JP2004314781A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device capable of easily and conveniently performing a parking support when a parallel parking is carried out. <P>SOLUTION: This parking support device displays a picked-up image formed by picking up the image around a vehicle by an image pickup means 2 installed at a vehicle on a display means 11a mounted on the vehicle to support the vehicle when the vehicle parks. This device is provided with an overlapping means 12 for overlapping a front and a marker lines 112 substantially coinciding with the front end of the vehicle and drawn by a predetermined distance in a lateral direction of the vehicle on the picked-up image to display them on the display means 11a, so that a judgment of a driver when the vehicle is parked can be facilitated and a driver's burden on operating the vehicle can be reduced. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a parking assist device.
[0002]
[Prior art]
In recent years, as a parking assist device for parking a vehicle, a video camera shoots the rear of the vehicle and a measurement method, and various guide displays for parking assistance are superimposed on the captured image and displayed on a monitor. A driver has been announced that will make it easier for drivers to park and is actually being installed in vehicles.
[0003]
[Problems to be solved by the invention]
However, in the above-described parking assist device, various guide displays are displayed by complicated lines, or the monitor must be viewed from the start to the end of parking, and the use of the parking assist device is rather troublesome. Some feel.
[0004]
Therefore, an object of the present invention is to provide a parking assistance device that can easily perform parking assistance during parallel parking in view of the above-described conventional problems.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 displays a captured image around the vehicle captured by an image capturing device mounted on the vehicle on a display device in the vehicle to assist in parking the vehicle. Superimposing means for superimposing a front and rear marker line substantially coincident with the front end of the vehicle and drawn at a predetermined length in the lateral direction of the vehicle on the captured image and displaying the same on the display means. There is provided a parking assistance device characterized by comprising:
[0006]
According to the first aspect of the present invention, there is provided a parking assistance apparatus that displays an image of the periphery of the vehicle taken by an imaging unit mounted on the vehicle on a display unit in the vehicle to support the parking of the vehicle. And a superimposing means for superimposing the front and rear marker lines which are substantially coincident with the front end of the vehicle and are drawn at a predetermined length in the lateral direction of the vehicle on the captured image and which are displayed on the display means. Can be easily performed, the driver can easily determine when the vehicle is parked, and the operation burden on the driver can be reduced.
[0007]
The invention according to claim 2, which has been made to solve the above problem, wherein the front / rear marker line is a vehicle front end extension line extending from a front end of the host vehicle. Exists.
[0008]
According to the second aspect of the present invention, since the front and rear marker lines are extended lines extending from the front end of the vehicle, the effect that the protruding length of the vehicle at an intersection or the like can be known in addition to the effect of parking assistance. Can be expected.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In summary, the parking assist device according to the present invention is mounted on a vehicle, and superimposes a front and rear marker line on a captured image of vehicle measurement to assist a driver's operation when moving the vehicle to a parking space for parallel parking. By doing so, the load on the driver's operation is reduced.
[0010]
FIG. 1 is a block diagram showing an embodiment of a parking assistance device according to the present invention. In FIG. 1, a parking assist device includes a camera 2 as an imaging unit, a microcomputer (hereinafter, referred to as a microcomputer) 3, a reverse detection sensor 4, a steering angle sensor 5, a traveling sensor 6, a yaw rate sensor 7, an instruction unit 11, a superimposing unit. An on-screen display controller (hereinafter, referred to as OSDC) 12, a memory 13, an EEPROM 14, and a parking assistance switch 16.
[0011]
The camera 2 is attached to the front side of the host vehicle 100 (see FIG. 2) and has a horizontal viewing angle (for example, 60 degrees) at which a desired parking space P can be visually recognized during parallel parking. The side captured image is output to the OSDC 12.
[0012]
The microcomputer 3 has a reverse detection sensor 4 attached to a gear mechanism and outputs an H-level reverse signal S1 when the gear enters reverse. The microcomputer 3 has a reverse detection sensor 4 attached to a vehicle steering mechanism. A steering angle sensor 5 that outputs a signal S2, a traveling sensor 6 that is attached to a transmission mechanism of the vehicle and outputs a pulse signal S3 every time the vehicle travels a unit distance, and detects a yaw rate generated around the center of gravity of the vehicle. A yaw rate sensor 7 for outputting a yaw rate detection signal, a speaker 11b for outputting a voice message, an OSDC 12, an EEPROM 14 for storing a steering angle when the ignition switch is turned off, and a parking support switch 16 for instructing parking support are connected. Have been. A navigation device 15 is also connected to the microcomputer 3.
