JP2007237971A - Vehicle parking support control device, and program therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle parking support control device capable of presenting information by the content according to the skill of the parking operation of a driver. <P>SOLUTION: The vehicle parking support control device controls the information presentation for supporting the vehicle parking operation by a driver by the information presenting content based on the timing for detecting the predetermined input operation in an input device by the driver. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking assistance control device and a parking assistance control device program.

  In recent years, parking assistance control devices that perform control for assisting a driver's parking operation have been widely used. When detecting that the driver presses the parking support switch, these parking support control devices start control for parking support. And in the control for the assistance, information on the moving operation for guiding the vehicle to the parking position is presented to the driver in the form of voice, image, or the like.

For example, Patent Document 1 discloses a parking support control device that disassembles a parking operation into a plurality of stages along a time series and changes a parking support method according to the transition of the stages. Patent Document 2 discloses a parking support device that collects obstacle information around a vehicle while traveling and uses the collected obstacle information to support a moving operation of the vehicle from the current position to the parking mass. It is disclosed.
JP 2002-120678 A JP 2005-178464 A

  However, even if such information presentation by the parking assistance control device is useful for a driving beginner, it may be a simple vehicle operation pressing for an advanced user.

  An object of this invention is to provide the parking assistance control apparatus which implement | achieves the information presentation of the content according to the skill level with respect to the parking operation of a driver in view of the said point.

  In order to achieve the above object, a parking assistance control device according to claim 1 controls information presentation for assisting a driver to park a vehicle by a driver and performs a predetermined input operation to the input device by the driver. Is detected. And a parking assistance control apparatus controls the kind of the said information presentation based on the timing which detected the said input operation.

  In this manner, the parking support control device realizes the type of information presentation based on the timing when a predetermined input operation is performed for parking support. Therefore, the driver can receive information presentation of a type that matches his / her proficiency level by performing the input operation at a timing corresponding to the proficiency level of his / her own parking operation. As the driver gets used to using the parking assistance control device, the information input that suits his / her level of proficiency can be achieved by performing the predetermined input operation and starting the control of the information presentation. You will be able to understand more accurately whether you can receive. Note that the information presentation in the present invention may be presentation of only voice, presentation of only an image, or presentation combining them.

  In addition, as described in claim 2, the parking assistance control device may detect which of a plurality of stages the moving state for parking the vehicle belongs to. In that case, the parking assistance control apparatus may be configured to realize the type of information presentation based on the stage detected at the timing.

  In this way, the content of information presentation starting from the input operation described above is based on the moving state for parking the vehicle at the time when the input operation is performed. Therefore, the driver can grasp in association with the moving state of the vehicle at which timing the input operation can be received to receive information according to his / her proficiency level.

  Further, as described in claim 3, the plurality of stages may include a search stage in which the driver is searching for a parking frame. In such a case, as described in claim 4, the parking support apparatus further performs a forward operation for changing the direction of the vehicle based on the fact that the movement state belongs to the search stage at the timing. When the vehicle has reached the point where the vehicle should start, control for notifying the driver of that may be performed.

  Further, as described in claim 5, the plurality of stages may include a forward stage in which the vehicle is moving forward to a point at which the vehicle should start to move backward into the parking frame. In such a case, as described in claim 6, the parking support control device further detects that the vehicle moves backward into the parking frame based on detection at the timing that the moving state belongs to the forward stage. Control may be performed to notify the driver of the fact that the vehicle has reached a point where the vehicle should start.

  Further, as described in claim 7, the plurality of stages may include an initial retreat stage in which the driver performs a retreat operation for adjusting the posture of the vehicle to the parking frame. In such a case, as described in claim 8, the parking assistance device further rotates the steering of the vehicle to the maximum based on the fact that the movement state belongs to the initial reverse stage at the timing. Control for causing the image display device to display the predicted progress line when the vehicle retreats in the state where the vehicle has moved may be performed.

  In addition, as described in claim 9, the parking assistance control apparatus may perform control for starting the information presentation at a timing when the predetermined input operation is detected. According to this, the predetermined input operation is an operation to start control for parking assistance. It is presumed that the driver often starts the control for parking assistance at a later timing as the proficiency level of the parking operation becomes higher. Therefore, the timing of the operation for starting the control for parking assistance largely reflects the proficiency level of the driver. In view of such a point, the information presentation by the parking assistance device according to claim 8 is more suitable for the driver's proficiency level.

