JP2010012838A - Parking assisting device and parking assisting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assisting device and a parking assisting method capable of adequately recognizing a parking frame line when assisting the parking of a vehicle based on the parking frame line. <P>SOLUTION: The parking assisting device 10 is constituted around a parking assisting ECU 20, and image pickup means 16, 18, a parking switch 38, a display 32 and a reverse shift switch 36 are connected thereto. Further, a steering angle sensor 12 and a vehicle speed sensor 14 are connected thereto via a CAN (Controller Area Network). The parking assisting ECU 20 includes a detection means 22, a storage means 24, and a recognition means 26, and realizes the detection means 22 and the recognition means 26 by storing programs corresponding to various kinds of means 22, 26 in a ROM, and executing the programs by the CPU. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parking support device and a parking support method that support parking of a vehicle based on one parking frame line.

2. Description of the Related Art Conventionally, there is known a parking assist device that includes a recognition unit that recognizes a parking frame line drawn on the ground and sets an initial position of a target parking position based on the recognized parking frame line (for example, Patent Documents). 1). In this parking assistance device, at the time of parking in a garage or parallel parking, an image obtained by imaging the rear of the vehicle is processed to recognize a parking frame line (white line or the like).
JP 2007-290557 A

  Although the invention which can assist parking of a vehicle based on a parking frame line like the above-mentioned conventional parking assistance device has been made so far, it is still possible to park a vehicle based on a parking frame line. When assisting, a parking assist device and a parking assist method capable of appropriately recognizing a parking frame line have been desired.

  This invention is made in view of the above, Comprising: When assisting parking of a vehicle based on a parking frame line, the parking assistance apparatus and parking assistance method which can recognize a parking frame line appropriately For the purpose of provision.

In order to achieve the above object, the first invention provides a parking assistance device for assisting parking of a vehicle based on one parking frame line.
Recognizing means for recognizing the one parking frame line among a plurality of parking frame lines based on other parking frame lines is provided.

2nd invention is the parking assistance apparatus which concerns on 1st invention, Comprising:
The recognition means recognizes the one parking frame line existing on one side of the passage among the parking frame lines existing on both sides of the passage based on the other parking frame line existing on the opposite side of the passage. To do.

3rd invention is the parking assistance apparatus which concerns on 2nd invention, Comprising:
The recognizing means determines the one parking frame line in consideration of an angle formed by the one parking frame line existing on one side of the passage and the other parking frame line existing on the opposite side of the passage. recognize.

A fourth invention is a parking assistance device according to any one of the first to third inventions,
Imaging means for imaging the periphery of the vehicle;
Detecting means for processing the image picked up by the image pickup means and detecting the other parking frame line;
Storage means for storing arrangement information of a plurality of parking frame lines,
The recognition means refers to the arrangement information stored by the storage means, and recognizes the one parking frame line based on the other parking frame line detected by the detection means.

5th invention is the parking assistance method which assists parking of a vehicle based on one parking frame line,
Among the plurality of parking frame lines, the one parking frame line is recognized based on other parking frame lines.

6th invention is the parking assistance method which assists parking of a vehicle based on one parking frame line,
Other parking frames detected by processing an image obtained by imaging the periphery of the vehicle with reference to arrangement information of the plurality of parking frame lines stored in advance for the one parking frame line among the plurality of parking frame lines Recognize based on lines.

  ADVANTAGE OF THE INVENTION According to this invention, when assisting parking of a vehicle based on a parking frame line, the parking assistance apparatus and parking assistance method which can recognize a parking frame line appropriately can be provided.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment of a parking assistance apparatus 10 according to the present invention. As shown in FIG. 1, the parking assistance device 10 is configured around an electronic control unit 20 (hereinafter referred to as “parking assistance ECU 20”). Parking assistance ECU20 is comprised as a microcomputer which consists of CPU, ROM, RAM, etc. which were mutually connected via the bus | bath which is not shown in figure. The ROM and RAM store programs and data executed by the CPU.