[0013]
The microcomputer 3 includes a CPU 3a that operates according to a control program, a ROM 3b in which the control program of the CPU 3a and vehicle information such as a minimum turning radius Rmin of the vehicle and a shape of the vehicle are stored in advance, and outputs from the steering angle sensor 5 and the travel sensor 6. And a RAM 3c for temporarily storing data required when the CPU 3a executes the calculation, such as forming a count area for counting the pulse signals S2 and S3 to be performed.
[0014]
The instruction unit 11 has a monitor 11a as a display unit and a speaker 11b.
[0015]
The OSDC 12 is connected to the camera 2, the memory 13, and the monitor 11a, and outputs an image signal obtained by superimposing (superimposing) a pattern image (to be described later) read from the memory 13 on a captured image from the camera 2 to the monitor 11a. I do.
[0016]
The memory 13 is composed of a ROM or the like, and stores before and after marker line pattern data used for parking assistance during parallel parking.
[0017]
The front and rear marker lines in the front and rear marker line pattern data are lines that substantially coincide with the front end of the host vehicle 100 and are drawn at a predetermined length in the lateral direction of the vehicle, and are superimposed on the captured image from the camera 2 and monitored. This is for the driver to know the position of the front end of the host vehicle 100 when displayed on 11a.
[0018]
Next, a specific example of the parking support operation at the time of parallel parking in the parking support device having the above-described configuration will be described in detail. FIGS. 2 to 5 are diagrams for explaining a specific parking assist operation at the time of parallel parking, and will be described below with reference to these drawings.
[0019]
Normally, the CPU 3a activates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to provide route guidance from the departure place to the destination, display the current position of the vehicle, and provide voice guidance. .
[0020]
Therefore, as shown in FIG. 2, first, the driver stops the vehicle 100 in front of the parking space P where parking is desired, and presses the parking support switch 16.
[0021]
When the parking support switch 16 is pressed, a parking support instruction signal is input from the parking support switch 16 to the CPU 3a. The CPU 3a stops the navigation function of the navigation device 15 in response to the input of the parking support instruction signal, switches the screen of the monitor 11a from the navigation screen to the side captured image from the camera 2, and is stored in the memory 13 in advance. The read front and rear marker line pattern data is read, superimposed on the laterally captured image by the OSDC 12, and displayed on the screen of the monitor 11a.
[0022]
In FIG. 2, the respective visual field ranges of the two cameras 2 installed on the front left and right sides of the own vehicle 100 and the respective visual field ranges assuming parallel parking in the parking spaces on the left and right sides of the own vehicle 100. , Two front and rear marker lines 112 are shown, but the two cameras 2 can be switched by a camera switch (not shown), and the captured image of the switched camera 2 and the captured image Is displayed on the monitor 11a. Here, assuming parallel parking in the parking space P on the left side of the host vehicle 100, it is assumed that the camera 2 installed on the front left side of the host vehicle 100 has been switched and selected by the camera switch.
[0023]
Next, the driver determines the initial position A for parallel parking in the parking space P to be parked as shown in FIG. 3 by looking at the front and rear marker lines 112 on the screen of the monitor 11a.
[0024]
FIG. 6 shows an example in which the front and rear marker lines 112 are superimposed on the side image captured by the camera 2 and displayed on the screen of the monitor 11a installed near the driver's seat of the vehicle 100.
[0025]
That is, on the screen shown in FIG. 6, a section border line between the parking frame adjacent to the parking space P desired to be parked, that is, the parking frame in which the parked vehicle 201 is parked ahead when viewed from the approach direction of the own vehicle 100. The initial position A can be determined by moving the host vehicle 100 such that Pb and the front and rear marker lines 112 displayed so as to be parallel to the lateral direction of the host vehicle substantially match on the screen.
[0026]
When the initial position A of the host vehicle 100 is determined as described above, the driver appropriately turns the steering in the direction opposite to the direction in which the host vehicle 100 is parked from the initial position A, as shown in FIG. The steering wheel is steered to the steering angle, and the own vehicle 100 is moved forward to the position B by an appropriate distance while maintaining the steering angle.
[0027]
Next, the driver stops the vehicle 100 at the position B, and then reverses the gear, then turns the steering to an appropriate steering angle in the opposite direction, and holds the steering angle. The host vehicle 100 is moved backward toward the parking space P. Next, the driver returns the steering to the straight traveling position when the host vehicle 100 is parallel to the parking space P (position C in FIG. 4). As described above, the movement of the host vehicle 100 from the initial position A to the position C is performed without looking at the monitor 11a at the discretion of the driver.
