KR100908421B1 - Car parking assistance device and method - Google Patents

Abstract

The parking assisting device includes display means 22 for superimposing a parking target frame having a position that can be adjusted by a user on a real image around a vehicle, and corresponding to the position of the parking target frame displayed on the real image. Positioning means for determining a parking target position, and parking assist control means 12 for controlling the vehicle to guide the vehicle on a target path to the parking target position. The parking assisting device is characterized in that the feature point determining means 12 determines the feature point on the actual image through image recognition, and the correlation between the parking target position and the feature point at the start of the parking assist control is executed for the parking assist control. Path correction means 12 for automatically modifying the target path so as to be maintained during the process.

Actual image, parking target frame, display means, parking target position, determining means, target path, parking assist control means, parking assist device, feature point determining means, parking assist control, correlation, route correction means, parking assist device, display means , Screen, auxiliary switch, detection means.

Description

PARKING ASSIST APPARATUS AND PARKING ASSIST METHOD FOR VEHICLE}

1 is a system configuration diagram showing an embodiment of a parking assisting device according to the present invention.

2 is a diagram illustrating an example of a parking target position setting touch panel on the display monitor 22.

3 is an explanatory diagram showing a departure state of the vehicle from the target path.

4 is a flowchart of a processing routine executed by the parking assist ECU 12 of the present embodiment.

Fig. 5 is a flowchart of a processing routine executed by the parking assist ECU 12 of the present embodiment when the parking target frame is changed by the user's operation during the parking assist control.

6 is a view for explaining the function of the adjustment switch of the present embodiment.

7 is a view for explaining the configuration of the adjustment switch of the present embodiment.

The present invention relates to a vehicle parking assistance apparatus and method for guiding a vehicle along a target route to a parking target position set by a user.

JP-A-11-208420 describes a parking assisting device which superimposes and displays a parking target frame (image of an auto-parked vehicle) that can be adjusted in position on a real image around a vehicle on a display monitor. According to this prior art, by setting the parking target position to the user, the user's intention, such as when the user wants to park near the right side or the left side of the parking frame, is reflected. Unlike the configuration in which the system automatically determines the parking target position according to the detection result by the sensor, the image recognition result, or the like, the above-described apparatus can prevent the vehicle from being guided to the parking target position against the user's intention. have.

JP-A-10-264839 also describes a parking assist system that automatically guides a vehicle to a parking target position. This parking assist system estimates the current vehicle position according to each wheel speed detected by the wheel speed sensor and the yaw rate detected by the yaw rate sensor during the parking assist control execution. When it is determined that the current vehicle position deviates from the target path, the steering angle of the wheel is adjusted in accordance with the amount of deviation from the target path to correct the deviation.

In the above general parking assist apparatus, the current vehicle position monitored during the parking assist control execution is an estimated value according to information from a wheel speed sensor, a yaw rate sensor, or the like. Assuming that there is road disturbance or system abnormality (e.g. failure of yaw rate sensor), the current vehicle cannot detect the actual error of the estimated current vehicle position and the actual vehicle position. It can be recognized that the location exists on the target path. In this case, as long as it is not possible to detect a state in which such an error has occurred, the parking assist control continues, causing a problem that the vehicle is guided to a position different from the intended parking target position set by the user.

An object of the present invention is to provide a parking assisting device which can reliably prevent a vehicle from being guided to a position different from a parking target position set by a user due to an estimation error of a current vehicle position.

According to one aspect of the invention, the display means for superimposing the parking target frame having a position that can be adjusted by the user on a real image around the vehicle, corresponding to the position of the parking target frame displayed on the real image There is provided a parking assisting device including position determining means for determining a parking target position, and parking assist control means for controlling the vehicle to guide the vehicle on a target path to the parking target position. The parking assist apparatus includes feature point determining means for determining a feature point on the real image through image recognition, and a correlation between the parking target position and the feature point at the start of parking assist control is maintained during execution of the parking assist control. Further, path correction means for automatically correcting the target path is further provided.

