DE102019106520A1 - Parking assistance device, parking assistance method and parking assistance program - Google Patents

Abstract

A vehicle-mounted ECU 20 that exemplifies a parking assist device includes: a camera interface 27 that functions as a scan result acquisition interface that acquires a scan result from a sensor mounted on a vehicle; a top view image generator 26 which generates, from the sampling result obtained by the sampling result obtaining interface, a top view image showing the vehicle viewed from above; and a parameter generator 23 that functions as a top view image setting interface that determines an orientation of the parking target in the top view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and the parking target when the vehicle is at a parking destination is parked.

Description

background

area

The disclosure relates to a parking assist technology, and more particularly to a parking assist apparatus, a parking assist method, and a parking assist program for assisting a user attempting to park a vehicle.

Description of the Related Art

Recently, various functions are incorporated in a vehicle to improve the comfort of a vehicle for the user. For example, Patent Document 1 discloses technology aimed at stopping the driver of a vehicle from stopping to position his position on a road surface by detecting moving images of a scene around them containing the target, To generate position-determining moving images that are used for the position determination of the vehicle, and to display the position-determining moving images thus obtained on a display monitor.

Further, Patent Document 2 discloses a technology directed to assisting the parking of a vehicle by generating a real-time bird's eye view to the user, in which a parking space is displayed on a display screen even when the driver's vehicle emotional.

[Patent Document 1] JP2014-100924
[Patent Document 2] JP2013-6548

The inventors have recognized a disadvantage in the related art that it can not generate an image that is easily understood by the operator when a vehicle equipped with an automatic parking function is remotely operated from outside the vehicle.

The present invention addresses the problem discussed above, an object of which is to improve the comfort for the user of a vehicle.

Summary

A parking assist apparatus according to an embodiment of the present disclosure includes: a pickup result obtaining interface that acquires a pickup result from a sensor mounted on a vehicle; a plan view image generator that generates, from the sampling result obtained by the sampling result obtaining interface, a plan view image showing the vehicle from above; and a top view image setting interface that determines an orientation of the parking target in the top view image relative to a display screen based on the relative positions of an operator remotely controlling the vehicle and a parking target when the vehicle is parked at the parking target.

Another embodiment of the disclosure also relates to a parking assist device. The apparatus includes: a top view image extraction interface that acquires a top view image showing a vehicle viewed from above and generated from a scan result from a sensor mounted on the vehicle; a top view image setting interface that determines an orientation of the parking target in the top view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and a parking target when the vehicle is parked at the parking destination; and a display interface that displays the top view image set on the orientation determined by the plan view image setting interface on the display screen.

Another embodiment of the present disclosure also relates to a parking assist method. The method is implemented by a computer and includes: obtaining a sensing result from a sensor mounted on a vehicle; Generating a top view image showing the vehicle viewed from above from the obtained sampling result; and determining an orientation of the parking destination in the plan view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and a parking destination when the vehicle is parked at the parking destination.

Yet another embodiment of the present disclosure also relates to a parking assist method. The method is implemented by a computer and includes: obtaining a top view image showing a vehicle viewed from above and generated from a scan result from a sensor mounted on the vehicle; Determining an orientation of the parking destination in the plan view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and a parking destination when the vehicle is parked at the parking destination; and displaying the top view image set to the specific orientation on the display screen.

Optional combinations of the above-mentioned components and implementations of the invention in terms of methods, apparatus, systems, recording media, and computer programs may also be practiced as additional embodiments of the present invention.

According to the present disclosure, the comfort for the user of a vehicle is improved.

list of figures

• 1 eine Konfiguration eines Parkunterstützungssystems gemäß der ersten Ausführungsform zeigt;
• 2 beispielhaft relative Positionen des Parkziels, des Fahrzeugs und des Betreibers zeigt;
• 3 ein Verfahren einer Koordinatentransformation zeigt;
• 4 einen Bereich, der die Position des Betreibers in dem Zielursprungkoordinatensystem angibt, zeigt;
• 5 ein Beispiel der Bezugnahmetabelle A zeigt, auf die durch den Parametergenerator in der normalen Betriebsart Bezug genommen wird;
• 6 ein Beispiel der Bezugnahmetabelle B zeigt, auf die durch den Parametergenerator 23 in der angepassten Betriebsart Bezug genommen wird;
• 7 ein Beispiel eines auf dem Berührungsbildschirm des Smartphones angezeigten Anzeigebilds zeigt;
• 8 ein Beispiel eines auf dem Berührungsbildschirm des Smartphones angezeigten Anzeigebilds zeigt;
• 9 ein Beispiel eines auf dem Berührungsbildschirm des Smartphones angezeigten Anzeigebilds zeigt;
• 10 ein Beispiel eines auf dem Berührungsbildschirm des Smartphones angezeigten Anzeigebilds zeigt;
• 11 ein Ablaufplan ist, der die Schritte in dem Parkunterstützungsverfahren gemäß der Ausführungsform zeigt;
• 12 ein Ablaufplan ist, der die in 11 gezeigte Einzelheit S16 zeigt;
• 13 ein Ablaufplan ist, der die Schritte des Parkunterstützungsverfahrens gemäß der Ausführungsform zeigt;
• 14 eine Konfiguration eines Parkunterstützungssystems gemäß der zweiten Ausführungsform zeigt; und
• 15 ein Beispiel zeigt, in dem Parkplätze unter einem Winkel zu einer Durchfahrt vorgesehen sind.

