JP2007168560A - Parking support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support apparatus which can park a vehicle within a parking frame even if the whole of the parking frame is not shown on a display image. <P>SOLUTION: The parking frame lines showing a parking position of the vehicle are recognized from a bird's eye view image (S116). An angle made by the side straight lines of the parking frame lines and the front and rear direction of the vehicle is calculated based on the recognized parking frame lines (S118). A direction for turning a steering wheel is determined as the parking support information for parking the vehicle within the parking frame line is determined from the calculated angle (S120). The direction for turning the steering wheel is shown on the display image (S124). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking assistance device that provides parking assistance by displaying an image of the rear of a vehicle captured by a camera mounted on the vehicle.

  Conventionally, as this type of device, there is an apparatus that captures the rear of a vehicle with an in-vehicle camera that captures the rear of the vehicle, converts the rear image of the vehicle into a bird's-eye view image looking down on the ground surface from the vertical direction, and displays the image on a monitor. Yes (see, for example, Patent Document 1).

Furthermore, a region close to the vehicle that deviates from the field of view of the in-vehicle camera as the vehicle moves backward is extracted from the past image, and a synthesized image obtained by matching the image of the region outside the field of view with the bird's-eye image is synthesized on the monitor. (For example, see Patent Document 2).
Patent No. 3663801 Japanese Patent No. 3677458

  A display example of parking assistance by the apparatus shown in Patent Document 2 is shown in FIG. The right side in the figure is an image converted into a bird's-eye view image, and the left side image in the figure is a captured image of the in-vehicle camera. The driver can perform a parking operation while confirming the positional relationship between the entire parking frame and the host vehicle in the bird's-eye view image shown on the right side in the figure. In addition, the state behind the vehicle can be confirmed from the captured image on the left side in the figure.

  As shown in FIG. 16, the display screen of the in-vehicle display is horizontally long. Therefore, when attempting to display a vertically long bird's-eye image on the in-vehicle display so that the entire parking frame is included, the bird's-eye image is reduced. Need to be displayed.

  However, when the bird's-eye view image including the entire parking frame is reduced and displayed on the vehicle-mounted display, the visibility is not good. According to the inventor's experiment, the visibility is improved and the operability of the parking operation is improved when the bird's eye view image is enlarged to a certain size and displayed rather than the display as shown in FIG. Was confirmed.

  However, if the bird's eye view image is enlarged and displayed, only the positional relationship between a part of the parking frame and the host vehicle can be recognized. For this reason, for example, even if the rear side of the vehicle displayed on the display screen is within the parking frame, a situation where the right tip portion or the left tip portion of the vehicle not displayed on the display screen protrudes from the parking frame is conceivable.

  The present invention has been made in view of such a problem, and an object thereof is to enable a vehicle to be parked in a parking frame without displaying the entire parking frame on a display screen.

  In order to achieve the above object, the first feature of the present invention is that an image obtained by imaging the rear of the vehicle with a camera mounted on the vehicle is converted into a bird's-eye view image looking down on the ground surface from the vertical direction. Recognizing the parking frame line on the side of the parking position, generating parking support information for parking the vehicle in the parking frame using the recognized parking frame line on the side of the parking position, and generating the parking support information Is displayed on the display means.

  Thus, based on the bird's-eye view image, the parking frame line on the side of the parking position is recognized, and parking assistance information for parking the vehicle in the parking frame from the recognized parking frame line on the side of the parking position is generated. Since this parking support information is displayed on the display means, even if the entire parking frame is not displayed on the display screen, the vehicle can be parked in the parking frame by performing the parking operation according to the parking support information.

  Further, the second feature of the present invention is to detect an angle between the recognized parking frame line on the side of the parking position and the front-rear direction of the vehicle, and turn for parking the vehicle in the parking frame based on the detected angle. The direction is determined, and the direction in which the steering wheel operation should be rotated is displayed on the display unit together with the bird's-eye view image based on the determined turning direction.

  Thus, since the direction in which the steering wheel operation should be rotated is displayed on the display unit together with the bird's-eye view image, even if the entire parking frame is not displayed on the display screen, the direction in which the steering wheel operation is to be rotated is displayed. By performing the parking operation, the vehicle can be parked in the parking frame.

