JP5104171B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking support apparatus and a parking support method that are mounted on a vehicle and support parallel parking.

As an apparatus that supports parallel parking of vehicles, there is one disclosed in Patent Document 1, for example.
In the parking assistance device disclosed in Patent Document 1, a parking frame line is detected in a captured image obtained by photographing with a camera. Then, with reference to the position of the end portion of the detected parking frame line on the own vehicle side, the vehicle is moved backward to offset the reverse parking locus of the vehicle when parking in the parking frame line, so that the vehicle The optimal reverse parking trajectory that does not protrude greatly is calculated.
JP 2006-117165 A

  However, when the end of the parking frame line cannot be detected, it is impossible to determine how much the reverse parking locus can be offset, and there is a problem that an optimal backward parking locus cannot be presented.

  Therefore, an object of the present invention is to make it possible to present a backward parking locus even when the end of the parking frame line cannot be detected when performing parallel parking.

The present invention generates a bird's-eye view image looking down from the viewpoint position above the host vehicle from a captured image obtained by imaging the surroundings of the host vehicle, and a backward trajectory curve when the host vehicle moves backward while turning with a minimum turning radius, When an image superimposed on an overhead image is generated together with an icon indicating the host vehicle, and the generated image is displayed on a monitor, the backward trajectory curve is displayed when the host vehicle moves backward with a minimum turning radius. A curve having a turning radius shortened by a predetermined distance compared with the turning radius of the backward locus drawn by the rear wheel of the vehicle, and the base position of the backward locus curve turns from the position of the rear wheel of the host vehicle. The display is made so that the position is offset by the predetermined distance in the center direction .

According to the present invention, since the parking frame on the road surface around the host vehicle is displayed in the bird's-eye view image, the driver of the host vehicle can optimally move backward when the backward trajectory curve parks the host vehicle on the parking frame. After moving the host vehicle to a position that becomes a parking locus, the host vehicle is parked on the parking frame by moving backward with a minimum turning radius.
Therefore, since the parking frame line is not detected when the backward parking locus is presented, the backward parking locus can be presented even when the end of the parking frame line cannot be detected.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram illustrating a configuration of the parking assist apparatus according to the embodiment.
The parking assistance device includes a camera 10, a sonar 20, a rudder angle sensor 30, a wheel speed sensor 40, a monitor 50, and a parking assistance control unit 60.

The camera 10 is provided in a vehicle and images a road surface around the host vehicle.
The sonar 20 is provided in the vehicle and detects an obstacle existing around the host vehicle.
The steering angle sensor 30 is provided in the vehicle and detects the steering amount of the steering wheel by the driver.
The wheel speed sensor 40 is provided on the wheel and detects the amount of movement of the vehicle.

  The monitor 50 receives the image data output from the image data generation unit 67, displays an overhead image that is an image looking down from the viewpoint position set above the own vehicle, and also displays an icon indicating the own vehicle in the overhead image. Vehicle icon), a parking frame line icon indicating the position of the parking frame line that defines the width of the parking frame, a reverse trajectory curve that is a trajectory when the host vehicle retreats while turning at the minimum turning radius, and the like are superimposed.

  The parking support control unit 60 includes an overhead image generation unit 61, an obstacle detection unit 62, a parking frame line detection unit 63, a parking frame width calculation unit 64, a parking frame line enhancement unit 65, and a display position setting unit 66. An image data generation unit 67, a backward trajectory curve setting unit 68, a reverse start position determination unit 69, a parking assistance information presentation unit 70, and a memory 71.

The bird's-eye view image generation unit 61 generates a bird's-eye view image, which is an image viewed from the viewpoint position set above the host vehicle, by viewpoint conversion of the captured image obtained by imaging by the camera 10.
FIG. 2 is a diagram illustrating the arrangement of cameras provided in the vehicle and an overhead image.
For example, as shown in FIG. 2A, when a plurality of cameras 10 (10a to 10d) are provided so that the entire road surface around the host vehicle V can be imaged, an overhead image generation unit 61 performs viewpoint conversion of each captured image input from each camera to generate overhead images IMa to IMd. Then, the generated overhead image is synthesized to generate an overhead image in which an icon indicating the host vehicle is imposed at the center (see FIG. 2B). The symbol V may also be used to schematically represent the icon of the imposed vehicle itself and the actual vehicle.

The obstacle detection unit 62 receives the signal output from the sonar 20 and specifies the position of the obstacle present around the host vehicle and the distance to the obstacle.
The parking frame line detection unit 63 detects a white line drawn on the road surface in the overhead view image generated by the overhead view image generation unit 61, and from the detected white line, a white line defining the left and right width positions of the parking frame ( Parking frame line).

The parking frame width calculation unit 64 calculates the separation distance between the parking frame lines that define the left and right width positions of the parking frame, and uses the calculated separation distance as the parking frame width.
The parking frame line emphasizing unit 65 sets a parking frame line icon indicating the position of the parking frame line superimposed on the parking frame line position that defines the left and right width positions of the parking frame in the overhead image. At this time, the parking frame line icon is extended in the longitudinal direction and highlighted.

The display position setting unit 66 sets the display position of the parking frame line icon in the overhead image.
For example, the display position setting unit 66 displays the parking frame line icon at the position of the parking frame line shown in the overhead image or the position offset by a predetermined distance from the position of the parking frame line to the inside of the parking frame. Like that.
The image data generation unit 67 causes the monitor 50 to display an image in which the own vehicle icon V, the backward trajectory curve R, an icon for highlighting a parking frame line displayed in the overhead image, and the like are superimposed on the overhead image. Image data is generated.

