JP2007091046A - Vehicle parking assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle parking assisting device capable of properly judging whether or not one's own vehicle can be parked in a parking space on the screen of a monitor before starting a parking operation regardless of a driver's driving skill. <P>SOLUTION: This device comprises at least one image pick up means 18 for picking up images around a vehicle 11, display means 16 capable of displaying the peripheral images picked up by the image pick-up means 18, input operation means 20 operated for input by an occupant so as to decide a starting position and an end position, control means 17 capable of recognizing the input operation by the input operation means 20, overlaying indicia M to be a mark on the peripheral images displayed to the display means 16, and movement distance detection means 23 for outputting detection signals V to the control means 17 according to the movement distance of the vehicle 11. The control means 17 calculates the movement distance of the vehicle 11 according to the detection signals V inputted from the decision of the starting position to the decision of the end position, and displays the calculated movement distance to the display means 16 as a measuring result, when the indicia M are displayed on the display means 16. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle parking assistance device that supports driving operations of parallel parking and parallel parking of vehicles.

  Conventionally, a vehicle includes, for example, a camera that captures the rear of the vehicle and a monitor that is provided in the vehicle interior and displays an image from the camera. When it is determined that a driving operation for parking the vehicle has started, Some of them are provided with a vehicle parking assistance device that assists the driving operation by superimposing an index indicating the size on the image of the rear of the vehicle on a monitor screen. In this case, the vehicle can be guided to the parking space using the index as a guide while confirming the rear of the vehicle on the monitor image, so the burden on the driver accompanying the parking operation of the vehicle can be reduced.

  However, in this vehicle parking assistance device, an indicator is displayed on the monitor image as the parking operation starts, so that the driver can determine the parking space from the monitor image only after starting the parking operation. It cannot be determined whether the size is sufficient for the vehicle. For this reason, when the parking space is not a sufficient size, after the parking operation is started, the parking operation is interrupted and the parking space is searched again.

In view of this, a vehicle parking assistance device is considered that can determine the size of the parking space for the host vehicle from the image of the monitor before starting the parking operation. As such, a camera capable of imaging the side of the vehicle is provided, and the driver determines whether parking in the parking space is possible before starting the parking operation based on the side image projected on the monitor. A vehicle parking assistance device that enables this is considered (for example, see Patent Document 1). In this system, when the vehicle passes through the front of the parking space and images the side of the vehicle, the image of the parking space is displayed on the monitor screen, and the driver determines one end of the parking space on the image. Then, an indicator notifying the position of the size required for parking of the host vehicle is superimposed on the video of the parking space and displayed. Accordingly, the driver can determine whether or not his / her vehicle can be parked by looking at the positions of the parking space and the index from the monitor image before starting the parking operation.
Japanese Patent Laying-Open No. 2003-127813 (page 2-11, FIG. 7)

  By the way, in general, even if the vehicle is the same, the driver is not fixed to one person, and the driving skill varies depending on the driver. The size is not constant. However, in the above-described vehicle parking assistance device, since the index is displayed superimposed on the image of the parking space based on the preset size, the set size is adapted to the skill of each driver. Even if it can be determined from the image that the parking space is sufficiently large, it is actually difficult to park, or from the image, it can be determined that the parking space is insufficiently large. Even if it is a case, it is a parking space of a size that can actually be parked, and there is a risk of missing an opportunity to park.

  Therefore, an object of the present invention is to provide a vehicle parking assistance device that can appropriately determine whether or not parking is possible in the parking space of the host vehicle on the monitor screen before starting the parking operation regardless of the driver's driving skill. Is to provide.

  In order to solve the above-described problem, the vehicle parking assistance device according to claim 1 includes at least one imaging unit that images the periphery of the vehicle, and a display unit that can display a peripheral image captured by the imaging unit, An input operation means that is input to the occupant to determine the start point position and the end point position, and the input operation performed by the input operation means can be recognized, and the peripheral image displayed on the display means serves as a mark. Control means for superimposing an indicator on the display means; and a moving distance detecting means for outputting a detection signal corresponding to the moving distance of the vehicle to the control means, wherein the control means displays the indicator on the display When the vehicle is displayed, the travel distance of the vehicle is converted according to the detection signal input between the time when the start point position is determined and the time when the end point position is determined. Distance and wherein the to be displayed on the display unit as a measurement result.