  In this case, the direction in which the steering wheel operation should be rotated can be displayed on the display means using an arrow, and the direction in which the steering wheel operation should be rotated can be displayed on the display means using an icon.

  The third feature of the present invention is to generate an extension line extending the recognized parking position side parking frame line to the rear of the vehicle and display the generated extension line together with the bird's-eye view image on the display means. .

  Thus, since the extension line that extends the parking frame line on the side of the parking position to the rear of the vehicle is displayed on the display unit together with the bird's-eye view image, even if the entire parking frame is not displayed on the display screen, it is displayed on the display unit. The vehicle can be parked in the parking frame by performing the parking operation while visually recognizing the extended line.

  Further, the fourth feature of the present invention is that a reduced image obtained by reducing an entire image including the entire vehicle and the entire parking frame at a preset magnification is generated, and an enlarged image obtained by enlarging the entire image is reduced by the reduced image generating means. The generated reduced images are superimposed and displayed on the display means.

  In this way, since the reduced image generated by the reduced image generating means is superimposed on the enlarged image obtained by enlarging the entire image and displayed on the display means, parking is performed according to the parking assistance information even if the entire parking frame is not displayed on the display screen. By operating, the vehicle can be parked in the parking frame.

(First embodiment)
The structure of the parking assistance apparatus which concerns on 1st Embodiment of this invention is shown in FIG. As shown in the figure, the parking assist device includes an in-vehicle camera (for example, a CCD camera) 1 as a photographing means arranged at a central portion of the rear portion of the vehicle 10 so as to photograph an obliquely downward view, and a dash. An in-vehicle display (for example, a color liquid crystal display) 3 as a display means disposed on the board and a microcomputer as main parts, and actual display based on captured image data obtained by imaging with the in-vehicle camera 1 And a data processing unit 5 for generating display image data to be used. In addition, the vehicle-mounted camera 1 of this parking assistance apparatus is attached so that the front-rear direction of the vehicle 10 is the vertical direction of the captured image and the rear of the vehicle 10 is the lower side of the captured image.

  The data processing unit 5 includes a gyro sensor that outputs a signal indicating the direction of the vehicle, a wheel speed sensor that outputs a signal corresponding to the speed of the vehicle, and a shift position detection that outputs a signal corresponding to the shift position of the shift lever. Various signals are input from a switch (both not shown).

  The data processing unit 5 has an image memory (not shown). Image data is output from the image memory to the in-vehicle display 3 in accordance with the drawing of the image to the image memory.

  The in-vehicle display 3 in the present embodiment is a 7-inch, 16: 9 wide type. The parking assist apparatus displays the bird's-eye view image of the area shown in FIG. This display area has been confirmed by the inventor's experiment as having good visibility and the easiest parking operation.

  In addition, the area | region below the boundary line A in a figure is the bird's-eye view image coordinate-transformed by the process similar to the apparatus shown in patent document 1 mentioned later, and the area | region above the boundary line A is patent document 2 4 is a composite image of the out-of-view area of the in-vehicle camera 1 generated by the same processing as the apparatus shown in FIG. The own vehicle position F is an image in which the planar image data of the vehicle 10 from the viewpoint from directly above is displayed at the fixed position in correspondence with the fixed position of the own vehicle in the bird's-eye view image. Since the background color is different between the upper side and the lower side of the boundary line A, the boundary line A is displayed as a line.

  Further, at the start of the backward movement, only the bird's-eye view image below the boundary line A is displayed. As the region outside the field of view of the in-vehicle camera 1 expands due to the backward movement of the vehicle, as shown in FIG. Also, the combined image of the upper out-of-view area is gradually enlarged and displayed.

  Next, processing of the data processing unit 5 will be described with reference to FIG. When the ignition switch is turned on and power is supplied from the battery, the data processing unit 5 starts the process shown in FIG.

  First, it is determined whether or not the shift lever is set to a reverse (REV) position indicating reverse travel (S100). This shift position can be detected by a signal from a shift position detection switch (not shown).

