Reverse assist device and vehicle

Abstract

To allow a driver to more simply park a vehicle at appropriate distance from an obstacle on a side of the vehicle.SOLUTION: A reversing support device 20 comprises a control unit which monitors a use situation of each seat on a driver seat side and a front passenger seat side of a vehicle 10, sets reference distance of each of the driver seat side and the front passenger seat side according to the use situation, and displays, when an obstacle is detected on a side of a space to be predicted as a progress destination of the vehicle 10, a guide element showing a position distant from the detected obstacle by the reference distance on a picture reflecting an image at a back of the vehicle 10 to support reversing of the vehicle 10 in the reversing of the vehicle 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a reverse assist device and a vehicle.

Background Art

[0002] Patent Document 1 discloses a device that superimposes and displays on a display a rear view of a vehicle captured by a camera and a distance reference line indicating a position spaced a predetermined distance from the vehicle to assist in the parking operation of the vehicle. Patent Document 2 discloses a device that determines the characteristics of a vehicle or the characteristics of a driver of the vehicle when a vehicle before parking is detected, sets a parking frame for the vehicle according to the characteristics, and transmits information indicating the parking frame to the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a vehicle occupant gets off the vehicle, the side door may be opened and closed after parking. Depending on the structure of the side door, it may come into contact with an obstacle on the side of the vehicle when the side door is opened. To avoid such a situation, it is desirable to park at a certain distance from the obstacle. However, conventional devices do not necessarily assist in parking at an appropriate distance from an obstacle on the side of the vehicle.

[0005] An object of the present disclosure is to enable a driver to more easily park at an appropriate distance from an obstacle on the side of the vehicle.

Means for Solving the Problems

[0006] The reversal support device relating to this disclosure is The vehicle monitors the usage status of each seat on the driver's side and passenger's side. Depending on the usage conditions, set the reference distances for the driver's side and the passenger's side, respectively. When the vehicle is reversing and an obstacle is detected to the side of the space where the vehicle is expected to proceed, a guide element indicating a position a distance from the detected obstacle by the specified reference distance will be displayed on the screen showing the image behind the vehicle to assist in the vehicle's reversal. It is equipped with a control unit. [Effects of the Invention]

[0007] According to this disclosure, drivers can more easily park their vehicles while maintaining an appropriate distance from obstacles on the sides. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows the configuration of a vehicle according to the embodiment of this disclosure. [Figure 2] This figure shows an example of a reference distance according to the embodiments of this disclosure. [Figure 3] This figure shows an example of an obstacle according to the embodiments of this disclosure. [Figure 4] This figure shows an example of a screen according to the embodiments of this disclosure. [Figure 5] This is a block diagram showing the configuration of a reversing assist device according to an embodiment of the present disclosure. [Figure 6] This is a flowchart showing the operation of the reversing assist device according to the present disclosure. [Modes for carrying out the invention]

[0009] Hereinafter, one embodiment of this disclosure will be described with reference to the figures.

[0010] In each figure, identical or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate.

[0011] The configuration of the vehicle 10 according to this embodiment will be described with reference to Figure 1.

[0012] Vehicle 10 is any type of automobile, such as a gasoline car, diesel car, hydrogen car, HEV, PHEV, BEV, or FCEV. "HEV" is an abbreviation for hybrid electric vehicle. "PHEV" is an abbreviation for plug-in hybrid electric vehicle. "BEV" is an abbreviation for battery electric vehicle. "FCEV" is an abbreviation for fuel cell electric vehicle. Vehicle 10 is driven by a driver, but the driving may be automated to a certain degree. The level of automation may be, for example, one of levels 1 to 4 in the SAE classification. "SAE" is an abbreviation for Society of Automotive Engineers. Vehicle 10 may also be a vehicle dedicated to MaaS. "MaaS" is an abbreviation for Mobility as a Service.

[0013] Vehicle 10 is equipped with a reverse assist device 20, a camera 30, and a display 40. The reverse assist device 20 can communicate with the camera 30 and the display 40 via a cable, a network such as CAN, or wirelessly. "CAN" is an abbreviation for Controller Area Network. The reverse assist device 20 may also be able to communicate with an external server, such as a cloud server, via a network such as the Internet.