Embodiments will now be described, by way of example only, with reference to the accompanying drawings, which are given by way of non-limiting example and in which like elements in several figures are denoted by like reference numerals and in which: FIG.

• 1 shows a configuration of a parking assist system according to the first embodiment;
• 2 shows by way of example relative positions of the parking destination, the vehicle and the operator;
• 3 shows a method of coordinate transformation;
• 4 shows an area indicating the position of the operator in the destination origin coordinate system;
• 5 shows an example of the reference table A referred to by the parameter generator in the normal mode;
• 6 an example of the reference table B pointed to by the parameter generator 23 in the adjusted mode of operation;
• 7 shows an example of a display image displayed on the touch screen of the smartphone;
• 8th shows an example of a display image displayed on the touch screen of the smartphone;
• 9 shows an example of a display image displayed on the touch screen of the smartphone;
• 10 shows an example of a display image displayed on the touch screen of the smartphone;
• 11 is a flowchart showing the steps in the parking assist method according to the embodiment;
• 12 a flowchart is the one in 11 shown detail S16 shows;
• 13 is a flowchart showing the steps of the parking assist method according to the embodiment;
• 14 shows a configuration of a parking assist system according to the second embodiment; and
• 15 shows an example in which parking is provided at an angle to a passage.

Detailed description

A description will now be given of a technology embodying the present disclosure, wherein when a vehicle provided with an automatic parking function is remotely operated from outside the vehicle by the user of the vehicle and is automatically operated at a parking destination, e.g. For example, in a parking lot in a parking area, is automatically parked on a terminal that is used by the user, a top view image is displayed, which shows the vehicle seen from above, to help the operator outside the vehicle to check the scene of parking ,

In vehicles of the related art, a top view image is displayed on a vehicle-mounted display device to make the driver or a passenger in the vehicle see the image, and thus with the position of the vehicle in the center and in the same orientation as the vehicle displayed. However, the operator may find it difficult to understand the position relative to the parking target if the same top view is displayed on the operator's terminal outside the vehicle.

In order to deal with the problem, the embodiment sets the orientation of a parking target in the top view image based on the relative positions of the operator and the parking target relative to the display screen. This helps the operator to properly understand the relative positions of the operator and the parking destination and to check the movement of the automatically parked vehicle. Accordingly, the comfort for the operator is improved. Further, the operator can visually and efficiently visually check the situation around the vehicle and the parking target according to the embodiment, so that the safety of the automatic parking is improved.

First Embodiment

1 shows the configuration of a parking assist system according to the first embodiment. A parking assistance system 1 includes a vehicle-mounted ECU 20 , which is mounted in a vehicle, a smartphone 30 , which is a user terminal used by the user of the vehicle exemplifies a server 10 for exchanging data between the ECU mounted in the vehicle 20 and the smartphone 30 and a communication line 2 that connects these devices.

The server 10 contains a communication interface 11 and a data exchange server 12 , The communication interface 11 controls via the communication line 2 the communication with the ECU mounted in the vehicle 20 and with the smartphone 20 , The data exchange server 12 registers in advance the correspondence between the ECU mounted in the vehicle 20 mounted in the vehicle and the smartphone used by the user of the vehicle 30 , The data exchange server 12 mediates the exchange of data between the ECU mounted in the vehicle 20 and the registered smartphone 30 , In another example, the vehicle mounted ECU 20 and the smartphone 30 Exchange data directly in wireless communication. In this case, the server can 10 not be provided.

The vehicle-mounted ECU 20 contains a communication interface 21 , a display image generator 22 , a parameter generator 23 , a parking target position detector 24 , an operator position detector 25 , a plan view image generator 26 and a camera interface 27 , The features are implemented in hardware such as a CPU, memory or other LSIs of any computer and in software such as a program loaded into a memory. The figure shows functional blocks implemented by the interaction of these elements. Thus, those skilled in the art will understand that the functional blocks may be implemented in a variety of ways only through hardware or through a combination of hardware and software.

The communication interface 21 controls via the communication line 2 the communication with the server 10 and with the smartphone 30 , The camera interface 27 acts as a scan result acquisition interface provided by the camera mounted on the vehicle 28 wins a picture capturing a scene around the vehicle. To create a top view image showing the vehicle as seen from above, the camera is 28 at four positions, forward, backward, to the left and to the right of the vehicle, to capture images relative to the vehicle in the four directions including forward, backward, leftward and rightward. The top view image generator 26 generated from the images around the vehicle passing through the camera interface 27 from the cameras 28 a top view image showing the vehicle seen from above. If desired, the top view image generator 26 generate a top view image using a known technology. Alternatively, the plan view image generator 26 generate a top view image from a scan result from a sensor other than the camera 28 was recorded.