The backward trajectory curve setting unit 68 sets a display position of a curve (reverse trajectory curve) indicating the backward trajectory of the rear wheel located inside in the turning direction when the host vehicle moves backward while turning at the minimum turning radius.
In a normal case, the backward trajectory curve is displayed with the position of the axle of the rear wheel located inside in the turning direction when the host vehicle is moving backward while turning. Further, if necessary, a second backward locus curve in which the turning radius of the backward locus curve is shortened by a predetermined distance is set, and the position of the base end of the second backward locus curve is determined from the position of the rear wheel of the host vehicle. A position offset by a predetermined distance in the direction of the turning center of the backward trajectory curve is set.

  The reverse start position determination unit 69 determines whether or not the host vehicle has reached the reverse start position when the host vehicle is parked while reversing while turning toward the parking frame with a minimum turning radius.

  When it is determined that the host vehicle has reached the reverse start position, the parking support information presentation unit 70 provides information indicating that the host vehicle has reached the reverse start position and information necessary for parallel parking. Present

  The above-described bird's-eye view image generation unit 61, obstacle detection unit 62, parking frame line detection unit 63, parking frame width calculation unit 64, parking frame line enhancement unit 65, display position setting unit 66, image data generation unit 67, backward trajectory curve Each functional block of the setting unit 68, the reverse start position determining unit 69, and the parking support information presenting unit 70 is configured by a well-known microcomputer, and a CPU (not shown) included in the parking support device stores it in a ROM (not shown). It is realized by executing the program.

The memory 71 stores own vehicle data.
The own vehicle data includes own vehicle icon data, backward trajectory curve data, parking frame line icon data, and the like.
The own vehicle icon data is data for creating the own vehicle icon to be displayed superimposed on the overhead image, and the size of the own vehicle icon determined according to the design of the own vehicle icon and the scale of the overhead image displayed on the monitor 50. (Full length and full width).
The reverse trajectory curve data is a reverse trajectory curve (reverse trajectory curve) drawn by the rear wheels located inside in the turning direction when the vehicle moves backward with the steering wheel fully turned in one direction (full steering state). It is data to prescribe.
The parking frame line icon data is data for creating an icon indicating the position of the parking frame line to be superimposed on the overhead image.

The process in the parking assistance apparatus concerning an Example is demonstrated.
FIG. 3 is a flowchart illustrating a first example of processing in the parking assistance device according to the embodiment.

When the parking assist device is activated, in step 101, the parking assist control unit 60 confirms whether or not the driver has input a parking frame instruction via an input device such as a touch panel (not shown).
When there is an instruction input in Step 101, in Step 102, the overhead image generation unit 61 performs viewpoint conversion of the captured image of the road surface around the host vehicle obtained by imaging by the camera 10, and generates an overhead image.
Here, the conversion of the captured image into the overhead image is a conversion map (not shown) that defines the correspondence between each pixel of the captured image input from each camera 10 stored in the memory 71 and each pixel of the overhead image. To see).

  In step 103, the image data generation unit 67 generates image data for causing the monitor 50 to display an image in which the host vehicle icon and the backward trajectory curve are superimposed on the overhead view image, and outputs the image data to the monitor 50.

4 and 5 are diagrams illustrating a case where the driver parks the host vehicle V in the parking frame S while looking at the overhead view image displayed on the monitor 50.
For example, when the driver inputs and inputs parallel parking to the parking frame S on the right side in the traveling direction of the host vehicle V, an overhead image is generated from the captured image obtained by imaging with the camera 10, and (a) of FIG. As shown, an overhead image in which the own vehicle icon V and the backward trajectory curve R of the own vehicle are superimposed and displayed is displayed on the monitor 50.

  In this bird's-eye view image, in the bird's-eye view image viewed from above the host vehicle, the vehicle icon V indicating the position of the host vehicle in the bird's-eye view image and the position of the right rear wheel in the host vehicle icon are based on the rear of the host vehicle. A backward trajectory curve R extending toward the right side is superimposed and displayed. Further, white lines L1 and L2 that define the left and right sides of the parking frame drawn on the road surface are also displayed in this overhead view image.

Here, when the host vehicle moves forward, the positional relationship between the host vehicle icon V and the backward locus curve R displayed in the bird's-eye view image and the white lines L1 and L2 changes.
For example, when the host vehicle V continues to move forward from the position shown in FIG. 4A, the backward trajectory curve R of the host vehicle V is within the parking frame S between the two white lines L1 and L2 shown in FIG. And move toward the white line L2 located on the far side in the traveling direction of the host vehicle.

Here, the backward trajectory curve R is a curve showing the backward trajectory of the right rear wheel when the vehicle is retreated while turning the vehicle with the steering wheel fully turned to the right.
Therefore, the driver of the own vehicle until the retreat trajectory curve R is in contact with at least the white line L2 in the overhead image displayed on the monitor 50 and substantially reaches a position where the white line L2 is a tangent to the retreat trajectory curve R. V is advanced (see FIG. 4C).
When the white line L2 becomes substantially tangent to the backward trajectory curve R, the forward movement of the host vehicle is stopped, and the host vehicle is moved backward from the position with the steering wheel fully turned to the right.

Accordingly, the host vehicle V turns around the turning center O of the backward trajectory curve R, and moves from the position shown in FIG. 5A to the position shown in (c) through the position shown in (b). fall back.
When the right end of the host vehicle icon V becomes parallel to the white line L2, the driver of the host vehicle returns the handle to the neutral position and moves the host vehicle straight forward. Thereby, the own vehicle V is parked in the parking frame S.

  Here, step 102 and the overhead image generation unit 61 correspond to the overhead image generation unit in the invention, and step 3 and the image data generation unit 67 correspond to the image generation unit in the invention.

