JP2011126473A - Parking navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking navigation system for allowing the use of individual parking operation navigation image. <P>SOLUTION: A display control part 62 divides the display region of an image display means 63 to display video in two divided display regions D1, D2, namely, a bird's-eye image Q1 obtained by a camera image processing part 15 and a parking operation navigation image Ni prepared in advance or individually recorded with the operation of a driver. In a record mode switched on by a record-replay switch SW 44, the individual parking operation navigation image Ni can be recorded. In a replay mode switched on by the record-replay switch SW44, the prepared or recoded parking operation navigation image can be replayed. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parking navigation system, and in particular, to an improvement in information presentation to a user in assisting a vehicle parking operation.

  2. Description of the Related Art Conventionally, parking assist devices for assisting vehicle parking operations have been put into practical use.

  The parking assist device captures an image of the rear of the vehicle using, for example, a camera installed at the rear of the vehicle, and guides the vehicle and guides the vehicle to guide the vehicle appropriately into the parking area. By superimposing the predicted trajectory of the vehicle that is predicted based on the corner etc. and displaying it on a monitor installed in the passenger compartment, the driver can perform a driving operation such that the expected trajectory overlaps the guidance trajectory. The vehicle parking operation is supported.

  Furthermore, cameras are installed on the front, rear, left and right of the vehicle so as to capture the entire periphery of the vehicle, and the images captured by these cameras are converted into a single bird's-eye view image. A so-called around view monitor system that displays a locus or the like is already known (Patent Document 1).

  However, although the presentation of such an expected trajectory is effective for a person skilled in driving operation, it is not always necessary for an unskilled person who cannot immediately determine the content of the driving operation corresponding to the expected trajectory. There are aspects that cannot be said to be user-friendly support. In other words, if you are unfamiliar with driving operations, even if you simply present an expected trajectory, you will not be able to instantly think of the operations required to make such an expected trajectory follow the guidance trajectory. There is also.

  In view of this, a parking navigation system, which is a technique for presenting the operation details of a vehicle necessary for appropriately guiding the vehicle into the parking section, has been proposed (Patent Document 2). According to this technology, even a person unfamiliar with the driving operation can appropriately guide the vehicle into the parking area by performing the presented operation.

JP 2007-183877 A JP 2001-114049 A

  By the way, the parking operation for guiding the vehicle to the parking target area is not limited to typical parallel parking or side-by-side parking (garage entry). In other words, if there are obstacles such as telephone poles or other buildings in the range that the vehicle passes in the parking operation, individual special operations to avoid contact with these obstacles (for example, increase in the number of turnovers) Etc.).

  Further, an individual parking operation may be required depending on the shape and direction of the parking target area, the width of the turning-back space, and the like.

  This invention is made | formed in view of the said situation, Comprising: It aims at providing the parking navigation system which can show the operation content with respect to a vehicle, even if it is a parking object area | region which needs separate parking operation. .

  The parking navigation system according to the present invention includes a parking operation navigation image corresponding to an operation content input to the vehicle and detected by the vehicle operation detecting means when the vehicle is moved into a predetermined parking target area, or a predetermined parking target. When the parking operation navigation image corresponding to the operation content input to the vehicle and detected by the vehicle operation detecting means when the vehicle is taken out from the area is recorded on the storage medium, the next parking in the parking target area is performed. The parking operation navigation video recorded on the storage medium (the parking operation navigation video recorded at the time of warehousing) is played in the normal rotation (the same direction as the time series at the time of recording), or the parking operation navigation video (at the time of warehousing) The recorded parking operation navigation video) is played in reverse (opposite to the time series during recording). In, it presents a separate parking operation suitable for the parking target area, in which attempted to facilitate the parking operation.

  That is, a parking navigation system according to the present invention includes a camera that captures the surroundings of a vehicle, and a camera video processing unit that obtains an overhead image near the vehicle by performing viewpoint conversion processing on an image captured by the camera. Image display means for displaying an image, vehicle operation detection means for detecting an operation input to the vehicle, and the contents of the operation detected by the vehicle operation detection means for the vehicle corresponding to the contents of the operation. A parking operation navigation video recording unit that records in a predetermined storage medium in association with the operation content, a recording / playback changeover switch that switches between a recording mode and a playback mode, and a recording / playback switch When the changeover switch is switched to the recording mode, recording is performed by the parking operation navigation video recording unit. When the parking operation navigation video recording unit is controlled and the recording / playback changeover switch is switched to the playback mode, the parking operation navigation video stored in the storage medium is displayed by the vehicle operation detection means. A navigation video control unit that controls to be reproduced according to the detected operation input to the vehicle; and the overhead image obtained by the camera video processing unit by dividing a display area of the image display unit; A display control unit for controlling the image display means to display the parking operation navigation video reproduced by the navigation video control unit separately in the two display areas obtained by the division. It is characterized by.

  According to the parking navigation system according to the present invention configured as described above, the display control unit divides the display area of the image display means, and the vicinity of the vehicle that is photographed by the camera and subjected to viewpoint conversion processing by the camera video processing unit. The image display means is controlled so that the overhead view image and the parking operation navigation video reproduced by the navigation video reproduction control means are separately displayed in the two display areas obtained by dividing.

  Here, when the recording / reproducing changeover switch is switched to the recording mode, the parking operation navigation video recording unit is input to the vehicle and detected by the vehicle operation detecting means when the vehicle is moved into the predetermined parking target area. Or the operation content that is input to the vehicle and detected by the vehicle operation detection means when the vehicle is released from the predetermined parking target area, and is a reference for starting the operation. The operation content between the state and the completion reference state as a reference for completing the operation is stored in a predetermined storage medium in association with the operation content as a parking operation navigation image that schematically illustrates the behavior of the vehicle corresponding to the operation content. The navigation video control unit controls the parking operation navigation video recording unit to record, while the recording / playback switch switches to the playback mode. When the navigation video control unit detects that the parking operation navigation video stored in the storage medium is rotated forward (parking at the time of warehousing) according to the operation input to the vehicle detected by the vehicle operation detection means. Play in operation navigation video) or in reverse (in case of parking operation navigation video when leaving the store).

  That is, according to the state of the recording / playback changeover switch, the parking operation is recorded as a schematic parking operation navigation image, or the recorded or previously produced parking operation navigation image is reproduced.

  Thus, the parking navigation system according to the present invention can record the parking operation in advance as a parking operation navigation image in the recording mode, and then reproduce the recorded parking operation navigation image in the reproduction mode. By recording the details of the parking operation to a specific parking area that needs to be parked in the recording mode, the next time you park in that parking area, The operation navigation video can be reproduced in the reproduction mode to obtain necessary individual parking operation instructions.

  In addition, if the operation at the time of entry to the parking area is recorded, it can be played back as it is, and if the operation from the parking area is recorded, it is played back in chronological order. , And reverse operation (reverse direction (forward is backward, backward is forward, right steering is left steering, left steering is right steering) Can do.

  Moreover, even if it is a parking operation to a parking target area where an individual specific parking operation (entrance operation) is not required, for example, by recording a parking operation of a skilled driver in a recording mode, it is not accustomed to driving later. When the driver performs the parking operation in the reproduction mode while referring to the parking operation navigation image of the skilled driver, the parking operation with high accuracy can be performed according to the parking operation of the skilled driver.

  When the parking operation navigation image stored in the storage medium is reproduced in the reproduction mode, the driver's parking operation is detected by the vehicle operation detecting means, and the driver is reproduced according to the detected parking operation content. Can see in real time whether or not the same operation as the parking operation by the skilled driver is performed by looking at the reproduction state of the parking operation navigation image displayed on the image display means. The operation can be finely adjusted sequentially so that the same operation is performed, and the vehicle can be parked in the target parking target area with the same accuracy as the skilled driver.

  In addition, if the operation at the time of delivery is recorded and reproduced as an operation at the time of entry by reversing it, it is only necessary to perform the exit operation at the time of recording, so even those who are unfamiliar with driving can move backward. Since it can be performed relatively easily as compared with the parking operation, it is not necessary to record the parking operation of a skilled driver, and practical ease of handling can be improved.

  As described above, according to the parking navigation system of the present invention, it is possible to present appropriate operation details for a vehicle even in a parking target area that requires individual parking operations.

  The schematic parking operation navigation video is not only a live-action video (including a live-action video that has been subjected to various image processing such as viewpoint conversion processing, noise removal processing, and brightness adjustment processing), as well as animation and CG, for example. It is intended to include images designed by (computer graphics).

  In addition, when the parking operation navigation video recording unit schematically records the parking operation navigation video that models the behavior of the vehicle according to the operation content, the parking operation navigation video recording unit records each parking operation navigation video so that it becomes an index for later playback. On the other hand, it is preferable to record with different induction pattern names so that each can be specified.

