JP3107088B1 - Steering support device for parallel parking - Google Patents

Abstract

An object of the present invention is to provide a steering assist device at the time of parallel parking in which a driver can easily grasp a steering timing and a steering amount at the time of parallel parking. When a target point (S1) overlaps a steering start guideline (24) on a screen (19), the vehicle (1) is stopped, and a steering wheel (7) is turned to set a steering amount guide mark (31) on the target point (S1).
And the vehicle 1 is moved backward while maintaining the steering angle of the steering wheel 7. When the target point S1 overlaps the eye mark 23, the vehicle 1 is stopped, the steering angle of the steering wheel 7 is maximized in the opposite direction by stationary steering, and the vehicle 1 is retreated, and the vehicle width guideline 20 becomes parallel to the roadside line 32. Then, the vehicle 1 is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering assist system for parallel parking, and more particularly, to superimpose and display a display for assisting steering operation during parallel parking on a monitor screen obtained by imaging the rear of a vehicle. Related to the device.

[0002]

2. Description of the Related Art Conventionally, there has been proposed an apparatus for displaying a rear view of a vehicle on a monitor when a driver cannot see a target place due to a blind spot of the vehicle when the vehicle moves backward. For example, in Japanese Patent Publication No. 2-36417,
A television camera for photographing the rear of the vehicle, a monitor television for projecting an image captured by the television camera, a sensor for outputting an information signal related to a tire steering angle, and a marker signal generated in accordance with the information signal from the sensor; A rear monitor monitoring device for a vehicle, comprising a circuit for superimposing a marker on a television screen, is disclosed. In this device, tire steering angle data and marker position data along the reverse direction of the vehicle corresponding to the steering angle are stored in the ROM, and the estimated reverse trajectory of the vehicle according to the steering angle at that time is stored in the ROM. The image is displayed as a column on the television screen so as to be superimposed on the video taken by the television camera.

[0003] According to such a device, when the vehicle is traveling in reverse, the expected backward trajectory of the vehicle in accordance with the steering angle is displayed on the screen of the monitor television together with the visibility of the conditions of the road behind and the like. The vehicle can be moved backward by operating the steering wheel while looking at the television screen without turning around.

[0004]

In the case of parallel parking, for example, the vehicle is moved backward in parallel with the road, the steering wheel is turned at an appropriate position to enter the parking space, and the steering wheel is turned back in the opposite direction to reach the target. It is necessary to guide the vehicle to the parking position where the vehicle is parked. However, with the conventional rear monitoring monitor device, the driver only needs to look at the rear field of view and the expected reverse trajectory of the vehicle on the television screen to determine where the steering wheel should be turned or turned back, and the amount of steering. There is a problem that it is difficult to determine how much to do, and sufficient support for parallel parking cannot be provided. The present invention has been made to solve such problems.
It is an object of the present invention to provide a steering assist device at the time of parallel parking in which a driver can easily grasp the steering timing and the steering amount at the time of parallel parking.

[0005]

According to a first aspect of the present invention, there is provided a steering assist system for parallel parking, comprising: a camera for photographing a rear side of a vehicle; a monitor disposed in a driver's seat of the vehicle; A steering angle sensor for detecting an angle, and display control means for displaying a video image from a camera on a monitor when the vehicle retreats and displaying a guide display for assisting driving of the vehicle during parallel parking on a monitor screen. The guide display is fixedly displayed at a predetermined position on the screen of the monitor, and is detected by a steering start guideline for guiding a steering start point for parallel parking, an eye mark for guiding a turning point of the steering wheel, and a steering angle sensor. And a steering amount guide mark movably displayed along the steering start guideline on the monitor screen according to the steering angle of the steering wheel.