  If the shift lever is not in the reverse position, the determination in S100 is repeated. Also, if the shift lever is in the reverse position, the photographed image data is taken from the in-vehicle camera 1, and coordinate conversion is performed on the photographed image data looking down on the ground surface from behind, thereby looking down on the ground surface from the vertical direction. Converted image data representing a bird's eye view image is generated (S102). In addition, a process of combining the plane image data of the vehicle 10 with the viewpoint from directly above prepared in advance corresponding to the fixed position of the own vehicle in the bird's-eye view image so as to be always displayed at the fixed position is also performed.

  A process for converting a captured image from the in-vehicle camera 1 into converted image data and a process for synthesizing the planar image data of the vehicle 10 from a viewpoint from directly above so as to be always displayed at a fixed position are disclosed in Patent Document 1 of Background Art. Is described in detail in the patent gazette shown in FIG.

  Next, the converted image data generated in the previous S102 is compared with the peripheral image data being displayed on the in-vehicle display 3, and an area close to the vehicle that is outside the field of view of the in-vehicle camera 1 due to the backward movement of the vehicle 10 is determined. A composite image extracted from the past image and synthesized by matching the image of the region outside the field of view with the bird's-eye view image is drawn in the image memory (S104).

  The processing for synthesizing the out-of-view area by matching the added area outside the field of view of the in-vehicle camera 1 with the converted image is also described in detail in the patent publication shown in Patent Document 2 of the background art. Then, the explanation is omitted. In the process shown in S102, the image of the entire parking frame is out of the field of view of the in-vehicle camera 1 when the vehicle moves backward and fits in the parking frame. Since the entire image of the entire parking frame is synthesized from the (past image), it is possible to display a bird's-eye view image including the entire parking frame even when the vehicle moves backward and fits in the parking frame.

  When the composite image is drawn in the image memory in S104, the image shown in FIG. A composite image obtained by combining the image of the out-of-view area and the planar image of the vehicle 10 from the viewpoint from directly above the bird's-eye view image behind the vehicle 10 is enlarged and displayed. The area below the boundary line A in the figure is a bird's-eye view image that has undergone coordinate conversion by the process of S102, and the area above the boundary line A is an out-of-view area of the in-vehicle camera 1 generated by the process of S104. It is a composite image.

  Next, a vehicle movement amount is calculated based on each signal input from the gyro sensor and the wheel speed sensor (S106). Specifically, the turning radius of the vehicle 10 is calculated from the signal indicating the direction of the vehicle 10 input from the gyro sensor, and the vehicle moves from the signal according to the turning radius and the speed of the vehicle 10 input from the wheel speed sensor. Calculate the amount. In addition, when the vehicle 10 moves backward while turning by the steering operation, the movement locus of the wheel becomes an arc shape, and thus the vehicle movement amount along the movement locus is calculated based on the signal indicating the direction and speed of the vehicle 10 in this way. I am trying to calculate.

  Next, it is determined whether or not the calculated vehicle movement amount is equal to or greater than a preset reference distance (for example, 10 centimeters) (S108). Here, the amount of vehicle movement is calculated based on the point where the shift lever is in the reverse position.

  When the vehicle 10 moves rearward and the amount of vehicle movement is less than the reference distance, the determination in S108 is NO and the processes in S100 to S106 are repeated. Therefore, the image displayed on the in-vehicle display 3 is always updated to the latest one.

  If the amount of vehicle movement is greater than or equal to the reference distance, the determination in S108 is YES, and then it is determined whether or not the parking frame has been determined (S110). In addition, since determination of a parking frame is performed by the step of subsequent S116, it demonstrates here that a parking frame has not been determined.

