JP2003063339A - Parking support equipment - Google Patents
Parking support equipmentInfo
- Publication number
- JP2003063339A JP2003063339A JP2001254983A JP2001254983A JP2003063339A JP 2003063339 A JP2003063339 A JP 2003063339A JP 2001254983 A JP2001254983 A JP 2001254983A JP 2001254983 A JP2001254983 A JP 2001254983A JP 2003063339 A JP2003063339 A JP 2003063339A
- Authority
- JP
- Japan
- Prior art keywords
- parking
- parking frame
- camera
- frame
- adjacent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Analysis (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車両の周辺環境を
撮像したカメラ画像を表示して、車両に対する運転者の
駐車操作を支援する駐車支援装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device for displaying a camera image of a surrounding environment of a vehicle to assist a driver's parking operation on the vehicle.
【０００２】[0002]
【従来の技術】従来、車両の後方環境を撮像したカメラ
画像を表示して、車両に対する運転者の駐車操作を支援
する駐車支援装置としては、車両の後進方向端部に設置
されたカメラによって撮像した、車両に対して後進方向
側の状況を画像表示することによって、車両に対する運
転者の駐車操作を支援するものや、ステアリング舵角セ
ンサからの信号に基づいて車両の進行予測曲線を算出
し、算出した進行予測曲線を、上述したように撮像した
カメラ画像に重畳して表示することによって、車両に対
する運転者の駐車操作を支援するものが知られており、
例えば、特開２０００−７２０１９号公報や特開２００
０−１７７５１２号公報などに記載されている。2. Description of the Related Art Conventionally, as a parking assisting device for displaying a camera image of a rear environment of a vehicle and assisting a driver's parking operation on the vehicle, an image is picked up by a camera installed at a rear end of the vehicle. By displaying the situation of the backward direction side with respect to the vehicle, the vehicle's progress prediction curve is calculated based on the signal from the steering steering angle sensor and the one that assists the driver in parking the vehicle. It is known to support the driver's parking operation on the vehicle by displaying the calculated progress prediction curve by superimposing it on the camera image captured as described above,
For example, JP 2000-72019 A and JP 200
No. 0-177512.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上述し
た従来の駐車支援装置においては、夜間の駐車操作や、
屋内駐車場への駐車操作など、運転者が比較的低照度条
件下で駐車操作を行なう場合、カメラ画像が暗く、車両
の後方環境に対する運転者の視認性が低下するという問
題があった。However, in the above-mentioned conventional parking assist device, the parking operation at night,
When a driver performs a parking operation in a relatively low illumination condition such as a parking operation in an indoor parking lot, there is a problem that the camera image is dark and the visibility of the driver for the environment behind the vehicle is reduced.
【０００４】そこで、本発明は、運転者が比較的低照度
条件下で駐車操作を行なう場合でも、従来と比較して、
カメラ画像内での車両の周辺環境に対する運転者の視認
性を向上することが可能である駐車支援装置を提供する
ことを目的とする。Therefore, according to the present invention, even when the driver performs a parking operation under a relatively low illuminance condition, compared with the conventional case,
An object of the present invention is to provide a parking assistance device capable of improving the visibility of a driver with respect to the surrounding environment of a vehicle in a camera image.
【０００５】[0005]
【課題を解決するための手段】上記課題を解決するため
に、本発明の駐車支援装置は、車両に搭載され、前記車
両の周辺環境を撮像するカメラと、前記カメラによって
撮像された画像に基づいて駐車枠の輪郭を検出する駐車
枠輪郭検出手段と、前記駐車枠輪郭検出手段によって検
出された前記駐車枠の輪郭に基づく図形を、前記カメラ
によって撮像された前記駐車枠の画像に重畳する重畳手
段と、前記重畳手段からの画像を表示する表示手段とを
備えた構成を有している。この構成により、本発明の駐
車支援装置は、表示手段によって表示される画像内で、
路面上に描かれた駐車枠の輪郭に基づく図形を表示する
ことによって、駐車枠を強調表示することができるの
で、運転者が比較的低照度条件下で駐車操作を行なう場
合でも、従来と比較して、カメラ画像内での車両の周辺
環境（例えば後方環境）に対する運転者の視認性を向上
することが可能である。In order to solve the above-mentioned problems, a parking assistance device of the present invention is mounted on a vehicle and is based on a camera for picking up an image of the surrounding environment of the vehicle and an image picked up by the camera. Parking frame contour detection means for detecting the contour of the parking frame by means of superimposing a graphic based on the contour of the parking frame detected by the parking frame contour detection means on the image of the parking frame captured by the camera. And a display unit for displaying the image from the superposing unit. With this configuration, the parking assist device of the present invention, in the image displayed by the display means,
By displaying a figure based on the outline of the parking frame drawn on the road surface, the parking frame can be highlighted, so even if the driver performs a parking operation in a relatively low light condition, it can be compared with the conventional one. Then, it is possible to improve the visibility of the driver with respect to the surrounding environment (for example, the rear environment) of the vehicle in the camera image.
【０００６】また、本発明の駐車支援装置は、車両に搭
載され、前記車両の周辺環境を撮像するカメラと、前記
カメラによって撮像された画像に基づいて駐車枠の輪郭
を検出する駐車枠輪郭検出手段と、前記駐車枠輪郭検出
手段によって検出された前記駐車枠の輪郭に基づいた図
形を生成する図形生成手段と、前記図形生成手段によっ
て生成された図形を前記カメラによって撮像された画像
に重畳する重畳手段と、前記重畳手段からの画像を表示
する表示手段とを備えた構成を有している。この構成に
より、本発明の駐車支援装置は、路面上に描かれた駐車
枠の輪郭に基づく図形として、路面上に描かれた駐車枠
の輪郭そのものの図形だけでなく、路面上に描かれた駐
車枠の輪郭に基づいて生成した種々の図形を表示するこ
とができ、駐車枠の輪郭そのものの図形だけを表示する
場合と比較して、駐車枠をより強調表示することができ
る。Further, the parking assistance device of the present invention is mounted on a vehicle, and a camera for imaging the surrounding environment of the vehicle, and a parking frame contour detection for detecting the contour of the parking frame based on the image captured by the camera. Means, graphic generating means for generating a graphic based on the contour of the parking frame detected by the parking frame contour detecting means, and superimposing the graphic generated by the graphic generating means on the image captured by the camera. It has a configuration including superimposing means and display means for displaying an image from the superimposing means. With this configuration, the parking assist device of the present invention is drawn not only on the contour of the parking frame drawn on the road surface but also on the road surface as a figure based on the contour of the parking frame drawn on the road surface. Various figures generated based on the outline of the parking frame can be displayed, and the parking frame can be displayed more emphasized as compared with the case where only the figure of the outline of the parking frame itself is displayed.
【０００７】また、本発明の駐車支援装置は、前記図形
生成手段が、前記駐車枠の輪郭に基づいて、前記駐車枠
の輪郭で囲まれる領域を塗り潰した図形を生成する構成
を有している。この構成により、本発明の駐車支援装置
は、駐車枠の輪郭そのものの図形だけを表示する場合と
比較して、駐車枠をより強調表示することができる。Further, in the parking assistance apparatus of the present invention, the graphic generating means has a structure for generating a graphic in which a region surrounded by the outline of the parking frame is filled based on the outline of the parking frame. . With this configuration, the parking assistance device of the present invention can display the parking frame more emphasized than in the case of displaying only the figure of the outline itself of the parking frame.
【０００８】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う前記駐車枠の内側の近似曲線
を前記駐車枠から延長して描いた図形を生成する構成を
有している。この構成により、本発明の駐車支援装置
は、近似曲線が駐車枠よりも長いので、駐車枠そのもの
よりも車両を駐車枠で囲まれた駐車領域内に容易に案内
することができ、車両に対する運転者の駐車操作をより
確実に支援することができる。Further, in the parking assisting apparatus of the present invention, when a plurality of the parking frames are adjacent to each other in the image captured by the camera, the graphic generating means is configured to adjoin the parking frames based on the outline of the parking frame. It is configured such that an approximate curve inside the matching parking frame is extended from the parking frame to generate a drawn figure. With this configuration, the parking assist device of the present invention has an approximate curve that is longer than that of the parking frame. Therefore, the vehicle can be easily guided to a parking area surrounded by the parking frame rather than the parking frame itself. It is possible to more reliably support the parking operation of the person.
【０００９】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う前記駐車枠の内側の近似曲線
を前記駐車枠から所定間隔離して描いた図形を生成する
構成を有している。この構成により、本発明の駐車支援
装置は、隣り合う近似曲線の間隔の方が実際の隣り合う
駐車枠の間隔よりも狭いので、駐車枠の輪郭そのものの
図形だけを表示する場合と比較して、駐車枠で囲まれた
駐車領域内への運転者の駐車操作をより確実に支援する
ことができる。Further, in the parking assisting apparatus of the present invention, when a plurality of the parking frames are adjacent to each other in the image captured by the camera, the graphic generating unit is configured to adjoin the parking frames based on the outline of the parking frame. It is configured to generate a figure in which an approximate curve inside the matching parking frame is separated from the parking frame for a predetermined period and drawn. With this configuration, in the parking assist device of the present invention, the interval between the adjacent approximate curves is narrower than the actual interval between the adjacent parking frames, so that the outline of the parking frame is displayed as compared with the case where only the graphic is displayed. It is possible to more reliably support the driver's parking operation in the parking area surrounded by the parking frame.
