JP2005035542A - Parking assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assisting device, whereby a driver can easily grasp the relative positional relation between an obstacle and his own vehicle. <P>SOLUTION: This parking assisting device photographs the peripheral view of one's own vehicle by a CCD camera 3, and displays the peripheral image of one's own vehicle based on an image from the CCD camera 3. The device prepares a first image viewed from a first view point based on the image from the CCD camera 3 while preparing a second image viewed from a second view point different from the first view point, and displays the first image and the second image on the display 5 of a picture screen 7 when operating the vehicle for parking. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a parking assistance device that assists a parking operation using an image displayed on a screen.

  Conventionally, as a parking assistance device that assists a parking operation using an image displayed on a screen, for example, there is a “vehicle rear monitoring monitor device” described in Japanese Patent Application Laid-Open No. 59-114139. In such a “rear vehicle monitoring monitor device”, marker position data corresponding to tire steering angle data is accumulated in advance with respect to the reverse direction of the host vehicle, and when the steering angle data is input from the tire direction sensor, The marker position data corresponding to the steering angle data is called and displayed as a marker row in a superimposed manner on the screen of the monitor television that displays the rear of the host vehicle.

  That is, as shown in FIGS. 10 (a), 10 (b), and 10 (c), the marker 101 deflected along the predicted backward trajectory of the host vehicle is in the driver's seat together with the obstacle (the parked vehicle 102 in FIG. 10). Since it is displayed on the screen 100 of the nearby monitor TV and the backward direction of the host vehicle is clearly shown, it is possible to reduce the burden of parking operation such as when entering a garage or parallel parking.

  However, there is a difference in distance between the image displayed on the monitor TV screen 100 and the naked eye, and the image displayed on the monitor TV screen 100 is an image from the viewpoint of a camera installed behind the host vehicle. There is a limit to the range that can be seen in the image displayed on the monitor TV screen 100. Further, for example, when the parking operation is started with the steering wheel turned backward, the direction of the image displayed on the monitor TV screen 100 is the own vehicle. The relative position of obstacles such as parked vehicles, shoulders, guardrails, walls, utility poles, etc. (intervals and angles to the vehicle) Etc.) from the video on the screen 100 of the monitor TV is not easy.

  Therefore, the present invention has been made to solve the above-described problems, and in the parking assistance device, the driver can easily grasp the relative positional relationship between the obstacle and the host vehicle. Let it be an issue.

  A first aspect of the invention made to solve this problem is a parking display in which an expected course line calculated from the steering angle of the host vehicle is superimposed on an image showing a peripheral field of view of the host vehicle. In the auxiliary device, image creation means for creating a top view creation image showing the surrounding situation of the own vehicle from an upper viewpoint based on the video, and a parking target targeted by the own vehicle based on the video First input means for inputting a position, first calculation means for calculating a parking route from the current position of the host vehicle to the parking target position, and overlapping the parking route on the top view creation image And display means for displaying.

  That is, in the parking assist device of the present invention, on the basis of the video obtained by photographing the peripheral field of view of the host vehicle, the top view creation image in which the surrounding situation of the host vehicle is shown by the upper viewpoint is created by the image creating unit, When the parking target position where the host vehicle is to be continuously stopped is input by the first input means, the parking route from the current position of the host vehicle to the parking target position is calculated by the first calculating means, and then displayed. By the means, the parking route of the host vehicle is displayed superimposed on the top view creation image, so that the relative positional relationship with the obstacle can be easily grasped.

  Moreover, 2nd invention is the parking assistance apparatus of 1st invention, Comprising: The said image creation means updates the said top view created image based on the change of the said image | video by the movement of the said own vehicle, It is characterized by.

  That is, in the parking assistance device of the present invention, when the host vehicle moves, the image creation unit updates the top view creation image based on the change in the image due to the movement of the host vehicle, and the updated top view If the display means displays the parking route of the host vehicle in a superimposed manner on the created image, the top view created image in which the surrounding situation of the own vehicle is shown from the upper viewpoint is replaced with the one corresponding to the current situation of the own vehicle. Therefore, it is possible to make it easier to grasp the relative positional relationship with respect to the obstacle.