  The guidance pattern is a relationship between a parking target area (parking section) and the position and posture of the vehicle, and represents a series of vehicle movements for appropriately guiding the vehicle into the parking section (for example, the left side of the vehicle Parking modes such as left side parallel parking in the parking lot located in the right side and right vertical column parking in the right side parking lot on the right side of the vehicle, and the space required for this series of movement of the vehicle (the width of the road It may be a combination of a parking pattern representing a difference between (wide and narrow)) and a unique name of the parking target area itself.

  Here, at least eight guide patterns (1) to (8) below can be adopted as guide patterns by a combination of the parking mode and the parking pattern.

That is,
(1) Left parallel parking when the road is narrow (2) Right parallel parking when the road is narrow (3) Left parallel parking when the road is narrow (4) Right parallel parking when the road is narrow (5) Wide road Left parallel parking (6) Right parallel parking when the road is wide (7) Left parallel parking when the road is wide (8) Right parallel parking when the road is wide.

  In the parking navigation system according to the present invention, the parking operation navigation video recording unit is a reference that completes an operation from a start reference state that is a reference for starting an operation when the vehicle is moved into a predetermined parking target area. The content of the operation detected by the vehicle operation detection means input to the vehicle up to a reference state is converted into the operation content as a parking operation navigation image that schematically illustrates the behavior of the vehicle corresponding to the content of the operation. The navigation video control unit records the parking operation navigation video stored in the storage medium when the recording / playback changeover switch is switched to the playback mode. It is preferable that the playback is controlled in accordance with the recorded time series.

  According to the parking navigation system according to the present invention configured as described above, the operation content at the time of warehousing is recorded, and the recorded operation content is reproduced by normal rotation, thereby reproducing the operation content at the time of warehousing by reproduction. be able to.

  In the parking navigation system according to the present invention, the parking operation navigation video recording unit is a reference that completes an operation from a start reference state that is a reference for starting an operation when leaving the vehicle from a predetermined parking target area. The content of the operation detected by the vehicle operation detection means input to the vehicle up to a reference state is also included in the operation content as a parking operation navigation image that schematically illustrates the behavior of the vehicle corresponding to the content of the operation. In addition to being recorded in the storage medium in association with each other, the recording at the time of entering and the recording at the time of leaving are distinguished and recorded, and the navigation video control unit includes the recording / playback changeover switch. When the playback mode is switched, the parking operation navigation video stored in the storage medium is stored. The parking operation navigation video recorded in the above is reproduced according to the recorded time series, and the parking operation navigation video recorded when leaving the parking operation navigation video stored in the storage medium, It is preferable that control is performed so as to reproduce the operation contents recorded in the opposite direction of the recorded time series and correspondingly as the opposite operation.

  According to the parking navigation system according to the present invention configured as described above, the operation content at the time of warehousing is recorded, and the recorded operation content is reproduced by normal rotation, thereby reproducing the operation content at the time of warehousing by reproduction. In addition, the operation details at the time of warehousing can be recorded, and the operation details at the time of warehousing can be presented by recording the operation content at the time of warehousing and reversing and reproducing the recording in time series.

  The parking navigation system according to the present invention is configured such that the parking operation navigation video recording unit completes the unloading operation from a start reference state that is a reference for starting the unloading operation when unloading the vehicle from a predetermined parking target area. The operation content detected by the vehicle operation detection means input to the vehicle up to the completion reference state becomes a parking operation navigation image that schematically illustrates the behavior of the vehicle corresponding to the operation content. The navigation operation is recorded in a predetermined storage medium in association with the content, and the navigation video control unit stores the parking operation stored in the storage medium when the recording / reproduction changeover switch is switched to the reproduction mode. The navigation video is recorded in the opposite direction of the recorded time series, and the corresponding recorded operation is regarded as the opposite operation. It is preferable that controls to live.

  According to the parking navigation system according to the present invention configured as described above, the operation content at the time of warehousing is recorded, and the operation content at the time of warehousing is presented by reversing and reproducing the record in time series. be able to.

  In the parking navigation system according to the present invention, the navigation video control unit, when reproducing the parking operation navigation video, displays the parking operation navigation video as a series of vehicle motions between the start reference state and the completion reference state. Among the operation change reference points corresponding to the timing at which an operation for changing the behavior of the vehicle is to be input, and is temporarily stopped at the operation change reference point, and the vehicle detected by the vehicle operation detection means When the content of the operation on the screen matches the content of the operation associated with the parking operation navigation video, it is preferable to shift the parking operation navigation video from the paused state to the playback state.

  Here, the start reference state is a reference state for starting the reproduction of the parking operation navigation video for each guidance pattern. In the case where the operation details at the time of warehousing are recorded, the start of warehousing operation is the start reference at the time of reproduction. In this case, when the operation details at the time of delivery are recorded, the end of the exit operation is the start reference state at the time of reproduction.

  On the other hand, the completion reference state is a reference state in which the reproduction of the parking operation navigation video is finished for each guidance pattern. In the recording state of the operation content at the time of warehousing, when the warehousing operation is completed (the vehicle is in the parking area). A state in which the vehicle is parked and stopped in a normal posture) is the completion reference state at the time of reproduction, and in the case where the operation details at the time of delivery are recorded, the start time of the operation of delivery is the completion reference state at the time of reproduction.

  For example, when the guidance pattern is “left parallel parking when the road is wide”, the start reference state is the position in the right front of the target parking section and stopped in a posture parallel to the parking section. (Recording operation details at the time of warehousing) or completion reference state (recording operation details at the time of warehousing).

  In addition, for example, when the guidance pattern is “left parallel parking when the road is wide (garage entry)”, the posture is the right front position of the target parking section and is orthogonal to the parking section. The state stopped at is the start reference state (recording operation details at the time of warehousing) or the completion reference state (recording operation details at the time of warehousing).

  According to the parking navigation system according to the present invention configured as described above, the driver visually recognizes that the reproduction of the parking operation navigation image displayed on the image display means is maintained, and corresponds to the parking operation navigation image. It is possible to recognize in real time that an operation that matches the attached operation content is performed, and on the other hand, it is recognized that playback of the parking operation navigation video is stopped, and is associated with the parking operation navigation video. It is possible to recognize in real time that an operation that matches the operation details is not performed, and to modify the operation appropriately so that the operation matches the operation details associated with the parking operation navigation video. Thus, the vehicle can be parked in the parking target area with the same accuracy as the skilled driver.

  In other words, depending on the playback state of the parking operation navigation video, it is possible to prompt the driver to optimize the operation content input to the vehicle, and the driver continues the operation while the operation remains inaccurate. Can be prevented, and the vehicle can be reliably guided into the parking section.

  In addition, the parking navigation system according to the present invention needs to reproduce or pause the parking operation navigation video for each operation change reference point corresponding to the timing at which the operation for changing the behavior of the vehicle is to be input. For each content of the operation to be performed, the driver can determine whether or not the operation actually input is appropriate.

  In the parking navigation system according to the present invention, the parking operation navigation video is an animation video that is two-dimensionally viewed from above, and the area around the vehicle is wider than the overhead image. It is preferred that it is drawn.

  According to the parking navigation system according to the present invention that is preferably configured as described above, the parking operation navigation image is an animation image that is two-dimensionally viewed from above, so that an image display is performed for the area around the vehicle. Even if it is created by expanding it to a significantly wider range than the overhead image displayed on one of the divided display areas of the means, there is no possibility of causing distortion like that obtained by converting the captured image to the overhead image, A wider range than the bird's-eye view image can be used as a parking operation navigation image, and even if the image represents a wide range as such a parking operation navigation image, there is no sense of incongruity as an image to be visually recognized by the driver be able to.

  In the parking navigation system according to the present invention, a parking navigation changeover switch that receives an input for starting a parking navigation mode for presenting an operation for guiding the vehicle to the parking target area, and one of the plurality of guidance patterns of the vehicle. A guidance pattern selection switch that receives an input of two selections, and a start switch that receives an input of a timing when the vehicle is set to the start reference state, and the parking operation navigation video recording unit includes the parking operation navigation video The navigation video control unit is stored in the parking operation navigation video storage unit when receiving an input for starting the parking navigation mode to the parking navigation switching switch. Presenting a plurality of guidance patterns, and A parking operation navigation image corresponding to the guidance pattern input by the guidance pattern selection switch among the patterns is read from the storage medium and detected by the vehicle operation detection means after the timing is input to the start switch. It is preferable that the reproduction of the read parking operation navigation image is controlled according to the content of the operation on the vehicle.

  When the parking navigation system having such a preferable configuration receives an input for starting the parking navigation mode to the parking navigation switch, the navigation video control unit presents and presents a plurality of guidance patterns recorded on the storage medium. The parking navigation image corresponding to the guidance pattern input (selected) by the guidance pattern selection switch among the plurality of guidance patterns read out from the storage medium and detected by the vehicle operation detection means after the timing is input to the start switch The reproduction of the read parking operation navigation image is controlled in accordance with the operation content to the vehicle.