The parking target position detector 24 detects from the pictures around the vehicles a parking target position. The parking target position detector 24 can by referring to the pictures around the vehicle, passing through the cameras 28 and detecting, by detecting white lines drawn on the floor of the parking area, a parking lot intended to be the parking destination. Alternatively, the parking target position detector 24 detect a parking target position using information other than captured images, or can detect a parking target position, if desired, using other known technologies.

The operator position detector 25 detects the position of the operator. The operator position detector 25 can detect the position of the operator by pointing to the camera 28 captured images related to the vehicle, or may be the location of the smartphone 30 from the smartphone 30 win and use the winning position as the position of the operator. In the former case, the current position of the operator can be detected by the fact that the movement of the operator since a time when the operator the driver's seat of the vehicle 4 has left, to start pursuing. In the latter case, the smartphone 30 to detect the position of a GPS. Alternatively, the relative positions of the smartphone 30 and of the vehicle or parking lot by analyzing the image passing through the on the back surface of the smartphone 30 provided camera is detected, won. These methods deal with a case where a plurality of passengers drive the vehicle 4 have left and on the camera 28 captured image are identified by identifying who the operator of the smartphone 30 is.

The parameter generator 23 functions as a top view image setting interface based on the parking target position detector 24 detected parking target position and by the operator position detector 25 detected position of the operator determines the orientation of the parking target in the top view image relative to the display screen, and generates a parameter for adjusting the top view image to the particular orientation. More precisely, the parameter generator generates 23 as an parameter, an angle around which the top view image is rotated.

The parameter generator 23 maintains a reference table containing the correspondence between i) the relative positions of the operator and the parking target, and ii) the rotation angle of the top view image. The parameter generator 23 is capable of determining the orientation of the parking destination in the plan view image relative to the display screen based on the relative positions of the operator and the parking destination in accordance with a plurality of determination methods. The parameter generator 23 maintains different reference tables depending on the methods of determination. The parameter generator 23 Switches between the reference tables based on a via the communication interface 21 from the smartphone 30 received operation of the operator between the plurality of determination methods.

In this embodiment, it is possible to generate a parameter for rotating the top view image according to two determination methods including "normal mode" and "matched mode". In the "normal mode", the top view image is rotated so that the parking target in the top view image is oriented vertically or horizontally relative to the display screen. In the "adjusted mode", the top view image is rotated such that the orientation of the longer side of the parking target in the top view image is aligned with the orientation of the longer side of the display screen. Before an operation is acknowledged by the operator, as a standard mode, the "normal mode" can be selected or the "adjusted mode" can be selected. Furthermore, the parameter generator 23 be able to switch between three or more determination methods. The parameter will be described in detail later.

The display image generator 22 do this through the top view image generator 26 generated plan view image according to the by the parameter generator 23 generated parameters and generates a display image on a touch screen 34 of the smartphone 30 should be displayed. The display image generator 22 rotates the top view image by the parameter generator 23 determined rotation angle and also provides the display position and the scale of the top view image in accordance with the positions of an operator 3 , of the vehicle 4 , a park destination 5 etc. one. That through the display image generator 22 generated display image is via the communication interface 21 to the smartphone 30 Posted.

The smartphone 30 contains a communication interface 31 , a UI generator 32 , a touch screen interface 33 and a touch screen 34 , These features may also be implemented in a variety of ways only through hardware or through a combination of hardware and software.

The communication interface 31 controls via the communication line 2 the communication with the server 10 and with the vehicle-mounted ECU 20 , The UI generator 32 generates a user interface for switching between the "normal mode" and the "adapted mode". Furthermore, the UI generator 32 a user interface for the remote control for starting the automatic parking of the vehicle, for changing the parking destination or to cause the vehicle to stop generating. The touch screen interface 33 acts as a display interface via the communication interface 31 from the vehicle mounted ECU 20 obtained display image and that by the UI generator 32 generated user interface synthesized and the generated display screen image on the touch screen 34 displays.

2 shows example relative positions of the parking target, the vehicle and the operator. The operator 3 leaves the vehicle 4 near an available parking space in a parking area and indicates the vehicle 4 from the smartphone 30 to park yourself automatically. The vehicle-mounted ECU 20 of the vehicle 4 detects using a vehicle coordinate system around an origin O near the center of the vehicle 4 the place around the vehicle 4 and park the vehicle automatically. The parking target position detector 24 detects the parking lot around the point P as the park goal 5 , The angle formed by the vector OP and by the y-axis of the vehicle coordinate system is with respect to the vector OP α , The one by the vector PO and angle formed by the direction to the entrance of the parking lot is with respect to the vector PO β , The counterclockwise direction is defined as the positive direction.

