JP2005343417A - Parking assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assisting device for assisting parking by taking images around an own vehicle and using the taken image whereby a positional relationship between a whole of the own vehicle and a parking space can be easily grasped through the display image, and steering operation to be performed next can be intuitively understood. <P>SOLUTION: This parking assisting device is provided with cameras c1 and c2 for taking the images around the own vehicle, a parking space detection part 7b for detecting a parking space among the taken images of the cameras c1 and c2, a positional relationship calculation part 7c for calculating the positional relationship between the detected parking space and the whole of the own vehicle 3 from a front end to a rear end based on the detected result of the parking space detection part 7b, an image preparing part 7g for preparing the display image showing the positional relationship between the detected parking space and the whole of the own vehicle 3 from the front end to the rear end based on the calculated result of the positional relationship calculation part 7c, and a display device 9 for displaying the prepared display image. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a parking assist device that assists driving during parking.

  Among parking assist devices, there is one that captures the periphery of the host vehicle and performs parking assist using the captured image. In this type of parking assist device (prior art 1), when imaging the periphery of the vehicle (for example, behind the vehicle), the captured image is captured so that a part of the vehicle (for example, a bumper) is reflected, and the imaging is performed. The image is displayed on the display device, so that the driver can easily grasp the sense of distance between the obstacle and the vehicle.

  Some parking assist devices perform parking assist using obstacle sensors installed at each part (for example, four corners) of the own vehicle. In this type of parking assist device (Prior Art 2), when an obstacle is detected by the obstacle sensor, a warning sound is given to that effect and the vehicle mark is displayed on a display device dedicated to the obstacle sensor. The corresponding position on the vehicle's own vehicle mark (the location of the obstacle sensor that has reacted) is lit and displayed, making it easy for the driver to detect that the obstacle has been detected and the position of the obstacle. I try to understand it.

  In the above-described prior art 1, only a part of the host vehicle is shown in the display image, so the positional relationship between the entire host vehicle and the parking space (for example, the front-rear direction of the host vehicle and the entrance / exit direction of the parking space) It is difficult to grasp the angle relationship), and it is difficult to intuitively understand the steering operation to be performed next.

  In addition, when the conventional technology 1 and the conventional technology 2 are used in combination, the display device for the captured image and the display device for the obstacle sensor are separate, so when viewing both display devices, the line-of-sight movement increases. There is a drawback that visibility is not good.

  SUMMARY OF THE INVENTION Accordingly, a first object of the present invention is to facilitate the positional relationship between the entire vehicle and the parking space through the display image in a parking assist device that captures the periphery of the vehicle and performs parking assist using the captured image. To provide a parking assist device that can intuitively understand the operation of the steering wheel to be performed next, and secondly, when it is further combined with an obstacle sensor, the position of the detected obstacle (which vehicle There is a need to provide a parking assist device capable of grasping an obstacle close to a part) and the positional relationship between the entire vehicle and the parking space without moving the line of sight.

  In order to solve the above-mentioned problems, the invention according to claim 1 is characterized in that an image pickup means for picking up an area around the own vehicle, a parking space detection means for detecting a parking space from a picked-up image of the image pickup means, and the parking space. Based on the detection result of the detection means, the positional relationship calculation means for calculating the positional relationship between the detected parking space and the entire vehicle, and the parking space detected based on the calculation result of the positional relationship calculation means And an image creation means for creating a display image showing the positional relationship between the vehicle and the entire vehicle, and a display means for displaying the created display image.

  According to a second aspect of the present invention, the parking space detecting means detects the parking space based on a white line from the captured image.

The invention according to claim 3 further comprises obstacle detection means for detecting obstacles around the own vehicle,
The image creation means creates the display image by further indicating the position of the obstacle detection means that detected the obstacle at a corresponding position on the display image.

  The invention according to claim 4 is a recommended steering for calculating a recommended steering angle for guiding the host vehicle to a predetermined parking position in the parking space based on the positional relationship calculated by the positional relationship calculating means. An angle calculating means; and a determining means for determining whether the shift is shifted to the left or right when the steering angle of the steering wheel of the host vehicle is deviated from the recommended steering angle. The determination result of the determination means is further shown on the display image to create the display image.

