JP2006117165A - Parking assistance device - Google Patents

Parking assistance device Download PDF

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Publication number
JP2006117165A
JP2006117165A JP2004308688A JP2004308688A JP2006117165A JP 2006117165 A JP2006117165 A JP 2006117165A JP 2004308688 A JP2004308688 A JP 2004308688A JP 2004308688 A JP2004308688 A JP 2004308688A JP 2006117165 A JP2006117165 A JP 2006117165A
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Prior art keywords
parking
parking frame
locus
vehicle
track
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JP2004308688A
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Japanese (ja)
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Yoshinori Kusayanagi
佳紀 草柳
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Nissan Motor Co Ltd
日産自動車株式会社
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Priority to JP2004308688A priority Critical patent/JP2006117165A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assistance device capable of preparing a retreating track by a parking track in which the retreating track of an own vehicle is not brought into contact with a parking frame and a parking frame opposed space is minimized by considering the size of the parking frame. <P>SOLUTION: The innermost peripheral track and the outermost peripheral track are memorized when an own vehicle turns from an optional reference point at the smallest turning radius. When driving operation that the own vehicle is retreated and is parked in a predetermined parking frame is assisted, width of the parking frame and a distance in a depth direction of the parking frame are detected and a central point coordinate in the width of the parking frame is set to a reference point 105. The reference point 105 is moved in the depth direction of the parking frames 101, 102 and a parking frame 102 direction in a range that they are not brought into contact with the parking frames 101, 102 to set a new reference point 105''. The smallest turning radius track 106'', the outermost peripheral track 107'' and the innermost peripheral track 108'' for parking the vehicle at the reference point 105'' are prepared and displayed. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a parking support device that supports a parking operation in which a host vehicle moves backward while turning and parks in a predetermined parking frame.

  Conventionally, as a technology for assisting an operation of moving the host vehicle backward and parking at a target parking position, a parking assistance device described in Patent Document 1 below and a vehicle guidance device described in Patent Document 2 are known. It has been.

  The parking assist device described in Patent Document 1 is based on the relative positional relationship between the target parking position set by the input switch and the current position of the own vehicle. It is possible to fit in the parking frame. At this time, the parking assist device adjusts the steering wheel within the range of the maximum steering angle in the right direction or the maximum steering angle in the left direction from the neutral position.

Moreover, the vehicle guidance device described in Patent Document 2 sets the final parking position at the midpoint connecting the end portions of the parking frame line, and then moves the host vehicle backward.
Japanese Patent Laid-Open No. 2003-300443 Japanese Patent No. 3362569

  However, in the parking assist device described in Patent Document 1 described above, although the size of the parking frame, such as the width and depth, varies depending on the individual parking lot, the parking frame is finally placed at an arbitrary position in the depth direction of the parking frame. Since the parking position is set, there is a problem that it is determined that parking is possible even when the innermost track or the outermost track of the host vehicle may contact the parking frame. .

  On the other hand, even when the final parking position is set to the midpoint connecting the end portions of the parking frame line as in the vehicle guidance device described in Patent Document 2, the parking frame required for parking is required. There is a problem that a space facing the vehicle, that is, a parking frame facing space that is necessary in the previous stage of moving backward toward the parking frame, is widely required and cannot be applied to a narrow parking lot.

  Therefore, the present invention has been proposed in view of the above-described situation, and by considering the size of the parking frame, the backward trajectory of the host vehicle is not brought into contact with the parking frame, and the parking frame facing space is reduced. It is an object of the present invention to provide a parking assist device that can create a backward trajectory with a minimized parking trajectory.

  The parking assist device according to the present invention stores the innermost track and the outermost track when the host vehicle turns with a minimum turning radius from an arbitrary reference point in the track storage unit, and moves the host vehicle backward, When assisting a driving operation for parking in a predetermined parking frame, the width of the parking frame and the distance in the depth direction of the parking frame are detected by the parking frame detection unit, and detected by the parking frame detection unit by the parking locus calculation unit. The middle point coordinate in the width of the parking frame is set as a reference point, the innermost track and the outermost track stored in the track storage means are transformed into the innermost track and the outermost track relative to the reference point, By the trajectory changing means, the coordinates are changed to the parking trajectory in which the innermost peripheral trajectory and the outermost peripheral trajectory calculated by the parking trajectory calculating means are moved in the depth direction of the parking frame within a range not contacting the parking frame, and the display means , With parking locus changing means And further it has been the innermost track and the outermost track, by displaying the detected parking frame in the parking space detecting means, to solve the problems described above.

