JP2009298179A - Parking assistant device and parking assistant method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assistant device can suitably indicating how a vehicle can be steered toward the target parking position to cause it to arrive at a parking position without contact in a narrow parking place where there is a risk of contact with an obstacle. <P>SOLUTION: The parking assistant device detects the obstacle present at a periphery of one's own vehicle by an obstacle detection device 15, sets a new target parking position so as to become a guide route where it is not contacted with the obstacle when it is determined that the guide route reaching from a retreating starting position where retreating of one's own vehicle is started to the predetermined target parking position is contacted with the obstacle detected by the obstacle detection device 15 under control of an image processing control part 21, and displays the guide route including the new set target parking position on a display 22. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parking assistance device and a parking assistance method for presenting information to assist a driver in driving a vehicle in order to park a vehicle at a predetermined target parking position.

Conventionally, if the video of the camera device attached to the host vehicle is converted into a bird's-eye view image as if it was captured by the camera device attached directly above the host vehicle, and the host vehicle moves backward on the bird's-eye view image There is known a parking assistance device that presents information for assisting vehicle operation to the driver in order to position the host vehicle in a predetermined parking area by superimposing and displaying the expected course of the portion where the outer ring difference occurs (Patent Document). 1).
JP 2004-252837 A

  According to the conventional parking assistance device, the driver can determine the possibility of contact with another vehicle because the predicted course of the portion where the outer wheel difference of the own vehicle is generated is superimposed on the overhead view image. However, it is not possible to grasp how to steer toward the target parking position to reach the parking position without contact.

  The present invention has been proposed in view of the above-described circumstances, and its purpose is how to move toward a target parking position even in a narrow parking lot where there is a risk of contact with an obstacle. An object of the present invention is to provide a parking support device and a parking support method that can appropriately present whether the vehicle can reach the parking position without touching if it is steered.

  The parking assistance device and the parking assistance method according to the present invention detect obstacles around the host vehicle, and detect an obstacle from which a guide route from a reverse start position to start the reverse of the host vehicle to a predetermined target parking position is detected. When it is determined that the object is in contact with the object, a new target parking position is set so that the guidance route does not contact the obstacle, and the guidance route including the set new target parking position is displayed.

  According to the parking assistance device and the parking assistance method according to the present invention, since a new target parking position is set so as to be a guidance route that does not contact an obstacle, there is a narrow risk of contact with the obstacle. Even in a parking lot, it is possible to appropriately present how to steer toward the target parking position to reach the target parking position without contact.

  Hereinafter, a parking assistance device as a preferred embodiment of the present invention will be specifically described.

[Configuration of parking assistance device]
As shown in FIG. 1, the parking assist device according to the embodiment of the present invention detects a plurality of camera devices 11, 12, 13, and 14 that capture an image of the surroundings of the host vehicle and obstacles that exist around the host vehicle. The obstacle detection device 15 that performs the image processing, the image processing control unit 21 that performs various processes including the processing of the video around the host vehicle imaged by the camera devices 11, 12, 13, and 14, and the image processing control unit 21. And a display 22 for displaying the video.

  The camera devices 11, 12, 13, and 14 are configured using, for example, a CCD (Charge Coupled Devices) that is capable of capturing a small and high-quality image as an image sensor, and captures the entire 360 ° range around the host vehicle. A plurality of such vehicles are provided in the host vehicle. Specifically, as shown in FIG. 2, for example, as shown in FIG. 2, one camera device 11, 12, 13, 14 is provided at each of four locations on the front side of the host vehicle, the left and right sides of the host vehicle, and the rear side of the host vehicle. The front, left and right sides, and the scenery behind are taken. Note that the camera devices 11, 12, 13, and 14 are actually very small in shape, and are installed in a plurality or installed in the vehicle body or the like without protruding from the vehicle body of the vehicle. The Images captured by these camera devices 11, 12, 13, and 14 are supplied to the image processing control unit 21 as electrical signals. In addition, the parking assist device may be provided with four or more camera devices as long as it can capture the entire 360 ° range around the host vehicle.

  The obstacle detection device 15 is configured using, for example, an ultrasonic sonar, a radar device, or the like, and detects the distance and the direction between the obstacle present around the host vehicle and the host vehicle. The obstacle detection device 15 may detect an obstacle by recognizing images captured by the camera devices 11, 12, 13, and 14. The obstacle detection device 15 supplies the image processing control unit 21 with obstacle information indicating the distance and direction of the detected obstacle.