  When the steering angle of the steering wheel of the host vehicle is shifted to the left side of the recommended steering angle, voice guidance is performed so that the steering angle of the steering wheel is operated to the right side. When the steering angle of the steering wheel is shifted to the right side of the recommended steering angle, voice guidance means for performing voice guidance so as to operate the steering angle of the steering wheel to the left side is further provided.

  The invention according to claim 6 is a recommended steering angle for calculating a recommended steering angle for guiding the host vehicle to a predetermined parking position in a parking space based on the positional relationship calculated by the positional relationship calculating means. When the calculation means and the steering angle of the steering wheel of the own vehicle change in a direction away from the recommended steering angle, the steering force of the steering wheel is increased, and / or the steering angle of the steering wheel of the own vehicle is the recommended steering angle. And a steering force control means for reducing the steering force of the steering wheel.

  According to the first aspect of the present invention, since the display image showing the positional relationship between the parking space and the entire vehicle is displayed on the display means, the positional relationship between the parking space and the entire vehicle is determined through the display image. It can be easily grasped visually, and the handle operation to be performed next can be intuitively understood.

  Further, since the parking space is detected using the captured image of the imaging means, the existing imaging means can be utilized and the parking space can be detected by an inexpensive method.

  According to the invention described in claim 2, since the parking space is detected from the captured image based on the white line, the parking space can be detected by a simple method.

  According to the third aspect of the present invention, the obstacle detecting means for detecting an obstacle around the host vehicle is further provided, and the position of the obstacle detecting means that has detected the obstacle is a corresponding position on the display image. In addition, since a display image is created, the position of the obstacle detection means that detected the obstacle without moving the line of sight through the display image (that is, in which vehicle corner has an obstacle when further combined with an obstacle sensor) And the positional relationship between the entire vehicle and the parking space.

  According to the fourth aspect of the present invention, when the steering angle of the steering wheel of the host vehicle is deviated from the recommended steering angle, it is determined whether the deviation is deviated to the left or right side, and the determination result is displayed on the display image. Since the display image is created as shown in FIG. 5, the handle operation to be performed next can be easily understood through the display image.

  According to the fifth aspect of the present invention, when the steering angle of the steering wheel of the host vehicle is shifted to the left side of the recommended steering angle, the voice guidance is performed so as to operate the steering angle of the steering wheel to the right side, If the steering angle of the steering wheel is deviated to the right of the recommended steering angle, voice guidance is performed so that the steering angle of the steering wheel is operated to the left side. it can.

  According to the sixth aspect of the present invention, when the steering angle of the steering wheel of the own vehicle changes in a direction away from the recommended steering angle, the steering force of the steering wheel is increased, and / or the steering angle of the steering wheel of the own vehicle. Is changed in a direction approaching the recommended steering angle, the steering force of the steering wheel is reduced, so that the operation of the steering wheel to be performed next can be easily understood through the steering force of the steering wheel.

<Embodiment>
As shown in FIG. 1, the parking assist device 1 according to this embodiment includes one or more (here, two) cameras (imaging means) c1 and c2 that are installed in the own vehicle 3 and image the periphery of the own vehicle. Obstacle sensors (obstacle detection means) s1 to s4 that are installed at each part of the own vehicle 3 (here, the four corners of the own vehicle 3) and detect obstacles around the own vehicle, and images taken by the cameras c1 and c2 and obstacles A signal processing device 7 that creates a display image G for parking assistance (see FIG. 2) using the detection results of the object sensors s1 to s4, and a display that is installed in the cabin of the host vehicle 3 and created by the signal processing device 7 A display device (display means) 9 for displaying the image G;

  The camera c1 (c2) is installed at the front end (rear end) of the host vehicle 3 and images the front of the host vehicle (the rear of the host vehicle) so that the road surface is reflected. As the obstacle sensor s1 (s2, s3, s4), for example, an existing ultrasonic sensor that detects an approach to an obstacle is used, and the front left corner (front right corner, rear left corner) of the vehicle 3 is used. Obstacles located near the corner are detected.