  According to the parking assist device of the present invention, the width of the parking frame and the distance in the depth direction are detected, and the innermost track and the outermost track when the host vehicle is moved backward are within a range that does not contact the parking frame. Since the coordinates are changed to the parking locus moved in the depth direction of the parking frame, it is possible to create the reverse locus of the host vehicle without contacting the parking frame, as well as facing the parking frame by turning with the minimum turning radius A parking locus with a minimum space can be created.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
[Configuration of parking assist device]
The present invention is applied to, for example, a parking assistance device configured as shown in FIG. In the parking assist device according to the first embodiment, for example, the control unit 1 is accommodated in the instrument panel of the host vehicle, and the control unit 1 can be visually recognized by the driver with the camera 2 having the rear side of the host vehicle as the imaging direction. A monitor 3 provided with a display screen at a position is connected.

  The camera 2 is installed, for example, on the rear bumper of the vehicle body of the host vehicle, and the imaging direction is restricted to the rear of the vehicle and the optical parameters such as the angle of view are designed. Further, the camera 2 may be a blind spot presentation camera that is installed at the front end of the vehicle and captures the left and right lateral directions, or a rear view camera that is installed at the rear end of the vehicle and captures the rear side. .

  In this example, the camera 2 images the parking frame behind the vehicle so as to support the operation of the host vehicle moving backward and parking in a predetermined parking frame, and the camera video data obtained by the imaging is used as the control unit 1. Output to. At this time, the operation of the camera 2 is controlled by the control unit 1 and is controlled by the control unit 1 so as to start when a predetermined start switch is operated or when the range of the host vehicle is operated to the back range. Get camera video data.

  The monitor 3 includes, for example, a liquid crystal display included in the navigation system, a HUD that projects an image on a combiner formed on the front window, and the like. The monitor 3 is supplied with camera image data captured by the camera 2 via the control unit 1 and processing results of the control unit 1, and presents various information to the driver.

  Specifically, the monitor 3 is supplied with display data indicating the parking locus of the host vehicle as the calculation result of the control unit 1. Here, the parking locus is displayed in order to assist the parking operation in accordance with the operation of the host vehicle in the previous stage of the operation of moving the host vehicle backward and parking in the parking frame. In addition, the operation of the host vehicle in the previous stage of the parking operation is an operation of temporarily stopping the host vehicle obliquely forward with respect to the parking frame in order to move the host vehicle backward and park in the parking frame.

  For example, the control unit 1 stores a parking support program in a ROM (Read Only Memory) (not shown) and executes the parking support program by a CPU (Central Processing Unit), thereby including each unit 11 to 15 described later. That is, the control unit 1 includes an image processing unit 11 connected to the camera 2, a parking locus calculation unit 12, a host vehicle rotation locus storage unit 13, a minimum parking locus calculation unit 14, and a drawing unit connected to the monitor 3. 15.

  The image processing unit 11 is supplied with camera video data captured by the camera 2 and performs edge detection processing on the camera video data. Then, the image processing unit 11 compares the edge strength and edge shape of the camera video data with the edge strength and edge shape indicating the parking frame line obtained in advance, and the image of the parking frame line behind the host vehicle. Specify the inner position. At this time, the image processing unit 11 determines how far the pixel corresponding to the parking frame line is from the own vehicle from the fixed position of the camera 2 stored in advance and the angle of view and the focal length of the camera 2. Determine if it is located.

  Thereby, the image processing unit 11 detects the two vehicle frame side ends (two locations) drawn on the road surface and the distance in the depth direction of the parking frame, and the two parking frames. The coordinate data indicating the end position of the line (parking frame line end) and the distance data indicating the distance in the depth direction of the parking frame are output to the parking locus calculation unit 12.

  The own vehicle rotation trajectory storage unit 13 passes through the minimum turning radius information when the steering wheel of the own vehicle is moved backward with the maximum steering angle in the right direction or the left direction, and the end of the vehicle body when turning at the minimum turning radius. The innermost track (innermost track information) and the outermost track (outermost track information) when turning at the minimum turning radius are stored. Each information stored in the own vehicle rotation locus storage unit 13 is information unique to the own vehicle that is measured in advance based on each parameter in the steering system such as the width of the own vehicle, the maximum steering angle, and the like. Is read into the parking locus calculator 12.

  The minimum turning radius information, the innermost track information, and the outermost track information are a set of coordinate data relative to an arbitrary reference point. The minimum turning radius information is a group of coordinates indicating the trajectory in which the center position of the vehicle width moves from the reference point when the maximum rudder angle is set to the left or right, and the innermost track information is the left or right maximum rudder. This is a group of coordinates indicating the trajectory of the vehicle's inner peripheral edge moving with respect to the reference point when the angle is set, and the outermost peripheral locus information indicates that the vehicle's outer peripheral edge is the reference point when the left or right maximum steering angle is used. It is a coordinate group which shows the locus | trajectory which moves with respect to it.

  The parking locus calculation unit 12 uses the midpoint of a straight line (end connection line) connecting the two parking frame line ends detected by the image processing unit 11 as a reference point, and is a reference point from the current position of the host vehicle. The parking locus up to the parking frame is calculated. At this time, the parking locus calculation unit 12 performs coordinate conversion of the coordinate group of the minimum turning radius information with respect to the set reference point, converts the coordinate group of the innermost track information with respect to the set reference point, and sets The parking locus is calculated by converting the coordinate group of the outermost periphery restriction information with respect to the reference point. The details of the parking locus calculation process will be described later.