  The parking assist ECU 20 detects a steering angle sensor 12 that detects a steering angle of a steering wheel (not shown) and a vehicle speed via an appropriate bus such as a CAN (Controller Area Network) or a high-speed communication bus. A vehicle speed sensor 14 is connected. The vehicle speed sensor 14 may be a wheel speed sensor that is disposed on each wheel and generates a pulse signal at a cycle according to the wheel speed.

  The parking support ECU 20 is connected to the back monitor camera 16, the front monitor camera 18, and the display 32 which are imaging means.

  The back monitor camera 16 includes an image sensor such as a CCD or a CMOS, and is installed in the center of the rear part of the vehicle, for example, to photograph a predetermined range behind the vehicle. The light incident on the back monitor camera 16 is photoelectrically converted for each pixel and then sequentially output as an analog image signal, converted into a digital image signal of a predetermined number of bits (for example, 8 bits) by an A / D converter, The rear image is supplied to the parking assist ECU 20. This process is repeated every predetermined time.

  The front monitor camera 18 is configured to include an image sensor such as a CCD or a CMOS, and is installed, for example, in the vicinity of a room mirror in a vehicle interior, and photographs a predetermined range in front of the vehicle through the windshield. Similarly to the back monitor camera 16, the front monitor camera 18 supplies the captured front image to the parking assist ECU 20. The front monitor camera 18 may be shared with a well-known LKA (Lane Keeping Assist) system that supports a steering operation so as to detect a white line on the road and maintain the traveling lane.

  The display 32 is configured by an image display device such as a liquid crystal display or a touch panel display provided with a touch switch on the liquid crystal display. The display 32 may be shared with a navigation device that performs route guidance after recognizing the current position (latitude and longitude) of the host vehicle based on information received from GPS satellites by the GPS receiver. In this case, on the display 32, a parking assistance image (see FIG. 6) including a front image or a rear image is displayed, or a map image around the vehicle is displayed, depending on the operation state by the user.

  A reverse shift switch 36 and a parking switch 38 are connected to the parking assist ECU 20. The reverse shift switch 36 outputs an ON signal when the shift lever is operated to the reverse position (reverse), and maintains the OFF state in other cases. Moreover, the parking switch 38 is provided in the vehicle interior and can be operated by the user. The parking switch 38 is normally maintained in an off state, and is turned on by a user operation.

  The parking assistance ECU 20 determines whether or not the user needs parking assistance based on the output signal of the parking switch 38. That is, when the parking switch 38 is turned on while the vehicle is traveling, the parking assist ECU 20 starts parking assist control for assisting the vehicle traveling to the target parking position in the parking space as soon as possible. The parking support control includes not only vehicle control such as steering control when traveling to the target parking position, but also information output to the driver such as output of a guidance message for guiding the vehicle to the parking start position.

  Next, main functions of the parking assist ECU 20 of the present embodiment will be described. As shown in FIG. 1, the parking assist ECU 20 includes a detection unit 22, a storage unit 24, and a recognition unit 26. Specifically, the parking assist ECU 20 stores programs corresponding to the various means 22 and 26 in the ROM, and causes the CPU to execute these programs to implement the various means 22 and 26.

  The detection unit 22 is a unit that processes the front image and the rear image captured by the imaging units 16 and 18 to detect a parking frame line. There are various image processing methods, and any appropriate method may be used.

  Here, an example of image processing will be described. In this example, first, feature points in the image are extracted. The feature point is extracted as a luminance change point exceeding a predetermined threshold (that is, an outline (edge) having a sharp change in brightness in the image is extracted). Next, conversion from the camera coordinate system to the real coordinate system of each pixel is performed by distortion correction. Next, straight line fitting (straight line approximation) is performed on the contour (a sequence of feature points) to derive a contour line of the feature points. Next, two parallel pairs of contour lines are detected as parking frame lines (typically white lines). In this way, the coordinates of the parking frame line in the real coordinate system (for example, based on the rear axle center of the host vehicle) are detected.

