JP2000318554A - Vehicle reverse assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a superposed display of a reverse assisting guide on a vehicle rear image easy to a see for a driver. SOLUTION: Vehicle rear image data photographed by a camera 12 is sent to a right-left deciding means 21. The right-left deciding means 21 detects the edges of a parking space by image-processing the image data and decides whether it is the right side parking or left side parking from the inclination. The decision result is sent to a display control means 22, and either one of the right half part or the left half part of a backing assisting guide is selected and displayed superposedly on the vehicle rear image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reverse parking assist device for parallel parking, and more particularly to a display for superimposing a guide for assisting the reverse of the vehicle during parallel parking on a monitor screen obtained by imaging the rear of the vehicle. To a device that

[0002]

2. Description of the Related Art Conventionally, a vehicular reversal support device has been proposed which displays a rear view of a vehicle on a monitor provided in a driver's seat so that the vehicle can be retreated when a target place becomes invisible due to a blind spot of the vehicle. Proposed. FIG. 6 shows a monitor screen when such a device is used. When parallel parking is performed by such a device, for example, first, an image 2 behind the vehicle captured by a camera attached to the vehicle is displayed on the monitor screen 1. The image 2 includes a roadside 3 and a parking space 4 along the roadside 3. Also, on the monitor screen 1, as the retreat support guide, the prediction lines 5 a and 5 b indicating the predicted retreat trajectory according to the steering angle of the steered wheels at that time are superimposed on the image 2 behind the vehicle. The prediction lines 5a and 5b can be used for both left-side parking and right-side parking. The driver refers to the predicted lines 5a and 5b and predicts how the vehicle will retreat at the steering angle at that time, and operates the steering wheel and the steering wheel so that the vehicle can move to the target parking space 4. The direction was being adjusted.

[0003]

However, in the above-mentioned conventional vehicle reversing support device, the prediction line 5a,
The part mainly used by the driver in the back support guide 5b is a predicted line 5a indicating the position of the left side of the vehicle in the case of left parking as shown in FIG. 6, and the right side of the vehicle in the case of right side parking. In most cases, this is the expected line 5b indicating the position. For this reason, a guide portion that is practically hardly used is always displayed on the monitor screen 1. To make the image 2 behind the vehicle easier to see, only the portion of the rear support guide that is actually used is displayed. There is a request as to whether it can be done.

[0004] In the future, in addition to the above-described logistical support guide including the expected line, a complex support guide for providing the driver with more vehicle backward support information will be displayed on the monitor screen. In this case, it is further desired that the monitor screen on which the video 2 behind the vehicle and the rear assistance guide are superimposed is as easy to see as possible.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a vehicle reversing support device capable of superimposing a reversing support guide on a vehicle rear image so that a driver can easily view the reversing support guide. Aim.

[0006]

In order to achieve the above-mentioned object, the present invention provides a vehicle reversing support apparatus comprising: a camera for photographing the rear of a vehicle; a monitor for displaying an image behind the vehicle photographed by the camera; Left or right determining means for determining whether the vehicle is parked or right parking, and one of the left half and the right half of the retreat assistance guide is superimposed on the monitor on the monitor based on the determination result of the left and right determining means. Display control means.

According to a second aspect of the present invention, there is provided the vehicle reverse assisting device according to the first aspect, further comprising steering angle calculating means for calculating a steering angle of a steered wheel, wherein the display control means comprises: A steering angle marker corresponding to the steering angle is superimposed and displayed on the monitor together with the image behind the vehicle and the reverse assistance guide.

According to a third aspect of the present invention, there is provided a vehicle backward assistance device according to the second aspect, wherein the steering angle marker is an image of a steered wheel.

According to a fourth aspect of the present invention, in the vehicle reverse assisting device according to the second aspect, when the reverse assist guide overlaps a target point and a predetermined line of the parking space on a monitor screen, respectively. A first eye mark and a first guideline indicating that the vehicle is properly parked in parallel in the parking space by maximizing the steering angle and retreating, and the target point of the parking space on the monitor screen, respectively. And that the vehicle can be moved to a position where the first eye mark and the target point as well as the first guideline and the predetermined line respectively overlap by moving the vehicle straight forward and backward when overlapping the predetermined line. The second eye mark and the second
And guidelines.

According to a fifth aspect of the present invention, there is provided the vehicle reverse assisting device according to the fourth aspect, wherein the steering angle marker constitutes the second eye mark, and the reverse angle according to the steering angle of the steering wheel. It is an arrow-shaped image indicating the direction.

According to a sixth aspect of the present invention, there is provided the vehicle backward assistance device according to the fourth aspect, wherein the steering angle marker is set so that the steering angle marker is based on the second eye mark and corresponds to a steering angle of the steering wheel. It is characterized by an arrow-shaped image consisting of a curve representing a direction.