  The minimum parking locus calculation unit 14 calculates the size of the parking frame line obtained from the coordinate data indicating the end positions of the two parking frame lines detected by the image processing unit 11 and the distance data indicating the length of the parking frame in the depth direction. Based on the above, the parking locus calculated by the parking locus calculator 12 calculates a minimum parking locus that does not contact the parking frame line or the adjacent vehicle and has a small space facing the parking frame.

  The drawing unit 15 creates display data in which the parking locus calculated by the minimum parking locus calculating unit 14 and the camera image data captured by the camera 2 are superimposed. This display data simultaneously indicates the parking frame line behind the host vehicle and the parking locus calculated by the minimum parking locus calculator 14.

[Parking locus optimization process]
Next, in the parking assistance apparatus configured as described above, a process for optimizing the parking locus of the host vehicle by the control unit 1 will be described with reference to the flowchart of FIG. In addition, in this example, when parking the own vehicle in parallel, the case where the locus | trajectory for parking in a parking frame is changed into an optimal position is shown.

  First, in step S1, for example, when the start switch is operated and the power is turned on to start the control unit 1, the control unit 1 proceeds to the processing after step S2. Here, for example, a start switch (not shown) that is operated when the driver displays a parking locus on the monitor 3 by the parking assist device is provided, and when the host vehicle approaches the parking frame, The following processing is performed when the activation switch is operated.

  Next, in step S <b> 2, the control unit 1 inputs camera video data captured by the camera 2, and the image processing unit 11 performs edge detection processing on the camera video data. Thereby, coordinate data indicating the position of the pair of left and right parking frame lines in the camera image and distance data indicating the distance in the depth direction of the parking frame line are detected.

  Here, as shown in FIG. 3, when the parking frame lines 101 and 102 exist, the host vehicle is in a direction opposite to the depth direction and is opposed to the parking frame lines 101 and 102 (parking). It is located in the frame facing space) and starts reverse. Then, the control unit 1 acquires the camera video data from the camera 2 when the host vehicle is located in the parking frame facing space, detects the positions of the parking frame line end portions 101 ′ and 102 ′, Distance data from the parking frame line ends 101 ′ and 102 ′ to the position of the parking frame 103 in the depth direction is detected. Here, the positions of the parking frame line end portions 101 ′ and 102 ′ may be held at the coordinates of the inner end portion in the width direction of the parking frame line 101 and 102, and the width direction of the parking frame line 101 and 102 may be maintained. It may be held as a plurality of coordinates arranged in a row.

  Next, in step S3, the control unit 1 obtains a straight line (end connecting line 104) connecting the parking frame line ends 101 ′ and 102 ′ detected in step S2, as shown in FIG. The coordinates of the reference point 105, which is the midpoint of the end connection line 104, are obtained. Note that the processing for obtaining the end connection line 104 and the reference point 105 may be performed in step S2.

  Then, the control unit 1 sets the minimum turning radius locus 106, the outermost circumference locus 107, and the innermost circumference locus 108 of the own vehicle based on the reference point 105 as shown in FIG. . That is, the parking locus calculation unit 12 obtains the direction of the vehicle with respect to the parking frame lines 101 and 102, for example, and determines that it is located in the parking frame facing space on the left front with respect to the parking frame lines 101 and 102, Starting from the reference point 105 on the end connection line 104, a minimum turning radius locus 106, an outermost periphery locus 107, and an innermost periphery locus 108 extending from the reference point 105 to the left front are obtained.

  At this time, the parking locus calculation unit 12 reads the minimum turning radius information stored in the own vehicle turning locus storage unit 13, and uses the reference point 105 as a reference, and the relative coordinates that are the minimum turning radius information based on the reference point coordinates. The group is converted to obtain a minimum turning radius locus 106 composed of a new coordinate group. Similarly, the parking locus calculation unit 12 reads out the innermost circumference locus information and the outermost circumference locus information stored in the own vehicle rotation locus storage unit 13, uses the reference point 105 as a reference, and uses the reference point coordinates as the innermost circumference locus. The relative coordinate group, which is the information and the outermost track information, is converted to obtain the outermost track 107 and the innermost track 108 composed of new coordinate groups. The outermost track 107 and the innermost track 108 are outer and inner tracks drawn by the center point of the rear wheel axle of the host vehicle when the vehicle is turned with the minimum turning radius. As shown in FIG. 4, the parking locus calculation unit 12 is a line obtained by linearly connecting a line obtained by extending the end connection line 104, the minimum turning radius locus 106, the outermost circumference locus 107, and the innermost circumference locus 108. The minimum turning radius trajectory 106, the outermost peripheral trajectory 107, and the innermost peripheral trajectory 108 are obtained up to a position where the two are orthogonal to each other.