  The storage unit 24 is a unit that stores arrangement information of a plurality of parking frame lines. The storage unit 24 includes, for example, a RAM of the parking assist ECU 20 and includes an arrangement information database that stores arrangement information together with parking lot position (latitude and longitude) information. The arrangement information may be, for example, coordinate data of a plurality of parking frame lines in a plane coordinate system (real coordinate system) when the parking lot is viewed from above, and is quasi-coordinate data described later that can be converted into the coordinate data. There may be. In addition, the arrangement information may include information on a parking mode (forward parking, backward parking) designated by the parking lot.

  FIG. 2 is a plan view showing an example of a parking lot where parking frame lines are arranged on both sides of the passage. FIG. 3 is a plan view showing an example of a parking lot where parking frame lines are arranged on one side of the passage. 2 and 3, X1-X2 is the direction in which the passage extends, Y1-Y2 is the width direction of the passage, and A is the host vehicle. In order to effectively utilize the limited space of the parking lot, generally, parking frame lines L are arranged on both sides or one side of the passage as shown in FIGS. The parking frame line L partitions the parking lot into a plurality of parking spaces.

  Next, the quasi-coordinate data will be described with reference to FIGS. 2 and 3, but for the sake of simplicity, the quasi-coordinate data will be described first with reference to FIG. 3 and then with reference to FIG. 2.

  In the example shown in FIG. 3, the quasi-coordinate data includes information on the connection angle α1 of the parking frame line L1 connected to one side of the passage and the installation interval ΔL1 of the parking frame line L1 connected to one side of the passage. Moreover, in the example shown in FIG. 2, in addition to these pieces of information, the X1-X2 directions of the connection position of the parking frame line L1 connected to one side of the passage and the connection position of the parking frame line L2 connected to the opposite side of the passage Information of the shift width ΔX, the connection angle α2 of the parking frame line L2 connected to the opposite side of the passage, the installation interval ΔL2 of the parking frame line L2 connected to the opposite side of the passage, and the passage width ΔY. Further, the quasi-coordinate data may include information such as the number of parking frame lines installed. Since the quasi-coordinate data has a smaller information amount than the coordinate data, the information amount of the arrangement information can be reduced.

  For example, the arrangement information may be stored in the arrangement information database when the parking assist ECU 20 is manufactured, or supplied from the infrastructure through wireless communication between the in-vehicle communication device and the infrastructure (parking facility) provided in the parking lot. May be. The placement information stored in the placement information database may be sequentially updated with the placement information supplied from the infrastructure. Or the detection result by the detection means 22 may be used as arrangement | positioning information.

  The recognition unit 26 is a unit that refers to the arrangement information stored in the storage unit 24 and recognizes one parking frame line based on another parking frame line detected by the detection unit 22. When the recognizing unit 26 refers to the arrangement information stored in the arrangement information database, the recognition unit 26 uses the position information of the current position of the vehicle (the position of the parking lot (latitude / longitude)) supplied from the navigation device to perform a desired parking. Refer to the location information in the parking lot.

  Here, the recognition method of the parking frame line by the recognition means 26 is demonstrated. As will be described later, the method of recognizing the parking frame line by the recognizing means 26 is slightly different between forward parking that enters the parking frame from the front of the vehicle and backward parking that enters the parking frame from the rear of the vehicle. Here, a description will be given of the case of backward parking where parking assistance is highly necessary. The parking switch 38 may include a switch that designates either forward-facing parking or backward-facing parking. In this case, the parking assist ECU 20 uses a parking mode (forward-facing parking mode or backward-facing parking mode) according to the designated parking mode. ).

  The parking frame line recognition method differs between the case where the arrangement information is coordinate data and the case where the arrangement information is quasi-coordinate data. Hereinafter, an example of a parking frame line recognition method when the arrangement information is coordinate data will be described first, and then an example of a parking frame line recognition method when the arrangement information is quasi-coordinate data will be described.

  When the arrangement information is coordinate data, the coordinates of one parking frame line are calculated by matching the arrangement information with the coordinates of other parking frame lines detected by the detection means 22. In this way, the coordinates of the desired parking frame line in the real coordinate system (for example, based on the rear axle center of the host vehicle) are recognized.