[0014] The reverse assist device 20 is a computer mounted on the vehicle 10. The camera 30 is a so-called back camera, specifically, a video camera attached to the rear of the vehicle 10. The display 40 is a so-called back monitor, specifically, an LCD or an organic EL display attached to the dashboard of the vehicle 10. Alternatively, the display 40 may be an LCD or an organic EL display attached to the rearview mirror of the vehicle 10. Alternatively, the display 40 may be a HUD. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electro luminescent. "HUD" is an abbreviation for head-up display.

[0015] Referring to FIGS. 1 to 4, the outline of the present embodiment will be described.

[0016] The reverse assist device 20 monitors the usage status of each seat on the driver's side and the passenger's side of the vehicle 10. For example, the reverse assist device 20 monitors the usage status of the driver's seat, the passenger's seat, the rear seat on the driver's side, and the rear seat on the passenger's side of the vehicle 10, respectively.

[0017] As shown in Fig. 2, the reverse assist device 20 sets the reference distances for the driver's seat side and the passenger seat side according to the usage status of each seat on the driver's seat side and the passenger seat side. For example, when the reverse assist device 20 detects that a child is sitting in the rear seat on the driver's seat side, based on the protrusion length LA when the driver's door 11A on the driver's seat side reaches the minimum opening required for the driver to get off, and the protrusion length LC when the door 11C of the rear seat on the driver's seat side reaches the maximum opening, the reference distance DA on the driver's seat side is set. In the example shown in Fig. 2, since LA < LC, LC = DA, that is, the reference distance DA on the driver's seat side is set to the same distance as the protrusion length LC. For example, when the reverse assist device 20 detects that a passenger is sitting in the passenger seat and no passenger is sitting in the rear seat on the passenger seat side, the reference distance DB on the passenger seat side is set based on the protrusion length LB when the door 11B of the passenger seat reaches the minimum opening required for the passenger to get off. In the example shown in Fig. 2, LB = DB, that is, the reference distance DB on the passenger seat side is set to the same distance as the protrusion length LB.

[0018] As shown in Fig. 3, when the vehicle 10 is reversing, the reverse assist device 20 determines whether there is an obstacle on the side of the space 60 predicted as the travel destination of the vehicle 10. In the example shown in Fig. 3, as an obstacle on the side corresponding to the driver's seat side of the space 60, the parked vehicle 50A is detected, and as an obstacle on the side corresponding to the passenger seat side of the space 60, the wall 50B is detected.

[0019] As shown in Fig. 4, when the reverse assist device 20 detects an obstacle, on the screen 41 that projects the image 31 behind the vehicle 10 to assist the reverse of the vehicle 10, a guide element indicating a position at a distance from the detected obstacle by the reference distance is displayed. The screen 41 is a back view screen in this embodiment, but may also be a 360-degree view screen. In the example shown in Fig. 4, as a guide element on the driver's seat side, a guide line 42A indicating a position at a distance of the reference distance DA on the driver's seat side from the parked vehicle 50A is displayed, and as a guide element on the passenger seat side, a guide line 42B indicating a position at a distance of the reference distance DB on the passenger seat side from the wall 50B is displayed.

[0020] According to this embodiment, the driver can see the position of the vehicle 10 at a reference distance from obstacles to the side by the guide elements displayed on the screen 41. Therefore, the driver can park with an appropriate distance from obstacles more easily. For example, it becomes easier to determine how far away from the parked vehicle 50A the vehicle should be parked so that the door 11C does not come into contact with the parked vehicle 50A even if a child sitting in the rear seat on the driver's side opens the door 11C forcefully to get out. If the child is sitting in a child seat, it becomes easier to determine how far away from the parked vehicle 50A the vehicle should be parked so that it is easy to get the child out of the child seat. It also becomes easier to determine how far away from the wall 50B the vehicle should be parked so that the door 11B does not come into contact with the wall 50B when an occupant sitting in the passenger seat gets out.

[0021] Referring to Figure 5, the configuration of the reverse assist device 20 according to this embodiment will be described.

[0022] The reverse assist device 20 comprises a control unit 21, a storage unit 22, and a communication unit 23.

[0023] The control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for field-programmable gate array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 21 controls each part of the reversing assist device 20 and executes processes related to the operation of the reversing assist device 20.

[0024] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof. The semiconductor memory is, for example, RAM, ROM, or flash memory. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read-only memory. RAM is, for example, SRAM or DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read-only memory. Flash memory is, for example, SSD. "SSD" is an abbreviation for solid-state drive. Magnetic memory is, for example, HDD. "HDD" is an abbreviation for hard disk drive. The storage unit 22 functions, for example, as main memory, auxiliary memory, or cache memory. The memory unit 22 stores data used for the operation of the reverse assist device 20 and data obtained as a result of the operation of the reverse assist device 20.