  The signal processing device 7 includes a camera selection unit 7a that selects one of the cameras c1 and c2 based on a vehicle signal or an input operation from a predetermined operation unit, and a camera c1 selected by the camera selection unit 7a. Alternatively, the parking space detected by the parking space detecting unit 7b based on the detection result of the parking space detecting unit (parking space detecting means) 7b for detecting the parking space from the captured image of c2 and the parking space detecting unit 7b. The vehicle 3 is parked on the basis of the calculation result of the positional relationship calculation unit (positional relationship calculation means) 7c that calculates the positional relationship between the vehicle and the front end to the rear end of the vehicle 3 and the positional relationship calculation unit 7c. The recommended steering angle calculation unit 7d that calculates a recommended steering angle for guiding to a predetermined parking position in the space, and the steering angle of the steering wheel of the host vehicle 3 are deviated from the recommended steering angle. In this case, a determination unit (determination means) 7e that determines whether the shift is shifted to the left or right side, and a travel prediction that calculates a travel predicted route 15 (see FIG. 2) based on the steering angle of the steering wheel of the host vehicle 3. A route calculation unit 7f, an image creation unit (image creation unit) 7g that creates a display image G for parking assistance based on the processing results of the processing units 7c, 7e, and 7f and the detection results of the obstacle sensors s1 to s4; Is provided.

  The camera selection unit 7a selects the camera c2 when, for example, the shift position is the back (when the vehicle is parked backward), and selects the camera c1 when the shift position is the drive (when the vehicle is parked forward), for example.

  The parking space detection unit 7b detects a white line (image recognition) based on a change in color or luminance in the captured image, for example, from the captured image of the selected camera c1 or c2, and is a part surrounded by the white line Is detected as a parking space.

  The positional relationship calculation unit 7c, for example, the reflection position and the reflection shape of the parking space on the captured image (or the reflection position and reflection direction of the white line) and the vehicle 3 registered in advance. Based on the vehicle size information (information on the shape and size of the host vehicle), the positional relationship between the detected parking space and the entire front end to the rear end of the host vehicle 3 is calculated.

  For example, the recommended steering angle calculation unit 7d calculates a recommended route from the current position of the host vehicle 3 to a predetermined parking position in the parking space based on the calculation result of the positional relationship calculation unit 7c, and uses the recommended route as the recommended route. The steering angle of the steering wheel of the vehicle 3 at the current position of the vehicle 3 for traveling along the vehicle is calculated, and the steering angle is set as the recommended steering angle. When an obstacle is detected by the obstacle sensors s1 to s4, a recommended route may be calculated so as to avoid the obstacle.

  The determination unit 7e compares the steering angle of the steering wheel of the host vehicle 3 with the recommended steering angle calculated by the recommended steering angle calculation unit 7d. As described above, the steering angle of the steering wheel is deviated from the recommended steering angle. In this case, it is determined whether the shift is shifted to the left side or the right side of the recommended steering angle.

  For example, as shown in FIG. 2, the image creation unit 7 f calculates the positional relationship calculation unit 7 c (the positional relationship between the parking space detected by the parking space detection unit 7 b and the entire vehicle) as the display image G described above. Based on the above, a bird's-eye view image g showing the positional relationship between the parking space detected by the parking space detecting unit 7b and the entire vehicle 3 from the front end to the rear end in plan view is created. The processing results of the processing units 7e and 7f and the detection results of the obstacle sensors s1 to s4 are created above.

  Here, the above-described overhead image g is, for example, a background image such as a plain image on which the parking space detected by the parking space detection unit 7b is represented by a parking space mark (white line mark that defines the range of the parking space) 5a. The vehicle 3 is shown and created by a vehicle mark (a graphic representing the entire vehicle from the front end to the rear end) 3a. Note that the above-described overhead image g is converted into an image that looks like the captured image of the detected parking space is captured from directly above, and the overhead image that is configured using the viewpoint-converted image. The vehicle 3 may be created by indicating the vehicle 3 with the vehicle mark 3a.

  In addition, the above-mentioned bird's-eye view image g is created by showing the parking space mark 5a on the lower portion of the bird's-eye view image g so that the entrance / exit portion c of the parking space is directed upward when the vehicle is reversely parked. On the other hand, in the case of forward parking, the parking space mark 5a is shown on the upper part of the overhead image g so that the entrance / exit part c of the parking space is directed downward. Is done.