As described above, in this embodiment, the camera 10 that is mounted on the vehicle and images the road surface around the host vehicle V, and the bird's-eye view image that generates an overhead image viewed from above the host vehicle from the captured image captured by the camera 10. The generating unit 61 generates an image in which the backward trajectory curve R when the host vehicle moves backward with a minimum turning radius is superimposed and displayed on the overhead image together with the host vehicle icon V indicating the position of the host vehicle in the overhead image. An image data generation unit 67 is provided.
As a result, the own vehicle icon V and the backward trajectory curve R of the own vehicle are superimposed on the overhead image, so that the driver of the own vehicle refers to the white line L2 of the parking frame while referring to the overhead image displayed on the monitor. The host vehicle is moved so as to come to a position that is a tangent to the backward trajectory curve R displayed in the overhead view image.
Then, when the own vehicle almost reaches the position where the white line L2 is a tangent to the backward trajectory curve R, the own vehicle can be parked in the parking frame S by turning the steering wheel fully and moving the own vehicle backward.
That is, the backward parking locus of the host vehicle is presented with a simple configuration without detecting the parking frame line drawn on the road surface.
Therefore, even if it is a case where the parking frame line drawn on the road surface cannot be detected, parallel parking can be supported.

  Furthermore, since the driver can determine the reverse start position based on the positional relationship between the parking frame line shown in the overhead image and the reverse trajectory curve R, parallel parking is performed once with a very inexpensive and simple configuration. It can be set as the parking assistance apparatus which can be completed by.

Further, the reverse start position is not a uniquely determined position, but is simplified so that the angle and the position can be confirmed at the same time.
Therefore, even when there are obstacles such as pillars near the parking frame, or when sufficient turning space can not be secured due to walls etc., it is possible to teach the reverse start position avoiding them, so parking with a wide range of applicable range It can be a support device.

  Furthermore, the parking operation from the reverse start position is sufficient if the steering wheel is held in a fully steered state where the reverse trajectory of the vehicle has the minimum turning radius, and after the side surface of the host vehicle and the parking frame line are parallel. Since it is only necessary to return the handle to the neutral position and go straight forward, the parking operation is simple and easy to understand.

The 2nd example of the process in the parking assistance apparatus concerning an Example is demonstrated.
FIG. 6 is a flowchart for explaining a second example of processing in the parking assistance device according to the embodiment. In this figure, the processing from step 201 to step 203 is the same as the processing from step 101 to step 103 in the flowchart shown in FIG.

In step 204, the parking frame line detection unit 63 detects a white line drawn on the road surface in the overhead view image, searches the detected white line for a white line that defines the left and right width positions of the parking frame, and searches for the detected white line. Is a parking frame line.
The detection of the white line is a conventionally known white line detection method, for example, a method of detecting an edge in an overhead image using an edge detection filter, and detecting a contour of the white line by Hough conversion of a binarized image generated based on the detection result. To do. The search for the white line that defines the left and right width positions of the parking frame is performed by searching for two white lines positioned in parallel, for example.

FIG. 7 is a diagram illustrating a parking frame line icon that is displayed with the parking frame line highlighted.
For example, when an instruction is input to park the vehicle in parallel in the parking frame S on the right front side of the vehicle V, the white lines L1 and L2 that define the left and right width positions of the parking frame S are the parking frame lines. It is searched by the detection part 63, and it is set as the parking frame lines L1 and L2.

In step 205, the parking frame line emphasizing unit 65 sets an icon (parking frame line icon) for highlighting the detected parking frame lines L1 and L2.
Under the present circumstances, it sets so that the display range of the parking frame line icon which shows the position of the parking frame lines L1 and L2 may be extended in a longitudinal direction.

Therefore, when the parking frame lines L1 and L2 shown in FIG. 7A are detected, as shown in FIG. 7B, the parking frame line L1 extends substantially through the center in the width direction of the parking frame line L1. A range of a predetermined length extending in the same direction as the outgoing direction is set as the display range of the parking frame line icon S1. Similarly, for the parking frame line L2, a range of a predetermined length extending in the same direction as the extending direction of the parking frame line L2 is set as the display range of the parking frame line icon S2.
Here, the parking frame line icon is emphasized in the longitudinal direction in the overhead image so that the predetermined length of the parking frame line icons S1 and S2 is longer than the length X of the parking frame lines L1 and L2. To be displayed.

  In step 206, the parking frame line emphasizing unit 65 is located inside the parking frame line L1 and L2 when the host vehicle is retracted while turning at the minimum turning radius and parked in the parking frame S. Let the frame line L2 be a reference parking frame line. The parking frame line icon S2 indicating the reference parking frame line is made distinguishable from the parking frame line icon S1 of the other parking frame line L1. For example, the parking frame line icons S1 and S2 are set to be displayed in different colors.

In the case of (b) of FIG. 7, since the parking frame line L2 is the reference parking frame line, the display form of the parking frame line icon S2 indicating the parking frame line L2 is changed, as shown in (c), It can be distinguished from the parking frame line icon S1.
In the following description, a parking frame line icon for displaying a reference parking frame line is referred to as a reference parking frame line icon T for distinction from the parking frame line icon S1.
Note that the display position setting unit 66 determines the display position of the reference parking frame line icon T.

In step 207, the image data generation unit 67 displays, on the monitor 50, an overhead image in which the parking frame line icon S 1 and the reference parking frame line icon T are superimposed and displayed in addition to the own vehicle icon V and the backward locus curve R. Image data to be generated is output to the monitor 50.
Thereby, in the bird's-eye view image, the host vehicle icon V, the backward trajectory curve R, the parking frame line icon S1, and the reference parking frame line icon T are superimposed and displayed.
Here, the backward trajectory curve R, the parking frame line icon S1, and the reference parking frame line icon T are preferably displayed in different colors so that they can be distinguished.

