GB2434020A

GB2434020A - Driver parking assisting system that generates a birds eye view of the parking space behind the vehicle.

Info

Publication number: GB2434020A
Application number: GB0621867A
Authority: GB
Inventors: Masakazu Kagawa
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2005-11-04
Filing date: 2006-11-02
Publication date: 2007-07-11
Anticipated expiration: 2026-11-02
Also published as: JP2007126028A; GB0621867D0; DE102006051977A1; DE102006051977B4; JP4665721B2; GB2434020B

Abstract

A parking assisting system (1) assists a user to reverse and park a subject vehicle by using combined bird's-eye image created from images of a scene behind the subject vehicle. The image is created by combining past image with the present image and by detecting the movement and turn status of the vehicle. The combined bird's-eye image is analyzed by a parking control unit (2) to detect either of the rear end line of the front obstacle positioned in front of a target parking position and the front end line of the rear obstacle positioned behind the target parking position. When either the rear end line of the front obstacle or the front end line of the rear obstacle is successfully detected, a display device (8) displays markers that indicate a space required to park the subject vehicle relative to either of the rear end line of the front obstacle and the front end line of the rear obstacle.

Description

PARKING ASSISTING SYSTEM

FIELD OF ThE INVENTION

The present invention relates to a parking assisting system that assists a user driving a subject vehicle when the user drives in reverse and parks the vehicle.

BACKGROUND OF THE INVENTION

As parking assisting systems that assist a user driving his/her vehicle (subject vehicle) when the user drives in reverse and parks the vehicle, the following is implemented as disclosed in JP 2000-229547A. Any one is selected from among expected motion patterns prepared beforehand. The operation termination position in the selected expected motion pattern is superimposed upon a parking position (position where the user desires to finally park the subject vehicle). The user parks the subject vehicle in the operation initiation position in the expected motion pattern obtained at this time. Thus, the user can park the subject vehicle in a parking position in accordance with an expected motion pattern.

However, in the above construction, it will be assumed that the user must initially park the subject vehicle in the operation initiation position in an expected motion pattern. When the user parks the subject vehicle in a position deviating from the operation initiation position in the expected motion pattern to the left or right in this case, the user cannot finally park the subject vehicle in the appropriate parking position, and parking assistance cannot be appropriately provided.

For the purpose of soMng this problem, the present applicant proposed a system in Japanese Patent Application No. 2004-325203 (JP 2006-131185A). In this proposed system, when a subject vehicle is moving forward, multiple parkable positions where the driver could park the vehicle on the assumption that the user stops the vehicle at that point of time and turns and reverses the vehicle to park it

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are displayed in superimposition upon a combined bird's-eye image. The user stops the vehicle so that any of multiple parkable positions is superimposed upon a target parking position where the user desires to finally park the subject vehicle, and the user turns and reverses the vehicle. Thus, the driver can appropriately park the subject vehicle in the target parking position.

However, when the user is driving the subject vehicle beside a target parking position, the user must get the time when the parkable position and the target parking position overlap together to determine whether or not the user can park the vehicle. This results in low user-friendliness.

SUMMARY OF THE INVENTION

The invention has an object to provide a parking assisting system that is easier to use when a user drives in reverse and parks a subject vehicle and can appropriately assist driving.

According to one aspect of the present invention, a parking assisting system includes a parking control unit that assists a user to reverse and park a subject vehicle by using combined bird's-eye image created from images of a scene behind the subject vehicle. The parking control unit analyzes the combined bird's-eye image to detect at least either of the rear end line of the front obstacle positioned in front of a target parking position and the front end line of the rear obstacle positioned behind the target parking position. When the parking control unit successfully detects at least either the rear end line of the front obstacle or the front end line of the rear obstacle, the control unit causes a display device to display markers that indicate a space required to park the subject vehicle relative to at least either of the rear end line of the front obstacle and the front end line of the rear obstacle.

