JP2014058258A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device for guiding a vehicle to an appropriate position at which each door can be opened at a desired angle.SOLUTION: According to a driver's request, a door open and close condition including a maximum opening angle of each door is set, and on the basis of the door open and close condition, a target parking position is set within a prescribed parking space.

Description

  The present invention relates to a parking assistance device that provides parking assistance to a driver via an image obtained by imaging the periphery of a vehicle.

  2. Description of the Related Art Conventionally, there is known a parking assistance device that performs parking assistance for a driver so that the vehicle can be parked at a desired position when the vehicle is parked while retreating. As a parking assistance device, for example, a device in which a target parking position is set at a desired position of a parking lot on an image and guidance to the target parking position is performed (see, for example, Patent Document 1). ).

  Since the parking assist device does not consider a space for opening the door when getting off, etc., there is a possibility that the door cannot be opened at a desired angle even if the vehicle can be parked in the parking lot.

  For such a problem, for example, when a passenger is only on the driver's seat side, a parking assist device is proposed that guides the vehicle to a parking position where the getting-off space on the driver's seat side widens. (For example, refer to Patent Document 2).

Japanese Patent No. 3809431 JP 2004-142659 A

  In the parking assistance device described in Patent Document 2, when the occupant is only on the driver's seat side, the door can be opened relatively wide to easily get on and off. However, in other cases, there is a possibility that the door cannot be opened at a desired angle.

  Also, if there are pillars or other obstacles overhanging the parking space, the door will interfere with the obstacles even if the getting-off space on the driver's seat is wider than that on the passenger seat. There is a possibility that it cannot be fully opened. For example, even if the front seat door can be opened at a desired angle, there is a possibility that the rear seat door may interfere with an obstacle and cannot be opened at the desired angle.

  This invention is made | formed in view of such a situation, and it aims at providing the parking assistance apparatus which guides a vehicle to the appropriate position which can open each door at a desired angle.

  According to a first aspect of the present invention for solving the above-described problem, an image displayed on the display unit is provided with an image capturing unit that captures an image of the periphery of the vehicle, and a display unit that displays an image captured by the image capturing unit. A parking assistance device that provides parking assistance to the driver through the parking space identification means for identifying the parking space based on the image captured by the imaging means, and the maximum opening of each door according to a request from the driver A parking support apparatus comprising: condition setting means for setting a door opening / closing condition including an angle; and target parking position setting means for setting a target parking position in the parking space based on the door opening / closing condition. is there.

  According to a second aspect of the present invention, there is provided the parking support apparatus according to the first aspect, wherein the door opening / closing condition includes a position of a door that opens and closes after parking.

  According to a third aspect of the present invention, in the parking assistance device according to the first or second aspect, the target parking position setting means is configured to prevent the target door from being opened and closed based on the door opening / closing condition from interfering with an obstacle. A parking assist device is characterized in that a parking position is set.

  According to a fourth aspect of the present invention, in the parking support apparatus according to any one of the first to third aspects, the image captured by the imaging unit is converted into a bird's-eye view image and displayed on the display unit, and the door The parking support apparatus further includes image processing means for superimposing and displaying the vehicle image with the door opened according to the opening / closing condition on the bird's-eye view image.

  In the parking assist device according to the present invention, the target parking position is determined based on the door opening / closing condition including the maximum opening angle of the door. Therefore, the vehicle is parked at the target parking position, so that each door is opened as desired. You can open up to an angle.

It is a block diagram which shows schematic structure of the parking assistance apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the image displayed on the display of a parking assistance apparatus. It is a figure which shows an example of the image displayed on the display of a parking assistance apparatus. It is a figure which shows an example of the image displayed on the display of a parking assistance apparatus. It is a figure which shows an example of the image displayed on the display of a parking assistance apparatus. It is a flowchart which shows an example of the parking assistance control which concerns on one Embodiment of this invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  A parking assistance device 10 according to the present embodiment is a device that performs parking operation assistance (parking assistance) for a driver through an image displayed on a display. As shown in FIG. 1, an ECU (electronic device) that controls a parking assistance process. A control unit 20, an in-vehicle camera 30 that is an imaging unit mounted on the vehicle, and a display 40 as a display unit that displays an image captured by the in-vehicle camera 30.