The third invention is the parking assist device of the first or second invention, further comprising second input means for inputting an avoidance point to be avoided by the host vehicle, wherein the first calculation means includes It is characterized in that a parking route until avoiding an avoidance point and reaching the parking target position is calculated.

  That is, in the parking assistance device of the present invention, if the first calculation means calculates the parking route in consideration of the avoidance point input by the second input means, the parking route is the avoidance point that the host vehicle wants to avoid during the parking operation. Therefore, it is possible to further easily grasp the relative positional relationship with respect to the obstacle.

  Further, a fourth invention is a parking assist device according to any one of the first to third inventions, comprising a second calculation means for calculating a movement trajectory of the host vehicle, wherein the display means The moving trajectory is displayed so as to overlap the top view creation image.

  That is, in the parking assist device of the present invention, if the second calculating means calculates the movement trajectory of the own vehicle and the display means displays the moving trajectory of the own vehicle on the top view creation image, In addition to the parking path of the host vehicle, the movement trajectory of the host vehicle is also displayed on the top view creation image showing the surrounding situation of the vehicle from the upper viewpoint, and the difference between the parking path of the host vehicle and the movement trajectory of the host vehicle, etc. Can be recognized at a glance, so that the relative positional relationship with respect to the obstacle can be more easily grasped.

  A fifth invention is the parking assist device according to the fourth invention, wherein the display means displays the current position of the host vehicle in the movement locus.

  That is, in the parking assist device of the present invention, when the display means displays the current position of the host vehicle in the movement trajectory of the host vehicle, the top view creation image can be viewed at a glance from the obstacle at the present time. Since the distance to the host vehicle, the angle of the host vehicle with respect to the obstacle at the present time, and the like can be recognized, the relative positional relationship with respect to the obstacle can be more easily grasped.

The sixth invention is the parking assist device according to any one of the first to fifth inventions, comprising image processing means for converting the video into a top view conversion image viewed from above, The display means displays the top view conversion image instead of the top view creation image.
The seventh invention is a parking assist device according to any one of the first to fifth inventions, comprising image processing means for converting the video into a top view conversion image viewed from above, The display means displays the top view creation image and the top view conversion image in combination.

  That is, the parking assist device of the present invention includes image processing means for converting the video into a top view conversion image viewed from above, and the display means displays the top view conversion image instead of the top view creation image. Or when a combination of a top view creation image and a top view conversion image is displayed, all or part of the top view creation image in which the surrounding situation of the host vehicle is indicated by an upper viewpoint is displayed. Since it is replaced with a top view conversion image that is a real image, the top view creation image for grasping the relative positional relationship with the obstacle can be displayed in a more realistic state.

Further, an eighth invention is the parking assist device according to any one of the first to fifth inventions, wherein the display means simultaneously displays the upper view creation image and the video by screen division. It is characterized by that.
Moreover, 9th invention is the parking assistance apparatus as described in 6th or 7th, Comprising: The said display means, The said top view creation image and the said image, or the said top view creation image and the said An image obtained by combining the top view conversion images and the video are simultaneously displayed by screen division.

  That is, in the parking assist device of the present invention, the display means simultaneously displays the video together with the upper view creation image by screen division, or displays the video together with the image combining the top view creation image and the top view conversion image. When displaying in split screen simultaneously, create a top view of the video for entering the parking target position and avoidance points, and the video that is displayed with the predicted route calculated from the steering angle of the vehicle superimposed. Since it can be seen while corresponding to an image or an image obtained by combining the top view creation image and the top view conversion image, it is possible to further easily grasp the relative positional relationship with respect to the obstacle.

  In the parking assist device of the present invention, on the basis of the video obtained by capturing the peripheral field of view of the host vehicle, the top view creation image in which the surrounding situation of the host vehicle is shown by the upper viewpoint is created by the image creating unit. If the first input means inputs the parking target position that the user wants to continuously stop, the first calculation means calculates the parking route from the current position of the host vehicle to the parking target position, and then the display means Since the parking route of the host vehicle is displayed superimposed on the top view creation image, it is possible to easily grasp the relative positional relationship with respect to the obstacle.

  Further, in the parking assist device of the present invention, when the host vehicle moves, the image creation unit updates the top view creation image based on the change of the image due to the movement of the host vehicle, and the updated top view If the display means displays the parking route of the host vehicle in a superimposed manner on the created image, the top view created image in which the surrounding situation of the own vehicle is shown from the upper viewpoint is replaced with the one corresponding to the current situation of the own vehicle. Therefore, it is possible to make it easier to grasp the relative positional relationship with respect to the obstacle.