According to another aspect of the present invention, the parking control unit analyzes the combined bird's-eye image to detect the rear end line and subject vehicle-side side end line of the front obstacle positioned in front of a target parking position and the front end line and subject vehicle-side side end line of the rear obstacle positioned behind the target parking position, and further detect a distance between the rear end line of the front obstacle and the front end line of the rear obstacle. When the parking control unit successfully detects the rear end line and subject vehicle-side side end line of the front obstacle and the front end line and subject vehicle-side side end line of the rear obstacle and the distance between the rear end line of the front obstacle and the front end line of the rear obstacle is larger than the length in which the subject vehicle can be parked without cutting the wheel quickly, the parking control unit causes a display device to display a marker that indicates that the subject vehicle can be parked without cutting the wheel quickly.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings: FIG. 1 is a functional block diagram illustrating an embodiment of the invention; FIG. 2 is a flowchart of operation executed in the embodiment; FIG. 3 is a flowchart showing a part of the flowchart of operation of FIG. 2; FIG. 4 is an illustration of a mode for displaying a combined bird's-eye image; FIG. 5 is an illustration of a mode for detecting the front end line, rear end line, and subject vehicle-side side end line of a parked vehicle; FIG. 6 is an illustration of a mode for displaying required space for parking markers in superimposition upon a combined bird's-eye image; FIG. 7 is an illustration of modes corresponding to FIG. 6; FIG. 8 is an illustration of modes corresponding to FIG. 6; FIG. 9 is an illustration of modes corresponding to FIG. 6; FIG. 10 is an illustration of modes corresponding to FIG. 6; FIG. 11 is an illustration of modes for displaying a parking possible marker in superimposition upon a combined bird's-eye image; and FIG. 12 is an illustration of a mode for displaying a parking impossible marker in superimposition upon a combined bird's-eye image.

DETAILED DESCRIPTION OF ThE EMBODIMENT

Referring first to FIG. 1, a parking assisting system 1 is constructed by connecting the following to an in-vehicle LAN 5; a parking assisting ECU (parking ECU) 2, an engine control ECU (engine ECU) 3 and a brake control ECU (brake) 4.

The parking ECU 2 operates as bird's-eye image creating means, movement and turn status detecting means, combined bird's-eye image creating means, image analyzing means, and controlling means. Thus the parking ECU 2 controls the overall operation of the parking assisting system 1.

An operation switch 6, placed at the driver's seat, is for the user to start parking assist operation. When operated by the user, the operation switch 6 outputs an operation detection signal to the parking ECU 2. When an operation detection signal is inputted from the operation switch 6, the parking ECU 2 detects that the user has started parking assist operation.

An in-vehicle camera 7 is placed as image pickup means at the rear part of the subject vehicle, and picks up an image of the rear scene behind the subject vehicle. It outputs an image of the scene behind the subject vehicle to the parking ECU 2. When a picked-up image is inputted from the in-vehicle camera 7, the parking ECU 2 changes the point of view for the inputted picked-up image according to a predetermined viewpoint changing algorithm to create a bird's-eye image. It combines past bird's-eye images or past combined bird's-eye images with the present bird's-eye image to create a combined bird's-eye image. A display unit 8 is placed as displaying means in a position where the user can easily view in the vehicle compartment. When a display instruction signal is inputted from the parking ECU 2, the display unit 8 displays a combined bird's-eye image created by the parking ECU 2.

A vehicle speed sensor 9 detects a vehicle speed, and outputs a vehicle speed detection signal indicating the detected vehicle speed to the engine ECU 3.

When the vehicle speed detection signal is inputted from the vehicle speed sensor 8, the engine ECU 3 outputs the inputted vehicle speed detection signal to the parking ECU 2 through the in-vehicle LAN 5.

A yaw rate sensor 10 detects a yaw rate, and outputs a yaw rate detection signal indicating the detected yaw rate to the brake ECU 4. A steering sensor 11 detects a turning angle of the steering, and outputs a steering detection signal indicating the detected turning angle of the steering to the brake ECU 4. When the yaw rate detection signal is inputted from the yaw rate sensor 10, the brake ECU 4 outputs the inputted yaw rate detection signal to the parking ECU 2 through the in-vehicle LAN 5. When the steering detection signal is inputted from the steering sensor 11, the brake ECU outputs the inputted steering detection signal to the parking ECU 2 through the in-vehicle LAN 5. In the above construction, the function to accept a user's operation through the operation switch 6 or the function to cause the display unit 8 to display a combined bird's-eye image may be substituted for by the functions of an automobile navigation system.

The parking ECU 2 is programmed to execute the processing shown in FIG. 2 and FIG. 3. It is assumed as an example that a user reverses the subject vehicle to parallel park the vehicle between parked vehicles (obstacles) already parked in parallel.

The parking ECU 2 constantly monitors whether or not the user has conducted an operation request to start the parking assist operation (step Si).