  Note that “start control at the timing when an input operation is detected” does not necessarily limit that the timing at which an input operation is detected and the start of control are strictly the same. The start timing of the control may be delayed from the detection timing of the input operation within a range in which the above-described input operation can be normally regarded as an operation for starting the control of information presentation.

  According to a tenth aspect of the present invention, the information presentation control for supporting the parking operation of the vehicle is performed, and the input operation by the driver of the vehicle to start the function of the support control means is detected. Based on the timing at which the parking support control device detects the input operation, the parking assistance control device determines the level of proficiency with respect to the parking operation of the driver, and further controls the content of the information presentation based on the determination result of the level of proficiency It may be.

  As described above, the parking support control device determines the proficiency level of the driver for the parking operation based on the timing at which the predetermined input operation is performed, and controls the provision of information based on the content based on the determined proficiency level. Therefore, the driver can receive information presentation of a type that matches his / her proficiency level by performing the input operation at a timing corresponding to the proficiency level of his / her own parking operation. And as the driver gets used to the use of the parking assist control device, the information can be presented in accordance with his / her proficiency level when he / she starts to control the information presentation by performing the predetermined operation for him / her. You will be able to understand more accurately whether you can receive it.

  In addition, as described in claim 11, support control means for controlling information presentation for supporting the vehicle parking operation by the driver, and input detection means for detecting a predetermined input operation to the input device by the driver As a program for causing a computer to function, the support control means controls the type of information presentation based on the timing when the input detection means detects the input operation. The present invention can be grasped.

  Hereinafter, embodiments of the present invention will be described. FIG. 1 shows a hardware configuration of an in-vehicle parking assistance apparatus 1 according to the present embodiment. As shown in FIG. 1, the parking assistance device 1 includes a right side camera 11, a left side camera 12, a rear camera 13, a display 14, a parking assistance switch 15, a steering sensor 16, a gyroscope 17, a shift position sensor 18, a wheel speed. The sensor 19, the audio output device 20, and the data processing unit 21 are included.

  The right side camera 11, the left side camera 12, and the rear camera 13 are cameras that are attached to a vehicle and shoot a road surface around the vehicle. More specifically, the right side camera 11 repeatedly shoots an object such as a road surface on the right side of the vehicle, and the left side camera 12 repeatedly shoots an object such as a road surface on the left side of the vehicle. 13 repeatedly shoots an object such as a road surface at the rear of the vehicle. These cameras 11 to 13 sequentially output a signal indicating the captured video to the data processing unit 21.

  The display 14 displays the image indicated by the image signal output from the data processing unit 21 so as to be visible to the driver. The parking assist switch 15 is an input device such as a mechanical switch or a touch switch that is attached to a position that can be reached by a driver who is driving. When the driver performs a predetermined operation on the parking support switch 15, the parking support switch 15 outputs a signal based on the operation to the data processing unit 21.

  The steering sensor 16 detects the steering angle by the driver's operation, and outputs a signal indicating the detected steering angle to the data processing unit 21. The gyroscope 17 detects the yaw rate of the vehicle and outputs a signal indicating the detected yaw rate to the data processing unit 21. The shift position sensor 18 detects the position of the shift position (or driving range) of the vehicle and outputs a signal indicating the detected position to the data processing unit 21.

  The wheel speed sensor 19 detects the rotational speed of the wheel and outputs a signal indicating the detected rotational speed to the data processing unit 21.

  The audio output device 20 includes a circuit that generates an audio signal and a speaker. The sound signal generation circuit generates a signal indicating sound based on the control signal from the data processing unit 21, and outputs the generated signal to a speaker. As a result, the audio output device 20 outputs audio corresponding to the control of the data processing unit 21 so that the driver can hear it.