According to a second aspect of the present invention, there is provided a steering assist system for parallel parking, wherein the vehicle is moved straight back and forth in parallel with a road, and a target point regarding a parking space in an image captured by a camera is defined as a steering start guideline. Stop the vehicle when it overlaps, turn the steering wheel, overlap the steering amount guide mark on the target point, hold the steering wheel at that position, retreat the vehicle, stop the vehicle when the eye mark overlaps the target point, and stop By turning the steering wheel to the maximum in the opposite direction and turning the vehicle backward, the vehicle is properly parked in parallel in the parking space.

According to a third aspect of the present invention, there is provided a steering assist device for parallel parking, wherein the guide display is fixedly displayed at a predetermined position on a monitor screen and the vehicle is moved straight forward and backward. And a vehicle width guideline indicating the expected position of the vehicle. According to a fourth aspect of the present invention, there is provided a steering assist device for parallel parking, wherein the guide display is a steering start guideline for rear left parking for parking left rear. And an eye mark, a steering start guideline for rear right parking for performing rear right parking, and an eye mark.
According to a fifth aspect of the present invention, there is provided the steering assist device for parallel parking according to the fourth aspect of the present invention, wherein the left parking eye mark and the steering amount guide mark are mutually connected when parking left behind in response to a steering wheel operation. The same color is used, and when parking to the right rear, the right parking eye mark and the steering amount guide mark have the same color.

According to the first aspect of the present invention, the image of the rear of the vehicle, which is taken by the camera when the vehicle is backing up, is displayed on the monitor, and the guide display during the parallel parking is displayed on the monitor screen. Is superimposed on the display. The driver grasps the steering start point for parallel parking, the steering amount, and the turning point of the steering wheel based on the steering start guideline, the eye mark, the steering amount guide mark included in the guide display, and the image behind the vehicle. Perform steering.

According to a second aspect of the present invention, the driver assists the vehicle to move straight back and forth in parallel with the road, and the target point of the parking space in the image captured by the camera is steered. If it overlaps with the start guideline, it is recognized as the steering start point and the vehicle is temporarily stopped. Here, turn the steering wheel until the steering amount guide mark overlaps the target point, move the vehicle backward while holding the steering wheel in that state, and when the eye mark overlaps the target point, recognize that it is now the turning point of the steering wheel Stop the vehicle.
When the vehicle is retracted with the steering angle of the steering wheel maximized in the opposite direction with the stationary steering, the vehicle is properly parallel parked in the parking space.

According to a third aspect of the present invention, in the steering assist device for parallel parking, the vehicle width guideline is parallel to the road side when the driver turns the steering wheel to reverse the vehicle. By stopping the vehicle, the vehicle is parked in parallel at an appropriate position in the parking space. According to a fourth aspect of the present invention, there is provided the steering assist system for parallel parking according to any one of the first to third aspects, wherein a left rear parking steering start guideline and an eye mark are provided when the left rear parking is performed. When parking to the right rear, parallel parking is performed by the same operation using the steering start guideline for right rear parking and the eye mark. According to the steering assist device for parallel parking described in claim 5, in the device according to claim 4, in each of the left rear parking and the right rear parking, the driver is provided with an eye mark having the same color. Parallel parking is performed using the steering amount guide mark.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, a camera 2 that captures a field of view behind the vehicle 1 is attached to a rear portion of the vehicle 1. The rear bumper 3 of the vehicle 1 is located at the near-side end of the view range of the camera 2. A monitor 4 composed of a color type liquid crystal display is arranged in a driver's seat of the vehicle 1 and is usually used as a display device of a navigation device. When a shift lever 5 provided in the driver's seat is operated to a reverse position. An image from the camera 2 is displayed. The front wheels 6 as steered wheels are steered by operating the steering wheel 7. The steering angle α of the front wheels 6 is represented as a value Kθ obtained by multiplying the steering angle θ of the steering wheel 7 by a predetermined coefficient K. Here, the coefficient K is not limited to a constant, but is desirably set according to the actual state of the vehicle.