  The image processing control unit 21 seems to be imaged by one virtual camera device attached directly above the own vehicle based on video information imaged by the plurality of camera devices 11, 12, 13, and 14. A bird's-eye view image converted to a new image. The image processing control unit 21 that realizes such a function is equipped with a DSP (Digital Signal Processor) serving as a core of image processing, and can be designed as an ASIC (Applicant Specific Integrated Circuit) that is an application specific integrated circuit, or an FPGA. (Field Programmable Gate Array). Note that the image processing control unit 21 cannot capture the own vehicle with the camera devices 11, 12, 13, and 14. Therefore, the image processing control unit 21 automatically displays CG (Computer Graphics), a photograph, and the like on the created overhead image. Express the vehicle. The image processing control unit 21 can also create a bird's-eye view video obtained by enlarging a part of the created bird's-eye view video. Further, the image processing control unit 21 performs parking at a predetermined target parking position that is manually set under the driver's operation or automatically set based on the detection result of the obstacle detection device 15. In addition, a guidance route for guiding the host vehicle to the target parking position is calculated, and on the created bird's-eye view image, the reverse start position when parking, the target parking position, the parking midway position for turning back, steering steering A steering interlocking line that is interlocked with, and an ideal course prediction line (hereinafter referred to as an ideal course prediction line) that reaches the target parking position are superimposed and drawn. At this time, the image processing control unit 21 calculates an appropriate guidance route that avoids obstacles around the host vehicle based on the obstacle information detected by the obstacle detection device 15. Such an image processing control unit 21 displays the created video on the display 22.

  The display 22 is composed of, for example, an in-vehicle liquid crystal display attached near the dashboard of the host vehicle. In addition, this display 22 can be shared with what displays map information etc., when navigating the own vehicle. The display 22 presents the driver with information for assisting parking at the target parking position by displaying a video including the overhead video supplied from the image processing control unit 21 on the display screen.

[Operation of parking assist device]
The parking assist device including such units calculates an appropriate guidance route that avoids obstacles around the host vehicle, and on the created overhead view video, the reverse start position when parking, the target parking position, A parking intermediate position, a steering interlocking line, an ideal course prediction line, and the like are superimposed and drawn, and information for supporting parking at the target parking position is presented to the driver. Hereinafter, as shown in FIG. 3, for example, when the own vehicle C1 sets a target parking position in a space between the parked vehicle C2 and the parked vehicle C3 and performs parallel parking toward the target parking position, Processing of the parking assistance device will be described. In this situation, it is assumed that two parked vehicles C4 and C5 are parked on the opposite side of the target parking position.

  When parallel parking is performed in such a situation, as shown in FIG. 4, as a first step, the steering is steered and the own vehicle C <b> 1 located at the parking start position 31 is advanced to the reverse start position 32. Move. At this time, the host vehicle C1 detects the parked vehicles C2, C3, C4, C5 by the obstacle detection device 15. Specifically, the obstacle detection device 15 detects the presence of an obstacle as straight lines LA, LB, and LC in FIG. Here, the coordinates of the right front corner of the parked vehicle C2 that is demarcated by the straight line LA and exists inside the parking track of the guidance route is defined as a coordinate point A, and is located outside the parking track of the guidance route and the target parking position. Is a straight line LB that connects the front end edge of the parked vehicle C4 and the front end edge of the parked vehicle C5 on the opposite side of the parked vehicle C3 that is outside the parking track on the guide route and is located on the target parking position side. A straight line representing the left side surface is defined as a straight line LC.

  Then, after moving the own vehicle C1 to the reverse start position 32, as a second step, a certain amount of steering is rotationally steered, and the left side of the own vehicle C1 located at the reverse start position 32 is the distance of the radius R. The host vehicle C1 is moved backward to the target parking position 33 with the rotation center 41 at a remote position as the center. Thereby, the own vehicle C1 can complete parallel parking.

  However, in such a positional relationship of the vehicle, when the host vehicle C1 is moved according to the guidance route calculated in the first step and the second step, the right front corner of the host vehicle C1 is first set to the straight line LB. Next, there is a risk that the left rear wheel of the host vehicle C1 contacts the coordinate point A, and the rear part of the host vehicle C1 contacts the straight line LC.

  Therefore, the parking assist device sets a new target parking position and guides to the target parking position when there is a risk that the host vehicle C1 comes into contact with each of the straight line LB, the coordinate point A, and the straight line LC. Such a guidance route is calculated. Specifically, the parking assistance device guides the host vehicle C1 avoiding an obstacle according to a series of procedures as shown in FIG.