  Next, in step S4, the control unit 1 causes the minimum parking locus calculator 14 to move the outermost periphery locus 107 obtained in step S3 to the opposite side of the minimum turning radius locus 106 on the end connection line 104. In step S <b> 5, it is determined whether or not the outermost peripheral locus 107 ′ after moving has touched the parking frame lines 101 and 102.

  At this time, the minimum parking locus calculation unit 14 sequentially moves the coordinates of the outermost periphery locus 107 on the end connection line 104 toward the parking frame lines 101 and 102, and the moved coordinates and the parking frame line end portion 101. Compare the coordinates with ', 102'. Then, as shown in FIG. 5, when the coordinates of the outermost peripheral locus 107 ′ after movement coincide with the coordinates of the parking frame line end portions 101 ′ and 102 ′, the minimum parking locus calculation unit 14 performs step S6. If the process does not coincide with each other, the processes of steps S4 and S5 are further performed to move the outermost periphery locus 107.

  Next, in step S6, the control unit 1 causes the minimum parking locus calculator 14 to move the outermost periphery locus 107 in step S5 and move it as shown in FIG. The radius trajectory 106 ′ and the outermost peripheral trajectory 107 ′ are translated in the depth direction of the parking frame lines 101 and 102, and whether or not the innermost peripheral trajectory 108 ′ touches the parking frame lines 101 and 102 in step S7. judge.

  At this time, the minimum parking locus calculating unit 14 sequentially moves the coordinate group of the minimum turning radius locus 106 ′ in the direction orthogonal to the end connection line 104 to the parking frame 103 side, and moves the innermost circumference after the movement. The coordinates of the trajectory 108 ″ are compared with the coordinates of the parking frame end portions 101 ′ and 102 ′. Then, as shown in FIG. 6, the minimum parking locus calculation unit 14 determines that any coordinate in the coordinate group of the innermost locus 108 ″ after the movement is the coordinates of the parking frame line end portions 101 ′ and 102 ′. If they match, the process proceeds to step S8. If they do not match, the process of step S6 is further performed to move the outermost periphery locus 107 ′.

  Next, in step S8, the control unit 1 moves the reference point 105, which is the starting point in step S3, to the outermost periphery locus 107 and the outermost periphery locus 107 ′ in step S5 by the minimum parking locus calculation unit 14 to end the parking frame line end. It is moved by the amount of movement in the width direction when it is in contact with the portions 101 ′ and 102 ′, and the innermost track 108 ′ is moved in the depth direction when the innermost track 108 ′ is in contact with the parking frame end portions 101 ′ and 102 ′. Move by the amount. That is, the minimum parking locus calculation unit 14 moves the reference point 105 by the amount of movement in the width direction when the outermost periphery locus 107 is in contact with the parking frame line end portions 101 ′ and 102 ′. To the position of the reference point 105 ′, and by moving the reference point 105 ′ by the amount of movement in the depth direction when the innermost track 108 ′ is in contact with the parking frame end portions 101 ′ and 102 ′, The reference point 105 ′ is changed to the position of the reference point 105 ″ in FIG. As a result, the minimum parking locus calculation unit 14 can obtain the vehicle reference point for the innermost and outermost locus of the host vehicle as the reference point 105 ″.

  Next, in step S9, the control unit 1 sets the reference point 105 ″ moved in step S8 by the minimum parking locus calculation unit 14, and the minimum based on the coordinates of the reference point 105 ″ as in step S3. The turning radius trajectory 106 ″, the outermost peripheral trajectory 107 ″ and the innermost peripheral trajectory 108 ″ are obtained, and the start point of the minimum turning radius trajectory 106 ″ is set. Then, the drawing unit 15 creates display data by superimposing the minimum turning radius trajectory 106 ″, the outermost peripheral trajectory 107 ″ and the innermost peripheral trajectory 108 ″ and the current camera video data, and outputs the display data to the monitor 3. To do. As shown in FIG. 7, the image displayed on the monitor 3 in this manner is a trajectory 106 ″, 107 for parking backward to the reference point 105 ″ when the steering angle of the host vehicle 110 is the maximum. '', 108 '', the starting point of the minimum turning radius locus 106 '' and the ideal reverse start position 111 is presented.

  As described above, in the parking assistance apparatus, by performing the above-described steps S1 to S9, the reference point 105 is sequentially moved as shown in FIGS. It is possible to present a reverse start position 111 that is a position of the host vehicle that can be parked in the parking frame lines 101 and 102 by traveling.

[Effect of the first embodiment]
As described above in detail, according to the parking assist device according to the first embodiment to which the present invention is applied, the width of the parking frame and the distance in the depth direction are detected, and the reference point 105 in the width of the parking frame is set. The innermost track and the outermost track stored in the vehicle rotation track storage unit 13 are converted into the innermost track and the outermost track for the reference point 105, and the innermost track and the outermost track are converted into Since it can be changed to a parking locus moved in the depth direction without touching the parking frame, the starting point position of the own vehicle that can be parked with the minimum turning without contacting the adjacent parking frame and other vehicles is presented can do. Therefore, according to this parking assist device, it is possible to present the position where the parking frame is to be stopped at the right back or left back of the parking frame as much as possible, and the driving operation for parking in the desired parking frame while minimizing the space facing the parking frame. Can help.