3 shows a method of coordinate transformation. The parameter generator 23 generates a parameter for adjusting the top view image by substituting, in place of the vehicle coordinate system, a coordinate system defined around the parking target as the origin, that is, a target origin coordinate system around the point P in which the direction to the entrance of the park goal 5 used as the negative direction along the y-axis. The parameter generator 23 transformed by transforming the source coordinates by a motion vector M = -P and a rotation angle θ = α-β source coordinates in the vehicle coordinate system into coordinates in the target origin coordinate system.

In 4 shows an area indicating the position of the operator in the destination origin coordinate system. In this embodiment, the orientation of the top view image is set depending on which of the eight in 4 positioned areas of the operator is positioned. In the in 2 and 3 the example shown has the operator position detector 25 detected that the operator at the point Q so that the operator's position is in the range " 6 " belongs.

5 shows an example of the reference table A to which through the parameter generator 23 in the normal mode of operation. The reference table A defines angles of rotation to rotate the top view image so that the orientation of the parking target in the top view image relative to the display screen is vertical or horizontal. A determination to which area the position of the operator belongs is made in accordance with the condition defining the x-coordinate and the y-coordinate of the position where the operator is located.

For example, the operator is in the area " 6 "Or" 7 "When the coordinates of the position where the operator is located satisfy a condition" y <x <0 "or a condition" y ≦ -x ≦ 0 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "0 °". In this case, the in 2 and 3 shown top view image displayed as it is. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "downwards" and the parking destination is displayed to be vertically oriented relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "-x>y>0" or a condition "x≤y≤0", the operator is in the area " 4 "Or" 5 ". Thus, the parameter generator sets 23 the rotation angle φ, around which the top view image is rotated, to "90 °" from. In this case, the in 2 and 3 Shown top view image rotated by 90 ° counterclockwise and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "right" and the parking destination is displayed so as to be horizontally oriented relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "y>x>0" or a condition "y ≥ -x ≥ 0", the operator is in the area " 2 "Or" 3 ". Thus, the parameter generator sets 23 the rotation angle φ, around which the top view image is rotated, to "180 °" from. In this case, the in 2 and 3 shown top view image rotated by 180 ° and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "upwards" and the parking destination is displayed so as to be vertically oriented relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "-x <y <0" or a condition "x ≥ -y ≥ 0", the operator is in the area " 8th "Or" 1 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "-90 °". In this case, the in 2 and 3 Shown top view image rotated by 90 ° in the clockwise direction and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "leftward" and the parking destination is displayed so as to be horizontally oriented relative to the display screen.

In any case, the top view image is rotated so that the operator is displayed toward the bottom of the screen and that the parking target is displayed toward the top of the screen.

6 shows an example of the reference table B to which through the parameter generator 23 in the adjusted mode. The reference table B defines angles of rotation to rotate the top view image such that the orientation of the longer side of the parking target in the top view image is aligned with the orientation of the longer side of the display screen.

For example, the operator is in the area " 1 "," 2 "," 3 "Or" 4 "When the coordinates of the position where the operator is located satisfy a condition" y ≥ 0 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "180 °" if the vertical direction of the screen is longer than the horizontal direction. In this case, the in 2 and 3 shown top view image rotated by 180 ° and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking target is oriented "upwards" and becomes the Parking target displayed so that it is oriented vertically relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "y <0", the operator is in the area " 5 "," 6 "," 7 "Or" 8 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "0 °" if the vertical direction of the screen is longer than the horizontal direction. In this case, the in 2 and 3 shown top view image displayed as it is. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "downwards" and the parking destination is displayed to be vertically oriented relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "x ≥ 0", the operator is in the area " 1 "," 2 "," 7 "Or" 8 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "-90 °" if the horizontal direction of the screen is longer than the vertical direction. In this case, the in 2 and 3 Shown top view image rotated by 90 ° in the clockwise direction and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "leftward" and the parking destination is displayed so as to be horizontally oriented relative to the display screen.

If the coordinates of the position where the operator is located satisfy a condition "x <0", the operator is in the area " 3 "," 4 "," 5 "Or" 6 ". Thus, the parameter generator sets 23 the rotation angle φ by which the top view image is rotated to "90 °" if the horizontal direction of the screen is longer than the vertical direction. In this case, the in 2 and 3 shown top view image counterclockwise rotated by 90 ° and displayed accordingly. Thus, the vector indicating the direction to the entrance of the parking destination is oriented "right" and the parking destination is displayed so as to be horizontally oriented relative to the display screen.

In the adjusted mode, the top view image is rotated as in the normal mode so that the operator is displayed to the bottom of the screen and that the parking target is displayed to the top of the screen.

