JP2009284386A - Parking support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve a parking support device for vehicle, which is easy to use for a driver by enabling the driver to easily obtain a vehicle state on the final stage of action for parking a vehicle while utilizing a bird's-eye view video image even in a parking lot with no wheel stopper. <P>SOLUTION: The present invention relates to a parking support device for a vehicle including a photographing means, a video converting means and a display means for displaying a video image photographed by the photographing means or a bird's-eye view video image converted by the video converting means. The parking support device for the vehicle also includes a parking frame line-detecting means for detecting a vehicle frame line within which the vehicle is to be parked, a parallelism determining means for deciding whether or not the parking frame line detected by the parking frame line detecting means becomes parallel with the vehicle; and a video switching means for switching the video image to be displayed by the display means to the bird's-eye view video image when the parallelism determining means determines the parking frame line is parallel. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle parking assistance device, and more particularly, to a vehicle parking assistance device that displays an appropriate parking position of a vehicle in an easy-to-understand manner for a driver so that the driver can easily perform an operation during parking. Is.

  When the shift position of the transmission is switched to reverse, the vehicle displays a video of the camera that captures the rear of the vehicle on the monitor, and the vehicle supports the rearward confirmation when the vehicle is retracted and parked in the parking space. Some have a parking assistance device. In addition, the vehicle parking assistance device not only displays the image captured by the camera as it is, but also a function to display a guideline for the vehicle width and distance, a function to display a predicted travel locus line linked to the steering angle, Some have added a function for switching and displaying a video taken by and an overhead video obtained by converting the video.

In the conventional vehicle parking assistance device, an image captured by a camera is converted into a bird's-eye view image and displayed on a display unit, and the predicted operation route from the vehicle position to the planned parking position is superimposed on the bird's-eye view image and displayed. There are some that let you know the turning position of the handle.
JP 2003-125394 A

Further, in the conventional vehicle parking assistance device, the wheel stop position is calculated at a predetermined position from the end of the parking frame line where the vehicle is parked toward the vehicle side, and the calculated wheel stop position is superimposed on the photographed image. Some display devices display the appropriate parking position.
JP 2005-1570 A

By the way, in a vehicle parking assistance apparatus having a function of switching between a normal captured video and a converted overhead view video, the driver himself performs the video switching operation. Currently, as an advanced type of a system for switching and displaying a video, a vehicle parking assistance device has been developed that can automatically switch to a bird's-eye view when a parking stop is detected.
However, there are parking lots in which a parking space for parking a vehicle is only divided by a parking frame line, and the parking space does not always have a lock. For this reason, the vehicle parking assistance device that detects the wheel stop and switches to the overhead view display cannot respond to a parking space without a wheel stop, that is, cannot automatically switch to the overhead view display. There is an inconvenience.

  An object of the present invention is to provide a vehicle parking assistance device that allows a bird's-eye view image to be used even in a parking lot without a wheel stop, and easily grasps the vehicle state at the final stage of the act of parking the vehicle. And realizing a vehicle parking assistance device that is easy for the driver to use.

  The present invention provides a photographing means for photographing the rear of the vehicle, a video converting means for converting a video photographed by the photographing means into a bird's eye view image, a video photographed by the photographing means, or a video converting means. In addition, the vehicle parking support apparatus includes a display unit that displays a bird's-eye view image, and includes a parking frame line detection unit that detects a parking frame line on which the vehicle is parked, and the parking frame detected by the parking frame line detection unit. A parallelism determining means for determining whether the line and the vehicle are parallel to each other, and when the parallelism determining means determines that the line is parallel, the video displayed by the display means is an overhead view video The video switching means for switching to is provided.