  In the parking assist device of the present invention, if the first calculation means calculates the parking route in consideration of the avoidance point input by the second input means, the parking route is the avoidance point that the host vehicle wants to avoid during the parking operation. Therefore, it is possible to further easily grasp the relative positional relationship with respect to the obstacle.

  In the parking assist device of the present invention, if the second calculation means calculates the movement trajectory of the own vehicle and the display means displays the movement trajectory of the own vehicle on the top view creation image, In addition to the parking path of the host vehicle, the movement trajectory of the host vehicle is also displayed on the top view creation image showing the surrounding situation of the vehicle from the upper viewpoint, and the difference between the parking path of the host vehicle and the movement trajectory of the host vehicle, etc. Can be recognized at a glance, so that the relative positional relationship with respect to the obstacle can be more easily grasped.

  Further, in the parking assist device of the present invention, when the display means displays the current position of the host vehicle in the movement trajectory of the host vehicle, the top view creation image can be viewed at a glance from the obstacle at the present time. Since the distance to the host vehicle, the angle of the host vehicle with respect to the obstacle at the present time, and the like can be recognized, the relative positional relationship with respect to the obstacle can be more easily grasped.

  The parking assist device of the present invention further includes image processing means for converting the image into a top view conversion image viewed from above, and the display means displays the top view conversion image instead of the top view creation image. Or when a combination of a top view creation image and a top view conversion image is displayed, all or part of the top view creation image in which the surrounding situation of the host vehicle is indicated by an upper viewpoint is displayed. Since it is replaced with a top view conversion image that is a real image, the top view creation image for grasping the relative positional relationship with the obstacle can be displayed in a more realistic state.

  Further, in the parking assist device of the present invention, the display means simultaneously displays the video together with the upper view creation image by screen division, or displays the video together with the image combining the top view creation image and the top view conversion image. When displaying in split screen simultaneously, create a top view of the video for entering the parking target position and avoidance points, and the video that is displayed with the predicted route calculated from the steering angle of the vehicle superimposed. Since it can be seen while corresponding to an image or an image obtained by combining the top view creation image and the top view conversion image, it is possible to further easily grasp the relative positional relationship with respect to the obstacle.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 5, the block diagram of the parking assistance apparatus of this Embodiment is shown. As shown in FIG. 5, the parking assist device of the present embodiment includes a microcomputer 2, a CCD camera 3, a steering angle sensor 4, a display 5, a combination meter 6, and the like.

  The microcomputer 2 turns on / off the CCD camera 3 and outputs a video signal from the CCD camera 3 to the display 5. Further, the flowchart of FIG. 4 to be described later is executed, and corresponds to “first calculation means”, “second calculation means”, “image creation means”, and “image processing means”.

  The CCD camera 3 is attached to the rear part of the automobile, and converts the captured image into a video signal and outputs it to the microcomputer 2. Note that the video output to the microcomputer 2 is reversed in order to be displayed on the display 5 so as to be the same as when viewed from behind the room mirror.

  The steering angle sensor 4 is mounted inside the steering and detects the steering angle. The detected steering angle is output to the microcomputer 2 as a steering angle signal.

  Further, the display 5 displays an image taken by the CCD camera 3 on the screen 7 via the microcomputer 2 and corresponds to “display means”. The screen 7 is a touch panel and functions as a “first input unit” or a “second input unit”.

  The combination meter 6 detects the vehicle speed. The detected vehicle speed is output to the microcomputer 2 as a vehicle speed signal. Thereby, the microcomputer 2 can calculate the movement distance.

  Next, the operation / function of the parking assist device of the present embodiment will be described based on the flowchart of FIG. Here, a case of parallel parking in which the host vehicle is parked in a space between the front parked vehicle and the rear parked vehicle will be described. Therefore, for example, when the host vehicle is parked diagonally ahead of the forward parked vehicle for parallel parking, the left side of the screen 7 of the display 5 is photographed by the CCD camera 3 as shown in FIG. An image 7A behind the vehicle is displayed. At this time, the bumper rear end 11 of the own vehicle, the front parked vehicle 12, the rear parked vehicle 13, the road shoulder 14 and the like are displayed on the video 7A projected on the left side of the screen 7 of the display 5. In addition, it is judged from the vehicle speed signal output to the microcomputer 2 from the combination meter 6 that the own vehicle stopped.