7 shows an example of a display image displayed on the touch screen 34 of the smartphone 30 is shown. The operator points the vehicle 4 from the smartphone 30 to park itself automatically, and checks the scene of the automatic parking at a position where the parking target 5 and the vehicle are visible. That through the display image generator 22 The display image generated from the plan view image is displayed on the touch screen 34 of the smartphone 30 displayed. In the example off 7 the normal operating mode is selected. Thus, the top view image is rotated so that the orientation of the parking target 5 relative to the touch screen 34 vertical is when the smartphone 30 is held so that the longer side of the touch screen 34 , as in 7 shown is horizontal. The plan view image becomes out of that on the vehicle 4 mounted camera captured image so generated that the vehicle 4 is not captured in the image itself. The top view image generator 26 wins the position and orientation of the vehicle 4 and synthesizes a replacement image 40 of the vehicle to adapt to the position and orientation gained.

The 8th and 9 show examples of one on the touch screen 34 of the smartphone 30 displayed image. In the examples 8th and 9 the adapted operating mode is selected. Thus, the top view image is rotated so that the orientation of the parking target 5 relative to the touch screen 34 vertical is when the smartphone 30 is held so that the longer side of the touch screen 34 , as in 8th shown is vertical. If the smartphone 30 is held so that the longer side of the touch screen, as in 9 is horizontal, the top view image is rotated so that the orientation of the parking target 5 relative to the touch screen 34 is horizontal. Usually the vehicle is moving 4 from a position away from the park 5 in the direction of the longer side of the park goal 5 is spaced. Thus, by turning the plan view so that the direction of the longer side of the parking target 5 is aligned with the direction of the longer side of the display screen, ensuring a large display size when both the parking target 5 as well as the vehicle 4 are displayed on the display screen. Accordingly, the visibility for the operator is improved.

10 shows an example of a display image displayed on the touch screen 34 of the smartphone 30 is displayed. In the example off 10 is on the touch screen 34 one through the UI generator 32 generated user interface 41 displayed. If the operator using the user interface 41 determines the selection of the normal mode, takes the parameter generator 23 to the reference table A to generate the parameter of the normal mode. If the operator using the user interface 41 determines the selection of the adjusted mode, takes the parameter generator 23 reference table B to generate the adjusted mode parameter. This allows the operator to change the orientation of the top view image in accordance with the operator's preference, situation, or the like. Accordingly, the comfort for the operator is improved.

In the in 7-10 The display image generator represents the example shown 22 the display position and the scale of the top view image so that the positions of both the parking target 5 as well as the vehicle 4 and the operator 3 are displayed on the display screen. If it is difficult, the positions of both the parking destination 5 as well as the vehicle 4 and the operator 3 on the display screen, the display image generator 22 the display position, the scale or the Adjust the rotation angle of the top view image so that only one or two of them are displayed on the display screen. If the operator 3 the vehicle 4 from one of the vehicle 4 and from the park destination 5 remotely operated remote position, the display image generator 22 the position of the operator 3 on the display screen and on the display screen only the positions of the vehicle 4 and the park goal 5 Show. Further, on the display screen, only the vicinity of the vehicle 4 can be displayed on the display screen, or only the neighborhood of the parking destination 5 be displayed while the vehicle 4 from the park destination 5 is far away. While the vehicle 4 from the park destination 5 is far away, the top view image can be rotated at an angle that the orientation of the parking target 5 does not make vertical or horizontal relative to the display screen. In this case, the top view image may also be changed according to the parameter generator 23 generated parameters are rotated when the vehicle 4 the park destination 5 approaches.

While the position of the vehicle 4 is not shown on the display screen, the display image generator 22 near the screen edge near the position of the vehicle 4 a symbol of the vehicle 4 Show. If the replacement image on the display screen 40 of the vehicle 4 or a symbol of the vehicle 4 is displayed, the display mode may be the replacement picture 40 or the symbol based on the condition of the vehicle 4 be changed. For example, the replacement image 40 or the icon of various display modes are displayed in accordance with whether the vehicle 4 forward, backward, at a stop, accelerated, decelerated, etc. is driven. In addition, the direction of movement of the vehicle 4 be indicated by an arrow or the like.

The same applies to the operator 3 to. Although the position of the operator 3 is shown on the display screen, may be at the position of the operator, a replacement image of the operator 3 be displayed and a symbol of the operator 3 be displayed near the screen edge while the operator's position 3 is not shown on the display screen.

If it is possible, one by another camera than the one on the vehicle 4 mounted camera 38 (for example, by a camera on the back surface of the smartphone 30 is provided, a camera installed in a parking area, etc.) to capture captured image, the display image generator 22 generate a display image by continuing to use the acquired image. For example, an image may be of a position away from the vehicle 4 or an image in an area obstructed by another vehicle or the like and by the camera 28 can not be detected by an image obtained from another camera. In addition, a picture of a section that is heavily distorted when passing through the camera 28 captured image is transformed into a top view image, to be replaced by an image obtained from another camera.