【００１０】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う前記駐車枠の内側の近似曲線
と、前記カメラによって撮像された画像内で隣り合う前
記駐車枠のそれぞれ最遠側に相当する部分を結ぶ線とを
描いた図形を生成する構成を有している。この構成によ
り、本発明の駐車支援装置は、車両の運転者に駐車領域
の最遠端を認識させることができるので、駐車枠の輪郭
そのものの図形だけを表示する場合と比較して、車両に
対する運転者の駐車操作をより確実に支援することがで
きる。Further, in the parking assistance apparatus of the present invention, when a plurality of the parking frames are adjacent to each other in the image picked up by the camera, the figure generating means is configured to adjoin the parking frames based on the outline of the parking frame. A configuration is created that draws an approximate curve on the inside of the parking frame that fits and a line that connects the portions corresponding to the farthest sides of the adjacent parking frames in the image captured by the camera. There is. With this configuration, the parking assist device of the present invention can allow the driver of the vehicle to recognize the farthest end of the parking area. Therefore, as compared with the case where only the outline of the parking frame is displayed, The parking operation of the driver can be supported more reliably.
【００１１】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う前記駐車枠の内側の近似曲線
と、前記カメラによって撮像された画像内で隣り合う前
記駐車枠のそれぞれ最遠側に相当する部分を結ぶ線と、
前記カメラによって撮像された画像内で隣り合う前記駐
車枠のそれぞれ最近側に相当する部分を結ぶ線とを描い
た図形を生成する構成を有している。この構成により、
本発明の駐車支援装置は、車両の運転者に駐車領域全体
を認識させることができるので、駐車枠の輪郭そのもの
の図形だけを表示する場合と比較して、車両に対する運
転者の駐車操作をより確実に支援することができる。Further, in the parking assistance apparatus of the present invention, when a plurality of the parking frames are adjacent to each other in the image taken by the camera, the graphic generating means is arranged to adjoin the parking frames based on the contour of the parking frame. An approximate curve on the inside of the parking frame that fits, and a line that connects the portions corresponding to the farthest sides of the adjacent parking frames in the image captured by the camera,
In the image captured by the camera, a graphic is drawn that draws a line connecting the portions corresponding to the most recent sides of the adjacent parking frames. With this configuration,
INDUSTRIAL APPLICABILITY Since the parking assist device of the present invention allows the driver of the vehicle to recognize the entire parking area, the parking operation of the driver with respect to the vehicle can be more facilitated than in the case where only the outline of the parking frame is displayed. We can certainly support you.
【００１２】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う１組の前記駐車枠の外側の領
域を塗り潰した図形を生成する構成を有している。この
構成により、本発明の駐車支援装置は、駐車枠で囲まれ
た駐車領域が画面中央部分に存在する場合、駐車領域外
である画面外側部分の画像の歪みを隠すことができるの
で、表示手段に表示されたカメラからの画像に対する運
転者の違和感を軽減することができる。Further, in the parking assistance apparatus of the present invention, when a plurality of the parking frames are adjacent to each other in the image taken by the camera, the graphic generating means is configured to adjoin the parking frames based on the outline of the parking frame. It is configured to generate a figure in which a region outside the pair of the matching parking frames is filled. With this configuration, when the parking area surrounded by the parking frame exists in the central portion of the screen, the parking assist device of the present invention can hide the distortion of the image on the outer portion of the screen that is outside the parking area. It is possible to reduce the driver's discomfort with respect to the image from the camera displayed on the.
【００１３】また、本発明の駐車支援装置は、前記カメ
ラによって撮像された画像内に前記駐車枠が複数隣り合
って存在するとき、前記図形生成手段が、前記駐車枠の
輪郭に基づいて、隣り合う前記駐車枠の内側の中央線を
描いた図形を生成する構成を有している。この構成によ
り、本発明の駐車支援装置は、表示手段によって表示さ
れる画像によって、車両の運転者に、駐車枠に対する車
両の横位置のずれや、傾きを視認させることができるの
で、駐車枠の輪郭そのものの図形だけを表示する場合と
比較して、車両に対する運転者の駐車操作をより確実に
支援することができる。Further, in the parking assistance apparatus of the present invention, when a plurality of the parking frames are present adjacent to each other in the image captured by the camera, the graphic generating means is configured to adjoin the parking frames based on the outline of the parking frame. It is configured to generate a graphic drawing a center line inside the matching parking frame. With this configuration, the parking assist device of the present invention can allow the driver of the vehicle to visually recognize the displacement or inclination of the lateral position of the vehicle with respect to the parking frame by the image displayed by the display unit. Compared with the case where only the contour itself is displayed, the driver's parking operation for the vehicle can be supported more reliably.
【００１４】また、本発明の駐車支援装置は、前記図形
生成手段が、前記車両の中央位置を描いた図形を生成す
る構成を有している。この構成により、本発明の駐車支
援装置は、表示手段によって表示される画像によって、
車両の運転者に、駐車枠に対する車両の横位置のずれ
や、傾きを一層視認させ易くすることができる。Further, in the parking assist system of the present invention, the graphic generating means has a structure for generating a graphic depicting the central position of the vehicle. With this configuration, the parking assistance device of the present invention, by the image displayed by the display means,
It is possible to make it easier for the driver of the vehicle to visually recognize the displacement and the inclination of the lateral position of the vehicle with respect to the parking frame.
【００１５】また、本発明の駐車支援装置は、前記車両
のステアリングの舵角を検出するステアリング舵角検出
手段と、前記駐車枠輪郭検出手段によって検出された前
記駐車枠の輪郭、及び、前記ステアリング舵角検出手段
によって検出された前記ステアリングの舵角に基づい
て、前記車両の進行軌跡を予測する軌跡予測手段とを備
え、前記図形生成手段が、前記軌跡予測手段で予測した
前記進行軌跡を描いた図形を生成する構成を有してい
る。この構成により、本発明の駐車支援装置は、表示手
段によって表示される画像によって、車両の運転者に、
駐車枠に対して車両を駐車することができるか否かを判
断させることができるので、駐車枠の輪郭そのものの図
形だけを表示する場合と比較して、車両に対する運転者
の駐車操作をより確実に支援することができる。Further, the parking assist system of the present invention comprises steering rudder angle detection means for detecting the steering angle of the steering wheel of the vehicle, the contour of the parking frame detected by the parking frame contour detection means, and the steering wheel. A trajectory predicting means for predicting a traveling trajectory of the vehicle based on the steering angle of the steering wheel detected by the steering angle detecting means, and the figure generating means draws the traveling trajectory predicted by the trajectory predicting means. It has a configuration for generating a figure. With this configuration, the parking assistance device of the present invention provides the driver of the vehicle with the image displayed by the display unit.
Since it is possible to determine whether or not the vehicle can be parked in the parking frame, the driver's parking operation for the vehicle can be performed more reliably than when only the outline of the parking frame is displayed. Can help.
【００１６】[0016]
【発明の実施の形態】以下、本発明の実施の形態につい
て、図面を用いて説明する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.
【００１７】（第１の実施の形態）まず、第１の実施の
形態に係る駐車支援装置の構成について説明する。(First Embodiment) First, the configuration of the parking assist system according to the first embodiment will be described.
【００１８】図１において、車両（以下、自車両とい
う。）に対する運転者の駐車操作を支援する駐車支援装
置１００は、自車両に搭載され、自車両の周辺環境、例
えば後方環境を撮像するカメラ１１０と、カメラ１１０
によって撮像された画像に基づいて駐車枠の輪郭を検出
する駐車枠輪郭検出手段としての駐車枠輪郭検出部１２
０と、駐車枠輪郭検出部１２０によって検出された駐車
枠の輪郭に基づく図形を、カメラ１１０によって撮像さ
れた駐車枠の画像に重畳する重畳手段としてのスーパー
インポーズ部１３０と、スーパーインポーズ部１３０か
らの画像を表示する表示手段としてのモニタ１４０とを
備えている。In FIG. 1, a parking assist device 100 for assisting a driver's parking operation with respect to a vehicle (hereinafter referred to as own vehicle) is mounted on the own vehicle and is a camera for taking an image of a surrounding environment of the own vehicle, for example, a rear environment. 110 and the camera 110
Parking frame contour detection unit 12 as parking frame contour detection means for detecting the contour of the parking frame based on the image captured by
0 and a superimposing unit 130 as a superimposing unit that superimposes a figure based on the contour of the parking frame detected by the parking frame contour detection unit 120 on the image of the parking frame captured by the camera 110, and a superimposing unit. A monitor 140 is provided as a display unit for displaying the image from 130.
【００１９】次に、本実施の形態に係る駐車支援装置の
動作について説明する。Next, the operation of the parking assist system according to this embodiment will be described.
【００２０】カメラ１１０によって図２に示すような画
像が撮像されると、駐車枠輪郭検出部１２０は、カメラ
１１０によって撮像された画像に基づいて駐車枠２１１
の輪郭３０１（図３参照）及び駐車枠２１２の輪郭３０
２（図３参照）を検出する。ここで、例えば駐車枠２１
１及び駐車枠２１２が路面上に描かれた白線である場
合、駐車枠輪郭検出部１２０は、カメラ１１０によって
撮像された画像上での駐車枠２１１及び駐車枠２１２と
路面との輝度差を利用して、カメラ１１０によって撮像
された画像内での駐車枠２１１及び駐車枠２１２の輪郭
点を抽出し、抽出した輪郭点から近似曲線を得ることに
よって駐車枠２１１の輪郭３０１及び駐車枠２１２の輪
郭３０２を検出することができる。When the image shown in FIG. 2 is picked up by the camera 110, the parking frame contour detection section 120 causes the parking frame 211 to be detected based on the image picked up by the camera 110.
