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

Vehicle inspection method and vehicle inspection system

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

[0002] There are known driving assistance devices that automatically control at least one of the steering angle and the vehicle speed to assist driving of a vehicle. 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.

[0003] Japanese Patent Application Laid-Open No. 2005-196276

[0004] In the past, when repairs to a driving assistance device such as the above were completed, it was confirmed that there were no faults and that the system was normal, but it was not confirmed whether the repaired driving assistance device could demonstrate its original performance.The present invention aims to confirm whether the repaired driving assistance device can demonstrate its original performance when repairs to a driving assistance device that automatically controls at least the vehicle speed to assist vehicle driving are completed.

[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.

[0006] According to the present invention, when repairs to a driving assistance device that automatically controls at least the vehicle speed to assist vehicle driving are completed, it is possible to confirm whether the repaired driving assistance device can perform as intended. The objects and advantages of the present invention are realized and achieved by using the elements and combinations recited in the claims. It should be understood that both the foregoing general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the invention as defined by the claims.

[0007] It is a schematic diagram of an example of a vehicle inspection system according to an embodiment. It is a schematic diagram of a configuration of an image display device attached to a camera. It is a flowchart of an example of a vehicle inspection method according to an embodiment.

[0008] (Configuration) FIG. 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 under test 10. 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 vehicle under test 10. The controller 13 executes driving assistance control, which automatically controls at least the vehicle speed of the vehicle under test 10, based on a forward-looking image captured by the camera 12 of the environment ahead of the vehicle under test 10 and various vehicle information obtained from the vehicle under test 10 by the vehicle sensors 14. The controller 13 includes an electronic circuit having a processor 13a and peripheral components such as a storage device 13b. 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, or the like. The storage device 13b may include a register, a cache memory, a ROM used as a main storage device, a RAM, or the like. 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 decelerate or stop the subject vehicle 10. Furthermore, for example, the driving assistance control by the controller 13 may include constant speed traveling control that controls the driving force source 16 that generates driving force for the subject vehicle 10 and the brake device 15 to cause the subject vehicle 10 to travel at a constant speed. Furthermore, 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 brake device 15 to maintain the inter-vehicle distance between the subject vehicle 10 and a preceding vehicle at a target inter-vehicle distance corresponding 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 driving of 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 its driving lane. In the following description, the driving assistance functions of the driving assistance device 11 that execute automatic braking control, constant speed traveling control, inter-vehicle distance control, and lane departure prevention control may be referred to as the "automatic braking function," the "constant speed traveling function," the "inter-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 40. The vehicle support device 20 may be, for example, a chassis dynamometer 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 inspection, 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 inspection 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 rotational speed of one of the rollers 21a to 21d that supports 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. Note that, because the wheels 17F and 17R are supported by the 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 rather 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, or the like. The storage device 32 may include memories such as a register, a cache memory, and a ROM and RAM used as a main storage device. The functions of the image generation device 30 described below are realized, for example, by 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 (e.g., obstacles such as other vehicles and people, traffic lights, traffic signs, and road surface markings (e.g., lane boundaries, stop lines, road markings, and buildings) in a 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 a virtual object, the image generation device 30 calculates the virtual position of the virtual object, which changes over time.

[0018] The image generation 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 the CG virtual image in accordance with a predefined test method. For example, the image generation device 30 may generate a CG virtual image in which an obstacle (e.g., another vehicle or a person) moving ahead of the subject vehicle 10 appears according to a scenario defined in the predefined test method. The predefined test method may be, for example, a test method defined in the New Car Assessment Program (NCAP). The method may cause an obstacle to appear when the subject vehicle 10 is traveling within a vehicle speed range defined for the test speed of the scenario and the accelerator pedal position is detected to be constant.

[0019] Furthermore, for example, the image generation 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 real image data obtained by capturing an actual environment. In this case, for example, the image generation device 30 reads the real image data and location information recording the location where the real image data was captured and the moving speed of the capturing device. For example, the image generation device 30 may read recorded information from a drive recorder. The recorded information from the drive recorder includes information recording a forward monitoring image captured by a camera mounted on a traveling vehicle (e.g., the subject vehicle 10 or another vehicle), the vehicle speed at each time the forward monitoring image data was captured, and the vehicle position measured by a positioning device such as a GPS. The image generation device 30 may generate a virtual image in which the viewpoint changes in synchronization with the vehicle speed of the subject vehicle 10 by controlling the playback speed of the real image data based on the vehicle speed information of the subject vehicle 10 acquired from the vehicle speed sensor 22 or the controller 13 and the recorded information from 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 and that displays the virtual image. In this case, it is preferable to align the relative positional relationship between the screen or display monitor device and the vehicle support device 20 in the up-down direction and in the vehicle width direction of the subject vehicle 10 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] Furthermore, 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 a virtual image displayed on the screen or display monitor device is captured by the camera 12, the angle of view of a partial image of the virtual 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 fore-and-aft direction so that the four corners of the virtual image coincide with the four corners of the captureable range of the camera 12. When aligning the position between the screen or display monitor device and the vehicle support device 20, for example, the virtual image displayed on the screen or display monitor device may be captured by the camera 12, and alignment may be performed so as to satisfy the conditions for the relative positional relationship in each direction based on the still image or video output from the camera 12. 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. Fig. 2 is a schematic diagram of the configuration of the image display device attached to the camera 12. The image display device 40 in Fig. 2 includes 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 fixture (not shown). By attaching the image display device 40 itself to the camera 12, even when 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 image due to light from the headlights 18 being reflected on the image display surface of the image display device 40, and to prevent degradation 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 vehicle inspection method using the above-described vehicle inspection system 1 will now be described. FIG. 3 is a flowchart of an example of a vehicle inspection method for inspecting an 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 caused to run with the wheels 17F and 17R supported by 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 driving the drive wheels of the subject vehicle 10 on the vehicle support device 20.