In step 208, the reverse start position determination unit 69 confirms whether or not the host vehicle has reached the reverse start position.
Here, the reverse start position means that the own vehicle V, which has advanced in the direction intersecting the reference parking frame line icon T, starts the operation of parking the own vehicle in the parking frame. This is a position where the vehicle starts to move backward toward the parking frame S while turning its own vehicle at the minimum turning radius in a state where the vehicle is fully turned in the direction of the position (full turning state).

  When the host vehicle V moves forward from the position shown in FIG. 8A to the position shown in (c) through the position shown in (b), the host vehicle V changes to (a) and (b). While located at the indicated position, the backward trajectory curve R is located closer to the front side in the traveling direction than the reference parking frame line icon T. Therefore, in such a case, it is determined that the reverse start position has not been reached.

When the host vehicle V reaches the position shown in (c) of FIG. 8, the reference parking frame line icon T has almost reached the position that is a tangent to the backward trajectory curve R. Therefore, in such a case, it is determined that the reverse start position has been reached.
Note that the determination of whether or not the vehicle has reached the reverse start position is not limited to the case where the reference parking frame line icon T has almost reached the position that is a tangent to the reverse locus curve R. For example, the position that is a tangent It is preferable to determine that the vehicle has reached the reverse start position when the reverse trajectory curve R is within the range from the point reached to the position where it completely exceeds the reference parking frame line icon T.
If the host vehicle moves backward while turning at the minimum turning radius when the backward trajectory curve R is located within this range, the wheels of the vehicle located inward in the turning direction of the host vehicle are completed when the host vehicle has completed the backward turning. This is because the position can be matched with the reference parking frame line icon T.

If it is determined in step 208 that the reverse start position has been reached, in step 209, the parking support information presentation unit 70 monitors a character message that prompts the vehicle to stop in order to start the reverse toward the parking frame S 50. And / or a voice message such as “Please stop the vehicle” is output from a speaker (not shown).
At the same time, the reverse start position determination unit 69 displays the reverse trajectory curve R and the reference parking frame line icon T displayed in the bird's-eye view image in a color different from the color displayed so far, or blinks. To the image data generation unit 67.
Thereby, in the bird's-eye view image displayed on the monitor 50, the backward trajectory curve R and the reference parking frame line icon T are displayed in a color different from the previously displayed color or blinked. Therefore, it is possible to make the driver of the own vehicle visually recognize that the reverse start position has been reached.

  In step 210, the parking assistance information presentation unit 70 checks whether or not the shift lever selection position has been changed to the reverse range based on an output signal from an inhibitor switch (not shown).

  If it is confirmed in step 210 that the vehicle has been changed to the reverse range, in step 211, the parking assistance information presentation unit 70 turns the steering wheel in the direction in which the parking frame S is positioned while the vehicle is stopped. And / or a voice message such as “Please turn the handle fully to the right (left)” is output from a speaker (not shown).

In step 212, the parking assistance information presentation unit 70 confirms whether or not the steering wheel has been fully steered in the direction of the parking frame S based on the output signal of the steering angle sensor 30.
When it is confirmed in step 212 that the steering wheel has been fully steered, in step 213, the parking assistance information presenting unit 70 keeps the position of the steering wheel in a fully steered state and prompts the vehicle to move backward. Is superimposed on the monitor 50 and / or a voice message such as “Please reverse the vehicle” is output from a speaker (not shown).

In step 214, the parking assistance information presenting unit 70 detects whether or not the host vehicle has moved backward based on the output signal of the wheel speed sensor 40, and then checks whether or not the host vehicle has completed the backward turning.
For example, when the host vehicle starts moving backward from the position shown in FIG. 9 (a) while turning with the steering wheel fully turned to the right, the position of the host vehicle is changed from the position shown in (a) to ( It moves toward the position shown in (c) through the position shown in b).
When the host vehicle V reaches the position shown in FIG. 9C, the front and rear wheels on the right side of the host vehicle are positioned on the reference parking frame line icon T, and a virtual line connecting the front and rear wheels. Minutes and the reference parking frame line icon T become parallel. Therefore, after the host vehicle reaches this position, it can reach the parking frame S simply by moving the host vehicle straight forward and backward. In such a case, it is determined that the backward steering of the host vehicle has been completed.

If it is determined in step 214 that the backward turning of the host vehicle has been completed, in step 215, the backward trajectory superimposed on the overhead image is hidden.
As a result, the driver of the host vehicle returns the handle to the neutral position, moves the host vehicle straight forward, and parks the host vehicle in the parking frame S.

Thus, the parking assistance apparatus according to the embodiment includes the parking frame line detection unit 63 that detects the parking frame lines L1 and L2 that define the width of the parking frame S in the overhead view image, and the parking frame that indicates the detected parking frame line. A parking frame line emphasizing unit 65 that sets the line icons S1 and S2 to be highlighted in the longitudinal direction is further provided, and the image data generating unit 67 is a parking frame that is set to be highlighted. It was set as the structure which produces | generates the image by which line icons S1 and S2 were further superimposed and displayed in the bird's-eye view image.
Thereby, the parking frame line icons S1 and S2 are extended not only in the range of the white line that defines the left and right width positions of the parking frame displayed in the overhead view image but also in the longitudinal direction of the white line so as to cover the entire surface of the overhead view image. Highlighted.
Therefore, as shown in FIG. 8A, the backward trajectory curve R extending from the own vehicle icon V is overlooked when the own vehicle V is located at a position separated from the end of the parking frame line L2 by a predetermined distance Y or more. Even if it does not touch the white line displayed in the image, the display range in the longitudinal direction of the parking frame line icon indicating the position of the white line is wider than the range in the longitudinal direction of the white line. The reverse start position of the host vehicle can be determined based on the parking frame line icon.
Therefore, even when the host vehicle is at a position away from the parking frame S, it can be determined whether or not it is the reverse start position, so that parallel parking can be favorably supported.
In addition, since the direction of the host vehicle V can be changed at a position away from the parking frame S and finally parked in the parking frame by going straight forward and backward, the direction of the host vehicle can be changed near the parking frame S. As such, the host vehicle does not get too close to other vehicles.