Contour 301 (see FIG. 3) and the contour 30 of the parking frame 212
2 (see FIG. 3) is detected. Here, for example, the parking frame 21
1 and the parking frame 212 are white lines drawn on the road surface, the parking frame contour detection unit 120 uses the brightness difference between the parking frame 211 and the parking frame 212 and the road surface on the image captured by the camera 110. Then, the contour points of the parking frame 211 and the parking frame 212 in the image captured by the camera 110 are extracted, and an approximated curve is obtained from the extracted contour points, so that the contour 301 of the parking frame 211 and the contour of the parking frame 212 are extracted. 302 can be detected.
【００２１】駐車枠輪郭検出部１２０が駐車枠２１１の
輪郭３０１及び駐車枠２１２の輪郭３０２を検出する
と、スーパーインポーズ部１３０は、駐車枠輪郭検出部
１２０によって検出された駐車枠２１１の輪郭３０１及
び駐車枠２１２の輪郭３０２を、カメラ１１０によって
撮像された駐車枠の画像に重畳し、モニタ１４０は、図
３に示すようにスーパーインポーズ部１３０からの画像
を表示する。When the parking frame contour detection unit 120 detects the contour 301 of the parking frame 211 and the contour 302 of the parking frame 212, the superimposing unit 130 detects the contour 301 of the parking frame 211 detected by the parking frame contour detection unit 120. And the outline 302 of the parking frame 212 is superimposed on the image of the parking frame captured by the camera 110, and the monitor 140 displays the image from the superimposing unit 130 as shown in FIG.
【００２２】次に、本実施の形態に係る駐車支援装置の
効果について説明する。Next, the effect of the parking assist system according to the present embodiment will be described.
【００２３】夜間の駐車操作や、屋内駐車場への駐車操
作など、運転者が比較的低照度条件下で駐車操作を行な
う場合、カメラ１１０への入射光量が小さく、カメラ１
１０からの画像が暗くなってしまうので、上述したよう
に従来の駐車支援装置では自車両の後方環境に対する運
転者の視認性が低下してしまう。しかしながら、駐車支
援装置１００は、夜間の駐車操作や、屋内駐車場への駐
車操作など、運転者が比較的低照度条件下で駐車操作を
行なう場合でも、モニタ１４０によって表示される画像
内で、路面上に描かれた駐車枠２１１の輪郭３０１及び
駐車枠２１２の輪郭３０２を表示することによって、駐
車枠２１１及び駐車枠２１２を強調表示することができ
るので、従来と比較して、カメラ１１０からの画像内で
の自車両の後方環境に対する運転者の視認性を向上する
ことが可能である。When the driver performs a parking operation under relatively low illumination conditions such as a parking operation at night or an indoor parking lot, the amount of light incident on the camera 110 is small and the camera 1
Since the image from 10 becomes dark, the visibility of the driver with respect to the rear environment of the own vehicle deteriorates in the conventional parking assist device as described above. However, even if the driver performs a parking operation under a relatively low illumination condition such as a parking operation at night or a parking operation in an indoor parking lot, the parking assist device 100 can display an image in the image displayed by the monitor 140. By displaying the contour 301 of the parking frame 211 and the contour 302 of the parking frame 212 drawn on the road surface, the parking frame 211 and the parking frame 212 can be highlighted. It is possible to improve the visibility of the driver with respect to the rear environment of the vehicle in the image.
【００２４】したがって、運転者は、図３に示すような
モニタ１４０に表示される画像を参考にしながら、比較
的低照度条件下で、自車両以外の車両である車両２２１
及び車両２２２が存在していない駐車枠２１１及び駐車
枠２１２で囲まれた駐車領域内に自車両を駐車すること
ができる。Therefore, the driver refers to the image displayed on the monitor 140 as shown in FIG. 3, and refers to the image displayed on the monitor 140.
The own vehicle can be parked in the parking area surrounded by the parking frame 211 and the parking frame 212 where the vehicle 222 does not exist.
【００２５】（第２の実施の形態）まず、第２の実施の
形態に係る駐車支援装置の構成について説明する。な
お、本実施の形態に係る駐車支援装置の構成のうち、第
１の実施の形態に係る駐車支援装置の構成とほぼ同様な
構成については、第１の実施の形態において使用した符
号と同一の符号を付して詳細な説明を省略する。(Second Embodiment) First, the configuration of a parking assist system according to a second embodiment will be described. Note that, of the configurations of the parking assistance device according to the present embodiment, configurations that are substantially the same as the configurations of the parking assistance device according to the first embodiment are the same as the reference numerals used in the first embodiment. The reference numerals are given and detailed description is omitted.
【００２６】図４において、自車両に対する運転者の駐
車操作を支援する駐車支援装置４００は、駐車枠輪郭検
出部１２０によって検出された駐車枠の輪郭に基づいた
図形を生成する図形生成手段としての図形生成部１５０
を備えており、スーパーインポーズ部１３０が、図形生
成部１５０によって生成された図形を、駐車枠輪郭検出
部１２０によって検出された駐車枠の輪郭に基づく図形
として、カメラ１１０によって撮像された画像に重畳す
る構成を有している。In FIG. 4, a parking assist device 400 for assisting a driver's parking operation with respect to the own vehicle serves as a graphic generating means for generating a graphic based on the outline of the parking frame detected by the parking frame outline detecting section 120. Figure generation unit 150
The superimposing unit 130 uses the graphic generated by the graphic generating unit 150 as an image based on the outline of the parking frame detected by the parking frame outline detecting unit 120 in the image captured by the camera 110. It has a configuration of overlapping.
【００２７】次に、本実施の形態に係る駐車支援装置の
動作について説明する。なお、駐車支援装置４００の動
作は、以下に述べる動作を除いて上述した駐車支援装置
１００の動作とほぼ同様であるので、以下に述べる動作
以外の動作については詳細な説明を省略する。Next, the operation of the parking assist system according to this embodiment will be described. The operation of the parking assistance device 400 is substantially the same as the operation of the parking assistance device 100 described above except for the operation described below, and thus detailed description of the operation other than the operation described below will be omitted.
【００２８】駐車枠輪郭検出部１２０が駐車枠２１１及
び駐車枠２１２の輪郭を検出すると、図形生成部１５０
は、駐車枠輪郭検出部１２０によって検出された駐車枠
２１１及び駐車枠２１２の輪郭に基づいた図形を生成す
る。そして、スーパーインポーズ部１３０は、図形生成
部１５０によって生成された図形を、駐車枠輪郭検出部
１２０によって検出された駐車枠２１１及び駐車枠２１
２の輪郭に基づく図形として、カメラ１１０によって撮
像された画像に重畳する。When the parking frame contour detection section 120 detects the contours of the parking frames 211 and 212, the figure generation section 150
Generates a figure based on the contours of the parking frame 211 and the parking frame 212 detected by the parking frame contour detection unit 120. Then, the superimposing unit 130 applies the graphic generated by the graphic generating unit 150 to the parking frame 211 and the parking frame 21 detected by the parking frame contour detection unit 120.
The figure based on the contour of 2 is superimposed on the image captured by the camera 110.
【００２９】ここで、駐車支援装置４００は、モニタ１
４０によって、例えば図５〜図１０に示すような画像を
表示する。Here, the parking assist device 400 is the monitor 1
An image as shown in, for example, FIGS. 5 to 10 is displayed by 40.
【００３０】より詳細に説明すると、図５において、図
形生成部１５０は、駐車枠２１１及び駐車枠２１２の輪
郭に基づいて、駐車枠２１１の輪郭で囲まれる領域３１
１及び駐車枠２１２の輪郭で囲まれる領域３１２を塗り
潰した図形を生成する。To describe in more detail, in FIG. 5, the figure generation unit 150, based on the contours of the parking frame 211 and the parking frame 212, the area 31 surrounded by the contour of the parking frame 211.
1 and a figure in which a region 312 surrounded by the outline of the parking frame 212 is filled in is generated.
【００３１】また、図６において、図形生成部１５０
は、カメラ１１０によって撮像された画像内に、駐車枠
２１１及び駐車枠２１２のように駐車枠が複数隣り合っ
て存在するとき、駐車枠２１１及び駐車枠２１２の輪郭
に基づいて、隣り合う駐車枠２１１及び駐車枠２１２の
内側の近似曲線３２１及び近似曲線３２２を駐車枠２１
１及び駐車枠２１２から延長して描いた図形を生成す
る。Further, in FIG. 6, the figure generation unit 150
When a plurality of parking frames such as the parking frame 211 and the parking frame 212 are adjacent to each other in the image captured by the camera 110, the adjacent parking frames are based on the contours of the parking frame 211 and the parking frame 212. The approximate curve 321 and the approximate curve 322 inside the 211 and the parking frame 212 are set to the parking frame 21.
1 and the drawing drawn from the parking frame 212 are generated.
【００３２】また、図７において、図形生成部１５０
は、カメラ１１０によって撮像された画像内に、駐車枠
２１１及び駐車枠２１２のように駐車枠が複数隣り合っ
て存在するとき、駐車枠２１１及び駐車枠２１２の輪郭
に基づいて、隣り合う駐車枠２１１及び駐車枠２１２の
内側の近似曲線３３１を駐車枠２１１から所定間隔３３
１ａ離して描き、隣り合う駐車枠２１１及び駐車枠２１
２の内側の隣り合う駐車枠２１２の内側の近似曲線３３
２を駐車枠２１２から所定間隔３３２ａ離して描いた図
形を生成する。Further, in FIG. 7, the graphic generation unit 150
When a plurality of parking frames such as the parking frame 211 and the parking frame 212 are adjacent to each other in the image captured by the camera 110, the adjacent parking frames are based on the contours of the parking frame 211 and the parking frame 212. 211 and the approximate curve 331 inside the parking frame 212 from the parking frame 211 at a predetermined interval 33
The parking frame 211 and the parking frame 21 that are adjacent to each other and are drawn 1a apart
Approximate curve 33 inside adjacent parking frames 212 inside 2
2 is generated at a predetermined distance 332a from the parking frame 212 to generate a figure.