  On the other hand, when the arrangement information is quasi-coordinate data, there are two types of parking frame line recognition methods. In the first parking frame line recognition method, one parking frame line L1 existing on one side of the passage out of the parking frame lines L1 and L2 existing on both sides of the passage is replaced with another parking frame existing on the opposite side of the passage. This is a method of recognizing based on the line L2. The second parking frame line recognition method is a method of recognizing one parking frame line L1a among the parking frame lines L1 existing on one side of the passage based on the other parking frame line L1b. Hereinafter, first, an example of the first parking frame line recognition method will be described with reference to FIG. 2, and then, an example of the second parking frame line recognition method will be described with reference to FIG.

  As described above, in the first parking frame line recognition method, among the parking frame lines L existing on both sides of the passage, the desired parking frame line L1 existing on one side of the passage is replaced with other parking frame lines L1 existing on the opposite side of the passage. This is a method of recognizing based on the parking frame line L2. In the case of backward parking, in the first parking frame line recognition method, a desired parking frame line L1 existing behind the host vehicle A is recognized based on another parking frame line L2 existing ahead of the host vehicle A. .

  In the example shown in FIG. 2A, the parking frame lines L1 and L2 are arranged on both sides of the passage. The parking frame lines L1 and L2 are symmetrically and vertically connected to the passage. In this case, the recognition unit 26 refers to the passage width ΔY and the installation interval ΔL1 of the parking frame line L1, and based on the coordinates of the other parking frame line L2 detected by the detection unit 22, the coordinates of the desired parking frame line L1. Recognize

  In the example shown in FIG. 2B, the parking frame lines L1 and L2 are arranged on both sides of the passage, but unlike the example shown in FIG. 2A, the parking frame connected to one side of the passage. The connection position of the line L1 and the connection position of the parking frame line L2 connected to the opposite side of the passage are shifted by ΔX in the X1-X2 direction. In this case, the recognition means 26 recognizes the coordinates of the desired parking frame line L1 in consideration of the deviation width ΔX as compared with the example shown in FIG.

  In the example shown in FIG. 2C, the parking frame lines L are arranged on both sides of the passage. However, unlike the example shown in FIG. 2B, the connection angle α1 of the parking frame line L1 on one side. And the connection angle α2 of the opposite parking frame line L2 is different. In this case, the recognizing means 26 further considers an angle difference Δα (Δα = α1-α2) between the connection angle α1 and the connection angle α2 as compared with the example shown in FIG. Recognize the coordinates of the line L1. That is, the coordinates of the desired parking frame line L1 are recognized in consideration of the angle Δα formed by the desired parking frame line L1 existing on one side of the passage and the other parking frame line L2 existing on the opposite side of the passage.

  On the other hand, as described above, the second parking frame line recognition method is a method of recognizing a desired parking frame line L1a among the parking frame lines L1 existing on one side of the passage based on the other parking frame line L1b. is there. In the case of rearward parking, the second parking frame line recognition method recognizes a desired parking frame line L1a existing behind the host vehicle A based on another parking frame line L1b existing behind the host vehicle A. .

  In the example shown in FIG. 3A, the parking frame lines L1 are arranged on one side of the passage. The parking frame line L1 is connected perpendicularly to the passage. In this case, the recognition unit 26 refers to the installation interval ΔL of the parking frame line L1, and recognizes the coordinates of the desired parking frame line L1a based on the coordinates of the other parking frame line L1b detected by the detection unit 22. Here, in the example shown in FIG. 3A, it is not necessary to refer to the passage width ΔY as compared with the example shown in FIG. 2A, and the coordinates of the desired parking frame line L1a are recognized relatively quickly. can do.

  In the example shown in FIG. 3 (B), the parking frame lines L1 are arranged on one side of the passage, but unlike the example shown in FIG. 3 (A), they are connected obliquely to the passage. . In this case, the recognition means 26 recognizes the coordinates of the desired parking frame line L1 in consideration of the connection angle α1 as compared with the example shown in FIG.