  First, as shown in FIG. 5, the parking assistance device sets a first target parking position that does not contact the straight line LB under the control of the image processing control unit 21 in step S <b> 1. Specifically, the image processing control unit 21 calculates a new target parking position and a guidance route that are set when there is a possibility of contact with the straight line LB as follows. That is, as shown in FIG. 6, the image processing control unit 21 is the rotation center on the rear wheel extension of the host vehicle C1 located at the reverse start position 32, and connects the rotation center and the right front corner of the host vehicle C1. A new first rotation center 51 is calculated such that the arc having the line segment as radius R1 does not intersect the straight line LB. Subsequently, when the host vehicle C1 moves around the calculated first rotation center 51, the image processing control unit 21 also moves the original rotation center 41 at the same time, and the original rotation center 41 is located at a position. When the vehicle arrives, a rotation center at which the right front angle of the vehicle C1 does not contact the straight line LB even if the vehicle C1 is rotated around the position is calculated as a new second rotation center 52. Then, the image processing control unit 21 moves the host vehicle C1 around the new first rotation center 51 when the original rotation center 41 reaches the new second rotation center 52. When the position of the vehicle C1 is set as the new first target parking position 34 and the host vehicle C1 is moved around the new second rotation center 52, the host vehicle C1 is moved to the original target parking position. The position parallel to 33 is set as a new second target parking position 35, and the host vehicle C1 is moved toward the new first target parking position 34 and the new second target parking position 35. The guidance route P1 to be calculated is calculated. The driver steers the host vehicle C1 according to the guidance route P1 calculated in this manner, thereby bringing the host vehicle C1 closer to the original target parking position 33 without bringing the host vehicle C1 into contact with the straight line LB. Can be moved.

  Subsequently, as shown in FIG. 5, the parking assistance device sets a second target parking position that does not contact the coordinate point A under the control of the image processing control unit 21 in step S <b> 2. Specifically, the image processing control unit 21 calculates a new target parking position and a guidance route that are set when there is a possibility of contact with the coordinate point A as follows. That is, as shown in FIG. 7, the image processing control unit 21 is the rotation center on the rear wheel extension of the host vehicle C <b> 1 located at the reverse start position 32, and from the line segment connecting the rotation center and the coordinate point A. The rotation center at which the line segment connecting the rotation center and the left rear wheel of the host vehicle C1 is larger than a predetermined value is calculated as a new second rotation center 61. Subsequently, when the host vehicle C1 moves around the calculated second rotation center 61, the image processing control unit 21 moves the original rotation center 41 at the same time, and the original rotation center 41 is located at a position. When the vehicle arrives, a rotation center at which the left rear wheel of the vehicle C1 does not contact the coordinate point A even if the vehicle C1 is rotated around the position is calculated as a new third rotation center 62. . Then, when the host vehicle C1 is moved around the new second rotation center 61, the image processing control unit 21 automatically moves when the original rotation center 41 reaches the new third rotation center 62. When the position of the vehicle C1 is set as the new second target parking position 36 and the host vehicle C1 is moved around the new third rotation center 62, the host vehicle C1 is moved to the original target parking position. A position parallel to 33 is set as a new third target parking position 37, and the host vehicle C1 is moved toward the new second target parking position 36 and the new third target parking position 37. The guide route P2 to be calculated is calculated. The driver steers the host vehicle C1 according to the guidance route P2 calculated in this way, so that the host vehicle C1 is brought close to the original target parking position 33 without bringing the host vehicle C1 into contact with the coordinate point A. C1 can be moved.

  In addition, the detection result of the straight line LC is not used for the setting of the new 2nd target parking position 35 demonstrated in FIG.6 and FIG.7 and the 3rd target parking position 37. FIG. Therefore, as shown in FIG. 5, the parking assist device sets a third target parking position that does not contact the straight line LC under the control of the image processing control unit 21 in step S <b> 3. Here, taking a guidance route that avoids the coordinate point A as an example, a case where a new target parking position that does not contact the straight line LC is set will be described. In this case, the image processing control unit 21 calculates a new target parking position and a guidance route that are set when there is a possibility of touching the straight line LC as follows. That is, as shown in FIG. 8, the image processing control unit 21 determines a new third rotation center 62, and then the left of the new third rotation center 62 and the new second target parking position 36. Consider an arc whose radius is a line connecting the back corners. When the arc and the straight line LC have an intersection, the straight line LC and the host vehicle C1 may come into contact with each other. Therefore, the image processing control unit 21 sets a new fourth target parking position 38 at a position that is a predetermined value or more before the point where the arc intersects the straight line LC, and sets a new second target parking position 36. And a guidance route P3 that moves the host vehicle C1 toward the new fourth target parking position 38 is calculated. The driver steers the host vehicle C1 according to the guidance route P3 calculated in this manner, thereby bringing the host vehicle C1 closer to the original target parking position 33 without bringing the host vehicle C1 into contact with the straight line LC. Can be moved.

Thus, in the parking assistance device, in the case of the type of parking lot frequently seen as shown in FIG. 3, under the control of the image processing control unit 21,
(1) Based on the determination of the straight line LB, a new first rotation center 51 and a new second rotation center 54 are set, and a new first target parking position 34 and a new second target. Set parking position 35,
(2) The coordinate point A is determined around the new second rotation center 52, a new second rotation center 61 and a new third rotation center 62 are set, and a new second rotation center 52 is set. Set a target parking position 36 and a new third target parking position 37,
(3) The straight line LC is determined around the new third rotation center 62, and the process is performed in the order of setting the new fourth target parking position 38, so that the host vehicle C1 is most easily restored. It is possible to guide to a position close to the target parking position 33.