  In the parking operation navigation image displayed on the image display means installed in the vehicle interior, not only an image of moving the vehicle is displayed as a display for guiding the vehicle, but such vehicle movement ( Specific details of the operation (parking operation) that should be input to the vehicle necessary to realize (behavior) (steering direction and steering angle, required vehicle speed, start and stop (braking), forward and backward The parking operation content information such as “No.” is included, so the driver simply inputs the operation to the vehicle according to the displayed parking operation content information. Can be guided appropriately.

  In the parking navigation system according to the present invention, the image display means includes a touch sensor in its display area, and at least one of the parking navigation switch, the guidance pattern selection switch, and the start switch is the display area. It is preferable that it is comprised by the icon displayed on this and the touch sensor of the part corresponding to this icon.

  According to the parking navigation system according to the present invention preferably configured as described above, the image display means includes a touch sensor in its display area, and at least one of the parking navigation switch, the guidance pattern selection switch, and the start switch is Since the driver is composed of an icon displayed in the display area of the image display means and a touch sensor corresponding to the icon, the driver can view a bird's-eye view image or a camera image displayed in the display area of the image display means. Or during the period of watching the parking operation navigation video, the switch operation by the touch sensor can be performed without removing the line of sight from the image and video displayed in this display area, and the convenience can be improved. .

In the parking navigation system according to the present invention, it is preferable that at least eight patterns (1) to (8) below are set in advance as the plurality of guidance patterns.
(1) Left parallel parking when the road is narrow (2) Right parallel parking when the road is narrow (3) Left parallel parking when the road is narrow (4) Right parallel parking when the road is narrow (5) Wide road Left parallel parking when (6) right parallel parking when the road is wide (7) left parallel parking when the road is wide (8) right parallel parking when the road is wide Parking according to the present invention preferably configured in this way According to the navigation system, all the basic guidance patterns for the parking area are covered, so special guidance is required (because it is narrower than the basic guidance pattern, The basic parking operation can be presented, except in environments that require frequent switching operations or environments that require special operations to avoid obstacles such as utility poles during switching operations) it can.

  If special guidance is required, the parking operation navigation video recording unit records individual parking operation navigation videos in advance, selects a guidance pattern corresponding to the recorded parking operation navigation video, and By playing the operation navigation video, parking operations other than the basic guidance pattern can be presented.

  In the parking navigation system according to the present invention, it is preferable that information indicating a vehicle part to which attention should be paid is added to the parking operation navigation video for each operation change reference point.

  When information explaining the content of the operation is displayed on the image display means and parking operation is started, especially in the case of a driver unfamiliar with parking operation, it tends to focus only on the operation input to the vehicle, In steering while reversing, which is essential for parking operations, due to the difference between the outer wheels (in the case of front wheel steering), the corner on the opposite side of the steering direction (for example, when the steering direction is leftward) Right corner portion) is the outermost edge, so it is necessary to pay attention to the positional relationship between this portion and the obstacle. According to a preferred configuration of the present invention, information indicating the part of the vehicle to which such attention should be paid Therefore, it is possible to prevent the focus on the vehicle periphery from being reduced.

  In the parking navigation system according to the present invention, information that explains the content of the operation to be input added to the parking operation navigation video is output as audio information, and the output of audio information to the speaker is controlled. It is preferable that a voice control unit is provided.

  According to the parking navigation system according to the present invention preferably configured as described above, the contents of the operation to be input to the vehicle are not only displayed as visual information on the image display means but also as audio information from the speaker. By outputting, even if the line of sight deviates from the image display means and the content of the operation to be input to the vehicle is overlooked, the driver can hear the information as audio information. Therefore, it is possible to prevent the user from recognizing the details of the operation to be input to the vehicle.

  According to the parking navigation system according to the present invention, it is possible to present an appropriate operation content for a vehicle even in a parking target area that requires an individual specific parking operation.

It is a block diagram which shows the structure of the parking navigation system which concerns on Embodiment 1, 2 of this invention. It is a figure which shows the imaging | photography range of the camera in the vehicle carrying the parking navigation system shown in FIG. It is the block diagram which expand | deployed the parking navigation system shown in FIG. 1 to the specific structure. It is a flowchart (the 1) which shows the process in parking navigation mode. It is a flowchart (the 2) which shows the process in parking navigation mode. It is a figure which shows the image | video currently displayed on the image | video display means (image display means) in the step before switching to parking navigation mode. It is a figure which shows the screen which inputs selection of either recording mode or reproduction | regeneration mode, after switching to parking navigation mode. The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image to be recorded in the recording mode of the parking navigation mode or selects the guidance pattern (parking mode) corresponding to the parking operation navigation image to be reproduced in the reproduction mode is shown. It is a figure (the 1). The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image recorded in the recording mode of the parking navigation mode or selects the guidance pattern (parking pattern) corresponding to the parking operation navigation image to be reproduced in the reproduction mode is shown. It is a figure (the 2). It is a figure which shows the screen which inputs the name attached | subjected to a guidance pattern. It is a figure which shows the screen which selects and inputs the start or completion | finish of parking navigation mode (recording or reproduction | regeneration). It is a figure which shows the screen which selects the guidance pattern (name) set corresponding to each parking operation navigation image | video recorded separately. FIG. 11 is a diagram (No. 1) illustrating a display state of a parking operation navigation image that is converted into an animation image and a bird's-eye view image based on an actual camera image in the parking navigation mode. It is FIG. (2) which shows the display state of the parking operation navigation image | video converted into the animation image in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is a figure which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the actual image | video of a camera. FIG. 11 is a diagram (No. 3) illustrating a display state of a parking operation navigation image that is converted into an animation image and an overhead image based on the actual image of the camera in the parking navigation mode. It is FIG. (4) which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is FIG. (5) which shows the display state of the parking operation navigation image | video converted into the animation image in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is FIG. (6) which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is a figure (the 7) which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is a figure which shows the image | video currently displayed on the image | video display means (image display means) in the step before switching to parking navigation mode. It is a figure which shows the screen which inputs selection of either recording mode or reproduction | regeneration mode, after switching to parking navigation mode. The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image to be recorded in the recording mode of the parking navigation mode or selects the guidance pattern (parking mode) corresponding to the parking operation navigation image to be reproduced in the reproduction mode is shown. It is a figure (the 1). The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image recorded in the recording mode of the parking navigation mode or selects the guidance pattern (parking pattern) corresponding to the parking operation navigation image to be reproduced in the reproduction mode is shown. It is a figure (the 2). It is a figure which shows the screen which inputs the name attached | subjected to a guidance pattern. It is a figure which shows the screen which selects and inputs the start or completion | finish of parking navigation mode (recording or reproduction | regeneration). It is a figure which shows during recording of parking operation navigation image | video (the 1). It is a figure which shows during recording of parking operation navigation image | video (the 2). It is a figure which shows during recording of parking operation navigation image | video (the 3). It is a figure which shows during recording of parking operation navigation image | video (the 4). It is a figure which shows during recording of parking operation navigation image | video (the 5). It is a figure which shows during the recording of parking operation navigation image | video (the 6). It is a figure which shows during the recording of parking operation navigation image | video (the 7). It is a figure which shows the state which the recording of the parking operation navigation image | video was complete | finished. It is a figure equivalent to FIG. 21 which shows the image | video currently displayed on the image | video display means (image display means) in the step before switching to parking navigation mode. FIG. 23 is a view corresponding to FIG. 22 showing a screen for inputting selection of either a recording mode or a reproduction mode after switching to the parking navigation mode. The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image reproduced in the reproduction mode of the parking navigation mode or selects the guidance pattern (parking mode) corresponding to the parking operation navigation image reproduced in the reproduction mode is shown. FIG. 24 is a view corresponding to FIG. 23 (No. 1). The screen which sets the guidance pattern (parking mode) attached to the parking operation navigation image reproduced in the reproduction mode of the parking navigation mode or selects the guidance pattern (parking pattern) corresponding to the parking operation navigation image reproduced in the reproduction mode is shown. FIG. 25 is a view corresponding to FIG. 24 (part 2). It is a figure which shows the screen which selects the guidance pattern (name) set corresponding to each parking operation navigation image | video recorded separately. It is a figure which shows the display screen of the instruction | indication which urges parking space alignment prior to the start of parking navigation mode (reproduction). It is a figure which shows the screen which selects and inputs the start or completion | finish of parking navigation mode (reproduction | regeneration). FIG. 11 is a diagram (No. 1) illustrating a display state of a parking operation navigation image that is converted into an animation image and a bird's-eye view image based on an actual camera image in the parking navigation mode. It is a figure which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the actual image | video of a camera. It is FIG. (2) which shows the display state of the parking operation navigation image | video converted into the animation image in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. FIG. 11 is a diagram (No. 3) illustrating a display state of a parking operation navigation image that is converted into an animation image and an overhead image based on the actual image of the camera in the parking navigation mode. It is FIG. (4) which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is FIG. (5) which shows the display state of the parking operation navigation image | video converted into the animation image in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera. It is FIG. (6) which shows the display state of the parking operation navigation image | video converted into the animation image | video in the parking navigation mode, and the bird's-eye view image based on the actual image | video of a camera.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a parking navigation system according to the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration of a parking navigation system 100 according to Embodiment 1 (Example 1) of the present invention. FIG. 2 is a diagram of a vehicle 200 equipped with the parking navigation system 100 of Embodiment 1 shown in FIG. The figure which shows the imaging | photography range of the camera 10, FIG. 3 is the block diagram which expand | deployed the parking navigation system 100 of Embodiment 1 to the more specific apparatus structure.