In one aspect of the present invention, the user sets the parking target position by adjusting the position of the parking target frame on the actual image displayed on the monitor. The vehicle is guided on the target path to the parking target position corresponding to the position of the parking target frame. In the present invention, the feature point in the actual image as an absolute reference is determined by image recognition at the start of parking assist control (including setting of the parking target position). The target path is automatically corrected so that the correlation between the parking target position at the start of parking assist control and the feature point on the actual image is maintained. Even if an error occurs in the estimation of the current vehicle position, that is, even if the correlation between the parking target position and the feature point changes, the target path is automatically corrected. As a result, at the start of parking assist control, the vehicle can be reliably guided to the parking target position initially set by the user. The correlation between the parking target position and the feature point includes both a positional relationship and a directional relationship. "At the start of parking assistance control" includes "starting of parking assistance control", for example, when the parking assistance control is resumed after the position of the parking target frame is adjusted during the parking assistance control execution.

In one aspect of the present invention, the feature point determining means can recognize an image and determine a portion displayed on the real image around the parking target frame as the feature point.

In one aspect of the present invention, the feature point determining means can determine the white line of the parking frame as the feature point.

In one aspect of the invention, the position of the parking target frame may be adjustable in a direction parallel to the white line of the parking frame.

In one aspect of the invention, the feature point determining means may determine, as the feature point, one of a car stop and a road shoulder of the parking frame.                         

In one aspect of the invention, an auxiliary switch for adjusting the position of the parking target frame displayed on the screen of the display means in the longitudinal direction may be further provided.

In one aspect of the invention, the screen of the display means is a touch panel, the auxiliary switch is displayed superimposed on the screen, the position of the parking target frame can be moved by the user.

In one aspect of the invention, detection means for detecting the departure of the vehicle from the target path may be further provided.

In one aspect of the present invention, the detecting means compares the correlation between the parking target frame and the feature point on the real image during the performance of the parking assist control by comparing with the reference correlation the vehicle from the target path. Deviation of can be detected.

In one aspect of the present invention, the parking assist control means automatically determines the position of the parking target frame displayed on the screen of the display means when the detection means detects the departure of the vehicle from the target path. You can change it.

In one aspect of the present invention, the parking assist control means may stop the parking assist control when the detection means detects the departure of the vehicle from the target path.

In one aspect of the present invention, the parking assist control means, when the detection means detects the departure of the vehicle from the target path, updates the target path and target steering angle corresponding to the newly determined parking target frame, The parking assistance control may be resumed according to the updated target path.

In one aspect of the present invention, the parking assist control means may stop the parking assist control if the updated target route is not obtained when the departure of the vehicle from the target route is detected.

In one aspect of the present invention, the detecting means compares the relative motion vector of the vehicle with respect to the feature point on the real image during the execution of the parking assistance control and the absolute motion vector of the vehicle during the execution of the parking assistance control. The deviation of the vehicle from the target path may be detected when it is determined that there is a difference between the relative motion vector and the absolute motion vector.

In one aspect of the present invention, the parking assist control means may update the target path and the target steering angle according to a difference between the relative motion vector and the absolute motion vector.

In one aspect of the invention, the movement vector is based on at least one of an output signal from a vehicle speed sensor, a steering angle sensor, and a yaw rate sensor, the amount of change in the movement distance and direction of the vehicle during the execution of the parking assist control. It can be estimated by calculating.

In one aspect of the invention, the movement vector may be estimated at a predetermined travel distance of the vehicle.

According to another aspect of the present invention, a parking assisting method includes a first step of displaying a parking target frame superimposed on a real image around a vehicle, a position of the parking target frame adjustable by a user, and displayed on the real image. And a second determining step of determining a parking target position corresponding to the position of the parking target frame, and a third step of controlling the vehicle to guide the vehicle on the target path to the parking target position. The parking assist method includes a fourth step of determining a feature point on the real image through image recognition, and a correlation between the parking target position and the feature point at the start of parking assist control is maintained during execution of the parking assist control. And a fifth step of automatically modifying the target path.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

1 shows a configuration of a parking assist device as an embodiment of the present invention. According to FIG. 1, the parking assisting apparatus is mainly comprised by the electronic control unit 12 (henceforth a parking assist ECU 12). The parking assist ECU 12 includes a microcomputer having a CPU, a ROM, a RAM, and the like connected to each other via a bus (not shown). A ROM contains a program executed by a CPU.