Furthermore, when the parking frame line emphasizing unit 65 retracts the host vehicle V with a minimum turning radius and parks the vehicle V in the parking frame S, the parking frame line L2 positioned inside in the turning direction is set as a reference parking frame line. The reference parking frame line icon T indicating the reference parking frame line is set to be extended and highlighted in the longitudinal direction.
Accordingly, it is possible to easily determine whether or not the host vehicle can be parked in the parking frame based on the highlighted parking frame line icon.

In addition, when the reference parking frame line icon T indicating the reference parking frame line almost reaches the position that is a tangent to the backward trajectory curve R, it is determined that the host vehicle has reached the reverse start position.
As a result, the reverse start position is such that the wheel inside the turning direction of the host vehicle is moved to the parking frame line only by turning the host vehicle while turning the steering wheel at the minimum turning radius with the steering wheel fully steered in the direction of the parking frame. Since it is a position where the host vehicle can be guided to a position that overlaps, parallel parking can be favorably supported.

  Furthermore, when it is determined that the host vehicle has reached the reverse start position, the display form of the parking frame line icon indicating the reference parking frame line superimposed on the bird's-eye view image and the reverse trajectory curve is changed. Thus, the fact that the vehicle has reached the reverse start position is notified by blinking or coloring of the parking frame line icon or the reverse locus curve, so that the driver of the host vehicle can visually recognize that the reverse start position has been reached. be able to.

FIGS. 10 and 11 are diagrams illustrating a first modification of the reference parking frame line icon T. FIG.
In the above embodiment, the parking frame line L2 located on the inner side in the turning direction when the host vehicle is turned backward with a minimum turning radius and parked in the parking frame S is used as the reference parking frame line, and this reference parking frame line is used as the reference parking frame line. The case where the reference parking frame icon T shown is displayed at the position of the parking frame line L2 in the overhead image has been described as an example (for example, see FIG. 8).
However, the position where the reference parking frame line icon T is displayed may be set to a position offset by a predetermined distance from the position of the reference parking frame line (parking frame line L2) to the inside of the parking frame S.

  For example, as shown in FIG. 10A, the reference parking frame line icon T is located at a position offset by a predetermined distance Q inside the parking frame S from the position of the reference parking frame line L2 (parking frame line icon S1). May be displayed.

Here, the predetermined distance Q is preferably set to a distance that is half the difference between the width D of the parking frame S and the width W of the host vehicle V. For example, the predetermined distance Q is represented by the following formula (1).
Q = (D−W) / 2 (1)
Here, D is the separation distance between the parking frame line icon S1 and the parking frame line icon S2, and W is the width of the host vehicle.

  The predetermined position Q is obtained by the display position setting unit 66 based on the above formula (1), and the separation distance between the parking frame line icon S1 and the parking frame line icon S2, that is, the width of the parking frame S is calculated by the parking frame width calculation. The unit 64 calculates based on the position of the parking frame line detected by the parking frame line detection unit 63.

Parking assistance by the parking assistance apparatus when the reference parking frame line icon T according to the first modification is employed will be described.
For example, when the host vehicle V moves forward from the position shown in FIG. 10A to the position shown in FIG. 10C via the position shown in FIG. 10B, the host vehicle V moves to the position shown in FIG. ), The reverse start position determination unit 69 determines that the host vehicle V has reached the reverse start position.
Then, the image data generation unit 67 changes the display form of the backward trajectory curve R and the reference parking frame line icon T displayed in the bird's-eye view image, for example, blinking display.
At the same time, the parking assistance information presentation unit 70 displays a text message for urging the vehicle to stop on the monitor 50 and / or outputs a voice message such as “Please stop the vehicle” from a speaker (not shown).

And if a driver | operator stops the own vehicle V in the position shown in (c), and reverse | retreats after turning a steering wheel to the right direction, the own vehicle V will be from the position shown to (a) of FIG. Retreating toward the position shown in (c) while turning around the turning center O of the backward trajectory curve R.
When the host vehicle V reaches the position shown in (c) after passing through the position shown in (b), it is determined that the host vehicle has completed the backward turning, and the backward trajectory curve R displayed in the overhead image is It is hidden.
The driver of the host vehicle completes the parking of the host vehicle in the parking frame S by returning the steering wheel to the neutral position and moving the host vehicle straight back with the signal that the backward trajectory curve is not displayed.

In this way, the reference parking frame line icon T is displayed at a position offset by a predetermined distance Q inside the parking frame S from the position of the reference parking frame line L2, so that the other vehicle is located inside the turning direction. Even when the vehicle is positioned, the host vehicle that is turning backward does not come too close to another vehicle.
Further, by setting the predetermined distance Q to a distance that is half the difference between the width of the parking frame S and the width W of the host vehicle V, the host vehicle can be guided to the center in the width direction of the parking frame and parked. it can.

12 and 13 are diagrams illustrating a second modification of the reference parking frame line icon T. FIG.
In the above embodiment, white lines (parking frame lines) that define the left and right width positions of the parking frame S are detected, and the offset amount of the reference parking frame line icon T is determined based on the detected separation distance of the parking frame lines. The case has been described as an example.
However, the position at which the reference parking frame line icon T is displayed is determined based on the distance between the parked vehicles V1 and V2 parked in the parking frames on both sides of the parking frame S of the host vehicle V, respectively. May be.