  The illustrated parking navigation system 100 is installed on each of the front, rear, left and right sides of the vehicle 200 shown in FIG. 2, and as a whole, a camera 10 (camera for photographing the rear of the vehicle 200 (hereinafter referred to as a rear camera) 11 is photographed. , A camera (hereinafter referred to as a front camera) 12 for photographing the front of the vehicle 200, a camera (hereinafter referred to as a right camera) 13 for photographing the right side of the vehicle 200, and a camera (hereinafter referred to as a left side camera). 14) and a camera that performs viewpoint conversion processing on an image Q0 around the vehicle 200 obtained by photographing with each of the cameras 11 to 14, and synthesizes the vicinity of the vehicle 200 into a single overhead image Q1. A video processing unit 15, a video display unit 63 (image display unit) that is mounted on the vehicle 200 and displays an input image (video), and an input to the vehicle 200. Vehicle operation detection means 20 for detecting the operation content (the vehicle speed appearing by the input of the operation content, whether the vehicle is moving forward or backward, or the behavior such as the steering angle) may be detected, and a predetermined parking section A (parking A plurality of schematic (designed) parking operation navigation images Ni (i = 1, 2,...) Set for each guidance pattern PTi (i = 1, 2,...) Of the vehicle 200 to the target area). In the series of motion images of the vehicle 200 from the start reference state S that is a reference for starting the parking operation to the vehicle 200 to the completion reference state E that is a reference for completing the parking operation, Information (parking operation content information) describing the content of the operation to be input to the vehicle 200 for each operation change reference point Pj (j = 1, 2,...) Corresponding to the timing at which the operation for changing the behavior is to be input. ) K A navigation video storage unit 30 (storage medium) in which the items to which (j = 1, 2,...) Are added are recorded, and a parking navigation mode M in which an operation for appropriately guiding the vehicle 200 to the parking section A is presented. The parking navigation switching switch 41 that receives the start input, the guidance pattern selection switch 42 that receives one selection input from among the plurality of guidance patterns PTi of the vehicle 200, and the timing when the vehicle 200 is set to the start reference state S When the input for starting the parking navigation mode M is received by the start switch 43 and the parking navigation changeover switch 41, a plurality of guidance patterns PTi recorded in the navigation video storage unit 30 are displayed on the video display means 63. Of the plurality of presented guidance patterns PTi are inputted by the guidance pattern selection switch 42. The guidance pattern PTi corresponding to the selected selection is read from the navigation video storage unit 30, and the timing of the operation is input to the start switch 43, and then the operation content (or the operation content) of the vehicle 200 detected by the vehicle operation detection means 20 The navigation image control unit 50 that controls the reproduction of the read parking operation navigation image Ni according to the input of the vehicle and the display area of the image display means 63 is divided into two left and right regions D1 and D2. The bird's-eye view image Q1 obtained by the camera video processing unit 15 and the parking operation navigation video Ni reproduced by the navigation video control unit 50 are separately and independently provided in the two display areas obtained by the division. And a display control unit 62 for controlling the video display means 63 so as to be displayed.

  Further, the parking navigation system 100 includes a start reference state S to a completion reference state E that are input to the vehicle 200 and detected by the vehicle operation detection means 20 when the vehicle 200 is guided to a predetermined parking section A. A parking operation navigation video recording unit 31 that records the operation content in the navigation video storage unit 30 in association with the operation content as a parking operation navigation video Ni that schematically represents the behavior of the vehicle 200 corresponding to each operation content, and a navigation video A recording / playback changeover switch 44 for switching between a recording mode for recording the parking operation navigation video Ni in the storage unit 30 and a playback mode for reading the parking operation navigation video Ni recorded in the navigation video storage unit 30; 50, when the recording / reproducing selector switch 44 is switched to the recording mode. When the parking operation navigation video recording unit 31 is controlled so that the parking operation navigation video Ni is recorded in the navigation video storage unit 30 in association with the operation content, and the recording / playback changeover switch 44 is switched to the playback mode, The parking operation navigation image Ni stored in the navigation image storage unit 30 is reproduced according to the operation input to the vehicle 200 detected by the vehicle operation detection means 20.

  In addition, the parking navigation system 100 is configured to display normal road guidance when the vehicle travels, which is displayed on the video display means 63 before the parking navigation mode M is started or after the parking navigation mode M is ended. A memory 61 in which the map information R1 for the travel navigation mode M ′, which is a mode for performing the operation, is stored, information Kj that is added to the parking operation navigation video Ni and that describes the content of the operation to be input, and travel navigation A speaker 67 that outputs the guidance information in the mode M ′ as aural information as a synthesized voice and a voice control unit 66 that controls the output of the synthesized voice to the speaker 67 are provided.

  The map information R1 for the traveling navigation mode M ′ stored in the memory 61 is input to the display control unit 62 and displayed on the video display means 63. On the other hand, the voice control unit 66 is controlled by the navigation video control unit 50.

  Here, the guide pattern PTi represents a series of movements of the vehicle 200 for appropriately guiding the vehicle 200 into the parking section A in relation to the position and posture of the parking section A and the vehicle 200. For example, For a series of movements of the vehicle 200, such as a parking mode PM such as a left-side parallel parking in the parking zone A existing on the left side of the vehicle 200, a right-side parallel parking in the parking zone existing on the right side of the vehicle 200, etc. It means a combination with a parking pattern PP that indicates whether the required space is wide or narrow (road width).

  Therefore, according to the combination of the parking mode PM and the parking pattern PP, at least the following eight induction patterns PT1, PT2,..., PT8 from (1) PT1 to (8) PT8 can be adopted as the induction pattern PTi.

That is,
(1) PT1; left parallel parking (PM1) when the road is narrow (PP1)
(2) PT2; Right parallel parking when the road is narrow (PP1) (PM2)
(3) PT3; left parallel parking when the road is narrow (PP1) (PM3)
(4) PT4; right parallel parking when the road is narrow (PP1) (PM4)
(5) PT5; left parallel parking (PM1) when the road is wide (PP2)
(6) PT6; right parallel parking (PM2) when the road is wide (PP2)
(7) PT7; Left parallel parking when the road is wide (PP2) (PM3)
(8) PT8; right parallel parking when the road is wide (PP2) (PM4)
It is.

  On the other hand, there is a situation where it is necessary to guide with a special guide pattern PT that does not correspond to any one of the guide patterns (1) to (8). For such a special guide pattern PTi, a parking operation is performed. The navigation video recording unit 31 may newly record the parking operation navigation video Ni in the navigation video storage unit 30 in the recording mode. The parking operation navigation video Ni once recorded in the navigation video storage unit 30 can be read out by the navigation video control unit 50, and therefore corresponds to other basic guidance patterns PT1 to PT8 at the second and subsequent guidance. The navigation video control unit 50 is read from the navigation video storage unit 30 in the same manner as the parking operation navigation videos N1 to N8 to be performed.

  Here, when the parking operation navigation video recording unit 31 newly records the parking operation navigation video Ni in the navigation video storage unit 30 in the recording mode, a series of vehicles 200 from the start reference state S to the completion reference state E are recorded. Corresponding to the timing at which an operation for changing the behavior of the vehicle 200 is input, an operation change reference point Pj (j = 1, 2,...) Is created for each operation change reference point Pj. Information representing the contents of the input operation is recorded in the parking operation navigation video Ni, and the navigation video control unit 50 displays the parking operation navigation video Ni between the operation change reference points Pj when reproducing the parking operation navigation video Ni. Playback and pause at the operation change reference point Pj, and the operation change reference point Pj When the content of the input operation to the vehicle 200 detected by the vehicle operation detection means 20 matches the content of the operation recorded at the operation change reference point Pj in the parking operation navigation image Ni, the parking operation navigation image Ni From the paused state to the playback state.

  The start reference state S that is a reference for starting the parking operation on the vehicle 200 is a reference state for starting the reproduction of the parking operation navigation video Ni for each guidance pattern PTi. For example, the guidance pattern PTi is PT7. In the case of “left parallel parking when the road is wide”, the vehicle is stopped in a position parallel to the parking section A in the right front position of the target parking section A. State S is entered.