FIG. 2 shows a configuration of a steering assist device at the time of parallel parking according to an embodiment of the present invention. An image processing device 8 is connected to the camera 2, and the monitor 4 is connected to the image processing device 8 via a monitor controller 9. Also,
The vehicle 1 is provided with a rear position switch 10 for detecting whether the shift lever 5 has been switched to the reverse position, and the rear position switch 10 is connected to the image processing device 8. Further, a steering angle sensor 11 for detecting a steering angle θ of the handle 7 is attached to a steering shaft of the handle 7, and the steering angle sensor 11 is connected to the image processing device 8 via a steering angle calculation unit 12. I have.

The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and causes the monitor 4 to display the display signal. When a display signal is input from the image processing device 8, the display signal from the image processing device 8 is displayed. Is displayed on the monitor 4 based on. Further, the steering angle calculation unit 12
The steering angle α of the front wheels 6 is calculated from the steering angle θ of the steering wheel 7 detected by the steering angle sensor 11 and output to the image processing device 8. The image processing device 8 includes a CPU 13, a ROM 14 storing a control program, an image processing processor 15 for processing video data from the camera 2, and an image memory for storing video data processed by the image processing processor 15. 16 and a work RAM 17. A display control means is formed by the image processing device 8, the monitor controller 9, and the rear position switch 10.

The ROM 14 stores display data of a fixed guide display which is fixedly displayed at a predetermined position on the screen 19 of the monitor 4 irrespective of the steering of the steering wheel 7. As shown by the solid line in FIG. 3A, the fixed guide display includes a pair of vehicle width guidelines 20 and 21 indicating the expected positions of both sides of the vehicle 1 when the vehicle 1 recedes and recedes, and these vehicle width guidelines. Circular eye marks 2 arranged at the rear ends of vehicle width guidelines 20 and 21 on the upper end of 20 and 21, that is, on screen 19 for displaying a rear image.
2 and 23. In addition, the fixed guide display,
It has a pair of steering start guidelines 24 and 25 symmetrically arranged at the upper part in the screen 19. The steering start guidelines 24 and 25 indicate the timing at which the vehicle 1 that recedes straight and retreats parallel to the road starts steering for parallel parking, and is drawn as a line segment having a predetermined length.

The CPU 13 operates based on a control program stored in the ROM 14 and controls the rear position switch 10.
When it is detected that the shift lever 5 has been switched to the reverse position, the expected trajectory of the vehicle 1 at the time of retreating at the steering angle α at that time is calculated from the output signal of the steering angle calculation unit 12,
Based on the predicted trajectory, display data for displaying a movement guide display indicating a guide of the vehicle width at a position corresponding to the steering angle α in a manner superimposed on the image of the camera 2 is generated at a predetermined cycle.

The movement guide display 26 corresponds to the expected trajectory of the vehicle 1 when the vehicle 1 retreats at the steering angle α at that time, as indicated by a broken line in FIG. A line segment 27 having a vehicle width at a position substantially equal to the wheelbase length from one end, and a pair of side lines 28 extending from both ends of the line segment 27 to the rear end of the vehicle while maintaining an interval of the vehicle width.
And a pair of line segments 2 indicating an intermediate portion of the vehicle and extending in the vehicle width direction.
9 and 30. In response to the steering of the steering wheel 7, the movement guide display 26 moves so as to bend left and right, for example, as shown by a broken line in FIG.

Further, the CPU 13 controls the steering angle
And a circular steering amount guide mark 31 that moves along the steering start guidelines 24 and 25 on the screen 19 of the monitor 4 according to the steering angle α at that time, is superimposed on the image of the camera 2 and displayed. Display data to be generated at a predetermined cycle. When the handle 7 is turned to the left, for example, FIG.
As shown in (c), the steering amount guide mark 31 is moved and displayed on the steering start guideline 24 on the left side of the screen,
On the other hand, when the steering wheel 7 is turned to the right, the steering amount guide mark 31 is moved and displayed on the steering start guideline 25 on the right side of the screen as shown in FIG.