Thereafter, in the parking assistance device of the present embodiment, first, in S11 of FIG. 4, it is determined whether there is an input of an avoidance point. In this regard, the input of the avoidance point is performed by directly touching the left side of the screen 7 of the display 5, and at that time, as shown in FIG. 2, the marker G of the avoidance point is displayed as a vertical line. If it is determined that an avoidance point has been input (S11: Yes), the process proceeds to S12. On the other hand, when it is not determined that there is an input of an avoidance point (S11: No), the process returns to S11 and the above-described determination is repeated.
In FIG. 2, the avoidance point (the marker G) is aligned with the rear end of the forward parked vehicle 12.

In S12, it is determined whether there is an input of a parking target position. In this respect, the input of the parking target position is performed by directly touching the left side of the screen 7 of the display 5. At this time, as shown in FIG. 2, the marker P of the parking target position is displayed in a frame. If it is determined that there is an input of the parking target position (S12: Yes), the process proceeds to S13. On the other hand, when it is not determined that there is an input of the parking target position (S12: No), the process returns to S12 and the above-described determination is repeated.
In FIG. 2, the parking target position (marker P thereof) is adjusted to be parallel to the road shoulder 14 in the space between the front parked vehicle 12 and the rear parked vehicle.

In S13, a parking route until the own vehicle reaches the parking target position while avoiding the avoidance point is calculated (corresponding to “first calculation means”). At this time, the video projected on the left side of the screen 7 of the display 5, the avoidance point input in S11, and the parking target position input in S12 are referred to.
The parking path in FIG. 2 refers to avoiding the rear end of the front parked vehicle 12 and parking the host vehicle in a space between the front parked vehicle 12 and the rear parked vehicle so as to be parallel to the road shoulder 14. It is a route when making it.

  Then, after calculating the parking route in S13, it is determined in S14 whether the parking route exists. Here, when it is not determined that there is a parking route (S14: No), the process proceeds to S15, and "Parking is not possible" is displayed on the left side of the screen 7 of the display 5. Furthermore, it progresses to S16, the avoidance point input by S11 and the parking target position input by S12 are cleared, and it returns to S11.

  On the other hand, if it is determined that there is a parking route (S14: Yes), the process proceeds to S17, based on the rear image 7A (of FIG. 2) taken by the CCD camera 3 while the host vehicle is stopped. Then, a top view creation image in which the periphery of the host vehicle is viewed from a high position is created by computer graphics (corresponding to “image creation means”), and as shown in FIG. 2, the right side of the screen 7 of the display 5 Is displayed as a top view creation image 7B. At this time, the top view creation image 7B displayed on the right side of the screen 7 of the display 5 includes the front parked vehicle 12, the rear parked vehicle 13, the road shoulder 14, the avoidance point marker G, the parking target position marker P, The parking route S and the like are displayed in an overlapping manner.

  Then, after creating and displaying the top view creation image 7B in S17, the process proceeds to S18, and the movement trajectory of the host vehicle is calculated (corresponding to “second calculation means”). At this time, the steering angle calculated from the steering angle signal output from the steering angle sensor 4 to the microcomputer 2 and the travel distance calculated from the vehicle speed signal output from the combination meter 6 to the microcomputer 2 are used. .

  Thereafter, in S19, the movement trajectory of the host vehicle calculated in S18 is updated and displayed on the top view creation image 7B on the right side of the screen 7 of the display 5. In FIG. 2, since FIG. 2 is when the host vehicle is stopped obliquely in front of the forward parked vehicle 12, only the current position X of the host vehicle is the screen 7 of the display 5 as the movement locus of the host vehicle. Are superimposed on the top view creation image 7B on the right side.

  Further, in S20, it is determined whether or not the host vehicle has reached the parking target position. At this time, the image 7A displayed on the left side of the screen 7 of the display 5, the parking target position input in S12, the movement locus of the host vehicle calculated in S18, and the like are referred to. Here, when it is not determined that the host vehicle has reached the parking target position (S20: No), the process returns to S18 and the processes after S18 are repeated.