The parking assist ECU 12 includes a steering angle sensor 16 that detects a steering angle Ha of a steering wheel (not shown) through an appropriate bus such as a high speed communication bus, and a suitable bus, for example, high speed communication. The vehicle speed sensor 18 for detecting the vehicle speed V is connected via a bus or the like. The vehicle speed sensor 18 may be installed at each wheel to generate a pulse signal at a period corresponding to the wheel speed. Each output signal of the steering angle sensor 16 and the vehicle speed sensor 18 is supplied to the parking assist ECU 12.                     

The shift position sensor 50 and the parking switch 52 are connected to the parking assist ECU 12. The shift position sensor 50 generates an electric signal corresponding to the operation position of the shift lever, and supplies it to the parking assist ECU 12. The parking switch 52 is installed in a vehicle interior and can be operated by a user. The parking switch 52 is kept in an off state in a normal state, and is turned on by a user's operation. The parking assist ECU 12 determines whether or not the shift lever is in the range of R according to the output signal of the shift position sensor 50, and the user needs parking assistance according to the output signal of the parking switch 52. Determine whether or not

The back support camera 20 provided in the center part of the rear part of a vehicle, and the display monitor 22 provided in the vehicle interior are connected to the parking assistance ECU 12. The back monitor camera 20 is a CCD camera which captures a predetermined angle range of the rear of a vehicle, and supplies the captured image signal to the parking assist ECU 12. The parking assist ECU 12 captures an image (real image) of the back monitor camera 20 on the display monitor 22 when the shift lever is in the range of R and the parking switch 52 is in the on state. Is displayed. At this time, on the display monitor 22, as shown in FIG. 2 showing reversal of the vehicle, the parking target frame is overlaid and displayed on the captured image, and a touch switch for setting the parking target position is displayed.

The touch switch for setting the parking target position includes an adjustment switch for translating and rotating the parking target frame in the longitudinal direction and the left and right directions, and a parking selection switch for selecting the type of parking (parallel parking or reversing) required. Not included), and a setting switch for setting the position (including the direction) of the parking target frame. Each of these touch switches is displayed on the display monitor 22 at an appropriate time and step during parking assist control. The parking target frame may be formed to represent the actual parking frame or the appearance of the vehicle, as indicated by the broken lines in FIG. 2. In addition, the parking target frame has a form in which its position and direction are visually recognizable by the user. For example, two types of display for reverse parking and display for parallel parking may be prepared.

The user operates the touch switch (adjustment switch) for parking target position setting to change the position of the parking target frame on the display monitor 22, thereby fitting the parking target frame to the actual parking frame. The user operates the adjustment switch to translate and rotate the parking target frame in the longitudinal direction and the left and right directions to fit the position of the parking target frame to the actual parking frame position. The parking target frame adjusted in this way is set as the final parking target frame by the user pressing the setting switch, for example (the user completes the setting of the parking target position).

In this way, when the position of the final parking target frame is set by the user, the parking assist ECU 12 determines the parking target position corresponding to the position of the parking target frame, and the parking start position relative to the parking target position. In accordance with the relationship, the target path (see Fig. 3) is calculated and at the same time the target steering angle of the wheel to be rotated to each position on the target path is calculated. The position of the parking target frame and the parking target position always correspond one to one. Hereinafter, the parking target position determined when the position of the parking target frame is set by the user is referred to as "intentional parking target position".

The auto steering unit 30, the auto braking unit 32, and the auto drive unit 34 are connected to the parking assist ECU 12 via an appropriate bus. The parking assist ECU 12 controls the auto steering unit 30, the auto braking unit 32, and the auto drive unit 34 so that the vehicle is guided along the target path. Specifically, when a creep force is generated by loosening the amount of the driver's foot pedal, the parking assist ECU 12 automatically operates at each vehicle position on the target path when the reverse of the vehicle is started. The steering unit 30 automatically rotates the wheel by the target steering angle. When the vehicle finally reaches the parking target position, the driver is asked to stop the vehicle (or the vehicle is automatically stopped by the automatic braking unit 32), and the parking assist control ends.