  For example, when the guide pattern PTi is PT5 “left parallel parking when the road is wide”, the position is the right front position of the target parking section A, and the posture is perpendicular to the parking section A. The state in which the vehicle 200 is stopped is the start reference state S.

  The completion reference state E, which is a reference for completing the parking operation with respect to the vehicle 200, means a state in which the vehicle 200 is parked in the parking section A in a normal posture and stopped in each guidance pattern PTi.

  The vehicle operation detection means 20 detects the content of the operation input to the vehicle 200, but the operation input to the vehicle 200 by the driver appears as a corresponding behavior of the vehicle 200. Instead of detecting the content itself, it may be detected as a behavior of the vehicle 200. In this case, vehicle behavior detection means for detecting the behavior of the vehicle 200 may be provided instead of the vehicle operation detection means 20.

  The navigation video control unit 50 compares the content of the input operation to the vehicle 200 detected by the vehicle operation detection means 20 with the operation content for each operation change reference point Pj stored in the parking operation navigation video Ni. The reproduction of the parking operation navigation image Ni is controlled.

  Specifically, the control of playback of the parking operation navigation video Ni includes control of playback or stop of the parking operation navigation video Ni, and control of playback speed (normal playback speed, fast-forward playback). Speed (faster than normal playback speed), reverse playback (reverse playback, reverse playback at normal playback speed), fast reverse playback speed (faster than reverse playback speed)), etc. Including.

  Further, the display control unit 62 divides the display area of the video display unit 63 into two, and the overhead view image Q1 obtained by the camera video processing unit 15 and the parking operation navigation video Ni reproduced by the navigation video control unit 50. Is displayed on the two display areas D1 and D2 of the video display means 63. The parking operation navigation video Ni is displayed before the timing is input to the start switch 43. Since it is not reproduced in the stage, the determination as to whether or not the vehicle 200 is set to the start reference state S is made by determining whether the driver has an overhead image Q1 (in the camera 10) displayed in one of the divided display areas D1 of the video display means 63. The image is photographed and combined with the single overhead view image Q1 by image processing), and the driver sees the overhead view image Q1 and sees the vehicle. By inputting to the start switch 43 at a timing when it is determined that 200 is set to the start reference state S, reproduction of the parking operation navigation image Ni displayed in one of the divided display areas D2 of the image display means 63 is started. be able to.

  In the parking navigation system 100 of this embodiment, the navigation video control unit 50 reproduces the parking operation navigation video Ni between the operation change reference points Pj to P (j + 1) and temporarily stops at each operation change reference point Pj. At the same time, the behavior of the vehicle 200 detected by the vehicle operation detection means 20 is the information (parking operation content information) Kj explaining the content of the operation at the operation change reference point Pj at the corresponding timing in the parking operation navigation video Ni. When they match, the parking operation navigation video Ni is shifted from the pause state to the playback state.

  Note that the parking operation navigation video Ni used in the parking navigation system 100 is modeled as described above. Specifically, the animation is expressed in two dimensions when viewed from above. It is a picture.

  About the area | region around the vehicle 200, it has drawn to the range wider than the bird's-eye view image Q1 displayed on the division | segmentation display area D1.

  Moreover, in this parking navigation system 100, about the period before receiving the input which starts parking navigation mode M in the parking navigation switch 41, in one display area D1 among the division | segmentation display areas of the image | video display means 63, As described above, the navigation video control unit 50 displays the overhead image Q1 and displays the video (camera video) Q0 before the viewpoint conversion processing is performed by the camera video processing unit 15 in the other region D2. Controls the display control unit 62.

  Further, the video display means 63 includes a touch sensor in its display area, a parking navigation switch 41, a guidance pattern selection switch 42 (a parking mode selection switch 42a and a parking pattern selection switch 42b), a start switch 43, and a recording / reproduction switching switch. 44 is an icon displayed in this display area (the parking navigation switch 41 is an icon in which the letter “P” is placed in a rectangle, and the guidance pattern selection switch 42 is as shown in FIGS. An icon in which characters of “left parallel”, “right parallel”, “left vertical column” or “right vertical column” and “narrow” or “wide” are respectively displayed in a horizontally long rectangle, and the start switch 43 is as shown in FIG. Icon with a record of “Start” or “Stop” in a horizontal rectangle, recording As shown in FIG. 7, the live changeover switch 44 is an icon in which characters “REC mode” representing recording mode and characters “PKB mode” representing playback mode are displayed in a horizontally long rectangle. It is comprised by the said touch sensor of the part corresponding to.

  In this parking navigation system 100, the parking operation navigation video Ni also includes information L indicating the part of the vehicle 200 to which attention should be paid during the parking operation for each operation change reference point Pj. Is not superimposed on the parking operation navigation image Ni itself, but the corresponding portion of the vehicle mark 200 in the overhead image Q1 displayed adjacent to the parking operation navigation image Ni. The display control unit 62 controls display so as to be superimposed on the display.

  As described above, in the parking navigation system 100 of the present embodiment shown in FIG. 1, the main navigation video control unit 50 and the like are actually carried by the CPU 83 as shown in FIG. 3.

  That is, the navigation video control unit 50, the parking operation navigation video recording unit 31, and the display control unit 62 in FIG. 1 correspond to the CPU 83 of the camera ECU 80 in the parking navigation system 100 having the specific configuration shown in FIG. The camera video processing unit 15 corresponds to the image processing unit 82 in FIG.

  1 corresponds to the vehicle information acquisition unit 21 in FIG. 3, the navigation video storage unit 30 in FIG. 1 corresponds to the flash memory 84 in FIG. 3, and the memory 61 in FIG. The video display means 63 in FIG. 1 corresponds to the monitor 64 in FIG. 3, and the audio control unit 66 in FIG. 1 corresponds to the audio output unit 85 in FIG.

  In FIG. 3, components having the same reference numerals as those in FIG. 1 are the same as the corresponding components described in FIG.

  Next, the operation of the parking navigation system 100 of the present embodiment will be described with reference to the flowcharts shown in FIGS. 4 and 5 and display examples on the monitor 64 shown in FIGS.

  First, as shown in FIG. 6, the navigation video control unit 50 controls the display control unit 62 so that the display control unit 62 divides the display area of the video display means 63 into two left and right display areas D1 and D2.

  In the period before the parking navigation mode M is started, the video Q0 taken by the front camera 12 is displayed in the right display area D2, and the left display area D1 The bird's-eye view image Q1 obtained by the camera image processing unit 15 converting the surrounding image Q0 of the vehicle 200 photographed by all the cameras 10 is displayed.

  The bird's-eye view image Q1 is displayed by cutting out only a region near the vehicle 200 around a rectangular vehicle mark 200 imitating the vehicle 200 (this vehicle mark is also given the same reference numeral as the vehicle 200). In addition, what is displayed on the left side portion of the vehicle mark 200 in the overhead view image Q1 is a parking section A partitioned by a white line.

  The vehicle mark 200 displayed in the bird's-eye view image Q1 includes camera marks 11, 12, 13, 14 (this camera) at positions corresponding to the cameras 11, 12, 13, 14 installed on the vehicle 200. The mark is also given the same reference numerals as those of the cameras 11, 12, 13, and 14). Of these camera marks 11, 12, 13, and 14, the video displayed in the right display area D2 is captured. The camera mark (front camera mark 12 in FIG. 6) corresponding to the camera (front camera 12 in FIG. 6) is displayed in a color distinguishable from other camera marks. .

  These displays are performed by the navigation video control unit 50 controlling the display control unit 62.

  The parking mark changeover switch 41 is displayed on the vehicle mark 200 in the bird's-eye view image Q1, and an input for the driver of the vehicle 200 or the like to start parking operation guidance (parking navigation mode M) is input to the parking navigation changeover switch 41. When input is performed (the parking navigation switch 41 is touched) (step 11 (# 11) in FIG. 4), this input is input to the navigation video control unit 50, whereby the navigation video control unit 50 is displayed in FIG. As shown, a recording / playback changeover switch 44 including an “REC mode” icon 44a and a “PKB mode” icon 44b is displayed in the right display area D2. At this time, the parking navigation switching switch 41 is deleted.

  Then, it waits for the driver to select either the recording mode or the reproduction mode (in FIG. 4, (# 12 → # 19 → # 12 →...)).

  When the driver touches the “REC mode” icon 44a and selects the recording mode, the navigation video control unit 50 operates in the recording mode (# 13).

  Specifically, as shown in FIG. 8, in order to cause the driver to input the guidance pattern PTi corresponding to the parking operation navigation video Ni to be recorded in the navigation video storage unit 30 and to set the name, etc. A parking mode selection switch 42a for specifying the parking mode PM among the guidance pattern selection switches 42 is displayed in the display area D2.