  In this case, the positions of the parked vehicles V1 and V2 detected by the obstacle detection unit 62 based on the output signal of the sonar 20 and the parked vehicles V1 and V2 specified by the obstacle detection process in the overhead view image generated by the overhead view image generation unit 61. The parking frame line detection unit 63 defines the position of the end of the parked vehicle V1 on the parking frame S side and the position of the end of the parked vehicle V2 on the parking frame S side. The line segment E2 to be set is set.

And as shown to (a) of FIG. 12, the parking frame width calculation part 64 calculates the separation distance D of the line segment E1 and the line segment E2, and the display position setting part 66 becomes following formula (2). Based on this, an offset amount Q is obtained.
Q = (D−W) / 2 (2)
Here, D is the separation distance between the line segment E1 and the line segment E2, and W is the width of the host vehicle.

Parking assistance by the parking assistance apparatus when the reference parking frame line icon T according to the second modification is employed will be described.
For example, when the host vehicle V moves forward from the position shown in FIG. 12A to the position shown in FIG. 12C through the position shown in FIG. 12B, the host vehicle moves to the position shown in FIG. When the vehicle reaches the position, the reverse start position determination unit 69 determines that the host vehicle V has reached the reverse start position.
Then, the image data generation unit 67 changes the display form of the backward trajectory curve R and the reference parking frame line icon T displayed in the bird's-eye view image, for example, blinking display.
At the same time, the parking support information presentation unit 70 outputs a text message, a voice message, or the like that prompts the vehicle to stop.

When the driver stops the host vehicle at the position shown in (c) and fully turns the steering wheel in the right direction and then moves the host vehicle backward, the host vehicle V becomes the position shown in (a) of FIG. Then, the vehicle retreats toward the position indicated by (c) while turning around the turning center O of the backward trajectory curve R.
When the host vehicle V reaches the position shown in (c) after passing through the position shown in (b), the parking support information presenting unit 70 determines that the steering of the host vehicle is completed and is displayed in the overhead view image. The backward trajectory curve is hidden.
The driver of the host vehicle completes the parking of the host vehicle in the parking frame S by returning the steering wheel to the neutral position and moving the host vehicle straight back with the signal that the backward trajectory curve is not displayed.

  Thus, the display position of the reference parking frame line icon is set to the inside of the parking frame with reference to the distance between the parked vehicles V1 and V2 parked in the parking frames on both sides of the parking frame S of the host vehicle V. By setting a predetermined distance to be offset, even if the vehicle parked in the parking frame adjacent to the parking frame S protrudes into the parking frame S, the own vehicle that is turning backward approaches another vehicle. It is possible to guide the host vehicle to an appropriate parking position while preventing the vehicle from being too much.

  The predetermined distance Q to be offset is set to a distance that is half the difference between the separation distance D of the parked vehicles V1 and V2 parked in the parking frames adjacent to the parking frame S and the width W of the host vehicle V. Thus, the host vehicle can be parked such that the center of the host vehicle V is aligned with the line segment C indicating the position at the middle of the separation distance D.

FIG. 14 is a diagram for explaining a modification of the method for displaying the backward trajectory curve superimposed on the overhead image.
In the above embodiment, when it is determined that the host vehicle has reached the reverse start position, the backward trajectory curve R when the steering wheel is fully steered in the direction of the parking frame is the host vehicle icon V, the parking frame line icon S1, And the case where it was superimposed and displayed on the overhead image together with the reference parking frame line icon T was described as an example (for example, see FIG. 8).
In the parking assistance device according to the modification, when the steering amount of the steering wheel is detected when it is determined that the host vehicle V has reached the reverse start position, the host vehicle is moved backward by the detected steering amount of the steering wheel. The backward trajectory of the own vehicle is also superimposed on the overhead image.

For example, when the host vehicle V reaches the position P1 shown in FIG. 14 and the reverse start position determination unit 69 determines that the host vehicle V has reached the reverse start position, the parking assistance information presentation unit 70 Based on the output signal of the angle sensor 30, the steering direction and the steering amount of the steering wheel when the reverse start position is reached are specified.
Then, a predicted backward trajectory (predicted backward trajectory) of the host vehicle when the host vehicle V is moved backward with the specified turning direction and turning amount is calculated and superimposed on the overhead view image displayed on the monitor 50. .

  Therefore, if the steering wheel is fully steered to the left when the host vehicle V reaches the position P1, the predicted backward trajectory B1 in this case is displayed in addition to the backward trajectory curve R in the overhead view image. The Then, when the driver turns the steering wheel in the right direction while the host vehicle V is stopped at the position P1, the predicted backward trajectory B1 passes through the predicted backward trajectories B2 and B3, and the steering wheel is fully moved in the right direction. It moves until it overlaps with the backward trajectory curve R when the vehicle is moved backward in the steered state.

  In this way, the parking assistance information presentation unit 70 identifies the steering direction and the steering amount of the steering wheel based on the output value of the steering angle sensor 30, and causes the host vehicle to move backward with the identified steering direction and steering amount. The predicted backward trajectory is superimposed on the bird's-eye view image, so that after the driver of the host vehicle arrives at the reverse start position, the driver's own vehicle is superimposed on the bird's-eye view image. The backward direction of the host vehicle can be confirmed by the predicted backward trajectory.