【００３３】また、図８において、図形生成部１５０
は、カメラ１１０によって撮像された画像内に、駐車枠
２１１及び駐車枠２１２のように駐車枠が複数隣り合っ
て存在するとき、駐車枠２１１及び駐車枠２１２の輪郭
に基づいて、隣り合う駐車枠２１１及び駐車枠２１２の
内側の近似曲線３４１及び近似曲線３４２と、カメラ１
１０によって撮像された画像内で隣り合う駐車枠２１１
及び駐車枠２１２のそれぞれ最遠側に相当する部分を結
ぶ線３４３とを描いた図形を生成する。Further, in FIG. 8, the figure generation unit 150
When a plurality of parking frames such as the parking frame 211 and the parking frame 212 are adjacent to each other in the image captured by the camera 110, the adjacent parking frames are based on the contours of the parking frame 211 and the parking frame 212. 211 and the approximate curve 341 and the approximate curve 342 inside the parking frame 212, and the camera 1
Parking frames 211 adjacent to each other in the image captured by 10
And a line 343 connecting the portions corresponding to the farthest sides of the parking frame 212, respectively, are generated.
【００３４】また、図９において、図形生成部１５０
は、カメラ１１０によって撮像された画像内に、駐車枠
２１１及び駐車枠２１２のように駐車枠が複数隣り合っ
て存在するとき、駐車枠２１１及び駐車枠２１２の輪郭
に基づいて、隣り合う駐車枠２１１及び駐車枠２１２の
内側の近似曲線３５１及び近似曲線３５２と、カメラ１
１０によって撮像された画像内で隣り合う駐車枠２１１
及び駐車枠２１２のそれぞれ最遠側に相当する部分を結
ぶ線３５３と、カメラ１１０によって撮像された画像内
で隣り合う駐車枠２１１及び駐車枠２１２のそれぞれ最
近側に相当する部分を結ぶ線３５４とを描き、線３５１
〜線３５４によって囲まれる領域３５５にハッチングを
施した図形を生成する。Further, in FIG. 9, the figure generation unit 150
When a plurality of parking frames such as the parking frame 211 and the parking frame 212 are adjacent to each other in the image captured by the camera 110, the adjacent parking frames are based on the contours of the parking frame 211 and the parking frame 212. 211 and the approximate curve 351 and the approximate curve 352 inside the parking frame 212, and the camera 1
Parking frames 211 adjacent to each other in the image captured by 10
And a line 353 connecting the portions corresponding to the farthest sides of the parking frames 212, and a line 354 connecting the portions corresponding to the nearest sides of the parking frames 211 and 212 adjacent to each other in the image captured by the camera 110. Draw a line 351
A region 355 surrounded by a line 354 is hatched to generate a figure.
【００３５】また、図１０において、図形生成部１５０
は、カメラ１１０によって撮像された画像内に、駐車枠
２１１及び駐車枠２１２のように駐車枠が複数隣り合っ
て存在するとき、駐車枠２１１の輪郭３０１及び駐車枠
２１２の輪郭３０２を描き、輪郭３０１及び輪郭３０２
に基づいて、隣り合う１組の駐車枠２１１及び駐車枠２
１２の外側の領域３６１及び領域３６２を塗り潰した図
形を生成する。Further, in FIG. 10, the graphic generation unit 150
Draws a contour 301 of the parking frame 211 and a contour 302 of the parking frame 212 when there are a plurality of parking frames adjacent to each other like the parking frame 211 and the parking frame 212 in the image captured by the camera 110. 301 and contour 302
Based on the above, a pair of adjacent parking frames 211 and 2
A figure in which the area 361 and the area 362 outside 12 are filled is generated.
【００３６】次に、本実施の形態に係る駐車支援装置の
効果について説明する。Next, the effect of the parking assist system according to the present embodiment will be described.
【００３７】駐車支援装置４００は、図形生成部１５０
で、駐車枠輪郭検出部１２０によって検出された駐車枠
２１１及び駐車枠２１２の輪郭に基づいた図形を生成す
るので、路面上に描かれた駐車枠２１１及び駐車枠２１
２の輪郭に基づく図形として、路面上に描かれた駐車枠
２１１及び駐車枠２１２の輪郭そのものの図形だけでな
く、路面上に描かれた駐車枠２１１及び駐車枠２１２の
輪郭に基づいて生成した種々の図形を表示することがで
き、駐車枠２１１及び駐車枠２１２の輪郭そのものの図
形だけを表示する場合と比較して、以下に例示するよう
に運転者の嗜好に応じた種々の図形によって駐車枠２１
１及び駐車枠２１２を一層強調表示することができる。The parking assist device 400 includes a graphic generation unit 150.
Then, since a figure based on the contours of the parking frame 211 and the parking frame 212 detected by the parking frame contour detection unit 120 is generated, the parking frame 211 and the parking frame 21 drawn on the road surface.
As the figure based on the contour of No. 2, not only the figures of the contours of the parking frames 211 and 212 drawn on the road surface but also the contours of the parking frames 211 and 212 drawn on the road surface are generated. Various figures can be displayed, and as compared with the case where only the figures of the outlines of the parking frame 211 and the parking frame 212 are displayed, parking is performed using various figures according to the driver's preference as illustrated below. Frame 21
1 and the parking frame 212 can be further highlighted.
【００３８】例えば、駐車支援装置４００は、図５に示
すように、図形生成部１５０が、駐車枠２１１及び駐車
枠２１２の輪郭で囲まれる領域３１１及び領域３１２を
塗り潰した図形を生成する場合、駐車枠２１１及び駐車
枠２１２の輪郭そのものの図形だけを表示する場合と比
較して、駐車枠２１１及び駐車枠２１２をより強調表示
することができる。For example, in the parking assistance device 400, as shown in FIG. 5, when the figure generation unit 150 generates a figure in which the area 311 and the area 312 surrounded by the outlines of the parking frame 211 and the parking frame 212 are painted, The parking frame 211 and the parking frame 212 can be displayed more emphasized as compared with the case where only the outline figures of the parking frame 211 and the parking frame 212 are displayed.
【００３９】また、駐車支援装置４００は、図６に示す
ように、図形生成部１５０が、隣り合う駐車枠２１１及
び駐車枠２１２の内側の近似曲線３２１及び近似曲線３
２２を駐車枠２１１及び駐車枠２１２から延長して描い
た図形を生成する場合、近似曲線３２１及び近似曲線３
２２が駐車枠２１１及び駐車枠２１２よりも長いので、
駐車枠２１１及び駐車枠２１２そのものよりも自車両を
駐車枠２１１及び駐車枠２１２で囲まれた駐車領域内に
容易に案内することができ、自車両に対する運転者の駐
車操作をより確実に支援することができる。Further, in the parking assist device 400, as shown in FIG. 6, the graphic generation unit 150 causes the approximate curve 321 and the approximate curve 3 inside the adjacent parking frames 211 and 212 to be adjacent to each other.
22 is extended from the parking frame 211 and the parking frame 212 to generate a figure, the approximate curve 321 and the approximate curve 3
Since 22 is longer than the parking frames 211 and 212,
The own vehicle can be more easily guided into the parking area surrounded by the parking frames 211 and 212 than the parking frames 211 and 212 themselves, and the driver's parking operation for the own vehicle can be more reliably supported. be able to.
【００４０】また、駐車支援装置４００は、図７に示す
ように、図形生成部１５０が、隣り合う駐車枠２１１及
び駐車枠２１２の内側の近似曲線３３１を駐車枠２１１
から所定間隔３３１ａ離して描き、隣り合う駐車枠２１
１及び駐車枠２１２の内側の近似曲線３３２を駐車枠２
１２から所定間隔３３２ａ離して描いた図形を生成する
場合、隣り合う近似曲線３３１及び近似曲線３３２の間
隔の方が実際の隣り合う駐車枠２１１及び駐車枠２１２
の間隔よりも狭いので、駐車枠２１１及び駐車枠２１２
の輪郭そのものの図形だけを表示する場合と比較して、
駐車枠２１１及び駐車枠２１２で囲まれた駐車領域内へ
の運転者の駐車操作をより確実に支援することができ
る。In the parking assist device 400, as shown in FIG. 7, the graphic generation unit 150 sets the approximate curve 331 inside the adjacent parking frames 211 and 212 to the parking frame 211.
From the parking space 21 adjacent to each other by a predetermined distance 331a.
1 and the approximated curve 332 inside the parking frame 212 to the parking frame 2
When a figure drawn at a predetermined distance 332a from 12 is generated, the distance between the adjacent approximate curves 331 and 332 is actually closer to the actual adjacent parking frame 211 and parking frame 212.
The parking frame 211 and the parking frame 212 are narrower than
Compared to the case where only the contour itself is displayed,
The driver's parking operation in the parking area surrounded by the parking frames 211 and 212 can be more reliably supported.
