JP2001114049A - On-vehicle parking supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely indicate the operations required for parking, and clearly display the positional relationship between own automobile and a parking area to be parked even when physical parking conditions are different in a parking lot having plural parking areas. SOLUTION: The parking supporting device is provided with a parking image preparation means 2 for preparing an image in which own automobile and a parking lot are overlooked from just above, and displaying the image on an indication means 1, a parking area selecting means 3 for allowing a driver to select which parking area is to be parked when there are plural parking areas in the parking lot, an own automobile operation determining means 4 for grasping the positional relationship between the selected parking area and the automobile to determine the most suitable moving path and operating method for parking the automobile in the selected parking area to display the moving path and the operating method on the indication means 1, and a voice guide means 5 for guiding the determined operating method with voice.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted parking support which is mounted on a vehicle such as an automobile and displays information required for a driver to park the vehicle in a parking lot on a display means such as a display. Related to the device.

[0002]

2. Description of the Related Art Conventionally, as this kind of on-vehicle parking assist device, one described in Japanese Patent Application Laid-Open No. 7-114700 is known. This is to assist a novice when parking in a garage, on an automobile, an image input device that inputs an image outside the vehicle, an image memory that records the input image,
Image processing means for extracting features of the image, a driver input device for the driver to perform an operation such as parking start, learning processing means for learning the processed image, a learning data recording memory for recording a learning result, and an input. It is provided with danger determining means for comparing the image and the learning data to make a danger determination, and an output device for giving a warning to the driver.

[0003]

However, in the above-mentioned conventional on-vehicle parking assist device, when the vehicle is parked in a parking facility having a large number of parking areas, the parked vehicles are located on both sides of each vacant parking area. Due to different physical parking conditions, such as the presence of corners, corners, and narrow roads, there was a problem that it was not possible to respond sufficiently. In addition, there is a problem that it is not possible to clearly grasp the positional relationship of the vehicle with respect to the parking area where the vehicle is to park.

The present invention solves such a conventional problem. Even if the physical parking conditions in the parking area are different, it is possible to clearly instruct the operation required for parking, and to perform the parking with the own vehicle. An object of the present invention is to provide an in-vehicle parking assistance device capable of clearly displaying a positional relationship with a parking area to be attempted.

[0005]

In order to solve the above-mentioned problems, an on-vehicle parking assist system according to the present invention creates a display means for displaying an image and an image in which the own vehicle and the parking lot are looked down from directly above. Parking image creating means for displaying on the display means,
When there are a plurality of parking areas in the displayed parking lot, parking area selecting means for allowing the driver to select which parking area to park, and grasp the positional relationship between the selected parking area and the vehicle. And an own vehicle operation determining means for determining an optimal moving route and an operating method for parking the own vehicle in the parking area and displaying on the display means, and a voice for guiding the determined operating method by voice. And a guide means. With this configuration, even if the physical parking conditions are different, it is possible to clearly indicate the operation required for parking, and the positional relationship between the own vehicle and the parking area to be parked is clearly displayed, The driver can easily park the vehicle in the parking area according to the image and the voice guidance displayed on the display means.

Further, in the vehicle-mounted parking assist device according to the present invention, the own-vehicle operation determining means grasps a temporally changing positional relationship between the selected parking area and the own vehicle, and places the own vehicle in the parking area. It is characterized in that the optimal moving route and the operation method for parking are determined each time and displayed on the display means, and the voice guidance means guides the operation method at that time by voice, Even if it deviates from the initially instructed movement route, the optimal operation method is displayed at that point, so that even a beginner can easily park his or her vehicle in the parking area.

Further, in the vehicle-mounted parking assist device according to the present invention, the parking image creating means includes a camera installed right above the parking lot, and a video data transmitting means for wirelessly transmitting video data captured by the camera. Video data receiving means mounted on the vehicle for receiving the video data from the transmitting means, wherein the received video data is displayed on the display means. By displaying an actual image looking down from the top of the car park, accurate guidance display can be performed.