  Specifically, when parallel parking due to the backward movement of the host vehicle is started, the movement trajectory of the host vehicle is calculated again in S18, and a top view creation image on the right side of the screen 7 of the display 5 as shown in FIG. In 7B, the current position X of the host vehicle is updated and displayed. Furthermore, although the movement locus of the host vehicle is also updated and displayed, it overlaps with the parking route S in FIG. However, since the moving track of the host vehicle and the parking route S are displayed in different colors, it is possible to determine with the top view creation image 7B on the right side of the screen 7 of the display 5.

  In addition, when parallel parking by the reverse of the own vehicle is started, the direction of the video 7A on the left side of the screen 7 of the display 5 is changed with the direction of the own vehicle as shown in FIG. At this time, the predicted course of the host vehicle is calculated based on the steering angle detected from the steering angle sensor 4, and the predicted course line R is updated and displayed in the video 7A on the left side of the screen 7 of the display 5.

  On the other hand, when it is determined that the host vehicle has reached the parking target position (S20: Yes), the flowchart of FIG. 4 ends. In this case, the parallel parking by the reverse of the host vehicle is completed, and the screen 7 of the display 5 is displayed as shown in FIG.

As described above in detail, in the parking assistance device of the present embodiment, the image 7A behind the host vehicle is displayed on the screen of the display 5 as shown in FIGS. 7 is displayed on the left side.
Then, based on the video 7A behind the host vehicle photographed by the CCD camera 3 (as shown in FIG. 2), a top view creation image 7B in which the surrounding situation of the host vehicle is shown from an upper viewpoint is created (FIG. 4 S17).

  On the other hand, as shown in FIG. 2, the parking target position where the host vehicle is to be continuously stopped is indicated via the parking target position marker P based on the rear image 7 </ b> A photographed by the CCD camera 3. When the input is made with the touch panel on the left side of the screen 7 of the display 5 (S12 in FIG. 4), the parking route S from the current position of the host vehicle to the parking target position is calculated (S13 in FIG. 4). Thereafter, as shown in FIGS. 1 to 3, on the right side of the screen 7 of the display 5, the parking route S of the host vehicle is displayed over the top view creation image 7 </ b> B, so that the front parking vehicle 12 and the rear parking vehicle 13 are displayed. The relative positional relationship with respect to obstacles such as the shoulder 14 can be easily grasped.

  Further, in the parking assist device of the present embodiment, a point that the host vehicle wants to avoid during the parking operation is input via the avoidance point marker G on the left touch panel of the screen 7 of the display 5 (S11 in FIG. 4). 4, the parking route S from the current position of the host vehicle to the target parking position is calculated in consideration of such avoidance points. The parking route S is determined by the host vehicle during the parking operation. Since the avoidance point to be avoided is reflected, it is possible to further easily grasp the relative positional relationship with respect to obstacles such as the front parked vehicle 12, the rear parked vehicle 13, and the road shoulder 14.

  Moreover, in the parking assistance apparatus of this Embodiment, the movement locus | trajectory of the own vehicle is calculated from the steering angle of the own vehicle and the moving distance of the own vehicle (S18 in FIG. 4), and then on the right side of the screen 7 of the display 5 In addition to the parking route S of the host vehicle, the movement trajectory of the host vehicle is displayed superimposed on the top view creation image 7B, and the surrounding situation of the host vehicle is shown from the upper viewpoint. The movement trajectory of the own vehicle is also displayed in different colors, and the difference between the parking path S of the own vehicle and the movement trajectory of the own vehicle can be recognized at a glance, so that the front parking vehicle 12, the rear parking vehicle 13, the road shoulder 14, etc. It is possible to further easily grasp the relative positional relationship with respect to the obstacle.

  Moreover, in the parking assistance apparatus of this Embodiment, as shown in FIGS. 1-3, in the top view preparation image 7B displayed on the right side of the screen 7 of the display 5, the present position X of the own vehicle is shown. If the top view creation image 7B is viewed at a glance, the distance from the current obstacle (front parked vehicle 12, rear parked vehicle 13, road shoulder 14 etc.) to the host vehicle, Can recognize the angle of the host vehicle with respect to obstacles (front parked vehicle 12, rear parked vehicle 13, road shoulder 14, etc.), so that the obstacles (front parked vehicle 12, rear parked vehicle 13, road shoulder 14, etc.) can be recognized. The relative positional relationship can be more easily grasped.