【００４１】また、駐車支援装置４００は、図８に示す
ように、図形生成部１５０が、隣り合う駐車枠２１１及
び駐車枠２１２の内側の近似曲線３４１及び近似曲線３
４２と、カメラ１１０によって撮像された画像内で隣り
合う駐車枠２１１及び駐車枠２１２のそれぞれ最遠側に
相当する部分を結ぶ線３４３とを描いた図形を生成する
場合、自車両の運転者に駐車領域の最遠端を認識させる
ことができるので、駐車枠２１１及び駐車枠２１２の輪
郭そのものの図形だけを表示する場合と比較して、自車
両に対する運転者の駐車操作をより確実に支援すること
ができる。Further, in the parking assist device 400, as shown in FIG. 8, the graphic generation unit 150 causes the approximate curve 341 and the approximate curve 3 inside the adjacent parking frames 211 and 212 to be adjacent to each other.
In the case of generating a graphic drawing 42 and a line 343 connecting the farthest side portions of the adjacent parking frame 211 and parking frame 212 in the image captured by the camera 110, the driver of the vehicle is asked to Since the farthest end of the parking area can be recognized, the driver's parking operation for the own vehicle can be more reliably assisted as compared with the case where only the outline figures of the parking frame 211 and the parking frame 212 are displayed. be able to.
【００４２】また、駐車支援装置４００は、図９に示す
ように、図形生成部１５０が、隣り合う駐車枠２１１及
び駐車枠２１２の内側の近似曲線３５１及び近似曲線３
５２と、カメラ１１０によって撮像された画像内で隣り
合う駐車枠２１１及び駐車枠２１２のそれぞれ最遠側に
相当する部分を結ぶ線３５３と、カメラ１１０によって
撮像された画像内で隣り合う駐車枠２１１及び駐車枠２
１２のそれぞれ最近側に相当する部分を結ぶ線３５４と
を描いた図形を生成する場合、自車両の運転者に駐車領
域全体を認識させることができるので、駐車枠２１１及
び駐車枠２１２の輪郭そのものの図形だけを表示する場
合と比較して、自車両に対する運転者の駐車操作をより
確実に支援することができる。Further, in the parking assist device 400, as shown in FIG. 9, the graphic generating unit 150 causes the approximate curve 351 and the approximate curve 3 inside the adjacent parking frames 211 and 212 to be approximated.
52, a line 353 connecting the farthest portions of the adjacent parking frames 211 and 212 in the image captured by the camera 110, and the adjacent parking frames 211 in the image captured by the camera 110. And parking frame 2
When a graphic drawing a line 354 connecting the portions corresponding to the most recent sides of 12 is generated, the driver of the own vehicle can be made to recognize the entire parking area. Therefore, the contours of the parking frame 211 and the parking frame 212 themselves. It is possible to more reliably assist the driver's parking operation with respect to the own vehicle, as compared with the case where only the figure is displayed.
【００４３】なお、駐車枠２１１及び駐車枠２１２で囲
まれた駐車領域が画面中央部分に存在する場合、駐車領
域外である画面外側部分の画像が歪んでしまうことがあ
る。しかしながら、駐車支援装置４００は、図１０に示
すように、図形生成部１５０が、駐車枠２１１及び駐車
枠２１２の輪郭に基づいて、隣り合う１組の駐車枠２１
１及び駐車枠２１２の外側の領域３６１及び領域３６２
を塗り潰した図形を生成することによって、駐車枠２１
１及び駐車枠２１２で囲まれた駐車領域が画面中央部分
に存在するときの、駐車領域外である画面外側部分の画
像の歪みを隠すことができるので、モニタ１４０に表示
されたカメラ１１０からの画像に対する運転者の違和感
を軽減することができる。When the parking area surrounded by the parking frames 211 and 212 exists in the central portion of the screen, the image of the outer portion of the screen outside the parking area may be distorted. However, in the parking assistance device 400, as illustrated in FIG. 10, the graphic generation unit 150 causes the pair of adjacent parking frames 21 to be based on the contours of the parking frames 211 and 212.
1 and area 361 and area 362 outside the parking frame 212
The parking frame 21
When the parking area surrounded by 1 and the parking frame 212 exists in the central portion of the screen, the distortion of the image on the outer portion of the screen outside the parking area can be hidden, so that the image from the camera 110 displayed on the monitor 140 can be displayed. It is possible to reduce the driver's discomfort with respect to the image.
【００４４】ここで、領域３６１及び領域３６２を塗り
潰すか否かは、運転者の嗜好に応じて手動で切り替える
ことができるようにしても良いし、自車両のコーナーに
超音波ソナーを搭載して、例えば、この超音波ソナーが
障害物を検知した場合には領域３６１及び領域３６２を
塗り潰し、障害物を検知しなかった場合には領域３６１
及び領域３６２を塗り潰さないなど、この超音波ソナー
からの障害物検知結果に基づいて自動的に切り替えるよ
うにしても良い。Here, whether to fill the areas 361 and 362 may be manually switched according to the driver's preference, or an ultrasonic sonar may be installed in the corner of the vehicle. For example, when the ultrasonic sonar detects an obstacle, the areas 361 and 362 are filled, and when the obstacle is not detected, the area 361 is filled.
Alternatively, the area 362 may not be filled, or the area may be automatically switched based on the obstacle detection result from the ultrasonic sonar.
【００４５】（第３の実施の形態）まず、第３の実施の
形態に係る駐車支援装置の構成について説明する。な
お、本実施の形態に係る駐車支援装置の構成のうち、上
述の実施の形態に係る駐車支援装置の構成とほぼ同様な
構成については、上述の実施の形態において使用した符
号と同一の符号を付して詳細な説明を省略する。(Third Embodiment) First, the configuration of the parking assist system according to the third embodiment will be described. Note that, of the configurations of the parking assistance device according to the present embodiment, about the same configuration as the configuration of the parking assistance device according to the above-described embodiments, the same reference numerals as those used in the above-described embodiments are used. And detailed description thereof will be omitted.
【００４６】図１１において、自車両に対する運転者の
駐車操作を支援する駐車支援装置５００は、カメラ１１
０によって撮像された画像内に駐車枠が複数隣り合って
存在するとき、駐車枠輪郭検出部１２０によって検出さ
れた駐車枠の輪郭に基づいて、隣り合う駐車枠の内側の
中央線を算出する中央線算出部１６０を備えている。In FIG. 11, a parking assist device 500 for assisting a driver's parking operation with respect to the vehicle is a camera 11
When a plurality of parking frames exist adjacent to each other in the image captured by 0, the center for calculating the center line inside the adjacent parking frames based on the contours of the parking frames detected by the parking frame contour detection unit 120. The line calculation unit 160 is provided.
【００４７】ここで、中央線算出部１６０は、例えば、
画像内で左右の駐車枠を形成する輪郭点のうち、画像内
の水平位置が等しい輪郭点の中点を画像内の全ての水平
位置に対して検出し、検出した全ての中点から近似曲線
を算出することによって、中央線を得るようになってい
る。Here, the center line calculation unit 160, for example,
Among the contour points forming the left and right parking frames in the image, the midpoints of the contour points with the same horizontal position in the image are detected for all the horizontal positions in the image, and the approximate curve is calculated from all the detected midpoints. By calculating, the central line is obtained.
【００４８】また、図形生成部１５０は、カメラ１１０
によって撮像された画像内に駐車枠が複数隣り合って存
在するとき、駐車枠輪郭検出部１２０及び中央線算出部
１６０からの情報に基づいて、自車両と、自車両の中央
位置と、隣り合う駐車枠の内側の中央線と、隣り合う駐
車枠の内側の近似曲線とを描いた図形を生成するように
なっている。Further, the graphic generation unit 150 is provided with the camera 110.
When a plurality of parking frames are adjacent to each other in the image captured by, the own vehicle and the center position of the own vehicle are adjacent to each other based on the information from the parking frame contour detection unit 120 and the center line calculation unit 160. A figure is drawn that draws the center line inside the parking frames and the approximate curve inside the adjacent parking frames.
【００４９】なお、本実施の形態において、図形生成手
段は、図形生成部１５０及び中央線算出部１６０から構
成されている。In the present embodiment, the graphic generation means is composed of the graphic generation unit 150 and the center line calculation unit 160.
【００５０】次に、本実施の形態に係る駐車支援装置の
動作について説明する。なお、駐車支援装置５００の動
作は、以下に述べる動作を除いて上述した駐車支援装置
１００又は駐車支援装置４００の動作とほぼ同様である
ので、以下に述べる動作以外の動作については詳細な説
明を省略する。Next, the operation of the parking assist system according to this embodiment will be described. The operation of the parking assistance device 500 is substantially the same as the operation of the parking assistance device 100 or the parking assistance device 400 described above except for the operation described below, and thus a detailed description of the operation other than the operation described below will be given. Omit it.
【００５１】図１２に示すように、駐車枠輪郭検出部１
２０が駐車枠２１１及び駐車枠２１２の輪郭を検出する
と、中央線算出部１６０は、駐車枠輪郭検出部１２０に
よって検出された駐車枠２１１及び駐車枠２１２の輪郭
に基づいて、隣り合う駐車枠２１１及び駐車枠２１２の
内側の中央線３７３を算出する。As shown in FIG. 12, the parking frame contour detection unit 1
When 20 detects the contours of the parking frame 211 and the parking frame 212, the center line calculation unit 160 determines the adjacent parking frames 211 based on the contours of the parking frame 211 and the parking frame 212 detected by the parking frame contour detection unit 120. And the center line 373 inside the parking frame 212 is calculated.
【００５２】図形生成部１５０は、駐車枠輪郭検出部１
２０及び中央線算出部１６０からの情報に基づいて、自
車両３７１と、自車両の中央位置３７２と、隣り合う駐
車枠の内側の中央線３７３と、隣り合う駐車枠２１１及
び駐車枠２１２の内側の近似曲線３７４及び近似曲線３
７５とを描いた図形を生成する。The graphic generation unit 150 includes the parking frame contour detection unit 1
20 and the center line 372, the center position 372 of the own vehicle, the center line 373 inside the adjacent parking frames, and the inside of the adjacent parking frames 211 and 212. Approximate curve 374 and approximate curve 3
75 is generated.