  The data processing unit 21 includes a CPU, a RAM, a ROM, an I / O, and the like (not shown). The CPU executes the program read from the ROM, and when executing the program, writes data to the RAM as necessary, reads the data from the RAM and the ROM, and the cameras 11 to 13 via the I / O. The display 14, the parking assist switch 15, the steering sensor 16, the gyroscope 17, the shift position sensor 18, the wheel speed sensor 19, and the audio output device 20 exchange signals.

  FIG. 2 shows a program executed by the CPU of the data processing unit 21. In the following description, it is assumed that the process executed by the CPU is a process executed by the data processing unit 21. As shown in FIG. 2, the data processing unit 21 executes a vehicle parking stage detection program 211 and a parking assistance program 212.

  The vehicle parking stage detection program 211 is a program that is repeatedly executed by the data processing unit 21 (for example, at a cycle of 0.1 second) when the main power supply of the vehicle is on. Then, in each execution of the vehicle parking stage detection program 211, the data processing unit 21 determines which of the five parking stages the host vehicle belongs to at the time of execution. This determination is made based on signals from the gyroscope 17, the shift position sensor 18, and the wheel speed sensor 19.

  The parking stage refers to a stage regarding a moving state for parking the vehicle. When the driver parks, the parking is usually completed through the steps shown in FIGS. That is, first, as shown in FIG. 3, in order to find a parking mass 6 that is not filled with other vehicles 3, 4, and 5, the host vehicle 2 is slowly driven along the path (see arrow 7). When the parking mass 6 to be parked is found, as shown in FIG. 4, the steering is turned to the opposite side of the parking mass 6 when viewed from the own vehicle 2 to advance the own vehicle 2, and the parking mass 6 is parked in the back. Stop moving forward at a position where it is easy to move. Thereafter, as shown in FIG. 5, the steering is turned in the opposite direction to the forward direction, and the own vehicle 2 as shown by the arrow 8 until the posture of the own vehicle 2 matches the left and right frame lines (that is, the parking frame) of the parking mass 6. Move 2 backwards. That the posture of the host vehicle 2 matches the parking frame means that the host vehicle 2 can be placed in the correct posture in the parking mass if the host vehicle 2 moves straight back as it is. Thereafter, as shown in FIG. 6, the host vehicle 2 is receded straight, and the receding is stopped when the host vehicle 2 is completely within the parking mass 6.

  In the present embodiment, the transition of the movement state of the host vehicle 2 is performed in the normal traveling stage, the parking stage A (corresponding to the search stage), the parking stage B (corresponding to the forward stage), and the parking stage C. It is divided into five stages (corresponding to the initial reverse stage) and parking stage D (corresponding to the final reverse stage). The parking stage A is a stage from the start of searching for a parking mass to be parked until the steering is turned to the opposite side to the parking mass to start moving forward. The parking stage B is a stage from turning the steering to the opposite side to the parking mass and starting to advance until reaching a point where the backward movement into the parking frame is to be started. The parking stage C is a stage from the start of retreating at a point where retreat into the parking frame is to be started until the posture of the host vehicle matches the parking mass. The parking stage D is a stage from when the posture of the host vehicle is aligned with the parking mass until the host vehicle is accommodated in the parking mass. The data processing unit 21 detects which stage the host vehicle is in among these five parking stages by processing contents as shown in the table of FIG.

  That is, the data processing unit 21 has stage data indicating the current parking stage of the host vehicle in the RAM, and when the value of the stage data corresponds to normal driving, the speed of the host vehicle becomes equal to or lower than the reference speed. When this is detected, the value of this stage data is switched to stage A. This reference speed may be a predetermined value stored in advance (for example, 10 kilometers per hour), a value that varies based on various conditions, or a value that is randomly determined within a certain range. May be. The speed of the host vehicle is detected based on a signal from the wheel speed sensor 19.

  When the value of the step data corresponds to that during normal driving, the value of this step data is switched to step C when it is detected that the shift position (or driving range) of the host vehicle has entered the back position. Note that the shift position of the host vehicle is detected based on a signal from the shift position sensor 18.

  When the value of the stage data corresponds to stage A, when it is detected that the attitude of the host vehicle has changed by more than the reference angle after the value is switched to stage A, the value of the stage data is switched to stage B. The reference angle may be a predetermined value (for example, 20 °) stored in advance, a value that varies based on various conditions, or a value that is randomly determined within a certain range. Also good. Note that the amount of change in the posture of the host vehicle is detected based on a signal from the gyroscope 17.

