JP2004243835A - Parallel parking assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parallel parking assist device by which even an unskilled person or the like can speedily and surely park a vehicle in parallel in a parking space by easily steering until a handle reaches the maximum steering angle without relying on feeling. <P>SOLUTION: The assist device is provided with a controller 4 for a camera displaying an image imaged by a back view camera 1 when the vehicle is backed on a monitor 2 and superimposedly displaying an approximately U-shaped parking positioning line A and a virtual circular locus estimating line C. A driver is informed that the maximum steering angle is reached by changing a color of the virtual circular locus estimating line C from red to yellow when a steering angle detected by a steering angle sensor 3 reaches the maximum steering angle. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a parallel parking assist device that assists when a vehicle is moved backward to perform parallel parking.
[0002]
[Prior art]
Conventional parallel parking assist devices include a camera that images the rear of the vehicle, a monitor disposed in the driver's seat of the vehicle, a steering angle sensor that detects the steering angle of the steering wheel, and a monitor that monitors the image of the camera when the vehicle moves backward. And display control means for superimposing and displaying a guide display at the time of parallel parking, wherein the guide display is fixedly displayed at a predetermined position on the monitor screen and guides an appropriate steering start point for parallel parking. The one configured to include a steering start guideline composed of a line segment and a steering amount guide mark that is moved and displayed along the steering start guideline on the monitor screen according to the magnitude of the steering wheel steering angle detected by the steering angle sensor. is there.
[0003]
In this conventional example, the vehicle is moved straight back and forth at right angles to the parking space, and when the predetermined target point of the parking space in the image of the camera overlaps the steering start guideline, the vehicle is stopped, and the steering amount guide mark is set to the target point. The vehicle is steered until the vehicle overlaps with the vehicle, and the vehicle is moved backward while maintaining the steering amount, so that the vehicle can be properly parked in a parallel parking space (for example, see Patent Document 1).
[0004]
[Patent Document 1]
JP 2001-055099 A (Specification (2), FIGS. 3 and 4)
[0005]
[Problems to be solved by the invention]
However, in the conventional parallel parking assist device, since the steering wheel is operated to the maximum steering angle in a state where the vehicle is stopped, there are the following problems.
That is, in order to steer the steering wheel to the maximum steering angle, it is sufficient to operate until the steering wheel is locked. However, since the operation is performed while the vehicle is stopped, the steering operation is heavy for unskilled persons or the like, and the steering angle is heavy. However, it is difficult to know whether the steering wheel is just heavy, and it is difficult to know how much to move the steering wheel to the left or right, so it is sometimes difficult to park quickly and reliably in parallel. there were.
[0006]
The problem to be solved by the present invention is that even a non-skilled person or the like can easily and quickly park a parallel parking in a parking space by steering a steering wheel until reaching a maximum steering angle without depending on feeling. It is an object of the present invention to provide a parallel parking assist device that can be used.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, a parallel parking assist device according to claim 1 is provided with an imaging device for imaging the rear of a vehicle, a display device arranged so as to be visible to a driver of the vehicle, a steering direction and steering when the vehicle retreats. Steering state detecting means for detecting an angle, display control means for displaying a video imaged by the imaging device when the vehicle is backing up on the display device and superimposing and displaying a guide display, and at least as the guide display, When the vehicle is moved backward in the state of the maximum steering angle, a parking positioning line indicating the entrance position of the parking space where parallel parking is possible is displayed, and the display control means sets the steering angle detected by the steering state detection means to the maximum. When the steering angle is reached, the display content of the screen of the display device is changed to notify the driver that the maximum steering angle has been reached. It was a means.
[0008]
The parallel parking assist device according to claim 2 is the parallel parking assist device according to claim 1, wherein the display control unit determines that the parking positioning is performed when a steering angle detected by the steering state detection unit reaches a maximum steering angle. By changing the display form of the line, the driver is informed that the maximum steering angle has been reached.
[0009]
A parallel parking assist device according to a third aspect of the present invention is the parallel parking assist device according to the first or second aspect, wherein the guide display is extended in a vehicle backward direction in accordance with a steering direction and a steering angle detected by the steering state detecting means. A virtual arc-shaped trajectory prediction line indicating a predicted vehicle backward trajectory is moved and displayed, and the display control means predicts the virtual arc-shaped trajectory when the steering angle detected by the steering state detection means reaches a maximum steering angle. By changing the display form of the line, the driver is informed that the maximum steering angle has been reached.