  When the parking assist device sets the new target parking position in this way, the new target parking position is changed to the original target under the control of the image processing control unit 21 in step S4 as shown in FIG. It is determined whether or not the parking position 33 is parallel. That is, the image processing control unit 21 determines whether or not the new fourth target parking position 38 set in step S3 is parallel to the original target parking position 33.

  Here, when it is determined that the new fourth target parking position 38 is parallel to the original target parking position 33, the parking assistance device shifts the process to step S6. On the other hand, as shown in FIG. 8, the parking support device parks the new fourth target parking position 38 obliquely with respect to the original target parking position 33 instead of being parallel to the original target parking position 33. If it is determined that the vehicle has been closed, the process proceeds to step S5, and a new target parking position for switching is set under the control of the image processing control unit 21. That is, when the image processing control unit 21 shifts the process to step S5, as shown in FIG. 9, when the host vehicle C1 is advanced by a certain distance from the fourth target parking position 38, a certain steering angle is obtained. A new fourth rotation center 71 that can be stopped at the original target parking position 33 by steering (for example, end cutting) is calculated, and a new fifth target parking position 39 and a new sixth target parking position 40 are calculated. And set. FIG. 9 shows a state where the new sixth target parking position 40 overlaps the original target parking position 33, but the image processing control unit 21 is parallel to the original target parking position 33. What is necessary is just to set the 6th target parking position 40. Accordingly, the driver can move the host vehicle C1 to a position that is parallel to and close to the original target parking position 33.

  Here, a case has been described in which the vehicle travels straight from the fourth target parking position 38 and is turned back. However, in the parking assistance device, a new fifth target parking position 39 is set so as to perform turning with steering. And a new sixth target parking position 40 may be set. Further, in the parking assistance device, when any obstacle exists at the new fifth target parking position 39, the new fifth target parking position 39 may be set so as to avoid the obstacle. . In this case, in the parking assistance device, the same operation is repeated until a new sixth target parking position 40 parallel to the original target parking position 33 is obtained.

  When the parking support device determines that the new fourth target parking position 38 is parallel to the original target parking position 33, as shown in FIG. 5, in step S6, the image processing control unit Under the control of 21, it is determined whether or not the new sixth target parking position 40 matches the original target parking position 33.

  Here, when it is determined that the new sixth target parking position 40 does not coincide with the original target parking position 33, the parking assist device shifts the process to step S7, and the image processing control unit Under the control of No. 21, a new target parking position for performing width adjustment is set. In such a situation, the new sixth target parking position 40 is the same as the new second target parking position 35 or the third target parking position 37 previously shown in FIG. This is a case where the target parking position 40 of 6 is parallel to the original target parking position 33 but does not match. In this case, as shown in FIG. 10 (A), the image processing control unit 21 moves the host vehicle C1 forward, and performs the width adjustment while moving backward from the reverse start position 81 to the target parking position 33. 10B, or as shown in FIG. 10 (B), a guidance route is calculated such that the host vehicle C1 is once moved backward and moved forward while moving forward from the advance start position 91 to the target parking position 33.

  First, as shown in FIG. 10A, consider a case where the host vehicle C1 is once moved forward and the width is adjusted while moving backward from the reverse start position 81 to the target parking position 33. In this case, the image processing control unit 21 calculates a new fifth rotation center 82 and a new sixth rotation center 83, and starts a new operation from the reverse start position 81 around the new fifth rotation center 82. The host vehicle C1 is moved to the seventh target parking position 84, and then the host vehicle C1 is moved to the new eighth target parking position 85 around the new sixth rotation center 83. A new seventh target parking position 84 and an eighth target parking position 85 are set. However, in this case, as is apparent from FIG. 10A, there is a possibility that the host vehicle C1 contacts the adjacent parked vehicle C3.

  Therefore, as shown in FIG. 10B, the image processing control unit 21 temporarily moves the host vehicle C <b> 1 backward and moves the vehicle from the advance start position 91 to the target parking position 33 to perform a width adjustment. calculate. In this case, the image processing control unit 21 calculates a new fifth rotation center 92 and a new sixth rotation center 93 and starts a new operation from the advance start position 91 around the new fifth rotation center 92. The host vehicle C1 is moved to the seventh target parking position 94, and then the host vehicle C1 is moved to the new eighth target parking position 95 around the new sixth rotation center 93. A new seventh target parking position 94 and an eighth target parking position 95 are set. Thereby, the driver can perform the width adjustment without bringing the own vehicle C1 into contact with the adjacent parked vehicle C3, and can move the own vehicle C1 to the original target parking position 33. That is, in the parking assistance device, when performing parallel parking width adjustment, new seventh target parking position 94 and eighth target parking position 95 are set so as to perform width adjustment while moving the host vehicle C1 forward. It is desirable to guide by setting. However, in the parking assistance device, the possibility of contact with the adjacent parked vehicle C3 is determined, and it is determined that there is no possibility of contact even when the vehicle C1 is moved backward while moving backward. In such a case, any of the guide routes shown in FIGS. 10A and 10B may be calculated.