FIG. 15 and FIG. 16 are diagrams for explaining a modification example of the backward trajectory curve of the host vehicle to be superimposed on the overhead view image.
In the above embodiment, the backward trajectory curve to be superimposed on the bird's-eye view image is displayed with reference to the rear wheel Wh positioned inside the turning direction of the host vehicle icon.
However, as shown in FIG. 15A, the backward trajectory curve R1 may be displayed based on the position RS offset by a predetermined distance from the rear wheel of the host vehicle V in the direction of the turning center O.

  In this case, the turning radius r of the backward locus curve R is shortened by a predetermined distance Q to set the second backward locus curve R1, and the position of the base end of the second backward locus curve R1 is set to the rear wheel of the host vehicle. It is set to a position RS that is offset by a predetermined distance Q in the direction of the turning center O of the backward trajectory curve R from the position of Wh.

Here, the offset amount Q is calculated based on the following equation (3).
Q = (D−W) / 2 (3)
Here, D is the separation distance between the parking frame line icon S1 and the reference parking frame line icon T, and W is the width of the host vehicle.

The parking assistance by the parking assistance apparatus when the modified example of the backward locus curve is employed will be described.
For example, when the host vehicle V moves forward from the position shown in FIG. 15A to the position shown in FIG. 15C through the position shown in FIG. 15B, the host vehicle moves to the position shown in FIG. When the vehicle reaches the position, the reverse start position determination unit 69 determines that the host vehicle V has reached the reverse start position.
Then, the image data generation unit 67 changes the display form of the backward trajectory curve R1 and the reference parking frame line icon T displayed in the bird's-eye view image, for example, blinking display.
At the same time, the parking support information presentation unit 70 outputs a text message, a voice message, or the like that prompts the vehicle to stop.

When the driver stops the host vehicle at the position shown in (c) and fully turns the steering wheel in the right direction and then moves the host vehicle backward, the host vehicle V is moved to the position shown in (a) of FIG. Then, the vehicle moves backward toward the position indicated by (c) while turning around the turning center O of the backward trajectory curve R1.
When the host vehicle V reaches the position shown in (c) after passing through the position shown in (b), the parking support information presenting unit 70 determines that the steering of the host vehicle is completed and is displayed in the overhead view image. The backward trajectory line is hidden.
The driver of the host vehicle completes the parking of the host vehicle in the parking frame S by returning the steering wheel to the neutral position and moving the host vehicle straight back with the signal that the backward trajectory curve is not displayed.

  Thus, the turning radius r of the backward locus curve R is shortened by the predetermined distance Q to set the second backward locus curve R1, and the position of the base end of the second backward locus curve R1 is set to the rear of the host vehicle V. By setting the position RS that is offset by a predetermined distance Q in the direction of the turning center O of the backward trajectory curve from the position of the wheel Wh, it is possible to prevent the host vehicle that is turning backward from being too close to another vehicle. Therefore, it is possible to favorably support parallel parking of the parking frame S of the host vehicle.

In the above embodiment, the case where the host vehicle is parked in parallel in the parking frame located on the right side in the traveling direction of the host vehicle has been described as an example, but the device according to the present invention is arranged on the left side in the traveling direction of the host vehicle. The present invention can also be applied to a case where the host vehicle is parked in parallel in a parking frame that is positioned.
In this case, in the above-described embodiment, the backward trajectory curve R set with reference to the right rear wheel of the host vehicle is set with reference to the left rear wheel of the host vehicle, thereby favorably supporting parallel parking of the host vehicle. It becomes possible to do.
In this case, for example, a switch for designating the parking frame on the right side of the own vehicle and a switch for designating the parking frame on the left side are provided, and the parking frame line of the parking frame on the side of the own vehicle is detected. It is preferable to be able to do this.

  In the above embodiment, the backward trajectory curve is displayed with the position of the axle of the rear wheel positioned inside in the turning direction as the base end. However, the rear end of the rear wheel may be set as the base end.

  In the said Example, it was set as the structure which produces | generates the bird's-eye view image which looked at the road surface around the own vehicle from the position above predetermined distance from the road surface. This predetermined distance is not fixed at a specific distance, but can be changed according to the height position of the camera provided in the vehicle, or can be changed as appropriate according to the range of the overhead view image to be displayed on the monitor 50. It is.

  In the said Example, the position of the parking frame line displayed on the bird's-eye view image was fixed, and the case where it displayed while moving the own vehicle icon V in the bird's-eye view image was mentioned as an example, and it demonstrated. However, the position of the host vehicle icon V in the overhead image may be fixed, and the parking frame line around the host vehicle may be displayed while being moved.

In the above-described embodiment, in the overhead image viewed from above the own vehicle, the own vehicle icon indicating the position of the own vehicle in the overhead image, and the backward trajectory curve indicating the trajectory when the own vehicle moves backward while turning with the minimum turning radius, The present invention has been described as a function of a parking support apparatus that supports parallel parking by superimposing a parking frame line icon indicating a parking frame line that defines the width of the parking frame.
However, the present invention can also be embodied as a parking assistance program that causes a computer to execute the functions of the parking assistance device described above, or a medium that stores this program.