[0025] The communication unit 23 includes at least one communication module. The communication module is, for example, a module compatible with in-vehicle communication standards such as CAN, wired LAN communication standards such as Ethernet®, wireless LAN communication standards such as IEEE 802.11, mobile communication standards such as LTE, 4G, or 5G, or short-range wireless communication standards such as Bluetooth®. "LAN" is an abbreviation for local area network. "IEEE" is an abbreviation for Institute of Electrical and Electronics Engineers. "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 23 receives data used for the operation of the reverse assist device 20 and transmits data obtained by the operation of the reverse assist device 20.

[0026] The function of the reverse assist device 20 is realized by executing the program according to this embodiment on the processor acting as the control unit 21. In other words, the function of the reverse assist device 20 is realized by software. The program causes the computer to perform the operations of the reverse assist device 20, thereby causing the computer to function as the reverse assist device 20. That is, the computer functions as the reverse assist device 20 by performing the operations of the reverse assist device 20 according to the program.

[0027] The program can be stored on a non-temporary computer-readable medium. Examples of non-temporary computer-readable media include flash memory, magnetic recording devices, optical discs, magneto-optical recording media, or ROM. The program can be distributed, for example, by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs containing the program. "SD" is an abbreviation for Secure Digital. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program may also be distributed by storing it in server storage and transferring it from the server to other computers. The program may also be provided as a program product.

[0028] A computer, for example, stores a program stored on a portable medium or a program transferred from a server in its main memory. Then, the computer reads the program stored in the main memory with its processor and executes the processing according to the read program. The computer may also read the program directly from the portable medium and execute the processing according to the program. The computer may also execute the processing according to the received program sequentially each time a program is transferred to the computer from a server. Processing may also be performed by a so-called ASP-type service, which does not transfer programs from the server to the computer, but realizes its function only through execution instructions and result retrieval. "ASP" is an abbreviation for application service provider. A program includes information used for processing by an electronic computer that is equivalent to a program. For example, data that is not a direct instruction to the computer but has the nature of defining the computer's processing falls under "equivalent to a program".

[0029] Some or all of the functions of the reverse assist device 20 may be implemented by a programmable circuit or a dedicated circuit as the control unit 21. In other words, some or all of the functions of the reverse assist device 20 may be implemented by hardware.

[0030] Referring to Figure 6, the operation of the reverse assist device 20 according to this embodiment will be described. The operation described below corresponds to the reverse assist method according to this embodiment. That is, the reverse assist method according to this embodiment includes steps S1 to S6 shown in Figure 6.

[0031] In S1, the control unit 21 monitors the usage status of the driver's seat and passenger seat of the vehicle 10.

[0032] Specifically, if vehicle 10 is a two-seater vehicle, the control unit 21 monitors the usage status, specifically whether an occupant is seated in the driver's seat and the passenger seat of vehicle 10, using an in-vehicle camera or seat sensor. The control unit 21 may also monitor whether luggage is placed in the passenger seat using an in-vehicle camera or seat sensor.

[0033] If vehicle 10 is a four- or five-seater vehicle, the control unit 21 monitors the usage status of vehicle 10 by using an in-vehicle camera or seat sensor to see whether an occupant is seated in the driver's seat, passenger seat, rear seat on the driver's side, and rear seat on the passenger's side. The control unit 21 may further monitor by using an in-vehicle camera or seat sensor to see whether an occupant is seated in the center of the rear seats. The control unit 21 may also monitor by using an in-vehicle camera or seat sensor to see whether luggage is placed in the driver's seat, passenger seat, rear seat on the driver's side, and rear seat on the passenger's side. The control unit 21 may further monitor by using an in-vehicle camera or seat sensor to see whether luggage is placed in the center of the rear seats.

[0034] If vehicle 10 is a vehicle with a capacity of 7 to 9 people, the control unit 21 monitors the usage status of vehicle 10, specifically whether there are passengers sitting in the driver's seat, passenger seat, the second and third row rear seats on the driver's side, and the second and third row rear seats on the passenger's side, using an in-vehicle camera or seat sensor. The control unit 21 may further monitor, using an in-vehicle camera or seat sensor, whether there are passengers sitting in the center of the second row, third row, or both of the rear seats. The control unit 21 may also monitor, using an in-vehicle camera or seat sensor, whether there are luggage items in the driver's seat, passenger seat, the second and third row rear seats on the driver's side, and the second and third row rear seats on the passenger's side. The control unit 21 may further monitor, using an in-vehicle camera or seat sensor, whether there are luggage items in the center of the second row, third row, or both of the rear seats.