  When the new target parking position matches the original target parking position 33 in this manner, the parking support device ends a series of processes.

  According to such a series of procedures, the parking assist device can guide the host vehicle C1 appropriately avoiding obstacles corresponding to various patterns, even if the parking lot is somewhat narrow.

  In addition, although the process in the case of carrying out parallel parking was demonstrated above, a parking assistance apparatus guides the own vehicle C1 which avoided the obstacle by performing the same process also when performing parallel parking. Can do. In order to describe this specifically, as shown in FIG. 11, the target vehicle C1 sets a target parking position in a space between the parked vehicle C2 and the parked vehicle C3, and is cascaded toward the target parking position. Consider the case of parking.

  When parallel parking is performed in such a situation, a guidance route that does not contact the parked vehicle C2 existing in front of the target parking position may be calculated. Even when parallel parking is performed, there may be an obstacle such as a wall on the opposite side of the target parking position. In this case, the parking support device performs straight line LB when performing parallel parking as described above. The same processing as that for avoiding the above may be performed.

  In order to avoid the parked vehicle C2, the parking assistance device, as shown in FIG. 12, when the host vehicle C <b> 1 is located at the target parking position 101 under the control of the image processing control unit 21. A locus 102 passing through the left front corner of the target parking position 101 when the vehicle center C1 moves around the rotation center 102 is calculated by calculating the rotation center 102 at a position separated by the minimum rotation radius RM on the rear wheel extension. It is determined whether or not the right rear corner of the parked vehicle C2 is touched. If the image processing control unit 21 determines that there is a possibility of contact, the image processing control unit 21 sets a new target parking position 103 at a position a predetermined amount away from the original target parking position 101 toward the parked vehicle C3. Set. At this time, the image processing control unit 21 calculates the rotation center 104 at a position separated by the minimum rotation radius RM on the rear wheel extension of the host vehicle C1 when the host vehicle C1 is positioned at the new target parking position 103. Then, the new target parking position 103 is set so that the trajectory passing through the left front corner of the target parking position 101 does not contact the parked vehicle C2 when the host vehicle C1 moves around the new rotation center 104.

  In the parking assist device, by setting the new target parking position 103 in this way, parallel parking can be performed without bringing the host vehicle C1 into contact with the parked vehicle C2. Here, the new target parking position 103 is set rearward with respect to the original target parking position 101. However, in the parking assistance device, the original left side corner of the host vehicle C1 is not contacted with the parked vehicle C2. A new target parking position 103 may be set on the right side of the target parking position 101, or a new target parking position 103 may be set obliquely.

  In addition, when the new target parking position 103 does not coincide with the original target parking position 101, the parking support device uses a new target for width adjustment under the control of the image processing control unit 21. The parking position can also be set. In this case, as shown in FIG. 13A, the image processing control unit 21 advances the host vehicle C1 forward from the target parking position 103, and performs a new second through the new first target parking position 111. To the target parking position 112 of the vehicle, calculate a guidance route that makes the original target parking position 101 closer to the target parking position 101, or while moving the host vehicle C1 backward from the target parking position 103 as shown in FIG. Then, a guidance route is calculated so as to go to the new second target parking position 122 via the new first target parking position 121 and to adjust the width to the original target parking position 101.

  First, as shown in FIG. 13 (A), the new target parking position 112 is moved to the new second target parking position 112 via the new first target parking position 111, and the original target parking position 101 is shifted. Think. In this case, the image processing control unit 21 calculates a new first rotation center 113 and a new second rotation center 114, and sets the target parking position (advance start position) around the new first rotation center 113. ) The host vehicle C1 is moved from 103 to the new first target parking position 111, and then the host vehicle C1 is moved to the new second target parking position 112 around the new second rotation center 114. A new first target parking position 111 and a second target parking position 112 are set so as to be moved. However, in this case, as apparent from FIG. 13 (A), the host vehicle C1 moves along a trajectory that swells to the left side. If there are obstacles such as walls and curbs on the left side, There is a possibility that the host vehicle C1 contacts an obstacle.