  Since the vehicle parking assistance apparatus according to the present invention switches the image using the parking frame line for parking the vehicle, it is possible to use the overhead view image even in a parking lot without a wheel stop. In addition, the vehicle parking assistance device according to the present invention is a state in which the driver needs the overhead view image most in the act of parking the vehicle, and the vehicle is substantially parallel to the parking frame line. In other words, at the final stage of the act of parking the vehicle, the video is switched to a bird's-eye view image, so that the driver can easily grasp the posture of the vehicle, and a vehicle parking support device that is easy for the driver to use is realized. can do.

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 5 show an embodiment of the present invention. FIG. 1 is a control flowchart of the vehicle parking assistance apparatus, FIG. 2 is a system configuration diagram of the vehicle parking assistance apparatus, FIG. 3 is a schematic explanatory diagram of switching of images by the vehicle parking assistance apparatus, and FIGS. FIG. 5C is an explanatory diagram of video switching by a parking frame line, and FIGS. 5A and 5B are explanatory diagrams of video switching by a wheel stop.
In FIG. 3, 1 is a parking lot, 2 is a parking space, and 3 is a parking frame line. In the parking lot 1, a parking space 2 is partitioned into a rectangular shape by a parking frame line 3 composed of two parallel lines. Some parking spaces 2 are provided with a ring stopper 4 between the rear ends of the two parking frame lines 3 as indicated by broken lines in FIG. The vehicle 5 can be parked in the parking space 2. This vehicle 5 is equipped with a vehicle parking assistance device 6 that assists in confirming the rear when parking in the parking space 2.
As shown in FIG. 2, the vehicle parking assistance device 6 includes a photographing unit 7. The photographing means 7 is for photographing the rear side of the vehicle 5 and includes a camera or the like attached downward to the rear portion of the vehicle 5. As shown in FIG. 3, the camera is fixed to a back door portion of the vehicle 5 or the rear of the roof portion. The photographing means 7 is connected to the image processing unit 8 of the vehicle parking assistance device 6 and outputs the photographed video.
The image processing unit 8 includes video conversion means 9. The video converting means 9 has a function of converting the video imaged by the imaging means 7 into an overhead video image where the parking space 2 is looked down from above. A display means 10 is connected to the image processing unit 8. The image processing unit 8 outputs the image of the parking space 2 photographed by the photographing means 7 or the overhead view image of the parking space 2 converted by the video converting means 9 and displays the image on the display means 10. The display means 10 can use a monitor of a navigation system mounted on the vehicle 5 in addition to providing a dedicated display device.
In addition to the function of converting the video imaged by the imaging unit 7 into a bird's-eye view video, the video conversion unit 9 converts the image so that the parking frame line 3 looks straight as shown in FIG. It has a function to convert. As a result, the image processing unit 8 causes the display unit 10 to display the video image captured by the imaging unit 7 and corrected for distortion, or the overhead video image converted by the video conversion unit 9.
In addition to the function of converting the corrected image and the overhead image, the image converting means 9 has a function of converting the planar shape of the vehicle 5 into the vehicle contour 11 as shown in FIG. . As a result, the image processing unit 8 causes the display unit 10 to display the vehicle outline 11 superimposed on the image captured by the image capturing unit 7 and corrected for distortion, or the overhead view image converted by the image conversion unit 9. .
As shown in FIG. 2, a shift control unit 12 of a transmission and an accessory power source 13 are connected to the image processing unit 8. The shift control unit 12 outputs a reverse signal to the image processing unit 8 when the shift position of the transmission is switched to reverse. The accessory power source 13 is turned on when the ignition switch is operated to the accessory position, supplies power to the image processing unit 8 and the display unit 10, and supplies power to the photographing unit 7 via the image processing unit 8.