[0010]
A parallel parking assist device according to a fourth aspect of the present invention is the parallel parking assist device according to the second or third aspect, wherein the change in the display content changes the color of the parking positioning line and / or the virtual arc-shaped trajectory prediction line. It is a means characterized by being constituted.
[0011]
A parallel parking assist device according to a fifth aspect of the present invention is the parallel parking assist device according to any one of the first to fourth aspects, wherein, as the guide display, a reverse indicating a predicted vehicle retreat position on an extension of the vehicle in a straight-forward retreat direction. The present invention is characterized in that it is configured to display an expected line.
[0012]
The parallel parking assist device according to claim 6 is the parallel parking assist device according to claim 1, wherein the steering angle detected by the steering state detecting means reaches the maximum steering angle when the steering angle reaches the maximum steering angle. A means for notifying the driver of the fact by voice is provided.
[0013]
A parallel parking assist device according to a seventh aspect is the parallel parking assist device according to the first to sixth aspects, wherein the display control means is operated by a reverse signal from the automatic transmission control unit to start imaging by the imaging device. It is a means characterized by being constituted.
[0014]
[Action and effect]
In the parallel parking assist device according to the first aspect, as described above, when the vehicle is moving backward, an image captured by the imaging device is displayed on the display device, and the image includes the vehicle with the maximum steering angle. In this case, a parking positioning line (guide display) indicating the entrance position of the parking space where parallel parking is possible is superimposed and displayed.
[0015]
Therefore, when performing parallel parking or the like by reversing the vehicle, first, the vehicle is rectilinearly receded at a right angle to the target parking space to be parked, and the vehicle is stopped at a position where the parking positioning line coincides with the entrance of the parking space. Steer until the maximum steering angle in the direction of the parking space. When the steering angle detected by the steering state detecting means reaches the maximum steering angle, the display content on the screen of the display device changes. When the change in the display content is confirmed, the steering angle (maximum steering angle) is changed. By retreating the vehicle while maintaining it, the vehicle can be properly parked in the target parking space in parallel.
[0016]
As described above, by changing the display content of the screen on the display device, it is possible to inform the driver that the steering angle has reached the maximum steering angle. Without this, the steering wheel can be easily steered until the steering angle reaches the maximum steering angle, and the parallel parking can be quickly and reliably performed in the parking space.
[0017]
In the parallel parking assist device according to the second aspect, the driver is notified that the maximum steering angle has been reached by changing the display form of the parking positioning line (guide display) indicating the entrance position of the target parking space. Thus, the display is easy to understand for the driver.
[0018]
In the parallel parking assist device according to the third aspect, the virtual arc-shaped trajectory prediction line (guide display) indicating the predicted vehicle retreat trajectory on the extension of the vehicle retreat direction in accordance with the steering direction and the steering angle detected by the steering state detection means. Since the display is moved and displayed, it is possible to confirm that the steering direction is correct, and by changing the display form of the virtual arc-shaped trajectory prediction line that changes based on the steering, the driver is notified that the maximum steering angle has been reached. Since the information is notified, the display is easy for the driver to understand.
[0019]
In the parallel parking assist device according to the fourth aspect, since the color of the parking positioning line and / or the virtual arc-shaped trajectory prediction line (guide display) is changed as the change of the display content, it is easier for the driver to understand. Display.
[0020]
In the parallel parking assist device according to the fifth aspect, a prediction line (guide display) indicating a predicted vehicle retreat position is displayed on the display device on the extension of the vehicle retreat direction, thereby making it easier to grasp a parking feeling. Also, it is easy to make a prediction when the vehicle retreats.
[0021]
In the parallel parking assist device according to claim 6, when the steering angle detected by the steering state detecting means reaches a maximum steering angle, a voice notifying means notifies the driver by voice that the maximum steering angle has been reached. Thus, since it is possible to know that the maximum steering angle has been reached without looking at the display device, it is possible to concentrate attention on other operations.
[0022]
In the parallel parking assist device according to the seventh aspect, the display control section is activated by the reverse signal from the transmission control unit to start the image pickup by the image pickup device. The video is displayed on the display device without any operation, and the parallel parking can be started immediately.