  Therefore, as shown in FIG. 13 (B), the image processing control unit 21 moves the host vehicle C1 backward from the target parking position 103, and makes a new second parking via the new first parking position 121. A guidance route is calculated so as to move toward the original target parking position 101 toward the target parking position 122. In this case, the image processing control unit 21 calculates a new first rotation center 123 and a new second rotation center 124, and sets the target parking position (reverse start position) around the new first rotation center 123. ) The host vehicle C1 is moved from 103 to the new first target parking position 121, and then the host vehicle C1 is moved to the new second target parking position 122 around the new second rotation center 124. A new first target parking position 121 and a second target parking position 122 are set so as to be moved. As a result, the driver can perform the width adjustment without bringing the host vehicle C1 into contact with the obstacle present on the left side of the host vehicle C1. That is, in the parking assistance device, when performing parallel parking width alignment, the new first target parking position 121 and second target parking position 122 are set so as to perform width alignment while reversing the host vehicle C1. It is desirable to guide by setting. However, in the parking assistance device, the possibility of contact with an obstacle present on the left side of the host vehicle C1 is determined, and the possibility of contact is obtained even when the vehicle C1 is moved forward while moving forward. If it is determined that there is not, any of the guide routes shown in FIGS. 13A and 13B may be calculated.

  The parking assistance device can guide the host vehicle C1 appropriately avoiding obstacles even when performing parallel parking in this way.

  In the above description, the case where parking is performed with the target parking position set on the left side of the host vehicle C1 has been described for both parallel parking and parallel parking. However, in an actual parking situation, parking may be performed on the right side of the host vehicle C1 in both cases of parallel parking and parallel parking. In such a case, the parking assist apparatus can guide the parking while avoiding surrounding obstacles by a similar method by applying the above-described processing in consideration of left-right symmetry.

  As described above in detail, in the parking assistance device shown as the embodiment of the present invention, the obstacle detection device 15 detects an obstacle existing around the host vehicle C1 and controls the image processing control unit 21. Originally, when it is determined that the guidance route from the reverse start position 32 where the host vehicle C1 starts reverse to the predetermined target parking position 33 is in contact with the obstacle detected by the obstacle detection device 15, A new target parking position is set so that the guidance route does not come in contact with the obstacle, and the guidance route including the set new target parking position is displayed on the display 22. Thereby, in this parking assistance device, it is possible to appropriately present how to steer toward the target parking position 33 and reach the target parking position 33 without contact, and there is a risk of contact with an obstacle. Even in a narrow parking lot where there is a possibility, the driver can park with confidence.

  Moreover, in this parking assistance apparatus, when performing parallel parking, it exists in the parking track inside a guidance path | route among the obstacles detected by the obstacle detection apparatus 15 under control of the image processing control part 21. The coordinate point A of the corner of the obstacle to be detected, the first straight line LB representing the edge of the obstacle located outside the parking path of the guidance route and opposite to the target parking position 33, or the guidance route Using at least one of the second straight lines LC representing the side surface of the obstacle that exists outside the parking trajectory and that is located on the target parking position 33 side, a new target parking so as to be a guidance route that does not contact the obstacle Set the position. Thereby, in this parking assistance apparatus, even in a narrow parking lot where there is a risk of contact with an obstacle, the host vehicle C1 can be guided to a position close to the original target parking position 33, It is possible to allow the driver to park in parallel.

  At this time, in this parking assistance device, a new target parking position is set under the control of the image processing control unit 21 so as to be a guide route that does not contact the obstacle represented by the first straight line LB. After that, a new target parking position is set so as to be a guidance route that does not contact the obstacle represented by the coordinate point A, and then a guidance route that does not contact the obstacle represented by the second straight line LC is set. By setting a new target parking position, it is possible to optimally guide the host vehicle C1 toward the target parking position 33, and guide the host vehicle C1 to the position closest to the original target parking position 33 most simply. can do.

  Furthermore, in this parking assistance apparatus, under the control of the image processing control unit 21, a new target parking position or a first straight line set so as to be a guide route that does not contact an obstacle represented by the coordinate point A When the new target parking position set so as to be a guide route that does not contact the obstacle represented by LB is not parallel to the target parking position 33, or the obstacle represented by the second straight line LB If the new target parking position set so as to be a guide route that does not touch the vehicle does not reach the target parking position 33, it is necessary to switch back by setting a new target parking position for switching back and parking Even in such a situation, it is possible to appropriately guide the host vehicle C1 toward the target parking position 33.

  Furthermore, in this parking assistance device, when the set new target parking position is parallel to the target parking position 33 and does not match under the control of the image processing control unit 21, the width is adjusted. Since the new target parking position for parking the vehicle is set, the vehicle C1 can be appropriately guided toward the target parking position 33 even in the situation where the width adjustment is necessary.