  Next, a straight line detection process for detecting a straight line on the side of the parking position is performed (S112). Specifically, the color composite image data generated in S102 and S104 is converted into a monochrome image as shown on the left side of FIG. 5, and the process of first-order differentiation in the horizontal direction is repeated from the top to the bottom of the image, as shown in FIG. As shown on the right side, a straight edge on the side of the parking position of the parking frame line indicating the parking position is detected. Note that edge detection by primary differentiation can be performed, for example, by image processing using a Sobel filter. Then, a straight line is detected from the detected plurality of edges (a set of points) using Hough transform or the like. In the present embodiment, as shown in FIG. 6, a straight line C with a parallelism up to ± 20 degrees is detected only in the detection area B set in advance with the own vehicle 10 as a reference. The detection of the straight line C is performed not only in the range of the display area D of the in-vehicle display 3 but also in the drawing range in the image memory.

  In the present embodiment, straight line detection is performed only in the horizontal direction, thereby reducing the processing load on the data processing unit 5 and efficiently detecting straight lines. Further, by detecting the straight line C only in the detection area B of FIG. 6, the processing load of the data processing unit 5 is reduced and the straight line is efficiently detected.

  Next, it is determined whether or not a straight line is continuously detected a predetermined number of times (for example, five times) or more by the straight line detection process (S114).

  Here, when the straight line is not continuously detected for a predetermined number of times or more, the determination in S114 is NO and the processes in S100 to S112 are repeated. In addition, although it demonstrated as what calculates vehicle movement amount on the basis of the point where the shift lever was made into the reverse position in previous S106, when it determines with vehicle movement amount being more than a reference distance in S108, the point Recalculate the amount of vehicle movement with reference to. Thus, every time the vehicle 10 moves the reference distance, the vehicle movement amount is calculated while changing the reference point. Therefore, every time the vehicle 10 moves a reference distance (for example, 10 centimeters), the straight line detection process of S112 is performed.

  Moreover, when a straight line is continuously detected a predetermined number of times, the determination in S114 is YES, and then a parking frame determination process is performed (S116). Specifically, the detected average value of the predetermined number of straight lines is determined as a parking frame line on the side of the parking position, and information indicating that the parking frame line has been determined is stored in the internal memory.

  In this way, by detecting whether or not a straight line has been continuously detected a predetermined number of times or more, detection errors of the parking frame line are reduced.

  Next, the angle θ formed by the straight line on the side of the parking position and the front-rear direction of the vehicle is calculated (S118). As shown in FIG. 7, the vertical direction of the display image on the in-vehicle display 3 is the front-rear direction of the vehicle 10. Therefore, an angle θ formed by the vertical direction of the display image on the in-vehicle display 3 and the parking frame side line L determined in S116 is calculated, and the longitudinal direction of the vehicle 10 and the straight line on the side of the parking position are calculated. The angle θ formed by

  Next, the direction in which the steering should turn is determined (S120). Specifically, when the vehicle 10 moves rearward, the steering turning direction in which the angle θ formed by the vehicle front-rear direction calculated in S118 and the parking frame line on the side of the parking position approaches 0 degrees is handled. Determine the direction in which the operation should rotate. In the example shown in FIG. 7, when the steering wheel is turned to the left, the angle θ formed approaches 0 degrees, so the direction in which the steering wheel should turn is determined to be “left”.

  Next, it is determined whether or not the angle θ formed by the straight line on the side of the parking position and the vehicle is within a predetermined angle (for example, 1 degree) set in advance (S122).

  Here, when the angle θ formed by the straight line on the side of the parking position and the vehicle is larger than a predetermined angle (for example, 1 degree) set in advance, the determination in S122 is NO, and then the steering wheel determined in the previous S122 The direction to rotate the operation is guided (S124). Specifically, as shown in FIG. 8, when the direction in which the steering wheel operation is to be rotated is “left”, an arrow Y indicating “left” is superimposed on the display image of the in-vehicle display 3 and “ "Turn the steering wheel to the left." On the other hand, when the direction in which the steering wheel operation should be rotated is “right”, an arrow indicating “right” is superimposed on the display image of the in-vehicle display 3 and “turn the steering to the right”. Voice guidance is performed and the process returns to S100.

  When the angle θ formed by the straight line on the side of the parking position and the vehicle is within a predetermined angle (for example, 1 degree) set in advance, the determination in S122 is YES and the process returns to S100.