[0023]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
A parallel parking assist device according to an embodiment of the present invention corresponds to the first to fifth and seventh aspects of the present invention.
First, a parallel parking assist device according to an embodiment of the present invention will be described with reference to the drawings.
[0024]
FIG. 1 is a configuration diagram showing a parallel parking assist device according to an embodiment of the present invention. In the drawing, 1 is a back-view camera as an imaging device, 2 is a monitor such as a liquid crystal display as a display device, and 3 is a steering state. A steering angle sensor 4 as a detecting means indicates a camera controller as a display control unit.
[0025]
More specifically, the back-view camera 1 is provided at the rear center of the vehicle as shown in FIG. 3, and captures an image behind the vehicle.
The monitor 2 is arranged near the driver's seat so that a driver of the vehicle can easily recognize the monitor, and displays an image behind the vehicle captured by the back view camera 1.
The steering angle sensor 3 detects a steering direction and a steering angle corresponding to a steering operation around a straight traveling position of the vehicle.
[0026]
A reverse signal from an automatic transmission control unit and a steering angle signal (steering direction and steering angle signal) from the steering angle sensor 3 are input to the camera controller 4. Note that the reverse signal is output from the automatic transmission control unit when the AT select lever in the vehicle compartment is set to the reverse position and the automatic transmission unit is switched to the reverse gear.
[0027]
When the reverse signal is input, the camera controller 4 operates to start imaging by the back-view camera 1, and the image behind the vehicle captured by the back-view camera 1 is displayed on the monitor 2. I have.
[0028]
In the camera controller 4, as shown in FIGS. 4 to 6, a parking space in which parallel parking can be performed when the vehicle is moved backward at the maximum steering angle is displayed on the image behind the vehicle displayed on the monitor 2. A substantially U-shaped parking positioning line (guide display) A indicating the entrance position of P, and a vehicle width extension line (forecast line) B indicating the predicted reverse position corresponding to the vehicle width of the vehicle on the extension of the vehicle in the reverse direction. Image processing for superimposed display is performed.
[0029]
Further, in the camera controller 4, a virtual arc-shaped trajectory prediction line (guide display) indicating a predicted vehicle retreat trajectory on the extension of the vehicle retreat direction in accordance with the steering direction and the steering angle detected by the steering angle sensor 3. Image processing is performed to display C superimposed on the image on the monitor 2.
[0030]
Further, in the camera controller 4, when the steering angle detected by the steering angle sensor reaches the maximum steering angle, the substantially U-shaped parking positioning line A in the steering direction and a virtual circle indicating the predicted backward movement trajectory of the vehicle. Image processing is performed so as to change the color of the arc-shaped trajectory prediction line C from, for example, red to yellow, thereby notifying the driver that the maximum steering angle has been reached.
[0031]
Next, the operation of the camera controller 4 will be described with reference to the control flowchart of FIG.
[0032]
First, in step S101, it is determined whether or not a reverse signal has been input. If the determination is Yes (reverse signal input), the flow advances to step S102 to start imaging of the rear of the vehicle with the back-view camera 1, and the following steps In S103, the steering angle (steering direction and steering angle) detected by the steering angle sensor 5 is fetched.
[0033]
In a succeeding step S104, it is determined whether or not the taken steering angle has reached the maximum steering angle. If the determination is No (the steering angle has not reached the maximum steering angle), the process proceeds to step S105, and a substantially U-shaped parking is performed. After the colors of the positioning line A and the virtual arc-shaped trajectory prediction line C are described in the initial normal color (red), the process returns to step S101.
[0034]
On the other hand, if the determination in step S104 is Yes (the maximum steering angle has been reached), the process proceeds to step S106, where the colors of the substantially U-shaped parking positioning line A and the virtual arc-shaped trajectory prediction line C are set to the maximum. After the color at the time of the steering angle (yellow) is described, the process returns to step S101.
[0035]
When the determination in step S101 is No (no reverse signal is input), the process proceeds to step S107, where the back view camera 1 ends the image capturing behind the vehicle, and then returns to step S101.
[0036]
Next, the operation and effect of the embodiment of the present invention will be described with reference to FIGS.
FIG. 3 is a plan view showing a parallel parking method for vehicles, and FIGS. 4 to 6 are views showing screen display contents of the monitor 2. In these figures, p is a parking lot line, and h is a line from the rear bumper RB. A distance line indicating a distance is shown.