  FIG. 4 is a flowchart showing an example of processing executed by the parking assist ECU 20. Note that the processing routine shown in FIG. 4 is executed when the current parking mode is the backward parking mode. The current parking mode (forward parking mode or rearward parking mode) may be specified when the parking switch 38 is operated, and is estimated / determined based on, for example, surrounding state detection means (for example, image recognition by a camera) or arrangement information. May be.

  The processing routine shown in FIG. 4 is executed and recognized when the vehicle driver parks the vehicle within a desired parking frame line, for example, in a parking lot (see FIG. 2) where parking frames are arranged on both sides of the passage. The desired parking frame line is particularly preferably used for parking support for setting the initial position of the target parking position.

  In S11 of FIG. 4, the detection means 22 processes the captured image (rear image) of the back monitor camera 16, and tries to detect a desired parking frame line. If the desired parking frame line is successfully detected in S11 (S12, NO), the current process is terminated.

  If the detection of the desired parking frame line fails in S11 (S12, YES), the process proceeds to S13, where the captured image (rear image) of the back monitor camera 16 is processed to try to detect another parking frame line. If the detection of another parking frame line fails in S13 (S14, YES), the process further proceeds to S15, where the captured image (front image) of the front monitor camera 18 is processed to try to detect another parking frame line. If detection of another parking frame line fails in S15 (S16, YES), the current processing routine is terminated.

  Here, when the detection of the parking frame line fails, for example, the influence of the positional relationship between the field of view of the cameras 16 and 18 and the parking frame line, or the influence of ambient light at night or in an underground parking lot (edge extraction). Effects), the case where the parking frame line cannot be recognized due to the influence of snow, etc., or the case where the parking frame line is worn by tires.

  If another parking frame line is successfully detected in S13 or S15 (S14, NO), (S16, NO), the process proceeds to S17. In S17, the recognition unit 26 refers to the arrangement information stored in the storage unit 24, and recognizes a desired parking frame line based on the other parking frame line detected in S13 or S15.

  FIG. 5 is a flowchart illustrating another example of processing executed by the parking assist ECU 20. The processing routine shown in FIG. 5 is executed when the current parking mode is the forward parking mode.

  The processing routine shown in FIG. 5 is executed and recognized when a vehicle driver parks a vehicle within a desired parking frame line, for example, in a parking lot (see FIG. 2) where parking frames are arranged on both sides of the passage. The desired parking frame line is particularly preferably used for parking support for setting the initial position of the target parking position.

  In S21 of FIG. 5, the detection means 22 processes the captured image (front image) of the front monitor camera 18, and tries to detect a desired parking frame line. If the desired parking frame line is successfully detected in S21 (S22, NO), the current process is terminated.

  If the detection of the desired parking frame line fails in S21 (S22, YES), the process proceeds to S23, and the captured image (front image) of the front monitor camera 18 is processed to try to detect another parking frame line. If the detection of another parking frame line fails in S23 (S24, YES), the process further proceeds to S25, where the captured image (rear image) of the back monitor camera 16 is processed to try to detect another parking frame line. If the detection of another parking frame line fails in S25 (S26, YES), the current processing routine ends.

  If another parking frame line is successfully detected in S23 or S25 (S24, NO), (S26, NO), the process proceeds to S27. In S27, the recognition unit 26 refers to the arrangement information stored in the storage unit 24, and recognizes a desired parking frame line based on the other parking frame line detected in S23 or S25.

  When the desired parking frame line is recognized in this way, the initial display of the target parking frame line is displayed at the position corresponding to the desired parking frame line (at the position on the screen) under the control of the parking assist ECU 20. Do. Specifically, in the case of rear-facing parking, the parking assist ECU 20 displays a captured image (actual image) of the back monitor camera 16 on the display 32 provided in the vehicle interior. At this time, as shown in FIG. 6 (screen for parking in a garage), the target parking frame line is superimposed on the captured image on the display 32. The target parking frame line may be a figure imitating the actual parking frame line or the outer shape of the vehicle. For example, the target parking frame line has a form in which the position and orientation can be visually recognized by the user, and is used for parking in a garage (parallel parking). And two types of display for parallel parking may be prepared.