[0035] In S2, the control unit 21 sets the reference distance for the driver's seat and the passenger's seat respectively, according to the usage status of each seat. If the driver is not sitting in the driver's seat, it is not necessary to perform the steps after S2, so the control unit 21 may wait until it detects that the driver is sitting in the driver's seat.

[0036] Specifically, if the vehicle 10 is a two-seater, the control unit 21 sets the reference distance DA on the driver's side based on the protrusion length LA of the driver's side door 11A when it is opened to the minimum extent necessary for the driver to get out. For example, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LA. The protrusion length LA may be set in advance as a fixed value, or it may be calculated dynamically according to the driver's physique. When the control unit 21 detects that an occupant is sitting in the passenger seat, it sets the reference distance DB on the passenger side based on the protrusion length LB of the passenger side door 11B when it is opened to the minimum extent necessary for the occupant to get out. For example, the control unit 21 sets the reference distance DB on the passenger side to the same distance as the protrusion length LB. The protrusion length LB may be set in advance as a fixed value, or it may be calculated dynamically according to the occupant's physique. If the control unit 21 determines that the occupant sitting in the passenger seat is a child, it may set the reference distance DB on the passenger side based on the protrusion length LBm of the passenger door 11B when it is at its maximum opening. For example, the control unit 21 may set the reference distance DB on the passenger side to the same distance as the protrusion length LBm. If the control unit 21 detects that there is luggage on the passenger seat, it may set the reference distance DB on the passenger side based on the protrusion length LBb of the passenger door 11B when it is at its minimum opening, which is necessary to unload the luggage. For example, the control unit 21 may set the reference distance DB on the passenger side to the same distance as the protrusion length LBb. The protrusion length LBb may be set in advance as a fixed value, or it may be calculated dynamically according to the size of the luggage.

[0037] When the vehicle 10 is a four - or five - seater vehicle, when the control unit 21 detects a situation where there is no occupant sitting in the rear seat on the driver's side, similar to the case where the vehicle 10 is a two - seater vehicle, based on the protrusion length LA, the reference distance DA on the driver's side is set. When the control unit 21 detects a situation where there is an occupant sitting in the rear seat on the driver's side, based on the protrusion length LA and the protrusion length LCm when the door 11C of the rear seat on the driver's side reaches the minimum opening required for the occupant to get off, the reference distance DA on the driver's side is set. For example, if LA < LCm, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LCm. If LA = LCm or LA > LCm, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LA. The protrusion length LCm may be preset as a fixed value or may be dynamically calculated according to the build of the occupant. When the control unit 21 determines that the occupant sitting in the rear seat on the driver's side is a child, based on the protrusion length LA and the protrusion length LC when the door 11C of the rear seat on the driver's side reaches the maximum opening, the reference distance DA on the driver's side may be set. In the example shown in FIG. 2, since LA < LC, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LC. If LA = LC or LA > LC, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LA. When the control unit 21 detects a situation where there is luggage placed in the rear seat on the driver's side, based on the protrusion length LA and the protrusion length LCb when the door 11C of the rear seat on the driver's side reaches the minimum opening required for unloading the luggage, the reference distance DA on the driver's side may be set. For example, if LA < LCb, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LCb. If LA = LCb or LA > LCb, the control unit 21 sets the reference distance DA on the driver's side to the same distance as the protrusion length LA. The protrusion length LCb may be preset as a fixed value or may be dynamically calculated according to the size of the luggage. When the control unit 21 detects a situation where there is an occupant sitting in the passenger seat and no occupant sitting in the rear seat on the passenger seat side, similar to the case where the vehicle 10 is a two - seater vehicle, based on the protrusion length LB, the reference distance DB on the passenger seat side is set.When the control unit 21 detects that there is no passenger in the passenger seat and there is a passenger in the rear seat on the passenger side, it sets the passenger-side reference distance DB based on the protrusion length LD of the rear passenger door 11D on the passenger side when it is opened to the minimum extent necessary for the passenger to get out. For example, the control unit 21 sets the passenger-side reference distance DB to the same distance as the protrusion length LD. The protrusion length LD may be set in advance as a fixed value, or it may be calculated dynamically according to the size of the passenger. If the control unit 21 determines that the passenger in the rear seat on the passenger side is a child, it may set the passenger-side reference distance DB based on the protrusion length LDm of the rear passenger door 11D on the passenger side when it is opened to the maximum extent. For example, the control unit 21 may set the passenger-side reference distance DB to the same distance as the protrusion length LDm. If the control unit 21 detects that luggage is placed in the rear passenger seat, it may set the reference distance DB on the passenger side based on the protrusion length LDb of the rear passenger door 11D on the passenger side when it reaches the minimum opening angle required to unload the luggage. For example, the control unit 21 may set the reference distance DB on the passenger side to the same distance as the protrusion length LDb. The protrusion length LDb may be set in advance as a fixed value, or it may be calculated dynamically according to the size of the luggage. The setting of the reference distance DB on the passenger side when it is detected that an occupant is sitting in the passenger seat and an occupant is also sitting in the rear passenger seat on the passenger side is the same as the setting of the reference distance DA on the driver's side when it is detected that an occupant is sitting in the rear driver's seat, so the explanation is omitted. If it is determined that the occupant sitting in the passenger seat is a child, the protrusion length LBm is applied instead of the protrusion length LB. If it is detected that luggage is placed in the passenger seat, the protrusion length LBb is applied instead of the protrusion length LB. If S1 further monitors whether an occupant is seated in the center of the rear seat or whether luggage is placed there, the center of the rear seat may also be considered as part of the rear seat on the driver's side. In other words, it may be considered that there are two rear seats on the driver's side.