【００５３】次に、本実施の形態に係る駐車支援装置の
効果について説明する。Next, the effect of the parking assist system according to the present embodiment will be described.
【００５４】駐車支援装置５００は、図形生成部１５０
が、図１２に示すように、自車両３７１と、自車両の中
央位置３７２と、隣り合う駐車枠の内側の中央線３７３
と、隣り合う駐車枠２１１及び駐車枠２１２の内側の近
似曲線３７４及び近似曲線３７５とを描いた図形を生成
するので、モニタ１４０によって表示される画像によっ
て、自車両の運転者に、駐車枠２１１及び駐車枠２１２
に対する自車両の横位置のずれや、傾きを視認させるこ
とができ、駐車枠２１１及び駐車枠２１２の輪郭そのも
のの図形だけを表示する場合と比較して、自車両に対す
る運転者の駐車操作をより確実に支援することができ
る。The parking assist device 500 includes a graphic generation unit 150.
However, as shown in FIG. 12, the host vehicle 371, the center position 372 of the host vehicle, and the center line 373 inside the adjacent parking frames.
And the approximate curve 374 and the approximate curve 375 inside the adjacent parking frame 211 and the parking frame 212 are generated, the image displayed by the monitor 140 indicates to the driver of the own vehicle the parking frame 211. And parking frame 212
As compared with the case where only the figure of the contour itself of the parking frame 211 and the parking frame 212 is displayed, the driver's parking operation with respect to the own vehicle can be more easily performed. We can certainly support you.
【００５５】より詳細に説明すると、自車両の中央位置
３７２に対する中央線３７３の横方向の間隔が、駐車枠
２１１及び駐車枠２１２に対する自車両の横位置のずれ
に相当し、自車両の中央位置３７２に対する中央線３７
３の傾きが、駐車枠２１１及び駐車枠２１２に対する自
車両の傾きに相当するので、自車両の運転者はモニタ１
４０の画面上で中央位置３７２及び中央線３７３が重な
るように駐車操作を実行すれば良い。More specifically, the lateral distance of the center line 373 with respect to the center position 372 of the host vehicle corresponds to the deviation of the lateral position of the host vehicle with respect to the parking frame 211 and the parking frame 212. Center line 37 to 372
Since the inclination of 3 corresponds to the inclination of the own vehicle with respect to the parking frame 211 and the parking frame 212, the driver of the own vehicle is
The parking operation may be performed so that the center position 372 and the center line 373 overlap on the screen of 40.
【００５６】なお、本実施の形態において、自車両３７
１及び自車両の中央位置３７２は図形生成部１５０によ
って生成されていたが、本発明によれば、モニタ１４０
上に固定表示することができれば、他の構成であっても
良い。In the present embodiment, the own vehicle 37
1 and the center position 372 of the own vehicle have been generated by the graphic generation unit 150, the monitor 140 according to the present invention.
Other configurations may be used as long as they can be fixedly displayed above.
【００５７】（第４の実施の形態）まず、第４の実施の
形態に係る駐車支援装置の構成について説明する。な
お、本実施の形態に係る駐車支援装置の構成のうち、上
述の実施の形態に係る駐車支援装置の構成とほぼ同様な
構成については、上述の実施の形態において使用した符
号と同一の符号を付して詳細な説明を省略する。(Fourth Embodiment) First, the configuration of a parking assist system according to a fourth embodiment will be described. Note that, of the configurations of the parking assistance device according to the present embodiment, about the same configuration as the configuration of the parking assistance device according to the above-described embodiments, the same reference numerals as those used in the above-described embodiments are used. And detailed description thereof will be omitted.
【００５８】図１３において、駐車支援装置６００は、
自車両のステアリングの舵角を検出するステアリング舵
角検出手段としての舵角センサ１７０と、駐車枠輪郭検
出部１２０によって検出された駐車枠の輪郭、及び、舵
角センサ１７０によって検出されたステアリングの舵角
に基づいて、自車両の進行軌跡を予測する軌跡予測手段
としての軌跡予測部１８０とを備えており、図形生成部
１５０が、軌跡予測部１８０で予測した進行軌跡を描い
た図形を生成するようになっている。In FIG. 13, the parking assistance device 600 is
The steering angle sensor 170 as steering steering angle detection means for detecting the steering angle of the steering of the host vehicle, the outline of the parking frame detected by the parking frame outline detection unit 120, and the steering angle detected by the steering angle sensor 170. A trajectory predicting unit 180 as a trajectory predicting unit that predicts the traveling trajectory of the host vehicle based on the steering angle is provided, and the graphic generation unit 150 generates a graphic depicting the traveling trajectory predicted by the trajectory predicting unit 180. It is supposed to do.
【００５９】次に、本実施の形態に係る駐車支援装置の
動作について説明する。なお、駐車支援装置６００の動
作は、以下に述べる動作を除いて上述した駐車支援装置
１００、駐車支援装置４００又は駐車支援装置５００の
動作とほぼ同様であるので、以下に述べる動作以外の動
作については詳細な説明を省略する。Next, the operation of the parking assist system according to this embodiment will be described. The operation of the parking assistance device 600 is almost the same as the operation of the parking assistance device 100, the parking assistance device 400, or the parking assistance device 500 described above, except for the operations described below. Will not be described in detail.
【００６０】図１４に示すように、駐車枠輪郭検出部１
２０が駐車枠２１１及び駐車枠２１２の輪郭を検出する
と、軌跡予測部１８０は、駐車枠輪郭検出部１２０によ
って検出された駐車枠２１１及び駐車枠２１２の輪郭
と、舵角センサ１７０によって検出されたステアリング
の舵角とに基づいて、自車両の進行軌跡３８２を予測
し、図形生成部１５０は、自車両３８１を描くととも
に、軌跡予測部１８０で予測した進行軌跡３８２を描い
た図形を生成する。As shown in FIG. 14, the parking frame contour detection unit 1
When 20 detects the contours of the parking frame 211 and the parking frame 212, the trajectory prediction unit 180 detects the contours of the parking frame 211 and the parking frame 212 detected by the parking frame contour detection unit 120, and the steering angle sensor 170. Based on the steering angle of the steering wheel, the traveling path 382 of the host vehicle is predicted, and the figure generation unit 150 draws the host vehicle 381 and also generates a figure that depicts the traveling path 382 predicted by the path prediction unit 180.
【００６１】次に、本実施の形態に係る駐車支援装置の
効果について説明する。Next, the effect of the parking assist system according to the present embodiment will be described.
【００６２】駐車支援装置６００は、図形生成部１５０
が、図１４に示すように、自車両の進行軌跡３８２を描
いた図形を生成するので、モニタ１４０によって表示さ
れる画像によって、自車両の運転者に、駐車枠２１１及
び駐車枠２１２に対して自車両を駐車することができる
か否かを判断させることができるので、駐車枠２１１及
び駐車枠２１２の輪郭そのものの図形だけを表示する場
合と比較して、自車両に対する運転者の駐車操作をより
確実に支援することができる。The parking assist device 600 includes a graphic generation unit 150.
However, as shown in FIG. 14, since a graphic depicting the traveling locus 382 of the host vehicle is generated, the driver of the host vehicle is notified of the parking frame 211 and the parking frame 212 by the image displayed by the monitor 140. Since it is possible to determine whether or not the own vehicle can be parked, the driver's parking operation with respect to the own vehicle can be performed as compared with the case where only the outline figures of the parking frame 211 and the parking frame 212 are displayed. More reliable support can be provided.
【００６３】[0063]
【発明の効果】以上説明したように、本発明によれば、
運転者が比較的低照度条件下で駐車操作を行なう場合で
も、従来と比較して、カメラ画像内での車両の周辺環境
に対する運転者の視認性を向上することが可能である駐
車支援装置を提供することができる。As described above, according to the present invention,
Even when the driver performs a parking operation under a relatively low illuminance condition, a parking assist device capable of improving the visibility of the driver with respect to the surrounding environment of the vehicle in the camera image compared to the conventional case is provided. Can be provided.
【図１】本発明の第１の実施の形態に係る駐車支援装置
のブロック図FIG. 1 is a block diagram of a parking assistance device according to a first embodiment of the present invention.
【図２】図１に示す駐車支援装置のカメラによって撮像
された画像の説明図FIG. 2 is an explanatory diagram of an image captured by a camera of the parking assistance device shown in FIG.
【図３】図１に示す駐車支援装置のモニタによって表示
される画像の説明図FIG. 3 is an explanatory diagram of an image displayed on a monitor of the parking assistance device shown in FIG.
【図４】本発明の第２の実施の形態に係る駐車支援装置
のブロック図FIG. 4 is a block diagram of a parking assistance device according to a second embodiment of the present invention.
【図５】図４に示す駐車支援装置のモニタによって表示
される画像の説明図5 is an explanatory view of an image displayed on the monitor of the parking assistance device shown in FIG.
【図６】図４に示す駐車支援装置のモニタによって表示
される画像の図５とは異なる例の説明図6 is an explanatory diagram of an example of an image displayed on the monitor of the parking assistance device shown in FIG. 4, which is different from FIG.
【図７】図４に示す駐車支援装置のモニタによって表示
される画像の図５及び図６とは異なる例の説明図7 is an explanatory view of an example of an image displayed on the monitor of the parking assistance device shown in FIG. 4, which is different from the examples shown in FIGS. 5 and 6.