The parking assist ECU 12 monitors whether or not the relationship between the parking target frame and the feature point on the actual image is maintained during the above-described parking assist control. Specifically, the parking assist ECU 12 calculates a value indicating a correlation between the parking target frame and the feature point on the real image when the setting switch is operated by the user. This feature point is capable of image recognition and is a feature point of a real image in the vicinity of the parking target frame. Preferably, it is a white line of the actual parking frame corresponding to the parking target frame. However, as long as image recognition is possible, other feature points such as shoulders or car stops on roads near the parking target frame may be used. The correlation between the parking target frame and the feature point on the actual image includes a distance between the predetermined reference point of the parking target frame and the feature point on the actual image (or a two-dimensional vector connecting the feature point on the actual image and the predetermined reference point of the parking target frame). do. In the case of the vehicle reversing, the correlation may also include an angle formed by a predetermined line (outer line) of the parking target frame and a line (outer line, typically white line) that constitutes a predetermined feature point on the real image. . The correlation between the parking target frame and the feature point on the real image when the position of the parking target frame, which is calculated by the parking assist ECU 12, is set by the user is referred to as "reference correlation" below. The parking assist ECU 12 stores the calculated reference correlation in predetermined storage means (for example, the RAM of the parking assist ECU 12).

Since the coordinate values of the coordinate system on the display monitor 22 and the coordinate values of the actual coordinate system correspond one-to-one by a predetermined conversion equation, the above-described reference correlation may be based on the coordinate system on the display monitor 22 or on the actual coordinate system. It may be.

Under parking assist control, a target steering angle is predetermined at each vehicle position on the target path. Therefore, as long as the vehicle position is accurately estimated during the parking assist control execution, the vehicle can be reliably guided to the intended parking target position. However, the vehicle position during the parking assist control execution is estimated according to the information obtained from the vehicle speed sensor 18 and the steering angle sensor 16. If an error occurs between the estimated vehicle position and the actual vehicle position due to a system abnormality (a failure of the sensor itself) or an environmental disturbance (road disturbance), lead the vehicle to a parking target position different from the intended parking target position. The problem of discarding occurs (see Fig. 3). Therefore, detecting a state in which an error occurs between the estimated vehicle position and the actual vehicle position, that is, the deviation from the target path is efficient from the viewpoint of increasing the reliability and precision of the parking assist control.

In contrast, the parking assist ECU 12 of the present embodiment calculates the relationship between the parking target frame and the feature point on the actual image at predetermined intervals as described above during the parking assist control execution, and performs the above-described correlation with the above-described calculation result. Compare the relationships. In this embodiment, the relative position of the parking target frame based on the position of the absolute feature point based on image recognition is monitored during the parking assist control execution. The position of the parking target frame on the display monitor 22 during the parking assist control execution is determined by the estimation according to the information from the vehicle speed sensor 18 and the steering angle sensor l6, like the vehicle position during the parking assist control execution. have. Therefore, according to this embodiment, the deviation from the reference correlation of the correlation between the parking target frame and the feature point on the real image, which may occur during the execution of the parking assist control, that is, the relative positional relationship of the parking target frame with respect to the absolute feature point. By detecting the variation, a difference between the estimated vehicle position and the actual vehicle position, i.e., deviation from the target path, can be obtained due to a system abnormality or the like.

In the present embodiment, when it is detected that the correlation between the parking target frame and the feature point on the real image during the parking assist control execution deviates from the reference correlation, the parking assist ECU 12 corrects the departure. The position of the parking target frame on the display monitor 22 is automatically changed. The parking assist ECU 12 updates the target path and the target steering angle corresponding to the position of the new parking target frame, and resumes the parking assist control according to the target path or the like. Therefore, according to the present embodiment, even when a deviation of the vehicle from the target path occurs due to a system abnormality or the like, the deviation is corrected so that the reference correlation is always ensured, so that the vehicle can be reliably guided to the intended parking target position. Can be. In other words, according to this embodiment, even if a system abnormality or the like occurs, unless the parking target position is changed by the user during the parking assist control execution, the user can certainly guide the vehicle to the intended parking target position.