  The determination result of the determination unit 7e is shown on the display image G by changing the combination of the colors of the left and right end portions gl and gr of the display image G according to the determination result. That is, when the steering angle of the steering wheel of the host vehicle 3 coincides with the recommended steering angle, the left and right ends gl and gr of the display image G are displayed in the same color, for example, green, as shown in FIG. On the other hand, when the steering angle of the steering wheel is shifted to the left side (right side) of the recommended steering angle, for example, the left end portion gl (right end portion gr) of the display image G is displayed in orange, for example, as shown in FIG. The right end portion gr (left end portion gl) of G is displayed in green, for example.

  Here, on the display image G, as shown in FIGS. 2 and 3, a vehicle extension line 16 that matches the vehicle width of the host vehicle 3 is also shown together with the travel prediction route 15.

  Further, here, on the display image G, the parking space mark 5a is shown fixed, and the host vehicle mark 3a is shown to move in accordance with the traveling of the host vehicle 3.

  Further, the detection results of the obstacle sensors s1 to s4 described above are, for example, in the vicinity of the vehicle mark 3a in which the positions of the obstacle sensors s1 to s4 that detected the obstacle are shown on the display image G as shown in FIG. By being displayed by a predetermined mark (for example, star mark) 17 at a corresponding position, it is shown on the display image G. For example, when the obstacle sensor s3 at the rear left corner of the vehicle 3 detects an obstacle, the star mark 17 is displayed at the rear left corner of the vehicle mark 3a as shown in FIG. It is.

  With this configuration, in the parking assist device 1, for example, the display image 9 shown in FIG. 2 is displayed on the display device 9 during reverse parking, and the positions of the parking space mark 5 a and the vehicle mark 3 a shown in the display image G are displayed. The positional relationship between the actual parking space and the whole from the front end to the rear end of the own vehicle 3 is visually notified by the relationship, and the stars shown around the own vehicle mark 3a shown in the display image G The mark 17 notifies that there is an obstacle at a corresponding position around the vehicle. Thereby, the positional relationship between the actual parking space and the whole from the front end to the rear end of the own vehicle 3 is easily grasped, and the position of the obstacle around the own vehicle is grasped without moving the line of sight.

  Further, the color of the both ends gl and gr of the display image G notifies whether the steering angle of the steering wheel of the host vehicle 3 is shifted to the left or right with respect to the recommended steering angle. As a result, it can be easily grasped whether the handle should be turned to the left or right. Further, the travel predicted route 15 and the vehicle extension line 16 shown in the display image G notify the route through which the host vehicle 3 passes in advance. The same applies to the case of forward parking.

  According to the parking assist device 1 configured as described above, the display image G showing the positional relationship between the parking space and the entire front end to the rear end of the host vehicle 3 is displayed on the display device 9. Through the display image G, the positional relationship between the parking space and the entire front end to the rear end of the host vehicle 3 can be easily grasped visually, and the steering operation to be performed next can be intuitively understood.

  In addition, since the parking space is detected using the captured images of the cameras c1 and c2, the existing vehicle surrounding imaging camera can be used and the parking space can be detected by an inexpensive method.

  Further, since the positional relationship between the parking space and the own vehicle 3 is indicated on the display image G using the parking space mark 5a and the own vehicle mark 3a, the positional relationship between the parking space and the own vehicle 3 is schematic and easy to understand. Can be shown.

  In addition, the positional relationship between the parking space and the vehicle 3 on the display image G is indicated by using the captured vehicle image in which the parking space is reflected as a bird's-eye view image from directly above and the vehicle mark 3a. In this case, the positional relationship between the parking space and the own vehicle 3 can be shown in a live-action and easy-to-understand manner.

  Moreover, since the parking space is detected based on the white line from the captured image, the parking space can be detected by a simple method.

  Also, obstacle sensors s1 to s4 that detect obstacles around the vehicle are provided, and the positions of the obstacle sensors s1 to s4 that detect the obstacles correspond to the corresponding positions on the display image G using the predetermined marks 17. Since the display image G is further shown, the positions of the obstacle sensors s1 to s4 that detected the obstacle without moving the line of sight through the display image G when combined with the obstacle sensors s1 to s4 ( That is, it is possible to grasp which vehicle corner is near an obstacle) and the positional relationship between the entire vehicle 3 and the parking space.