  When the value of the step data corresponds to step B, the value of the step data is switched to step A when it is detected that the host vehicle has traveled straight ahead for the first reference distance or more. The first reference distance may be a constant value (for example, 2 meters) stored in advance, a value that varies based on various conditions, or a value that is randomly determined within a certain range. It may be. The continuous straight distance of the host vehicle is detected based on a signal from the gyroscope 17 and a signal from the wheel speed sensor 19.

  Further, when the value of the stage data corresponds to stage B, the value of this stage data is detected when it is detected based on the signal from the shift position sensor 18 that the shift position (or driving range) of the host vehicle has entered the back position. To stage C.

  When the value of the stage data corresponds to stage C, the stage data value is switched to stage B when it is detected that the shift position (or driving range) of the host vehicle has entered a position other than the back position.

  When the value of the stage data corresponds to stage C, the value of the stage data is switched to stage D when it is detected that the host vehicle has continuously moved backward beyond the second reference distance. The first reference distance may be a predetermined value stored in advance (for example, 1 meter shorter than the first reference distance, 50 centimeters), or may be a value that varies based on various conditions. The value may be determined randomly within a certain range. The continuous reverse distance of the host vehicle is detected based on a signal from the shift position sensor 18 and a signal from the wheel speed sensor 19.

  When the value of the stage data corresponds to stage D, when it is detected that the shift position (or driving range) of the host vehicle has entered a position other than the back position, the value of the stage data is switched to stage B.

  In any of the stages A, B, C, and D, when it is detected that the speed of the host vehicle is equal to or higher than the above-described reference speed, the value of this stage data is switched to the stage during normal running.

  Through the processing as described above, the data processing unit 21 repeats detection and update of the parking stage of the host vehicle.

  In addition, the data processing unit 21 executes the parking support program 212 after the parking support device 1 is activated. Therefore, the data processing unit 21 executes the vehicle parking stage detection program 211 and the parking assistance program 212 in parallel. A flowchart of this parking assistance program 212 is shown in FIG. As shown in this flowchart, in the execution of the parking support program 212, the data processing unit 21 first waits for a predetermined operation (for example, button press) of the driver to the parking support switch 15 in step 110, and there is an operation. Is detected based on the signal from the parking assistance switch 15, step 120 is subsequently executed.

  In step 120, a process for providing parking assistance is performed by presenting information of a type corresponding to the changing parking stage. That is, the value of the stage data updated as described above by the processing of the vehicle parking stage detection program 211 is repeatedly read, and the type of information presentation is changed according to the change of the stage data. If the value of the read stage data indicates that the vehicle is traveling normally, the data processing unit 21 once terminates the process of the parking support program 212 and restarts the process from step 110 again.

  Hereinafter, the control of the information presentation type according to the parking stage in step 120 will be described in detail. In this control, the data processing unit 21 causes the display 14 and the audio output device 20 to present different information depending on whether the current parking stage is the parking stage A, B, C, or D, respectively. Specifically, if the current parking stage is the parking stage A, the primary (for beginner) information presentation, and if the parking stage B, the secondary (for intermediate) information presentation, In the case of stage C, the third-order (for advanced users) information is presented, and in the case of parking stage D, the fourth-order information is presented.

  The contents of the first to fourth information presentations will be shown along with specific examples of changes in the parking stage. At this time, the state transition diagram between the parking stages A to D in FIG. 9 is referred to. First, in order to search for a usable parking mass, the host vehicle begins to slow down the path between the parking mass groups, and when the speed falls below the reference speed, the parking stage of the host vehicle transitions from the normal running state to the parking stage A. (See arrow T1).

  In this parking stage A, when the driver finds a parking space suitable for parking, advances the host vehicle 2 to the front of the parking space, and then performs a predetermined input operation on the parking assist switch 15, the data processing unit 21 Then, control for presenting the first information is started. Specifically, as shown in FIG. 10, an image of the host vehicle 2 and a real-time image of the road surface around the host vehicle 2 are displayed on the display 14 in the form of a bird's eye view. In addition, the real-time image of the road surface around the own vehicle 2 is created by sequentially converting images captured sequentially by the cameras 11 to 13. The conversion formula used when converting the captured image to the bird's eye view image is recorded in the ROM of the data processing unit 21 in advance for each of the cameras 11 to 13. This conversion formula is a conversion formula from a captured image to a bird's eye view image when it is assumed that the captured image represents a road surface and the cameras 11 to 13 are attached at regular positions.