  Specifically, as shown in FIG. 8, when the reference point 105 is parked at the reference point 105 '' moved in the width direction and the depth direction of the parking frame as described above, the reverse start position 111 is set in the parking frame. On the other hand, when the center of the end connection line 104 is set as the reference point 105, the parking locus at the minimum turning radius is calculated, and there is a parked vehicle in an adjacent parking frame (not shown). Even in this case, the vehicle can be parked in the parking frame without contact, but the parking frame requires a large area as a parking frame facing space.

  On the other hand, as described above, by presenting the reverse start position 111 with the reference point 105 ″ as a reference, the parking frame is parked in the lower right direction of the parking frame as much as possible, so the distance in the depth direction as shown in FIG. The area required for the parking frame facing space can be narrowed by the distance A in the width direction A and the parking frame can be parked.

  Thus, according to the parking assistance device according to the first embodiment, for example, in a parking lot such as a store where there are many parking frames with respect to the total area of the parking lot, the subsequent vehicle of the host vehicle is waiting for parking. In this case, by presenting the reverse start position 111 that can be parked at the reference point 105 '', it is possible to pass the following vehicle in a state where the own vehicle is stopped near the reverse start position 111, and Parking can be performed without contacting an adjacent parking frame or another vehicle. Therefore, according to this parking assist device, particularly when the vehicle is in a hurry or a driver with low driving ability who is concentrating on the following vehicle, the reverse start position 111 is presented and the vehicle is once set as a reference. At the point 105 ″, it is possible to drive the vehicle following the road, and then move forward again to re-park near the center of the parking frame.

  Further, according to this parking assist device, when setting the reference point 105 '', the reference frame 105 '' is moved until the outermost periphery locus 107 and the parking frame line end portions 101 ′ and 102 ′ are in contact with each other in the width direction of the parking frame. In the depth direction of the frame, it is moved until the innermost track 108 ′ and the parking frame lines 101 and 102 are in contact with each other, so that the reference point 105 ″ can be set by making the maximum use of the area of the parking frame. Parking with less space facing the parking frame is possible.

[Second Embodiment]
Below, the parking assistance apparatus which concerns on 2nd Embodiment is demonstrated. In addition, about the part similar to the above-mentioned 1st Embodiment, the detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol.

  Although not shown, the parking support apparatus according to the second embodiment uses a touch panel monitor 3 having a display screen for detecting the contact operation position of the driver, detects an operation on the display screen, and detects a parking frame. It is characterized in that the lines 101 and 102 are detected. In this parking assist device, when a contact operation is performed on the display screen, coordinate data indicating the contact operation position in the display screen is transmitted from the monitor 3 to the image processing unit 11.

  In this parking assistance device, when the control unit 1 is activated in the above-described step S1, as shown in FIG. 9, when the host vehicle 110 is located in the parking frame facing space on the left front side from the parking frame lines 101 and 102, When the camera image data from the camera 2 is input, as shown in FIG. 10, a camera including empty parking frame lines 101 and 102 and a parking frame 103 in which no other vehicle is parked, and other adjacent vehicles 131 and 132 are included. The video 200 is displayed on the monitor 3.

  And this parking assistance apparatus designates parking frame line edge part 101 ', 102' and the parking frame 103, before detecting the parking frame lines 101 and 102 and the parking frame 103 by edge detection process in above-mentioned step S2. The touching operation is performed on the display screen of the touch panel type monitor 3.

  At this time, for example, the control unit 1 displays a message prompting the user to designate the parking frame line end portions 101 ′ and 102 ′ and the parking frame 103 by touching, and then displays three points indicating the touch operation position of the touch panel. Are input by the image processing unit 11. Then, the image processing unit 11 specifies an image region of the camera video near the input coordinate data, and the parking frame line end portion 101 ′, which is included in the image region as indicated by the elliptical dotted line in FIG. 102 'and the parking frame 103 existing in the depth direction are detected. Thereby, the image processing unit 11 obtains the width of the parking frame line end portions 101 ′ and 102 ′ and the distance in the depth direction from the end connection line 104 to the parking frame 103. At this time, the image processing unit 11 may perform edge extraction processing on the image area of the camera video near the coordinate data to obtain the parking frame line end portions 101 ′ and 102 ′ and the parking frame 103 at more accurate positions.

  Thereafter, the control unit 1 performs the processing after step S3 as described above.