  Further, when the steering angle of the steering wheel of the vehicle 3 is deviated from the recommended steering angle, it is determined whether the deviation is deviated to the left or right side, and the determination result is further displayed on the display image G, for example, the display image G Since the display image G is created as indicated by the colors of the left and right ends gl and gr, the operation of the handle to be performed next can be easily understood through the display image G. In particular, since the determination result is shown using colors, it is easy to grasp the determination result sensuously.

<Modification 1>
In the above embodiment, when the steering angle of the steering wheel of the host vehicle 3 is shifted to the left side of the recommended steering angle, voice guidance is performed so that the steering angle of the steering wheel is operated to the right side (for example, “ If the steering angle of the steering wheel of the host vehicle 3 is shifted to the right side of the recommended steering angle, the steering angle of the steering wheel is operated to the left side. A voice guide device (not shown) may be provided that performs voice guidance (for example, voice guidance such as “Please come to the left”). In this way, the operation of the handle to be performed next can be easily understood through the voice guide.

<Modification 2>
In the above embodiment, when the steering angle of the steering wheel of the own vehicle 3 changes in a direction away from the recommended steering angle, the steering force of the steering wheel is made heavier than usual, and / or When the steering angle of the steering wheel changes in a direction approaching the recommended steering angle, a steering force control device (not shown) that makes the steering force of the steering wheel lighter than usual may be provided. In this way, the operation of the steering wheel to be performed next can be easily understood through the steering force of the steering wheel.

1 is a schematic configuration diagram of a parking assist device according to an embodiment of the present invention. It is an example figure (figure in case a steering wheel steering angle is in agreement with a recommended steering angle) displayed on a display of a parking assistance device concerning an embodiment of the invention. It is another example figure (figure when a steering wheel steering angle has shifted to the left of a recommended steering angle) on a display picture displayed on a display of a parking assistance device concerning an embodiment of the invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 3 Own vehicle 5 Obstacle sensor 7 Signal processing apparatus 7b Parking space detection part 7c Positional relationship calculation part 7d Recommended steering angle calculation part 7e Judgment part 7f Image creation part 9 Display apparatus c1, c2 Camera s1-s4 Obstacle Sensor

Claims (6)

Imaging means for imaging the periphery of the vehicle;
Parking space detection means for detecting a parking space from the captured image of the imaging means;
Based on the detection result of the parking space detecting means, a positional relationship calculating means for calculating a positional relationship between the detected parking space and the entire vehicle;
Based on the calculation result of the positional relationship calculating means, an image creating means for creating a display image showing the positional relationship between the detected parking space and the entire vehicle;
Display means for displaying the created display image;
A parking assist device comprising:   The parking assist device according to claim 1, wherein the parking space detection unit detects the parking space based on a white line from the captured image. It further comprises obstacle detection means for detecting obstacles around the vehicle,
3. The display image according to claim 1, wherein the image creation unit creates the display image by further indicating a position of the obstacle detection unit that detected the obstacle at a corresponding position on the display image. The parking assist device described. Based on the positional relationship calculated by the positional relationship calculating means, recommended steering angle calculating means for calculating a recommended steering angle for guiding the host vehicle to a predetermined parking position in the parking space;
Determination means for determining whether the shift is shifted to the left or right side when the steering angle of the steering wheel of the host vehicle is shifted from the recommended steering angle;
The parking assist device according to any one of claims 1 to 3, wherein the image creating unit creates the display image by further showing the determination result of the determining unit on the display image.   When the steering angle of the steering wheel of the host vehicle is shifted to the left side of the recommended steering angle, voice guidance is performed so that the steering angle of the steering wheel is operated to the right side, and the steering angle of the steering wheel of the host vehicle is set to the recommended steering angle. 5. The parking assist device according to claim 4, further comprising voice guide means for performing voice guidance so as to operate the steering angle of the steering wheel to the left when the steering angle is shifted to the right side of the steering wheel.   When the steering angle of the steering wheel of the host vehicle changes in a direction away from the recommended steering angle, the steering force of the steering wheel is increased, and / or the steering angle of the steering wheel of the host vehicle approaches the recommended steering angle. The parking assist device according to claim 4, further comprising a steering force control unit that reduces a steering force of the steering wheel when the steering wheel changes.

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