  Further, in the control for presenting the first information, the data processing unit 21 displays the arrow mark 30 on the bird's-eye view image at a predetermined relative position on the right side with respect to the own vehicle 2 in the bird's-eye view. Let The data processing unit 21 may be configured to display the arrow 30 at either the predetermined relative position on the right side or the predetermined relative position on the left side with respect to the host vehicle 2. In this case, the data processing unit 21 may determine which of the left and right arrows 30 is to be displayed based on a driver's selection operation on an operating device (not shown). Further, the data processing unit 21 may be configured to display the arrow 30 at both a predetermined relative position on the right side and a predetermined relative position on the left side with respect to the host vehicle 2. In this case, the data processing unit 21 may determine in which direction the intended parking mass actually exists depending on which direction the driver has turned off after that.

  Further, after displaying the arrow 30, the data processing unit 21 displays the arrow 30 in the display screen of the display 14 in accordance with the movement and the posture change of the host vehicle 2 in the control for presenting the first information. Conversely, the display 14 is controlled to move and change posture. By doing in this way, on the display screen of the display 14, the arrow 30 moves with the road surface as if it were fixed to the road surface. At this time, the movement and posture change of the host vehicle 2 are specified based on the signal from the gyroscope 17 and the signal from the wheel speed sensor 19. Alternatively, the movement and posture change of the vehicle may be detected based on a change in the captured image.

  Further, the data processing unit 21 displays the arrow 30 and then, in the control for presenting the first information, the reference point at which the own vehicle changes its direction in the opposite direction to the parking mass and starts the forward operation. If it is determined that the vehicle has arrived, a voice to notify the driver (“Parking in the parking space indicated by the blue arrow. If you like, slowly turn the handle to the left and slowly Please move forward. ", Etc.) is output to the audio output device 20. The reference point may be the own vehicle position when a predetermined input operation is performed on the parking assist switch 15, may be one meter ahead of the own vehicle position, or the arrow 30 May be a position having a predetermined relative positional relationship with respect to the left and right frame lines of the parking mass. In this case, the position of the frame of the parking mass may be detected by performing image processing such as binarization processing and Hough conversion processing on the captured image.

  When the user moves forward by turning the steering wheel to the left in accordance with the voice notification, the posture of the host vehicle 2 changes. When this posture change becomes greater than or equal to the reference angle, the parking stage transitions from A to B (see arrow T2). In this parking stage B, the data processing unit 21 continues to display a bird's eye view on the display 14 as shown in FIG. 11, and the driver can grasp when the vehicle 2 reaches a position where the vehicle 2 should start to reverse. Control for presenting secondary information is performed. Specifically, the left and right frame lines of the parking mass containing the arrow 30 are detected by the above-described binarization process, Hough conversion process, etc., and the optimum reverse start position is specified for the detected frame line. .

  As this optimum reverse start position, for example, when the host vehicle 2 is moved backward with the steering turned to the maximum in the opposite direction from that position, the position where the host vehicle 2 fits the above frame line. But you can. In order to calculate such a position, the data processing unit 21 can read out information on the trajectory when the host vehicle moves backward with the steering turned to the maximum from the ROM.

  In addition, as a control for presenting the second information, the data processing unit 21 determines the relative position of the own vehicle 2 with respect to the specified reverse start position, for example, the relative position between the own vehicle position in the bird's-eye view image and the frame line described above Detect based on positional relationship. Then, while the host vehicle 2 is far from the reverse start position, the voice output device 20 is made to output a voice prompting forward (such as “Please go slowly”). When the host vehicle 2 approaches the reverse start position, the audio output device 20 is made to output a sound for notifying the reverse start position (such as “it is a stop position soon”). Further, when the host vehicle 2 reaches the reverse start position, the audio output device 20 is made to output a voice that prompts the start of reverse movement (such as “stop and back)”.