  Further, in the previous determination of S110, it has been described that the parking frame has not been determined, but once the parking frame is determined by the parking frame determination process of S116, the determination of S110 will be YES from the next time, and then Then, a process of calculating the relative position between the determined parking frame line on the side of the parking frame and the vehicle 10 is performed (S126).

  FIG. 8 schematically shows how the parking frame line on the left side of the parking position relatively moves as the vehicle 10 turns. In this process, first, a steering wheel angle ρ is obtained based on a signal from the steering sensor, and a tire angle θ is calculated by multiplying the steering wheel angle ρ by a predetermined constant K. Next, the front wheels W1, W2 are calculated. An extension line extending in a direction perpendicular to the direction of the front wheels W1, W2, that is, in the direction of the tire angle θ with respect to the rear direction of the vehicle 10, is generated at an intersection M where the axle of the vehicle intersects with the vehicle center line direction of the vehicle 10 Then, the vehicle rotation center O at which the extension line and the extension line obtained by extending the axles of the rear wheels W3 and W4 intersect is obtained. As the vehicle 10 turns (rotates), the parking frame line rotates about the vehicle rotation center O. Further, the amount of movement of the parking frame line is determined by the rotation angle θ ′ of the vehicle 10. That is, when the vehicle rotation center O is the origin (0, 0) and the rotation angle of the vehicle 10 is θ ′, the coordinates (X ′, Y ′) after rotation of the coordinates (X, Y) on the parking frame line are ( X ′, Y ′) = (X · cos θ ′ + Y · sin θ ′, −X · sin θ ′ + Y · cos θ). In this way, the relative position between the parking frame line on the side of the parking position and the vehicle 10 is calculated, and the relative position between the parking frame line on the side of the vehicle 10 and the parking position is corrected. Thus, by correcting the parking frame line on the side of the vehicle 10 and the parking position, the position of the parking frame line on the side of the parking position is updated, and the process proceeds to S118.

  Although not shown, when it is determined that the shift lever has been moved from the reverse position to another position (for example, the drive position) after guiding the direction in which the steering wheel operation should be rotated in S124, drawing data to the image memory and The information indicating that the parking frame line stored in the internal memory is determined is deleted, and the determination in S100 is repeated.

  According to the above configuration, the parking frame line indicating the parking position of the vehicle is recognized from the bird's-eye view image, and the steering wheel operation should be rotated as parking assistance information for parking the vehicle in the parking frame from the recognized parking frame line. Since the direction is determined and the direction in which this steering wheel operation is to be rotated is displayed on the display screen, even if the entire parking frame is not displayed on the display screen, the vehicle is placed in the parking frame by performing the parking operation according to the parking assistance information. You can park.

  In the present embodiment, an example is shown in which the direction in which the steering is to be turned is displayed on the in-vehicle display 3 using an arrow in S124. However, as shown in FIG. You may make it show a power direction.

(Second Embodiment)
In the first embodiment, an example in which the direction in which the steering wheel operation should be rotated is displayed on the display screen as the parking support information is shown. However, in this embodiment, the parking frame line on the side of the parking position is used as the parking support information. An extension line that extends to is displayed on the display screen.

  The structure of the parking assistance apparatus according to the embodiment shown below is the same as that of the first embodiment shown in FIG. 1, and the processing of the data processing unit 5 is different. In the present embodiment, the process shown in FIG. 11 is performed instead of S118 to S124 shown in FIG.

  When the parking frame line is determined by the parking frame determination process of S116, next, an extension line that extends the parking frame line on the side of the parking position to the rear of the parking position is generated (S218). Specifically, as shown in FIG. 12, an image is generated that shows an extension line E that extends the parking frame lines on both sides of the parking position to the rear of the parking position. In addition, in order to make the extension line E easy to visually recognize, the color of the extension line E is generated as a color (for example, blue) different from the color of the parking frame or the road.

  Next, the generated extension line E is drawn on the image behind the vehicle (S220), and the process returns to S100. In addition, as shown in FIG. 12, the in-vehicle display 3 displays an extension line E that extends the parking frame lines on both sides of the parking position side to the rear of the parking position so as to overlap the image of the rear of the vehicle.