The vehicle parking assistance device 6 includes a parking frame line detection unit 14, a parallelism determination unit 15, and a video switching unit 16 in the image processing unit 8.
The said parking frame line detection means 14 detects the parking frame line 3 for dividing the parking space 2 where the vehicle 5 parks. The parking frame line 3 can be detected based on the video imaged by the imaging means 7. The parallelism determining unit 15 determines whether the parking frame line 3 detected by the parking frame line detecting unit 14 and the vehicle 5 are parallel to each other. This determination is made based on the angle formed by two parallel lines of the parking frame line 3 and the left and right side lines of the vehicle outline 11 of the vehicle 5 as shown in FIG. The video switching means 16 switches the video displayed by the display means 10 to the overhead view video when the parallelism determination means 15 determines that the parking frame 3 and the vehicle 5 are parallel.
The video switching means 16 has a function of displaying either the video taken by the photographing means 7 or the overhead view video converted by the video converting means 9 on the display means 10 and the current parking frame 2 The vehicle state (direction of the vehicle 5) is converted into an icon and displayed on the display means 10. In this embodiment, as shown in FIG. 4, a vehicle icon 5 i indicating the direction of the vehicle 5 is displayed in the upper right corner of the display means 10 so as to overlap the parking frame line icon 3 i.
The video switching means 16 changes the display color of the iconized vehicle icon 5i of the vehicle 5 according to the degree of parallelism between the parking frame line 3 and the vehicle 5 and causes the display means 10 to display it. It has a function. In this embodiment, as shown in FIG. 4A, when the parking frame line 3 and the vehicle 5 are not parallel, the vehicle icon 5i is red (indicated by a broken line), and FIGS. As shown, when the parking frame line 3 and the vehicle 5 are parallel, the display color is changed so that the vehicle icon 5i is green (indicated by a solid line).
As shown in FIG. 2, the vehicle parking assistance device 6 includes a wheel stopper detection unit 17 that detects the wheel stopper 4 of the parking space 2 where the vehicle 5 is parked in the image processing unit 8. The wheel stopper 4 can be detected based on the video imaged by the imaging means 7. As shown in FIG. 5, the video switching means 16 has a function of causing the display means 10 to display a wheel stop icon 4 i that is an icon of the wheel stopper 4, and when the wheel stopper detection means 17 detects the wheel stopper 4. Is also provided with a function of switching the video displayed by the display means 10 to a bird's-eye view video.

Next, operation | movement of the parking assistance apparatus 6 for vehicles is demonstrated along the control flowchart of FIG.
The vehicle parking assistance device 6 operates the ignition switch to the accessory position to turn on the accessory power supply 11 (S01), and when the power is supplied to the image processing unit 8, the display means 10, and the photographing means 7, the program starts. It is determined whether a reverse signal is input from the shift control unit 12 and the shift position of the transmission is switched to reverse (S02).
If this determination (S02) is NO, this determination (S02) is repeated. When the transmission is switched to reverse to reverse the vehicle 5 and this determination (S02) is YES, processing of the image taken by the photographing means 7 is started (S03), and the vehicle reverses for parking. The vehicle 5 enters the parking space 2 and approaches the distance (set distance) at the wheel stopper 4 to determine whether the wheel stopper 4 is detected by the wheel stopper detecting means 17 (S04).
If the vehicle 5 has not approached the wheel stopper 4 and this determination (S04) is NO, it is determined whether the parking frame line detection means 14 has detected the parking frame line 3 (S05). If this determination (S05) is NO, the distortion of the video imaged by the imaging means 7 is corrected (S06), the corrected video is displayed on the display means 10 (S07), and the reverse signal input determination (S02) Return to).
As shown in FIG. 4 (A), when the vehicle 5 enters the parking space 2 and the determination of whether the parking frame line 3 is detected (S05) is YES, the direction of the parking frame line 3 is It is determined whether the direction of the vehicle 1 is parallel (S08).
When the direction of the parking frame 3 and the direction of the vehicle 1 are not parallel and the determination (S08) is NO, the distortion of the image captured by the imaging unit 7 is corrected (S06), and the corrected image is displayed on the display unit 10. (S07), and the process returns to the reverse signal input determination (S02). At this time, since the direction of the parking frame line 3 and the direction of the vehicle 5 are not parallel to each other on the display means 10 as shown in FIG. A broken line) vehicle icon 5i is displayed.
As shown in FIG. 4B, when the parking frame line 2 and the vehicle 5 are parallel and the determination (S08) is YES, as shown in FIG. The captured video is switched to the overhead video converted by the video conversion means 9 (S09), the overhead video is displayed on the display means 10 (S07), and the process returns to the reverse signal input determination (S02). At this time, since the direction of the parking frame line 3 and the direction of the vehicle 5 are parallel to the display means 10 as shown in FIGS. 4B and 4C, a parking frame line icon is displayed in the upper right corner. A green (solid line) vehicle icon 5i is displayed over 3i.
Also, as shown in FIG. 5A, if the determination (S04) whether the wheel stopper 4 is detected by the wheel stopper detecting means 17 is YES, as shown in FIG. 7 is switched to the bird's-eye view image converted by the image converting means 9 (S09), the bird's-eye view image is displayed on the display means 10 (S07), and the process returns to the reverse signal input determination (S02).