  The vehicle parking assistance device according to claim 2 is the vehicle parking assistance device according to claim 1, wherein the imaging means includes a left imaging device capable of imaging the left side of the vehicle, and a right side of the vehicle. The input operation means is input to the occupant to determine a start point position determination operation unit that is input to the occupant to determine the start point position and the end point position. An end point position determining operation unit, and a parking mode switching operation unit that is input to the occupant to select the left parking mode and the right parking mode, and the control means is configured to select the left parking mode when the left parking mode is selected. The peripheral image from the left imaging device with the index superimposed is displayed on the display means, and when the right parking mode is selected, the peripheral video from the right imaging device with the index superimposed is displayed on the display means Let I am characterized in.

  The vehicle parking assistance device according to claim 3 is the vehicle parking assistance device according to claim 2, wherein the control unit stores a parking required dimension according to a width dimension and a length dimension of the vehicle. The required parking dimension is compared with the measurement result, and if the measurement result is larger than the required parking dimension, it is determined that the vehicle can be parked. When the measurement result is small, it is determined that it is difficult to park the vehicle, and the determination result of whether or not parking is possible is displayed on the display means.

  The vehicle parking assistance device according to claim 4 is the vehicle parking assistance device according to claim 3, wherein the input operation means is a vehicle size registration operation in which an occupant performs an input operation to input the required parking dimension. The parking mode switching operation unit is capable of selecting a parallel parking scene and a parallel parking scene in each of the left parking mode and the right parking mode, and the parking required dimension is the vehicle A parallel parking required dimension consisting of a parallel parking auxiliary dimension based on the width dimension and a parallel parking required dimension consisting of a length dimension of the vehicle and a parallel parking auxiliary dimension based on the length dimension. And when the parallel parking scene is selected, the control means compares the parallel parking required dimension and the measurement result to determine whether parking is possible, and the parallel parking scene is selected. , And performing serial parallel parking predetermined dimension and the measurement result is compared with with the parking feasibility determining.

  The vehicle parking assistance device according to claim 5 is the vehicle parking assistance device according to claim 4, wherein the imaging unit includes a rear imaging device capable of imaging the rear of the vehicle, and the control unit includes: , It is possible to detect that the shift lever is in the reverse position corresponding to the reverse position, and when the shift lever is in the reverse position after determining that the vehicle can be parked, the display The image from the rear imaging device is displayed on the means to start rear parking assistance, and the rear parking assistance is continued regardless of the position of the shift lever until the end of the rear parking assistance is detected. .

  The vehicle parking assistance device according to claim 6 is the vehicle parking assistance device according to any one of claims 3 to 5, and can further output a sound in accordance with control by the control means. An audio output unit is provided, and the control unit causes the audio output unit to output a determination result of whether or not parking is possible.

  The vehicle parking assistance device according to claim 7 is the vehicle parking assistance device according to any one of claims 1 to 6, wherein the imaging unit is capable of imaging the front of the vehicle. It has the apparatus.

  In the vehicle parking assistance device according to claim 1 and claim 2, by setting one end of the parking space as the start point position and the other end of the parking space as the end point position, an interval between the start point position and the end point position, that is, a desired position Since the size of the parking space is displayed on the display means as a measurement result, the driver must park the vehicle in the parking space of his / her vehicle based on the actual size of the parking space before starting the parking operation. It can be determined whether or not it is possible.

  In the vehicle parking assistance device according to the third aspect, the possibility of parking is determined based on the required parking dimension, and the determination result is displayed on the monitor screen, so that the burden on the driver can be reduced.

  In the vehicle parking assistance device according to claim 4, since it is divided into a parallel parking scene and a parallel parking scene, and whether or not parking is possible is determined based on the required parking dimensions suitable for each, so appropriate according to the scene Can make decisions.

  In the vehicle parking assistance device according to the fifth aspect, the parking assistance for the driver can be reduced because the parking assistance for the reverse traveling can be received following the determination of whether or not parking is possible. In addition, even when the shift lever is operated at the time of rear parking support, the display of the display means does not switch.For example, even when switching operation is performed, the rear parking support can be received without a sense of incongruity. it can.

  In the vehicle parking assist device according to claim 6, since the determination result is also output by voice, the determination result of whether or not parking is possible can be recognized even if the driver confirms the surroundings of the vehicle, and the parking operation is burdened. Can be reduced.