Here, the steering start guidelines 24 and 2
The method of drawing 5 will be described. As shown in FIG. 4, the center of the rear axle of the vehicle 1 in a state where the vehicle 1 is properly parked in the parking space T is set as the origin, and the Y axis is set parallel to the road and in the retreating direction of the vehicle 1, and is perpendicular to the Y axis. Take the X axis.
Further, a corner at the back of the parking space T is defined as a target point S1, and its coordinates are defined as S1 (W / 2, a). Where W
Indicates a vehicle width, and a indicates a rear overhang. The vehicle 1 at the vehicle position Q maximizes the steering angle of the steering wheel 7 and sets the radius Rc.
When the vehicle has reached the vehicle position P, the steering wheel 7 is turned back in the opposite direction so that the steering angle is maximized, and in this state, the vehicle 1 is retracted by the radius Rc and appropriately parked in the parking space T. Shall be.

First, the angle γ of the vehicle position P as viewed from the turning center C when retreating to the parking space T with the turning radius Rc of the center of the rear axle at the maximum steering angle from the vehicle position P.
Is γ = cos ⁻¹ [(Rc−W / 2) / {(Rc + W / 2) ² + a ² } ^1/2 ] −tan
^-1 {a / (Rc + W / 2)}. The coordinates (P0x, P0y) of the rear axle center P0 at the vehicle position P are represented by P0x = −Rc (1-cosγ) P0y = −Rc · sinγ using the above angle γ. Further, based on the coordinates of the rear axle center P0, the coordinates (Q1x, Q1y) of the point Q1, which is the corner at the back of the parking space corresponding to the target point S1 when the parking space T is temporarily moved to the vehicle position Q, are: Q1x = −2Rc (1−cosγ) + W / 2 Q1y = −2Rc · sinγ + a

Therefore, a straight line L connecting the target point S1 and the point Q1 is expressed as follows: Y = {sinγ / (1-cosγ)} × X− {sinγ / (1-cosγ)} · (W /
2) A line segment that is represented by + a and extends from the target point S1 on the screen 19 of the monitor 4 when the vehicle 1 is at the vehicle position Q and extends backward along the straight line L becomes a steering start guideline. The steering start guidelines are drawn symmetrically with respect to the Y axis, and are referred to as steering start guidelines 24 and 25. If the target point S1 of the parking space T shown on the screen 19 of the monitor 4 overlaps with the steering start guideline 24 or 25 as the vehicle 1 moves, the place can be parallel parked by the steering assist device of the present invention. The location can be determined.

Next, a method of drawing the steering amount guide mark 31 will be described. Consider an arbitrary vehicle position M parallel to the Y-axis that reaches the vehicle position P by turning backward while turning with a radius R. The coordinates (M1x, M1y) of the point M1 which is the inner corner of the parking space corresponding to the target point S1 when the parking space T is moved parallel to the vehicle position M is M1x = − (R + Rc) · (1− cosγ) + W / 2 M1y = − (R + Rc) sinγ + a. When the turning radius R is obtained using the Y coordinate M1y, R = (a−M1y) / sinγ−Rc. Therefore, a circular steering amount guide mark 31 that moves along the steering start guidelines 24 and 25 according to the steering angle α of the steering wheel 7 is displayed so as to be superimposed on the image of the camera 2, and the steering amount guide mark 31 is displayed on the monitor 4. Screen 19
The position of the steering amount guide mark 31 is set such that when the steering wheel 7 is steered so as to overlap the target point S1 of the parking space T reflected above, the turning radius R in the above equation can be obtained.

Next, the operation of the steering assist device during parallel parking will be described. First, when the driver operates the shift lever 5 to the reverse position at the vehicle position N shown in FIG. 4 which is parallel to the road, the image processing device 8 operates based on the detection signal from the rear position switch 10 as shown in FIG. ), The vehicle width guidelines 20 and 2 are displayed on the screen 19 of the monitor 4.
1, Eye mark 22, 23, Steering start guideline 2
4, 25, the movement guide display 26 and the steering amount guide mark 31 are displayed so as to be superimposed on the image of the camera 2. At this time, the target point S1 of the parking space T is displayed on the screen 19.
Does not yet overlap the steering start guideline 24 for left rear parking.