[0038] If vehicle 10 is a 7 to 9-seater, the number and arrangement of doors are generally the same as if vehicle 10 were a 4 or 5-seater. Therefore, the setting of the reference distance DA on the driver's side and the reference distance DB on the passenger's side when vehicle 10 is a 7 to 9-seater is the same as when vehicle 10 is a 4 or 5-seater, except that there are two rear seats on both the driver's and passenger's sides, so the explanation is omitted. If S1 further monitors whether an occupant is sitting or luggage is placed in the center of the second-row rear seat, the center of the second-row rear seat may also be considered as a rear seat on the driver's side. That is, it may be considered that there are at least three rear seats on the driver's side. If S1 further monitors whether an occupant is sitting or luggage is placed in the center of the third-row rear seat, the center of the third-row rear seat may also be considered as a rear seat on the driver's side. That is, it may be considered that there are at least three rear seats on the driver's side.

[0039] In S3, the control unit 21 determines whether or not the vehicle 10 will move backward. If it is determined that the vehicle 10 will move backward, that is, if the vehicle 10 is detected to be moving backward, the step in S4 is executed. If it is determined that the vehicle 10 will not move backward, that is, if the vehicle 10 is not detected to be moving backward, the step in S1 is executed again.

[0040] Specifically, the control unit 21 determines whether the shift lever of the vehicle 10 has been switched to the R range. If the shift lever has been switched to the R range, step S4 is executed. If the shift lever is not in the R range, step S1 is executed again.

[0041] In S4, the control unit 21 acquires an image 31 of the rear of the vehicle 10, captured by the camera 30, in real time via the communication unit 23. The control unit 21 outputs the acquired image 31 of the rear of the vehicle 10 to the display 40 in real time via the communication unit 23. The display 40 displays the image 31 of the rear of the vehicle 10 on the screen 41 to assist in the reversing of the vehicle 10. Step S4 continues until the reversing of the vehicle 10 is completed, such as when the shift lever is switched from the R range to another range.

[0042] In S5, the control unit 21 determines whether there is an obstacle to the side of the space 60 that is predicted to be the destination of the vehicle 10. If it is determined that there is an obstacle, that is, if an obstacle is detected, the step in S6 is executed. If it is determined that there is no obstacle, that is, if no obstacle is detected, the flow shown in Figure 6 ends.

[0043] Specifically, the control unit 21 identifies a space 60 predicted to be the destination of the vehicle 10, based on the steering angle of the vehicle 10. The control unit 21 analyzes the image 31 of the rear of the vehicle 10 acquired in S4 in real time to determine whether there are obstacles on the driver's side and the passenger's side of the space 60. Known methods can be used for image analysis. Machine learning such as deep learning may also be used. In the example shown in Figure 3, a parked vehicle 50A is detected as an obstacle on the driver's side of the space 60, and a wall 50B is detected as an obstacle on the passenger's side of the space 60. Then, step S6 is executed.