When the user conducts the operation to start the parking assist operation (YES at Si), a picked-up image obtained by picking up the scene behind the subject vehide is inputted (taken in) from the in-vehicle camera 7 (52). The parking ECU changes the point of view with respect to the inputted picked-up image according to a predetermined viewpoint changing algorithm to create a bird's-eye image (53).

As illustrated in FIG. 4, it combines past bird's-eye images with the present bird's-eye image to create a combined bird's-eye image (S4). The parking ECU 2 analyzes the created combined bird's-eye image (55), and proceeds to marker display processing. In this processing, the parking ECU 2 displays markers in superimposition upon the combined bird's-eye image based on the result of the image analysis (S6).

After proceeding to the marker display processing, the parking ECU 2 determines whether or not the following has been successfully detected: the rear end line of a front parked vehicle (front obstacle) parked in front of a target parking position where the subject vehicle is to be parked; the subject vehicle-side side end line of the front parked vehicle; the front end line of a rear parked vehicle (rear obstacle) parked behind the target parking position where the subject vehicle is to be parked; and the subject vehicle-side side end line of the rear parked vehicle (S61). At this time, the parking ECU 2 detects the front end line, rear end line, and subject vehicle-side side end lines of the parked vehicles as described below.

In a bird's-eye image, three-dimensional objects are shown distorted (collapsed).

For this reason, the parking ECU 2 returns lines by an amount by which they are shifted because of the height of the in-vehicle camera 7 and a shooting angle 0 of a subject vehicle (subject vehicle), when a three-dimensional object is converted into a bird's-eye view. It detects the front end line, rear end line, and subject vehicle-side side end lines of the parked vehicles by this processing.

Specifically, the parking ECU 2 carries out the processing illustrated in FIG. 5. That is, with respect to the subject vehicle-side side end line of a parked *1 vehicle, it detects as the reference a position with the ground contact tine of tires and the degree of convexity in the body taken into account. With respect to the front end line of a parked vehicle, it detects as the reference a position where a line extended at a shooting angle 0 from a point at which the extended front end-side body line and the extended subject vehicle-side side end-side body line intersect and the subject vehicle-side side end line intersect in the bird's-eye image. With respect to the rear end line of a parked vehicle, it detects as the reference a position where a tine extended at a shooting angIe 8 from a point at which the extended rear end-side body line and the extended subject vehicle-side side end-side body line intersect and the subject vehicle-side side end line intersect in the bird's-eye image. In FIG. 5, the parked vehicle is shown with the degree of its distortion increased. In FIG. 6 to FIG. 12, the parked vehicles are shown with the degree of their distortion decreased.

The parking ECU 2 may not be capable of successfully detecting at least any one of the following: the rear end line of the front parked vehicle, the subject vehicle-side side end line of the front parked vehicle, the front end line of the rear parked vehicle, and the subject vehicle-side side end line of the rear parked vehicle (NO at S61). In this case, the parking ECU 2 causes the display unit 8 to display required space for parking markers that indicate a space required to park the subject vehicle, in superimposition upon the combined bird's-eye image according to the detected lines (S62).

Specifically, description will be made on a case-by-case basis in the following order: case (1) where none of the rear end line of the front parked vehicle, the subject vehicle-side side end tine of the front parked vehicle, the front end line of the rear parked vehicle, and the subject vehicle-side side end line of the rear parked vehicle is successfully detected; case (2) where only the rear end line of the front parked vehicle is successfully detected; case (3) where only the rear end tine and subject vehicle-side side end line of the front parked vehicle are successfully detected; case (4) where only the front end line of the rear parked vehicle is successfully detected; case (5) where only the front end line and subject vehicle-side side end line of the rear parked vehicle are successfully detected; case (6) where only the rear end line and subject vehicle-side side end line of the front parked vehicle and the front end line of the rear parked vehicle are successfully detected; case (7) where only the rear end line of the front parked vehicle and the front end line and subject vehicle-side side end line of the rear parked vehicle are successfully detected; case (8) where only the rear end line and front end line of one and the same parked vehicle are successfully detected; and case (9) where only the rear end line, front end line, and subject vehicle-side side end line of one and the same parked vehicle are successfully detected.