According to a seventh aspect of the present invention, in the vehicle backward assistance device according to any one of the first to sixth aspects, the left / right determination means performs image processing on a rear image of the vehicle to perform a left-hand operation. It is characterized by determining whether the vehicle is parked or parked on the right.

According to an eighth aspect of the present invention, in the vehicle reverse assisting device according to any one of the first to sixth aspects, the left / right determining means determines whether the vehicle is parked on the left or right depending on the steering angle of the steering wheel. Is determined.

[0014]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Embodiment 1 FIG. FIG. 1 is a side view of an automobile equipped with a vehicle retreat assistance device according to Embodiment 1 of the present invention. FIG. 2 is a conceptual diagram showing the structure of the vehicle backward assistance device according to the present embodiment. At the rear of the vehicle 11, a camera 12 for photographing the rear of the vehicle is attached. The view range of the camera 12 is set so that the bumper 13 at the rear of the vehicle enters. On the instrument panel 15 of the driver's seat 14, a monitor for displaying an image captured by the camera 12 is provided.

As shown in FIG. 2, the vehicle backward support device includes a camera 12, a left / right determination unit 21, and a display control unit 2.
2. A steering angle calculating means 24 having a steering angle sensor 23 and a monitor 25 are provided.

Next, the operation of the vehicle backward support device will be described with reference to FIGS. First, when the driver shifts the shift lever to the reverse gear, image data of the rear of the vehicle taken by the camera 12 is sent to the left / right determination means 21 and the display control means 22, and the display control means 22 is displayed.
Displays an image of the rear of the vehicle on the screen 31 of the monitor 25 based on the data.

The left / right determination means 21 detects the edge 33 of the parking space 32 by performing image processing on the video data sent from the camera 12 as step S1. That is, by image processing, the roadside and the parking space 3
The edge 33 corresponding to the white line 2 is extracted. Edge 33
Is constituted by a target point 34 which is the top of the parking space 32 and a roadside line 35 which is a part of the roadside.

The left / right determination means 21 determines in step S2
The inclination of the edge 33 detected as the
If the slope is a positive value, it is determined that the vehicle is parked on the left side. That is, in the example shown in FIG. 3, it is determined that the vehicle is parked on the left side. Note that the left / right determination means 21
In consideration of the case where the edge cannot be detected from the road side or the white line of the parking space 32, a function of detecting the inclination from the front bumper of the vehicle parked behind the parking space 32 can be added to the vehicle.

The result determined by the left / right determination means 21 to be left parking is sent to the display control means 22. As a result, the display control means 22 determines only the portion of the retreat support guide 36 necessary for parking in step S4. Choose to display. That is, in the example shown in FIG.
Choose to display only 6a. Then, as a step S5, the display control means 22 superimposes or superimposes only the left half portion 36a of the retreat assistance guide 36 on the image behind the vehicle on the monitor screen 31.
Therefore, the monitor screen 31 is not easily displayed together with the right half portion 36b of the retreat support guide 36 necessary for right-side parking as virtually indicated by a dotted line in FIG.

The left half 36a of the rear support guide is immovable with respect to the monitor screen 31, and the first eye mark 37,
It comprises a first guideline 38, a second eye mark 39 and a second guideline 40.

In the steering angle calculating means 24, the steering angle of the steered wheel is detected by the steering angle sensor 23, and step S6 is executed.
Is calculated as the steering angle. The calculated steering angle data is sent to the display control means 22.

The display control means 22 displays an image 41 of a steered wheel on the monitor screen 31 as a steering angle marker based on the steering angle data from the steering angle calculation means 24. As a result, the driver can visually confirm to which direction the steering wheel is currently bent and how much, and can easily determine how the vehicle moves backward. The image 41 of the steered wheels is displayed below the monitor screen 31, that is, below the line 42 indicating the rear end of the bumper 13 so as not to interfere with the rear image of the vehicle and the reverse support guide 36.

The monitor screen 31 on which such a display is made
The driver performs the following operation while watching. First, as shown in FIG. 3B, the driver superimposes the second eye mark 39 on the target point 34 on the monitor screen 31 and the second guideline 4 on the roadside line 35.
The steering wheel is operated so that 0 overlaps, and the vehicle 11 is moved backward. At this time, since only the necessary portion of the retreat support guide 36 is displayed on the monitor screen 31, even a beginner can use the retreat support guide 36 reliably, and the screen is easy to see, so the steering operation can be performed. Can be done accurately.

When the target point 34 and the second eye mark 39, the roadside line 35 and the second guideline 40 overlap on the monitor screen 31, the driver straightens the steering wheel and moves the vehicle 11 straight back. Then, as shown in FIG. 3C, when the first eye mark 37 overlaps the target point 34 on the monitor screen 31 and the first guideline 38 overlaps the roadside line 35, the steering wheel is turned to the right. If the vehicle 11 is moved backward by turning the steering wheel to the maximum steering angle to the maximum, the parallel parking in the desired parking space 32 is completed.