As shown in FIG. 3, the vehicle parking assist device 6 recognizes the parking frame line 3 and detects the direction of the vehicle 5 in response to the conventional detection of the wheel stopper 4 and automatic switching to the overhead view display. It is judged and automatically switched to the overhead view display, or the recognition of the parking frame line 3 is added to the conventional switching based on the detection of the wheel stopper 4 and used together.
In other words, the time when the driver wants to switch to the bird's-eye view is when he / she wants to check how far the vehicle can be lowered further, so it can be considered to be a little before the parking is completed. This vehicle parking assistance device 6 is not only determined by replacing the timing when the wheel stopper 4 approaches to some extent, but also when the orientation of the vehicle 5 with respect to the parking frame line 3 becomes substantially parallel. Criteria are added. Thereby, even if the parking space 2 does not have the lock 4 in the parking space 2, the vehicle parking assistance device 6 corresponds to more parking spaces 2 as long as the parking frame line 3 can be recognized and switched to the overhead view display. It is something that can be done.
When the shift position of the transmission is switched to reverse, the vehicle parking assistance device 6 displays a video image of the rear on the display means 10 using a monitor such as a car navigation system. Since the vehicle parking assistance device 6 has an image processing function, it displays an image in which distortion of the wide-angle lens is corrected instead of a normal image. Furthermore, the vehicle parking assistance device 6 is a technique for automatically switching the display of the display means 10 to a bird's-eye view image at a time just before parking is completed. This is a system that automatically switches to a bird's-eye view video when the vehicle 5 is parallel to the parking frame line 4 to some extent, not only when approaching to some extent, but also without the wheel stopper 4.

Thus, since this vehicle parking assistance apparatus 6 switches the image | video using the parking frame line 3 which divides the parking space 2 for parking the vehicle 5, there is no ring stop 4 in the parking space 2. Even in the parking lot 1, it is possible to use an overhead video. Moreover, this vehicle parking assistance device 6 requires the bird's-eye view image most in the act of the driver trying to park the vehicle 5, and the vehicle 5 is substantially parallel to the parking frame 3. In the final stage of the state, that is, the act of parking the vehicle 5, the video is switched to a bird's-eye view image, so that the driver can easily grasp the posture of the vehicle 5 and is easy to use for the driver. The device 6 can be realized.
The image switching means 16 of the vehicle parking assistance device 6 has a function of causing the display means 10 to display either the image captured by the imaging means 7 or the overhead view image converted by the image conversion means 9; And a function of causing the display means 10 to display a vehicle icon 5i that is an icon representing a vehicle state with respect to the current parking frame line 3.
When parking the vehicle 5, one of the points that the driver cares about (cares about) is whether the vehicle 5 can be parked parallel to the parking frame 3. In this respect, the vehicle parking assistance device 6 displays a vehicle icon 5i on the parking frame line icon 3i so as to superimpose the situation (orientation) of the vehicle 5 with respect to the parking frame line 3 in this respect. Thus, the driver can easily recognize the vehicle state. Thereby, this parking assistance apparatus 6 for vehicles can reduce a driver | operator's burden in the case of parking the vehicle 5 with many points which should be careful and confirmed.
The video switching means 16 of the vehicle parking assistance device 6 changes the display color of the vehicle icon 5i, which is the iconized vehicle 5, according to the degree of parallelism between the parking frame 3 and the vehicle 5, A function of displaying on the display means 10 is provided.
As a result, the vehicle parking assistance device 6 can cause the driver to instantly recognize the degree of parallelism between the parking frame line 3 and the vehicle 5, and is therefore a driver-friendly (higher parking assistance degree) system. Can be realized.