  Here, in the case of the guidance pattern PT for left parallel parking (PM1), the driver touches the parking mode selection switch 42a for “left parallel parking”, so that the parking mode PM1 for “left parallel parking” is selected. In the case of the right parallel parking (PM2) guidance pattern PT, the driver touches the parking mode selection switch 42a for “right parallel parking” to select the parking mode PM2 for “right parallel parking”, and left parallel parking. In the case of the guide pattern PT of (PM3), the driver touches the parking mode selection switch 42a of “left parallel parking”, so that the parking mode PM3 of “left parallel parking” is selected and right parallel parking (PM4). In the case of the guide pattern PT, the driver touches the parking mode selection switch 42a for “right column parking”, and the parking mode PM4 for “right column parking” is selected.

  And parking mode PM selected by the driver is registered as an element which constitutes guidance pattern PT (# 14 of Drawing 4).

  Subsequently, a parking pattern selection switch 42b for specifying the parking pattern PP in the guidance pattern selection switch 42 is displayed (FIG. 9).

  Here, in the case of the guidance pattern PT when the road width is narrow (PP1), when the driver touches the “narrow” parking pattern selection switch 42b, the parking pattern PP1 with the road width “narrow” is selected, and the road width is When the guidance pattern PT is wide (PP2), the driver touches the “wide” parking pattern selection switch 42b to select the parking pattern PP2 having the road width “wide”. The selected parking pattern PP Are registered as elements constituting the guide pattern PT (# 15 in FIG. 4).

  The guidance pattern PTi is specified by the combination of the parking mode PM and the parking pattern PP, and the parking operation navigation video Ni recorded from now on is associated with the specified guidance pattern PTi.

  Prior to that, a name can be assigned to this guidance pattern for the purpose of specifying the PTi later when searching for the parking operation navigation video Ni. For example, as shown in FIG. In the lower area of the display area D2, the name of each guidance pattern PTi is displayed by displaying a software keyboard in the order of the Japanese syllabary, touch-inputting it, converting it into kanji, etc. as necessary. Can be registered.

  After the guidance pattern PTi corresponding to the parking operation navigation image Ni to be recorded is registered in this manner, the start switch 43 (in FIG. 11, the start icon (start SW) 43a or the stop icon (stop SW) 43b) (step # 16 → # 21 → # 16 → ... in FIG. 4).

  The driver arbitrarily determines the position where the parking operation is to be started, moves the vehicle 200 to that position, returns the steering wheel of the vehicle 200 to the neutral position, changes the gear stage of the transmission to the neutral position, and the parking position. It returns to the initial state before starting the parking operation such as returning to the position, and this position and state is set as the start reference state S.

  Then, when the driver touches the start icon 43a and the recording is started, the operation content to the vehicle 200 by the driver is recorded (# 17 in FIG. 4). The operation content on the vehicle 200 is detected by the vehicle operation detection means 20, and the detected operation content is output to the parking operation navigation video recording unit 31 by the navigation video control unit 50. The parking operation navigation video recording unit 31 Based on the input operation content, a parking operation navigation image Ni that is a bird's-eye view that schematically represents the behavior of the vehicle 200 corresponding to each operation content is generated, and the generated parking operation navigation image Ni is navigated to Recording is performed in the video storage unit 30 (# 17 in FIG. 4).

  When the vehicle 200 has been guided to the predetermined position in the parking section A, the steering wheel is returned to the neutral position, the transmission gear stage is returned to the neutral position or the parking position, and the completion of the parking operation is set to the reference state E. The recording of the operation content is stopped, and the generation and recording of the parking operation navigation video Ni are finished (# 18).

  This stop is performed when the driver touches the stop icon 43b.

  In contrast, when the stop icon 43b is touched (# 21) in the state shown in FIG. 11 (the state before recording the parking operation navigation image Ni) (# 21), the state shown in FIG. The state before the transition to the state in which the transition to the parking navigation mode M can be selected; waiting for input of the parking navigation changeover switch 41 (# 11)).

  When the driver touches the “PKB mode” icon 44b in the state shown in FIG. 7 (recording mode or playback mode waiting to be selected) (# 19 in FIG. 4), navigation is performed. The video controller 50 performs the operation in the playback mode (# 20 in FIG. 4).

  That is, as in the case of the recording mode, the guidance pattern PTi selection screen is displayed as shown in FIGS. 8 and 9, and waiting for input of the parking mode PM for identifying the guidance pattern PTi (# 22 in FIG. 5) and the parking pattern The navigation video control unit 50 controls the display control unit 62 so as to wait for PP input (# 23 in FIG. 5).

  Specifically, when the guidance pattern PT1 of the left parallel parking (PM1) when the road width is narrow (PP1), the parking mode PMi is touched on the parking mode selection switch 42a of “left parallel parking” and “left The parking mode PM1 of "Parallel parking" is selected (# 22), and the parking pattern selection switch 42b of "Narrow road" is touched as the parking pattern PPi to select the parking pattern PP1 of "Narrow road" ( # 23).

Similarly, in the case of the guidance pattern PT2 which is right parallel parking (PM2) when the road width is narrow (PP1), the parking mode PMi is touched on the parking mode selection switch 42a of “right parallel parking” and “right parallel parking” is selected. Parking mode PM2 is selected (# 22), and the parking pattern selection switch 42b of “narrow road” is touched as the parking pattern PPi to select the parking pattern PP1 of “narrow road” (# 23). ).
When selecting the guidance pattern PT3 which is left parallel parking (PM3) when the road width is narrow (PP1), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM3 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road narrow”, and the parking pattern corresponding to “road narrow” is selected. PP1 is selected (# 23).

  When selecting the guidance pattern PT4 that is right parallel parking (PM4) when the road width is narrow (PP1), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM4 corresponding to “parking” is selected (# 22), and further, the parking pattern PP1 corresponding to “narrow road” is selected by touching the parking pattern selection switch 42b of “narrow road” as the parking pattern PPi. Select (# 23).

  When selecting the guidance pattern PT5 that is left parallel parking (PM1) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM1 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road wide”, and the parking pattern corresponding to “road wide” is selected. PP2 is selected (# 23).

  When selecting the guidance pattern PT6 that is right parallel parking (PM2) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM2 corresponding to “parking” is selected (# 22), and further, the parking pattern PP2 corresponding to “wide road” is selected by touching the parking pattern selection switch 42b of “wide road” as the parking pattern PPi. Select (# 23).

  When selecting the guide pattern PT7 which is left parallel parking (PM3) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM3 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road wide”, and the parking pattern corresponding to “road wide” is selected. PP2 is selected (# 23).

  When selecting the guidance pattern PT8 that is right parallel parking (PM4) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM4 corresponding to “parking” is selected (# 22), and the parking pattern PP2 corresponding to “wide road” is selected by touching the parking pattern selection switch 42b of “wide road” as the parking pattern PPi. Select (# 23).

  In addition to the eight basic guidance patterns PT1 to PT8 (above (1) to (8)), the parking guidance navigation image Ni to be reproduced includes individual guidance patterns PTi recorded in the recording mode. In FIG. 8 or FIG. 9, an icon (as a touch switch) such as “other candidate” is displayed so that it can be selected (not shown in FIGS. 8 and 9). When the “candidate” icon is touched, as shown in FIG. 12, names corresponding to the individual guidance patterns PTi recorded in the recording mode (in FIG. 12, “home”, “hospital”, “convenience store”). ”,“ School ”,“ Bookstore ”,“ Pharmacy ”) 45 a, 45 b, 45 c, 45 d, 45 e, 45 f, and any one of these guide patterns P i As can be selected, the navigation image control unit 50 reads out the information from the navigation video storage unit 30, and controls the display control unit 62.

  In FIG. 12, the icons of the names corresponding to the individual guidance patterns PTi are represented by reference numerals 45a, 45b, 45c, 45d, 45e, and 45f, but these are guidance pattern selection switches. In the block diagram, the guidance pattern selection switch 42 is included.

  In this way, when one of the guide patterns PTi is selected (# 22, # 23 in FIG. 5), as shown in FIG. 11, the start input wait (the start icon 43a or the stop icon 43b is touched). (A state in which it is in a standby state) (# 24 → # 26 → # 24 →...

  When the start icon 43a is touched (# 24 in FIG. 5), the parking operation navigation image Ni associated with the selected guidance pattern PTi is reproduced (# 25 in FIG. 5), while the stop icon is displayed. 43b is touched (# 26 in FIG. 5) and the state shown in FIG. 6 (the state before the transition to the parking navigation mode M and the transition to the parking navigation mode M can be selected; the parking navigation changeover switch 41 (waiting for input (# 11)).

  The navigation video control unit 50 controls the display control unit 62 so that the reproduced parking operation navigation video Ni is displayed in the right display area D2 of the video display means 63, as shown in FIG. At this time, first, the initial screen Q3 of the parking operation navigation image Ni is displayed in the right display area D2 (# 25 in FIG. 5)).

  In the following description, the guide pattern PT1 is selected as an example.