As described above, in the vehicle backward support device according to the present embodiment, only the necessary portion of the reverse support guide 36 is displayed on the monitor screen 31, so that the monitor screen 31 is easy to see and accurate driving operation is possible. Become. Further, the driver does not have to select whether to park on the left side or on the right side each time, so that the operation is not bothersome.

Embodiment 2 FIG. Next, a vehicle retreat assistance device according to Embodiment 2 of the present invention will be described with reference to FIG. In the present embodiment, an example will be described in which the left / right determination unit 21 determines that the vehicle is parked on the left side. Screen 51
The left half 5 of the retreat support guide 52 necessary for the left parking
2a is displayed. The retreat support guide 52 includes a first eye mark 37, a first guide line 38, a second eye mark 53, and a second guide line 40.
The second eye mark 53 is configured by an arrow-shaped image functioning as a steering angle marker. The direction of the arrow changes according to the turning angle of the handle. In the vehicle backward assistance device according to the present embodiment configured as described above, only the necessary portion of the reverse assistance guide is displayed on the monitor screen 51, so that not only is the monitor screen 51 easy to see, but also the eye mark is steered. To function as a corner marker,
You can adjust the position of the eye mark while checking the steering angle just by looking near the eye mark on the screen.
In addition, it is possible to easily understand in which direction the eye mark moves with respect to the rear image on the screen.

Embodiment 3 Next, a vehicle backward assistance device according to Embodiment 3 of the present invention will be described with reference to FIG. Note that the present embodiment also describes an example in which the left / right determination unit 21 determines that the vehicle is parked on the left side. On the screen 61, a left half portion 36a of the rear support guide 36 similar to the case of the vehicle retreat support device according to the first embodiment is displayed. Further, on the screen 61, a steering angle marker 62 composed of an arrow-shaped image extending from the second eye mark 39 is displayed. The arrow is curved starting from the second eye mark 39 to indicate a retreating direction according to the steering angle of the steering wheel. In the vehicle retreat assistance device of this embodiment, the eye mark can be aligned while checking the steering angle of the steering wheel only by looking at the vicinity of the eye mark on the screen. It is possible to easily understand in which direction the eye mark moves.

Embodiment 4 Next, a vehicle retreat assistance device according to Embodiment 4 of the present invention will be described. The vehicle reverse assist device according to the fourth embodiment of the present invention is different from the vehicle reverse assist device of the first embodiment in that the vehicle rearward image is subjected to image processing to determine left parking or right parking. Then, based on the steering angle of the steered wheels calculated by the steering angle calculating means 24, that is, the turning direction and the amount of the steering wheel, it is determined whether the parking is left parking or right parking. Therefore,
As shown in FIG. 3A, when the steering wheel is turned to the left by a predetermined amount or more at the stop position at the start of the parallel parking, it is determined that the left parking is performed. According to such a vehicle retreat assistance device, the driver does not have to select whether to park on the left side or on the right side each time, and in addition to troublesome operation, it is difficult to perform image processing. In such a case, it is possible to determine whether the parking is left parking or right parking. Further, since no image processing is performed, the apparatus can be simply configured accordingly.

The above-described vehicle backward assist device of the present invention uses the backward assist guide including the first eye mark, the first guideline, the second eye mark, and the second guideline. However, the present invention is not limited to this, and can be implemented even when a retreat support guide having another shape or function is used. Even in such a case, only one of the left half and the right half of the retreat assistance guide required for parking is displayed on the monitor screen, so that the monitor screen can be easily viewed and an accurate driving operation can be realized. it can.

[0030]

As described above, according to the vehicle retreat assistance device of the first aspect, it is determined whether the vehicle is parked on the left side or on the right side, and only a necessary portion of the retreat assistance guide is displayed on the monitor screen. Is displayed on the monitor screen, so that the monitor screen is easy to see and an accurate driving operation can be performed.

According to the second aspect of the present invention, in addition to the above-described effect achieved by the first aspect of the present invention, the driver can determine which direction the steering wheel bends by using the steering angle marker. It is possible to visually check whether the vehicle is moving backward and easily determine how the vehicle moves backward.

According to the vehicle reversing assist device of the third aspect, in addition to the above-mentioned effects achieved by the vehicle reversing assist device of the second aspect, since the steering angle marker is an image of a steered wheel, it is more intuitive. Thus, the direction of the steered wheels can be grasped, and it is possible to more easily determine how the vehicle moves backward.

According to the vehicle reversing assistance device of the fourth aspect, in addition to the above-mentioned effects achieved by the vehicle reversing assistance device of the second aspect, the driver can properly enter the parking space and turn the steering wheel. Timing can be easily grasped.