In case (1) where none of the rear end line of the front parked vehicle, the subject vehicle-side side end line of the front parked vehicle, the front end line of the rear parked vehicle, and the subject vehicle-side side end line of the rear parked vehicle is successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 6. That is, it causes the display unit 8 to display required space for parking markers that indicate a space required to park the subject vehicle, in superimposition upon a predetermined position (the left rear position as viewed from the subject vehicle) in the combined bird's-eye image. At this time, the parking ECU 2 causes the following markers to be simultaneously displayed as required space for parking marker: a marker that indicates a length L2 in which the driver can park the subject vehicle without cutting the wheel quickly (in one parking operation); and a marker that indicates a length Li (<L2) in which the driver can park the subject vehicle by cutting the wheel quickly once (in two parking operations including an operation to move the subject vehicle forward once). Further, since the space required to park the subject vehicle SV differs along the direction of the vehicle width, the parking ECU 2 causes the required space for parking markers to be displayed in three stages.

In case (2) where only the rear end line of the front parked vehicle is successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 7. That is, it causes required space for parking markers to be displayed relative to the rear end line of the front parked vehicle successfully detected. At this time, the parking ECU 2 causes a marker having a width larger than the vehicle width of the subject vehicle to be displayed as front side marker. At the same time, it causes markers each having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in three stages.

In case (3) where only the rear end line and subject vehicle-side side end line of the front parked vehicle are successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 8. That is, it causes required space for parking markers to be displayed relative to the rear end line and subject vehicle-side side end line of the front parked vehicle successfully detected. At this time, the parking ECU 2 causes a marker having a width equivalent to the vehicle width of the subject vehicle to be displayed as front side marker in alignment with the subject vehicle-side side end line of the front parked vehicle. At the same time, it causes markers having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in positions corresponding to the front side marker.

In case (4) where only the front end line of the rear parked vehicle is successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 9. That is, it causes required space for parking markers to be displayed relative to the front end line of the rear parked vehicle successfully detected. At this time, the parking ECU 2 causes a marker having a width larger than the vehicle width of the subject vehicle to be displayed as rear side marker. At the same time, it causes makers each having a width equivalent to the vehicle width of the subject vehicle to be displayed as front side marker in three stages along the direction of the vehicle width.

In case (5) where only the front end line and subject vehicle-side side end line of the rear parked vehicle are successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 10. That is, it causes required space for parking markers to be displayed relative to the front end line and subject vehicle-side side end line of the rear parked vehicle successfully detected. At this time, the parking ECU 2 causes a marker having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in alignment with the subject vehicle-side side end line of the rear parked vehicle. At the same time, it causes markers having a width equivalent to the vehicle width of the subject vehicle as front side marker in a position corresponding to the rear side marker.

In case (6) where only the rear end line and subject vehicle-side side end line of the front parked vehicle and the front end line of the rear parked vehicle are successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. B as in the case (3) where only the rear end line and subject vehicle-side side end line of the front parked vehicle are successfully detected. That is, it causes required space for parking markers to be displayed relative to the rear end line and subject vehicle-side side end line of the front parked vehicle successfully detected.

In case (7) where only the rear end line of the front parked vehicle and the front end line and subject vehicle-side side end line of the rear parked vehicle are successfully detected, the parking ECU 2 carries out the processing illustrated in FIG. 8 as in the case (3) where only the rear end line and subject vehicle-side side t.

end line of the front parked vehicle are successfully detected. That is, it causes required space for parking markers to be displayed relative to the rear end line and subject vehicle-side side end line of the front parked vehicle successfully detected.

In case (8) where only the rear end line and front end line of one and the same parked vehicle are successfully detected, the parking ECU 2 causes a required space for parking marker to be displayed both in front of and behind the parked vehicle relative to the rear end line and front end line of the parked vehicle successfully detected. Behind the parked vehicle, the parking ECU 2 carries out the processing illustrated in FIG. 7 as in the case (2) where only the rear end line of the front parked vehicle is successfully detected. That is, it causes a marker having a width larger than the vehicle width of the subject vehicle to be displayed as front side marker. At the same time, it causes markers each having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in three stages along the direction of the vehicle width. In front of the parked vehicle, the parking ECU 2 carries out the processing illustrated in FIG. 9 as in the case (4) where only the front end line of the rear parked vehicle is successfully detected. That is, it causes a marker having a width larger than the vehicle width of the subject vehicle to be displayed as rear side marker. At the same time, it causes markers each having a width equivalent to the vehicle width of the subject vehicle to be displayed as front side marker in three stages along the direction of the vehicle width.

