JP2007118878A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device for easily and rapidly moving or turning a target parking frame to an adequate position. <P>SOLUTION: The parking support device has a target parking position setting means for setting the target parking position to park a vehicle by a target parking frame S to be superposingly displayed on a real image projecting the periphery of the vehicle, performs the guide to the target parking position set by the target parking position setting means, and moves the target parking frame S which is initially displayed on a touch display 16 to the position indicated by the coordinate point Y to be designated by the touch operation. Further, the parking support device 10 preferably has a characteristic point recognition means for recognizing the characteristic point such as a parking division line or the like in the real image. The parking position setting means moves the coordinate point X to the characteristic point F which is recognized by the characteristic point recognition means and closest to the coordinate point X, and moves the target parking frame S to the position indicated by the characteristic point F. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking assistance device, and more particularly to a parking assistance device that sets a target parking position where a vehicle is to be parked and guides the vehicle to the set target parking position.

  When parking a vehicle, the parking assist device acquires the relationship between the current position of the vehicle and the position where the vehicle is to be parked using a camera or a distance sensor, and uses electric power steering (hereinafter referred to as “EPS (Electric Power Steering)”. Is a device that automatically steers the vehicle and assists the driver in parking.

As a method for setting a position to be parked (hereinafter referred to as “target parking position”), for example, the vehicle is temporarily stopped near the target parking position, and the position information is stored (for example, Patent Document 1). (See, for example, Patent Document 2). After the vehicle is moved to the parking start position, the above information is obtained. Based on the image showing the surrounding environment of the vehicle, the initial position of the target parking frame for designating the target parking position is superimposed and displayed, and the target parking position is adjusted by moving or rotating the target parking frame on the image There is something to make.
JP-A-2005-75016 JP 2003-81041 A

  However, in the inventions described in Patent Documents 1 and 2, it is necessary to adjust the position of the target parking frame once the stop position is inappropriate or the parking space is too large to determine the target parking position. If the target parking frame is moved back and forth and left and right using the direction button, but it is difficult to quickly move the target parking frame to the desired position because the distance moved by one operation of the direction button is small There is.

  In view of the above problems, an object of the present invention is to provide a parking assistance device that simply and quickly moves a target parking frame to an appropriate position.

  In order to achieve the above object, the parking support apparatus according to the first aspect of the present invention provides a target parking position for setting a target parking position where the vehicle is to be parked by a target parking frame superimposed and displayed on an actual image showing the periphery of the vehicle. A parking support device that includes a setting unit and guides to the target parking position set by the target parking position setting unit, wherein the parking position setting unit is initially displayed on the touch display; Is moved to a position indicated by one coordinate point designated by a touch operation.

  Moreover, 2nd invention is the parking assistance apparatus which concerns on 1st invention, Comprising: The said target parking frame has a rectangular shape showing a vehicle, Said 1 coordinate point is 4 of the said target parking frame. One of the corners is superimposed.

  Further, a third invention is a parking support apparatus according to the first or second invention, comprising a feature point recognizing means for recognizing a feature point in the actual image, wherein the parking position setting means is the feature. The feature point recognized by the point recognition means and moving to the feature point closest to the one coordinate point, and moving the target parking frame to the position indicated by the feature point. To do.

  Moreover, 4th invention is the parking assistance apparatus which concerns on 3rd invention, Comprising: The said feature point is one point of the parking lot lines marked on the ground, and the position which the said parking position setting means shows The target parking frame that moves is arranged so as to substantially coincide with the parking lot line.

  With the above-described means, the present invention can provide a parking assistance device that simply and quickly moves the target parking frame to an appropriate position.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating a configuration example of a parking assistance device 10 according to the present invention. The parking assist device 10 automatically executes vehicle steering without depending on the driver's operation when the vehicle is parked such as garage parking or parallel parking, and moves the vehicle to the target parking position designated by the operator. It is a device that supports. Hereinafter, the movement control to the target parking position by this device is referred to as parking assist control.

  As shown in FIG. 1, the parking assist device 10 includes a parking assist electronic control unit (hereinafter referred to as “parking assist ECU”) 12, a back camera 14, a wheel speed sensor 15, a touch display 16, a speaker 17, and an EPS 18. Prepare.