  In the vehicle parking assistance device according to the seventh aspect, parking assistance can be received even when the vehicle is moving forward.

  According to the vehicle parking assistance apparatus according to the present invention, the driver sets the end point position to the end point position by setting one end of the desired parking space as the start point position and the other end of the parking space, that is, Since the size of the desired parking space is displayed on the display means as the measurement result, it is possible to determine whether or not the vehicle can be parked based on the actual size of the parking space before starting the parking operation. it can. For this reason, even a driver having a different driving skill can appropriately determine whether or not the own vehicle can be parked in a desired parking space.

  The present invention will be described in detail with reference to the embodiment shown in FIGS.

  FIG. 1 schematically shows a vehicle 11 provided with a vehicle parking assistance device 10 (see FIG. 2) according to the present invention, and FIG. 2 shows a block diagram of the vehicle parking assistance device 10.

  The vehicle 11 includes a vehicle compartment 12 and an engine room 13. The engine room 13 accommodates an engine (not shown), and is positioned in front of the vehicle compartment 12 when viewed in the front-rear direction of the vehicle 11 and constitutes a tip portion of the vehicle 11. The vehicle compartment 12 is a space for passengers, and includes a handle 15 provided so as to correspond to the driver's seat 14 and a monitor 16 that is a display unit of the vehicle parking assistance device 10.

  As shown in FIG. 2, the vehicle parking assistance device 10 includes a control unit 17, a side camera 18, a rear camera 19, a key operation unit 20, and a speaker 21 in addition to the monitor 16 described above.

  The control unit 17 is electrically connected to the monitor 16, the side camera 18, the rear camera 19, the key operation unit 20, and the speaker 21. The control unit 17 also transmits a reverse signal R transmitted when the shift lever 22 is in a reverse position corresponding to the reverse position (when reverse gear or reverse gear) and a vehicle speed pulse from the vehicle speed sensor 23. V can be input.

  As shown in FIG. 1, the side camera 18 includes a left camera 18 a and a right camera 18 b provided on both side surfaces of the front end portion of the vehicle 11, that is, on each side surface of the front end portion of the engine room 13. An image of the side of the vehicle 11 can be transmitted to the monitor 16 via the control unit 17. The left camera 18a and the right camera 18b are set so as to be able to image a range S extending from the side of the vehicle 11 to obliquely forward. The side imaging range S is a general vehicle length in the vehicle width direction of the vehicle 11. The size is larger than the height. Thereby, the left camera 18a and the right camera 18b can capture the entire parking space in a parallel parking scene described later. Note that the side camera 18 may be provided on a door mirror, for example, as long as the side camera 18 is provided on the vehicle 11 so that the side of the vehicle 11 can be imaged, and the installation position on the vehicle 11 is limited to the present embodiment. It is not a thing.

  The rear camera 19 is provided on the rear end surface of the vehicle 11, and an image behind the vehicle 11 can be transmitted to the monitor 16 via the control unit 17. The rear camera 19 is set so as to be able to image a range B over the wide angle behind the vehicle 11, and the rear imaging range B captures a wide range of blind spots behind the vehicle 11 as viewed from the driver of the driver seat 14. It is set to be possible. For this reason, the side camera 18 and the rear camera 19 function as imaging means for imaging the periphery of the vehicle 11.

  The key operation unit 20 includes a parking mode switch 24, a mark display switch 25, a start point position adjustment / determination switch 26, an end point position determination switch 27, and a vehicle size registration switch 28. In the present embodiment, the key operation unit 20 is provided on the instrument panel of the passenger compartment 12 although not shown in the drawings, so that the driver can easily input the vehicle parking assistance device 10. As long as the driver of the driver's seat 14 can perform an input operation, the key operation unit 20 may be provided, for example, on the handle 15 or may be a touch panel type on the screen of the monitor 16. The present invention is not limited to the examples.