  As described above, according to the parking assistance apparatus according to the second embodiment, the touch panel type monitor 3 is used, and the positions of the parking frame line end portions 101 ′ and 102 ′ and the parking frame 103 are displayed on the display screen. By prompting the designation operation, it is not necessary to perform edge detection processing of a huge amount of processing on the entire camera image displayed on the monitor 3 to obtain the parking frame line end portions 101 ′ and 102 ′ and the parking frame 103. In addition, the width and the depth direction distance of the parking frame can be obtained reliably in a short time, and the reverse start position can be presented with the short turn minimum turning distance.

  On the other hand, when a parking frame icon having a shape set in advance is displayed superimposed on the camera image, and the operation for matching the parking frame icon with the parking frame lines 101 and 102 and the parking frame 103 is performed, It cannot cope with the size and shape of the parking frame lines 101 and 102 and the parking frame 103 captured by the camera 2 being different for each parking lot. Therefore, it becomes difficult for the driver to determine which position in the actual camera image the parking frame icon having a fixed shape matches with the actual parking image.

  Therefore, according to the parking assistance device according to the second embodiment, it is only necessary to input the parking frame line ends 101 ′ and 102 ′ and the parking frame 103, and the parking frame recognized by the control unit 1 and the actual parking frame. The position and size of the parking frame can be input easily and in a short time without significantly deviating.

[Third Embodiment]
Below, the parking assistance apparatus which concerns on 3rd Embodiment is demonstrated. Note that parts similar to those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The parking assistance apparatus according to the third embodiment stores the longitudinal length of the host vehicle 110 in the host vehicle information memory (host vehicle information storage means) when the host vehicle 110 is manufactured, and the depth direction of the parking frame. This is characterized in that an appropriate parking locus is created even when the distance is shorter than the longitudinal length of the host vehicle.

  First, as shown in FIG. 11, when the width W1 of the parking frame is smaller than the own vehicle 110 and the depth direction distance L1 of the parking frame is long in the vertical direction of the own vehicle 110, the end connection line 104 is By setting the reference point 105, it is possible to set the optimum minimum turning radius locus 106 and innermost circumference locus 108 that do not come into contact with the adjacent other vehicles 131 and 132.

  On the other hand, as shown in FIG. 12, when the parking frame lines 101 and 102 are short and the distance in the depth direction of the parking frame is the depth direction distance L2 shorter than the longitudinal length of the host vehicle 110, the parking frame When the reference point 105 is set on the end connection line 104 connecting the line end portions 101 ′ and 102 ′, there is a possibility that the vehicle 110 comes into contact with the other vehicles 131 and 132 from the end connection line 104. That is, in the parking assistance device described above, the reference point 105 is changed so that the outermost track 107 and the innermost track 108 do not contact the parking frame lines 101 and 102, so that the depth is greater than that of the other vehicles 131 and 132. If the parking frame line ends 101 ′ and 102 ′ exist in the direction, there is a possibility that a parking locus is set on the other vehicles 131 and 132.

  On the other hand, the parking assistance apparatus according to the third embodiment compares the distance in the depth direction detected by the image processing unit 11 with the longitudinal length of the host vehicle 110 stored in advance. If the length of the host vehicle 110 is shorter, the reference point 105 is changed in the same manner as the above-described process. If the length of the host vehicle 110 is longer, image processing is performed. The distance in the depth direction detected by the unit 11 is corrected.

  At this time, when the depth direction distance L2 is shorter than the longitudinal length of the host vehicle 110 as shown in FIG. 12, the image processing unit 11 performs the edge detection process of the first embodiment or the driver of the second embodiment. When the depth direction distance L2 is detected based on the contact operation position, the depth direction distance is corrected so as to be equal to or greater than the depth direction distance L2 and the longitudinal length of the host vehicle 110. That is, as shown in FIG. 13, the image processing unit 11 adds the depth direction distance L3, which is the difference between the detected depth direction distance L2 and the longitudinal length of the host vehicle 110, and the detected depth direction distance L2. (L2 + L3) is virtually corrected to the distance in the depth direction of the parking frame used in the subsequent processing. And the control unit 1 can actually perform the processing after step S3 by setting the parking frame line ends 101 ′ and 102 ′ in a state where the short parking frame lines 101 and 102 are virtually lengthened. it can.

  As described above, according to the parking assistance apparatus according to the third embodiment, the parking frame is in contact with the other vehicles 131 and 132 even in a parking lot in which the distance in the depth direction of the parking frame is shorter than the vertical length of the host vehicle 110. Therefore, it is possible to create a parking trajectory that allows the parking frame facing space to be minimized and surely moved backward into the parking frame by reversing the vehicle with minimum turning.

[Fourth Embodiment]
Below, the parking assistance apparatus which concerns on 4th Embodiment is demonstrated. Note that parts similar to those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The parking assist device according to the fourth embodiment sets a reference point 105 ″ so that the outermost track 107 and the innermost track 108 do not contact the parking frame lines 101, 102, and the host vehicle 110 actually moves backward. In this case, a warning that the distance between the side surface of the host vehicle 110 and the parking frame lines 101 and 102 is narrow is issued every time the reference point 105 is changed.

