switch to low beam when there is an oncoming vehicle and whether the headlights 18 switch to high beam when there is no oncoming vehicle. At this time, the headlights 18 may be covered in advance to prevent the light from the headlights 18 from reflecting on the image display surface of the display monitor or screen of the image display device 40.

[0036] It is also possible to check the adaptive light function of the subject vehicle 10. The adaptive light function is a function that detects other vehicles or pedestrians ahead of the subject vehicle 10 from the forward monitoring image of the camera 12, and automatically diverts the optical axis of the headlights 18 of the subject vehicle 10 away from the other vehicles or pedestrians. Adaptive Light When inspecting the functionality, a virtual image in which other vehicles or pedestrians appear ahead of the subject vehicle 10 is displayed, and it is inspected whether the direction of the headlights 18 of the subject vehicle 10 is automatically controlled so that the optical axis of the headlights 18 is deflected away from the other vehicles or pedestrians. At this time, to prevent the light from the headlights 18 from preventing the camera 12 from capturing the virtual image or to prevent deterioration of the forward monitoring image generated by capturing the virtual image with the camera 12, the virtual image may be presented to the camera 12 by the image display device described with reference to Fig. 2 (i.e., an image display device that can be attached to the camera 12).

[0037] (Effects of the embodiment) (1) A vehicle inspection system 1 inspects a subject vehicle 10 equipped with a controller 13 that automatically controls the vehicle speed based on a forward monitoring image. The vehicle inspection system 1 includes a vehicle support device 20 that supports the wheels of the subject vehicle 10, an image generation device 30 that acquires a vehicle speed signal of the subject vehicle 10 supported by the vehicle support device 20 and generates a virtual image of the environment seen ahead from the subject vehicle 10 so that the virtual image is synchronized with the vehicle speed signal, and an image display device 40 that displays the virtual image so that the virtual image is captured by a camera 12 that is mounted on the subject vehicle 10 and generates a forward monitoring image. The vehicle support device 20 may be, for example, a chassis dynamo or a free roller.

[0038] This makes it possible to confirm whether or not the repaired driving assistance device 11, which automatically controls at least the vehicle speed to assist in driving the subject vehicle 10, can perform as intended when repairs are completed. For example, at least one of the automatic braking function, constant speed driving function, vehicle distance control function, lane departure prevention function, auto high beam function, and adaptive light function implemented by the controller 13 of the subject vehicle 10 may be inspected.

[0039] (2) The vehicle inspection system 1 may acquire a vehicle speed signal from the vehicle support device 20 or the vehicle 10 under inspection. This allows the generation of a virtual image that is synchronized with the vehicle speed signal of the subject vehicle 10. (3) When inspecting the automatic braking function, when the vehicle speed is higher than 0, a virtual image may be generated showing an obstacle in front of the subject vehicle 10 approaching the subject vehicle 10, and it may be determined whether the subject vehicle 10 stops in front of the obstacle. This allows checking whether the automatic braking function of the subject vehicle 10 can perform as intended.

[0040] (4) The image generating device 30 may generate a virtual image in accordance with a predefined test method. This allows inspections to be carried out in accordance with pre-defined test methods. (5) A steering command signal for the steering angle of the test vehicle 10 may be obtained from the controller 13, the yaw angle of the test vehicle 10 may be calculated based on the steering command signal and the vehicle speed signal, and a virtual image may be generated according to the calculated yaw angle. This allows inspection of the driving assistance device 11, which automatically controls the steering angle based on the forward monitoring image.

[0041] (6) The image display device 40 may display the virtual image on a display monitor device located in front of the subject vehicle 10, or may project the virtual image onto a screen located in front of the subject vehicle 10. This allows inspection of the driving assistance device 11 that assists the driving of the subject vehicle 10 based on the forward monitoring image generated by capturing a virtual image.

[0042] (7) An image display device 40 having a display element and an optical system that forms a virtual image of the display image of the display element in front of the objective lens of the camera 12 may be attached to the camera 12, and a virtual image may be displayed by the image display device 40. This allows the camera 12 of the subject vehicle 10 to generate a forward monitoring video by capturing a virtual video. Furthermore, even if an inspection is performed with the headlights 18 of the subject vehicle 10 turned on, it is possible to prevent the camera 12 from being unable to capture a virtual video and to prevent the forward monitoring video generated by capturing a virtual video with the camera 12 from being deteriorated.