  The monitor 16 is attached to the instrument panel of the passenger compartment 12 and is in an arrangement posture that is easy for the driver to visually recognize from the driver's seat 14. Under the control of the control unit 17, the monitor 16 displays an image of the surroundings of the vehicle 11 captured by the side camera 18 and the rear camera 19 on the screen, and displays an index M, which will be described later, generated by the control unit 17. Can be superimposed on the surrounding video. In this embodiment, the monitor 16 is also used as a monitor for a navigation system mounted in the passenger compartment 12. The image of vehicle parking assistance is obtained by operating the key operation unit 20, receiving the reverse signal R, or the like. It is controlled by the control unit 17 so as to switch to

  Although not shown, the speaker 21 is provided on the back surface of the monitor 16 and emits a sound toward the driver of the driver's seat 14 under the control of the control unit 17. In the present embodiment, the speaker 21 is disposed on the back surface of the monitor 16. However, since the speaker 21 only needs to be able to deliver sound to the driver, for example, the speaker 21 is also used as an audio speaker provided in the passenger compartment 12. The configuration may be such that the output from the audio is interrupted based on the control of the control unit 17 and is not limited to the present embodiment.

  Although not shown, the vehicle speed sensor 23 can transmit a vehicle speed pulse V corresponding to the rotation of the tire of the vehicle 11 to the control unit 17, and the control unit 17 travels the vehicle 11 from the vehicle speed pulse V and the outer diameter of the tire. Distance and speed can be converted. For this reason, the vehicle speed sensor 23 functions as a movement distance detecting means in this embodiment.

  Next, each switch of the key operation unit 20 will be described.

  The parking mode switching switch 24 has a parking mode switching function for selecting each mode corresponding to a desired parking space form when receiving parking assistance, and includes a left side parallel parking mode, a right side parallel parking mode, a left side parallel parking mode, and Right column parking mode is set. Here, parallel parking means parking so that the front-rear directions of the vehicles are parallel to each other (see FIG. 3), and parallel parking refers to parking so that the front-rear directions of the vehicles coincide with each other. (Refer to FIG. 6). Moreover, the left side and the right side indicate the position of the parking space with respect to the vehicle 11 as viewed in the traveling direction.

  The mark display changeover switch 25 indicates the type of an index M (see FIG. 4) described later, for example, the type of whether it is a single line or a frame, or the type of color. It has a mark display switching function for selecting according to the user's preference.

  Here, the index M is a fixed value set on the screen as a guide for the surrounding image of the vehicle 11 from the side camera 18 and the rear camera 19 in which the image moves on the screen of the monitor 16 as the vehicle 11 moves. In this embodiment, one straight line (see FIGS. 4 and 7) that passes the screen of the monitor 16 in the vertical direction is selected.

  The start point position adjustment / determination switch 26 and a start point position adjustment function for adjusting the display position of the index M on the screen of the monitor 16 and a start point for determining a point overlapping the index M in the image displayed on the screen as a start point position. And a position determination function.

  The end point position determination switch 27 has an end point position determination function that determines a point that overlaps the index M in the video displayed on the screen as the end point position. The starting point position and the ending point position are for the driver to determine the desired starting position and ending position of the parking space P on the image, and the size of the parking space P is obtained from the measurement of the distance between the two points. This is a guideline for causing the control unit to recognize the start time and end time of the measurement.

  The vehicle size registration switch 28 registers the parallel parking auxiliary dimension Ws and the parallel parking auxiliary dimension Ls in addition to the width dimension W and the length dimension L of the vehicle 11 on which the vehicle parking assist device 10 is provided. Is stored in the memory 29. The parallel parking auxiliary dimension Ws and the parallel parking auxiliary dimension Ls are intervals necessary for each driver to drive the vehicle 11 during parallel parking or parallel parking, for example, securing and switching an approach path. It will change according to the skill of the driver. In the parallel parking mode scene, the control unit 17 adds the parallel parking required dimension Ppw obtained by adding the parallel parking assistance dimension Ws to the width dimension W, and in the parallel parking mode scene, the longitudinal dimension obtained by adding the parallel parking assistance dimension Ls to the length dimension L. By selecting the required parking dimension Ppl and comparing it with the measured width dimension of the parking space S, it is determined whether or not parking is possible. For this reason, for the driver who drives frequently, the parallel parking auxiliary dimension Ws and the parallel parking auxiliary dimension Ls are registered in the memory 29, and the parallel parking required dimension Ppw and the parallel parking required dimension Ppl are switched according to each driver. It is desirable.

  Next, operation | movement of the vehicle parking assistance apparatus 10 is demonstrated along the flowchart shown in FIG. Although the left side parallel parking mode is described here as an example, the right side parallel parking mode is the same as the left side parallel parking mode except that the right camera 18b is operated, and thus detailed description is omitted. .