In case (9) where only the rear end line, front end line, and subject vehicle-side side end line of one and the same parked vehicle are successfully detected, the parking ECU 2 causes required space for parking markers to be displayed both in front of and behind the parked vehicle relative to the rear end line, front end line, and subject vehicle-side side end line of the parked vehicle successfully detected. Behind the parked vehicle, the parking ECU 2 carries out the processing illustrated in FIG. 8 as in the case (3) where only the rear end line and subject vehicle-side side end line of the front parked vehicle are successfully detected. That is, it causes a marker having a width equivalent to the vehicle width of the subject vehicle to be displayed as front side marker in alignment with the subject vehicle-side side end line of the front parked vehicle. At the same time, it causes markers having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in a position corresponding to the front side marker. In front of the parked vehicle, the parking ECU 2 caries out the processing illustrated in FIG. 10 as in the case (5) where only the front end line and subject vehicle-side side end line of the rear parked vehicle are successfully detected. That is, it causes a marker having a width equivalent to the vehicle width of the subject vehicle to be displayed as rear side marker in alignment with the subject vehicle-side side end line of the rear parked vehicle. At the same time, it causes markers having a width equivalent to the vehide width of the subject vehicle to be displayed as front side marker in a position corresponding to the rear side marker.

In cases where the parking ECU 2 successfully detects multiple rear end lines or multiple front end lines in correspondence with each of multiple parked vehicles, it carries out the following processing: the parking ECU carries out the processing carried out in the cases (1) to (9) with respect to each of the multiple rear end lines or multiple front end lines successfully detected. It thereby causes multiple required space for parking markers to be displayed.

In cases where, as a result of a series of the above processing, required space for parking markers (front side marker and rear side marker) are displayed without being superimposed upon the front parked vehicle or the rear parked vehicle with plenty of room, the following takes place: the user can determine that the user can park the subject vehicle between the front parked vehicle and the rear parked vehicle. In cases where a required space for parking marker is displayed in superimposition upon at least either the front parked vehicle or the rear parked vehicle, the user can determine that the user cannot park the subject vehicle between the front parked vehicle and the rear parked vehicle.

In some cases, the parking ECU 2 successfully detects all of the following: the rear end line of the front parked vehicle, the subject vehicle-side side end line of the front parked vehicle, the front end tine of the rear parked vehicle, and the subject vehicle-side side end line of the rear parked vehicle. In this case (YES at S61), the parking ECU determines the following: whether or not the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is larger than the length in which the driver can park the subject vehicle without cutting the wheel quickly (S63).

In cases where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is larger than the length in which the driver can park the subject vehicle without cutting the wheel quickly (YES at S63), the parking ECU 2 carries out the processing illustrated in (a) of FIG. 11.

This length is indicated as La. That is, it causes the display unit 8 to display a parking possible marker (circle 0) that indicates that the driver can park the subject vehicle without cutting the wheel quickly (S64).

In cases where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is smaller than or equal to the length in which the driver can park the subject vehicle without cutting the wheel quickly (NO at S63), the parking ECU 2 carries out the following processing: it determines whether or not the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is larger than the length in which the driver can park the subject vehicle by cutting the wheel quickly once (S65).

In cases where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is larger than the length in which the driver can park the subject vehicle by cutting the wheel quickly once (YES at S65), the parking ECU 2 carries out the processing illustrated in (b) of FIG. 11B. This length is indicated as Lb. That is, it causes the display unit 8 to display a parking possible marker triangle 1) that indicates that the driver can park the subject vehicle by cutting the wheel quickly once (S66). In cases where the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle is smaller than or equal to the length in which the driver can park the subject vehicle by cutting the wheel quickly once (NO at S65), the parking ECU 2 carries out the processing illustrated in FIG. 12. That is, it causes the display unit 8 to display a parking impossible marker (cross X) that indicates that the driver cannot park the subject vehicle (S67).

In cases where, as a result of a series of the above processing, the parking possible marker that indicates that the driver can park the subject vehicle without cutting the wheel quickly is displayed, the following takes place: the user can determine that the user can park the subject vehicle without cutting the wheel quickly. In cases where the parking possible marker that indicates that the driver can park the subject vehicle by cutting the wheel quickly once is displayed, thefollowing takes place: the user can determine that the user can park the subject vehicle by cutting the wheel quickly once. In cases where the parking impossible marker is displayed, the user can determine that the user cannot park the subject vehicle.