According to the vehicular reversal assist device according to the fifth and sixth aspects, in addition to the above-mentioned effects achieved by the vehicular reversal assist device according to the fourth aspect, the turning angle of the steering wheel can be obtained only by looking at the vicinity of the eye mark on the screen. , The eye mark can be aligned, and it is possible to easily understand in which direction the eye mark moves with respect to the rear image on the screen.

According to the vehicle reversing support device according to the seventh aspect, in addition to the above-described effects achieved by the vehicle reversing support device according to the first to sixth aspects, the driver determines whether the vehicle is parked on the left side or on the right side. However, there is no need to select each time, so that the operation is not troublesome.

According to the vehicle reversing support device according to the eighth aspect, in addition to the above-described effects achieved by the vehicle reversing support device according to the first to sixth aspects, the driver determines whether the vehicle is parked on the left side or on the right side. It is not necessary to select each time, and in addition to the fact that the operation is not bothersome and that it is difficult to perform the image processing, it is possible to determine whether the parking is the left parking or the right parking. Further, since no image processing is performed, the apparatus can be simply configured accordingly.

[Brief description of the drawings]

FIG. 1 is a side view of an automobile equipped with a vehicle retreat assistance device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram conceptually showing the structure of the vehicle retreat assistance device according to the first embodiment.

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

FIG. 4 is a diagram showing a monitor screen of a vehicle retreat assistance device according to Embodiment 2 of the present invention.

FIG. 5 is a diagram showing a monitor screen of a vehicle retreat assistance device according to Embodiment 3 of the present invention.

FIG. 6 is a diagram showing a monitor screen of a conventional vehicle retreat assistance device.

[Explanation of symbols]

11 vehicle, 12 camera, 21 left / right determination means, 22
... display control means, 24 ... steering angle calculation means, 25 ... monitor,
31, 51, 61 ... monitor screen, 32 ... parking space,
34: target point, 35: roadside line, 36, 52: retreat support guide, 36a, 52a: left half, 36b: right half, 37: first eye mark, 38: first guideline, 39 ... 2 eye mark, 40 ... second guideline, 41, 53, 62 ... steering angle marker.

[Procedure amendment]

[Submission date] August 17, 2000 (2008.1.
7)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 1

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

[0006]

In order to achieve the above-mentioned object, the present invention provides a vehicle reversing support apparatus comprising: a camera for photographing the rear of a vehicle; a monitor for displaying an image behind the vehicle photographed by the camera; Left-right determining means for determining whether parking is performed or right-hand parking, and only one of the left half and the right half of the retreat assistance guide is superimposed on the monitor on the monitor based on the determination result of the left-right determining means. And a display control unit that performs

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 621M 626G

Claims (8)

[Claims] 1. A camera for photographing the rear of a vehicle, a monitor for displaying an image behind the vehicle photographed by the camera, left / right determining means for determining whether the vehicle is parked on the left or right, And a display control means for superimposing and displaying one of the left half and the right half of the reverse support guide on the monitor and the vehicle rear image. 2. The vehicle according to claim 1, further comprising a steering angle calculating unit configured to calculate a steering angle of a steered wheel, wherein the display control unit monitors a steering angle marker corresponding to the steering angle together with the vehicle rearward image and the reverse assist guide. The vehicle backward assistance device according to claim 1, wherein the vehicle backward assistance device is superimposed and displayed. 3. The vehicle backward support device according to claim 2, wherein the steering angle marker is an image of a steered wheel. 4. The reversing support guide is adapted to allow the vehicle to park properly in the parking space by maximizing the steering angle and retreating when the vehicle overlaps the target point of the parking space and a predetermined line on the monitor screen. A first eye mark and a first guideline indicating that the vehicle is to be moved forward and backward when the vehicle overlaps the target point and a predetermined line of the parking space on a monitor screen, respectively. 3. The vehicle according to claim 2, further comprising a second eye mark and a second guideline indicating that the vehicle can be moved to a position where the target point and the first guideline overlap the predetermined line. The vehicle retreat assistance device according to claim 1. 5. The vehicle according to claim 4, wherein the steering angle marker forms the second eye mark and is an arrow-shaped image indicating a reversing direction according to a steering angle of the steering wheel. Support equipment. 6. The steering angle marker according to claim 4, wherein the steering angle marker is an arrow-shaped image having a curve representing a retreating direction according to a steering angle of the steering wheel with the second eye mark as a base point. Vehicle reverse support device. 7. The vehicle reversing support according to claim 1, wherein the left / right determination unit determines whether the vehicle is parked on the left side or on the right side by performing image processing on an image behind the vehicle. apparatus. 8. The vehicle retreat assistance device according to claim 1, wherein the left / right determination unit determines whether the vehicle is parked on the left or right based on the steering angle of the steering wheel.