  According to the above-described configuration, an extension line that extends a straight line on the side of the parking position of the parking frame line to the rear of the parking position is generated, and the extension line is displayed on the display unit together with the bird's-eye view image. Even if the whole is not displayed, the vehicle can be parked in the parking frame by performing a parking operation while visually recognizing the extension line displayed on the in-vehicle display 3.

(Third embodiment)
In the first and second embodiments, the parking operation information is guided by displaying on the display screen an extension line extending the parking frame line on the side of the parking position and the parking frame side to the parking position as parking assistance information. Although an example has been shown, in the present embodiment, a reduced image obtained by reducing the entire image including the entire vehicle and the entire parking frame is displayed in a pop-up manner on the enlarged image obtained by enlarging the entire image.

  In the present embodiment, the process shown in FIG. 13 is performed instead of S118 to S124 shown in FIG.

  Once the parking frame line is determined by the parking frame determination process in S116, next, a reduced image is generated by reducing the entire image generated in S102 and S104 and the entire image including the entire parking frame at a preset magnification. (S318).

  Next, the entire image including the entire vehicle and the entire parking frame is drawn by superimposing the reduced image S generated in S318 on the enlarged image enlarged at a preset magnification (S320), and the process returns to S100. As shown in FIG. 14, the in-vehicle display 3 reduces the entire image including the entire vehicle and the entire parking frame at a preset magnification to the enlarged image of the entire image including the entire vehicle and the entire parking frame. The reduced images S thus displayed are displayed in an overlapping manner.

  According to the above configuration, the reduced image obtained by reducing the entire image including the entire vehicle and the entire parking frame at a preset magnification is displayed so as to overlap the enlarged image obtained by enlarging the entire image. Even if the entirety is not displayed, the vehicle can be parked in the parking frame by performing the parking operation while visually recognizing the reduced image displayed on the display means.

(Other embodiments)
In the first and second embodiments, the enlarged image of the entire image including the entire vehicle and the entire parking frame has an arrow Y indicating the direction in which the steering wheel operation should be rotated as parking support information, an icon I, a side of the parking position. Although an example in which the extension line E that extends the parking frame line to the rear of the parking position is displayed in an overlapping manner, as shown in FIG. Even when an image other than the bird's eye view image such as the captured image is simultaneously displayed, the arrow Y indicating the direction in which the steering wheel operation should be rotated, the icon I, and the parking frame on the side of the parking position are extended to the rear of the parking position. The extension line E may be displayed in an overlapping manner.

  Moreover, in the said embodiment, although the example which detects the parking frame line of a parking position side from the synthesized image data produced | generated by S102 and S104 was shown in S112, for example, it parks only from the bird's-eye view image data shown in S112. You may make it detect the parking frame line of a position side.

  In the above embodiment, an example in which the angle θ formed by the vehicle and the parking frame line on the side of the parking position is obtained with the vertical direction of the bird's-eye view image as the front-rear direction of the vehicle. Without being limited, the angle θ formed by the vehicle and the parking frame line on the side of the parking position may be obtained by other methods.

  The processing of each step in the flowcharts shown in FIGS. 3, 9, and 11 is grasped as a means for realizing each function, and the data processing unit 5 includes software as shown in the above-described embodiment. It may be comprised not only by what is comprised by but by hardware.

  The correspondence relationship between the configuration of the above embodiment and the configuration of the claims will be described. The in-vehicle camera 1 corresponds to an imaging unit, S102 corresponds to an image conversion unit, and the in-vehicle display 3 corresponds to a display unit. S112 corresponds to the straight line detection means, S116 corresponds to the parking frame line recognition means, S118, S120, S128, and S318 correspond to the parking support information generation means, and S124, S220, and S320 correspond to the display control means. , S118 corresponds to the angle detection means, S120 corresponds to the turning direction determination means, S124 corresponds to the turning direction display control means, S128 corresponds to the extension line generation means, and S220 corresponds to the extension line display control means. S318 corresponds to the reduced image generation means, S320 corresponds to the reduced image display control means, and S104 corresponds to the composite image generation means. .

