Driving support apparatus for tow coupling

Abstract

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 vehicle comprising:
 a first coupler provided at a rear section of the vehicle and configured to be coupled with a second coupler of a tow-target vehicle;   a camera configured to capture first images of an area behind the vehicle; and   a display configured to display second images that are based on the first images,   wherein the second images include:
 a coupler image corresponding to the first coupler, 
 first indicia indicative of a predicted trajectory of the vehicle moving backward, the first indicia including a first trajectory line extending along a first imaginary line from the rear section of the vehicle in a backward direction and a second trajectory line different from the first trajectory line and extending along a second imaginary line from the rear section of the vehicle in the backward direction, and 
 second indicia indicative of a predicted trajectory of the first coupler, at least a portion of the second indicia being placed between the first trajectory line and the second trajectory line of the first indicia, 
 wherein the first indicia and the second indicia are adjusted in accordance with a steering turning angle of the vehicle. 
   
     
     
         2 . The vehicle according to  claim 1 , wherein the second indicia includes a third trajectory line extending along a third imaginary line from the coupler image in the backward direction and a fourth trajectory line different from the third trajectory line and extending along a fourth imaginary line from the coupler image in the backward direction. 
     
     
         3 . The vehicle according to  claim 2 ,
 wherein the first trajectory line and the second trajectory line are spaced apart by a first distance corresponding to a width of the vehicle, and   wherein the third trajectory line and the fourth trajectory line are spaced apart by a second distance corresponding to a width of the first coupler.   
     
     
         4 . The vehicle according to  claim 3 , wherein the first trajectory line, the second trajectory line, the third trajectory line, and the fourth trajectory line are superimposed on the second images. 
     
     
         5 . The vehicle according to  claim 3 , wherein the first trajectory line and the second trajectory line are parallel to each other, and wherein the third trajectory line and the fourth trajectory line are parallel to each other. 
     
     
         6 . The vehicle according to  claim 1 , comprising a turning-angle sensor configured to detect the steering turning angle of the vehicle. 
     
     
         7 . The vehicle according to  claim 1 , further comprising a controller, which, in operation, causes the second images to be displayed on the display. 
     
     
         8 . The vehicle according to  claim 7 , further comprising a non-transitory computer-readable storage medium having instructions stored thereon that, when executed by the controller, cause the second images to be displayed on the display. 
     
     
         9 . An on-vehicle device configured to be mounted in a vehicle, the vehicle including a first coupler provided at a rear section of the vehicle and configured to be coupled with a second coupler of a tow-target vehicle, a camera configured to capture first images of an area behind the vehicle, and a display configured to display second images that are based on the first images, wherein the on-vehicle device comprises:
 at least one node configured to be coupled to the camera; and   at least one node configured to be coupled to the display,   wherein the on-vehicle device is configured when mounted in the vehicle to display the second images on the display, the second images including:   a coupler image corresponding to the first coupler,   first indicia indicative of a predicted trajectory of the vehicle moving backward, the first indicia including a first trajectory line extending along a first imaginary line from the rear section of the vehicle in a backward direction and a second trajectory line different from the first trajectory line and extending along a second imaginary line from the rear section of the vehicle in the backward direction, and   second indicia indicative of a predicted trajectory of the first coupler, at least a portion of the second indicia being placed between the first trajectory line and the second trajectory line of the first indicia, and wherein the first indicia and the second indicia are adjusted in accordance with a steering turning angle of the vehicle.   
     
     
         10 . The on-vehicle device according to  claim 9 , wherein the second indicia includes a third trajectory line extending along a third imaginary line from the coupler image in the backward direction and a fourth trajectory line different from the third trajectory line and extending along a fourth imaginary line from the coupler image in the backward direction. 
     
     
         11 . The on-vehicle device according to  claim 10 ,
 wherein the first trajectory line and the second trajectory line are spaced apart by a first distance corresponding to a width of the vehicle, and   wherein the third trajectory line and the fourth trajectory line are spaced apart by a second distance corresponding to a width of the first coupler.   
     
     
         12 . The on-vehicle device according to  claim 11 , wherein the first trajectory line, the second trajectory line, the third trajectory line, and the fourth trajectory line are superimposed on the second images. 
     
     
         13 . The on-vehicle device according to  claim 11 , wherein the first trajectory line and the second trajectory line are parallel to each other, and wherein the third trajectory line and the fourth trajectory line are parallel to each other. 
     
     
         14 . The on-vehicle device according to  claim 9 , further comprising a turning-angle sensor configured to detect the steering turning angle of the vehicle. 
     
     
         15 . The on-vehicle device according to  claim 9 , further comprising a controller, which, in operation, causes the second images to be displayed on the display. 
     
     
         16 . The on-vehicle device according to  claim 15 , further comprising a non-transitory computer-readable storage medium having instructions stored thereon that, when executed by the controller, cause the second images to be displayed on the display.