  When the driver parks in parallel in the parking space P found on the left side in the traveling direction with respect to the vehicle 11 (see FIG. 3A), the parking mode changeover switch 24 receives the parking mode on the left side parallel parking mode. Is selected (step 1).

  When the left side parallel parking mode is selected, the control unit 17 displays a side image from the left camera 18a on the screen of the monitor 16 (step 2), and the type of the index M is driven via the mark display changeover switch 25. When selected by the user, the indicator M is superimposed on the image on the side of the vehicle 11 and displayed on the screen (see FIG. 4A) (step 3).

  The driver determines the position of the index M on the screen via the start point position adjustment / determination switch 26 (step 4). In this embodiment, a straight line extending in the vertical direction of the screen is selected as the index M, and the fixed position of the index M is set at a position biased to the left side of the screen of the monitor 16.

  The driver advances the vehicle 11 along the row of parked vehicles. Accordingly, the image of the parked vehicle on the side of the vehicle 11 moves from right to left on the screen of the monitor 16.

  When the vehicle 11 moves forward and approaches the parking space P (see FIG. 3B), one end of the parking space P matches the index M on the screen of the monitor 16 (see FIG. 4A). The driver presses the start position adjustment / decision switch 26 when one end of the parking space P matches the index M on the screen, and the start position of the parking space P on the screen, that is, the parallel width dimension Pw of the parking space P A measurement start position is determined (step 5). The controller 17 starts counting the vehicle speed pulse V from the time when the starting point position is determined.

  When the vehicle 11 further moves forward and is positioned in front of the parking space P (see FIG. 3C), the other end of the parking space P matches the index M on the screen of the monitor 16 (see FIG. 4B). .) The driver presses the end point position determination switch 27 when the other end of the parking space P matches the index M on the screen, and measures the end point position of the parking space P on the screen, that is, the parallel width dimension Pw of the parking space P. The end position is determined (step 6). The control unit 17 ends the counting of the vehicle speed pulse V when the end point position is determined.

  The control unit 17 determines the distance that the vehicle 11 has moved forward from the time when the start point position is determined based on the counted vehicle speed pulse V to the time when the end point position is determined, that is, the parallel width dimension Pw of the parking space P (see FIG. 3 (c)) is calculated (step 7).

  The control part 17 compares the parallel parking required dimension Ppw which added the parallel parking auxiliary dimension Ws to the width dimension W, and the parallel width dimension Pw of the parking space P actually measured (step 8). If Pw ≧ Ppw, it is determined that parking is possible and the process proceeds to step 9. If Pw <Ppw, it is determined that parking is difficult and the process proceeds to step 10.

  When Pw ≧ Ppw, the control unit 17 notifies the driver through the monitor 16 and the speaker 21 that the vehicle 11 can be parked in the parking space P (step 9). At this time, the control unit 17 displays the parallel width dimension Pw of the parking space P together with a display indicating that parking is possible on the screen of the monitor 16.

  When Pw <Ppw, the control unit 17 notifies the driver through the monitor 16 and the speaker 21 that it is difficult to park the vehicle 11 in the parking space P (step 10). At this time, the control unit 17 displays a parallel width dimension Pw of the parking space P along with a display indicating that parking is difficult on the screen of the monitor 16. In this embodiment, in addition to notifying that parking is difficult, a warning is given so as not to start the parking operation via the monitor 16 and the speaker 21. In addition, the notification of the parking availability by the monitor 16 should just be what the driver can recognize visually whether parking is possible, and the notification of the parking availability by the speaker 21 recognizes the parking availability by the driver. Anything that can be done.

  Thus, the vehicle parking assistance apparatus 10 performs the operation of measuring the parallel width dimension Pw of the parking space S and guiding parking availability based on the measurement. If parking is possible, the driver moves the shift lever 22 to the retracted position and starts the parking operation. Accordingly, the reverse signal R is transmitted, and the control unit 17 displays the rear video from the rear camera 19 on the screen of the monitor 16 instead of the side video from the side camera 18 by receiving the reverse signal R. Then, rear parking support is started. The control unit 17 displays an index indicating the size of the host vehicle 11 and an index indicating a guide line from the current position of the vehicle 11 to the parking space S in an image behind the vehicle 11 from the rear camera 19. The driver can easily park the vehicle 11 in the parking space S by performing a parking operation with the index as a target. When it is difficult to park, the driver can drive the vehicle 11 and search for a parking space again without starting the parking operation.