【図８】図４に示す駐車支援装置のモニタによって表示
される画像の図５、図６及び図７とは異なる例の説明図FIG. 8 is an explanatory diagram of an example of an image displayed by the monitor of the parking assistance device shown in FIG. 4, which is different from FIGS. 5, 6 and 7.
【図９】図４に示す駐車支援装置のモニタによって表示
される画像の図５、図６、図７及び図８とは異なる例の
説明図9 is an explanatory diagram of an example of an image displayed on the monitor of the parking assistance device shown in FIG. 4, which is different from FIGS. 5, 6, 7 and 8. FIG.
【図１０】図４に示す駐車支援装置のモニタによって表
示される画像の図５、図６、図７、図８及び図９とは異
なる例の説明図FIG. 10 is an explanatory diagram of an example of an image displayed by the monitor of the parking assist device shown in FIG. 4, which is different from FIGS. 5, 6, 7, 8 and 9.
【図１１】本発明の第３の実施の形態に係る駐車支援装
置のブロック図FIG. 11 is a block diagram of a parking assistance device according to a third embodiment of the present invention.
【図１２】図１１に示す駐車支援装置のモニタによって
表示される画像の説明図12 is an explanatory diagram of an image displayed on the monitor of the parking assistance device shown in FIG.
【図１３】本発明の第４の実施の形態に係る駐車支援装
置のブロック図FIG. 13 is a block diagram of a parking assistance device according to a fourth embodiment of the present invention.
【図１４】図１３に示す駐車支援装置のモニタによって
表示される画像の説明図14 is an explanatory diagram of an image displayed on the monitor of the parking assistance device shown in FIG.
１１０ カメラ ２１１、２１２ 駐車枠 ３０１、３０２ 輪郭 １２０ 駐車枠輪郭検出部（駐車枠輪郭検出手段） １３０ スーパーインポーズ部（重畳手段） １４０ モニタ（表示手段） １００ 駐車支援装置 １５０ 図形生成部（図形生成手段） ４００ 駐車支援装置 ３１１、３１２ 領域 ３２１、３２２ 近似曲線 ３３１、３３２ 近似曲線 ３４１、３４２ 近似曲線 ３４３ 線 ３５１、３５２ 近似曲線 ３５３ 線 ３５４ 線 ３６１、３６２ 領域 １６０ 中央線算出部（図形生成手段） ３７３ 中央線 ３７１ 自車両（車両） ３７２ 中央位置 ５００ 駐車支援装置 １７０ 舵角センサ（ステアリング舵角検出手段） １８０ 軌跡予測部（軌跡予測手段） ６００ 駐車支援装置 ３８１ 自車両（車両） ３８２ 進行軌跡 110 cameras 211, 212 parking frame 301, 302 contour 120 Parking frame contour detection unit (parking frame contour detection means) 130 Superimpose part (superimposing means) 140 monitor (display means) 100 Parking assistance device 150 Graphic generation unit (graphic generation means) 400 Parking assistance device 311 and 312 areas 321,322 approximate curve 331, 332 Approximate curve 341, 342 approximate curve 343 line 351 and 352 approximate curve 353 line 354 line Areas 361 and 362 160 Central line calculation unit (graphic generation means) 373 Chuo Line 371 Own vehicle (vehicle) 372 central position 500 Parking assistance device 170 Rudder angle sensor (steering rudder angle detection means) 180 Trajectory prediction unit (trajectory prediction means) 600 Parking assistance device 381 Own vehicle (vehicle) 382 Progress trajectory
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｈ０４Ｎ 7/18 Ｈ０４Ｎ 7/18 Ｊ ─────────────────────────────────────────────────── ─── Continued Front Page (51) Int.Cl. 7 Identification Code FI Theme Coat (Reference) H04N 7/18 H04N 7/18 J
Claims (11)
撮像するカメラと、前記カメラによって撮像された画像
に基づいて駐車枠の輪郭を検出する駐車枠輪郭検出手段
と、前記駐車枠輪郭検出手段によって検出された前記駐
車枠の輪郭に基づく図形を、前記カメラによって撮像さ
れた前記駐車枠の画像に重畳する重畳手段と、前記重畳
手段からの画像を表示する表示手段とを備えたことを特
徴とする駐車支援装置。1. A camera mounted on a vehicle for capturing an image of a surrounding environment of the vehicle, a parking frame contour detection unit for detecting a contour of a parking frame based on an image captured by the camera, and the parking frame contour detection. A superimposing unit that superimposes a figure based on the contour of the parking frame detected by the unit on the image of the parking frame captured by the camera; and a display unit that displays the image from the superimposing unit. A characteristic parking assistance device.
撮像するカメラと、前記カメラによって撮像された画像
に基づいて駐車枠の輪郭を検出する駐車枠輪郭検出手段
と、前記駐車枠輪郭検出手段によって検出された前記駐
車枠の輪郭に基づいた図形を生成する図形生成手段と、
前記図形生成手段によって生成された図形を前記カメラ
によって撮像された画像に重畳する重畳手段と、前記重
畳手段からの画像を表示する表示手段とを備えたことを
特徴とする駐車支援装置。2. A camera mounted on a vehicle, for imaging the surrounding environment of the vehicle, a parking frame contour detection means for detecting the contour of a parking frame based on an image captured by the camera, and the parking frame contour detection. Graphic generation means for generating a graphic based on the outline of the parking frame detected by means,
A parking assistance apparatus comprising: a superimposing unit that superimposes a graphic generated by the graphic generating unit on an image captured by the camera; and a display unit that displays the image from the superimposing unit.
に基づいて、前記駐車枠の輪郭で囲まれる領域を塗り潰
した図形を生成することを特徴とする請求項２に記載の
駐車支援装置。3. The parking assistance apparatus according to claim 2, wherein the figure generation means generates a figure in which a region surrounded by the outline of the parking frame is filled based on the outline of the parking frame. .
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う前記
駐車枠の内側の近似曲線を前記駐車枠から延長して描い
た図形を生成することを特徴とする請求項２に記載の駐
車支援装置。4. When a plurality of the parking frames are adjacent to each other in the image captured by the camera, the graphic generating unit approximates the inside of the adjacent parking frames based on the contour of the parking frame. The parking assistance device according to claim 2, wherein a curved line is extended from the parking frame to generate a drawn figure.
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う前記
駐車枠の内側の近似曲線を前記駐車枠から所定間隔離し
て描いた図形を生成することを特徴とする請求項２に記
載の駐車支援装置。5. When a plurality of the parking frames are present adjacent to each other in the image captured by the camera, the graphic generating means approximates the inside of the adjacent parking frames based on the contour of the parking frame. The parking assist apparatus according to claim 2, wherein a graphic drawing a curved line separated from the parking frame for a predetermined period is generated.
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う前記
駐車枠の内側の近似曲線と、前記カメラによって撮像さ
れた画像内で隣り合う前記駐車枠のそれぞれ最遠側に相
当する部分を結ぶ線とを描いた図形を生成することを特
徴とする請求項２に記載の駐車支援装置。6. When a plurality of the parking frames are present adjacent to each other in the image captured by the camera, the graphic generation means approximates the inside of the adjacent parking frames based on the contour of the parking frame. The parking assistance according to claim 2, wherein a figure is drawn that draws a curved line and a line that connects respective farthest portions of the adjacent parking frames in the image captured by the camera. apparatus.
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う前記
駐車枠の内側の近似曲線と、前記カメラによって撮像さ
れた画像内で隣り合う前記駐車枠のそれぞれ最遠側に相
当する部分を結ぶ線と、前記カメラによって撮像された
画像内で隣り合う前記駐車枠のそれぞれ最近側に相当す
る部分を結ぶ線とを描いた図形を生成することを特徴と
する請求項２に記載の駐車支援装置。7. When a plurality of the parking frames are present adjacent to each other in the image captured by the camera, the graphic generating means approximates the inside of the adjacent parking frames based on the contour of the parking frame. A curve and a line connecting the portions corresponding to the farthest sides of the adjacent parking frames in the image captured by the camera, and the lines closest to the parking frames adjacent in the image captured by the camera. The parking assistance device according to claim 2, wherein a graphic drawing a line connecting the corresponding portions is generated.
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う１組
の前記駐車枠の外側の領域を塗り潰した図形を生成する
ことを特徴とする請求項２から７までの何れかに記載の
駐車支援装置。8. When a plurality of the parking frames are adjacent to each other in an image captured by the camera, the graphic generation unit is configured to detect a pair of adjacent parking frames based on a contour of the parking frame. The parking assist apparatus according to claim 2, wherein a figure in which an outer area is filled is generated.
前記駐車枠が複数隣り合って存在するとき、前記図形生
成手段が、前記駐車枠の輪郭に基づいて、隣り合う前記
駐車枠の内側の中央線を描いた図形を生成することを特
徴とする請求項２から８までの何れかに記載の駐車支援
装置。9. When a plurality of the parking frames are adjacent to each other in an image captured by the camera, the graphic generating unit is configured to center the inside of the adjacent parking frames based on the contour of the parking frame. The parking assistance apparatus according to claim 2, wherein a drawing of a line is generated.
位置を描いた図形を生成することを特徴とする請求項９
に記載の駐車支援装置。10. The graphic generation means generates a graphic depicting a central position of the vehicle.
Parking assistance device described in.