11 FIG. 10 is a flowchart showing the steps in the parking assist method according to the embodiment. FIG. The top view image generator 26 the vehicle-mounted ECU 20 generated from images around the vehicle, passing through the cameras 28 be captured, a top view image ( S10 ). The parking target position detector 24 detects from the top view image a parking target position ( S12 ) and the operator position detector 25 detects in the top view image the operator position ( S14 ). The parameter generator 23 generates a parameter for generating a display image by referring to the parking target position and the operator positions ( S16 ). The display image generator 22 generates a display image based on the parameter from the plan view image ( S18 ). The above steps are repeated (No in S20 ) until parking is completed or stopped. When parking is completed or stopped (Yes in S20 ), the parking assist process is ended.

12 is a flowchart that reflects the in 11 shown detail S16 shows. To generate a parameter for generating a display image from the parking target position and the operator position, the parameter generator calculates 23 First, the motion vector M = -P and the rotation angle θ = α-β used in the coordinate transformation from the vehicle coordinates to the destination origin coordinates defined around the parking target position as the origin ( S20 ). The parameter generator 23 performs the coordinate transformation from the vehicle coordinates to the destination origin coordinates ( S22 ). The parameter generator then determines 23 using the reference table A an area to which the operator position Q heard and calculates the angle of rotation φ to the orientation in which the plan view image is to be displayed ( S24 ). The above description assumes that the normal mode is selected as the standard function. If the adjusted mode is selected, in S24 on the reference table B Referenced.

13 FIG. 12 is a flowchart showing the steps of the parking assist method according to the embodiment. FIG. 13 FIG. 12 shows the steps of the parking assist process performed when the user interface is generated for switching between the normal mode and the adjusted mode. First, the parameter generator 23 the reference table A in the reference type variable T on to select the normal operating mode ( S30 ). In S10 ~ S18 that are the same as those in 11 are shown, the display image is generated from the top view image. If the operator is on the touch screen 34 of the smartphone 30 displayed user interface not used (no in S23 ), the above steps are repeated until parking is completed or stopped (No in S20 ). When parking is completed or stopped (Yes in S20 ), the parking assist process is ended. If the operator touch screen 34 of the smartphone 30 touched to use the user interface (Yes in S32 ), becomes the reference table B in T set ( S40 ) when the adjusted mode for aligning the longer side of the parking target with the longer side of the display screen is selected (Yes in S36 ), and becomes the reference table A in T set ( S38 ) when the normal mode is selected (No in S36 ). The controller is on S10 is returned and from the top view image, the display image is generated by referring to the selected reference table.

According to the technology of the embodiment, the top view image is set to the correct orientation according to the relative positions of the operator remotely operating the vehicle and the parking target, and displayed accordingly. Thus, it is possible to generate a top view image in an orientation understood by the operator and to improve the convenience for the operator.

Second Embodiment

14 shows a configuration of a parking assist system 6 according to the second embodiment. In the parking assistance system 6 According to the second embodiment, some of the according to the in 1 shown in the vehicle-mounted ECU functions provided in the parking assistance system 1 in the smartphone 30 intended. In the first embodiment, the vehicle-mounted ECU functions 20 as a parking assist device, while in the second embodiment, the smartphone 30 acts as a parking assist device. In this embodiment, the features and operations described by those of the parking assist system will be described mainly 1 According to the first embodiment, they are different, and a description of the similar features and operations as those of the first embodiment will be omitted as appropriate. In 14 For example, those features having similar functions to those of the first embodiment are denoted by the same reference numerals.

The vehicle-mounted ECU 20 contains a communication interface 21 , a plan view image generator 26 , a parking target position detector 24 and a camera interface 27 , The top view image generator 26 generates a top view image for display on the vehicle mounted display device. The parking target position detector 24 detects a parking target position for automatic parking. That through the top view image generator 26 generated plan view image and the information provided by the parking target position detector 24 indicate the detected position of the parking target are via the communication interface 21 to the smartphone 30 Posted.

The smartphone 30 contains a communication interface 31 , a top view image extraction interface 35 , a parked destination capture interface 36 , an operator position detection detector 25 , a parameter generator 23 , a display image generator 22 , a UI generator 32 , a touch screen interface 33 and a touch screen 34 ,

The top view image extraction interface 35 wins this from the vehicle-mounted ECU 20 sent top view image. The park target location extraction interface 36 wins from the ECU mounted in the vehicle 20 sent information indicating the parking target position. The operations of the other features are similar to those of the first embodiment.

The technology of this embodiment also enables the top view image to be adjusted according to the relative positions of the operator remotely controlling the vehicle from the outside of the vehicle and the parking destination. Thus, it is possible to generate a top view image in an orientation that is easily understood by the operator and to improve the convenience for the operator.

Whether any of the characteristics of the vehicle-mounted ECU 20 and the smartphone 30 is generated, if desired, depending on the specification of the vehicle-mounted ECU 20 and the smartphone 30 etc. are selected. Thus, various other combinations of the features than the parking assist system are 1 According to the first embodiment or the parking assist system according to the second embodiment possible. These combinations are also useful as embodiments of the present disclosure. For example, the top view image generator 26 or the parking target position detector 24 in the smartphone 30 be provided or may be the UI generator 32 in the vehicle-mounted ECU 20 be provided.