It is a figure which shows the structure of the parking assistance apparatus which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the display to the vehicle-mounted display of this parking assistance apparatus. It is a figure which shows the process of the data processing part of the parking assistance apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the example of a display of the vehicle-mounted display of this parking assistance apparatus. It is a figure for demonstrating the edge detection of a straight line detection process. It is a figure for demonstrating a straight line detection process. It is a figure for demonstrating the calculation method of angle (theta) which the straight line of a parking position side and a vehicle make. It is the figure which showed typically a mode that the parking frame line of a parking position side moved relatively with the movement of a vehicle. It is an example of a display when the direction which should rotate handle operation is displayed using an arrow. It is an example of a display when the direction which should rotate handle operation using an icon is displayed. It is a figure which shows the process of the data processing part of the parking assistance apparatus which concerns on 2nd Embodiment of this invention. It is a display example when the extension line which extends the parking frame line of a parking position side to a parking position back is displayed. It is a figure which shows the process of the data processing part of the parking assistance apparatus which concerns on 3rd Embodiment of this invention. It is a display example when the reduced image of the whole image is displayed so as to overlap the enlarged image of the whole image. It is a figure for demonstrating a modification. It is a figure for demonstrating a subject.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Car-mounted camera, 3 ... Car-mounted display, 5 ... Data processing part, 10 ... Vehicle.

Claims (6)

Imaging means for imaging the rear of the vehicle with a camera mounted on the vehicle;
Image conversion means for converting the image captured by the imaging means into a bird's-eye view representing a bird's-eye view looking down on the ground surface from the vertical direction;
Display means for displaying the bird's-eye view image converted by the image conversion means;
A straight line detecting means for detecting a straight line on the side of the parking position from the bird's eye image converted by the image converting means;
Parking frame line recognition means for recognizing the parking frame line on the side of the parking position based on the straight line on the side of the parking position detected by the straight line detection means;
Parking assistance information generating means for generating parking assistance information for parking the vehicle in a parking frame using the parking frame line on the side of the parking position recognized by the parking frame line recognition means;
And a display control means for displaying the parking support information generated by the parking support information generating means on the display means. The parking support information generating means includes an angle detecting means for detecting an angle formed by a parking frame line on the side of the parking position recognized by the parking frame line recognizing means and a front-rear direction of the vehicle;
A turning direction determining means for determining a turning direction for parking the vehicle in the parking frame based on the angle detected by the angle detecting means,
The display control means includes a turning direction display control means for causing the display means to display a rotation direction of a handle operation together with the bird's-eye view image based on the turning direction determined by the turning direction determination means. The parking assistance device according to claim 1. The parking assist device according to claim 2, wherein the turning direction display control means causes the display means to display the rotation direction of the steering wheel operation using an arrow. The parking assist apparatus according to claim 2, wherein the turning direction display control means causes the display means to display the rotation direction of the steering wheel operation using an icon. The parking support information generating means includes an extension line generating means for generating an extension line that extends the parking frame line on the side of the parking position recognized by the parking frame line recognition means to the rear of the parking position,
3. The display control means according to claim 1, wherein the display control means includes extension line display control means for causing the display means to display the extension line generated by the extension line generation means together with the bird's-eye view image. Vehicle periphery image display device. Imaging means for imaging the rear of the vehicle with a camera mounted on the vehicle;
Image conversion means for converting the image captured by the imaging means into a bird's-eye view representing a bird's-eye view looking down on the ground surface from the vertical direction;
Display means for displaying the bird's-eye view image converted by the image conversion means;
The image conversion means converts the entire image including the entire vehicle and the entire parking frame into the bird's-eye view image,
Display control means for causing the display means to display an enlarged image obtained by enlarging the image obtained by converting the whole image into the bird's-eye view image by the image conversion means at a preset magnification;
The parking support information generating means includes reduced image generating means for generating a reduced image obtained by reducing the entire image including the entire vehicle and the entire parking frame at a preset magnification.
The parking control means, wherein the display control means includes a reduced image display control means for displaying the reduced image generated by the reduced image generating means on the enlarged image obtained by magnifying the whole image and displaying the reduced image on the display means. Support device.

Images