するステアリング舵角検出手段と、前記駐車枠輪郭検出
手段によって検出された前記駐車枠の輪郭、及び、前記
ステアリング舵角検出手段によって検出された前記ステ
アリングの舵角に基づいて、前記車両の進行軌跡を予測
する軌跡予測手段とを備え、 前記図形生成手段が、前記軌跡予測手段で予測した前記
進行軌跡を描いた図形を生成することを特徴とする請求
項２から１０までの何れかに記載の駐車支援装置。11. Steering angle detection means for detecting the steering angle of the steering of the vehicle, the contour of the parking frame detected by the parking frame contour detection means, and the steering rudder angle detection means. And a trajectory predicting unit that predicts a traveling trajectory of the vehicle based on a steering angle of the steering, wherein the figure generating unit generates a figure that depicts the traveling trajectory predicted by the trajectory predicting unit. The parking assistance device according to any one of claims 2 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001254983A JP3980304B2 (en) | 2001-08-24 | 2001-08-24 | Parking assistance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001254983A JP3980304B2 (en) | 2001-08-24 | 2001-08-24 | Parking assistance device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2003063339A true JP2003063339A (en) | 2003-03-05 |
| JP3980304B2 JP3980304B2 (en) | 2007-09-26 |
Family
ID=19083048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001254983A Expired - Fee Related JP3980304B2 (en) | 2001-08-24 | 2001-08-24 | Parking assistance device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3980304B2 (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006160194A (en) * | 2004-12-10 | 2006-06-22 | Alpine Electronics Inc | Parking support device |
| JP2006256419A (en) * | 2005-03-16 | 2006-09-28 | Clarion Co Ltd | Parking support apparatus |
| JP2006272999A (en) * | 2005-03-28 | 2006-10-12 | Casio Comput Co Ltd | Photographing device and program |
| JP2006311299A (en) * | 2005-04-28 | 2006-11-09 | Aisin Aw Co Ltd | Parking section monitoring device |
| JP2007028445A (en) * | 2005-07-20 | 2007-02-01 | Auto Network Gijutsu Kenkyusho:Kk | Image display system |
| JP2007118912A (en) * | 2005-10-31 | 2007-05-17 | Aisin Seiki Co Ltd | Target parking position setting device, and vehicle having the same |
| JP2009083680A (en) * | 2007-09-28 | 2009-04-23 | Nissan Motor Co Ltd | Parking assistance device and parking assistance method |
| JP2010163103A (en) * | 2009-01-16 | 2010-07-29 | Denso Corp | Parking support apparatus and vehicle parking assistance system |
| JP2011006005A (en) * | 2009-06-26 | 2011-01-13 | Kyocera Corp | Device and method for supporting driving in parking |
| JP2011173585A (en) * | 2010-01-27 | 2011-09-08 | Denso It Laboratory Inc | Parking assist system |
| JP2012165051A (en) * | 2011-02-03 | 2012-08-30 | Mitsubishi Electric Corp | Image monitoring device |
| JP2012166731A (en) * | 2011-02-16 | 2012-09-06 | Panasonic Corp | Rear assist system |
| JP2016105256A (en) * | 2014-12-01 | 2016-06-09 | 株式会社デンソー | Image processing apparatus |
| JP2018024306A (en) * | 2016-08-09 | 2018-02-15 | 株式会社Ｊｖｃケンウッド | Display control device, display control method, and program |
| JP2020079084A (en) * | 2020-02-04 | 2020-05-28 | 株式会社Ｊｖｃケンウッド | Display control device, display control method, and program |
| US10930156B2 (en) | 2016-08-09 | 2021-02-23 | JVC Kenwood Corporation | Display control apparatus, display apparatus, display control method, and program |
| JP7503995B2 (en) | 2020-10-14 | 2024-06-21 | 株式会社デンソー | Display control device, display device, and display control program |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11105686A (en) * | 1997-10-07 | 1999-04-20 | Nissan Motor Co Ltd | Automatic parking device |
| JPH11157404A (en) * | 1997-11-26 | 1999-06-15 | Toyota Motor Corp | Parking support device |
| JP2000072019A (en) * | 1998-08-26 | 2000-03-07 | Toyota Motor Corp | Parking aiding device |
| JP2000079860A (en) * | 1998-06-26 | 2000-03-21 | Aisin Seiki Co Ltd | Auxiliary parking device |
| JP2001006097A (en) * | 1999-06-25 | 2001-01-12 | Fujitsu Ten Ltd | Device for supporting driving for vehicle |
-
2001
- 2001-08-24 JP JP2001254983A patent/JP3980304B2/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11105686A (en) * | 1997-10-07 | 1999-04-20 | Nissan Motor Co Ltd | Automatic parking device |
| JPH11157404A (en) * | 1997-11-26 | 1999-06-15 | Toyota Motor Corp | Parking support device |
| JP2000079860A (en) * | 1998-06-26 | 2000-03-21 | Aisin Seiki Co Ltd | Auxiliary parking device |
| JP2000072019A (en) * | 1998-08-26 | 2000-03-07 | Toyota Motor Corp | Parking aiding device |
| JP2001006097A (en) * | 1999-06-25 | 2001-01-12 | Fujitsu Ten Ltd | Device for supporting driving for vehicle |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006160194A (en) * | 2004-12-10 | 2006-06-22 | Alpine Electronics Inc | Parking support device |
| JP2006256419A (en) * | 2005-03-16 | 2006-09-28 | Clarion Co Ltd | Parking support apparatus |
| JP2006272999A (en) * | 2005-03-28 | 2006-10-12 | Casio Comput Co Ltd | Photographing device and program |
| JP4507939B2 (en) * | 2005-03-28 | 2010-07-21 | カシオ計算機株式会社 | Imaging apparatus and program |
| JP4670463B2 (en) * | 2005-04-28 | 2011-04-13 | アイシン・エィ・ダブリュ株式会社 | Parking space monitoring device |
| JP2006311299A (en) * | 2005-04-28 | 2006-11-09 | Aisin Aw Co Ltd | Parking section monitoring device |
| JP2007028445A (en) * | 2005-07-20 | 2007-02-01 | Auto Network Gijutsu Kenkyusho:Kk | Image display system |
| JP2007118912A (en) * | 2005-10-31 | 2007-05-17 | Aisin Seiki Co Ltd | Target parking position setting device, and vehicle having the same |
| JP2009083680A (en) * | 2007-09-28 | 2009-04-23 | Nissan Motor Co Ltd | Parking assistance device and parking assistance method |
| JP2010163103A (en) * | 2009-01-16 | 2010-07-29 | Denso Corp | Parking support apparatus and vehicle parking assistance system |
| JP2011006005A (en) * | 2009-06-26 | 2011-01-13 | Kyocera Corp | Device and method for supporting driving in parking |
| JP2011173585A (en) * | 2010-01-27 | 2011-09-08 | Denso It Laboratory Inc | Parking assist system |
| JP2012165051A (en) * | 2011-02-03 | 2012-08-30 | Mitsubishi Electric Corp | Image monitoring device |
| JP2012166731A (en) * | 2011-02-16 | 2012-09-06 | Panasonic Corp | Rear assist system |
| JP2016105256A (en) * | 2014-12-01 | 2016-06-09 | 株式会社デンソー | Image processing apparatus |
| JP2018024306A (en) * | 2016-08-09 | 2018-02-15 | 株式会社Ｊｖｃケンウッド | Display control device, display control method, and program |
| US10930156B2 (en) | 2016-08-09 | 2021-02-23 | JVC Kenwood Corporation | Display control apparatus, display apparatus, display control method, and program |
| JP2020079084A (en) * | 2020-02-04 | 2020-05-28 | 株式会社Ｊｖｃケンウッド | Display control device, display control method, and program |
| JP7503995B2 (en) | 2020-10-14 | 2024-06-21 | 株式会社デンソー | Display control device, display device, and display control program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3980304B2 (en) | 2007-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7640107B2 (en) | Vehicle drive assist system | |
| EP1916846B1 (en) | Device and method for monitoring vehicle surroundings | |
| JP4412380B2 (en) | Driving support device, driving support method, and computer program | |
| JP4907883B2 (en) | Vehicle periphery image display device and vehicle periphery image display method | |
| JP4639753B2 (en) | Driving assistance device | |
| US7432799B2 (en) | Driving support apparatus and driving support method | |
| JP2003063339A (en) | Parking support equipment | |
| JP2002335524A (en) | Driving support device | |
| JP2010200240A (en) | Device and method for displaying bird's eye view image of around vehicle | |
| JP2004064131A (en) | Display for vehicle | |
| JP2008296697A (en) | Parking support device | |
| JP2012071635A5 (en) | ||
| KR20140144905A (en) | Parking assistance system | |
| JP2008222153A (en) | Merging support device | |
| JP2009105660A (en) | On-vehicle imaging apparatus | |
| JP2011114467A (en) | Vehicle display device and display method | |
| JP5718080B2 (en) | Vehicle periphery monitoring device | |
| JP2010183234A (en) | Drawing apparatus | |
| WO2011013813A1 (en) | In-vehicle device and image processing program | |
| US20220001813A1 (en) | Image generation device, camera, display system, and vehicle | |
| KR20100005971A (en) | A vehicle around view monitorring system | |
| JP4755501B2 (en) | Lane detection device and lane departure warning device | |
| JP2011155651A (en) | Apparatus and method for displaying vehicle perimeter image | |
| JP2007182201A (en) | Lane change assistance device | |
| JP4677820B2 (en) | Predicted course display device and predicted course display method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20040804 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20061222 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070116 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070316 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070403 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070509 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20070605 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20070627 |
|
| R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100706 Year of fee payment: 3 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110706 Year of fee payment: 4 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110706 Year of fee payment: 4 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120706 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120706 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130706 Year of fee payment: 6 |
|
| LAPS | Cancellation because of no payment of annual fees |