  The parking assist ECU 12 has a built-in memory 20 that can read and write data, and is connected to the back camera 14, the wheel speed sensor 15, the touch display 16, and the EPS 18 through a CAN (Controller Area Network). The memory 20 stores position information on the road surface (in absolute coordinates) of the target parking position set by the driver as will be described later, and route information of the route to the target parking position generated by calculation. Information stored in the memory 20 is normally deleted when the parking assist control is completed, such as when the shift position is shifted from the reverse position to the parking position, the neutral position, or when the vehicle approaches the target parking position. The

  The back camera 14 is disposed at the center of the rear part of the vehicle body, and captures an area extending in a predetermined angular range behind the vehicle. Image information around the rear of the vehicle photographed by the back camera 14 is supplied to the parking assist ECU 12. The feature point recognition means recognizes the feature point by processing the image received from the back camera 14. Here, the “feature point” is a point that can serve as an index for setting a target parking position, such as a white line such as a parking section marked on the ground, a road side line, a shoulder, a gutter, or a wheel stop. . The feature points may be displayed recognizable on the touch display 16 or may only exist potentially and may not be displayed. The image processing includes smoothing processing, shading correction, spatial filter processing, binarization processing, binary image processing, and the like, and recognizes feature points by pattern recognition or the like.

  The wheel speed sensor 15 is attached to a knuckle arm or the like and detects the speed at which the wheel rotates. The parking assist ECU 12 can receive the signal from the wheel speed sensor 15 and acquire the vehicle speed and the vehicle moving distance.

  The touch display 16 is a display device including an input unit that allows an operator to input coordinate values by touching the screen, and is disposed at a position where the operator can visually recognize and operate (for example, at the center of the instrument panel). . For example, when the vehicle shift position is in the reverse position, the parking assist ECU 12 causes the touch display 16 to display an actual image from the back camera 14. The touch display 16 projects the vehicle rear periphery by the back camera 14 on the display screen according to the command of the parking assist ECU 12. In addition, the touch display 16 displays an auxiliary line for parking assist control, a target parking frame for designating a target parking position, a non-parking area indicating an area where the vehicle cannot be parked, and the like according to a command of the parking assist ECU 12. The image is superimposed and displayed on the real image by the back camera 14, and the work content and help message corresponding to the screen display are displayed.

  In addition, the touch display 16 has a pressure operation type or a temperature type touch operation unit that can be operated by an operator. The touch operation unit includes a plurality of hierarchical switches and is displayed on the display screen according to a command from the parking assist ECU 12.

  The speaker 17 is a device that outputs sound, and outputs an alarm and a message generated by the parking assist ECU 12.

  Parking assistance ECU12 detects the touch operation of the operator to a touch operation part, and performs the process according to the content of the touch operation part which concerns. The touch operation unit includes a switch for starting the garage parking mode as a parking assist control, a switch for starting the parallel parking mode, and an arrow button switch for designating a target parking position where the driver parks the vehicle. Etc.

  The EPS 18 includes a torque sensor that detects a steering torque applied to the steering shaft by a steering operation by a driver, a steering angle sensor that detects a steering angle of the steering shaft, and an electric motor that applies torque to the steering shaft.

  In addition, the EPS 18 generates torque for assisting the steering torque when the driver performs the steering operation, and, as will be described later, the steering by the driver when parking the vehicle such as garage parking or parallel parking accompanying the parking assist control. Torque is generated in the electric motor for steering the vehicle without any operation.

  Further, the EPS 18 supplies the detected steering angle information of the steering shaft to the parking assist ECU 12. The parking assist ECU 12 supplies to the EPS 18 a target rudder angle that should be realized by the steering shaft as described later when the parking assist control is executed. The EPS 18 generates torque for parking assist control in the electric motor by supplying the target rudder angle from the parking assist ECU 12, and then feeds back the detected rudder angle to the parking assist ECU 12.

  Then, operation | movement of the parking assistance apparatus 10 is demonstrated.

  FIG. 2 is a diagram illustrating an initial screen displayed on the display screen of the touch display 16 when parking support is performed by the parking support device 10 of the present embodiment. 3A shows a diagram showing an image displayed on the display screen of the touch display 16 when the parking support device 10 selects the garage parking mode, and FIG. 3B shows the parking support. The figure showing the image shown on the display screen of the touch display 16 when the parallel parking mode is selected in the apparatus 10 is shown.