  Note that the rear parking support is not limited to the above example as long as it can reduce the burden of the backward operation of the vehicle 11 by projecting the video behind the vehicle 11 on the screen of the monitor 16.

  In addition, once the vehicle parking assistance device 10 starts the rear parking assistance, the vehicle parking assistance device 10 continues the rear parking assistance until an operation for ending the rear parking assistance is performed. For this reason, when the parking operation is performed, for example, even when the shift lever 22 is operated to perform the switching operation, the screen of the monitor 16 is not switched, and the driver feels uncomfortable. You can get parking assistance. Here, for example, an operation for ending the rear parking assistance may be provided with a switch that is operated to be input for ending the rear parking assistance in the key operation unit 20, and the vehicle 11 is stopped for a certain period of time. If detected, the control unit 17 may determine that the rear parking support has ended.

  Next, operation | movement of the left side parallel parking mode of the vehicle parking assistance apparatus 10 is demonstrated. Although the left side parallel parking mode is described here as an example, the right side parallel parking mode is the same as the left side parallel parking mode except that the right camera 18b is operated, and thus detailed description is omitted. .

  As shown in FIG. 6 (a), when the driver performs parallel parking in the parking space P found on the left side in the traveling direction with respect to the vehicle 11, in order to receive parking assistance, the driver can perform left side parallel parking with the parking mode changeover switch 24. Select a mode.

  When the left side parallel parking mode is set, the control unit 17 projects a side image from the left camera 18a on the screen of the monitor 16, and the type of the index M is selected by the driver via the mark display changeover switch 25. Then, the index M is superimposed on the image on the side of the vehicle 11 and displayed (see FIG. 7A). The driver determines the position of the index M on the screen via the start point position adjustment / determination switch 26.

  When the vehicle 11 moves forward along the row of parked vehicles and approaches the parking space P (see FIG. 6A), one end of the parking space P matches the index M on the screen of the monitor 16 (FIG. 7). (See (b).) The driver presses the start position adjustment / decision switch 26 when one end of the parking space P matches the index M on the screen, and the start position of the parking space P on the screen, that is, the column width dimension Pl of the parking space P Determine the measurement start position. The controller 17 starts counting the vehicle speed pulse V from the time when the starting point position is determined.

  When the vehicle 11 further moves forward and is positioned in front of the parking space P (see FIG. 6C), the other end of the parking space P matches the index M on the screen of the monitor 16 (FIG. 7B). reference.). The driver presses the end point position determination switch 27 when the other end of the parking space P matches the index M on the screen, and measures the end point position of the parking space P, that is, the column width dimension Pl of the parking space P on the screen. Determine the end position. The control unit 17 ends the counting of the vehicle speed pulse V when the end point position is determined.

  As in the parallel parking mode, the control unit 17 calculates the column width dimension Pl (see FIG. 6C) of the parking space P, and adds the column parking auxiliary dimension Ls to the column width dimension Pl and the width dimension W. Is compared with the required parallel parking dimension Ppl. If Pl ≧ Ppl, it is determined that parking is possible, and if Pl <Ppl, it is determined that parking is difficult.

  When Pl ≧ Ppl, the control unit 17 notifies the driver via the monitor 16 and the speaker 21 that the vehicle 11 can be parked in the parking space P. At this time, the control unit 17 displays a column width dimension Pl of the parking space P together with a display indicating that parking is possible on the screen of the monitor 16.

  In the case of Pl <Ppl, the control unit 17 notifies the driver via the monitor 16 and the speaker 21 that it is difficult to park the vehicle 11 in the parking space P and a warning for not starting the parking operation. To do. At this time, the control unit 17 displays a column width dimension Pl of the parking space P along with a display indicating that parking is difficult on the screen of the monitor 16.

  Thus, the vehicle parking assistance apparatus 10 performs the operation of measuring the column width dimension Pl of the parking space S and guiding parking availability based on the measurement. When parking is possible, the driver starts the parking operation by moving the shift lever to the retracted position, and accordingly starts the backward parking support in the same manner as in the case of parallel parking.

(Modification)
FIG. 8 shows a block diagram of a vehicle parking assistance apparatus 10 ′ according to a modification.