  The in-vehicle camera 30 is a rear view camera installed toward the rear of the vehicle, and captures a scene behind the vehicle when the vehicle is backed. Although the configuration of the in-vehicle camera 30 is not particularly limited, for example, a small camera such as a CCD camera is preferably used. The in-vehicle camera 30 is a rear view camera that captures a scene behind the vehicle in the present embodiment, but may be composed of a plurality of cameras that capture a scene on the side of the vehicle or in front of the vehicle together with the rear view camera.

  The display 40 displays an image (video) captured by the in-vehicle camera 30 and displays guidance and notification contents for parking operation assistance (parking assistance). In addition, the display 40 is provided in the front side of a vehicle, for example, an instrument panel so that a driver can visually recognize. In the present embodiment, the display 40 is configured by a touch panel that can perform a predetermined operation when an occupant such as a driver touches the screen.

  The parking assistance device 10 also includes a parking guide switch 50 for instructing the start or end of parking assistance, a handle angle sensor 60 for detecting the steering angle of the steering wheel, a wheel speed sensor 70 for detecting the rotational speed of the wheel, and a voice message regarding parking assistance. The speaker 80 which emits is provided.

  The ECU 20 includes a parking space specifying unit 21, an image processing unit 22, a condition setting unit 23, a target parking position setting unit 24, and a parking guide instruction unit 25.

  The parking space specifying means 21 specifies a parking space where the vehicle can be parked from an image captured by the in-vehicle camera (rear view camera) 30. In this embodiment, a parking space is specified based on the bird's-eye view image converted by the image processing means. The parking space is, for example, each space partitioned by a lane line in the parking lot. That is, the parking space specifying means 21 recognizes a lane marking that divides the parking lot together with other vehicles or obstacles parked in the vicinity, and specifies the parking space based on the information.

  Here, the image processing means 22 converts the image captured by the vehicle-mounted camera 30 as described above into a bird's-eye view image and displays it on the display 40, and for example, a vehicle image 90 such as a vehicle symbol that is an abstract graphic. Is superimposed and displayed on the bird's-eye view image. When the parking space is recognized by the parking space specifying means 21, the recognized parking space is displayed in a superimposed manner on the bird's-eye view image. The vehicle image (vehicle symbol) 90 is created based on vehicle specification information stored in a storage unit (not shown), for example, the height, width, length, etc. of the vehicle.

  FIG. 2 is a diagram illustrating an example of an image displayed on the display 40. When imaging is started by the in-vehicle camera 30, a bird's-eye view image of the imaging area is displayed on the display 40, and a vehicle image 90 is displayed at the current position of the host vehicle. The parking space specifying means 21 specifies the space S1 partitioned by the lane marking 100 based on this image. Furthermore, as shown in FIG. 2B, when the obstacle 110 such as a pillar protrudes in the space S1 defined by the lane marking 100, as shown in FIG. A space excluding the object 110 is recognized as a parking space S2.

  In this embodiment, since there is only one partitioned space in the image, a parking space is automatically specified based on the image. For example, a plurality of partitioned spaces are included in the image. If it exists, the driver may select which space to select.

  The condition setting unit 23 sets a door opening / closing condition in response to a request (input) from a driver, for example. That is, when the driver performs various button operations, touch operations on the display 40, etc., and inputs the door opening / closing conditions, the condition setting means 23 sets the door opening / closing conditions according to the input contents. The door opening / closing conditions include conditions such as the maximum opening angle of the door and the position of the door that opens after the vehicle is parked. When the vehicle includes a rear gate, the rear gate is also included in the door here.

  Incidentally, the display 40 is a touch panel type, and various operations can be performed on the screen, and door opening / closing conditions can also be input on the screen of the display 40. In the present embodiment, the angle of the door that opens after the vehicle is parked (maximum opening angle) is input and the door to be opened is designated.