In the embodiment of the present invention, since the parking frame line 3 is recognized and the direction of the vehicle 5 with respect to the parking frame line 3 is detected, the following application example is obtained using information on the direction of the vehicle 5. Conceivable.
For example, in the above-described embodiment, the display color of the vehicle icon 5i is red (shown by a broken line) depending on the degree of the direction of the vehicle 5, and green (shown by a solid line) when substantially parallel. However, depending on the degree of the direction of the vehicle 5 as well as the color, the interval of the generated sound is changed to be longer or shorter, so that it can be more intuitively understood. In addition, if the vehicle 5 can be parked so that the direction of the vehicle 5 with respect to the parking frame line 3 is completely parallel, it can be further understood that parking has been completed by sounding another sound (fanfare, etc.) at the end. It can be made easier.

  The vehicle parking assistance apparatus of the present invention can make the driver easily check the rear at the time of parking regardless of whether or not the parking lot is locked, and can be applied to an automobile.

It is a control flowchart of the parking assistance apparatus for vehicles which shows the Example of this invention. It is a system block diagram of the parking assistance apparatus for vehicles. It is a schematic explanatory drawing of the switching of the image | video by the vehicle parking assistance apparatus. (A) is explanatory drawing of the state which detected the parking frame line, (B) is explanatory drawing of the state in which the parking frame line and the vehicle became parallel, (C) is explanatory drawing of the state switched to the bird's-eye view image. . (A) is explanatory drawing of the state which detected the wheel stop, (B) is explanatory drawing of the state switched to the bird's-eye view image | video.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Parking lot 2 Parking space 3 Parking frame line 4 Wheel stop 5 Vehicle 6 Parking assistance apparatus for vehicles 7 Imaging | photography means 8 Image processing part 9 Image | video conversion means 10 Display means 11 Contour frame line 12 Shift control part 13 Accessory power supply 14 Parking frame line Detection means 15 Parallelism determination means 16 Image switching means 17 Wheel stop detection means

Claims (3)

Photographing means for photographing the rear of the vehicle;
Video conversion means for converting the video imaged by the imaging means into an overhead image;
In the vehicle parking assistance apparatus, comprising: a display means for displaying the video imaged by the imaging means or the overhead view image converted by the video conversion means;
A parking frame line detecting means for detecting a parking frame line on which the vehicle is parked;
The parking frame line detected by the parking frame line detection unit and a parallelism determination unit for determining whether the vehicle is parallel,
A vehicle parking assistance apparatus, comprising: a video switching unit that switches a video displayed by the display unit to an overhead image when the parallelism determination unit determines that the images are parallel. The video switching means has a function of causing the display means to display one of the video shot by the shooting means or the overhead view video converted by the video conversion means;
The vehicle parking support apparatus according to claim 1, further comprising: a function of displaying the vehicle state with respect to the current parking frame line as an icon and displaying the icon on the display unit.   The image switching means has a function of changing the display color of the iconified vehicle according to the degree of parallelism between the parking frame line and the vehicle and causing the display means to display it. Item 3. The vehicle parking assistance device according to Item 2.

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