Further, in the vehicle-mounted parking assistance device according to the present invention, the parking image creating means combines a plurality of cameras attached to the vehicle and one overhead view centering on the own vehicle from video data of the plurality of cameras. Then, there is provided a configuration including a vehicle surrounding information creating means for displaying on the display means. Such vehicle surrounding information creating means has been proposed by the applicant of the present application in Japanese Patent Application No. 10-217261 and others. Since the image can be displayed on the display means as a bird's-eye view just viewed from directly above, it is possible to display an image of the own vehicle and the parking lot from directly above without installing a special camera or communication device in the parking lot. Become.

Also, in the vehicle-mounted parking assistance device according to the present invention, the parking area selecting means has a transparent surface and is superimposed on the front of the display means, and the driver presses a finger to enter the parking area. This is a touch panel to be selected, and a desired parking area can be selected by a simple operation.

Further, the on-vehicle parking assist system of the present invention is characterized in that the display of the selected parking area is switched to a caution display, and the display of the selected parking area is distinguished from other parking areas. By changing the brightness or color tone or blinking the display, the selected parking area can be clearly recognized, and the operability of parking can be further improved.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 shows a schematic configuration of an on-vehicle parking assistance device according to Embodiment 1 of the present invention, in which a display means 1 such as a liquid crystal display for displaying an image, and a vehicle and a parking lot are displayed. A parking image creating means 2 for creating an image looked down from above and displaying the same on the display means 1 and, when there are a plurality of parking areas in the parking lot displayed on the display means 1, driving in which parking area to park Area selection means 3 for allowing the driver to select the vehicle, grasping the positional relationship between the selected parking area and the own vehicle, and determining the optimal movement route and operation method for parking the own vehicle in the parking area. The vehicle includes an own vehicle operation determining means 4 to be displayed on the display means 1, a voice guiding means 5 for guiding the determined operating method by a synthesized voice, and a control means 6 for controlling the entire apparatus. The parking area selection means 3 has a transparent surface shape, is superimposed on the front surface of the screen of the display means 1, and uses a touch panel that allows the driver to select a parking area by pressing with a finger. It may be a cursor that is moved by operating a jog switch, a trackball, or the like. The parking image creating means 2, the own vehicle operation determining means 4 and the control means 6 are each provided with a microcomputer.

FIG. 2 shows an external device of the parking image creating means 2 according to the first embodiment. Above the central part of the parking space of the parking facility, a camera 22 fixed to a beam 21a spanned over the tops of the two pillars 21 and a narrow space for processing image data from the camera 22 and transmitting the data wirelessly. Band image data transmitting means 23 is provided. On the other hand, on the roof of the approaching vehicle 24, a narrow band video data receiving unit 25 for receiving the video data from the transmitting unit 23 is attached. Reference numeral 26 indicates another parked vehicle that is already parked.

Next, the operation of the on-vehicle parking assist device configured as described above will be described. The image signal from the camera 22 provided above the parking lot is correlated by the video processing unit.
After performing pre-processing such as double sampling and automatic gain control, it is A / D converted, and further generates a luminance signal and a color difference signal, performs white balance, gamma processing, and the like, and outputs it as a video signal. This video signal is coded and modulated by the video data transmitting means 23 and is always output as a narrow band wireless signal. On the other hand, when the approaching vehicle 24 that wants to park reaches this parking lot and stops at an arbitrary position,
The parking image creating means 2 is activated, the video data receiving means 25 provided on the roof of the vehicle 24 receives the signal from the video data transmitting means 23, demodulates and decodes it, and displays the image of the parking lot on the display means 1. I do. FIG. 3A shows an example of the parking lot screen displayed in this manner.

Next, the driver searches for a vacant parking area from the displayed screen and presses a desired parking area 31 from the vacant parking area with a finger on the corresponding portion of the touch panel of the parking area selecting means 3. The own vehicle operation determining means 4 determines that the parking area 31 has been selected from the coordinate signals, and analyzes the white line portion of the parking space and the characteristics of the vehicle from the video signal. The position is specified, the optimal moving route and the operation method for parking the vehicle 24 in the parking area 31 in the back are determined from the positional relationship between the two, and the moving route 32 is displayed as shown in FIG. With voice guidance means 5
Performs a voice guidance such as "Switch straight to the left after 2 m, then switch to the reverse gear, turn the steering all the way to the right, and slowly descend." The driver
By operating according to this display and voice guidance,
It is possible to easily park in the desired parking area 31.