  For example, when the start of the door opening / closing condition is instructed on the screen of the display 40, as shown in FIG. 3, a setting vehicle image 91 is displayed at a substantially central portion in the parking space S2. The driver inputs the door open / close condition by operating the door 92 of the vehicle image 91 on the screen. That is, the door 92 is opened to a predetermined opening degree by sliding the finger or the touch pen while touching the predetermined door 92 with a finger or a touch pen. Thereby, the designation of the door to be opened and the maximum opening angle of each door are set.

  In the example shown in FIG. 3, the door 92A for the driver seat (right front seat) and the door 92B for the right rear seat are designated as doors to be opened, the door 92A for the driver seat is the opening angle θ1, and the door for the rear seat is open. The angle θ2 is set. In this state, the door 92 </ b> A reaches the outside of the lane marking 100, and the door 92 </ b> B interferes with the pillar that is the obstacle 110. That is, when the vehicle is guided to this position, the vehicle can be parked in the parking space S2, but the door cannot be opened at a desired angle.

  However, in the present invention, since the target parking position is set based on the door opening / closing conditions as described below, each door can be opened at a desired angle by parking the vehicle at the target parking position.

  The method for inputting (setting) the door opening / closing conditions is not particularly limited. For example, a numerical value may be input for the maximum opening angle of the door by a button operation or the like. Further, for example, a hydraulic opening restriction device may be provided at each door of the vehicle, and the opening restriction device may be appropriately operated according to the set maximum opening angle.

  When the door opening / closing conditions are set by the condition setting unit 23, the target parking position setting unit 24 should park the vehicle at a position away from a surrounding obstacle by a predetermined distance based on the set door opening / closing conditions. Set the target parking position. For example, as shown in FIG. 4, the target parking position setting means 24 is provided in the parking space S <b> 2 so that the door 92 of the vehicle image 91 opened based on the door opening / closing condition does not interfere with the obstacle 110 such as a pillar. Set the target parking position. That is, the target parking position setting unit 24 moves the vehicle image 91 to a position where the opened door 92 does not interfere with the lane marking 100 or the obstacle 110. As a result, in the example of FIG. 4, the position where the vehicle image 91 is displayed is the target parking position.

  The parking guide instruction means 25 performs parking assistance so as to guide the vehicle to the target parking position set by the target parking position setting means 24. That is, as shown in FIG. 5, the parking assistance is executed so that the vehicle image 90 displayed at the current position matches the vehicle image 93 at the target parking position. Since parking assistance by the parking guide instruction means 25 is a known technique, it will be briefly described here.

  The parking guide instruction means 25 calculates (accumulates) the behavior of the vehicle after the start of parking support based on the outputs of the handle angle sensor 60 and the wheel speed sensor 70, and obtains an appropriate travel route from the current position to the target parking position. . Then, the appropriate teaching content is provided to the driver at an appropriate timing during the parking operation so that the vehicle travels on this travel route. Specifically, the vehicle is displayed on the display 40 in the direction of forward, backward, stop and further turning the steering wheel, and is guided and taught by voice from the speaker 80 or the like.

  Thus, in the parking assistance apparatus 10 according to the present embodiment, the door opening / closing conditions are set as appropriate, and the target parking position is set based on the door opening / closing conditions. Thereby, the vehicle parked at the target parking position can open the predetermined door at a desired angle. That is, even in a relatively small parking lot, the vehicle can be guided to an appropriate target parking position so that each door can be opened at a desired angle.

  Next, parking assistance control according to the present embodiment will be described with reference to the flowchart shown in FIG.