  Further, in this parking assist device, when performing parallel parking width adjustment, a new target parking position is set so as to perform width adjustment while the host vehicle C1 is advanced under the control of the image processing control unit 21. By setting, the influence on an adjacent parked vehicle as an obstacle can be reduced, and the driver can park with confidence.

  Furthermore, in this parking assist device, when performing parallel parking, the trajectory of the host vehicle C1 is the target parking among the obstacles detected by the obstacle detection device 15 under the control of the image processing control unit 21. If it is determined that there is a possibility of contact with an obstacle existing in front of the position 101, a new target parking position is set so as to provide a guidance route that does not contact the obstacle. Thereby, in this parking assistance apparatus, even in a narrow parking lot where there is a risk of contact with an obstacle, the host vehicle C1 can be guided to a position close to the original target parking position 101, Parallel parking can be performed to the driver with peace of mind.

  At this time, in this parking assistance device, it is determined that the trajectory of the host vehicle C1 may come into contact with an obstacle existing ahead of the target parking position 101 under the control of the image processing control unit 21. In this case, by setting a new target parking position behind the target parking position 101, although the vehicle is parked obliquely, the host vehicle C1 can enter the parking position deepest.

  Further, in this parking assist device, under the control of the image processing control unit 21, if the set new target parking position is parallel to the target parking position 101 and does not coincide with the target parking position, the parking assistance is shifted to the left side. Since the new target parking position for performing the above is set, the vehicle C1 can be appropriately guided toward the target parking position 101 even in the situation where the width adjustment is necessary.

  Further, in this parking assist device, when performing parallel parking width adjustment, a new target parking position is set so as to perform width alignment while the host vehicle C1 is moved backward under the control of the image processing control unit 21. By setting, the influence on an adjacent parked vehicle as an obstacle can be reduced, and the driver can park with confidence.

  As mentioned above, although embodiment which applied the invention made by this inventor was described, this invention is not limited by the description and drawing which make a part of indication of this invention by this embodiment. That is, other embodiments, examples, operational techniques, and the like made by those skilled in the art based on the present embodiment are all included in the scope of the present invention.

It is a block diagram shown about the composition of the parking assistance device shown as an embodiment of the present invention. It is a figure which shows the example of attachment with respect to the own vehicle of the camera apparatus in the parking assistance apparatus shown as embodiment of this invention. It is a figure which shows the example of the condition which performs parallel parking toward the target parking position located in the own vehicle left side. It is a figure which shows the example of the guidance route which the parking assistance apparatus shown as embodiment of this invention calculates in the situation shown in FIG. In the parking assistance apparatus shown as embodiment of this invention, it is a flowchart which shows a series of procedures at the time of guiding the own vehicle which avoided the obstacle. In the parking assistance apparatus shown as an embodiment of the present invention, the first that does not contact a straight line that connects the front end edge of the parked vehicle that is located outside the parking track of the guidance route shown in FIG. It is a figure which shows the example of the guidance route calculated when setting a target parking position. In the parking assistance apparatus shown as an embodiment of the present invention, guidance that is calculated when setting the second target parking position that does not contact the coordinate point of the front right corner of the parked vehicle that exists inside the parking track of the guidance route shown in FIG. It is a figure which shows the example of a path | route. In the parking assistance apparatus shown as an embodiment of the present invention, the third target parking that does not touch the straight line representing the left side surface of the parked vehicle that is located outside the parking track of the guidance route shown in FIG. It is a figure which shows the example of the guidance route calculated when setting a position. In the parking assistance apparatus shown as the embodiment of the present invention, when the target parking position newly set in the parallel parking shown in FIG. 3 is not parallel to the original target parking position, a new for switching It is a figure which shows the example of the guidance route calculated when setting a target parking position. In the parking assistance device shown as the embodiment of the present invention, when the target parking position newly set at the time of parallel parking shown in FIG. 3 does not match the original target parking position, the host vehicle is moved back and forth (A) (B) It is a figure which shows the example of the guidance path | route calculated when performing width alignment, making it advance. It is a figure which shows the example of the condition which performs parallel parking toward the target parking position located in the own vehicle left side. It is a figure which shows the example of the guidance route which the parking assistance apparatus shown as embodiment of this invention calculates in the situation shown in FIG. In the parking assistance device shown as the embodiment of the present invention, when the target parking position newly set at the time of parallel parking shown in FIG. 11 does not coincide with the original target parking position, the host vehicle is moved forward (A) (B) It is a figure which shows the example of the guidance path | route calculated when performing width alignment, making it reverse | retreat.