  When the driver puts the shift position (or driving position) in the back according to the voice prompting the start of reverse movement, the parking stage transitions from B to C (see arrow T3). In this parking stage C, as shown in FIG. 12, the data processing unit 21 displays two kinds of progress prediction lines 31 to 33 as superimposed on the bird's eye view as control for the third information presentation. The display 14 is controlled. The first type of progress prediction lines 31 and 32 are lines indicating the predicted trajectory of the rear wheels of the host vehicle 2 when the host vehicle 2 is moved backward while maintaining the current steering angle. The second type of predicted travel line 33 is a line indicating the predicted trajectory of the rear wheels outside the host vehicle 2 when the host vehicle 2 is moved backward with the steering angle being maximized. Different types of progress prediction lines are displayed in different colors. As the host vehicle 2 moves backward, the second-type progress prediction line 33 does not change in the display screen, but the positions of the parking mass frame lines 34 and 35 in the display screen change. When the second type of travel prediction line 33 touches the left frame line 34, the driver turns the steering wheel to the maximum and moves backward as it is so that the attitude of the host vehicle 2 is changed to the frame line 34 at the contacted position. , 35. When the driver turns the steering to the maximum, the first type of progress prediction line 31 and the second progress prediction line 33 overlap.

  If it changes to the parking stage C and the back own vehicle 2 reverse | retreats more than 2nd reference | standard distance, a parking stage will change from C to D (refer arrow T4). In this parking stage D, the data processing unit 21 performs the control for the fourth information presentation, as shown in FIG. 13, an image obtained by superimposing the first type of travel prediction lines 31 and 32 on the bird's eye view image, It is displayed on the display 14. At this time, as shown in FIG. 14, the data processing unit 21 may cause the display 14 to display a bird's eye view in which only the rear portion of the vehicle and the road surface in the vicinity thereof are enlarged. Further, based on the fact that the driver has performed a predetermined operation on an operation device (not shown), the rear part of the image shown in FIG. 13 is continuously zoomed to finally display an image as shown in FIG. It may be like this.

  As described above, when a predetermined input operation is performed on the parking assistance switch 15 in the parking stage A, the parking assistance apparatus 1 thereafter performs the parking stage as the parking stage proceeds from A → B → C → D. Provide information for parking assistance according to the situation. When there is a predetermined input operation to the parking assist switch 15 in the parking stage B, the data processing unit 21 first starts control for presenting the second information at the timing when the input operation is performed, Then, according to the change of the parking stage of B-> C-> D, the kind of control for information presentation is changed in order of the 3rd order and the 4th order. In addition, when there is a predetermined input operation on the parking assist switch 15 in the parking stage C, the data processing unit 21 first starts control for presenting third information at the timing when the input operation is performed, Thereafter, the control is switched to the control for the fourth information presentation according to the change of the parking stage of C → D. When there is a predetermined input operation on the parking assist switch 15 in the parking stage D, the data processing unit 21 starts control for presenting fourth information at the timing when the input operation is performed.

  In addition, when the data processing unit 21 performs control for presenting the second information in the parking stage B, when the driver makes the host vehicle 2 go straight ahead more than the first reference distance, the parking stage Returns from B to A (see T5). In this case, the data processing unit 21 continues to perform control for presenting the first information.

  Further, when the data processing unit 21 performs control for presenting the third information in the parking stage C, if the shift position (or driving position) enters another position from the back, the parking stage is C. To B (see T6). In this case, the data processing unit 21 continues to perform control for presenting second information.

  In addition, when the data processing unit 21 performs control for the fourth information presentation in the parking stage D, if the shift position (or driving position) enters another position from the back, the parking stage is C. Return to B (see T7). In this case, the data processing unit 21 continues to perform control for presenting second information.

  Further, when the shift position (or driving position) enters the back during the normal driving stage, the parking stage transitions to C (see T8). In this parking stage C, a predetermined operation is performed on the parking assist switch 15. If there exists, the data processing part 21 will start the control for 2nd information presentation, and will switch to the control for 4th information presentation after that according to the change of the parking stage of C-> D.