After the marker display processing described up to this point is completed, the parking ECU 2 determines whether or not the subject vehicle has moved forward by a predetermined distance or longer (S7). Further, it determines whether or not the shift lever has been turned into the reverse position (S8).

When the subject vehicle has moved forward by the predetermined distance or longer (YES at S7), the parking ECU 2 carries out the following processing: it causes the in-vehicle camera 7 to input a picked-up image obtained by picking up an image of the scene behind the subject vehicle (S9); it changes the point of view based on a predetermined viewpoint changing algorithm with respect to the inputted picked-up image to create a bird's-eye image (Sb); it combines past combined bird's-eye images created up to now with the present bird's-eye image to create a combined bird's-eye image (511). Then, the parking ECU returns to S5 and thereafter repeatedly carries out the processing of S5 and the following S. When the shift lever is turned into the reverse potion (YES at S8), the parking ECU 2 carries out the following processing: it determines whether or not the subject vehicle can be parked based on the subsequent marker display processing (S12). When it is impossible to park the subject vehicle (YES at S12), it issues warning (S13) and terminates a series of the processing.

As described above, the parking assisting system 1 in this embodiment is so constructed that the following processing is carried out: when the rear end line of the front parked vehicle or the front end line of the rear parked vehicle is successfully detected, required space for parking markers are displayed. The required space for parking markers that indicate a space required for parking the subject vehicle are displayed in superimposition upon a combined bird's-eye image, relative to the rear end line of the front parked vehicle or the front end line of the rear parked vehicle successfully detected. Since the required space for parking markers are displayed relative to parked vehicles at rest, the following advantage is provided: the user can always determine that the user can park the subject vehicle relative to parked vehicles at rest; the parking assisting system can be made easier to use when a user drives in reverse and parks the subject vehicle and can appropriately assist driving.

Further, the system is so constructed that the following processing is carried out: when the rear end line and subject vehicle- side side end line of the front parked vehicle and the front end line and subject vehicle-side side end line of the rear parked vehicle are all successfully detected, it determines the length between the rear end line of the front parked vehicle and the front end line of the rear parked vehicle. In cases the length is larger than the length in which the subject vehicle can be parked, the system displays a parking possible marker that indicates that the vehicle can be parked, in superimposition upon a combined bird's-eye image. In cases where the length is smaller than or equal to the length in which the subject vehicle can be parked, the system displays a parking impossible marker that indicates that the vehicle cannot be parked, in superimposition upon a combined bird's-eye image. Therefore, the system is capable of appropriately informing the user that the user can or cannot park the subject vehicle. Thus, the system is easier to use when a user drives in reverse and parks the subject vehicle, and can appropriately assist driving.

The invention is not limited to the above embodiment, and can be modified as described below.

The system may be applied to cases where a user reverses the subject vehicle and parallel parks it between parked vehicles already parked in parallel. In addition, the embodiment may be applied to the following cases: cases where a user reverses the subject vehicle and parks it between buildings (e.g. residential buildings); and cases where a user reverses the subject vehicle and parks it between an already parked vehicle and a building.

The above embodiment is so constructed that markers each having a width equivalent to the vehicle width of the subject vehicle are displayed as front side marker and rear side marker in three stages along the direction of the vehicle width.

Instead, the invention may be so constructed that a marker that continuously changes its shape along the direction of the vehicle width is displayed or markers are displayed in stages other than three stages (two stages or four or more stages).

The above embodiment is so constructed that the following markers are simultaneously displayed as required space for parking marker: a marker indicating the length in which the subject vehicle can be parked without cutting the wheel quickly; and a marker indicating the length in which it can be parked by cutting the

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wheel quickly once. That is, the required space for parking marker is displayed in two stages. Instead, the system may be so constructed that only either marker is displayed (the marker is displayed in one stage) or the markers are displayed in three or more stages. The required space for parking may be expressed by a value that is set according to the characteristics of the vehicle, a value freely set by the user, or a value set through learning of the record of the user's parking operation.

The above embodiment is so constructed that a parking possible marker indicating that the subject vehicle can be parked without cutting the wheel quickly and a parking possible marker indicating that it can be parked by cutting the wheel quickly once are displayed as parking possible marker. That is, the above embodiment is so constructed that the parking possible markers are displayed in two stages. Instead, the invention may be so constructed that only either marker is displayed (the marker is displayed in one stage). Or, the invention may be so constructed that the parking possible marker and the parking impossible marker are represented by any other symbol, graphic, character, or color or they are set by the user.