The parking assist control is not executed directly in accordance with the white line information of the actual parking frame obtained by image recognition on the display. Instead, the parking assist control is executed according to the parking target frame set by the user as described above. . This allows the vehicle to be parked at the user's will, for example, to be parked in an inclined position or inclined direction with respect to the center line of the actual parking frame, for example, due to an obstacle situation around the door or circumstances such as opening or closing a door. do.

Alternatively, the motion vector of the vehicle relative to the feature point on the actual image during the parking assist control execution is compared with the absolute motion vector of the vehicle during the parking assist control execution, and when a deviation occurs in these movement vectors, A configuration for detecting departure is also possible. In addition, when a deviation occurs in the movement vector, the vehicle can be reliably guided to the intended parking target position by updating the target path and the target steering angle in accordance with the deviation amount. In this case, the motion vector of the feature point on the real image is calculated according to image recognition, and the vehicle's motion vector is the moving distance of the vehicle during the parking assist control execution in accordance with the output signals of the vehicle speed sensor 18 and the steering angle sensor 16. And calculating the amount of change in the direction of the vehicle. In addition, these motion vectors may be calculated and estimated each time the vehicle travels by a predetermined travel distance, for example, 0.5 m, and may be compared with each other.

The parking assist device detects the vehicle position during the parking assist control execution based on the image recognition based on the parking start position, and outputs the amount of movement of the vehicle during the parking assist control execution (the vehicle speed sensor 18 and the steering angle sensor 16). May be configured to estimate in accordance with the calculation possible by the signal. In this configuration, the detected vehicle position is compared with the estimated vehicle position. When they differ from each other, it can be determined that the vehicle deviates from the target path. Further, when the vehicle positions differ from each other, the vehicle can be reliably guided to the intended parking target position by recalculating the target path and the target steering angle according to the difference amount.

The apparatus may be configured to simply stop the parking assist control when the deviation of the vehicle from the target path is detected, without recalculating the target path and the target steering angle. In addition, in the case where the deviation of the vehicle from the target path is detected, when the proper target path cannot be obtained as a result of the recomputation, the configuration of stopping the parking assist control can be also possible.

Referring to Fig. 4, a process executed for the purpose of detecting departure of the vehicle from the target path and correcting the departure as described above will be described. 4 is a flowchart of a processing routine executed by the parking assist ECU 12 of the present embodiment. This processing routine is activated when the shift lever is in the range of R and the parking switch 52 is turned on, for example.

Referring to the flowchart of FIG. 4, first, in step S100, a process of displaying a captured image of the back monitor camera 20 on the display monitor 22 and superimposing and displaying a parking target frame on the captured image. Is executed. The initial position of the parking target frame displayed on the display monitor 22 may be determined by estimation based on the running state of the vehicle until reaching the parking start position, for example. Alternatively, the initial position of the parking target frame may be designated by the user directly touching the touch screen of the display monitor 22. In this case, the initial position of the parking target frame is a recognition result of the white line in the captured image around the touch position. It may be determined according to.

Then, in step S110, a process of changing the display position of the parking target frame in accordance with the operation of the touch switch (except the setting switch) by the user is executed. The processing in this step S110 is executed until the setting switch is operated by the user. When the setting switch is operated without the touch switch being operated by the user, the process proceeds to step S120 without executing the step S110. Then, in this step S11, the parking target frame is moved in accordance with the operation of the above-described adjustment switch.

In step S120, the white line around the parking target frame when the setting switch is operated is searched for, and the correlation between the parking target frame and the feature point on the real image (in this example, the feature point on the white line) is used as the reference correlation. The decision / memory processing is executed. In this case, as described above, the reference correlation may be a distance between a predetermined reference point (for example, a vertex or intersection point of the parking target frame) of the parking target frame and a predetermined point of the white line, and when the vehicle moves backwards. The angle may further include an angle formed between the direction of the parking target frame and the direction of the actual parking frame (white line frame).

The process proceeds to step S130, in which the parking target position is determined according to the parking target frame set in step S120, and the vehicle is delivered from the current vehicle position, that is, the parking starting position to the parking target position. Compute the target path to In step S130, a process of calculating the target steering angle of the wheel to be steered at each position on the target path is executed. When the process of this step S130 is complete | finished, the preprocess for performing parking assistance control is completed. After the completion of the step S130, when the vehicle starts to reverse, the execution of the parking assist control is started until the parking target position is reached (the determination in step S180). Is executed repeatedly. The processing of steps S140 to S170 may be performed for example every 0.5m of the moving distance of the vehicle.