  The initial display position / orientation of the target parking frame line displayed on the display 32 corresponds to the target parking position / target parking direction. The position / orientation (= target parking position / target parking direction) of the target parking frame line may be determined as it is by the final operation of the determination switch by the user. Alternatively, as shown in FIG. 6, the position of the target parking frame line can be adjusted before operation of the confirmation switch by a touch switch or the like for moving the target parking frame up and down and left and right. May be.

  When the position or the like of the target parking frame line is determined by the user's operation, the parking assist ECU 20 calculates the target movement trajectory. When the backward movement of the vehicle is started, the parking assist ECU 20 uses the vehicle movement amount calculated from the output signal of the vehicle speed sensor 14 and the steering angle position obtained from the steering angle sensor 12 during the automatic guidance control. The position is estimated, a target rudder angle is calculated according to the deviation of the estimated vehicle position from the target movement trajectory, and the target rudder angle is transmitted to the steering control ECU 50. The steering control ECU 50 controls the motor 52 so as to realize the target steering angle. The motor 52 may be provided in a steering column or a steering gear box and rotate the steering shaft according to the rotation angle.

  The parking assistance ECU 20 estimates and calculates the vehicle position during execution of parking assistance based on the output signals of the steering angle sensor 12 and the vehicle speed sensor 14, and calculates the difference between the previously calculated target movement trajectory and the estimated vehicle position. Accordingly, the current target movement trajectory may be calculated, and the target steering angle at the estimated vehicle position described above may be determined based on the target movement trajectory. The calculation of the target movement trajectory may be performed every time the vehicle moves by a predetermined movement distance (for example, 0.5 m). At this time, the parking assist ECU 20 appropriately corrects the target parking position and the target parking direction (according to the calculation of the target movement trajectory) based on the image processing result with respect to the captured images (rear images and front images) of the cameras 16 and 18. May be.

  The parking assist ECU 20 finally requests the driver to stop the vehicle when the vehicle is settled in the target parking direction at the target parking position in the parking space (or automatically stops the vehicle by the automatic braking means). ), Parking assistance control is completed.

  According to the present embodiment, as described above, even if the detection of the desired parking frame line fails, the parking frame line arrangement information is referred to and the desired parking frame line is detected based on the detection result of the other parking frame lines. Since the parking frame line is recognized, the target parking frame line can be initially displayed. This eliminates the need to adjust the target parking frame line by operating the touch switch many times, such as when the target parking frame line is not displayed, greatly increasing the time required to set the target parking position. It can be shortened.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the process shown in FIGS. 4 and 5 described above, when detection of other parking frame lines fails (S16, YES), (S26, YES), collection by ultrasonic sensors installed on the left and right of the front bumper Data may be used to detect a parking space of the vehicle and set an initial position of the target parking position.

  Moreover, in the process shown in FIG.4 and FIG.5 mentioned above, when detection of a desired parking frame line is successful (S12, NO), (S22, NO), the process of S13 or S23 and subsequent steps is not terminated. You may continue a process and may recognize a desired parking frame line based on another parking frame line. Detection accuracy can be enhanced by detecting (recognizing) a desired parking frame line by two different methods.

  Moreover, in the process shown in FIG. 4 and FIG. 5 described above, when other parking frame lines are successfully detected (S14, NO), (S24, NO), the process proceeds to S17 or S27, and the desired parking frame line is set. In addition to recognizing, the processing after S15 or S25 may be continued to further recognize a desired parking frame line based on another parking frame line. Recognition accuracy can be improved by recognizing a desired parking frame line by two different methods.

  Moreover, in the above-mentioned Example, although the initial display of the target parking frame line was performed using the recognition result of the parking frame line by the recognition means 26, this invention is not limited to this. For example, in the present invention, the above-described target movement trajectory is calculated using the recognition result of the parking frame line by the recognition unit 26, and the target steering angle at the estimated vehicle position is determined based on the target movement trajectory. Good.