  When the control unit 1 is activated in step S1, the parking assistance device sets the reference point 105 ″ after the change as shown in FIG. When the vehicle travels back to the reference point 105 ″, the space on the side of the host vehicle 110 may be narrower than the parking frame lines 101 and 102, or there may be an obstacle close to the parking frame lines 101 and 102. Present a warning message.

  In addition, the parking assist device sets the reference point 105 ″ as shown in FIG. 6 described above, and when the host vehicle 110 actually moves backward to the reference point 105 ″, the right side door of the host vehicle 110 A warning is given that the parking frame line 102 is approaching. At this time, for example, when the host vehicle 110 reaches the reference point 105 ″, the control unit 1 displays a warning message on the monitor 3 that the right side of the host vehicle 110 is extremely close to the parking frame line 102. .

  Furthermore, when the reference point 105 ″ is set, the parking support device images that there are obstacles such as walls and other vehicles 131 and 132 on the parking frame lines 101 and 102 side of the reference point 105 ″. Recognition is performed by image processing of the processing unit 11. Then, when there is no obstacle on the parking frame line 101, 102 side of the reference point 105 ″, the parking support device does not present a warning message and the parking frame line 101, 102 side of the reference point 105 ″. When there is an obstacle, a warning message is displayed when the side door of the host vehicle 110 is opened.

  Therefore, according to this parking assist device, it is impossible to secure a space for opening either the left or right door, even when a parking locus that minimizes the space opposite to the parking frame is set by moving backward with minimum turning. Further, when the following vehicle of the host vehicle 110 is in a waiting state and there is not enough time, the vehicle can be moved backward into the parking frame and allowed to pass the following vehicle.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a flowchart which shows the process sequence of the parking locus optimization process by the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure for demonstrating the relationship between a parking frame line, an edge part connection line, and a reference point. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure which shows the minimum turning radius locus | trajectory based on the reference point before the change calculated | required by the parking locus calculating part, the outermost periphery locus | trajectory, and the innermost periphery locus | trajectory. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure for demonstrating the process which moves an outermost periphery locus | trajectory until it contacts a parking frame line edge part by the minimum parking locus calculating part. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure for demonstrating the process which moves a minimum turning radius locus | trajectory until it contacts a parking frame line by the minimum parking locus calculating part. In the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied, it is a figure which shows the minimum rotation radius locus | trajectory based on the reference point after a change, an outermost periphery locus | trajectory, an innermost periphery locus | trajectory, and a reverse start position. It is a figure for demonstrating the effect of the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. In the parking assistance apparatus according to the second embodiment to which the present invention is applied, a camera image for explaining that a camera image including a parking frame is displayed on a monitor and a parking frame line end and a parking frame in the depth direction are designated. FIG. In the parking assistance apparatus which concerns on 2nd Embodiment to which this invention is applied, it is a figure for displaying a camera image including a parking frame on a monitor, and making a parking frame line end and a parking frame of a depth direction specified. is there. In the parking assistance apparatus which concerns on 3rd Embodiment to which this invention is applied, it is a figure for demonstrating the parking locus | trajectory in case the distance of the depth direction of a parking frame is longer than the vertical direction length of the own vehicle. In the parking assistance apparatus which concerns on 3rd Embodiment to which this invention is applied, it is a figure for demonstrating the parking locus | trajectory in case the distance of the depth direction of a parking frame is shorter than the vertical direction length of the own vehicle. In the parking assistance apparatus according to the third embodiment to which the present invention is applied, a case where the distance in the depth direction of the parking frame is corrected when the distance in the depth direction of the parking frame is shorter than the longitudinal length of the host vehicle will be described. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control unit 2 Camera 3 Monitor 11 Image processing part 12 Parking locus | trajectory calculating part 13 Own vehicle rotation locus | trajectory memory | storage part 14 Minimum parking locus calculating part 15 Drawing part 101,102 Parking frame line 103 Parking frame 104 End part connection line 105 Reference point 106 Minimum turning radius trajectory 107 Outermost circumference trajectory 108 Innermost circumference trajectory 110 Own vehicle 111 Reverse start position 200 Camera image

Claims (5)