In step S140, the parking target frame on the display monitor 22 according to the correlation between the vehicle position (parking start position in the initial cycle of the routine) estimated in the previous processing routine and the vehicle position estimated in this processing routine. Processing to determine the position of the position (position after movement) is executed. Incidentally, the estimation of the vehicle position may be realized by calculating the amount of change in the direction of the vehicle generated between the moving distance of the vehicle and the moving distance. In this case, the moving distance of the vehicle is calculated by time integration of the output signal (wheel speed pulse) of the vehicle speed sensor 18. The amount of change in the direction of the vehicle is obtained by integrating the road curvature (corresponding to the inverse number of the turning radius of the vehicle, which is determined according to the steering angle obtained from the steering angle sensor 16) by the movement distance (the integral section is the movement distance of the vehicle, eg Corresponding to 0.5 m}. The amount of change in the direction of the vehicle may be calculated by multiplying the road curvature obtained for each short travel distance (0.01 m) by the short travel distance (0.10 m) and integrating these multiplication values until it corresponds to the travel distance 0.5 m. . The relationship between the road curvature and the steering angle may be stored in the ROM of the parking assist ECU 12 as a map created according to correlation data obtained for each vehicle in advance.

In step S150, while updating the position of the parking target frame on the display monitor 22, the white line in the real image around the position of the parking target frame is searched for, and the predetermined reference point of the parking target frame (step S120 above). ) And a process for calculating the correlation between the feature point on the real image and the feature point on the real image (the same feature point as in step S120) is executed.

In step S160, a process of determining whether or not the correlation calculated in step S150 is within a predetermined range with respect to the reference correlation calculated in step S120 is executed. For example, it may be determined whether the absolute value of the difference between the distance between the reference point and the feature point calculated in the step S150 and the distance according to the reference correlation is smaller than a predetermined threshold.

If YES is obtained in step S160, it is determined that the reference correlation is maintained (i.e., there is no deviation of the vehicle from the target path), and the flow returns to step S140. On the other hand, if NO is obtained in this step S160, it is determined that the reference correlation is disturbed due to some cause (system abnormality) (i.e., deviation of the vehicle from the target path has occurred), and the flow advances to step S170. Proceed.

In step S170, a process of correcting the position of the parking target frame on the display monitor 22 is executed in accordance with the amount of deviation of the correlation calculated in step S150 above to the reference correlation. In this step S170, further, a process of recalculating the target path and the target steering angle is executed according to the position of the corrected parking target frame. As a result, after the end of the present step S150, the vehicle is controlled according to the newly calculated target path and target steering angle. In addition, the correlation between the reference point of the parking target frame after correction and the feature point on the real image coincides with the reference correlation. The parking target position corresponding to the modified parking target frame is the same as the parking target position (intentional parking target position) determined in step S130}. When the process of this step S170 is complete | finished, it returns to said step S140.

In the above embodiment, the correlation between the parking target frame and the feature point on the real image during the execution of the parking assist control is monitored based on the reference correlation. By detecting the deviation of the two correlations, the deviation of the vehicle from the target path due to a system abnormality or the like can be detected. When the deviation of the vehicle from the target path is detected, the target path and the target steering angle are updated so that the reference correlation is maintained. This makes it possible to reliably guide the vehicle to the intended parking target position (ie, the parking target position determined in step S130).

With reference to FIG. 5, the process when the parking target frame is changed by user's operation during the parking assistance control is demonstrated. 5 is a flowchart of a control routine executed by the parking assist ECU 12 of the present embodiment. The control routine is an interrupt routine that is executed when the parking target frame is changed by the user's operation during the execution of the processing of steps S140 to S170 in FIG. 4.

If the above-described adjustment switch is operated by the user during the parking assist control execution, in step S300, a process of changing the display position of the parking target frame according to the operation of the adjustment switch is executed until the setting switch is operated again. do.

