Driving support apparatus for tow coupling
View Patent ↗A driving support device outputs, to a display means ( 103 ), a superimposed image in which a pair of left and right planar predicted trajectory guide marks ( 405 ), ( 406 ) corresponding to steering of the vehicle are superimposed onto a captured vehicle-rearview image including the tow vehicle connector ( 402 ) and the towed-vehicle connector ( 404 ). An image superimposing unit ( 112 ) superimposes sides ( 405 a ), ( 406 a ) of the predicted trajectory guide marks ( 405 ), ( 406 ) that are on the vehicle-width-center side further towards the outer edge relative to the tow vehicle connector ( 402 ), and superimposes sides ( 405 b ), ( 406 b ) of the predicted trajectory guide marks ( 405 ), ( 406 ) that are on the outer-edge side in the vehicle-width direction as predicted trajectories of the side edges of the vehicle.
1. A driving support apparatus comprising:
a non-transitory computer readable medium configured to store steps of a control program and captured images of an area behind a vehicle;
a processor configured to execute the steps of the control program, the processor having a plurality of sections;
an image acquiring section that acquires a captured image of the area behind the vehicle supported by the driving support apparatus, the area including a tow coupler at a rear portion of the vehicle and a tow-target coupler of a tow-target vehicle to be coupled to the tow coupler; and
a superimposing section that superimposes a pair of left and right planar predicted-trajectory guide marks in accordance with steering operation of the vehicle supported by the driving support apparatus, on the captured image acquired by the image acquiring section and that outputs a superimposed image, wherein
each of the pair of left and right planar predicted-trajectory guide marks comprises at least a first line that forms a first side of the predicted-trajectory guide mark located toward a center of the vehicle's rear width and a second line that forms a second side of the predicted-trajectory guide mark located toward an outer edge of the vehicle's rear width, the first line being separated from the second line,
the superimposing section superimposes first lines of the predicted-trajectory guide marks starting at positions on either side of the tow coupler, such that the first lines of the predicted-trajectory guide marks indicate an alignment of a predicted-trajectory of the tow coupler with respect to the tow-target coupler of the tow-target vehicle, wherein a distance between the first lines of the predicted-trajectory guide marks is similar to a width of the tow coupler, and
the superimposing section superimposes second lines in of the predicted-trajectory guide marks starting near both rear corners of the vehicle, said second lines indicating a predicted trajectory of the vehicle's rear width.
2. The driving support apparatus according to claim 1 , further comprising a display that displays the superimposed image provided by the superimposing section, wherein
the display displays the tow coupler in a gap between the first line of the left planar predicted-trajectory guide mark and the first lines of the right predicted-trajectory guide mark.
3. The driving support apparatus according to claim 2 , further comprising a backward imaging section that captures an image of the area behind the vehicle supported by the driving support apparatus and that outputs the captured image to an image processing section.
4. The driving support apparatus according to claim 1 , further comprising an image conversion section that generates an overhead view image by converting a view point of the captured image acquired from the image acquiring section, wherein
the superimposing section superimposes the pair of left and right planar predicted-trajectory guide marks in accordance with the steering operation of the vehicle supported by the apparatus, on the overhead view image generated by the image conversion section, in place of the captured image acquired by the image acquiring section, and that outputs the superimposed image.
5. The driving support apparatus according to claim 1 , wherein a color of the first line and a color of an area between the first line and the second line are different from each other.
6. The driving support apparatus according to claim 1 , further comprising a display that displays the superimposed image provided by the superimposing section, wherein
the display displays the captured image acquired by the image acquiring section in an area between the first line and the second line in the superimposed image.
7. The driving support apparatus according to claim 6 , wherein the display does not display the captured image on the first line in the superimposed image.
8. The driving support apparatus according to claim 1 , wherein the first lines of each of the predicted-trajectory guide marks are located on a center side of the vehicle's rear width, on each side of the tow coupler.