  1. In the parking assistance device that supports the driving operation of moving the host vehicle backward and parking in a predetermined parking frame,
    Parking frame detection means for detecting the width of the parking frame and the distance in the depth direction of the parking frame;
    Trajectory storage means for storing the innermost track and the outermost track when the vehicle turns with a minimum turning radius from an arbitrary reference point;
    The midpoint coordinate in the width of the parking frame detected by the parking frame detection means is set as the reference point, and the innermost circumference locus and the outermost circumference locus stored in the locus storage means are set to the innermost circumference with respect to the reference point. A parking locus calculating means for converting coordinates into a locus and an outermost periphery locus;
    A parking locus changing means for changing coordinates to a parking locus in which the innermost locus and the outermost locus calculated by the parking locus calculating means are moved in the depth direction of the parking frame within a range not contacting the parking frame; ,
    A parking support apparatus comprising: a display unit configured to display the innermost track and the outermost track changed by the parking track change unit and the parking frame detected by the parking frame detection unit.
  2. The parking locus calculating means sets the midpoint coordinates of the end connection lines connecting the own vehicle side ends of the two parking frame lines constituting the parking frame and extending in the depth direction as the reference point, and The innermost track and the outermost track stored in the track storage means are coordinate-converted into the innermost track and the outermost track relative to the reference point,
    The parking locus changing means moves the outermost periphery locus on the end connection line to a position in contact with the parking frame line, and moves the innermost locus in the depth direction to a position in contact with the parking frame line. The parking assistance device according to claim 1.
  3.   The parking frame detecting means has a camera whose imaging direction is behind the host vehicle, and when the image picked up by the camera is displayed on the display means, the contact operation position on the display screen of the display means is determined. And detecting the own vehicle side end portions of two parking frame lines extending in the depth direction and forming the parking frame based on the contact operation position, and the depth direction distance of the parking frame. The parking assistance device according to claim 1 or 2.
  4. The vehicle information storage means for storing the longitudinal length of the vehicle is provided,
    The parking frame detection means compares the detected distance in the depth direction of the parking frame and the longitudinal length of the host vehicle stored in the own vehicle information storage means, and compares the distance in the depth direction of the parking frame. The distance in the depth direction of the detected parking frame is corrected to be longer than the longitudinal length of the own vehicle when the length of the own vehicle is long. The parking assist device according to any one of the above.
  5. 2. A warning means for warning that a distance between a side surface of the host vehicle and a parking frame line is narrowed every time a coordinate of a parking locus is changed by the parking locus changing means. The parking assistance device according to claim 4.
JP2004308688A 2004-10-22 2004-10-22 Parking assistance device Pending JP2006117165A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008080959A (en) * 2006-09-27 2008-04-10 Aisin Aw Co Ltd Parking assistant device and parking assistant method
JP2010034645A (en) * 2008-07-25 2010-02-12 Nissan Motor Co Ltd Parking assistance apparatus, and parking assistance method
JP2011173585A (en) * 2010-01-27 2011-09-08 Denso It Laboratory Inc Parking assist system
KR101493118B1 (en) * 2007-09-24 2015-02-12 로베르트 보쉬 게엠베하 Control device for a display device of a parking device, and representation method
JP2015030364A (en) * 2013-08-01 2015-02-16 日産自動車株式会社 Vehicular acceleration suppression apparatus and vehicular acceleration suppression method
JP2016084051A (en) * 2014-10-27 2016-05-19 アイシン精機株式会社 Parking assist apparatus

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Publication number Priority date Publication date Assignee Title
JP2000079860A (en) * 1998-06-26 2000-03-21 Aisin Seiki Co Ltd Auxiliary parking device
JP2002331891A (en) * 2001-05-08 2002-11-19 Nissan Motor Co Ltd Parking support apparatus
JP2003335196A (en) * 2002-05-21 2003-11-25 Toyota Motor Corp Parking support device
JP2004123057A (en) * 2002-10-07 2004-04-22 Yazaki Corp Parking support device
JP2004142659A (en) * 2002-10-25 2004-05-20 Nissan Motor Co Ltd Parking support device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000079860A (en) * 1998-06-26 2000-03-21 Aisin Seiki Co Ltd Auxiliary parking device
JP2002331891A (en) * 2001-05-08 2002-11-19 Nissan Motor Co Ltd Parking support apparatus
JP2003335196A (en) * 2002-05-21 2003-11-25 Toyota Motor Corp Parking support device
JP2004123057A (en) * 2002-10-07 2004-04-22 Yazaki Corp Parking support device
JP2004142659A (en) * 2002-10-25 2004-05-20 Nissan Motor Co Ltd Parking support device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008080959A (en) * 2006-09-27 2008-04-10 Aisin Aw Co Ltd Parking assistant device and parking assistant method
KR101493118B1 (en) * 2007-09-24 2015-02-12 로베르트 보쉬 게엠베하 Control device for a display device of a parking device, and representation method
JP2010034645A (en) * 2008-07-25 2010-02-12 Nissan Motor Co Ltd Parking assistance apparatus, and parking assistance method
JP4661917B2 (en) * 2008-07-25 2011-03-30 日産自動車株式会社 Parking assistance device and parking assistance method
JP2011173585A (en) * 2010-01-27 2011-09-08 Denso It Laboratory Inc Parking assist system
JP2015030364A (en) * 2013-08-01 2015-02-16 日産自動車株式会社 Vehicular acceleration suppression apparatus and vehicular acceleration suppression method
JP2016084051A (en) * 2014-10-27 2016-05-19 アイシン精機株式会社 Parking assist apparatus

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