The correlation between the predetermined reference point (the same reference point as the step S120) and the feature point on the real image (the same feature point as the step S120) of the parking target frame when the setting switch is re-operated in step S310, The calculating process is executed. In this step S310, further, a process of updating and storing the calculated correlation as a new reference correlation is executed.

In step S320, the parking target position is newly determined according to the parking target frame set in the step S310, and a target path for guiding the vehicle from the current vehicle position to the new parking target position is calculated. Processing for calculating the target steering angle of the wheel to be steered at each position is executed. When the process of this step S320 ends, this interrupt routine is complete | finished, and the process below the said step S140 is resumed, ie parking assistance control is resumed. Therefore, in the determination process of step S160, the new reference correlation calculated in step S310 is used.                     

 As the vehicle reverses, the relationship between the parking target frame on the display monitor 22 and the actual parking frame becomes clearer. Therefore, the user can find out during the parking assist control execution that the position of the parking target frame does not exactly correspond to the original intention of the user's setting. According to the present embodiment, as described above, since the resetting of the parking target frame is permitted during the parking assist control execution, it is possible to reliably guide the vehicle to the parking target position corresponding to the original intention of the setting.

6 and 7, a switch for adjustment suitable for readjustment of the parking target frame during execution of the parking assistance control, that is, readjustment of the parking target frame executed by the user during the processing of step S300 will be described.

As shown in Fig. 6, the adjustment switch of the present embodiment includes a standard switch 70 which realizes standard movement of the parking target frame in the vertical and horizontal movements and rotational movement, and a white line of the actual parking frame in the real image. And an auxiliary switch 72 for realizing the parallel movement of the parking target frame accordingly. Therefore, when the auxiliary switch 72 is operated, the parking target frame moves in the longitudinal direction of the white line of the actual parking frame, as indicated by the arrow (moving direction) in FIG. In this way, the auxiliary switch 72 can easily realize the position correction in the front-back direction of the parking target frame in which the direction corresponds to the actual parking frame but the position in the front-back direction does not correspond.

Incidentally, the adjustment switch of the present embodiment may be displayed on the display monitor 22 during the parking assist control execution, that is, during the processing of steps S140 to S170 in FIG. 4. Alternatively, the adjustment switch of the present embodiment may be displayed on the display monitor 22 before the parking assist control is executed, that is, at the step of setting the parking target frame. When the position of the parking target frame is determined according to the recognition result of the white line in the peripheral area of the position touched by the user, it is difficult to accurately specify the position of the front and rear ends of the white line by image recognition. This may cause the parking target frame to shift in the longitudinal direction from the actual parking frame (the direction tends to coincide). In this configuration, the auxiliary switch 72 which realizes the longitudinal movement of the parking target frame along the white line is particularly suitable.

As shown in Fig. 7, the auxiliary switch 72 of the present embodiment may be displayed superimposed on the peripheral position of the parking target frame on the actual image. The auxiliary switch 72 may be formed as an arrow having a direction corresponding to the actual moving direction. This enables the user to intuitively understand the function of the auxiliary switch 72.

In the above embodiment, the auxiliary switch 72 may realize not only the movement of the parking target frame in the direction parallel to the longitudinal direction of the white line but also the movement in the direction perpendicular to the longitudinal direction of the white line. In addition, the auxiliary switch 72 may realize various movements as described above with reference to the longitudinal direction of the parking target frame, instead of the longitudinal direction of the white line.

As mentioned above, although preferred embodiment of this invention was explained in full detail, this invention is not limited to the above-mentioned embodiment, A various deformation | transformation and substitution can be added to the above-mentioned embodiment, without deviating from the range of this invention. have.

For example, in the above-described embodiment, the position of the parking target frame and the vehicle position (vehicle movement vector) on the display monitor 22 during the parking assist control execution are output from the steering angle sensor 16 and the vehicle speed sensor 18. Estimated according to the signal. However, it is also possible to estimate such a position in accordance with the output signals of the yaw rate sensor and the vehicle speed sensor 18.

The present invention described above has an effect as described below. According to the present invention, even when an error occurs in the estimation of the current vehicle position, the vehicle can be surely guided to the intended parking target position.