The above embodiment is so constructed that the following processing is carried out: in cases where the subject vehicle-side side end line of the front parked vehicle and the subject vehicle-side side end line of the rear parked vehicle are successfully detected and the subject vehicle-side side end line of the front parked vehicle and the subject vehicle-side side end line of the rear parked vehicle are out of alignment, the following processing is carried out. That is, when both the lines do not continue to each other, the following processing is carried out. Markers are displayed in alignment with the subject vehicle-side side end line of the parked vehicle closer to the subject vehicle. Instead, the system may be so constructed that markers are displayed in alignment with the subject vehicle-side side end line of the parked vehicle farther from the subject vehicle. Or, the system may be so constructed that markers are displayed in alignment with the intermediate line between the subject vehicle-side side end line of the closer parked vehicle and the subject vehicle-side side end line of the farther parked vehicle.

The system may be so constructed that a vehicle is mounted with an in-vehicle camera for picking up an image of the scene beside the subject vehicle.

In this case, the lines of parked vehicles are detected as follows: a picked-up image obtained by picking up an image of the scene beside the subject vehicle is converted into a bird's-eye image, and this bird's-eye image is analyzed. With this construction, errors due to distortion in three-dimensional objects in a bird's-eye image are suppressed, and the probability that the lines of parked vehicles are successfully detected can be thereby enhanced. As a result, the accuracy of determination of whether or not a vehicle can be parked can be enhanced.

The system may be so constructed that, when the rear end line, front end line, and subject vehicle-side side end line of a parked vehicle are detected, the following processing is carried out: the distance between the subject vehicle and the parked vehicle is measured using (monocular and moving) stereoscopic image processing, and the result of the measurement is adopted to detect the lines. Or, the system may be so constructed that the lines are detected using the result of detection with sonar or radar.

Claims

CLAIMS

1. A parking assisting system that assists a user when driving in reverse and parking a subject vehicle, comprising: an image pickup means that picks up an image of a scene behind the subject vehicle; a bird's-eye image creating means that converts a picked-up image picked up by the image pickup means into bird's-eye view to create a bird's-eye image; a movement and turn status detecting means that detects the movement and turn status of the subject vehicle; a combined bird's-eye image creating means that combines past bird's-eye images created by the bird's-eye image creating means or past combined bird's-eye images created by the combined bird's-eye image creating means itself with the present bird's-eye image created by the bird's-eye image creating means based on the movement and turn status of the subject vehicle detected by the movement and turn status detecting means to create a combined bird's-eye image; an image analyzing means that analyzes a combined bird's-eye image created by the combined bird's-eye image creating means to detect at least either of the rear end line of the front obstacle positioned in front of a target parking position and the front end line of the rear obstacle positioned behind the target parking position; and a controlling means that, when the image analyzing means successfully detects at least either the rear end line of the front obstacle or the front end line of the rear obstacle, causes a displaying means to display markers that indicate a space required to park the subject vehicle relative to at least either of the rear end line of the front obstacle and the front end line of the rear obstacle successfully detected by the image analyzing means, in superimposition upon a combined bird's-eye image created by the combined bird's-eye image creating means.

2. The parking assisting system according to Claim 1, wherein, when the image analyzing means successfully detects the rear end line of the front obstacle but fails to detect the front end line of the rear obstacle, the controlling means causes the displaying means to display a marker having a width larger than the vehicle width of the subject vehicle as front side marker, and further causes the displaying means to display a plurality of markers each having a width equivalent to the vehicle width of the subject vehicle as a rear side marker in stages along the direction of the vehicle width.

3. The parking assisting system according to Claim 1 or 2, wherein the image analyzing means analyzes a combined bird's-eye image created by the combined bird's-eye image creating means to detect the subject vehicle-side side end line of the front obstacle, and wherein, when the image analyzing means successfully detects the rear end line and subject vehicle-side side end line of the front obstacle, the controlling means causes the displaying means to display a marker having a width equivalent to the vehicle width of the subject vehicle as front side marker in alignment with the subject vehicle-side side end line of the front obstacle.