[0037]
Since the parallel parking assist device according to the embodiment of the present invention is configured as described above, when the AT select lever is put in reverse and the vehicle is moved backward to perform parallel parking or the like, first, FIG. As described above, the vehicle is receded and receded at a right angle to the target parking space P to be parked, and the vehicle is stopped at a position where the U-shaped parking positioning line A coincides with the entrance of the parking space P as shown in FIG.
[0038]
In this state, the color of the substantially U-shaped parking positioning line A is depicted in the initial normal color (red) (the flow of steps S101 to S105 in FIG. 2). At this point, the virtual arc-shaped trajectory prediction line C is not displayed.
[0039]
Next, when the steering wheel ST is steered to the right in this state, the virtual arc-shaped trajectory prediction line C is directed toward the parking space P according to the steering direction and the steering angle as shown in FIG. The vehicle changes (moves) so as to bend along, thereby displaying the predicted backward position of the vehicle. At this stage, since the maximum steering angle has not yet been reached, the colors of the substantially U-shaped parking positioning line A and the virtual arc-shaped trajectory prediction line C are depicted in the initial normal color (red) (FIG. Flow of Steps S101 to S105 of Step 2).
[0040]
Then, as shown in FIG. 3B, the steering wheel ST is steered in the direction of the parking space P until the steering angle reaches the maximum, and when the steering angle detected by the steering angle sensor 3 reaches the maximum steering angle, the monitor 2 is turned on. The colors of the substantially U-shaped parking positioning line A and the virtual arc-shaped trajectory prediction line C on the screen are switched to the color (yellow) at the maximum steering angle (the flow of steps S101 to S104S → 106 in FIG. 2).
[0041]
Then, when the color change (from red to yellow) of the substantially U-shaped parking positioning line A and the virtual arc-shaped trajectory prediction line C is confirmed, the vehicle is moved backward while maintaining the steering angle (maximum steering angle). By doing so, the vehicle can be properly parked in the target parking space P in parallel.
[0042]
As described above, by changing the color of the substantially U-shaped parking positioning line A and the virtual arc-shaped trajectory prediction line C on the monitor 2 (from red to yellow), the steering angle reaches the maximum steering angle. The driver can be informed that the steering wheel ST has reached the maximum steering angle without relying on the feeling, so that even the untrained person can quickly and surely parallel the parking space P without relying on the feeling. The effect of being able to park is obtained.
[0043]
In addition, by changing the colors of the parking positioning line A indicating the entrance position of the target parking space and the virtual arc-shaped trajectory prediction line C, which are highly relevant to the parking space P, it is confirmed that the maximum steering angle has been reached. Since the driver is informed, the display is easy to understand for the driver.
[0044]
In addition, the virtual arc-shaped trajectory prediction line C indicating the predicted vehicle retreat trajectory is moved and displayed on the extension of the vehicle retreat direction in accordance with the steering direction and the steering angle detected by the steering angle sensor 3, so that the steering direction is changed. Since the correctness can be confirmed and the driver can be informed that the maximum steering angle has been reached by changing the display form of the virtual arc-shaped trajectory prediction line C that changes based on the steering. The display is easier to understand for the user.
[0045]
In addition, by displaying the predicted line B indicating the predicted vehicle retreat position on the vehicle retreat direction extension on the monitor 2, it becomes easy to grasp the parking sensation at the time of rectilinear retreat using the vehicle width extension line B as an index. Also, it is easy to make a prediction when the vehicle retreats.
[0046]
The camera controller 4 is actuated by the reverse signal from the transmission control unit to start imaging by the back-view camera 1, and the monitor can be performed without any special operation other than the operation of the select lever when the vehicle retreats. The image is displayed on 2 and the parallel parking can be started immediately.
[0047]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment of the present invention, and even if there is a design change or the like without departing from the gist of the present invention, the present invention is not limited to the embodiment. included.
[0048]
For example, in the embodiment of the present invention, when the steering angle detected by the steering state detecting means reaches the maximum steering angle, the substantially U-shaped parking positioning line A and the virtual circle among the display contents on the screen of the display device are displayed. Although the color of the arc-shaped trajectory prediction line C is changed (from red to yellow), the illuminance may be changed.
