JP2008213791A - Parking assist method and parking assist system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assist method and a parking assist system that can draw an auxiliary line according to the surrounding conditions of a target parking frame. <P>SOLUTION: The parking assist unit 2, which guides a vehicle to a target parking area, judges whether or not other vehicles or obstacles is present in the target parking frame and an adjacent parking frame. When it is judged that no other vehicle or obstacle is present in the adjacent parking frame, an inside auxiliary line indicating an area where the vehicle can turn is drawn at a position passing the adjacent parking frame. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a parking assistance method and a parking assistance device.

  2. Description of the Related Art Conventionally, parking assist devices that display an image of the rear of a vehicle on a display are known. This device inputs image data from an in-vehicle camera attached to the rear end of the vehicle, and outputs a peripheral image based on the image data to a display provided near the driver's seat. Furthermore, an auxiliary line for guiding the vehicle to the parking frame is output and superimposed on the surrounding image (see, for example, Patent Document 1 and Patent Document 2).

  In Patent Document 1, even if the travel space secured in front of the parking frame is small, the vehicle trajectory line of the maximum steering angle of the vehicle is moved within a range that does not contact the target parking frame, so that it does not contact the adjacent vehicle. An apparatus for parking the host vehicle in a target parking frame is described.

Further, Patent Document 2 describes a device that specifies a retreat start area when turning toward a parking frame with a minimum radius and displays it on a windshield.
JP 2006-117165 A JP 2006-160147 A

  However, each device described above obtains coordinates indicating the width, depth, etc. of the target parking frame by image processing, and provides parking support by displaying a recommended course along the target parking frame. Does not consider the situation. In other words, when there is no other vehicle in the parking frame adjacent to the target parking frame, when the host vehicle retreats to the target parking frame, the adjacent parking frame can be used as a reversible route, but it is effective. It is not used for. For this reason, there is a possibility that the parking operation becomes difficult on the contrary, such as a complicated steering operation.

  This invention is made | formed in view of the said problem, The objective is to provide the parking assistance method and parking assistance apparatus which can draw the auxiliary line according to the surrounding condition of the target parking frame.

  In order to solve the above problem, the invention according to claim 1 is the parking support method for guiding the host vehicle to the target parking area, and whether or not there is an obstacle in the adjacent parking area adjacent to the target parking area. If it is determined that there is no obstacle in the adjacent parking area, the adjacent parking area is included in the turnable area of the own vehicle and an auxiliary line indicating the turnable area of the own vehicle is included in the adjacent parking area. The gist is to draw at a position passing through the region.

  The invention according to claim 2 is a parking determination device that guides the host vehicle to a target parking area, a space determination unit that determines whether an obstacle exists in an adjacent parking area adjacent to the target parking area; When it is determined that there is no obstacle in the adjacent parking area, the adjacent parking area is included in the turnable area of the host vehicle, and an auxiliary line indicating the turnable area is drawn at a position passing through the adjacent parking area. The gist of the invention is that it comprises line drawing means.

According to a third aspect of the present invention, in the parking assist device according to the second aspect, the target parking area is a parking area for parallel parking in which a vehicle is parked side by side, and the auxiliary line drawing means turns When it is determined that there is no obstacle in the adjacent parking area located inside, among the front end of the adjacent parking area, the end opposite to the target parking area, and the rear end of the target parking area, The gist is to draw the auxiliary line passing through the end of the adjacent parking area.

  According to a fourth aspect of the present invention, in the parking assist apparatus according to the second or third aspect, the auxiliary line drawing further includes an expected trajectory line drawing means for drawing an expected trajectory line based on a steering angle of the host vehicle. The means draws a pair of each auxiliary line, and when the expected trajectory line is in a region surrounded by the inner auxiliary line and the outer auxiliary line, displays the inner auxiliary line and the outer auxiliary line, The gist is to erase or tone down the inner auxiliary line and the outer auxiliary line when at least a part of the expected trajectory line protrudes from a region surrounded by the inner auxiliary line and the outer auxiliary line. .

  According to a fifth aspect of the present invention, in the parking assist device according to any one of the second to fourth aspects, the auxiliary line drawing means is opposite to the adjacent parking area at the front end of the target parking area. In addition, the gist is to draw the outside auxiliary line at a position passing through the end located outside the turning.

  The invention according to claim 6 is the parking assist device according to any one of claims 2 to 5, further comprising obstacle detection means for detecting an obstacle around the host vehicle, and the auxiliary line. The drawing means acquires a relative distance between the obstacle and the host vehicle when an obstacle is detected around the host vehicle, avoids the obstacle based on the relative distance, and The gist is to draw the outside auxiliary line at the position.

  According to the first aspect of the present invention, when it is determined that there is no obstacle in the adjacent parking area, an auxiliary line indicating the turnable area of the host vehicle is drawn using the adjacent parking area. For this reason, even though a space is vacant next to the target parking area, an unreasonable turn is not induced, so that even a driver unfamiliar with driving can easily perform the parking operation.

  According to the second aspect of the present invention, when the parking assistance device determines that there is no obstacle in the adjacent parking area, the parking assistance device draws an auxiliary line indicating the turnable area of the own vehicle using the adjacent parking area. I tried to do it. For this reason, even though a space is vacant next to the target parking area, an unreasonable turn is not induced, so that even a driver unfamiliar with driving can easily perform the parking operation.

  According to the invention of claim 3, when it is determined that there is no obstacle in the adjacent parking area, among the front ends of the adjacent parking areas located inside the turn, the end on the opposite side of the target parking area The auxiliary line which passes through the end part by the side of the adjacent parking area among the rear ends of the target parking area is drawn. For this reason, the adjacent parking area which is an empty space can be utilized to the maximum extent.

  According to the fourth aspect of the present invention, each auxiliary line is displayed when the predicted trajectory line is between the auxiliary lines, and each auxiliary line is displayed when the predicted trajectory line is not between the auxiliary lines. The line is hidden or displayed toned down. For this reason, when the auxiliary line is not displayed or is toned down, attention can be paid to surrounding obstacles and the course can be changed.

  According to the fifth aspect of the present invention, the outer auxiliary line is displayed at a position passing through the end located on the opposite side of the adjacent parking area and on the outside of the turn, among the front ends of the target parking area. For this reason, the range which does not contact the obstacle of the adjacent parking area in the turning outside among the adjacent parking areas on both sides of the target parking area can be shown.

According to the sixth aspect of the present invention, when an obstacle is detected around the host vehicle, the outer auxiliary line capable of avoiding the obstacle is displayed based on the relative distance between the obstacle and the host vehicle. For this reason, not only the obstacle of an adjacent parking area but the obstacle which may contact in the middle of turning can be avoided.

  Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. FIG. 1 is a block diagram of the parking assistance system 1. The parking assistance system 1 has a parking assistance unit 2 as a parking assistance device. The parking support unit 2 includes an own vehicle position calculation unit 10, an input interface (I / F) 11, an image input unit 12, an obstacle detection unit 13 as an obstacle detection means, an overhead conversion unit 14, an image composition unit 16, a space A parking frame recognition unit 17 as a determination unit, an expected trajectory line calculation unit 18 as an expected trajectory line drawing unit, and an auxiliary line calculation unit 19 as an auxiliary line drawing unit are provided.

  The own vehicle position calculation unit 10 inputs a vehicle speed pulse and a direction detection signal from the vehicle speed sensor 20 and the gyro 21 and calculates a movement distance and a movement direction from the reference position. The image input unit 12 performs shooting by controlling the camera 25 attached to the rear end of the host vehicle C1 (see FIG. 2). The camera 25 is mounted on the rear side of the vehicle so as to be capable of photographing a predetermined distance range from the rear end of the vehicle. When a shift position signal indicating reverse is input from the neutral start switch 22 provided in the host vehicle C1, the image input unit 12 controls the camera 25 to perform shooting. Further, based on the vehicle position calculation unit 10, shooting is performed at a predetermined timing while the vehicle C 1 is moving backward, and image data G is acquired.

  The obstacle detection unit 13 detects an obstacle present around the host vehicle C1. Here, the obstacle detection unit 13 acquires the presence / absence of the obstacle and the distance to the obstacle based on the obstacle detection sensor 24 (see FIG. 1) attached to the host vehicle C1. As the obstacle detection sensor 24, a known sensor such as an ultrasonic sensor, a millimeter wave radar, a laser radar, or an image processing sensor can be used. The obstacle detection sensor 24 is attached to the front left side, the front right side, the rear left side, the rear right side, and the like of the host vehicle C1.

  The overhead conversion unit 14 acquires the image data G from the image input unit 12 and performs coordinate conversion. Specifically, the coordinates of each pixel of the image data G are converted into the coordinates of the conversion destination linked by the overhead view conversion table with reference to the previously stored overhead view conversion table. Thereby, the image data G photographed from the camera viewpoint is converted into the bird's-eye view data G1 obtained by bird's-eye view of the road surface from the viewpoint set at a position vertically above the road surface.

  When the overhead data G <b> 1 is generated, the overhead conversion unit 14 writes the overhead data G <b> 1 in the overhead data storage unit 15. At this time, the bird's-eye conversion unit 14 writes the bird's-eye view data G1 in an area corresponding to the vehicle position where the bird's-eye view data G1 is photographed in the memory area secured in advance. Furthermore, when the host vehicle C1 moves backward, overhead data G1 in which road surfaces in different areas are drawn is generated each time. For this reason, the overhead view conversion unit 14 synthesizes the overhead view data G1 by writing each overhead view data G1 in which different regions are drawn in different regions. As the number of the overhead view data G1 thus written increases, road surface data around the vehicle is accumulated in the overhead data storage unit 15.

The image compositing unit 16 reads out the bird's-eye view data G1 of a predetermined area corresponding to the blind spot of the current camera 25 from the bird's-eye view data G1 stored in the bird's-eye view data storage unit 15. Further, the overhead view data G1 and image data G newly acquired from the camera 25 (hereinafter referred to as current image data G2) are combined to generate combined data G3 as shown in FIG. At this time, the image composition unit 16 reads the bird's-eye view data G1 of the area corresponding to the blind spot of the current camera 25, and composes the bird's-eye view data G1 and the current image data G2. When the composite data G3 is generated, the image composition unit 16 outputs the composite data G3 to the display 5 as display means. As a result, a composite image 33 composed of the past image 31 based on the overhead view data G1 and the current image 32 based on the current image data G2 is displayed. In the composite image 33, white lines and obstacles marked on the road surface are displayed.

  As shown in FIG. 2, the image composition unit 16 outputs vehicle image data 16a (see FIG. 1) to a predetermined position corresponding to the current position of the host vehicle C1 in the composite data G3. 35 is displayed. In the present embodiment, the vehicle image 35 is displayed at an upper center position in the image display range R1 of the display 5.

  The parking frame recognition unit 17 reads the bird's-eye view data G1 written in the bird's-eye view data storage unit 15 and recognizes the parking frame by a known processing method. For example, edge detection may be performed on the overhead view data G1 or the current image data G2, and a region surrounded by a pair of parallel edges may be used as a parking frame. Alternatively, a parking lot map of each place is stored in a storage unit (not shown), the parking lot map corresponding to the vehicle position is read, the parking lot map and the vehicle location are referred to, and a parking frame around the vehicle is detected. May be. Alternatively, template matching may be performed using the parking lot map and the current image data G2 or the overhead view data G1 to detect a parking frame around the vehicle. Alternatively, the other vehicle C2 may be recognized based on the current image data G2 or the overhead view data G1, and the space where the other vehicle C2 is parked and the empty space between the other vehicles C2 may be recognized as parking frames.

  Moreover, the parking frame recognition part 17 sets the target parking frame F1 as a target parking area into which the host vehicle C1 enters. For example, in the touch panel display 5, when a parking frame is designated on the screen by a user operation, the designated parking frame is set as the target parking frame F1. Alternatively, a parking frame close to the expected trajectory line of the host vehicle C1 based on the steering angle of the host vehicle C1 may be used as the target parking frame F1.

  Further, the parking frame recognition unit 17 determines whether or not there is an obstacle including the other vehicle C2 (see FIG. 3) in the adjacent parking frame F2 as the adjacent parking area adjacent to the target parking frame F1. The target parking frame F1 and the adjacent parking frame F2 are parking areas in parallel parking where the host vehicle C1 is parked side by side. The adjacent parking frame F <b> 2 may be partitioned by the white line 100 or may not be partitioned by the white line 100. For example, when the adjacent parking frame F2 is also detected when the target parking frame F1 is recognized, the parking frame recognition unit 17 performs known image recognition using the current image data G2 or the overhead view data G1, and the adjacent parking frame F2 Determine whether there is an obstacle at the position. Or you may make it image-recognize whether there exists an obstacle in the predetermined distance range from the vertical line of the target parking frame F1. Or you may make it the parking frame recognition part 17 detect an obstruction using the obstruction detection sensor 24 (refer FIG. 1) with which the own vehicle C1 was equipped.

  The predicted trajectory line calculation unit 18 draws an expected trajectory line 36 as a guide index on the composite image 33 by a predetermined processing distance from the rear end of the vehicle. For example, a steering value is acquired from the steering sensor 23, and this steering value is converted into a front wheel steering angle. Further, the turning radius is calculated from the front wheel rudder angle and the length of the wheel base, and the turning center point is specified from the turning radius. Further, the distance from the turning center point to each rear wheel is set as the turning radius of each rear wheel, and the representative point of the expected trajectory line of each rear wheel is calculated around the turning center point. When the coordinates of the representative points are calculated, the predicted trajectory line calculation unit 18 draws an expected trajectory line 36 drawn between each representative point with a curve or a straight line on the composite image 33.

The auxiliary line calculation unit 19 draws an auxiliary line A indicating the turnable area of the host vehicle C1. As shown in FIG. 3, the outer auxiliary line AO indicates the turning trajectory of the outermost front wheel when the host vehicle C1 moves backward without contacting an obstacle such as the other vehicle C2. The inner auxiliary line AI is a turning locus of the rear wheel that is the innermost side of the host vehicle C1. The own vehicle C1 can retreat without contacting an obstacle such as the other vehicle C2 when the predicted trajectory line 36 is in the region surrounded by the outer auxiliary line AO and the inner auxiliary line AI.

  When calculating the drawing coordinates of the outside auxiliary line AO, the auxiliary line calculating unit 19 obtains a steering value from the steering sensor 23, determines the turning direction of the host vehicle C1, and determines the front wheels that are outside the turning. As shown in FIG. 3, when the host vehicle C1 turns leftward toward the target parking frame F1, it is further determined that the right front wheel of each front wheel is outside the turn, and based on the obstacle detection unit 13, Obstacles on the right side and right side of the host vehicle C1 are detected.

  As shown in FIG. 3, when the wall 101 is on the right side of the host vehicle C <b> 1, the relative distance D <b> 1 between the right front wheel of the host vehicle C <b> 1 and the wall 101 is calculated based on the obstacle detection unit 13. In addition, the parking frame recognition unit 17 acquires the coordinates of the outer front end point P2 as the end located on the opposite side of the adjacent parking frame F2 and on the outer side of the turn, out of the front end serving as the entrance of the target parking frame F1. At this time, you may make it acquire the coordinate of the outer front end point P2 of the white line 100 far from the own vehicle C1 among a pair of white lines 100 which divide the target parking frame F1.

  Further, among the turning trajectories passing through the outer front end point P2 that can be taken by the host vehicle C1, the turning trajectory that is the outermost side as viewed from the host vehicle C1 without contacting the wall 101 is obtained, and the outermost turning trajectory is determined as the outer auxiliary line. AO. For example, the point P1 is taken at the distance closest to the front wheel of the host vehicle C1 in the wall 101, and the perpendicular bisector of the line segment connecting the point P1 and the outer front end point P2 is calculated. Further, when the turning center is taken on the perpendicular bisector, the outermost locus is set as the coordinates of the outer auxiliary line AO. At this time, it is good also considering the turning locus | trajectory at the time of the maximum steering angle of the own vehicle C1 as the outer side auxiliary line AO. Further, the outside auxiliary line AO is drawn from the vicinity of the front of the vehicle to the target parking frame F1.

  Further, when the inner auxiliary line AI is drawn, the auxiliary line calculating unit 19 includes the adjacent parking frame F2 in the turnable area of the host vehicle C1 when the adjacent parking frame F2 is empty, and the inner auxiliary line AI. Is drawn at a position passing through the adjacent parking frame F2. More specifically, first, based on the parking frame recognition unit 17, it is determined whether there is an obstacle such as another vehicle C2 in the adjacent parking frame F2 located inside the turn of the target parking frame F1. As shown in FIG. 3, when there is no obstacle in the adjacent parking frame F2, the auxiliary line calculation unit 19 also uses the space of the adjacent parking frame F2. Specifically, the auxiliary line calculation unit 19 calculates the coordinates of the adjacent frame front end point P3 as the end on the opposite side of the target parking frame F1 among the front ends of the adjacent parking frame F2 located on the inside of the turn. Moreover, the coordinate of the rear end point P4 as an edge part by the side of this adjacent parking frame F2 is acquired among the rear ends of the target parking frame F1. The rear end point P4 may be the rear end point located on the target parking frame F1 side and inside the turn, in other words, the rear end point on the diagonal line of the adjacent frame front end point P3, among the rear ends of the adjacent parking frame F2.

Further, the auxiliary line calculation unit 19 acquires the width W and the length L of the target parking frame F1 based on the parking frame recognition unit 17, and calculates a turning trajectory passing through the adjacent frame front end point P3 and the rear end point P4. Specifically, the auxiliary line calculation unit 19 obtains the radius R by substituting the width W and the length L into a preset equation. That is, as shown in FIG. 4, when the turning center Pc is on the extension line of the rear end Fb of the target parking frame F1 and the adjacent parking frame F2, the turning center Pc, the adjacent frame front end point P3, and the rear end point P4 are the vertices. In a right triangle, R ² = L ² + (R−W) ² holds. If the width W and length L of the target parking frame F1 are substituted into this equation, the radius R is obtained. That is, the radius R is a value obtained by substituting the width W and the length L into {R = (D ² + W ² ) / 2W}. In FIG. 4, the target parking frame F1 is indicated by the edge EG of the white line 100.

  When the radius R of the inner auxiliary line AI is calculated, the auxiliary line calculation unit 19 sets the turning center Pc on the extension line of the rear end Fb of the target parking frame F1, passes through the adjacent frame front end point P3 and the rear end point P4, and the radius R circle is calculated. In the image display range R1, the length from the front of the vehicle to the rear end point P4 is defined as an inner auxiliary line AI.

  In addition, the auxiliary line calculation unit 19 acquires the coordinates of the predicted trajectory line 36 from the predicted trajectory line calculation unit 18, and is the predicted trajectory line 36 included in the region surrounded by the outer auxiliary line AO and the inner auxiliary line AI? Judge whether or not. As shown in FIG. 3, when the predicted trajectory line 36 is in a region surrounded by the inner auxiliary line AI and the outer auxiliary line AO, the outer auxiliary line AO and the inner auxiliary line AI are drawn.

  When at least a part of the predicted trajectory line 36 protrudes outside the inner auxiliary line AI and the outer auxiliary line AO, the inner auxiliary line AI and the outer auxiliary line AO are displayed after being erased or toned down. This indicates that there is a possibility of contacting an obstacle such as the wall 101 when the vehicle is moved backward with the steering angle. The toned-down auxiliary line A is drawn with a semi-transparent, gray color, a dotted line, or a thin line thinner than the normal auxiliary line A.

  On the other hand, as shown in FIG. 5, when there is an obstacle such as the other vehicle C2 in the adjacent parking frame F2, the auxiliary line calculation unit 19 sets the outer auxiliary line AO as in the case where there is no obstacle. calculate. When calculating the inner auxiliary line AI, based on the parking frame recognition unit 17, the coordinates of the inner front end point P5 which is the front end serving as the entrance of the target parking frame F1 and inside the turn are acquired. Further, the coordinates of the turning trajectory having the minimum radius are calculated through the inner front end point P5, and the turning trajectory is set as the inner auxiliary line AI. Also in this case, it is determined whether or not the predicted trajectory line 36 is positioned between the inner auxiliary line AI and the outer auxiliary line AO, and the predicted trajectory line 36 is positioned between the inner auxiliary line AI and the outer auxiliary line AO. If it is determined, the inner auxiliary line AI and the outer auxiliary line AO are displayed. When the predicted trajectory line 36 protrudes from the region between the inner auxiliary line AI and the outer auxiliary line AO, the inner auxiliary line AI and the outer auxiliary line AO are displayed after being erased or toned down.

  Next, the processing procedure of this embodiment is demonstrated according to FIGS. FIG. 6 is a main flow of this embodiment. When power is supplied to the parking support unit 2, the parking support unit 2 initializes the system (step S1) and waits for an input of a start trigger for starting parking support (step S2). In the present embodiment, a shift position signal that is an electrical signal generated by switching the shift lever of the host vehicle C1 and that indicates reverse is used as a start trigger.

  If it is determined that a start trigger has been input (YES in step S2), camera image display processing (step S3), predicted trajectory line drawing processing (step S4), and auxiliary line drawing processing (step S5) are performed. When the auxiliary line drawing process (step S5) ends, it is determined whether or not there is an end trigger (step S6). The end trigger is a shift position signal indicating a shift position other than reverse. When the end trigger is input (YES in step S6), the parking support is ended. If the end trigger is not input (NO in step S6), the process returns to step S3 and the process is repeated.

  The camera image display process will be described with reference to FIG. As illustrated in FIG. 7, the image input unit 12 controls the camera 25 to acquire image data G obtained by photographing the rear of the vehicle (Step S <b> 3-1).

  The overhead conversion unit 14 performs coordinate conversion of the acquired image data G using the overhead conversion table as described above (step S3-2). Thereby, the bird's-eye view data G1 is generated by bird's-eye view of the road surface from the viewpoint vertically above the road surface.

  Moreover, the overhead view conversion unit 14 writes the generated overhead view data G1 in the overhead view data storage unit 15 (step S3-3). At this time, as described above, the overhead data G1 is written in the area corresponding to the position where the overhead data G1 is photographed in the memory area of the overhead data storage unit 15.

  Furthermore, the image composition unit 16 performs a drawing process using the overhead view data G1 (step S3-4). At this time, as described above, for example, a predetermined area that is the blind spot of the current camera 25 is extracted from the overhead data G1 written in the overhead data storage unit 15. Further, the extracted data and the current image data G2 are combined to generate combined data G3. Further, the vehicle image 35 based on the vehicle image data 16a is drawn at the initial drawing position in the image display range R1. As a result, the composite image 33 is displayed on the screen of the display 5 as shown in FIG.

  When the camera image capturing process is thus completed, the predicted trajectory line calculation unit 18 performs the predicted trajectory line drawing process as described above (step S6). As a result, as shown in FIG. 9A, the predicted trajectory line 36 is superimposed on the composite image 33 and the vehicle image 35.

  When the predicted locus line 36 is drawn, auxiliary line drawing processing is performed. This auxiliary line drawing process will be described with reference to FIG. First, the parking frame recognition unit 17 determines whether or not the target parking frame F1 has been set (step S5-1). If it is determined that the target parking frame F1 has been set (YES in step S5-1), the process proceeds to step S5-3. If it is determined that the target parking frame F1 has not been set (NO in step S5-1), the target parking frame F1 is set as described above (step S5-2), and the process proceeds to step S5-3.

  In step S5-3, the auxiliary line calculation unit 19 determines the turning direction. As shown in FIG. 3, when the target parking frame F1 is on the left rear side of the host vehicle C1, the auxiliary line calculation unit 19 determines that the turning direction is the left.

  Further, the auxiliary line calculation unit 19 determines whether or not there is an empty space next to the preset target parking frame F1 (step S5-4). Here, the parking frame recognition unit 17 performs image processing on the current image data G2 or the overhead view data G1, thereby determining whether there is an obstacle in the adjacent parking frame F2 adjacent to the target parking frame F1. To do.

  If it is determined that there is no obstacle in the adjacent parking frame F2 (YES in step S5-4), the inner auxiliary line AI is calculated from the rear end of the target parking frame F1 (step S5-5). Specifically, as described above, the coordinates of the rear end point P4 and the adjacent frame front end point P3 of the target parking frame F1, and the width W and the length L of the adjacent parking frame F2 are acquired. Further, the radius W of the inner auxiliary line AI is obtained by substituting the width W and the length L of the adjacent parking frame F2 into the above formula. Further, the coordinates of the locus of radius R passing through the rear end point P4 and the adjacent frame front end point P3 are calculated.

  When it is determined that there is an obstacle in the adjacent parking frame F2 (NO in step S5-4), the auxiliary line calculation unit 19 calculates the inner auxiliary line AI from the front end of the target parking frame F1 (step S5-6). ). That is, as shown in FIG. 5, the coordinates of the inner front end point P5 of the target parking frame F1 are acquired, and the turning trajectory having the minimum radius passing through the inner front end point P5 is obtained.

  When the coordinates of the inner auxiliary line AI are calculated, the auxiliary line calculation unit 19 calculates the outer auxiliary line AO as described above (step S5-7). At this time, based on the obstacle detection unit 13, an obstacle around the host vehicle C1 is detected. When an obstacle is detected, the obstacle does not come into contact with the front front end point P2 of the target parking frame F1. The outermost turning trajectory passing through is defined as the outer auxiliary line AO.

  Further, the auxiliary line calculation unit 19 determines whether or not the own vehicle C1 and the expected trajectory line 36 are present in each auxiliary line A (step S5-8). At this time, the auxiliary line calculation unit 19 compares the coordinates of the representative points (for example, the start point, the end point, and the intermediate point) of each auxiliary line A with the coordinates of the representative points of the predicted trajectory line 36 and the host vehicle C1, It is determined whether or not the expected trajectory line 36 and the host vehicle C1 are in the inner area surrounded by the auxiliary line A.

  As shown in FIG. 3, when it is determined that there is an expected trajectory line 36 between the outer auxiliary line AO and the inner auxiliary line AI (YES in step S5-8), the coordinates calculated in steps S5-5 to S5-7 Based on the above, the auxiliary line A is displayed (step S5-9). On the other hand, if it is determined in step S5-8 that the predicted trajectory line 36 has protruded from the area between the auxiliary lines A (NO in step S5-8), the auxiliary line A is erased or toned down (step S5-10). . Thereby, for example, as shown in FIG. 10, the auxiliary line A displayed as a dotted line is drawn on the parking assistance screen 40.

  When the auxiliary line drawing process ends, as shown in FIG. 6, it is determined whether or not there is an end trigger (step S6). If no end trigger is input (NO in step S6), the process returns to step S3. The image display process (step S3), the predicted trajectory line drawing process (step S4), and the auxiliary line drawing process (step S5) are repeated.

  As the parking assistance unit 2 repeats the above process, as shown in FIG. 9B, the predicted trajectory line 36 approaches the target parking frame F1 as the host vehicle C1 moves backward. At this time, even if it protrudes into the adjacent parking frame F2 having no obstacle, the expected trajectory line 36 is displayed between the auxiliary lines A. Therefore, as long as the driver maintains the current steering angle, the driver can keep the vehicle C1. It can be determined that the vehicle does not come into contact with an obstacle such as the other vehicle C2 or the wall 101. For this reason, even a driver unfamiliar with the parking operation can safely move backward by performing the steering operation so that the predicted trajectory line 36 is positioned between the auxiliary lines A.

  When the host vehicle C1 further moves backward, the host vehicle image 35 enters the target parking frame F1, as shown in FIG. 9C. At this time, since the own vehicle image 35 is between the auxiliary lines A, a part of the own vehicle C1 is entered into the adjacent parking frame F2 having no obstacle, and the own vehicle C1 is used while effectively using the space. Can be retreated.

  Then, as shown in FIG. 9 (d), when the own vehicle image 35 has entered the target parking frame F1, the driver operates the shift lever to switch the shift position from reverse to another position. Thereby, parking support unit 2 judges that the end trigger has been input (YES in step S6), and ends the process.

According to the above embodiment, the following effects can be obtained.
(1) In the above embodiment, when there is no obstacle such as the other vehicle C2 in the adjacent parking frame F2, the inner auxiliary line that includes the adjacent parking frame F2 within the movable range of the host vehicle C1 and indicates the limit of turning. The AI is drawn at a position passing through the adjacent parking frame F2. For this reason, even though a space is vacant next to the target parking frame F1, unreasonable turning is not guided, so that even a driver unfamiliar with driving can easily perform the parking operation.

  (2) In the above-described embodiment, the position where the inner auxiliary line AI passes through the adjacent frame front end point P3 on the inside of the turn among the front ends of the adjacent parking frame F2 and the rear end point P4 on the inside of the turn among the rear ends of the target parking frame F1. In addition, the inner auxiliary line AI is drawn. For this reason, the adjacent parking frame F2 which is an empty space can be utilized to the maximum extent.

  (3) In the above embodiment, when the predicted trajectory line 36 is in the area surrounded by the inner auxiliary line AI and the outer auxiliary line AO, the inner auxiliary line AI and the outer auxiliary line AO are displayed and predicted. When at least a part of the locus line 36 protrudes outside the inner auxiliary line AI and the outer auxiliary line AO, the inner auxiliary line AI and the outer auxiliary line AO are erased or toned down. For this reason, when the auxiliary line is erased or toned down, attention to surrounding obstacles can be alerted, and the course can be changed.

  (4) In the above embodiment, the outside auxiliary line AO is drawn at a position passing through the outside front end point P2 outside the turn of the front end of the target parking frame F1. For this reason, the range which does not contact the obstruction of the adjacent parking frame F2 in the turning outside among the adjacent parking frames F2 on both sides of the target parking frame F1 can be shown.

  (5) In the above embodiment, when an obstacle is detected around the host vehicle C1 by the obstacle detection unit 13, the relative distance D1 between the obstacle and the host vehicle is acquired, and the relative distance D1 is obtained. Based on this, the outside auxiliary line AO is drawn at the outermost position while avoiding the obstacle. For this reason, the obstacle which may contact not only the other vehicle of the adjacent parking frame F2 but in the middle of a turn can be avoided.

In addition, you may change this embodiment as follows.
In the above embodiment, the space between the other vehicle C2 may be set as the target parking frame F1 and the adjacent parking frame F2 by image recognition.

In the above embodiment, the inner auxiliary line AI may be drawn at a position passing through either the adjacent frame front end point P3 or the rear end point P4 in the adjacent parking frame F2.
In the above embodiment, when a part of the predicted trajectory line 36 is outside the area between the auxiliary lines A, each auxiliary line A is erased or toned down. The driver's attention may be urged by a warning sound or the like.

  In the above embodiment, the auxiliary line A is drawn when the predicted trajectory line 36 and the vehicle image 35 are in the area surrounded by the inner auxiliary line AI and the outer auxiliary line AO. Only 36 may be included in the area surrounded by the inner auxiliary line AI and the outer auxiliary line AO, and the auxiliary line A may be drawn even when the vehicle image 35 protrudes.

  In the above embodiment, the inner auxiliary line AI is the length from the front of the vehicle to the rear end point P4. However, the inner auxiliary line AI is always drawn from the position where the rear wheel axle starts and the host vehicle C1 starts to move backward. Alternatively, the start and end may be changed. The outer auxiliary line AO has a length from the vicinity of the front of the vehicle to the outer front end point P2. However, the position of the rear wheel shaft may be used as the starting end, or may be drawn from the position of the wall 101. It may be changed.

The block diagram of the parking assistance system of this embodiment. The screen figure of a synthesized image. Explanatory drawing of an auxiliary line drawing process. Explanatory drawing of an inner side auxiliary line drawing process. Explanatory drawing of an auxiliary line drawing process. The flowchart of the process sequence of this embodiment. The flowchart of a camera image display process. The flowchart of an auxiliary line drawing process. (A) And (b) is a screen figure before the approach of a target parking frame, (c) And (d) is a screen figure after the approach of a target parking frame. The screen figure which displayed the auxiliary line toned down.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Parking assistance system, 2 ... Parking assistance unit as parking assistance apparatus, 5 ... Display as display means, 13 ... Obstacle detection part as obstacle detection means, 17 ... Parking frame recognition part as space judgment means, 18 ... Expected trajectory line calculation unit as expected trajectory line drawing means, 19 ...
Auxiliary line calculation unit as auxiliary line drawing means, 36... Expected trajectory line as guide index, A... Auxiliary line as guide index, AI... Inner auxiliary line as guide index, AO. C1 ... own vehicle, C2 ... other vehicle, D1 ... relative distance, F1 ... target parking frame as target parking area, F2 ... adjacent parking frame as space, Fb ... rear end, OB ... obstacle, P2 ... end Outside front end point, P3... Adjacent frame front end point as an end, P4... Rear end point as an end.

Claims (6)

In the parking support method for guiding the host vehicle to the target parking area,
When it is determined whether there is an obstacle in the adjacent parking area adjacent to the target parking area, and it is determined that there is no obstacle in the adjacent parking area, the adjacent parking area is turned to the turnable area of the host vehicle. And a parking assistance method, wherein an auxiliary line indicating a turnable area of the host vehicle is drawn at a position passing through the adjacent parking area. In the parking assistance device for guiding the host vehicle to the target parking area,
Space judging means for judging whether or not there is an obstacle in the adjacent parking area adjacent to the target parking area;
When it is determined that there is no obstacle in the adjacent parking area, the adjacent parking area is included in the turnable area of the host vehicle, and an auxiliary line indicating the turnable area is drawn at a position passing through the adjacent parking area. A parking assistance device comprising line drawing means. In the parking assistance device according to claim 2,
The target parking area is a parking area for parallel parking in which vehicles are parked side by side,
The auxiliary line drawing means, when it is determined that there is no obstacle in the adjacent parking area located inside the turn, among the front end of the adjacent parking area, the end opposite to the target parking area, and the target The parking assist device, wherein the auxiliary line is drawn through a rear end of the parking area and the end of the adjacent parking area. In the parking assistance device according to claim 2 or 3,
Further comprising an expected trajectory line drawing means for drawing an expected trajectory line based on the steering angle of the host vehicle,
The auxiliary line drawing means draws a pair of the auxiliary lines, and when the predicted trajectory line is in a region surrounded by the inner auxiliary line and the outer auxiliary line, the inner auxiliary line and the outer auxiliary line. When at least a part of the predicted trajectory line protrudes from a region surrounded by the inner auxiliary line and the outer auxiliary line, the inner auxiliary line and the outer auxiliary line are erased or toned down. A parking assistance device characterized by. In the parking assistance device according to any one of claims 2 to 4,
The said auxiliary line drawing means draws an outside auxiliary line in the front end of the said target parking area, and draws an outside auxiliary line in the position which passes through the edge part located on the opposite side and the turning outer side of the adjacent parking area. In the parking assistance device according to any one of claims 2 to 5,
An obstacle detection means for detecting obstacles around the host vehicle;
The auxiliary line drawing means acquires a relative distance between the obstacle and the host vehicle when an obstacle is detected around the host vehicle, avoids the obstacle based on the relative distance; and A parking assistance device, wherein an outside auxiliary line is drawn at a position that is the outermost side.

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