4. The parking assisting system according to any of Claims 1 to 3, wherein, when the image analyzing means successfully detects the front end line of the rear obstacle but fails to detect the rear end line of the front obstacle, the controlling means causes the displaying means to display a marker having a width larger than the vehicle width of the subject vehicle as rear side marker, and further causes the displaying means to display a plurality of markers each having a width equivalent to the vehicle width of the subject vehicle as front side marker in stages along the direction of the vehicle width. S.

5. The parking assisting system according to any of Claims 1 to 4, wherein the image analyzing means analyzes a combined bird's-eye image created by the combined bird's-eye image creating means to detect the subject vehicle-side side end line of the rear obstacle, and wherein, when the image analyzing means successfully detects the front end line and subject vehicle-side side end line of the rear obstacle, the controlling means causes the displaying means to display a marker having a width equivalent to the vehicle width of the subject vehicle as rear side marker in alignment with the subject vehicle-side side end line of the rear obstacle.

6. The parking assisting system according to any of Claims 1 to 5, wherein the controlling means causes the displaying means to display a marker that indicates the length in which the subject vehicle can be parked without cutting the wheel quiddy as marker that indicates a space required to park the subject vehicle.

7. The parking assisting system according to any of Claims 1 to 5, wherein the controlling means causes the displaying means to display a marker that indicates the length in which the subject vehicle can be parked by cutting the wheel quickly at least once as maker that indicates a space required to park the subject vehicle.

8. The parking assisting system according to any of Claims 1 to 5, wherein the controlling means causes the displaying means to simultaneously display a maker that indicates the length in which the subject vehicle can be parked without cutting the wheel quickly and a marker that indicates the length in which the subject vehicle can be parked by cutting the wheel quickly at least once as marker that indicates a space required to park the subject vehicle.

9. A parking assisting system that assists a user when driving in reverse and parking a subject vehicle, comprising: an image pickup means that picks up an image of a scene behind the subject vehicle; a bird's-eye image creating means that converts a picked-up image picked up by the image pickup means into bird's-eye view to create a bird's-eye image; a movement and turn status detecting means that detects the movement and turn status of the subject vehicle; a combined bird's-eye image creating means that combines past bird's-eye images created by the bird's-eye image creating means or past combined bird's-eye images created by the combined bird's-eye image creating means itself with the present bird's-eye image created by the bird's-eye image creating means based on the movement and turn status of the subject vehicle detected by the movement and turn status detecting means to create a combined bird's-eye image; an image analyzing means that analyzes a combined bird's-eye image created by the combined bird's-eye image creating means to detect the rear end line and subject vehicle-side side end line of the front obstacle positioned in front of a target parking position and the front end line and subject vehicle-side side end line of the rear obstacle positioned behind the target parking position, and further detects a distance between the rear end line of the front obstacle and the front end line of the rear obstacle; and a controlling means that, when the image analyzing means successfully detects the rear end line and subject vehicle-side side end line of the front obstacle and the front end line and subject vehicleside side end line of the rear obstacle and the distance between the rear end line of the front obstacle and the front end line of the rear obstacle is larger than the length in which the subject vehicle can be parked without cutting the wheel quickly, causes a displaying means (8) to display a marker that indicates that the subject vehicle can be parked without cutting the wheel quickly, in superimposition upon a combined bird's-eye image created by the combined bird's-eye image creating means.

10. The parking assisting system according to Claim 9, wherein, when the image analyzing means successfully detects the rear end line and subject vehicle-side side end line of the front obstacle and the front end line and subject vehicle-side side end line of the rear obstacle and further the distance between the rear end line of the front obstacle and the front end line of the rear obstacle is larger than the length in which the subject vehicle can be parked by cutting the wheel quickly at least once, the controlling means causes the displaying means to display a marker that indicates that the subject vehicle can be parked by cutting the wheel quickly at least once, in superimposition upon a combined bird's-eye image created by the combined bird's-eye image creating means.

11. The parking assisting system according to Claim 9 or 10, wherein, when the image analyzing means successfully detects the rear end line and subject vehicle-side side end line of the front obstacle and the front end line and subject vehicle-side side end line of the rear obstacle and the distance between the rear end line of the front obstacle and the front end line of the rear obstacle is smaller than the length in which the subject vehicle can be parked, the controlling means causes the displaying means to display a marker that indicates that the subject vehicle cannot be parked, in superimposition upon a combined bird's-eye image created by the combined bird's-eye image creating means.

12. A parking assisting system substantiafly as hereinbefore described with reference to the accompanying drawings.