  Moreover, in the parking assistance apparatus of this Embodiment, as shown in FIGS. 1-3, on the screen 7 of the display 5, video 7A is simultaneously displayed by the screen division | segmentation with the upper view creation image 7B, and parking target Image 7A (as shown in FIG. 2) for inputting the position and avoidance point, and image 7A (as shown in FIGS. 1 and 3) in which the predicted route R calculated from the steering angle of the host vehicle is displayed in an overlapping manner. Can be seen while corresponding to the top view creation image 7B, making it easier to grasp the relative positional relationship with respect to obstacles (front parked vehicle 12, rear parked vehicle 13, road shoulder 14 and the like). Can do.

In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning.
For example, the parking assist device according to the present embodiment has been described for the case of parallel parking in which the host vehicle is parked in the space between the front parked vehicle 12 and the rear parked vehicle 13. It can also be used in parking cases.

  Moreover, in the parking assistance apparatus of this Embodiment, as shown in FIG. 2, the parking target which wants to stop the own vehicle continuously based on the image | video 7A of the back of the own vehicle image | photographed with CCD camera 3 The position is input on the touch panel on the left side of the screen 7 of the display 5 via the marker P for the parking target position (S11 in FIG. 4), and the avoidance point that the host vehicle wants to avoid during the parking operation is indicated by the avoidance point marker G. Via the touch panel on the left side of the screen 7 of the display 5 (S12 in FIG. 4), this point, the parking target by the switch in conjunction with the marker P of the parking target position and the marker G of the avoidance point You may input a position and an avoidance point.

  Moreover, in the parking assistance apparatus of this Embodiment, as shown in FIGS. 1-3, the upper view creation image 7B displayed on the right side of the screen 7 of the display 5 was created by computer graphics. However, in this respect, the microcomputer 2 (corresponding to the “image processing means”) performs image processing on the rear image 16 (the one shown in FIG. 7) taken by the CCD camera 3 and viewed from above. The figure conversion image 7C (the one in FIG. 8) may be created, and as shown in FIG. 9, the top view conversion image 7C (the one in FIG. 8) may be incorporated into the top view conversion image 7B and displayed.

  Here, the top view conversion image 7C is a video image 16 (the one shown in FIG. 7) of the rear of the host vehicle taken by the CCD camera 3 as seen from the upper viewpoint V as shown in FIG. It has been converted. However, in the rear image 16 of the host vehicle photographed by the CCD camera 3, as shown in FIG. 7, the rear bumper 11 of the host vehicle, the front parked vehicle 12, the rear parked vehicle 13, the road shoulder 14, and the road Although the drawn sign 15 is shown, due to the field of view of the CCD camera 3, the rear view parked vehicle 13, the shoulder 14 and the sign 15 drawn on the road are shown in the top view converted image 7C of FIG. Yes.

  That is, as shown in FIG. 9, on the right side of the screen 7 of the display 5, if the top view converted image 7C is incorporated into the top view converted image 7B and displayed, the surrounding situation of the host vehicle is shown from the upper viewpoint. Since a part of the top view creation image 7B is replaced with the top view conversion image 7C that is a real image, the relative positional relationship with respect to the obstacle (the front parked vehicle 12, the rear parked vehicle 13, the road shoulder 14, etc.) is changed. The top view creation image 7B for grasping can be displayed in a more realistic state.

  Also, instead of the above-described top view conversion image 7C in FIG. 8, a top view conversion image having the same size as the top view conversion image 7B is created, and on the right side of the screen 7 of the display 5, a top view creation image is created. Instead of 7B, a top view conversion image may be displayed.

  Even in this case, since the entire top view creation image 7B in which the surrounding situation of the host vehicle is shown by the upper viewpoint is replaced with the top view conversion image that is a real image, the obstacle (rear parked vehicle 13, road shoulder) 14) can be displayed in a state closer to reality.