[0043] All examples and conditional terms described herein are intended for educational purposes to aid the reader in understanding the present invention and the concepts provided by the inventor for the advancement of technology, and should be construed without limitation to the specifically described examples and conditions above, and the configuration of examples herein for illustrating the advantages and disadvantages of the present invention. Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0044] 1...vehicle inspection system, 10...vehicle to be inspected, 11...driving assistance device, 12...camera, 13...controller, 13a, 31, 51...processor, 13b, 32, 52...storage device, 14...vehicle sensor, 15...brake device, 16...driving force source, 17F...front wheel, 17R...rear wheel, 18...headlamp, 20...vehicle support device, 21a to 21d...rollers, 22...vehicle speed sensor, 30...image generation device, 40...image display device, 41...display element, 42...optical system, 50...diagnostic device, LO...objective lens

Claims

1. Vehicle inspection of a vehicle equipped with a controller that automatically controls vehicle speed based on forward monitoring video 1. A method comprising: a vehicle support device supporting the wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of the environment seen ahead from the vehicle such that the virtual image is synchronized with the vehicle speed signal and an obstacle moving ahead of the vehicle appears in the virtual image according to a scenario defined by a predefined test method; At least one of the height from the road surface, the imaging angle in the traveling direction, and the imaging range is acquired from a database that stores the characteristics of the camera according to the type of the vehicle, as the characteristics of the camera that is mounted on the vehicle and generates the forward monitoring image, and at least one of the height, angle, and longitudinal position of the image display device is adjusted, and the virtual image is displayed on the image display device so that the camera is capturing the virtual image; In the inspection of an automatic braking function, an image of an obstacle in front of the vehicle approaching the vehicle when the vehicle speed is higher than 0 is generated as the virtual image; A vehicle inspection method, comprising determining whether the vehicle stops in front of the obstacle.

2. 2. The vehicle inspection method according to claim 1, wherein the vehicle support device is a chassis dynamometer or a free roller.

3. The vehicle inspection method according to claim 1, wherein the vehicle speed signal is acquired from the vehicle support device or the vehicle.

4. 2. The vehicle inspection method according to claim 1, further comprising inspecting at least one of an automatic braking function, a constant speed driving function, a vehicle-to-vehicle distance control function, a lane departure prevention function, an auto high beam function, and an adaptive light function, which are realized by the controller provided in the vehicle.

7. acquiring a steering angle command signal for a steering angle of the vehicle from the controller; calculating a yaw angle of the vehicle based on the steering angle command signal and the vehicle speed signal, and generating the virtual image according to the calculated yaw angle; 2. The vehicle inspection method according to claim 1.

8. 2. The vehicle inspection method according to claim 1, wherein the virtual image is displayed on a display monitor device disposed in front of the vehicle, or the virtual image is projected onto a screen disposed in front of the vehicle.

9. a display device including a display element and an optical system for forming a virtual image of a display image of the display element in front of an objective lens of the camera, the display device being attached to the camera; displaying the virtual image on the display device; 2. The vehicle inspection method according to claim 1.

10. A vehicle inspection system for a vehicle equipped with a controller that automatically controls vehicle speed based on a forward monitoring image, a vehicle support device for supporting wheels of the vehicle; an image generating device that acquires a vehicle speed signal of the vehicle supported by the vehicle support device, and generates a virtual image of the environment seen ahead from the vehicle, the virtual image being synchronized with the vehicle speed signal, an obstacle moving ahead of the vehicle appearing in the virtual image according to a scenario defined by a predefined test method, and, in an automatic braking function check, an obstacle ahead of the vehicle approaching the vehicle when the vehicle speed is higher than 0; an image display device that displays the virtual image, the image display device acquiring at least one of the height from the road surface, the imaging angle in the traveling direction, and the imaging range as characteristics of a camera that is mounted on the vehicle and generates the forward monitoring image from a database that stores the characteristics of the camera according to the vehicle model, and adjusting at least one of the height, angle, and longitudinal position of the image display device, and displaying the virtual image so that the camera captures the virtual image; a diagnostic device that determines whether the vehicle will stop in front of the obstacle; A vehicle inspection system comprising:

11. generating the virtual image in accordance with a predefined test method; generating the virtual image in which an obstacle appears ahead of the vehicle when it is detected that the vehicle speed is within a vehicle speed range defined by the test method and the accelerator opening is constant; 2. The vehicle inspection method according to claim 1.

Images