The vehicle 2 in the own vehicle operation determining means 4
An algorithm that satisfies the following conditions, for example, is used to determine the optimal movement route and operation method for parking the vehicle 4 in the parking area 31 in the back. The gap between the obstacle (adjacent parked vehicle) and the vehicle must not be less than or equal to a predetermined value (for example, 200 mm) in the movement route. The number of times that the gap between the obstacle and the own vehicle becomes equal to or less than a predetermined value (for example, 500 mm) in the moving route is minimum. Or, in addition, handle operation during reverse movement shall be minimal. Or in addition to the minimum backward travel distance. In addition to any of the above, minimal handle operation.

Regarding the determination of the optimum moving route and the operation method by the own vehicle operation determining means 4, when the driver moves the vehicle 24 in accordance with the displayed moving route 32 and the voice guidance 33, the parking area 31 is determined. And vehicle 24
By grasping the ever-changing positional relationship with each other, the optimum moving route and the operation method at that time are determined each time and displayed on the display means 1, and the voice guidance means 5 provides voice guidance. Even if the user moves along the designated movement route or deviates therefrom, the optimal operation method is displayed and guided at that time, so that even a beginner can easily park the vehicle 24 in the parking area 31.

(Embodiment 2) FIG. 4 shows a schematic configuration of an on-vehicle parking assistance device according to Embodiment 2 of the present invention. The second embodiment is different from the first embodiment in that the parking image creating means 2 synthesizes one overhead view centered on the own vehicle from video data of a plurality of cameras attached to the approaching vehicle. Since the vehicle peripheral information creating means 41 is provided, and other configurations are the same as those of the first embodiment, the same components are denoted by the same reference numerals, and redundant description of the configurations will be omitted.

The vehicle surrounding information creating means 41 utilizes the technology described in Japanese Patent Application No. 10-217261 and the like, and as shown in FIG. A front camera 51 attached to the rear of the vehicle 50 to capture an image of the front of the vehicle, a rear camera 52 attached to the center of the rear of the roof of the vehicle 50 to capture the rear of the vehicle, and a rear camera attached to a left door mirror of the vehicle 50 to capture an image of the rear left of the vehicle. A rear left camera 53, a rear right camera 54 attached rearward to the right door mirror of the vehicle 50 to capture an oblique right rear of the vehicle, and a front left camera mounted laterally to the left front pillar of the vehicle 50 to capture the oblique left front of the vehicle 50. 5
5. A right front camera 56 is mounted horizontally on the right front pillar of the vehicle 50 and captures an image of the vehicle diagonally forward. After the image data captured by these cameras is processed by a predetermined algorithm, as shown in FIG. 5B, a deformed picture 58 representing the approaching vehicle (the vehicle is not shown in this technique) Therefore, the own vehicle is represented as a picture, a blank, or a contour line), and displayed on the display unit 1 as a display image 57 synthesized as one overhead view viewed from directly above. Reference numeral 59 denotes a parking area separated by a white line, and reference numeral 60 denotes an image of a parked vehicle parked in the parking area.

In FIG. 5B, a display image 57 displayed on the display means 1 is composed of a front image section I taken by the front camera 51 and a rear camera 5 centering on a picture 58 of the approaching vehicle.
2, a left oblique rear image section III photographed by the left rear camera 53, a right oblique rear image section IV photographed by the right rear camera 54, and a left oblique front photographed by the left front camera 55. It consists of an image part V and a right oblique front image part VI captured by the right front camera 56, and the entire parking lot is represented as one plane image. Such a display image 57 can be displayed from the time of entering the parking lot by activating the own vehicle peripheral information creating means 41, so that the entire parking lot is not displayed at the time of entering the parking lot. Become. Therefore, when the driver finds an empty parking area at the time of entering the parking lot, the driver stops the vehicle, activates the own vehicle operation determining means 4 at that time, and parks in the parking area. The optimal moving route and operating method for this can be determined. If the user finds an empty parking area but does not like it and wants to search for another empty parking area, the vehicle must be moved further. The determination of the optimum moving route and the operation method in the own vehicle operation determining means 4 is the same as that of the first embodiment.