[0024] In step S2, the image generation device 30 acquires vehicle speed information of the subject vehicle 10 from the vehicle speed sensor 22 or the controller 13. In step S3, the image generation device 30 generates a virtual image of the environment seen ahead from the subject vehicle 10. When inspecting the automatic braking function, the image generation 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 generation 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 generation 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 (e.g., a display monitor device disposed in front of the subject vehicle 10) displays the virtual image generated by the image generation device 30.

[0025] In step S5, the camera 12 captures the virtual image displayed by the image display device 40 to generate a forward monitoring image. The controller 13 recognizes an image of an obstacle in the forward monitoring image (i.e., an image of the obstacle in the virtual image) by performing image recognition processing on the forward monitoring image. For example, the controller 13 can recognize the image of the obstacle using an existing method such as pattern matching. The controller 13 executes automatic brake control in response to the recognized obstacle. That is, the controller 13 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, thereby bringing the subject vehicle 10 to a stop. 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 in front of the obstacle in the virtual image. For example, when the image generation device 30 generates a CG virtual image, it is checked whether the subject vehicle 10 can stop in front of the 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, or the like. The storage device 52 may include memories such as a register, a cache memory, and a ROM and RAM used as a main storage device. The functions of the diagnostic device 50 described below are realized, for example, by 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 is activated and decelerating the test vehicle 10, the test vehicle 10 will be closer to the obstacle than if there is no delay. Also, if the braking force generated by the brake device 15 is small, the test vehicle 10 will travel a longer distance before stopping, and will be closer to the obstacle. If the relative positional relationship between the virtual position of the obstacle and the virtual position of the test vehicle 10 is such that the obstacle and the test vehicle 10 come into contact, it is determined that the test vehicle 10 did not stop in front of the obstacle. In other words, it is determined that the test 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, when actual video footage captured by a drive recorder of a scene in which the vehicle contacts an obstacle or a scene in which the vehicle stops just before contact is available, a virtual video based on such actual video may be displayed on the video 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 video becomes stationary before the scene displayed on the video display device 40 reaches the scene in which the vehicle contacts an obstacle or a scene in which the vehicle stops just before contact, it is possible to check whether the subject vehicle 10 can stop at a position in front of the obstacle.

[0031] An example of inspecting a driving assistance function other than the automatic braking function will be described below. When inspecting the constant speed traveling function, in step S3, a virtual image of the environment seen ahead from a vehicle traveling on a road is generated. The image generating 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, vehicle speed information of the subject vehicle 10 is acquired, and it is inspected whether the vehicle speed information of the subject vehicle 10 is equal to or less than the speed limit indicated by a speed limit sign in the virtual image, or whether it is equal to or less than a maximum speed limit set in advance for the subject vehicle 10.

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

[0033] When checking 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 zero is generated. The 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 acquired 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 generation 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 detects the light from the headlights of an oncoming vehicle using an illuminance sensor attached somewhere on the subject vehicle 10 (e.g., on a side mirror) and automatically switches the headlights 18 of the subject vehicle 10 between high beam and low beam. When inspecting the auto-high beam function, for example, a virtual image of passing an oncoming vehicle at night is displayed, and it is inspected 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. In this case, 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 video display device 40.

[0036] The adaptive light function of the subject vehicle 10 may also be inspected. The adaptive light function detects other vehicles or pedestrians ahead of the subject vehicle 10 from the forward monitoring image captured by the camera 12 and automatically diverts the optical axis of the subject vehicle's 10 headlights 18 from the other vehicles or pedestrians. When inspecting the auto high beam function, a virtual image of other vehicles or pedestrians appearing ahead of the subject vehicle 10 is displayed, and it is inspected whether the direction of the subject vehicle's 10 headlights 18 is automatically controlled so that the optical axis of the subject vehicle's 10 headlights 18 is diverts from the other vehicles or pedestrians. At this time, to prevent the camera 12 from being unable to capture the virtual image due to the light from the headlights 18 or to prevent degradation 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 attachable to the camera 12).