  The initial screen Q3 of the parking operation navigation video N1 shown in FIG. 13 is a screen for instructing to set the vehicle 200 at a specific initial position (starting reference state S) when the parking operation of the vehicle 200 is started. The vehicle 200 is instructed to stop at a position adjacent to the right side of the target parking section A to be left parallel parked (in the case of the guidance pattern PT1).

  The initial screen Q3 is different for each guidance pattern PTi, and the initial screen Q3 does not change even during a period in which the vehicle 200 is moved to set the position.

  On the other hand, the bird's-eye view image Q1 displayed in the left display area D1 is a substantially real-time image captured by the camera 10 and signal-processed by the camera video processing unit 15, and accordingly, as the vehicle 200 moves. The image around the vehicle mark 200 (overhead image) changes.

  In addition, the initial screen Q3 shows the content of the operation to be performed on the vehicle 200 at the operation change reference point P1 currently displayed, that is, the initial screen Q3 when the driver performs the parking operation (parking operation content information K1). Is displayed, and in this scene, the parking operation content information K1 “parking space adjustment”, which is an instruction content for moving the vehicle 200 to a reference position for starting the parking operation, is displayed.

  The driver visually recognizes the parking operation content information K1 and follows the parking operation content information K1. In order to follow the parking operation content information K1, the driver can view a substantially real-time overhead image Q1 displayed in the left display region D1 The vehicle 200 is moved to an initial position (starting reference state S) adjacent to the right side of the target parking section A to be parked in parallel in the left direction and stopped.

  This start reference state S is the first operation change in time series among a plurality of operation change reference points Pj (timing to input an operation for changing the behavior of the vehicle 200) set in the parking operation navigation video N1. The reference point P1.

  In addition, by displaying the range of the bird's-eye view image Q1 displayed in the left display area D1 with a thick frame surrounding the driver's attention, the driver's attention is displayed in the area indicated by the thick frame. Can be directed.

  In FIG. 13, the region of the overhead view image Q1 corresponding to the image photographed by the left camera 14 is indicated by a thick frame, and the operation of stopping the vehicle 200 at the initial position (start reference state S) is indicated by this thick line. The instruction is to be performed while paying attention to the image of the area indicated by the frame.

  When the touch switch type “confirm” button displayed in the right display area D2 is touched by the driver when the vehicle stops in the start reference state S, the navigation video control unit 50 displays the parking operation navigation video N1. Switching to the video (FIG. 14) of the scene including the parking operation content information K2 necessary until reaching the next operation change reference point P2 in time series, while the touch switch type “ When the “camera image switching” button is touched by the driver, the bird's-eye view image Q1 displayed in the left display area D1 is a range in which attention is paid to the driver as shown in FIG. 15 (in a thick frame in FIG. 13). The image is switched to an image Q14 (image before the viewpoint is converted into a bird's-eye view image) Q14 that is captured by the left camera 14 corresponding to the (enclosed area) Since the image Q14 as it is captured by the camera 14 is an image that can be seen through to a deep region in the depth direction of the parking section A that was difficult to see in the overhead image Q1, there is an obstacle in the deep region of the parking section A in the depth direction. It can be made visible to the driver whether or not it exists.

  In addition, when the touch switch type “all-around video switching” button displayed in the right display area D2 in FIG. 15 is touched by the driver, the image Q14 of the left camera 14 displayed in the left display area D1 is displayed. Switching to the overhead image Q1 returns to the state shown in FIG.

  In the display state shown in FIG. 13 or FIG. 15, when the touch switch type “confirm” button is touched by the driver and the parking operation navigation image N1 changes to the state shown in FIG. 14, the parking operation navigation image N1 is displayed. The new parking operation content information K2 is displayed. This parking operation content information K2 includes the operation content “turn right” (steering at the maximum steering angle in the right direction (clockwise direction)) written in letters and the front wheel 210 steering in the right direction. This is represented by a schematic vehicle mark 200 in a state of being made.

  The driver may steer the steering wheel of the vehicle 200 rightward at the maximum steering angle in accordance with the parking operation content information K2.

  In addition, each parking operation content information Kj is output as audio | voice information from the speaker 67 via the audio | voice control part 66 by control of the navigation image | video control part 50. FIG. As described above, the parking operation content information Kj is output as audio information, so that the parking operation content information Kj is also in a state where the driver's line of sight is off the video display means 63 and the parking operation content information Kj is overlooked. Therefore, it is possible to prevent the parking operation content information Kj from being missed.

  When the driver steers the steering wheel in the right direction at the maximum steering angle, this steering is a parking operation input to the vehicle 200. The operation on the vehicle 200 is detected by the vehicle operation detection means 20.

  The operation (steering angle) on the vehicle 200 detected by the vehicle operation detection unit 20 is input to the navigation video control unit 50, and the navigation video control unit 50 detects the vehicle 200 detected by the vehicle operation detection unit 20. When the operation (steering angle) of the vehicle matches the parking operation content information K2 ("turn right" (stationary steering at the maximum steering angle in the right direction)) in the parking operation navigation image N1, the parking operation navigation image N1 Are reproduced from the currently displayed operation change reference point P2 to the next operation change reference point P3 in time series as an animation video (schematic moving picture) (FIG. 16).

  On the other hand, when the operation (steering angle) to the vehicle 200 detected by the vehicle operation detection means 20 does not match the parking operation content information K2 (“right turn”) in the parking operation navigation image N1, the navigation image control unit 50 Maintains the parking operation navigation video N1 as it is at the currently displayed operation change reference point P2.

  Therefore, if this parking navigation system 100 does not perform the vehicle operation according to the parking operation content information Kj at each operation change reference point Pj in the parking operation navigation image N1, the parking operation navigation image N1 is the next operation change reference point. Since the vehicle does not advance to P (j + 1) video (not reproduced), the driver visually recognizes the parking operation navigation video N1 displayed on the video display means 63 and recognizes whether or not the parking operation navigation video N1 is reproduced. Thus, it is possible to determine in real time whether or not the operation content on the vehicle 200 matches the vehicle operation according to the parking operation content information Kj.

  That is, when the parking operation navigation video N1 is reproduced up to the next operation change reference point P (j + 1), it is determined that the operation content on the vehicle 200 matches the vehicle operation according to the parking operation content information Kj. On the other hand, when the parking operation navigation video N1 is not reproduced toward the next operation change reference point P (j + 1), the operation content for the vehicle 200 is changed to the parking operation content information Kj. What is necessary is just to correct | amend so that operation to the vehicle 200 may correspond to the vehicle operation according to the parking operation content information Kj, judging that it does not correspond to the following vehicle operation.

  FIG. 16 shows the parking operation navigation image N1 in a state where the reproduction is temporarily stopped at the operation change reference point P3. At this operation change reference point P3, “right turn forward” (right turn) is set as the parking operation content information K3. And the vehicle mark 200 is schematically shown in a state in which the front wheel 210 is steered rightward. Note that the vehicle mark 200 has been moved from the operation change reference point P2 to the operation change reference point P3 as a moving image by “forward turning right”.

  In addition, in the bird's-eye view image Q1 displayed in the left display area D1 in FIG. 16, an area in which the driver should pay attention when inputting “right turn forward” as the parking operation content information K3 to the vehicle 200. In the overhead image Q1, the shooting area of the front camera 12 and the shooting area of the right camera 13 are displayed surrounded by a thick frame.

  Furthermore, when it is assumed that “right turn forward” as the parking operation content information K3 is input to the vehicle 200, the information L indicating the part of the vehicle 200 that the driver should pay attention to is the overhead view image of FIG. Displayed in Q1. Specifically, the front right corner of the vehicle 200 is displayed as information L indicating the part of the vehicle 200 to which attention should be paid in relation to the position of the other vehicle or the like that is parked.

  When the touch switch type “camera image switching” button is touched in the parking operation navigation image N1 displayed in the right display area D2, the front camera 12 corresponding to the imaging area respectively surrounded by the thick frame. The captured image Q12 of the right camera 13 and the captured image Q13 of the right camera 13 are alternately viewed in time series without being converted into the overhead view image Q1, and the overhead view image Q1 is displayed in the left display area D1 where the overhead view image Q1 is displayed. Is displayed instead of.

  In place of the bird's-eye view image Q1, during the period in which the photographed image Q12 of the front camera 12 and the photographed image Q13 of the right camera 13 are displayed in the left display area D1, the right display area D2 is touch-switch type. The “switch all-around video” button is displayed. When this button is touched by the driver, the captured image Q12 of the front camera 12 and the captured image of the right camera 13 displayed alternately in the left display area D1. Q13 is switched to the overhead image Q1, and the state shown in FIG. 16 is restored.

  Also at each operation change reference point P3 below, when the touch switch type “camera image switching” button is touched while the overhead view image Q1 is displayed, the captured image of the individual camera 10 (the overhead view processing is not performed). On the other hand, when a touch switch type “all-around video switching” button is touched while a captured image of the individual camera 10 (an image not subjected to the overhead view processing) is displayed, the individual camera Ten captured images (images not subjected to the overhead view processing) are switched to the display of the overhead image Q1.