Further, a maximum steering angle reaching mark, a character, or the like separately provided in the screen may be turned on.
[0049]
Also, when the steering angle detected by the steering angle sensor 3 reaches the maximum steering angle, a voice notification unit for notifying the driver of the reaching of the maximum steering angle by voice is provided, so that the monitor 2 can be viewed without looking. Since it is possible to know that the maximum steering angle has been reached, it becomes possible to concentrate attention on other operations.
[0050]
Further, in the embodiment of the present invention, the camera controller 4 is operated by the reverse signal to start the imaging by the back-view camera 1, but a switch may be separately provided.
[Brief description of the drawings]
FIG. 1 is a configuration diagram illustrating a parallel parking assist device according to an embodiment of the present invention.
FIG. 2 is a control flowchart showing a control operation of a camera controller in the parallel parking assist device according to the embodiment of the present invention.
FIG. 3 is a plan view showing a parallel parking method for a vehicle to which the parallel parking assist device according to the embodiment of the present invention is applied, wherein (a) shows a state without steering and (b) shows a state with a maximum steering angle.
FIG. 4 is a diagram showing a monitor image (when steering is not performed) in the parallel parking assist device according to the embodiment of the present invention.
FIG. 5 is a diagram showing a monitor image (during steering) in the parallel parking assist device according to the embodiment of the present invention.
FIG. 6 is a diagram showing a monitor image (at a maximum steering angle) in the parallel parking assist device according to the embodiment of the present invention.
[Explanation of symbols]
1 back view camera (imaging device)
2 monitor (display device)
3 Steering angle sensor (steering state detecting means)
4 Camera controller (display control unit)
A Parking positioning line (guide display)
B Vehicle width extension line (guide display)
C Virtual arc-shaped trajectory prediction line (guide display)
P Parking space RB Rear bumper ST Handle h Distance line p Parking lot line

Claims (7)

An imaging device for imaging the rear of the vehicle, a display device arranged so as to be visible to a driver of the vehicle,
Steering state detection means for detecting a steering direction and a steering angle when the vehicle is moving backward,
Display control means for displaying an image captured by the imaging device when the vehicle is backing up on the display device and superimposing and displaying a guide display,
As the guide display, a parking positioning line indicating an entrance position of a parking space capable of parallel parking when at least the vehicle is retreated in the state of the maximum steering angle is displayed,
When the steering angle detected by the steering state detecting means reaches the maximum steering angle, the display control means changes the display content of the screen of the display device to notify the driver that the maximum steering angle has been reached. A parallel parking assist device characterized by being configured as follows. 2. The parallel parking assist device according to claim 1, wherein the display control unit changes a display form of the parking positioning line when the steering angle detected by the steering state detection unit reaches a maximum steering angle, thereby maximizing steering. A parallel parking assist device configured to notify a driver that a corner has been reached. 3. The virtual parking assist device according to claim 1, wherein, as the guide display, a virtual circle indicating a predicted retreat trajectory of the vehicle on an extension of the vehicle retreat direction in accordance with a steering direction and a steering angle detected by the steering state detection unit. 4. The arc-shaped trajectory prediction line moves and is displayed.
The display control means, when the steering angle detected by the steering state detection means reaches the maximum steering angle, changes the display form of the virtual arc-shaped trajectory prediction line to notify the driver that the maximum steering angle has been reached. A parallel parking assist device characterized by being configured to inform. 4. The parallel parking assist device according to claim 2, wherein the display content is changed such that a color of a parking positioning line and / or a virtual arc-shaped trajectory prediction line is changed. 5. Auxiliary equipment. The parallel parking assist device according to any one of claims 1 to 4, wherein the guide display is configured to display a predicted reverse line indicating a predicted reverse position of the vehicle on an extension of the straight-ahead reverse direction of the vehicle. A parallel parking assist device characterized in that: 6. The parallel parking assist device according to claim 1, wherein when the steering angle detected by the steering state detecting means reaches a maximum steering angle, a voice notification notifying the driver of the fact that the maximum steering angle has been reached is provided. A parallel parking assist device characterized by comprising means. 7. The parallel parking assist device according to claim 1, wherein the display control means is operated by a reverse signal from the automatic transmission control unit to start imaging by the imaging device. Auxiliary equipment.

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