  When the data processing unit 21 executes the control as described above, the parking support device 1 changes the content of the information presentation that supports the driver's parking operation based on the time-series change in the parking stage of the host vehicle. Let And the parking assistance apparatus 1 starts this information presentation, when a driver performs predetermined operation with respect to the parking assistance switch 15. FIG. Therefore, in the parking assistance device 1, the content of information presentation at the start of the control for parking assistance changes depending on the timing when the driver performs a predetermined operation on the parking assistance switch 15. In other words, the parking assistance device 1 provides information of a type based on the timing at which a predetermined input operation by the driver is detected for parking assistance.

  In this way, the driver can receive a type of information presentation suitable for his / her proficiency level by performing a predetermined input operation at a timing corresponding to the proficiency level of his / her own parking operation. And as the driver gets used to the use of the parking assist control device, the information can be presented in accordance with his / her proficiency level when he / she starts to control the information presentation by performing the predetermined operation for him / her. You will be able to know exactly what you can receive.

  Furthermore, since the content of information presentation starting with a predetermined input operation is based on the moving state for parking the vehicle when the input operation is performed, the driver performs the input operation at any timing. For example, it is possible to grasp whether it is possible to receive information presentation according to the degree of proficiency in association with the moving state of the vehicle.

In addition, it is estimated that the driver often starts the control for parking support at a later timing as the proficiency level of the parking operation becomes higher. Therefore, the timing of the operation for starting the control for parking assistance largely reflects the proficiency level of the driver for the parking operation. In view of such a point, the earlier the timing of performing a predetermined input operation, the more the parking assistance device 1 is configured to present more types of information, and appropriately determines the proficiency level of the driver. Information can be presented according to proficiency level.
In the above embodiment, the data processing unit 21 corresponds to an example of a parking assist control device, and the display 14 corresponds to an example of an image display device. Further, the data processing unit 21 functions as an example of an input detection unit by executing Step 110 of the parking support program 212, and functions as an example of a support control unit by executing Step 120. In addition, the data processing unit 21 functions as an example of a stage detection unit by executing the parking support program 212. The data processing unit 21 functions as an example of a proficiency level determination unit by executing the parking support program 212.
(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, in the above-described embodiment, the data processing unit 21 does not change to FIGS. 12 and 13 even when the parking assist switch 15 is not pressed when the shift position (or driving position) of the host vehicle is in the back. The bird's eye view image as shown may be displayed on the display 14. In that case, the bird's eye view image is continuously zoomed at a timing when a predetermined input operation is performed on the parking assist switch 15, so that an enlarged image of the rear portion of the host vehicle and its surrounding road surface as shown in FIG. May be displayed automatically.

  Moreover, in said embodiment, the data processing part 21 divides the movement state of the vehicle for parking into five steps, and information is based on which of the five steps the current vehicle movement step is. The presentation content is controlled. However, the moving state of the vehicle for parking may be divided into six or more stages, or may be divided into four or less stages.

  Moreover, in said embodiment, after there exists predetermined input operation with respect to the parking assistance switch 15, as long as a parking stage does not return to normal driving | running | working, a data processing part 21 continues control for parking assistance. However, this need not always be the case, and the data processing unit 21 determines the type of information provision for parking assistance to be executed thereafter based on the timing when a predetermined input operation is performed on the parking assistance switch 15. You may come to restrict. For example, when a predetermined input operation is performed on the parking assist switch 15 at the parking stage C, the data processing unit 21 does not change to the parking stage A or B and then the first and second Control for providing information may not be performed, and control for providing third or fourth order information may be performed only in the parking stages C and D. That is, when a predetermined input operation is performed on the vehicle support switch 15 at a parking level at a certain level of proficiency with respect to the parking operation, control for providing information for parking support is performed at a parking level at a lower level of proficiency. It may be prohibited to do so.

  The data processing unit 21 receives signals from sonars attached to the front end and rear end of the host vehicle. Based on the signals received from the sonars in the fourth control for providing information. Thus, an obstacle around the host vehicle may be detected, and the detection result may be warned to the driver using the display 14 or the audio output device 20.