As described above, according to the second embodiment, the own-vehicle surrounding information creating means 41 allows the own-vehicle and the parking lot to be viewed from directly above without installing a special camera or communication device in the parking lot. Since it is possible to display an overlooked image, costs for infrastructure construction can be reduced.

[0021]

As described above, the on-vehicle parking assist system of the present invention creates a parking image creating means for creating an image of a vehicle and a parking lot from directly above and displaying the image on the display means.
When there are a plurality of parking areas in the displayed parking lot, the parking area selecting means for allowing the driver to select which parking area to park, and the positional relationship between the selected parking area and the own vehicle are grasped. Self-vehicle operation determining means for determining an optimal moving route and operating method for parking the own vehicle in the selected parking area and displaying the determined moving method and operating method on the display means; and voice guidance means for guiding the determined operating method by voice. Because it has
Even if the physical parking conditions of the parking area are different, it is possible to clearly indicate the operation required for parking and to clearly display the positional relationship between the vehicle and the parking area to be parked, so driving The user can easily park the vehicle in the parking area according to the image and the voice guidance displayed on the display means.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a vehicle-mounted parking assistance device according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram showing a relationship between a camera arrangement of a vehicle and a parking lot according to the first embodiment.

FIG. 3A is a schematic diagram illustrating an example of a display image according to the first embodiment. FIG. 3B is a schematic diagram illustrating an example of a movement route display image according to the first embodiment.

FIG. 4 is a block diagram illustrating a schematic configuration of a vehicle-mounted parking assistance device according to a second embodiment;

5A is a schematic diagram illustrating a camera arrangement of a vehicle according to a second embodiment. FIG. 5B is a schematic diagram illustrating an example of a composite image of the camera according to the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Display means 2 Parking image creation means 3 Parking area selection means 4 Own vehicle operation determination means 5 Voice guidance means 6 Control means 21 Prop 22 Camera 23 Video data transmission means 24 Approaching vehicle 25 Video data reception means 26 Parking vehicle 31 Parking area 32 Travel route 33 voice guidance 41 own vehicle surrounding information creation means 50 vehicle 51, 52, 53, 54, 55, 56 camera 57 display image 58 pictorial diagram of approaching vehicle 59 parking area 60 image of parked vehicle

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Claims (6)

[Claims] 1. A display means for displaying an image, a parking image creating means for creating an image of the vehicle and the parking lot from directly above and displaying the image on the display means, When there is a parking area, a parking area selecting means for allowing a driver to select which parking area to park, and grasping a positional relationship between the selected parking area and the own vehicle, and setting the own vehicle in the parking area. -Vehicle parking assistance, comprising: an own-vehicle operation determining means for determining an optimum moving route and an operating method for parking the vehicle and displaying the determined moving path and the operating method on the display means; and a voice guiding means for guiding the determined operating method by voice. apparatus. 2. The optimal movement route for parking the vehicle in the parking area by the vehicle operation determining means grasping the positional relationship between the selected parking area and the vehicle that changes every moment. 2. The on-vehicle parking assistance device according to claim 1, wherein the operating method is determined and displayed on the display means each time, and the voice guiding means guides the operating method at that time by voice. 3. The parking image creation means is mounted on a vehicle, a camera installed right above a parking lot, a video data transmission means for wirelessly transmitting video data captured by the camera, 3. The on-vehicle parking assistance device according to claim 1, further comprising: video data receiving means for receiving video data from the means, wherein the received video data is displayed on the display means. 4. The parking image creating means combines a plurality of cameras attached to a vehicle and one overhead view centered on the own vehicle from video data of the plurality of cameras and displays the combined image on the display means. 2. The vehicle according to claim 1, further comprising: means for creating surrounding information of the vehicle.
Or the in-vehicle parking assistance device according to 2. 5. The parking area selecting means is a touch panel having a transparent surface, being superimposed on the front of the display means, and allowing a driver to select a parking area by pressing with a finger. The on-vehicle parking assistance device according to any one of claims 1 to 4. 6. The on-vehicle parking assistance device according to claim 5, wherein the display of the selected parking area is switched to a caution display.