[0028]
Next, the driver moves the host vehicle 100 straight forward and backward from the position C while watching the image on the monitor 11a again, and when the front and rear marker lines 112 on the image on the monitor 11a substantially coincide with the parking section front edge line Pa. (That is, when the vehicle exactly coincides with the parking section front edge line Pa or slightly retreats from the parking section front edge line Pa), the host vehicle 100 is stopped. This stop position is shown as a position D in FIG. 5 and indicates that the host vehicle 100 has entered the parking space P. Then, when the driver presses the parking support switch 16 again, a parking support release signal is input from the parking support switch 16 to the CPU 3a. The CPU 3a releases the parking support operation in response to the input of the parking support release signal.
[0029]
As described above, according to the present invention, the front and rear marker lines 112 are superimposed on the captured image of the vehicle measurement from the camera 2 and displayed on the screen of the monitor 11a at the time of parallel parking, so that the driver's judgment at the time of parking can be determined. This facilitates the operation and reduces the operation burden on the driver. Further, it is possible to easily know that the vehicle 100 has entered the parking space P.
[0030]
As described above, the embodiment of the present invention has been described. However, the present invention is not limited to this, and various modifications and applications are possible.
[0031]
For example, instead of the on-screen display controller 12 and the memory 13, a graphic controller that can calculate a predicted traveling trajectory and redraw each time the steering angle changes may be used as the superimposing means.
[0032]
The front and rear marker line 112 is configured to be drawn on the image of the monitor 11a at a position slightly shifted forward or rearward of the front end of the host vehicle 100 without completely matching the front end of the host vehicle 100. Is also good. In this case, the driver can drive the host vehicle 100 based on the front and rear marker lines 112 in consideration of the amount of forward or rearward deviation of the front end of the host vehicle 100 during parking.
[0033]
Further, the front and rear marker lines 112 may be an extension line of the front end of the vehicle completely coincident with the front end of the own vehicle 100 on the image of the monitor 11a. The effect of knowing the length of the projecting vehicle can be expected.
[0034]
For example, as shown in FIG. 7, the driver has a front and rear marker line 112 as an extension of the front end of the vehicle, which is a virtual line superimposed on a laterally captured image of the camera 2 reflected on the monitor 11a, and walls of the buildings 301 and 302. By comparing with a roadside structure such as the above, it is possible to know the extent to which the host vehicle jumps out to the intersection road side, and it is possible to confirm safety.
[0035]
Further, a distance gauge may be displayed on the monitor 11a from the front and rear marker line 112, which is an extension of the front end of the vehicle, toward the rear.
[0036]
Further, as still another embodiment of the present invention, as the camera 2 for obtaining a laterally-captured image, a camera which is mounted at the center of a front bumper of a vehicle and can monitor the left and right sides by one may be used. . Further, if the camera is a side camera, the present invention can be applied to a case where the camera is mounted near the center or rear end of the vehicle.
[0037]
【The invention's effect】
According to the first aspect of the present invention, it is possible to easily perform parking assistance, facilitate the driver's determination when parking, and reduce the operation burden on the driver.
[0038]
According to the second aspect of the invention, in addition to the effect of the parking support, an effect that the protrusion length of the own vehicle at an intersection or the like can be known can be expected.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an embodiment of a parking assistance device according to the present invention.
FIG. 2 is a diagram illustrating a mounting position of a camera in the parking assistance device of FIG. 1;
FIG. 3 is a diagram illustrating a specific parking support operation during parallel parking.
FIG. 4 is a diagram illustrating a specific parking support operation during parallel parking.
FIG. 5 is a diagram illustrating a specific parking support operation during parallel parking.
FIG. 6 shows an example of a monitor screen at a position A of the host vehicle in the parking assist operation.
FIG. 7 is a diagram for explaining another embodiment of the present invention.
[Explanation of symbols]
2 Camera (imaging means)
Reference Signs List 3 microcomputer 4 reverse detection sensor 5 steering angle sensor 6 running sensor 7 yaw rate sensor 11 indicating unit 11a monitor (display means)
11b Speaker 12 On-screen display controller (OSDC) (superimposing means)
13 memory (storage means)
14 EEPROM
112 Front and rear marker line

Claims (2)

A parking assistance device that displays an image of the periphery of the vehicle taken by the imaging unit mounted on the vehicle on a display unit in the vehicle, and provides assistance when parking the vehicle,
A parking assist comprising superimposing means for superimposing a front and rear marker line substantially coincident with the front end of the vehicle and drawn at a predetermined length in the lateral direction of the vehicle on the captured image and displaying the same on the display means. apparatus. The parking assist device according to claim 1, wherein the front-rear marker line is a vehicle front end extension line extending from near a front end of the vehicle.

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