  As shown in FIG. 8, the vehicle parking assistance device 10 ′ is configured to have a steering angle in addition to the control unit 17, the side camera 18, the rear camera 19, the key operation unit 20, the monitor 16, and the speaker 21. A sensor 30 and a yaw rate sensor 31 are provided.

  The steering angle sensor 30 detects the steering angle of the handle 15 by the driving operation of the handle 15 of the vehicle 11 and outputs the detection result to the control unit 17. The yaw rate sensor 31 detects the yaw force applied to the vehicle 11 and outputs the detection result to the control unit 17. The steering angle sensor 30 may detect the steering angle of the tire of the vehicle 11. Since the vehicle parking assistance device 10 ′ is similar to the vehicle parking assistance device 10 in terms of basic operations, detailed description thereof is omitted.

  The vehicle parking assistance device 10 ′ can predict the trajectory of the vehicle 11 from the detection result of the steering angle sensor 30 and the vehicle speed pulse V, and further correct the predicted trajectory using the detection result of the yaw rate sensor 31. be able to. Since the vehicle parking assist device 10 ′ includes the steering angle sensor 30 and the yaw rate sensor 31, when measuring the parking space S, the vehicle 11 is moved along the parked vehicle, that is, along the front surface of the parking space S. The parking space S can be measured without making progress. Further, when assisting the rear parking, the control unit 17 displays an index indicating the size of the host vehicle 11 on the rear image of the vehicle 11 from the rear camera 19 and a guide line from the current position of the vehicle 11 to the parking space S. In addition to the index indicating, an index indicating the predicted trajectory from the current state of the vehicle 11 can be superimposed on the image behind the vehicle 11 and displayed on the screen of the monitor 16. Thereby, the driver can easily park the vehicle 11 in the parking space S by performing a parking operation using the index as a guideline, so that the burden on the driver can be further reduced.

  In the vehicle parking assistance device 10 according to the present invention, the measured size of the parking space P is displayed on the monitor 16, so that the driver can use the vehicle 11 as a reference based on the size of the parking space P obtained from the display on the monitor 16. Whether or not parking is possible can be determined in consideration of the dimensions. For this reason, even when a plurality of different drivers drive the same vehicle 11, each driver can determine whether or not parking is possible regardless of their driving skills.

  Moreover, in the vehicle parking assistance apparatus 10, since it can be judged whether the own vehicle 11 can be parked in the desired parking space P before starting parking operation, a driver | operator's burden is eased. be able to.

  In the vehicle parking assistance device 10, the parallel parking scene and the parallel parking scene are divided into cases, and the parallel parking scene is determined based on the parallel parking required dimension Ppw, and the parallel parking scene based on the parallel parking required dimension Ppl. Therefore, a more accurate determination can be made.

  In the above-described embodiment, the index M is a single straight line that passes the screen of the monitor 16 in the vertical direction. In addition, the frame shape conforms to the required parking size Pp, and one end of the parking space P on the screen. A line segment having a length that matches is set. In addition to this, any shape that can assist in determining the start point position and the end point position may be used, and the present invention is not limited to the above example.

  In the above-described embodiment, only the operation when the vehicle 11 moves forward is shown, but the parking space P may be measured by moving backward.

  In the above-described embodiment, a camera that images the front of the vehicle 11 is not provided. However, a camera may be provided in the front and the same operation as the rear camera 19 may be performed. The same operation as that of 18 may be performed. When the same operation as that of the side camera 18 is performed, the depth dimension of the parking space located in front of the vehicle 11 can be measured.