  Furthermore, even in this case, when the video 7A is displayed on the screen 7 of the display 5 together with the top view conversion image instead of the top view creation image 7B and is simultaneously displayed in the screen division, the parking target position and the avoidance point are input. The image 7A (the one in FIG. 2) and the image 7A (the one in FIGS. 1 and 3) on which the predicted route R calculated from the steering angle of the host vehicle is displayed are superimposed on the top view creation image 7B. Since the image can be viewed while corresponding to the alternative top view conversion image, it is possible to further easily grasp the relative positional relationship with respect to the obstacle (such as the rear parked vehicle 13 and the road shoulder 14).

  Moreover, in the parking assistance apparatus of this Embodiment, based on the image | video 7A (the thing of FIG. 2) of the back of the own vehicle image | photographed with the CCD camera 3 when the own vehicle stopped in S17 of FIG. The top view creation image of the periphery of the vehicle viewed from a high position was created by computer graphics. On this point, the top view creation image was updated based on the change in the image 7A due to the movement of the host vehicle, On the right side of the screen 7 of FIG. 5, the updated top view creation image may be displayed and the parking route S of the host vehicle may be displayed in an overlapping manner. In this case, since the top view creation image in which the surrounding situation of the own vehicle is shown by the upper viewpoint is replaced with one corresponding to the current state of the own vehicle, the front parked vehicle 12, the rear parked vehicle 13, the road shoulder 14, etc. It is possible to further easily grasp the relative positional relationship with respect to the obstacle.

In the parking assistance apparatus of this invention, it is the figure which showed an example of the screen of the display displayed while the own vehicle is reverse | retreating by parallel parking operation. In the parking assistance apparatus of this invention, it is the figure which showed an example of the screen of the display displayed when inputting a parking target position and an avoidance point. In the parking assistance apparatus of this invention, it is the figure which showed an example of the screen of the display displayed when parallel parking operation is completed. It is a flowchart figure of the parking assistance apparatus of this invention. It is a block diagram of the parking auxiliary device of the present invention. In the parking assistance apparatus of this invention, it is the figure which showed each viewpoint and visual field of the image | video and top view conversion image which were image | photographed with the CCD camera. In the parking assistance apparatus of this invention, it is the figure which showed an example of the image | video image | photographed with the CCD camera while the own vehicle stopped. In the parking assistance apparatus of this invention, it is the figure which showed an example of the top view conversion image. In the parking assistance apparatus of this invention, it is the figure which showed an example of the screen of the display which displayed what incorporated the top view conversion image into a part of top view creation image. FIG. 10 is a diagram showing a display example of a monitor television screen in a conventional “vehicle rear monitoring monitor device”.

Explanation of symbols

2 Microcomputer 3 CCD camera 4 Steering angle sensor 5 Display 6 Combination meter 7 Display screen 7A Video 7B Top view creation image 7C Top view conversion image 16 Video R Expected route P Parking target position marker G Avoidance point marker S Parking route X Current position

Claims (6)

In the parking assistance device that images the peripheral field of view of the host vehicle with a camera and displays a peripheral image of the host vehicle on a display device based on the video from the camera.
A first image viewed from a first viewpoint is created based on a video from the camera, and a second image viewed from a second viewpoint different from the first viewpoint is created. A parking assist device, wherein the second image is displayed on the display means. In the parking assistance device that images the peripheral field of view of the vehicle with the camera and displays the peripheral image on the display device based on the video from the camera,
Image creating means for creating a first image based on video from the camera;
A top view conversion means for creating a second image representing the periphery in the top view of the host vehicle by converting the viewpoint of the first image from the camera;
The said display means displays the said 1st image and the said 2nd image simultaneously at the time of parking operation, The parking assistance apparatus characterized by the above-mentioned. 3. The predicted course line of the host vehicle is obtained based on a steering angle, and the predicted course line is superimposed and displayed on at least one of the first image and the second image. The parking assistance device described. First input means for inputting a target parking target position of the host vehicle, and first calculation means for calculating a parking route from the current position of the host vehicle to the target parking position, The parking assistance device according to claim 1, wherein a parking route is displayed in a superimposed manner on at least one of the first image and the second image. The vehicle further comprises second input means for inputting an avoidance point to be avoided by the host vehicle, wherein the first input means calculates a parking route from the avoidance point to the parking target position. The parking assist device according to claim 4. The parking assist device according to claim 2, wherein the image creation unit updates the top view creation image based on a change in the video caused by movement of the host vehicle.

Images