Above, an explanation will be described based on an exemplary embodiment. The embodiment is intended to be illustrative only and understood by those skilled in the art that various changes in components and processes could be developed and that such changes are also within the scope of the present invention.

The description of the embodiments assumes that a plurality of rectangular parking spaces are arranged in the direction of their shorter sides, but the technology according to this disclosure is equally applicable to the case that parking spaces are at an angle to the passageway on which the vehicle is traveling, such as they z. B. are found in a parking area in a Straßenmeistereibereich are provided. 15 shows an example in which parking is provided at an angle to the passage. In this case, the parameter generator determines 23 likewise the orientation of the parking destination 5 in the plan view image relative to the display screen based on the relative positions of the operator 3 remotely controlling the vehicle and the destination 5 , The parameter generator 23 can determine the orientation of the top view image so that the orientation of the parking target 5 in the plan view image is vertical or horizontal relative to the display screen. Alternatively, the parameter generator 23 determine the orientation of the top view image so that the orientation of the passage of the vehicle 4 in the plan view image is vertical or horizontal relative to the display screen. In the latter case, the orientation of the passage of the vehicle 4 as the orientation of a straight line connecting ends of white lines indicating parking spaces, be defined.

The orientation of the smartphone 30 can be performed using a gating sensor from a gyro sensor to detect the orientation of the smartphone 330 or a picture taken by one on the back surface of the smartphone 30 can be detected, and the display position and the orientation of the top view image can be based on the operator position and the orientation of the smartphone 30 be set. For example, the display position of the top view image may be set so that the operator position is near the lower edge of the display screen, and the orientation of the top view image may be set to be the smartphone 30 oriented vertically upwards relative to the display screen. This allows the top view image to be displayed at the same relative position as it appears in the actual space considered by the operator. Further, the orientation of the top view image may be set so that the direction from the operator position to the parking target or to the vehicle relative to the display screen is vertically upward. Such an operator standby mode may be selectable in addition to the normal mode and the adjusted mode.

In the following, an embodiment of the present disclosure is summarized. A parking assist apparatus according to an embodiment of the disclosure includes: a sampling result obtaining interface that acquires a sampling result from a sensor mounted on a vehicle; a plan view image generator that generates, from the sampling result obtained by the sampling result obtaining interface, a top view image showing the vehicle viewed from above; and a top view image setting interface that determines an orientation of the parking target in the top view image relative to a display screen based on the relative positions of an operator remotely controlling the vehicle and the parking target when the vehicle is parked at a parking destination.

According to this embodiment, the top view image is set to a proper orientation according to the relative positions of the operator remotely controlling the vehicle from the outside of the vehicle and the parking target, so that the convenience for the operator is improved.

Another embodiment of the disclosure also relates to a parking assist device. The apparatus includes: a top view image extraction interface that obtains a top view image showing a vehicle viewed from above from a sensing result from a sensor mounted on the vehicle; a top view image setting interface that determines an orientation of the parking target in the top view image relative to a display screen based on the relative positions of the operator remotely operating the vehicle and the parking destination when the vehicle is parked at a parking destination; and a display interface that displays the top view image set on the orientation determined by the plan view image setting interface on the display screen.

The embodiment also enables the top view image to be adjusted to a proper orientation according to the relative positions of the operator remotely controlling the vehicle from the outside of the vehicle and the parking target, so that the convenience for the operator is improved.

The top view image setting interface may determine the orientation of the top view image so that the orientation of the parking target in the top view image relative to the display screen is vertical or horizontal. This allows the top view image to be in an orientation provided by the operator is easily understood, rotated and displayed, so that the comfort for the operator is improved.

The top view image setting interface may adjust the orientation of the top view image so that the orientation of the longer side of the parking target in the top view image is aligned with the orientation of the longer side of the display screen. This allows the top view image to be rotated and displayed in an orientation easily understood by the operator, and to ensure a large display size when both the position of the parking target and that of the vehicle are displayed on the display screen. Accordingly, the visibility for the operator is improved.

The top view image setting interface may determine the orientation of the parking destination in the top view image relative to the display screen according to a plurality of determination methods based on the relative positions of the operator and the parking destination, and may switch between the plurality of destination operation methods based on an operation of the operator. This allows the operator to change the orientation of the top view image according to the operator preference, situation or the like. Accordingly, the comfort for the operator is improved.

Another embodiment of the present disclosure relates to a parking assist method. The method is implemented by a computer and includes: obtaining a sensing result from a sensor mounted on a vehicle; Generating a top view image that is an image showing the vehicle viewed from above from the obtained sampling result; and determining an orientation of the parking destination in the plan view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and the parking destination when the vehicle is parked at a parking destination.

According to this embodiment, the top view image is set to a proper orientation according to the relative positions of the operator remotely controlling the vehicle from the outside of the vehicle and the parking target, so that the convenience for the operator is improved.