  When the shift position of the vehicle is shifted to the reverse position, the surrounding situation behind the vehicle by the back camera 14 is displayed on the display screen of the touch display 16. At this time, as shown in FIG. 2, a switch M1 for starting the garage parking mode and a switch M2 for starting the parallel parking mode appear as parking assist control on the display screen (initial screen).

  When the garage parking mode switch M1 is touch-operated, the display screen of the touch display 16 displays the vehicle rear periphery by the back camera 14 and the vehicle on the road surface as shown in FIG. Move or rotate the target parking frame S indicating the target parking position to be parked in the garage, the parking base point position P serving as a reference position when the target parking frame S is positioned, and the target parking frame S on the road surface The arrow button switch C for making it overlap is displayed.

  The target parking frame S corresponds to the target parking position on the actual road surface, and if it is projected on the actual road surface, the target parking frame S has a rectangular shape having a size substantially matching the vehicle body size. However, on the display screen of the touch display 16, it is formed in a shape corresponding to the position on the vehicle rear image (on the camera coordinates) by the back camera 14 projected on the display screen. When the arrow button switch C is touched by the driver, the target parking frame S moves Xcm (for example, 5 cm) or rotates Y ° (for example, 1 °) on a scale on the actual road surface for each touch. The target parking frame S is displaced on the display screen of the touch display 16. At this time, the closer the target parking position is to the vehicle, the greater the amount of movement of the target parking frame S on the display screen of the touch display 16 due to the perspective relationship in the rear image of the vehicle by the back camera 14. Become.

  Note that the target parking frame S can be used for the driver to temporarily stop the vehicle in the vicinity of the target parking position and store the position information of the target parking position in the parking assist device before the parking assist control is started. By checking the parking space and acquiring information on the target parking position, it is roughly specified in advance.

  The parking base point position P is a point on the frame line of the target parking frame S that is a reference position when the target parking frame S is positioned, and is preferably arranged at a corner position of the target parking frame S. This is because the target parking frame positioning index is often set at the corner or end of the parking lot line W. In this case, it is advantageous to superimpose the target parking frame S on the parking lot line W. That's why. In addition, when the point used as the parameter | index of positioning of a target parking frame is set to a wheel stop etc., the parking base point position P may be arrange | positioned in the center of the short side of the target parking frame S which shows a vehicle width.

  The arrow button switch C is an upward switch that moves the target parking frame S far away from the host vehicle on the road surface, a downward switch that moves near, a left switch that moves left, and a right switch that moves right , A counterclockwise switch that rotates in the counterclockwise direction, and a clockwise switch that rotates in the clockwise direction.

  Further, when the parallel parking mode switch M2 is touched, the display screen of the touch display 16 shows the area around the rear of the vehicle by the back camera 14 as shown in FIG. 3B on the road surface. In order to move the target parking frame S indicating the target parking position where the vehicle should be parked in parallel, the parking base point position P serving as a reference position when the target parking frame S is positioned, and the target parking frame S on the road surface. The arrow button switch C is superimposed and displayed. At this time, as the arrow button switch C, the above-described upward switch, downward switch, leftward switch, and rightward switch appear, while the counterclockwise switch and clockwise switch do not appear. This is because in the case of the parallel parking mode, there is less opportunity to rotate and fine-tune the target parking frame S than in the garage parking mode. However, as in the garage parking mode, the counterclockwise switch and the clockwise switch May be used.

  In both parking modes, the target parking position setting means can move the target parking frame S by touching a portion other than the arrow button switch C on the touch display. For example, FIG. The parking base point P of the target parking frame S can be quickly moved to the position of the coordinate point X or Y by touching the coordinate point X or Y in FIG.

  The target parking position setting means may automatically move (snap) the coordinate point X or Y to the feature point closest to the coordinate point. Thereby, even if it is rough coordinate designation | designated by an operator, the target parking frame S can be arrange | positioned so that the parking lot line W may be followed correctly, for example.

  In principle, the target parking frame S is moved while maintaining the posture before the movement. The target parking frame S is obtained by temporarily stopping the vehicle near the target parking position and storing the position information, or by investigating the parking space by using a distance measuring sensor and acquiring information on the target parking position. This is because it is specified in advance. However, you may make it adjust automatically so that the attitude | position after a movement may correspond to the white line of the parking lot line W substantially. This is because the parking assistance device 10 grasps the position of the white line of the parking lot line W by image processing.