It is a typical top view which shows the vehicle provided with the vehicle parking assistance apparatus which concerns on this invention. It is a block diagram of the vehicle parking assistance apparatus which concerns on this invention. It is a typical top view for demonstrating the left side parallel parking mode of a vehicle, and has shown the state which the vehicle advanced in order of (a) to (c). It is a top view which shows typically the display on the screen of the monitor in the case of the left side parallel parking mode, (a) shows the time of starting point position determination, (b) has shown the time of end point position determination. It is a flowchart which shows operation | movement of a vehicle parking assistance apparatus. It is a typical top view for demonstrating the left side parallel parking mode of a vehicle, and has shown the state which the vehicle advanced in order of (a) to (c). It is a top view which shows typically the display on the screen of the monitor in the case of left side parallel parking mode, (a) shows the time of starting point position determination, (b) has shown the time of end point position determination. It is a block diagram which shows the other example of the vehicle parking assistance apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle parking assistance apparatus 16 Monitor (as a display means) 17 Control part (As a control means) 18 Side camera (As an imaging means) 18a Left camera 18b Right camera 19 Back camera 20 (As input operation means) Key Operation part 21 Speaker (as voice output means) 22 Shift lever 23 Vehicle speed sensor (as movement distance detection means) 24 Parking mode changeover switch (as parking mode changeover operation part) 26 Start point (as start point position determination operation part) Position adjustment / determination switch 27 End point position determination switch (as end point position determination operation unit) 28 Vehicle size registration switch (as vehicle size registration operation unit) M Index W (Vehicle) width dimension L (Vehicle) length dimension Pp Required parking size Ppw Parallel parking required size Ppl Parallel parking required size Ws Parallel parking Auxiliary dimension Ls Parallel parking auxiliary dimension

Claims (7)

At least one imaging means for imaging the periphery of the vehicle, display means capable of displaying the peripheral video imaged by the imaging means, input operation means input to the occupant to determine a start point position and an end point position, Control means for recognizing an input operation performed by the input operation means and superimposing an indicator serving as a mark on the peripheral image displayed on the display means; A movement distance detection means for outputting a corresponding detection signal to the control means,
When the indicator is displayed on the display unit, the control unit moves the vehicle in accordance with the detection signal input after the start point position is determined until the end point position is determined. A vehicle parking assistance apparatus that converts a distance and displays the converted travel distance as a measurement result on the display means. The imaging means has a left imaging device capable of imaging the left side of the vehicle and a right imaging device capable of imaging the right side of the vehicle, and the input operation means is an occupant to determine the starting point position. A start point position determining operation unit that is input to the vehicle, an end point position determining operation unit that is input to the occupant to determine the end point position, and parking that is input to the occupant to select the left parking mode and the right parking mode. A mode switching operation unit,
The control means causes the display means to display a peripheral image from the left imaging device with the index superimposed when the left parking mode is selected, and superimposes the index when the right parking mode is selected. The vehicle parking assistance apparatus according to claim 1, wherein a peripheral image from the right imaging device is displayed on the display means.   The control means includes a storage unit that stores a required parking dimension corresponding to a width dimension and a length dimension of the vehicle, compares the required parking dimension with the measurement result, and measures the measurement from the required parking dimension. When the result is large, it is determined that the vehicle can be parked, and when the measurement result is smaller than the parking required dimension, it is determined that it is difficult to park the vehicle, and the determination of whether or not parking is possible. 3. The vehicle parking assistance apparatus according to claim 2, wherein a result is displayed on the display means.   The input operation means includes a vehicle size registration operation unit that is input to the occupant to input the required parking dimensions, and the parking mode switching operation unit is parallel in each of the left parking mode and the right parking mode. A parking scene and a parallel parking scene can be selected, and the required parking dimension includes a width dimension of the vehicle and a parallel parking required dimension composed of a parallel parking auxiliary dimension based on the width dimension, and the vehicle And a parallel parking required dimension composed of a parallel parking auxiliary dimension based on the length dimension, and the control means, when the parallel parking scene is selected, the parallel parking required dimension and the parallel parking required dimension. It is determined whether or not parking is possible by comparing with a measurement result, and when the parallel parking scene is selected, a determination is made as to whether or not parking is performed by comparing the parallel parking required dimension with the measurement result. Vehicle parking assist device according to claim 3 that.   The imaging means includes a rear imaging device capable of imaging the rear of the vehicle, and the control means is capable of detecting that the shift lever has been set to a reverse position corresponding to a reverse position. When it is determined that the vehicle can be parked and the shift lever is in the retracted position, the display means displays an image from the rear imaging device and starts rear parking support, and the rear parking support ends. The vehicle parking assistance device according to claim 4, wherein the rear parking assistance is continued regardless of the position of the shift lever until the vehicle is detected.   Furthermore, the audio | voice output means which can output an audio | voice according to control by the said control means is provided, The said control means makes the said audio | voice output means output the audio | voice determination result with an audio | voice. The vehicle parking assistance apparatus of any one of Claim 5. The vehicle parking assistance device according to any one of claims 1 to 6, wherein the imaging unit includes a front imaging device capable of imaging the front of the vehicle.

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