It should be noted that in the embodiment of the present invention, the display monitor may be considered to correspond to the "display means". In addition, the parking assist ECU, the adjustment switch, the parking selection switch, and the setting switch correspond to the "positioning means". Can be considered to be. Moreover, the parking assist ECU may be considered to correspond to "parking assistance control means", feature point determination means "," path correction means ", and" detection means ".

Claims (18)

Display means 22 for superimposing and displaying a parking target frame having a position that can be adjusted by a user on a real image around a vehicle; and a parking target position corresponding to the position of the parking target frame displayed on the real image. A parking assistance apparatus comprising position determining means for determining and parking assistance control means for controlling the vehicle to guide the vehicle on a target path to the parking target position. Feature point determining means 12 for determining a feature point on the real image through image recognition, and On the basis of the image recognition result of the feature point obtained during the execution of the parking assistance control, so that the correlation between the parking target position and the feature point at the start of the parking assistance control is maintained during the execution of the parking assistance control. And a path correcting means (12) for automatically correcting the target path. The method of claim 1, The feature point determining means (12) is capable of recognizing an image and determines a portion displayed on the real image around the parking target frame as the feature point. The method according to claim 1 or 2, The feature point determining means (12) determines a white line of the parking frame as the feature point. The method of claim 3, And the position of the parking target frame is adjustable in a direction parallel to the white line of the parking frame. The method according to claim 1 or 2, The feature point determining means (12) determines one of a car stop and a road shoulder of a parking frame as the feature point. The method according to claim 1 or 2, And an auxiliary switch (72) for vertically adjusting the position of the parking target frame displayed on the screen of the display means (22). The method of claim 6, The screen of the display means 22 is a touch panel, and the auxiliary switch 72 is displayed superimposed on the screen, and is operated by the user to move the position of the parking target frame. Parking assist device. The method according to claim 1 or 2, And means for detecting the departure of the vehicle from the target path. The method of claim 8, The detection means 12 detects the deviation of the vehicle from the target path by comparing the correlation between the parking target frame and the feature point on the real image during the performance of the parking assist control with a reference correlation. Parking support device, characterized in that. The method of claim 8, The parking assist control means 12 determines the position of the parking target frame displayed on the screen of the display means 22 when the detection means 12 detects the departure of the vehicle from the target path. Parking assistance device, characterized in that automatically changed. The method of claim 8, The parking assist control means (12) stops the parking assist control when the detection means (12) detects the departure of the vehicle from the target path. The method of claim 8, The parking assist control means 12 updates the target path and the target steering angle corresponding to the newly determined parking target frame when the detection means 12 detects the departure of the vehicle from the target path, And the parking assistance control is resumed according to the updated target path. The method of claim 12, And the parking assist control means (12) stops the parking assist control if the updated target route is not obtained when the departure of the vehicle from the target route is detected. The method of claim 8, The detecting means 12 compares the relative motion vector of the vehicle with respect to the feature point on the real image during the execution of the parking assistance control and the absolute motion vector of the vehicle during the execution of the parking assistance control, and the relative And a deviation of the vehicle from the target path when it is determined that there is a difference between the motion vector and the absolute motion vector. The method of claim 14, The parking assist control means (12) updates the target path and the target steering angle according to the difference between the relative motion vector and the absolute motion vector. The method of claim 14, The absolute motion vector is based on at least one of the output signals from the vehicle speed sensor 18, the steering angle sensor 16, and the yaw rate sensor, such that the vehicle travel distance and the vehicle's travel distance during the execution of the parking assist control. Parking assistance apparatus, characterized in that estimated by calculating the amount of change in the direction. The method of claim 16, And the absolute motion vector is estimated at a predetermined driving distance of the vehicle. A first step of displaying a parking target frame superimposed on a real image around a vehicle and the parking target frame adjustable by a user, and a parking target position corresponding to the position of the parking target frame displayed on the real image A second determining step of determining, and a third step of controlling to guide the vehicle on a target route to the parking target position, the parking assist method comprising: A fourth step of determining the feature point on the real image through image recognition, and On the basis of the image recognition result of the feature point obtained during the execution of the parking assistance control, so that the correlation between the parking target position and the feature point at the start of the parking assistance control is maintained during the execution of the parking assistance control. And a fifth step of automatically correcting the target path.

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