  Further, in the above-described embodiment, when detecting the parking frame line, the transformation from the camera coordinate system to the real coordinate system of each pixel is performed by the distortion correction, but the coordinate conversion is performed in consideration of various conditions. Good. For example, the vehicle height (that is, the height from the ground of the cameras 16 and 18) that changes according to the number of passengers and the like may be considered.

  Moreover, although the process shown in FIG.4 and FIG.5 is related with the case of parking in a garage, it is applicable similarly also in the case of parallel parking. Also in this case, a desired parking frame line is recognized based on other parking frame lines with reference to the arrangement information.

  Further, in the above-described embodiment, the storage unit 24 is configured by the RAM of the parking support ECU 20, but may be configured by a readable / writable recording medium such as a hard disk device connected to the parking support ECU 20.

  In the above-described embodiment, various applications are activated when the parking switch 38 is turned on. However, the present invention is not limited to this, for example, when the parking switch 38 is not turned on. However, it may be activated when the vehicle speed is equal to or lower than a predetermined value, when it is determined from the map data of the navigation device that the vehicle position is in the parking lot. In this case, a configuration in which the parking switch 38 does not exist is also conceivable.

  In the above-described embodiment, the parking assist ECU 20 uses the vehicle speed sensor 14, the steering angle sensor 12, and the like to acquire and derive information related to the direction of the vehicle, but instead of or in addition to this, a yaw rate sensor or a gyroscope is used. You may use a sensor, a direction meter, a GPS positioning result, etc.

  In the above-described embodiment, the imaging means 16 and 18 are the back monitor camera 16 that images the rear of the vehicle and the front monitor camera 18 that images the front of the vehicle, but the present invention is not limited to this. There may be no side monitor camera that images the side of the vehicle.

1 is a system configuration diagram showing an embodiment of a parking assistance device 10 according to the present invention. It is a top view which shows the example of a condition of the parking lot where the parking frame line is located in a line on both sides of a passage. It is a top view which shows the example of a condition of the parking lot where the parking frame line is located in a line of one side of a passage. It is a flowchart which shows an example of the process performed by parking assistance ECU20. 7 is a flowchart showing another example of processing executed by the parking assist ECU 20. It is a schematic diagram which shows an example of the parking assistance image containing a back image.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Parking assistance apparatus 12 Rudder angle sensor 14 Vehicle speed sensor 16 Back monitor camera (imaging means)
18 Front monitor camera (imaging means)
20 Parking assistance ECU
22 Detection means 24 Storage means 26 Recognition means 32 Display

Claims (6)

In a parking support device that supports parking of a vehicle based on one parking frame line,
A parking assistance apparatus comprising a recognition unit that recognizes the one parking frame line among a plurality of parking frame lines based on another parking frame line.   The recognition means recognizes the one parking frame line existing on one side of the passage among the parking frame lines existing on both sides of the passage based on the other parking frame line existing on the opposite side of the passage. The parking branch line device according to claim 1.   The recognizing means determines the one parking frame line in consideration of an angle formed by the one parking frame line existing on one side of the passage and the other parking frame line existing on the opposite side of the passage. The parking branch line device according to claim 2 to recognize. Imaging means for imaging the periphery of the vehicle;
Detecting means for processing the image picked up by the image pickup means and detecting the other parking frame line;
Storage means for storing arrangement information of a plurality of parking frame lines,
The said recognition means refers to the said arrangement | positioning information memorize | stored by the said memory | storage means, and recognizes the said one parking frame line based on the said other parking frame line detected by the said detection means. The parking assistance device according to claim 1. In a parking support method for supporting parking of a vehicle based on one parking frame line,
The parking assistance method which recognizes said one parking frame line based on another parking frame line among several parking frame lines. In a parking support method for supporting parking of a vehicle based on one parking frame line,
Other parking frames detected by processing an image obtained by imaging the periphery of the vehicle with reference to arrangement information of the plurality of parking frame lines stored in advance for the one parking frame line among the plurality of parking frame lines Parking assistance method to recognize based on the line.