  4A shows a state after the target parking frame S is moved by touching the coordinate point X, and FIG. 4B shows a state after the coordinate point Y is touched. It is. The coordinate point X designated by the touch operation in FIG. 3 (A) was slightly shifted from the left end of the parking partition line W, which is the feature point F, but as shown in FIG. 4 (A), The target parking position setting means automatically moves the coordinate point X to the feature point F so that the parking base point position P of the target parking frame S overlaps the feature point F, and the target parking frame S is appropriately set to the parking lane line W. To fit inside. On the other hand, since the coordinate point Y designated by the touch operation in FIG. 3B has no feature point in the periphery, the movement as shown in FIG. 4A is not performed, and FIG. As shown, the target parking position setting means makes the parking base point position P of the target parking frame S overlap the coordinate point Y.

  Thereby, the parking assistance apparatus 10 enables the target parking frame S to be moved to a desired position by one touch operation without the operator having to press the arrow button switch C many times, and sets the parking frame S. It should be extremely easy.

  In this case, the upward switch, the downward switch, the left switch, and the right switch may be used to finely adjust the position of the target parking frame S.

  In this way, the target parking position setting means performs the touch operation of the arrow button switch C while displaying the target parking frame S and the parking base point position P, or directly touches the coordinate point on the touch display. Set the parking position.

  In addition, the parking base position highlighting display means expresses the parking base position P with a figure such as a circle or rectangle larger than the thickness of the frame line so that the operator can easily grasp where the parking base position P is. Alternatively, the parking base point position P is expressed in a different display color or blinked.

  The semi-transparent display means displays the target parking frame S and the parking base position P in a semi-transparent manner so that the real image can be visually recognized even after the target parking frame S and the parking base position P are superimposed and displayed on the real image. Display with transparency.

  The target parking position setting means, the feature point recognition means, the parking base position highlighting display means, and the semi-transparent display means cause a CPU (Central Processing Unit) not shown to execute a program stored in a ROM not shown in the parking assist ECU 12. Is realized.

  When the target parking frame S, the parking base position P, and the arrow button switch C are displayed on the display screen of the touch display 16, thereafter, the current position of the vehicle at that time is set as the initial position every predetermined time (for example, 2 ms). The route from the initial position to the target parking position according to the set position of the target parking frame S is calculated.

  When the garage parking mode switch M1 or the parallel parking mode switch M2 is touch-operated, as shown in FIGS. 3A and 3B, together with the target parking frame S, the parking base position P, and the arrow button switch C, A confirmation button switch K for confirming the setting of the target parking position by the target parking frame S and a return button switch R for returning to the previous screen are superimposed and displayed. When the confirmation button switch K is touch-operated in a state where the route to the target parking position is generated by calculation, the designation of the target parking position is confirmed, and thereafter, execution of automatic steering is permitted by the parking assist control.

  FIG. 5 is a diagram showing a route to the target parking position at the time of parking in the garage. In the garage parking mode, the calculation of the route to the target parking position satisfies a predetermined geometric position condition determined by the minimum turning radius of the host vehicle and the relative positional relationship between the current position of the host vehicle and the target parking position. In this case, in order as a route, (1) a straight-ahead and backward section of a predetermined distance, (2) a steering angle increase section, (3) a steering angle fixed section, (4) a steering angle switching section, and (5) a predetermined section This is performed based on the above relative positional relationship so that each section of the straight-ahead and backward sections of the distance is appropriately formed.

  Moreover, FIG. 6 shows the figure showing the path | route to the target parking position at the time of parallel parking. In the parallel parking mode, the route to the target parking position is calculated based on the minimum turning radius of the host vehicle and a predetermined geometric position condition determined from the relative positional relationship between the current position of the host vehicle and the target parking position. In the case of satisfying, it is performed based on the above relative positional relationship so that a state where two circles are in contact as a route is appropriately formed.