[0044] In S6, the control unit 21 displays a guide element on the screen 41 that shows the image 31 of the rear of the vehicle 10, indicating a position that is a reference distance set in S2 from the obstacle detected in S5.

[0045] Specifically, if an obstacle is detected on the driver's side of space 60 in S5, the control unit 21 generates a superimposed image by superimposing a guide line 42A onto the rear image 31 of the vehicle 10, which indicates a position at a distance of the driver's side reference distance DA from the obstacle on the driver's side of space 60, as a guide element on the driver's side. If the passenger side reference distance DB is set in S2 and an obstacle is detected on the passenger side of space 60 in S5, the control unit 21 generates a superimposed image by superimposing a guide line 42B onto the rear image 31 of the vehicle 10, which indicates a position at a distance of the passenger side reference distance DB from the obstacle on the passenger side of space 60, as a guide element on the passenger side. The control unit 21 outputs the generated superimposed image to the display 40 in real time via the communication unit 23. The display 40 displays the superimposed image on the screen 41 to assist in parking the vehicle 10. In the example shown in Figure 4, guide line 42A is displayed as a line indicating a position a distance DA from the parked vehicle 50A on the driver's side, and guide line 42B is displayed as a line indicating a position a distance DB from the wall 50B on the passenger side.

[0046] If in S2 the system detects that an occupant is seated in the rear passenger seat, and in S5 an obstacle is detected on the passenger side of space 60, the control unit 21 may determine whether the distance from the obstacle on the passenger side of space 60 to space 60 is shorter than the passenger side reference distance DB. In such a modified example, if the control unit 21 determines that the distance from the obstacle on the passenger side of space 60 to space 60 is shorter than the passenger side reference distance DB, it outputs a message prompting the occupant to get out of the rear passenger seat on the driver's side. For example, the control unit 21 may display such a message on the screen 41, or it may output it as an audible message from the in-car speaker.

[0047] This disclosure is not limited to the embodiments described above. For example, two or more blocks described in the block diagram may be combined, or one block may be divided. Instead of executing two or more steps described in the flowchart in chronological order as described, they may be executed in parallel or in a different order, depending on the processing capacity of the device performing each step, or as necessary. Other modifications are possible without departing from the spirit of this disclosure. [Explanation of Symbols]

[0048] 10 vehicles Doors 11A, 11B, 11C, 11D 20 Reverse support device 21 Control Unit 22 Memory section 23 Communications Department 30 Cameras 31 images 40 displays 41 screens 42A, 42B guide lines 50A Parked Vehicles 50B wall 60 spaces

Claims

1. The vehicle monitors the usage status of each seat on the driver's side and passenger's side. Depending on the usage conditions, set the reference distances for the driver's side and the passenger's side, respectively. When the vehicle is reversing and an obstacle is detected to the side of the space where the vehicle is expected to proceed, a guide element indicating a position a distance from the detected obstacle by the specified reference distance will be displayed on the screen showing the image behind the vehicle to assist in the vehicle's reversal. Equipped with a control unit, The control unit detects, as a usage condition, that there is an occupant sitting in or luggage placed in the rear seat on the driver's side of the vehicle, and sets the reference distance on the driver's side based on the protruding length of the driver's side door of the vehicle when it is opened to the minimum extent necessary for the driver to get out, and the protruding length of the rear seat door on the driver's side when it is opened to the minimum extent necessary for the occupant to get out or the luggage to be unloaded.

2. The vehicle monitors the usage status of each seat on the driver's side and passenger's side. Depending on the usage conditions, set the reference distances for the driver's side and the passenger's side, respectively. When the vehicle is reversing and an obstacle is detected to the side of the space where the vehicle is expected to proceed, a guide element indicating a position a distance from the detected obstacle by the specified reference distance will be displayed on the screen showing the image behind the vehicle to assist in the vehicle's reversal. Equipped with a control unit, The control unit, When the system detects that an occupant is seated in the rear passenger seat of the vehicle, it sets the reference distance on the passenger side based on the protruding length of the rear passenger door on the passenger side when it is opened to the minimum extent necessary for the occupant to exit. A reversing assistance device that, when the vehicle is reversing, detects the obstacle on the side of the space corresponding to the passenger side, and determines that the distance from the obstacle to the space is shorter than the reference distance on the passenger side, outputs a message prompting the occupant to get out of the rear seat on the driver's side of the vehicle.

3. A camera that takes the aforementioned image, Reverse assist device according to claim 1 or claim 2 and A vehicle equipped with the following features.

Images