When the vehicle 1 moves straight back and forth in parallel with the road,
On the screen 19, the target point S1 gradually approaches the steering start guideline 24, and as shown in FIG.
When 1 overlaps the steering start guideline 24, it is determined that the vehicle is at the vehicle position M where parallel parking is possible, and the vehicle 1 is stopped. Here, when the steering wheel 7 is turned to the left, the steering amount guide mark 31 gradually moves from above to below the screen 19 along the steering start guideline 24. Then, as shown in FIG. 3 (c), when the steering amount guide mark 31 overlaps the target point S1, the vehicle 1 is moved backward while maintaining the steering angle of the steering wheel 7. This allows
The vehicle 1 turns with a radius R, and the target point S1 gradually approaches the left rear parking eye mark 23 on the screen 19. As shown in FIG. 3D, the target point S1 is the eye mark 2
When it overlaps with 3, the vehicle 1 is determined to have reached the vehicle position P and the vehicle 1 is stopped.

Next, the steering angle of the steering wheel 7 is maximized in the opposite direction by stationary steering, and the vehicle 1 is moved backward. As a result, the vehicle 1 enters the parking space T, and stops the vehicle 1 when the vehicle width guideline 20 becomes parallel to the road side line 32, as shown in FIG.

In the case of parallel parking in the rear right parking space, the vehicle width is similarly calculated using the steering start guideline 25 for rear right parking on the screen 19, the eye mark 22, and the steering amount guide mark 31. The vehicle 1 may be stopped when the guide line 21 becomes parallel to the roadside line.

The left rear parking eye mark 23 and the steering amount guide mark 31 have the same color when parking left rear in response to steering wheel operation, and the right rear parking when parking right rear. Eye mark 22 for parking
If the and the steering amount guide mark 31 have the same color, the eye mark to be used can be intuitively grasped and driving becomes easy. For example, the steering amount guide mark 3
When the color of 1 is A and the colors of the eye marks 22 and 23 when traveling straight are B, and the steering wheel 7 is turned to the left by a predetermined angle or more for left rear parking, only the left rear parking eye mark 23 is displayed. When the color becomes A and the steering wheel 7 is turned to the right by a predetermined angle or more for right rear parking, the color of only the right rear parking eye mark 22 becomes A in this case. . When the vehicle is going straight, the eye marks 22 and 23
May be displayed, and the eye marks 22 and 23 may be displayed when the steering wheel 7 is turned to the left or right by a predetermined angle or more. Further, only one eye mark used for parking may be displayed according to the steering direction of the steering wheel 7.

The eye marks 22 and 23 and the steering amount guide mark 31 are not limited to circular shapes, but may have other shapes. Further, in the above embodiment, the corner at the back of the parking space T is used as the target point S1, but the present invention is not limited to this. What is necessary is just a point fixed to the parking space T.

[0028]

As described above, according to the steering assist system of the first aspect, when the vehicle is moving backward, the guide display at the time of parallel parking is displayed on the monitor screen together with the image behind the vehicle by the camera. Therefore, the driver can easily determine the steering start point, the steering amount, and the turning point of the steering wheel for parallel parking based on the steering start guideline, the eye mark, the steering amount guide mark included in the guide display, and the image behind the vehicle. You can figure out.

[0029] According to the steering assist device of the second aspect,
Move the vehicle straight back and forth in parallel with the road, stop the vehicle temporarily when the target point related to the parking space in the camera image overlaps the steering start guideline, and turn the steering wheel until the steering amount guide mark overlaps the target point. Reverse the vehicle, stop again when the eye mark overlaps the target point, set the steering angle of the steering wheel to the maximum in the opposite direction with stationary steering, and complete the parallel parking in the parking space simply by retracting the vehicle .