It is a hardware block diagram of the parking assistance apparatus 1 which concerns on embodiment of this invention. It is a block diagram which shows the programs 211 and 212 which the data processing part 21 performs. It is a figure which shows the typical scene in the parking stage A. FIG. It is a figure showing a typical scene in parking stage B. It is a figure which shows the typical scene in the parking stage C. FIG. It is a figure showing a typical scene in parking stage D. It is a graph which shows the action | operation of the data process part 21 in execution of the vehicle parking stage detection program 211. It is a flowchart of the parking assistance program 212. FIG. It is a figure which shows the mode of the transition between parking stages. It is a figure which shows the information presentation form for 1st parking assistance. It is a figure which shows the information presentation form for the 2nd parking assistance. It is a figure which shows the information presentation form for the 3rd parking assistance. It is a figure which shows the information presentation form for 4th parking assistance. It is a figure which shows another example of the information presentation form for 4th parking assistance.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Parking assistance apparatus, 2 ... Own vehicle, 3-5 ... Other vehicle, 6 ... Parking mass,
11 ... right side camera, 12 ... left side camera, 13 ... rear camera, 14 ... display,
15 ... Parking assistance switch, 16 ... Steering sensor, 17 ... Gyroscope,
18 ... Shift position sensor, 19 ... Wheel speed sensor, 20 ... Audio output device,
21 ... Data processing unit, 31 ... Left rear wheel predicted route, 32 ... Right rear wheel predicted new route,
33 ... New left rear wheel limit prediction line 34 ... Parking frame, 35 ... Parking frame,
211 ... Vehicle parking stage detection program, 212 ... Parking assistance program.

Claims (11)

Support control means for controlling the presentation of information for supporting the vehicle parking operation by the driver;
An input detection means for detecting a predetermined input operation to the input device by the driver,
The parking support control apparatus, wherein the support control means controls the type of information presentation based on the timing when the input detection means detects the input operation. Stage detection means for detecting which of a plurality of stages the moving state for parking the vehicle belongs to,
The parking support control apparatus, wherein the support control means controls the type of information presentation based on a detection result at the timing of the stage detection means.   The parking support control apparatus according to claim 1, wherein the plurality of stages include a search stage in which the driver searches for a parking frame.   Based on the fact that the stage detection means detects at the timing that the moving state belongs to the search stage, the support control means arrives at a point where a forward operation for changing the direction of the vehicle should be started. 4. The parking assistance control apparatus according to claim 3, wherein control is performed to notify the driver of the fact when the driver is in the vehicle.   5. The parking according to claim 1, wherein the plurality of stages include an advancing stage in which the vehicle is moving forward to a point where the vehicle should start moving backward into the parking frame. Support control device.   Based on the fact that the stage detection means detects at the timing that the moving state belongs to the forward stage, the support control means, when the vehicle reaches a point where the vehicle should start retreating into the parking frame 6. The parking assistance control apparatus according to claim 5, wherein control for notifying the driver of the fact is performed.   The plurality of stages includes an initial reverse stage in which the driver performs a reverse operation for adjusting the posture of the vehicle to the parking frame. Parking assistance control device.   Based on the fact that the stage detection means has detected at the timing that the moving state belongs to the initial reverse stage, the support control means is configured such that the vehicle moves backward with the steering of the vehicle turned to the maximum. The parking assistance control device according to claim 7, wherein control for causing the image display device to display the predicted progress line together with the parking frame is performed.   The said support control means performs control for starting the said information presentation at the timing when the said input detection means detects the said predetermined input operation, The one of Claim 1 thru | or 8 characterized by the above-mentioned. Parking assistance control device. Support control means for controlling the presentation of information for supporting the parking operation of the vehicle;
Input detection means for detecting an input operation by the driver of the vehicle to start the function of the support control means;
A proficiency level determining unit that determines a proficiency level for the parking operation of the driver based on the timing at which the input detecting unit detects the input operation;
The parking support control device, wherein the support control unit controls the type of information presentation based on a determination result of the proficiency level determination unit. A program for causing a computer to function as support control means for controlling presentation of information for supporting a vehicle parking operation by a driver, and input detection means for detecting a predetermined input operation to the input device by the driver, The support control means controls the type of information presentation based on the timing when the input detection means detects the input operation.

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