  First, when the parking guide switch 50 is turned on by an occupant such as a driver in step S1 (step S1: Yes), monitoring of the surrounding situation of the host vehicle is started (step S2). That is, imaging of a scene behind the host vehicle by the in-vehicle camera 30 is started. Next, the image processing means 22 converts the image captured by the in-vehicle camera into a bird's-eye view image, and the parking space specifying means 21 starts specifying the parking space based on this image (step S3). When the identification of the parking space is completed in the stopped state (step S4: Yes), the process proceeds to step S5. In step S5, the condition setting means 23 starts to set the door opening / closing conditions in accordance with the driver input (step S5). When this condition setting is completed in the stopped state (step S6: Yes), the process proceeds to step S7. In step S7, the target parking position setting unit 24 sets the target parking position based on the door opening / closing condition. Thereafter, the parking guide instruction means 25 starts parking support based on the target parking position (step S8), and when the parking by the driver is completed (step S9: Yes), the series of processing ends.

  If the identification of the parking space is not completed in step S4 (step S4: No), or if the setting of the door opening / closing conditions is not completed in step S6 (step S6: No), the process proceeds to step S10. It is determined whether or not a predetermined time has elapsed from the start of specifying the parking space or setting the door opening / closing conditions. When the predetermined time has not elapsed (step S10: No), the process returns to step S3, and when the predetermined time has elapsed (step S10: Yes), the series of processes is terminated.

  As described above, in this embodiment, the maximum opening angle of each door and the position of the door that opens after parking are set as the door opening / closing conditions, and the target parking position is set based on the door opening / closing conditions. I did it. Thereby, for example, even when the vehicle is parked in the parking space S2 where an obstacle such as a pillar overhangs, the door of the vehicle is opened at a desired angle after the parking without bringing the door into contact with the obstacle such as the pillar. be able to. That is, even in a relatively small parking space, the vehicle can be appropriately parked in the parking space while securing the boarding / alighting space.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment.

  For example, in the above-described embodiment, the target parking position setting unit automatically sets the target parking position based on the door opening / closing condition. However, the target parking position is arbitrarily set by the driver within the parking space. The target parking position setting means may correct the setting by the driver only when the setting by the driver is incomplete.

  Further, in this embodiment, the surroundings of the vehicle are monitored by the in-vehicle camera, and the position of the obstacle or the like is specified based on the image captured by the in-vehicle camera. However, for example, a monitoring unit including an ultrasonic sensor or the like is provided. Further, a position of an obstacle or the like may be specified based on the monitoring result of the monitoring means.

  In the above-described embodiment, the maximum opening angle of the door and the position of the door to be opened are set as the door opening / closing conditions. However, at least the maximum opening angle of the door is set as the door opening / closing conditions. . Of course, conditions other than the maximum opening angle of the door and the position of the door to be opened may be further set as the door opening / closing conditions.

10 Parking support device 20 ECU
DESCRIPTION OF SYMBOLS 21 Parking space identification means 22 Image processing means 23 Condition setting means 24 Target parking position setting means 25 Parking guide instruction means 30 Car-mounted camera 40 Display 50 Parking guide switch 60 Handle angle sensor 70 Wheel speed sensor 80 Speaker 90, 93 Vehicle image 91 Vehicle Image (for setting)
92 Door 100 Divided line 110 Obstacle S2 Parking space

Claims (4)

A parking support apparatus that includes an imaging unit that captures an image of the surroundings of a vehicle and a display unit that displays an image captured by the imaging unit, and that assists the driver with parking through the image displayed on the display unit. And
Parking space specifying means for specifying a parking space based on an image captured by the imaging means;
Condition setting means for setting a door opening / closing condition including a maximum opening angle of each door according to a request from the driver;
Target parking position setting means for setting a target parking position in the parking space based on the door opening and closing conditions;
A parking assistance device comprising: In the parking assistance device according to claim 1,
The door support condition includes a position of a door that opens and closes after parking. In the parking assistance device according to claim 1 or 2,
The target parking position setting means sets the target parking position so that a door that is opened and closed based on the door opening and closing condition does not interfere with an obstacle in the parking space. In the parking assistance device according to any one of claims 1 to 3,
An image processing unit that converts an image captured by the imaging unit into a bird's-eye view image and displays the image on the display unit, and causes a vehicle image with a door opened according to the door opening / closing condition to be superimposed on the bird's-eye view image.
Furthermore, the parking assistance apparatus characterized by the above-mentioned.

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