According to the steering assist device of the third aspect,
The vehicle can be parked in parallel at an appropriate position in the parking space by stopping the vehicle when the vehicle width guideline is parallel to the road side when turning the steering wheel and moving the vehicle backward. According to the steering assist device of the fourth aspect, the guide display includes a steering start guideline and an eye mark for left rear parking for parking left rear and a right rear for parking right rear. Since the parking start guideline and the eye mark are included, parking to the left rear and right rear can be similarly performed using the corresponding steering start guideline and eye mark, respectively. According to the steering assist device of the fifth aspect, the left parking eye mark and the steering amount guide mark have the same color when parking left rear, and the right parking mark when parking right rear. Since the eye mark and the steering amount guide mark have the same color, the eye mark to be used can be intuitively grasped, and driving becomes easy.

[Brief description of the drawings]

FIG. 1 is a side view showing a vehicle equipped with a steering assist device for parallel parking according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a steering assist device according to the embodiment.

FIG. 3 is a diagram schematically and stepwisely showing a monitor screen during parallel parking according to the first embodiment;

FIG. 4 is a diagram schematically and stepwise showing the position of the vehicle during parallel parking according to the first embodiment.

[Explanation of symbols]

Reference Signs List 1 vehicle, 2 camera, 4 monitor, 5 shift lever, 6 front wheel, 7 steering wheel, 8 image processing device, 9
Monitor controller, 10 Rear position switch, 11
Steering angle sensor, 12 steering angle calculation unit, 13 CPU,
19 screens, 20, 21 Vehicle width guidelines, 22, 2
3 Eye mark, 24, 25 Steering start guideline,
26 Movement guide display, 31 Steering amount guide mark, 3
2 Roadside line, T parking space, S1 target point.

Continuation of the front page (72) Inventor Toshiyuki Yamada 2-1-1, Toyota-cho, Kariya-shi, Aichi Prefecture Inside Toyota Industries Corporation (56) References JP-A-10-244891 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60R 21/00 628 B60R 21/00 621 B60R 21/00 626 G08G 1/16 B62D 6/00

Claims (5)

(57) [Claims] 1. A camera for photographing the rear of a vehicle, a monitor disposed in a driver's seat of the vehicle, a steering angle sensor for detecting a steering angle of a steering wheel, and an image from the camera displayed on the monitor when the vehicle retreats. Display control means for superimposing and displaying a guide display for assisting driving of the vehicle during parallel parking on the monitor screen, wherein the guide display is fixedly displayed at a predetermined position on the monitor screen, and A steering start guideline for guiding the steering start point for parallel parking, an eye mark for guiding the turning point of the steering wheel, and a steering start guideline on the monitor screen according to the steering angle of the steering wheel detected by the steering angle sensor. And a steering amount guide mark that moves and is displayed along the vehicle. 2. The vehicle is moved straight back and forth in parallel with the road, and the vehicle is stopped when a target point related to a parking space in the image obtained by the camera overlaps a steering start guideline.
Turn the steering wheel and superimpose the steering amount guide mark on the target point,
Retract the vehicle while holding the steering wheel at that position, stop the vehicle when the eye mark overlaps the target point, park the vehicle by turning the steering wheel to the maximum in the opposite direction with the stationary steering and retreating the vehicle The steering assist device at the time of parallel parking according to claim 1, wherein the vehicle is appropriately parallel parked in a space. 3. The parallel parking according to claim 1, wherein the guide display further includes a vehicle width guideline fixedly displayed at a predetermined position on the screen of the monitor and indicating an expected position on both sides of the vehicle when the vehicle recedes straight. Time steering assist device. 4. The guide display includes a steering start guideline and an eye mark for rear left parking for parking left rear, and a steering start guideline and eye for rear right parking for parking right rear. And a mark.
The steering assist device at the time of parallel parking according to any one of the above. 5. The left parking eye mark and the steering amount guide mark have the same color when parking to the left rear according to the operation of the steering wheel, and the right parking eye when parking to the right rear. 5. The steering assist device at the time of parallel parking according to claim 4, wherein the mark and the steering amount guide mark have the same color.