It is a block diagram which shows the structure of the parking assistance apparatus concerning an Example. It is a figure explaining arrangement | positioning of the camera provided in the vehicle, and a bird's-eye view image. It is a flowchart explaining the 1st example of the process in the parking assistance apparatus concerning an Example. It is a figure explaining the parking assistance of the own vehicle by the parking assistance apparatus concerning an Example. It is a figure explaining the parking assistance of the own vehicle by the parking assistance apparatus concerning an Example. It is a flowchart explaining the 2nd example of the process in the parking assistance apparatus concerning an Example. It is a figure explaining the icon which shows a parking frame line and a parking frame line. It is a figure explaining the parking assistance of the own vehicle by the parking assistance apparatus concerning an Example. It is a figure explaining the parking assistance of the own vehicle by the parking assistance apparatus concerning an Example. It is a figure explaining the 1st modification of setting of a display position of a standard parking frame line icon. It is a figure explaining the 1st modification of setting of a display position of a standard parking frame line icon. It is a figure explaining the 2nd modification of the display position of a standard parking frame line icon. It is a figure explaining the 2nd modification of the display position of a standard parking frame line icon. It is a figure explaining the modification of the display method of the backward locus curve displayed superimposed on a bird's-eye view image. It is a figure explaining the modification of the reverse locus curve of the own vehicle displayed on a bird's-eye view image superimposed. It is a figure explaining the modification of the reverse locus curve of the own vehicle displayed on a bird's-eye view image superimposed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Camera 20 Sonar 30 Steering angle sensor 40 Wheel speed sensor 50 Monitor 60 Parking assistance control part 61 Overhead image generation part 62 Obstacle detection part 63 Parking frame line detection part 64 Parking frame width calculation part 65 Parking frame line emphasis part 66 Display position Setting unit 67 Image data generation unit (image generation unit)
68 Backward trajectory curve setting unit 69 Backward start position determining unit 70 Parking support information presenting unit 71 Memory R Backward trajectory curve S Parking frame S1 Parking frame line icon S2 Parking frame line icon T Reference parking frame line icon V Own vehicle

Claims (11)

A camera mounted on the vehicle and imaging the surroundings of the own vehicle;
From the captured image captured by the camera, an overhead image generation unit that generates an overhead image looking down from the viewpoint position above the host vehicle;
An image generation unit that generates an image in which a backward trajectory curve indicating a trajectory when the host vehicle moves backward while turning with a minimum turning radius is superimposed on the overhead image together with the host vehicle icon indicating the position of the host vehicle ;
The image generation unit has a turning radius in which the backward locus curve is shortened by a predetermined distance compared to a turning radius of a backward locus drawn by a rear wheel of the host vehicle when the host vehicle moves backward while turning with a minimum turning radius. And the position of the base end of the backward trajectory curve is displayed so as to be offset by the predetermined distance from the rear wheel position of the host vehicle toward the turning center. A parking assist device. In the overhead image, a parking frame line detection unit that detects a parking frame line that defines the width of the parking frame;
A parking frame line emphasis unit that sets the parking frame line icon indicating the detected parking frame line to be extended and highlighted in the longitudinal direction;
The parking support device according to claim 1, wherein the image generation unit generates an image in which the parking frame line icon set to be highlighted is further superimposed on the overhead image. The parking frame line emphasizing unit sets a parking frame line positioned inside in the turning direction as a reference parking frame line when the host vehicle is moved backward with a minimum turning radius and parked in the parking frame, and the reference parking frame The parking assist device according to claim 2, wherein a parking frame line icon indicating a line is set to be extended and highlighted in the longitudinal direction. It further includes a display position setting unit that sets a display position so that a parking frame line icon indicating the reference parking frame line is displayed at a position offset from the position of the reference parking frame line by a predetermined distance inside the parking frame. The parking support apparatus according to claim 3, wherein The retraction trajectory curve, the definitive when the vehicle is set as short predetermined distance as compared to the turning radius of the retraction trajectory drawn by the rear wheels of the vehicle when retracted while rotating at the minimum turning radius, the predetermined distance The parking support according to any one of claims 2 to 4 , wherein the distance is set to a half of a difference between a width of the parking frame and a width of the host vehicle. apparatus. When the parking frame line icon indicating the reference parking frame line is displayed at a position offset by a predetermined distance from the position of the reference parking frame line to the inside of the parking frame, the predetermined distance is set to the width of the parking frame and the Set the distance to half the difference from the width of your vehicle
The parking assistance device according to claim 4 or 5, wherein When the parking frame line icon indicating the reference parking frame line is displayed at a position offset by a predetermined distance from the position of the reference parking frame line to the inside of the parking frame, the predetermined distance is on both sides of the parking frame. The parking according to claim 4 or 5 , wherein the distance is set to a half of the difference between the distance between the other vehicles parked in the parking frame and the width of the host vehicle. Support device. The vehicle further comprises a reverse start position determination unit that determines whether or not the host vehicle has reached a reverse start position for starting reverse movement toward the parking frame,
The reverse start position determination unit determines that the host vehicle has reached the reverse start position when a parking frame line icon indicating the reference parking frame line almost reaches a position that is a tangent to the reverse locus curve. The parking support device according to any one of claims 3 to 7 , wherein The image generation unit displays a display form of a parking frame line icon indicating the reference parking frame line superimposed on the overhead image and the backward trajectory curve when it is determined that the host vehicle has reached the reverse start position. The parking assistance device according to claim 8, wherein the parking assistance device is changed. The said image generation part superimposes and displays the prediction reverse locus | trajectory at the time of reversing the own vehicle in the position of the steering wheel specified based on the output value of a steering angle sensor on the said overhead image. The parking assistance device according to claim 9. From the captured image obtained by imaging the surroundings of the host vehicle, an overhead view image looking down from the viewpoint position above the host vehicle is generated,
Generating an image in which a backward trajectory curve when the host vehicle moves backward while turning with a minimum turning radius is superimposed on an overhead image together with an icon indicating the host vehicle;
In the parking support method for displaying the generated image on the monitor ,
The backward trajectory curve is a curve having a turning radius that is shortened by a predetermined distance compared to the turning radius of the backward trajectory drawn by the rear wheel of the host vehicle when the host vehicle moves backward while turning with a minimum turning radius; and A parking support method , wherein the position of the base end of the backward trajectory curve is displayed so as to be offset from the position of the rear wheel of the host vehicle in the direction of the turning center by the predetermined distance. .

Images