Yet another embodiment of the present disclosure relates to a parking assist method. The method is implemented by a computer and includes: obtaining a top view image showing a vehicle viewed from above and generated from a scan result from a sensor mounted on the vehicle; Determining an orientation of the parking destination in the plan view image relative to a display screen based on the relative positions of an operator remotely operating the vehicle and the parking destination when the vehicle is parked at a parking destination; and displaying the top view image set to the specific orientation on the display screen.

The embodiment also enables the top view image to be adjusted to a proper orientation according to the relative positions of the operator remotely controlling the vehicle from the outside of the vehicle and the parking target, so that the convenience for the operator is improved.

LIST OF REFERENCE NUMBERS

1 parking support system, 3 operators, 4 vehicles, 5 parking destinations, 6 parking assistance systems, 20 vehicle-mounted ECU, 22 display image generator, 23 parameter generator, 24 parking target position detector, 25 operator position detector, 26 top view image generator, 27 camera interface, 28 camera, 30 smartphone, 32 UI generator, 33 touch screen interface, 34, touch screen, 35 top view image extraction interface, 36 park target position extraction interface

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• JP 2014100924 [0004]

Claims (9)

A parking assist device (20) comprising: a sampling result acquisition interface (27) that obtains a sampling result from a sensor (28) mounted on a vehicle (4); a plan view image generator (26) that generates, from the sampling result obtained by the sampling result obtaining interface (27), a top view image showing the vehicle (4) viewed from above; and a top view image setting interface (23) based on the relative positions of an operator (3) remotely operating the vehicle (4) and a parking target (5) orientation of the parking target (5) in the top view image relative to a display screen (12) 34) when the vehicle (4) is parked at the parking destination (5). A parking assist device (30) comprising: a top view image extraction interface (35) that obtains a top view image showing a vehicle (4) viewed from above and generated from a scan result from a sensor (28) mounted on the vehicle (4); a top view image setting interface (23) based on the relative positions of an operator (3) remotely operating the vehicle (4) and a parking target (5) orientation of the parking target (5) in the top view image relative to a display screen (12) 34) when the vehicle (4) is parked at the parking destination (5); and a display interface (33) that displays the top view image set on the orientation determined by the top view image setting interface (23) on the display screen (34). Park support device (20, 30) according to Claim 1 or 2 wherein the top view image setting interface (23) determines the orientation of the top view image such that the orientation of the parking target (5) in the top view image relative to the display screen (34) is vertical or horizontal. Parking assistance device (20, 30) according to one of Claims 1 to 3 wherein the top view image setting interface (23) adjusts the orientation of the top view image such that the orientation of the longer side of the parking target (5) in the top view image is aligned with the orientation of the longer side of the display screen (34). Parking assistance device (20, 30) according to one of Claims 1 to 4 wherein the top view image setting interface (23) determines the orientation of the parking target (5) in the top view image relative to the display screen (34) according to a plurality of determination methods based on the relative positions of the operator (3) and the parking target (5); and switches between the plurality of determination methods based on an operation of the operator (3). Parking support method implemented by a computer and including: Obtaining a sense result from a sensor (28) mounted on a vehicle (4); Generating a top view image showing the vehicle (4) viewed from above from the obtained sampling result; and Determining an orientation of the parking target (5) in the plan view image relative to a display screen (34) based on the relative positions of an operator (3) remotely operating the vehicle (4) and a parking target (5) when the vehicle (4 ) is parked at the parking destination (5). Parking support method implemented by a computer and including: Obtaining a top view image showing a vehicle (4) viewed from above and generated from a result of a scan from a sensor (28) mounted on the vehicle (4); Determining an orientation of the parking target (5) in the plan view image relative to a display screen (34) based on the relative positions of an operator (3) remotely operating the vehicle (4) and a parking target (5) when the vehicle (4 ) is parked at the parking destination (5); and Displaying the top view image set to the particular orientation on the display screen (34). A parking assist program that causes a computer to function as: a sampling result obtaining interface (27) that obtains a sampling result from a sensor (28) mounted on a vehicle (4); a top view image generator (26) which generates, from the sampling result obtained by the sampling result obtaining interface (27), a top view image showing the vehicle (4) viewed from above; and a top view image adjustment interface (23) based on the relative positions of a Operator (3) remotely controlling the vehicle (4) and a parking destination (5) determining an orientation of the parking destination (5) in the plan view image relative to a display screen (34) when the vehicle (4) is at the parking destination (5). is parked. Park Support program that causes a computer to function as: a top view image extraction interface (35) that obtains a top view image showing a vehicle (4) viewed from above and generated from a scan result from a sensor (28) mounted on the vehicle (4); a top view image setting interface (23) based on the relative positions of an operator (3) remotely operating the vehicle (4) and a parking target (5) orientation of the parking target (5) in the top view image relative to a display screen (12) 34) when the vehicle (4) is parked at the parking destination (5); and a display interface (33) that displays the top view image set on the orientation determined by the top view image setting interface (23) on the display screen (34).

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