Explanation of symbols

11, 12, 13, 14 Camera device 15 Obstacle detection device 21 Image processing control unit 22 Display 31 Parking start position 32, 81 Reverse start position 33, 101, 103 Target parking position 34, 111, 121 First target parking position 35, 36, 112, 122 Second target parking position 37 Third target parking position 38 Fourth target parking position 39 Fifth target parking position 40 Sixth target parking position 41, 102, 104 Center of rotation 51, 113, 123 1st rotation center 52, 61, 114, 124 2nd rotation center 62 3rd rotation center 71 4th rotation center 82, 92 5th rotation center 83, 93 6th rotation center 84, 94 seventh target parking position 85, 95 eighth target parking position 91 advance start position A coordinate point C1 own vehicle C2, C3, C4, C5 parked vehicle L A, LB, LC Straight line P1, P2, P3 Guide path R, R1 Radius RM Minimum turning radius

Claims (11)

In the parking assistance device for presenting information to assist the vehicle operation to the driver in order to park the host vehicle at a predetermined target parking position,
Obstacle detection means for detecting obstacles around the vehicle;
When it is determined that the guidance route from the reverse start position where the host vehicle starts to reverse to the predetermined target parking position is in contact with the obstacle detected by the obstacle detection means, the obstacle is not contacted. Processing means for setting a new target parking position so as to be a guide route;
And a display means for displaying a guidance route including a new target parking position set by the processing means. In the parking assistance device according to claim 1,
In the case of performing parallel parking, the processing means includes the coordinate points of the corners of the obstacles existing inside the parking path of the guidance route among the obstacles detected by the obstacle detection means, and the parking of the guidance route. A first straight line representing an edge of an obstacle located outside the track and opposite to the predetermined target parking position, or located outside the parking track of the guidance route, and the predetermined A new target parking position is set using at least one of the second straight lines representing the side surface of the obstacle located on the side of the target parking position so as to provide a guide route that does not contact the obstacle. Parking assistance device. In the parking assistance device according to claim 2,
The processing means sets a new target parking position so as to be a guidance route that does not contact an obstacle represented by the first straight line, and then a guidance route that does not contact the obstacle represented by the coordinate points; A new target parking position is set so as to be, and then a new target parking position is set so as to be a guide route that does not contact the obstacle represented by the second straight line, and the predetermined target parking position is set. A parking assist device for guiding the vehicle toward the vehicle. In the parking assistance device according to claim 2 or claim 3,
The processing means may be a new target parking position set to be a guide route that does not contact an obstacle represented by the coordinate points or a guide route that does not contact an obstacle represented by the first straight line. If the new target parking position set in (2) is not parallel to the predetermined target parking position, or the new target parking position is set to be a guide route that does not contact the obstacle represented by the second straight line If the target parking position does not reach the predetermined target parking position, a new target parking position for turning back and parking is set, and the host vehicle is guided toward the predetermined target parking position. A parking assistance device characterized by that. In the parking assistance device according to any one of claims 2 to 4,
When the set new target parking position is parallel to the predetermined target parking position and does not match, the processing means sets a new target parking position for performing parking with a reduced width. And the parking assistance apparatus characterized by guiding the said own vehicle toward the said predetermined | prescribed target parking position. In the parking assistance device according to claim 5,
In the case of parallel parking width adjustment, the processing means sets a new target parking position so as to perform width alignment while moving the host vehicle forward, and the host vehicle is directed toward the predetermined target parking position. A parking assistance device characterized in that guidance is provided. In the parking assistance device according to claim 1,
In the case of parallel parking, the processing means makes contact with an obstacle existing in front of the predetermined target parking position among obstacles detected by the obstacle detection means. A parking assistance device, wherein when it is determined that there is a possibility, a new target parking position is set so as to provide a guidance route that does not contact the obstacle. In the parking assistance device according to claim 7,
When it is determined that there is a possibility that the trajectory of the host vehicle is in contact with an obstacle existing in front of the predetermined target parking position, the processing means adds a new one behind the predetermined target parking position. A parking assistance device, wherein a target parking position is set. In the parking assistance device according to claim 7 or claim 8,
When the set new target parking position is parallel to the predetermined target parking position and does not match, the processing means sets a new target parking position for performing parking with a reduced width. And the parking assistance apparatus characterized by guiding the said own vehicle toward the said predetermined | prescribed target parking position. In the parking assistance device according to claim 9,
In the case of performing parallel alignment of parallel parking, the processing means sets a new target parking position so as to perform width alignment while reversing the host vehicle, and the host vehicle is directed toward the predetermined target parking position. A parking assistance device characterized in that guidance is provided. In a parking support method for presenting information to assist the vehicle operation to the driver in order to park the host vehicle at a predetermined target parking position,
An obstacle detection step of detecting obstacles existing around the vehicle;
When it is determined that the guide route from the reverse start position where the host vehicle starts to reverse to the predetermined target parking position is in contact with the obstacle detected in the obstacle detection step, the obstacle is contacted. A processing step of setting a new target parking position so as to be a guidance route that does not,
And a display step of displaying a guidance route including the new target parking position set in the processing step on a predetermined display means.

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