[0037] (Effects of the Embodiment) (1) The vehicle inspection system 1 inspects a subject vehicle 10 equipped with a controller 13 that automatically controls vehicle speed based on forward monitoring video. 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 forward 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 camera 12 mounted on the subject vehicle 10 that generates forward monitoring video captures the virtual image. The vehicle support device 20 may be, for example, a chassis dynamometer 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 the driving of 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, inter-vehicle distance control function, lane departure prevention function, auto high beam function, and adaptive light function implemented by the controller 13 provided in 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 subject vehicle 10. This allows for the generation of a virtual image that synchronizes with the vehicle speed signal of the subject vehicle 10. (3) When inspecting the automatic braking function, a virtual image may be generated showing an obstacle in front of the subject vehicle 10 approaching the subject vehicle 10 when the vehicle speed is higher than 0, and it may be determined whether the subject vehicle 10 stops in front of the obstacle. This allows for the inspection of whether the automatic braking function of the subject vehicle 10 is able to perform as intended.

[0040] (4) The image generating device 30 may generate a virtual image in accordance with a predetermined test method. This allows inspection to be performed in accordance with the predetermined test method. (5) A steering command signal for the steering angle of the vehicle 10 under test may be acquired from the controller 13, the yaw angle of the vehicle 10 under test 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 that automatically controls the steering angle based on the forward monitoring image.

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

[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 wheels, 17R...rear wheels, 18...headlights, 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. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; In an automatic brake function check, when the vehicle speed is higher than 0, an image of an obstacle in front of the vehicle approaching the vehicle 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 dynamo 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. The vehicle inspection method according to claim 1, characterized in that at least one of an automatic braking function, a constant speed driving function, a vehicle distance control function, a lane departure prevention function, an auto high beam function, or an adaptive light function implemented by the controller provided in the vehicle is inspected.

5. (delete)

6. (delete)

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 having a controller that automatically controls a 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 an 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 an obstacle approaching the vehicle ahead of the vehicle when the vehicle speed is higher than 0 during an automatic brake function check; an image display device that displays the virtual image as if the virtual image were captured by a camera mounted on the vehicle and generating the forward monitoring image; a diagnostic device for determining 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 in front of the vehicle when the vehicle speed is within a vehicle speed range defined by the test method and the accelerator opening is detected to be constant; 2. The vehicle inspection method according to claim 1 .

12. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; In checking a constant speed traveling function that controls constant speed traveling of the vehicle, checking whether the vehicle speed signal is equal to or lower than a speed limit indicated by a speed limit sign in the virtual image, or equal to or lower than an upper limit speed previously set for the vehicle. A vehicle inspection method comprising:

13. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; generating the virtual image of an environment seen ahead from a vehicle traveling on a road following a leading vehicle in an inspection of a vehicle distance control function for controlling a vehicle distance between the vehicle and the leading vehicle; checking whether or not the inter-vehicle distance between the vehicle and the preceding vehicle is equal to a target inter-vehicle distance set in accordance with the vehicle speed of the vehicle; A vehicle inspection method comprising:

14. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; In an inspection of a lane departure prevention function that performs control to prevent the vehicle from departing from a lane, the virtual image of an environment seen ahead from the vehicle traveling on a road having a curvature greater than 0 is generated; pre-disabling a steering actuator of the vehicle; acquiring a steering angle command signal for a steering angle of the vehicle from the controller; checking whether or not the steered wheels are being steered in a direction that prevents the vehicle from deviating from a lane based on the steering angle command signal; A vehicle inspection method comprising:

15. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; In an inspection of an auto high beam function that detects the light of the headlights of an oncoming vehicle and controls the headlights of the vehicle, the virtual image of the vehicle passing an oncoming vehicle at night is displayed, checking whether the headlights are switched to low beam when there is an oncoming vehicle, and whether the headlights are switched to high beam when there is no oncoming vehicle; A vehicle inspection method comprising:

16. A vehicle inspection method for a vehicle equipped with a controller that automatically controls a vehicle speed based on a forward monitoring image, comprising: a vehicle support device supporting wheels of the vehicle; acquiring a vehicle speed signal of the vehicle supported by the vehicle support device; generating a virtual image of an environment seen ahead of the vehicle such that the virtual image is synchronized with the vehicle speed signal and such that obstacles moving ahead of the vehicle appear in the virtual image according to a scenario defined by a predefined test method; displaying the virtual image as if a camera mounted on the vehicle that generates the forward monitoring image were capturing the virtual image; In an inspection of an adaptive light function that detects another vehicle or pedestrian from a forward monitoring image and controls the optical axis of the headlights, a virtual image is generated in which another vehicle or pedestrian appears in front of the vehicle, Checking whether the direction of the headlights of the vehicle is controlled so that the optical axis of the headlights is deflected away from other vehicles or pedestrians; A vehicle inspection method comprising: