JP2009061975A - Parallel parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform a guide by an image display in relation to parallel parking to a parking slot. <P>SOLUTION: This parallel parking support device images by a camera a one's own vehicle surrounding state as a bird's eye view image viewed from the top, displays the image on a monitor, and sets a final parking position where the vehicle should be finally located in the parking slot S detected from the bird's eye view image. An innermost peripheral track icon 40 of a circle passing through a right rear wheel by making a final turning center point Pf in a minimum rotation radius of the vehicle Mf at the final parking position as a center, and an outermost peripheral track icon 42 of a circular arc passing through the right rear wheel and extending backward by making a present turning center point Pcl by the minimum rotation radius of the vehicle Mc at a present position as a center are superimposed on the bird's eye view image. By making a position where the innermost peripheral track icon is in contact with the outermost peripheral track icon, as a starting position, the vehicle is retreated after full steering in a left direction. When the vehicle is retreated after full steering in an opposite direction when the right rear wheel reaches a contact G, the vehicle reaches the final parking position since the right rear wheel follows the innermost peripheral track icon. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a parallel parking assist device that guides a parking operation when attempting to park in a parking slot arranged vertically along an approach path.

Conventionally, as a parking assist device for facilitating parking in a parking slot, there is one disclosed in Japanese Patent Application Laid-Open No. 2001-213253.
This is because the parking operation is facilitated by showing the reverse start position with an image when performing so-called parallel parking in which the vehicle is retracted and parked at right angles to the traveling direction in the parking slot along the direction in which the vehicle has traveled. It is something to try.
JP 2001-213253 A

However, the above-described conventional apparatus is limited to support at the time of parallel parking, and does not target support for parallel parking in which the vehicle is parked in the parking slot in the same direction as the direction of the approach path.
That is, in parallel parking, in addition to the turning at the start of reverse, the turning such as turning in the reverse direction to finally fit in the parking slot and the timing of the turning are important. So we can't present anything about the steering and the timing for the final stage movement.

  Therefore, an object of the present invention is to provide a parallel parking support apparatus that performs image display for guidance for parallel parking, which is impossible with the conventional apparatus.

  Therefore, the present invention converts and synthesizes image signals from a camera that captures the surroundings of the host vehicle, creates an overhead image viewed from directly above, detects a parking slot from the overhead image, and detects the final parking in the parking slot. The first guidance reference point when the host vehicle is located at the position is set, and the second guidance reference point according to the current position of the host vehicle is set, and finally the first guidance reference point of the overhead image is set as the first guidance reference point. A first guidance image serving as an index of the final stage movement to the parking position is arranged, and a second guidance image for contacting the first guidance image is arranged at the second guidance reference point to create a superimposed image The superimposed image is displayed on the monitor.

Since the first guidance image and the second guidance image for contacting the first guidance image are superimposed on the overhead view image around the host vehicle including the parking slot, the first guidance image and the second guidance image are in contact with each other. If it moves, it can reach the contact point between the first guide image and the second guide image by retreating along the second guide image with the position as the start position of the parking operation. It is possible to get on the final moving route to the final parking position using one guide image as an index.
Therefore, the start position of the parking operation on the approach road can be easily determined even in parallel parking where a plurality of processes must be performed.

Hereinafter, embodiments of the present invention will be described in detail by way of examples.
FIG. 1 is a block diagram showing the system configuration of the first embodiment.
The parallel parking assistance device 1 is connected to a control unit 10 with a camera 2 (2a, 2b, 2c, 2d), a parking assistance activation switch 3, a rudder angle sensor 4, an inhibitor switch 5, a monitor 6, and a speaker 7. Configured.
The camera 2 includes a plurality of cameras installed at four corners or four sides of the vehicle, images a road surface within a predetermined distance range around the host vehicle, for example, a range of 5 m, and outputs an imaging signal to the control unit 10.

The steering angle sensor 4 is attached to a steering shaft (not shown) and detects the steering direction and steering angle of the steering wheel.
The inhibitor switch 5 detects the shift position in conjunction with the operation of a shift lever (not shown).
The monitor 6 is installed on the instrument panel, and the speaker 7 is installed in the vehicle cabin, and displays the support information as an image and outputs the sound by the output of the control unit 10, respectively. As the monitor 6, a liquid crystal or CRT can be selected as appropriate.

The control unit 10 includes a CPU having an internal memory and has the following functional parts.
That is, the viewpoint conversion unit 11 converts the image frame by the image signal from the camera 2 into an image signal in which the pixels are rearranged so that the image frame from the viewpoint with the camera optical axis perpendicular to the road surface.
The bird's-eye view image creation unit 12 synthesizes images based on the image signals converted from the viewpoints of the respective cameras 2 and creates a bird's-eye view image around the host vehicle viewed from directly above the host vehicle.

FIG. 2 shows an example of an overhead image when there is a frame line H that partitions the parking slot S on the side of the host vehicle. The frame line H symbolizes and shows the parking frame line which shows the arrangement | sequence of the parking slot S, a wall surface, or the row | line | column of a parked vehicle. A region indicated by a broken line is a position of the host vehicle, and a host vehicle icon to be described later is superimposed thereon.
The bird's-eye view image around the host vehicle is sent to the superimposed image composition unit 13.

A parking slot detection unit 14 is connected to the bird's-eye view image creation unit 12, image processing is performed on the bird's-eye view image, the frame line H is extracted, and the parking slots S partitioned by the frame line H are detected.
The parking position setting unit 15 sets a final parking position where the host vehicle should finally be positioned in the detected parking slot S. Here, the final parking position is such that the rear end of the vehicle body is located at, for example, 10 to 20 cm from the rear end of the parking slot with respect to the vehicle longitudinal axis of the host vehicle, and the vehicle longitudinal axis is located at the center of the width of the parking slot S. Is set to let

The turning center setting unit 16 sets the final turning center point based on the minimum turning radius of the host vehicle at the final parking position when it is finally located in the parking slot S, and also sets the minimum turning radius at the current position of the host vehicle. Set the current turning center point based on.
Each turning center point is located on an extension line of the rear wheel axle of the host vehicle (a straight line passing through the ground contact point of the left and right rear wheels on the road surface).
The current position of the host vehicle is obtained from the relative relationship with the detected frame line H and parking slot S.

The memory 17 stores image data of each icon of the host vehicle displayed on the monitor 6, the innermost track when turning at the minimum turning radius, the outermost track, the front outermost shield, and the rear outermost shield. Yes.
FIG. 3 shows an example of icons based on these image data. In addition, a present Example demonstrates the case where it is going to park in the left parking slot with respect to the advancing direction of the own vehicle.
The innermost track icon 40 is centered on the right turning center pr based on the minimum turning radius on a straight line passing through the grounding points of the left and right rear wheels Wl and Wr of the host vehicle icon M as shown in FIG. The reference point is a circle passing through the contact point of the right rear wheel Wr.

  The innermost track icon 40 is ideally the vehicle side wall on the turn center point pr side in order to indicate the innermost track of the vehicle body when turning with the steering wheel fully turned. The difference between the contact point of the wheel and the side wall of the vehicle body is small, and the minimum turning radius in the specification based on the rear wheel locus can be used as it is, so the contact point of the right rear wheel Wr is used here as a reference point. Accordingly, any circle that passes between the ground contact point of the rear wheel on the straight line passing through the ground contact points of the left and right rear wheels Wl and Wr and the side wall of the vehicle is suitable as the innermost track icon.

The outermost track icon 42 is a turning circle track that passes through the contact point of the right rear wheel Wr (that is, the same reference point as the innermost track icon 40) with the left turn center point pl as the center, as shown in FIG. And the contact point of the right rear wheel Wr is the starting point 42a.
In the support message to the driver, for example, the outermost track icon 42 is named “beard” and the innermost track icon 40 is named “circle” for easy understanding.

  Further, as shown in (c), the front outermost periphery shield icon 44 has a ¼ arc of a turning circle trajectory passing through the left front end of the host vehicle body with the right turning center point pr as the center (essential). The rear outermost shield icon 46 has an outer edge, and the rear outermost peripheral shield icon 46 has the same turning center point pr as the center (required) and has a quarter arc of a turning circle trajectory passing through the rear end of the host vehicle as an outer edge. It has a fan shape.

  Since the rear outermost shield icon 46 indicates the passing area of the rear part of the vehicle body when turning, the outer edge thereof may pass through the left rear end of the vehicle body in the same manner as the front outermost shield icon 44. Here, for the sake of simplicity, it is assumed that the vehicle passes through the grounding point of the left rear wheel Wl. Therefore, an arc on a circle passing between the ground contact point of the rear wheel outside the turn and the left rear end is suitable as the rear outermost peripheral shield icon.

  The front outermost shield icon 44 and the rear outermost shield icon 46 are each provided with gradation so that the outer edge portion is emphasized so that the outer edge portion is emphasized toward the outer edge. Even when the image overlaps the image, the other image is set to be recognizable.

Since the size of the host vehicle, the trajectory, and the like are unique depending on the specification of the vehicle, the icons 40, 42, 44, and 46 and the image data of the host vehicle icon are set in advance and stored in the memory 17. Yes.
In addition, although each turning center point is shown by the filled circle of a predetermined diameter for easy understanding, it does not need to be displayed on the monitor screen including the line which connects the left and right turning center points. The same applies throughout this embodiment.

Returning to FIG. 1, the drawing control unit 18 is activated when the parking assistance activation switch 3 is turned on, and sends the image data of the icon stored in the memory 17 to the superimposed image synthesis unit 13 and the turning center setting unit 16. Control the placement of icons based on the settings.
The superimposed image synthesizing unit 13 creates a superimposed image in which icons such as the own vehicle and the turning trajectory and a support message described later are superimposed on an overhead image around the own vehicle, and causes the monitor 6 to display the superimposed image.

The icon state determination unit 19 monitors the timing at which the innermost track icon 40 and the outermost track icon 44 contact each other in the superimposed image as the vehicle moves. Also, the contact state between the icons 44 and 46 of the front outermost periphery shield and the rear outermost periphery shield and the frame line H is determined at a predetermined timing.
The icon state determination unit 19 further determines whether or not the vehicle icon at the current position overlaps the vehicle icon at the final parking position in the superimposed image.
The detection result in the icon state determination unit 19 is sent to the message control unit 21.
The full steering detection unit 20 monitors the output of the steering angle sensor 4, detects the self-steering vehicle in a full steering state, that is, a state where the vehicle can move forward or backward with a minimum turning radius, and its steering direction. The detection result is sent to the control unit 21.

  The message control unit 21 is based on the contact state between the innermost track icon 40 and the outermost track icon 42, whether or not the full steering determination unit 20 is in a full steering state, the shift position from the inhibitor switch 5, and the like. At a predetermined timing, a message as support information is sent to the superimposed image synthesizing unit 13 so that the message is superimposed on the image of the monitor 6. The message control unit 21 also sends a message suitable for voice presentation to the speaker 7 for voice output.

4 and 5 are flowcharts showing the flow of control processing in the control unit 10.
The control starts when the driver visually recognizes the parking slot and stops at a position where the rear portion of the vehicle is near the front end of the parking slot, and the parking assist activation switch 3 is turned on.
First, in step 100, the camera 2 is started to image and the road surface is imaged.
In step 101, the bird's-eye view image creation unit 12 creates a bird's-eye view image around the host vehicle based on the imaging signal (image signal) that has passed through the viewpoint conversion unit 11.

In step 102, the parking slot detection unit 14 detects the parking slot S by performing image processing on the overhead image.
Subsequently, in step 103, the parking position setting unit 15 sets the final parking position in the parking slot S.
In step 104, the turning center setting unit 16 sets the final turning center point Pf of the vehicle based on the detected minimum turning radius at the final parking position in the parking slot S. In step 105, the current position of the host vehicle is set. The current turning center points Pcl and Pcr based on the minimum turning radius are set.

  In step 106, the drawing control unit 18 reads the innermost track and outermost track icons 40 and 42 and the image data of the host vehicle from the memory 17. In step 107, the drawing control unit 18 converts the superimposed image composition unit 13 into an overhead image. Icon superposition is performed to control the arrangement of icons. As a result, the monitor 6 displays an icon such as the host vehicle superimposed on the bird's-eye view around the host vehicle.

FIG. 6 shows a screen display of the monitor 6 when the parking assistance activation switch 3 is turned on.
In the bird's-eye view image showing the parking slot S divided by the frame line H, the vehicle icon Mc at the current position is displayed as shown by the solid line, and the broken line when the vehicle is positioned at the final parking position of the parking slot S An innermost track icon 40 is displayed with the center of the circle positioned at the final turning center point Pf on the right side of the own vehicle icon Mf at the minimum turning radius. The host vehicle icon Mf located at the final parking position is displayed in a thin line or at a low concentration so as to be distinguishable from the host vehicle icon Mc at the current position in addition to the broken line shown in the figure.

  The outermost track icon 42 is placed with its starting point 42a at the ground contact point of the right rear wheel Wr of the host vehicle icon Mc at the current position and the center (curvature center) at the current turning center point Pcl on the left side. . Thereby, the outermost periphery locus | trajectory icon 42 is extended and displayed back from the contact point of the right rear wheel Wr.

When the host vehicle Mc, the innermost track icon 40, and the outermost track icon 42 are displayed superimposed on the monitor 6, the icon state determination unit 19 determines that the innermost track icon 40 in the superimposed image is displayed in step 108 of FIG. Monitoring of the contact state of the outermost periphery locus icon 42 is started.
In step 109, the message control unit 21 causes the speaker 7 to output a voice message indicating that the operation in the contact direction should be performed, for example, “Please contact the beard and the circle”. Simultaneously with the voice message, a text message having the same meaning is displayed on the screen of the monitor 6 via the superimposed image synthesis unit 13.

Based on the output from the icon state determination unit 19, while the innermost track icon 40 and the outermost track icon 42 are crossed, the message “advance” is added to the message, and the innermost track icon 40 and the innermost track icon 40. When the outer periphery locus icon 42 is separated, “retreat” may be attached.
When the innermost track icon 40 and the outermost track icon 42 on the monitor screen cross each other, the driver moves his / her vehicle forward, and when he / she is separated, he / she moves backward and approaches the direction in which both of them touch. .
In the following, the monitor 6 and the speaker 7 that are output destinations of the message are not particularly referred to, and simply described as “to output a message”.

In step 110, the message control unit 21 checks whether the innermost track icon 40 and the outermost track icon 42 in the superimposed image are in contact with each other based on the output of the icon state determination unit 19.
While the innermost track icon 40 and the outermost track icon 42 are not in contact with each other or are simply crossed, step 110 is repeated.

When the host vehicle moves forward and the innermost track icon 40 and the outermost track icon 42 are in contact with each other as shown in the monitor screen of FIG.
Since the bird's-eye view image is around the host vehicle imaged by the camera, it is convenient in terms of image processing to display the host vehicle icon at the center of the screen on the monitor 6, but the parking assist activation switch 3 is turned on. The surrounding image including the parking slot S in the bird's-eye view image that is first generated at the time of being fixed may be fixed, and the monitor screen may be a display in which the position of the vehicle icon Mc relatively changes.
In FIG. 7, the surrounding image is shown fixed for easy understanding on the monitor screen of FIG. The same applies throughout the embodiments.

In step 111, the message control unit 21 outputs a message indicating that the left full steering should be performed in the stopped state, such as “Stop and turn the steering wheel all the way to the left”.
At this time, the display color of the innermost track icon 40 and the outermost track icon 42 may be changed or blinked to alert the driver.

In step 112, the message control unit 21 checks whether or not the host vehicle is in the leftward full steering state based on the output from the full steering determination unit 20.
When the above check is repeated and a full steering state is reached, the process proceeds to step 113 where the message control unit 21 deletes the previous message from the monitor 6 and outputs the message “Please move backward”.
In step 114, the message control unit 21 checks whether or not the shift position of the R range (reverse) is selected from the output of the inhibitor switch 5.
When the check in step 114 is repeated and the R range is selected, the process proceeds to step 115.

  When the R range is selected and the host vehicle starts to move backward, the outermost track icon 42 having the start point 42a at the contact point of the right rear wheel Wr rotates together with the host vehicle icon Mc while being in contact with the innermost track icon 40. . Accordingly, the starting point 42a of the outermost periphery locus icon 42 approaches the contact point G with the innermost periphery locus icon 40 along an arc centered on the current turning center point Pcl.

  When the innermost track icon 40 and the outermost track icon 42 are first brought into contact and stopped, the left rear wheel Wl is usually near the corner of the frame H defining the parking slot S as shown in FIG. Will be located. Therefore, even if turning from there, since the initial moving direction of the left rear wheel Wl is almost parallel to the frame line H, there is practically no possibility of contact between the turning inside of the vehicle body and the corner of the frame line.

In step 115, the message control unit 21 determines whether the start point of the innermost track icon 40 (circle) and the outermost track icon 42 (arc) in the superimposed image comes into contact with the output of the icon state determination unit 19, that is, the contact point G. Check if you have reached.
While the host vehicle is moving backward, the above check is repeated, and when the start point 42a (right rear wheel position) of the outermost track icon reaches the contact point G with the innermost track icon 40, as shown in the monitor screen of FIG. Proceed to step 116.
Note that at the position where the starting point 42a of the outermost track icon reaches the contact point G with the innermost track icon 40, the current turning center point Pcr overlaps the final turning center point Pf.

In step 116, the message control unit 21 outputs a “Please stop” message.
In step 117, the drawing control unit 18 responds to the output from the icon state determination unit 19 that the starting point 42 a of the outermost track icon has reached the contact point G with the innermost track icon 40, according to the output from the outermost track icon. 42 is turned off.
Subsequently, in step 118, the image data of the front outermost periphery shield icon 44 and the rear outermost periphery shield icon 46 is read from the memory 17, and in step 119, the superimposed image composition unit 13 is checked for the presence / absence of interference with the surroundings of the parking slot. The icon is superimposed on the overhead image.

Here, as shown in the monitor screen of FIG. 9, the front outermost periphery shield icon 44 is the minimum rotation on the straight line K passing through the ground contact points of the left and right rear wheels of the current vehicle icon Mc at the current position. The fan-shaped left side is arranged along the straight line K so as to coincide with the current turning center point Pcr on the right side based on the radius. Further, the rear outermost peripheral shield icon 46 is arranged so that the fan-shaped key coincides with the current turning center point Pcr on the right side and the fan-shaped right side is aligned with the straight line K.
Since the front outermost shield icon 44 and the rear outermost shield icon 46 are translucent, the host vehicle icons Mc and Mf and the innermost track icon 40 can be seen through.

In the next step 120, the icon state determination unit 19 determines whether or not the frame line H that defines the parking slot S interferes (overlaps) with the front outermost shield icon 44 or the rear outermost shield icon 46. The determination result is output to the message control unit 21.
As shown in the monitor screen of FIG. 10, when the frame line H interferes with either the front outermost shield icon 44 or the rear outermost shield icon 46, the process proceeds to step 129, and the message control unit 21 The message output at 116 is deleted, and a message indicating that parking guidance is impossible is output, such as “Parking guidance cannot be provided to this parking slot”.
Thereafter, the process proceeds to step 130 described later.

On the other hand, if it is determined in step 120 that neither the front outermost periphery shield icon 44 nor the rear outermost periphery shield icon 46 interferes with the frame line H, the process proceeds to step 121.
In step 121, the message control unit 21 deletes the message output in step 116 and outputs a message indicating that the right full steering should be performed, such as “Please turn the steering wheel to the right”.

In step 122, the message control unit 21 checks whether or not the host vehicle is in the right-hand full steering state based on the output from the full steering detection unit 20.
When the above check is repeated and a full steering state is reached, the process proceeds to step 123,
The message control unit 21 deletes the message output in step 121 from the monitor 6 and outputs a message “Please retreat”. At the same time, in step 124, the drawing control unit 18 causes the superimposed image composition unit 13 to turn off the display of the front outermost periphery shield icon 44 and the rear outermost periphery shield icon 46. Thereby, the display of the innermost track icon 40 remains on the monitor.

In step 125, the message control unit 21 checks whether or not the R range (reverse) shift position has been selected again from the output of the inhibitor switch 5.
When the R range is selected and the vehicle moves backward, the host vehicle approaches the final parking position in the parking slot S.
After the above check is repeated and the R range is selected, in step 126, the message control unit 21 checks whether the host vehicle is located at the final parking position based on the output of the icon state determination unit 19.

Since the host vehicle icon Mc entering the parking slot S is displayed on the monitor 6 as the vehicle moves backward, the driver can see the broken host vehicle positioned in the parking slot S as shown in FIG. It can be known from the monitor display in which the solid vehicle icon Mc overlaps the icon Mf that the final parking position of the parking slot S has been reached.
When the host vehicle reaches the final parking position, in step 126, the message control unit 21 deletes the message output in step 122 from the monitor 6 and outputs a message “parking is completed”.
At this time, the display color of the host vehicle icon Mc may be changed or blinked.

Thereafter, the routine proceeds to step 127, where it is checked whether the shift position of the P range (parking) has been selected. This confirms that the driver has stopped the vehicle.
After step 127 is repeated until the P range is selected, in step 129, the message control unit 21 controls the superimposed image composition unit 13 to erase all the displays on the monitor 6 and the process is terminated.
Further, when the parking assistance activation switch 3 is turned off at any stage of the above flow, the processing is stopped and the parking assistance control is ended.

FIG. 6 shows a case where the host vehicle moves straight ahead in parallel with the longitudinal direction of the parking slot S before the parking operation. However, as illustrated in FIG. The innermost track icon 40 and the outermost track icon 42 come into contact with each other. Therefore, regardless of the orientation of the host vehicle, such as Mc1, Mc2, and Mc3, if the innermost track icon 40 and the outermost track icon 42 are in contact with each other, The rear wheel Wr (start point of the outermost track icon) reaches the contact point G (G1, G2, or G3) between the innermost track icon and the outermost track icon. When the right rear wheel Wr reaches the contact point G, if the handle is turned all the way to the right, the right rear wheel Wr is guided into the parking slot S on the circular locus of the innermost circumference locus icon 40.
Therefore, the direction of the own vehicle does not matter at the start of parking.

In this embodiment, step 101 in the flowcharts of FIGS. 4 and 5 constitutes an overhead image creation means in the invention, step 102 is a parking slot detection means, step 103 is a final parking position setting means, and step 104 is the first. One reference point setting means and step 105 constitute second reference point setting means.
The final turning center point corresponds to the first guidance reference point, and the innermost track icon 40 corresponds to the first guidance image. Further, the current turning center point corresponds to the second guidance reference point, and the outermost periphery locus icon 42 corresponds to the second guidance image.
Steps 106, 107, 117 to 119, and 124 constitute superimposing image composition means, and steps 109 to 116, 120 to 123, and 125 to 127 constitute support information control means.
The monitor 6 and the speaker 7 correspond to message presentation means.

  The present embodiment is configured as described above, and displays the surrounding situation of the host vehicle imaged by the camera 2 on the monitor 6 as an overhead image viewed from directly above, and the host vehicle is finally in the parking slot S detected from the overhead image. The final parking position to be positioned is set, and the right turn (entrance side) final turning center point Pf at the minimum turning radius of the own vehicle Mf at the final parking position is obtained, and the minimum rotation of the own vehicle Mc at the current position is obtained. The current turning center point Pcl on the left side (parking slot side) in the radius is obtained, and the innermost track icon 40 of the circle passing through the right rear wheel Wr centered on the final turning center point Pf and the current turning center point Pcl A circular arc outermost track icon 42 extending rearward through the centered right rear wheel Wr is superimposed on the overhead image, and a message is output to the monitor 6 and the speaker 7 based on the positional relationship between the icons 40 and 42. Having assumed that it is possible to easily determine the start position of the parking operation in a parking slot S.

Then, at the position where the innermost track icon 40 and the outermost track icon 42 are in contact with each other, the right rear wheel Wr is centered on the current turning center point Pcl by outputting a message to turn left after full steering. When the right rear wheel Wr reaches the contact point G between the innermost track icon 40 and the outermost track icon 42, the vehicle is fully steered in the opposite direction. Since the message for reversing is output, as the final stage of movement, the vehicle Mc is finally parked after the right rear wheel Wr follows the innermost track icon 40 (the circle with the minimum turning radius centered on the final turning center point). The position can be reached.
Since the innermost track icon 40 is the track of the rear wheel, a specific image can be given to the driver who watches the monitor screen.

  Further, when the right rear wheel Wr reaches the contact point G between the innermost track icon 40 and the outermost track icon 42, before the reverse movement of the final stage movement start to the final parking position is performed, that is, in the reverse direction. Before outputting a message for turning back on the rudder, a front outermost shield icon 44 and a rear outermost shield icon 46, each of which has a fan-shaped key at the current turning center point Pcr on the right side, are displayed superimposed on the overhead image. Therefore, it can be easily confirmed on the monitor screen whether or not it is possible to enter the final parking position in the parking slot S without interference with others.

Next, a second embodiment will be described. In this embodiment, the shape of the icon is different from that of the first embodiment.
FIG. 13 is a block diagram showing the system configuration of the second embodiment.
The control unit 10A of the parallel parking assistance device 1A is different from the control unit 10 in the first embodiment in that a drawing control unit 18A and an icon are used instead of the drawing control unit 18, the icon state determination unit 19, and the message control unit 21, respectively. The difference is that the state determination unit 19A and the message control unit 21A are provided.

  The memory 17 stores the same image data of the own vehicle icons Mc and Mf, the front outermost shield icon 44 and the rear outermost shield icon 46 as in the first embodiment, and the innermost track icon. Instead of 40 and the outermost periphery locus icon 42, image data of a turning center point icon indicating a turning center point based on the minimum turning radius and an inverted L-shaped straight guide icon is stored.

  As shown in FIG. 14A, the straight line guide icon 50 includes an axle straight line 51 connecting the right turning center point pr based on the minimum turning radius of the host vehicle M and the grounding point of the right rear wheel Wr, and the axle straight line. The guide straight line 52 extends rearward from the right turning center point pr in parallel with the vehicle longitudinal axis CL. An intersection point of the axle straight line 51 and the guide straight line 52 is referred to as a reference point of the straight line guide icon 50.

As shown in FIG. 14B, the turning center point icon 54 has a small-diameter circular shape that makes a point image similar to the same at the turning center point pr on the right side.
In the support message to the driver, the straight line guide icon 50 is named “straight line” and the turning center point icon 54 is named “round point” for easy understanding.

The drawing control unit 18A is activated when the parking assistance activation switch 3 is turned on, sends the image data stored in the memory 17 to the superimposed image synthesis unit 13, and controls the arrangement of icons based on the image data.
The superimposed image synthesizing unit 13 creates a superimposed image in which the host vehicle icon and the straight line guide icon are superimposed on the overhead image around the host vehicle, and causes the monitor 6 to display the superimposed image.
In the superimposed image, a turning center point icon 54 is displayed at the turning center point Pf on the right side at the minimum turning radius of the host vehicle icon Mf when it is positioned in the parking slot.

The icon state determination unit 19A monitors the timing at which the guide straight line 52 of the straight line guide icon 50 in the superimposed image overlaps the turning center point icon 54 with the movement of the host vehicle. Also, the contact state between the shield icon and the frame line is determined at a predetermined timing. The detection result in the icon state determination unit 19A is sent to the message control unit 21A.
The operation of the message control unit 21A will be described in a later-described control process.
Other configurations are the same as those of the first embodiment shown in FIG.

15 and 16 are flowcharts showing the flow of control processing in the control unit.
Steps 200 to 205 and 216 to 228 are the same as steps 100 to 105, 102, and 118 to 130 in the first embodiment of FIG.
When the final turning center point Pf at the final parking position and the current turning center points Pcl and Pcr at the current position are set by the turning center setting unit 16 in steps 204 and 205, the drawing control unit 18A stores the memory 17 in step 206. The image data of the own vehicle icons Mc and Mf, the straight line guide icon 50, and the turning center point icon 54 are read out.
In step 207, the superimposed image composition unit 13 superimposes an icon on the overhead image, and controls the arrangement of the icons based on the setting of the turning center setting unit 16.

FIG. 17 shows a screen display of the monitor 6 when the parking assist activation switch 3 is turned on.
In the bird's-eye view image showing the parking slot S divided by the frame line H, the vehicle icon Mc at the current position is displayed as shown by the solid line, and the broken line when the vehicle is positioned at the final parking position of the parking slot S The turning center point icon 54 is displayed at the final turning center point Pf on the right side with the minimum turning radius of the host vehicle icon Mf shown in FIG.

As shown in the figure, the final turning center point Pf where the icon is located and the own vehicle icon at the parking slot position so that the turning center point icon 54 when the own vehicle is located at the final parking position can be easily identified. It is preferable to display a straight line connecting the right rear wheel Wr of Mf with a broken line 55 or the like.
Then, the reference point (axle of the straight guide icon 50) is set at the current turning center point Pcr on the right side based on the minimum turning radius on the straight line K passing through the grounding points of the left and right rear wheels Wl and Wr of the host vehicle icon Mc at the current position. The intersection 51 of the straight line 51 and the guide straight line 52 is positioned, and the axle straight line 51 is displayed along the straight line K.

Returning to the flowchart, when the own vehicle icons Mc and Mf, the turning center point icon 54, and the straight line guide icons 50 are superimposed on the monitor 6, in step 208, the icon state determination unit 19A displays the straight line guide icon in the superimposed image. Monitoring of the contact state between 50 and the turning center point icon 54 is started.
In step 209, the message control unit 21A outputs a message “Full speed right with the right steering wheel, superimpose a straight line on a round point”.

When moving forward with full right steering, the vehicle icon Mc turns around the current turning center point Pcr, and thus the straight guide icon 50 turns around the reference point 53 (current turning center point Pcr), The guide straight line 52 approaches the turning center point icon 54.
Thereafter, in step 210, the message control unit 21A determines, based on the output of the icon state determination unit 19A, the final turning center point when the straight guide icon 50 (the guide straight line 52) in the superimposed image and the host vehicle are positioned in the parking slot. It is checked whether or not the turning center point icon 54 located at Pf overlaps.
Step 210 is repeated until both icons overlap.

When the host vehicle turns and the straight line guide icon 50 and the turning center point icon 54 overlap as shown in the monitor screen of FIG.
In step 211, the message control unit 21A deletes the message output in step 209 and outputs a message indicating that the vehicle should move backward after neutral turning, such as “Stop, move the steering wheel to the neutral position”. .
At this time, the display color of the straight guide icon 50 and the turning center point icon 54 may be changed or blinked to alert the driver.
In step 212, the message control unit 21A checks whether or not the shift position of the R range (reverse) is selected from the output of the inhibitor switch 5.

When the above check is repeated and the R range is selected, in step 213, the message control unit 21A changes the reference point of the straight guide icon 50 in the superimposed image to the turning center point icon 54 by the output of the icon state determination unit 19A. Check if they overlap.
Since the guide straight line 52 of the straight guide icon 50 is parallel to the vehicle longitudinal axis of the host vehicle, the guide straight line 52 has the same posture on the turning center point icon 54 on the screen of the monitor 6 while the host vehicle is moving backward. It will slide.

The above check is repeated, and when the reference point 53 of the straight line guide icon at the current position and the turning center point icon 54 when positioned in the parking slot S overlap as shown in the monitor screen of FIG.
In step 214, the message control unit outputs a message “Please stop”.
In step 215, the drawing control unit 18A turns off the display of the straight line guide icon 50 in response to the output of the icon state determination unit 19A that the reference point 53 of the straight line guide icon 50 overlaps the turning center point icon 54.

  Subsequently, in step 216, the drawing control unit 18A reads the image data of the front outermost periphery shield icon 44 and the rear outermost periphery shield icon 46 from the memory 17, and in step 217, the drawing control unit 18A applies the overhead image to the overhead image. Let the icon overlap.

  The subsequent steps 218 to 228 are the same as the processing steps 120 to 130 in the first embodiment. In step 222, after the drawing control unit 18A erases the display of the front outermost periphery shield icon 44 and the rear outermost periphery shield icon 46, the innermost track icon 40 remains on the monitor 6 instead of the turning center point icon 40. 54 remains, but the subsequent message output control is the same.

In other words, the presence or absence of interference between the frame line H and the front outermost periphery shield icon 44 or the rear outermost periphery shield icon 46 is checked. By turning backward after full right steering, the host vehicle turns around the turning center point icon 54 (Pf) to the final parking position of the parking slot S as shown in FIG. Can reach.
Therefore, detailed description of the subsequent steps is omitted.

  In order to bring the straight guide icon 50 (the guide straight line 52) closer to the turning center point icon 54 from the state shown in FIG. 17, it is moved forward by full right turning. However, as shown in FIG. Even when the vehicle is moved backward by full steering, the straight guide icon 50 can be superimposed close to the turning center point icon 54. Therefore, depending on the circumstances of the four circles, a message “Please move slowly with the left steering wheel and superimpose a straight line on a circle” can be selected as appropriate.

In the second embodiment, step 201 in the flowcharts of FIGS. 15 and 16 constitutes an overhead image creation means, step 202 is a parking slot detection means, step 203 is a final parking position setting means, and step 204 is the first. One reference point setting means and step 205 constitute second reference point setting means.
The final turning center point corresponds to the first guidance reference point, and the turning center point icon 54 corresponds to the first guidance image. Further, the current turning center point corresponds to the second guidance reference point, and the straight guide icon 50 corresponds to the second guidance image.
Steps 206, 207, 215 to 217, and 222 constitute superimposing image composition means, and steps 209 to 214, 218 to 221, and 223 to 225 constitute support information control means.
The monitor 6 and the speaker 7 correspond to message presenting means.

  The second embodiment is configured as described above, and displays the surrounding situation of the host vehicle imaged by the camera 2 on the monitor 6 as a bird's-eye view viewed from directly above, and the host vehicle in the parking slot S detected from the bird's-eye view image. The final parking position that should be finally positioned is set, the final turning center point Pf on the right side (entrance road side) with the minimum turning radius of the own vehicle at the final parking position is obtained, and the minimum rotation of the own vehicle at the current position is obtained. A current turning center point Pcr on the right side at the radius is obtained, and a turning center point icon 54 at the final turning center point Pf and a guide straight line extending backward from the current turning center point Pcr in parallel to the vehicle longitudinal axis of the host vehicle at the current position. A straight guide icon 50 having 52 is superimposed on the overhead view image, and the guide straight line 52 of the straight guide icon is steered in a direction to overlap the turn center point icon 54. Since the outputs of cormorants message, it can readily determine the starting position of the parking operation in a parking slot.

  And in the position where both icons overlapped, it was made to output a message to return to the neutral position and then move backward, so it can be moved straight to a point where it can appropriately enter into the parking slot, When the reference point that is currently located at the turning center point Pcr reaches the turning center point icon 54, the vehicle outputs a message that causes the vehicle to turn rightward after full steering, so that the vehicle turns around the turning center point icon 54. It is possible to reach the final parking position by following the trajectory.

  Further, when the reference point of the straight line guide icon reaches the turning center point icon 54, a message is output before the final stage movement start to the final parking position is retreated, that is, a full steer in the right direction. The front outermost shield icon 44 and the rear outermost shield icon 46, each of which has a fan-shaped key at the current turning center point Pcr on the right side, are displayed in a superimposed manner on the overhead image before the final parking position in the parking slot. It can be easily confirmed on the monitor screen whether it is possible to enter without interference with others.

  Although the reference point of the straight line guide icon 50 is the intersection of the axle straight line 51 and the guide straight line 52 and is an inverted L-shaped corner, the guide straight line 52 may extend further forward from the intersection with the axle straight line 51. Also in this case, the intersection point is set as a reference point.

Next, a third embodiment will be described. This embodiment also has a different icon shape.
FIG. 21 is a block diagram showing the system configuration of the third embodiment.
The control unit 10B of the parallel parking assist device 1B is different from the drawing control unit 18, the icon state determination unit 19, and the message control unit 21 in the first embodiment, respectively, in the drawing control unit 18B, icon state determination unit 19B, and message control. A portion 21B is provided.
The memory 17 stores the same image data of the own vehicle icons Mc and Mf, the innermost track icon 40, the front outermost shield icon 44, and the rear outermost shield icon 46 as in the first embodiment. In addition, instead of the outermost periphery locus icon 42, image data of a rear wheel linear locus icon set to the right rear wheel of the host vehicle is stored.

As shown in FIG. 22, the rear-wheel straight line locus icon 56 is a straight line that extends in parallel with the vehicle longitudinal axis CL of the host vehicle M, and in which the reference point 57 is placed at the contact point of the right rear wheel Wr. The front is shorter and the rear is longer than the general length of the parking slot S.
In the support message to the driver, for example, the rear wheel linear locus icon 56 is named “straight line” and the innermost circumferential locus icon 40 is named “circle” for easy understanding.

The drawing control unit 18B is activated when the parking assistance activation switch 3 is turned on, and sends the image data stored in the memory 17 to the superimposed image synthesis unit 13 and controls the arrangement of icons based on the image data.
The superimposed image synthesizing unit 13 creates a superimposed image in which the own vehicle icons Mc and Mf, the rear wheel linear locus icon 56, the innermost periphery locus icon 40, and the like are superimposed on the overhead image around the own vehicle. The superimposed image is displayed.

The icon state determination unit 19 </ b> B monitors the timing at which the rear wheel linear locus icon 56 in the superimposed image contacts the innermost periphery locus icon 40 as the host vehicle moves. Also, the contact state between the shield icon and the frame line is determined at a predetermined timing. The detection result in the icon state determination unit 19B is sent to the message control unit 21B.
The operation of the message control unit 21B will be described in the control process described later.
Other configurations are the same as those of the first embodiment shown in FIG.

23 and 24 are flowcharts showing the flow of control processing in the control unit 10B.
Steps 300 to 305 and 316 to 328 are the same as steps 100 to 105 and 118 to 130 of FIGS. 4 and 5 in the first embodiment.
When the final turning center point Pf at the final parking position and the current turning center points Pcl and Pcr at the current position are set in steps 304 and 305, in step 306, the drawing control unit 18B reads the vehicle icon Mc, The image data of Mf, the rear wheel linear locus icon 56, and the innermost circumferential locus icon 40 are read out. In step 307, the superimposed image composition unit 13 superimposes an icon on the overhead image, and controls the arrangement of the icons based on the setting of the turning center setting unit 16.

FIG. 25 shows a screen display of the monitor 6 when the parking assist activation switch 3 is turned on.
In the bird's-eye view image showing the parking slot S divided by the frame line H, the vehicle icon Mc at the current position is displayed as shown by the solid line, and the broken line when the vehicle is positioned at the final parking position of the parking slot S The innermost track icon 40 is displayed with the center of the circle located at the final turning center point Pf on the right side with the minimum turning radius of the host vehicle icon Mf shown in FIG.
The rear wheel linear locus icon 56 is displayed in such a manner that the reference point 57 coincides with the ground contact point of the right rear wheel Wr of the host vehicle icon Mc at the current position and is arranged in parallel with the vehicle longitudinal axis.

Returning to the flowchart, when the own vehicle icons Mc and Mf, the innermost track icon 40, and the rear wheel straight track icon 56 are superimposed on the monitor 6, in step 308, the icon state determination unit 19B displays Monitoring of the contact state of the inner track icon 40 and the rear wheel straight track icon 56 is started.
In step 309, the message control unit 21 </ b> B outputs a message indicating that the operation in the contact direction should be performed, such as “Slow forward with full right handle, contact straight line with circle”.
When the vehicle moves forward with full right steering, the rear-wheel straight locus icon 56 rotates together with the host vehicle icon Mc about the current turning center point Pcr, and approaches the direction in contact with the circle of the innermost periphery locus icon 40.

Thereafter, in step 310, the message control unit 21B checks whether the rear wheel linear locus icon 56 and the innermost periphery locus icon 40 in the superimposed image are in contact with each other based on the output of the icon state determination unit 19B.
Step 310 is repeated until both icons touch.
When the host vehicle turns and the rear wheel straight locus icon 56 contacts the innermost periphery locus icon 40 as shown in the monitor screen of FIG.

In step 311, the message control unit 21B deletes the message output in step 309 and outputs a message indicating that the vehicle should move backward after neutral turning, such as “Stop, move the steering wheel to the neutral position”. .
At this time, the display color of the rear wheel linear locus icon 56 and the innermost periphery locus icon 40 may be changed or blinked to alert the driver.
In step 312, the message control unit 21 </ b> B checks whether an R range (reverse) shift position is selected from the output of the inhibitor switch 5.

When the above check is repeated and the R range is selected, in step 313, the message control unit 21B outputs the reference point 57 of the rear wheel linear locus icon 56 in the superimposed image (i.e. It is checked whether the contact point of the right rear wheel Wr at the current position of the vehicle is in contact with the innermost track icon 40, that is, the contact point G is reached.
Since the rear-wheel linear locus icon 56 is parallel to the vehicle longitudinal axis of the host vehicle, the rear-wheel linear locus icon 56 is in the same posture on the monitor 6 screen while the host vehicle is moving backward. And slide on the contact point G.

The above check is repeated, and when the reference point 57 of the rear wheel linear locus icon 56 reaches the contact point G with the innermost periphery locus icon 40 as shown in the monitor screen of FIG.
In step 314, the message control unit 21B outputs a “Please stop” message.
In step 315, the drawing control unit 18B performs the rear wheel linear locus in response to the output of the icon state determination unit 19B that the reference point 57 of the rear wheel linear locus icon 56 has reached the contact point G with the innermost periphery locus icon 40. The icon 56 disappears.

  Subsequently, in step 316, the drawing control unit 18B reads the image data of the front outermost periphery shield icon 44 and the rear outermost periphery shield icon 46 from the memory 17, and in step 317, the drawing control unit 18B converts the superimposed image composition unit 13 into an overhead image. Causes the icon to be superimposed.

The subsequent steps 318 to 328 are the same as the processing steps 120 to 130 in the first embodiment.
In other words, the presence or absence of interference between the frame line H and the front outermost periphery shield icon 44 or the rear outermost periphery shield icon 46 is checked. By turning backward after full right turning, the vehicle Mc turns along the innermost track icon 40 centered on the final turning center point Pf, and parking as shown in FIG. The final parking position of the slot S can be reached.
Therefore, description of subsequent steps is omitted.

As a start position where the straight guide icon 56 is brought into contact with the innermost track icon 40, in FIG. 25, the host vehicle Mc is close to the parking slot S and the direction of the host vehicle is parallel to the longitudinal direction of the parking slot S. However, as illustrated in FIG. 28, the rear wheel linear trajectory icon 56 is changed to the innermost peripheral trajectory icon regardless of the direction of the vehicle Mc4, Mc5, or Mc6 by moving forward while turning the steering wheel. 40, the reference point 57 of the rear-wheel linear trajectory icon 56 can reach the contact point G (G4, G5 or G6) with the innermost peripheral trajectory icon 40, and thereafter, If the steering wheel is turned all the way to the right, the right rear wheel Wr corresponding to the reference point 57 is guided into the parking slot S on the circle of the innermost track icon 40.
Therefore, the direction of the own vehicle does not matter at the start of parking.

In the third embodiment, step 301 in the flowcharts of FIGS. 23 and 24 constitutes an overhead image creation means, step 302 is a parking slot detection means, step 303 is a final parking position setting means, and step 304 is the first. The first reference point setting means and step 305 constitute the second reference point setting means.
The final turning center point Pf corresponds to the first guidance reference point, and the innermost track icon 40 corresponds to the first guidance image. Further, the ground contact point of the right rear wheel Wr of the host vehicle icon Mc corresponds to the second guidance reference point, and the rear wheel linear locus icon 56 corresponds to the second guidance image.
Steps 306, 307, 315 to 317, and 322 constitute superimposed image composition means, and steps 309 to 314, 318 to 321 and 323 to 325 constitute support information control means.
The monitor 6 and the speaker 7 correspond to message presenting means.

  The third embodiment is configured as described above, and displays the surrounding situation of the host vehicle imaged by the camera 2 on the monitor 6 as an overhead image viewed from directly above, and the host vehicle is in the parking slot S detected from the overhead image. Is set to the final parking position to be finally positioned, and the right turning center point Pf on the right side (the approach road side) at the minimum turning radius of the host vehicle Mf at the final parking position is obtained, and the center is set to the final turning center point Pf. The innermost track icon 40 of the circle passing through the right rear wheel Wr, and the rear of the straight line extending parallel to the vehicle longitudinal axis CL with the ground point of the right rear wheel Wr of the host vehicle Mc at the current position as the reference point 57. Since the circular line locus icon 56 is superimposed on the bird's-eye view image and a message is output to the monitor 6 and the speaker 7 based on the positional relationship between the icons 56 and 40, the starting position of the parking operation in the parking slot S It can be easily determined.

  Then, at the position where the rear wheel linear locus icon 56 and the innermost periphery locus icon 40 are in contact with each other, the right rear wheel Wr is changed to the rear wheel linear locus icon 56 by outputting a message for turning and reversing to the neutral position. The vehicle can enter the parking slot S along a straight line, and then, when the reference point 57 (the right rear wheel Wr) of the rear wheel linear locus icon 56 reaches the contact point G with the innermost periphery locus icon 40, it is full in the right direction. Since a message for turning back after turning is output, as the final stage movement, the vehicle follows the right rear wheel Wr on the innermost track icon 40 (a circle with the minimum turning radius centered on the final turning center point). The final parking position can be reached.

  Further, when the right rear wheel Wr reaches the contact point G between the rear wheel linear locus icon 56 and the innermost periphery locus icon 40, before the backward movement of the final stage movement start to the final parking position, that is, neutral steering. Before outputting the message for retreating, the front outermost shield icon 44 and the rear outermost shield icon 46 with the fan-shaped key points at the current turning center point Pcr on the right side are superimposed and displayed on the overhead image. It is possible to easily confirm on the monitor screen whether or not the vehicle can enter the final parking position in the parking slot S without interference.

  In each example, before reversing the start of the final stage movement to the final parking position, after confirming that there is no interference with the frame line, a shield icon indicating the passing area of the host vehicle is superimposed on the overhead image In step 124 (222: 322), the shield icon is erased. However, the shield icon may be kept superimposed until reaching the final parking position so that the confirmation can be performed to the end.

  In each embodiment, in step 126 and 127 (224, 225: 324, 325), the message control unit checks that the own vehicle is located at the final parking position based on the output of the icon state determination unit, and the parking is completed. Although the message is output, the driver can check whether the final parking position of the parking slot S has been reached from the actual vehicle surroundings or the screen of the monitor 6, so the device itself performs the above check and message processing. For example, when the shift position of the P range (parking) is selected in the check at step 128 (226: 326), the control processing for assistance may be terminated as having reached the final parking position. Good.

  If the shield icon interferes with the frame line, the display of the monitor is turned off because the parking guidance is impossible, and the control process is terminated, but the driver does not rely on assistance to park in the same parking slot. As a reference when performing, until the parking assistance start switch 3 is turned off, the display of the bird's-eye view image on which the vehicle icon Mc at the current position is superimposed may be continued.

In the first and second embodiments, the innermost track icon 40 as the first guide image is a circle passing through the ground contact point of the rear wheel Wr inside the turn to indicate the innermost track of the vehicle body with the minimum turning radius. However, the present invention is not limited to a circle, and may be a semicircle including an area of the final stage movement to the final parking position on condition that contact with the second guide image is possible.
On the contrary, in the first embodiment, the outermost track icon 42 as the second guide image is a ¼ arc, but the length of the arc is within the range where the innermost track icon 40 can be contacted. It is optional and can be a circle.

  Furthermore, in the first and second embodiments, the first guide image is not limited to the one showing the innermost locus of the vehicle body, but may be an index for the final stage movement to the final parking position. For example, the center position of a straight line passing through the contact points of the left and right rear wheels Wl and Wr can be used as a reference point, and a circle or semicircle passing through this center position can be used. In this case, the second guide image for making contact with the first guide image is also set so as to pass through the same reference point.

  In each embodiment, the case where parking is attempted in the parking slot on the left side with respect to the traveling direction of the own vehicle has been described. What is necessary is just to invert.

It is a block diagram which shows the system configuration | structure of a 1st Example. It is a figure which shows the example of an overhead image. It is a figure which shows the example of an icon. It is a flowchart which shows the flow of the control processing in a control unit. It is a flowchart which shows the flow of the control processing in a control unit. It is a figure which shows a monitor screen display when a parking assistance starting switch is turned on. It is a figure which shows the state which the innermost periphery locus | trajectory icon and the outermost periphery locus | trajectory icon contact | connected. It is a figure which shows the state which the starting point of the outermost periphery locus | trajectory icon reached | attained the contact with the innermost periphery locus | trajectory icon. It is a figure which shows the state which superimposed the front outermost periphery shield icon and the rear outermost periphery shield icon. It is a figure which shows the state which the frame line and the front outermost periphery shield icon interfered. It is a figure which shows the state which the own vehicle icon reached | attained the last parking position of a parking slot. It is a figure which shows the contact state of the innermost periphery locus | trajectory icon and outermost periphery locus | trajectory icon in case the directions of the own vehicle differ. It is a block diagram which shows the system configuration | structure of a 2nd Example. It is a figure which shows the example of an icon. It is a flowchart which shows the flow of the control processing in a control unit. It is a flowchart which shows the flow of the control processing in a control unit. It is a figure which shows a monitor screen display when a parking assistance starting switch is turned on. It is a figure which shows the state with which the straight guide icon and the turning center point icon overlapped. It is a figure which shows the state in which the reference point of the straight line guide icon overlapped with the turning center point icon. It is a figure which shows the state which reversed the steering direction and overlap | superposed the linear guide icon 50 and the turning center point icon. It is a block diagram which shows the system configuration | structure of a 3rd Example. It is a figure which shows the example of an icon. It is a flowchart which shows the flow of the control processing in a control unit. It is a flowchart which shows the flow of the control processing in a control unit. It is a figure which shows a monitor screen display when a parking assistance starting switch is turned on. It is a figure which shows the state which the rear-wheel linear locus icon touched the innermost circumference locus icon. It is a figure which shows the state which the reference point of the rear-wheel linear locus icon arrived at the contact with the innermost circumference locus icon. It is a figure which shows the contact state of the rear-wheel linear locus icon and innermost circumference locus icon in the case where the directions of the own vehicle are different.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1A, 1B Parallel parking assistance apparatus 2a, 2b, 2c, 2d Camera 3 Parking assistance start switch 4 Steering angle sensor 5 Inhibitor switch 6 Monitor 7 Speaker 10, 10A, 10B Control unit 11 View point conversion part 12 Overhead image creation part 13 Superimposed image composition unit 14 Parking slot detection unit 15 Parking position setting unit 16 Turning center setting unit 17 Memory 18, 18A, 18B Drawing control unit 19, 19A, 19B Icon state determination unit 20 Full steering detection unit 21, 21A, 21B Message Control unit 40 Innermost track icon (first guide image)
42 Outermost track icon (second guide image)
42a Start point 44 Front outermost shield icon 46 Rear outermost shield icon 50 Straight guide icon (second guide image)
51 Axle straight line 52 Guide straight line 53 Reference point 54 Turning center point icon (first guide image)
55 Broken line 56 Rear wheel straight locus icon (second guide image)
57 Reference point G, G1, G2, G3, G4, G5, G6 Contact point H Frame line M, Mf Own vehicle icon Mc, Mc1, Mc2, Mc3, Mc4, Mc5, Mc6 Own vehicle icon Pf Final turning center point (No. 1 guide reference point)
Pcl, Pcr Current turning center point (second guide reference point)
pl, pr Turning center point S Parking slot Wl Left rear wheel Wr Right rear wheel

Claims (14)

A camera that is installed at multiple positions on the vehicle body and images the surroundings of the vehicle;
An overhead image creating means for creating an overhead image by converting and synthesizing an imaging signal from the camera into an image signal from a viewpoint in which the camera optical axis is perpendicular to the road surface;
Parking slot detection means for detecting a parking slot along the approach path from the overhead image,
Final parking position setting means for setting a final parking position where the host vehicle should finally be positioned in the parking slot;
First reference point setting means for setting a first guidance reference point when the host vehicle is located at the final parking position in the overhead view image;
Second reference point setting means for setting a second guidance reference point for the current position of the host vehicle in the overhead view image;
A first guide image serving as an index of the final stage movement to the final parking position is arranged at the first guide reference point in the overhead image, and the first guide image is brought into contact with the second guide reference point. Superimposed image composition means for arranging a second guide image for creating a superimposed image;
A parallel parking support apparatus comprising a monitor for displaying the superimposed image. The first guide reference point is a turning center point on the approach road side at the minimum turning radius of the host vehicle at the final parking position, and the first guide image is set on a straight line passing through the ground contact points of the left and right rear wheels. Is a circle passing through the reference point and centered on the first guide reference point,
The second guide reference point is a turning center point on the parking slot side at the minimum turning radius of the host vehicle at the current position, and the second guide image is centered on the second guide reference point and the reference point The parallel parking support device according to claim 1, wherein the parallel parking support device is a circular arc extending rearward through the path. Guidance image state determination means for determining the positional relationship between the circle and the arc;
Message presentation means;
Support information control means for outputting a support message to the message presentation means based on the output of the guidance image state determination means,
The support information control means outputs a support message indicating that the host vehicle is stopped at a position where the circle and the arc are in contact with each other, and is fully steered in the direction of the arc so as to move backward.
At the position where the reference point on the arc reaches the point of contact with the circle, the host vehicle is stopped, and a support message is output indicating that the vehicle is fully steered in the reverse direction and then moved backward. The parallel parking support apparatus according to claim 2, wherein the start timing of the final stage movement to the parking position is presented.   4. The parallel parking assist apparatus according to claim 2, wherein the reference point is between the ground contact point of the rear wheel on the first guide reference point side and the side wall of the vehicle. 5. The first guide reference point is a turning center point on the approach road side with the minimum turning radius of the host vehicle at the final parking position, and the first guide image is a round point with the center at the first guide reference point. And
The second guidance reference point is a turning center point on the approach road side at the minimum turning radius of the host vehicle at the current position, and the second guidance image sets the reference point as the second guidance reference point and the reference point The parallel parking support device according to claim 1, further comprising a straight line extending rearward in parallel with the vehicle longitudinal axis of the host vehicle. Guidance image state determination means for determining the positional relationship between the round dots and straight lines;
Message presentation means;
Support information control means for outputting a support message to the message presentation means based on the output of the guidance image state determination means,
The support information control means outputs a support message that the host vehicle is stopped at a position where the straight line overlaps a round point, and is turned backward after being turned neutrally.
At the position where the reference point on the straight line reaches the round point, the host vehicle is stopped, and a support message is output to the effect that the vehicle turns fully after turning in the direction around the round point. 6. The parallel parking support apparatus according to claim 5, wherein the start timing of the final stage movement that proceeds to the final parking position with the round point as the turning center is presented. The first guide reference point is a turning center point on the approach road side at the minimum turning radius of the host vehicle at the final parking position, and the first guide image is set on a straight line passing through the ground contact points of the left and right rear wheels. Is a circle passing through the reference point and centered on the first guide reference point,
The second guidance reference point is the reference point of the host vehicle at the current position, and the second guidance image has the reference point at the reference point and is parallel to the vehicle longitudinal axis of the subject vehicle from the reference point. The parallel parking support device according to claim 1, wherein the parallel parking support device is a straight line extending rearward. Guidance image state determination means for determining the positional relationship between the circle and the line;
Message presentation means;
Support information control means for outputting a support message to the message presentation means based on the output of the guidance image state determination means,
The support information control means outputs a support message indicating that the host vehicle is stopped at a position where the circle and the straight line are in contact with each other, and the vehicle is turned to neutral after turning.
At the position where the reference point on the straight line reaches the point of contact with the circle, the host vehicle is stopped, and a support message is output to the effect that the vehicle is fully steered in the reverse direction and moved backward. The tandem parking assistance apparatus according to claim 7, wherein a start timing of the final stage movement to the parking position is presented.   9. The parallel parking assist apparatus according to claim 7, wherein the reference point is between the ground contact point of the rear wheel on the first guide reference point side and the side wall of the vehicle.   5. The superimposed image composition means further superimposes a shield image indicating a passing area of the host vehicle on the overhead image before reversing the start of the final stage movement to the final parking position. , 6, 8, or 9.   The shield image is a fan-shaped front outermost shield image that requires a turning center point on the approach road side at the minimum turning radius of the host vehicle at the current position and has an arc that passes through the front end on the outer side of the host vehicle as an outer edge. The parallel parking support apparatus according to claim 10, wherein the parallel parking support apparatus is provided.   The shield image further requires a turning center point on the approach road side at the minimum turning radius of the host vehicle at the current position, and a fan-shaped rear outermost periphery having a circular arc passing through the rear end portion outside the turning of the host vehicle as an outer edge. The parallel parking support apparatus according to claim 11, further comprising a shield image.   The column according to claim 11 or 12, wherein the shield image is translucent, the length of the arc is ¼ circle, and gradation is applied so as to become darker from the center toward the outer edge. Parking assistance device. Capture the surroundings of the vehicle with cameras installed at multiple locations on the car body,
By converting and synthesizing the image signal from the camera to the image signal from the viewpoint with the camera optical axis perpendicular to the road surface, an overhead image is created,
Detect parking slots along the approach path from the overhead image by image processing,
Set the final parking position where the vehicle should finally be located in the parking slot,
Setting a first guidance reference point when the host vehicle is located at the final parking position in the overhead image, and setting a second guidance reference point for the current position of the host vehicle,
A first guide image serving as an index of the final stage movement to the final parking position is arranged at the first guide reference point in the overhead image, and the first guide image is brought into contact with the second guide reference point. A second guide image for creating a superimposed image,
A parallel parking support method comprising displaying the superimposed image on a monitor.

Images