  When the route to the target parking position is calculated in the garage parking mode and the parallel parking mode and the route is generated, the target parking position information and the route information are stored in the memory 20 and the display screen of the touch display 16 is displayed. The target parking frame S is colored, for example, in green to indicate that the parking assist control can be executed. When a route to the target parking position is generated by calculation and the confirmation button switch K on the touch display 16 is touched in a state where the inside of the target parking frame S is colored green, the arrow button switch C on the touch display 16 is operated. The confirmation button switch K is not displayed.

  On the other hand, if the route to the target parking position is not generated by calculation due to the relative position of the vehicle and the target parking position not satisfying the predetermined relationship, it is impossible to execute the parking assist control. The target parking frame S is colored red, for example, and the arrow button switch C and the confirmation button switch K are continuously displayed to prompt the target parking position to be changed.

  In the state where the route to the target parking position is generated and the designation of the target parking position is completed by the touch operation of the confirmation button switch K on the touch display 16, the vehicle is caused by a creep phenomenon or the like when the driver releases the brake operation. When the vehicle starts to move backward, parking assist control for guiding the vehicle to the target parking position is subsequently executed. Specifically, the amount of movement of the vehicle relative to the road surface after the start of reverse is calculated, and based on the calculated amount of movement and the steering angle information from EPS 18, the position of the vehicle relative to the route to the generated target parking position is calculated. Is calculated, and a target rudder angle for moving the vehicle along the generated route is calculated. The calculated target rudder angle is supplied to the EPS 18. The EPS 18 generates torque for rotating the steering shaft in the electric motor so as to move the vehicle along the generation route based on the target steering angle from the parking assist ECU 12.

  As described above, according to the configuration of the present embodiment, the parking assist control for automatically steering the vehicle along the route to the target parking position set by the operator's operation at the time of garage parking and parallel parking is performed. Can do. If such parking assist control is executed, it is unnecessary for the driver to perform a steering operation. For this reason, according to the parking assistance apparatus 10 of a present Example, the burden of a driver | operator's steering operation can be reduced at the time of garage parking and parallel parking.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the target parking position setting unit moves the target parking frame while waiting for the operator's touch operation, but the target parking frame is closest to the operator without waiting for the operator's touch operation. You may make it move to a point automatically. Since the target parking frame is positioned in advance with some accuracy by a method such as stopping or space recognition, if the parking base point position is slightly shifted from the feature point, the parking base point position is changed to the position indicated by the feature point. By automatically moving, the operator can start the parking assist control without adjusting the position of the target parking frame.

It is a system block diagram of the parking assistance apparatus mounted in the vehicle of the position Example of this invention. It is a figure showing the initial screen displayed on a display screen, when parking assistance by the parking assistance apparatus of a present Example is performed. It is a figure showing the image shown on a display screen, when a target parking position is designated in the parking assistance apparatus of a present Example. It is a figure showing the image shown on a display screen, after the target parking position is moved in the parking assistance apparatus of a present Example. It is a figure showing the path | route to the target parking position at the time of garage parking. It is a figure showing the course to the target parking position at the time of parallel parking.

Explanation of symbols

10 Parking Assist Device 12 Parking Assist Electronic Control Unit (Parking Assist ECU)
14 Back camera 16 Touch display 18 Electric power steering device (EPS)
20 Memory C Arrow button switch F Feature point K Confirm button switch P Parking base position R Return button switch S Target parking frame W Parking lot line X, Y Coordinate point

Claims (4)

The target parking position set by the target parking position setting means is provided with target parking position setting means for setting a target parking position where the vehicle should be parked by a target parking frame superimposed and displayed on a real image showing the periphery of the vehicle. A parking assistance device that provides guidance to
The parking position setting means moves the target parking frame initially displayed on the touch display to a position indicated by one coordinate point designated by a touch operation.
A parking assistance device characterized by that. The target parking frame has a rectangular shape representing a vehicle,
The one coordinate point is overlapped with one of the four corners of the target parking frame.
The parking support apparatus according to claim 1, wherein Comprising feature point recognition means for recognizing feature points in the real image;
The parking position setting unit moves the one coordinate point to a feature point recognized by the feature point recognition unit and closest to the one coordinate point, and moves the target point to a position indicated by the feature point. Move the parking frame,
The parking assistance device according to claim 1 or 2, wherein The feature point is one of parking lot lines marked on the ground,
The target parking frame moving to the position indicated by the parking position setting means is arranged so as to substantially match the parking lot line.
The parking support apparatus according to claim 3, wherein

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