  When the parking operation navigation video N1 is reproduced to the state at the operation change reference point P3 shown in FIG. 16 and paused, the input operation ("right turn") to the vehicle 200 at the operation change reference point P2 is appropriate. Accordingly, the driver inputs “right turn forward” to the vehicle 200 as the parking operation content information K3 at the operation change reference point P3 shown in FIG.

  That is, with the input operation (“turn right”) to the vehicle 200 at the operation change reference point P2, the transmission is moved forward, the accelerator pedal is depressed, and the vehicle 200 is moved forward.

  Then, the turning angle (or moving distance) of the vehicle 200 that turns forward by turning right is detected by the vehicle operation detection means 20 based on the “right turning advance” behavior of the vehicle 200, and this turning angle (or moving distance) is navigated. Input to the video controller 50.

  The navigation image control unit 50 determines that the turning angle (or the moving distance) of the vehicle 200 detected by the vehicle operation detection means 20 is the parking operation content information K3 (“Right turn advance”) in the parking operation navigation image N1. When the turning angle (or moving distance) set in advance is matched, the parking operation navigation video N1 is displayed from the currently displayed operation change reference point P3 to the next operation change reference point P4 in time series. It is played back as an animation video (schematic moving picture) (FIG. 17).

  On the other hand, the operation (turning angle (or moving distance) distance of the right turn forward) detected by the vehicle operation detecting means 20 is the parking operation content information K3 (“Right turn forward”) in the parking operation navigation video N1. ), The navigation video control unit 50 maintains the parking operation navigation video N1 as it is at the currently displayed operation change reference point P3.

  FIG. 17 shows the parking operation navigation video N1 in a state where reproduction is temporarily stopped at the operation change reference point P4. At this operation change reference point P4, “left turn” (to the left direction) is set as the parking operation content information K4. This is represented by the characters “stationary steering at the maximum steering angle” and a schematic vehicle mark 200 in which the front wheel 210 is steered leftward.

  When the parking operation navigation video N1 is temporarily stopped in the state at the operation change reference point P4 shown in FIG. 17, the input operation to the vehicle 200 at the operation change reference point P3 (“forward turning right”) is appropriate. Thus, the driver inputs “left turn” to the vehicle 200 as the parking operation content information K4 at the operation change reference point P4 shown in FIG.

  That is, the operation is stopped from the input operation (“right turn forward”) to the vehicle 200 at the operation change reference point P3, and the steering wheel is left stationary at the maximum steering angle.

  Then, the operation “left turn (steering)” to the vehicle 200 is detected by the vehicle operation detection unit 20, and the detected “left turn” behavior is input to the navigation video control unit 50.

  The navigation video control unit 50 matches the steering angle of the left turn of the vehicle 200 detected by the vehicle operation detection means 20 with the parking operation content information K4 (“left turn”) preset in the parking operation navigation video N1. Then, the parking operation navigation video N1 is reproduced as an animation video (schematic moving picture) from the currently displayed operation change reference point P4 to the next operation change reference point P5 in time series (FIG. 18). ).

  On the other hand, when the operation (steering angle) to the vehicle 200 detected by the vehicle operation detection means 20 does not match the parking operation content information K4 (“turn left”) in the parking operation navigation image N1, the navigation image control unit 50 The parking operation navigation video N1 is maintained as it is as the video (FIG. 17) at the currently displayed operation change reference point P4.

  FIG. 18 shows the parking operation navigation image N1 in a state where reproduction is temporarily stopped at the operation change reference point P5. At this operation change reference point P5, “left turn backward” (leftward direction) is set as the parking operation content information K5. And the vehicle mark 200 in a state where the front wheel 210 is steered in the left direction. Note that the vehicle mark 200 is moved from the operation change reference point P4 to the operation change reference point P5 as a moving image by “turning backward to the left”.

  In addition, in the bird's-eye view image Q1 displayed in the left display area D1 in FIG. 18, when “left turn backward” that is the parking operation content information K5 is input to the vehicle 200, the area that the driver should pay attention to. In the overhead image Q1, the shooting area of the rear camera 11 and the shooting area of the right camera 13 are displayed surrounded by a thick frame.

  Further, when it is assumed that “left turn backward” as the parking operation content information K5 is input to the vehicle 200, the information L indicating the part of the vehicle 200 that the driver should pay attention to is the overhead image Q1 in FIG. Is displayed. Specifically, the front right corner portion and the rear left corner portion of the vehicle 200 are displayed as information L indicating the part of the vehicle 200 to which attention should be paid in the positional relationship with other parked vehicles and the like.

  When the touch switch type “camera image switching” button is touched in the parking operation navigation image N1 displayed in the right display area D2, the rear camera 11 corresponding to the imaging area respectively surrounded by the thick frame is displayed. The photographed image and the photographed image of the right camera 13 are not converted into a bird's-eye view image, but are alternately displayed in time series in the left display area D1 where the bird's-eye view image Q1 is displayed instead of the bird's-eye view image Q1. Is displayed.

  In place of the bird's-eye view image Q1, during the period in which the photographed image of the rear camera 11 and the photographed image of the right camera 13 are displayed in the left display area D1, a touch switch type “all around” is displayed in the right display area D2. When the driver touches this button, the captured image of the rear camera 11 and the captured image of the right camera 13 displayed in the left display area D1 are switched to the overhead image Q1. Then, the state returns to the state shown in FIG.

  When the parking operation navigation video N1 is played back to the state at the operation change reference point P5 shown in FIG. 18 and paused, the input operation ("left turn") to the vehicle 200 at the operation change reference point P4 is appropriate. Accordingly, the driver inputs “left turn backward” to the vehicle 200 as the parking operation content information K5 at the operation change reference point P5 shown in FIG.

  That is, with the input operation to the vehicle 200 (“left turn”) at the operation change reference point P4, the transmission is moved backward, the accelerator pedal is depressed, and the vehicle 200 is advanced backward.

  Then, the turning angle (or moving distance) at which the vehicle 200 turns backward by the left turn is detected by the vehicle operation detecting means 20 based on the “left turning backward” behavior of the vehicle 200, and this turning angle (or moving distance) is controlled by the navigation video control. Input to the unit 50.

  The navigation image control unit 50 determines in advance that the turning angle (or moving distance) of the vehicle 200 detected by the vehicle operation detection means 20 is the parking operation content information K5 (“left turning backward”) in the parking operation navigation image N1 in advance. When it matches the set turning angle (or moving distance), the parking operation navigation image N1 is animated from the currently displayed operation change reference point P5 to the next operation change reference point P6 in time series. It is reproduced as (schematic moving picture) (FIG. 19).

  On the other hand, the operation to the vehicle 200 detected by the vehicle operation detection means 20 (the turning angle (or moving distance) of the left turning backward) is the turning angle of the parking operation content information K5 (“left turning backward”) in the parking operation navigation video N1. If it does not match (or the moving distance), the navigation video control unit 50 maintains the parking operation navigation video N1 as it is at the currently displayed operation change reference point P5.

  FIG. 19 shows the parking operation navigation video N1 in a state where reproduction is temporarily stopped at the operation change reference point P6. At this operation change reference point P6, “neutral” (the steering position of the steering wheel) is set as the parking operation content information K6. ) And a schematic vehicle mark 200 in a state in which the front wheel 210 is maintained in a neutral position.

  When the parking operation navigation image N1 is temporarily stopped in the state at the operation change reference point P6 shown in FIG. 19, the input operation to the vehicle 200 at the operation change reference point P5 ("return to the left") is appropriate. The driver inputs “neutral” to the vehicle 200 as the parking operation content information K6 at the operation change reference point P6 shown in FIG.

  That is, the operation is stopped from the input operation to the vehicle 200 at the operation change reference point P5 ("return to the left"), and the steering wheel is returned to the neutral position.

  Then, a behavior in which the steering of the vehicle 200 is returned to the “neutral” position is detected by the vehicle operation detecting means 20, and the detected “neutral” behavior is input to the navigation video control unit 50.

  When the neutral steering of the vehicle 200 detected by the vehicle operation detecting means 20 matches the parking operation content information K6 (“neutral”) set in the parking operation navigation image N1, The parking operation navigation video N1 is reproduced as an animation video (schematic moving picture) from the currently displayed operation change reference point P6 to the next operation change reference point P7 in time series (FIG. 20).

  On the other hand, when the operation (steering angle) to the vehicle 200 detected by the vehicle operation detection unit 20 does not match the parking operation content information K6 (“neutral”) in the parking operation navigation image N1, the navigation image control unit 50 The parking operation navigation image N1 is maintained as it is at the currently displayed operation change reference point P6.

  FIG. 20 shows the parking operation navigation video N1 in a state where the reproduction is stopped at the operation change reference point P7 (completion reference state E serving as a reference for completing the parking operation). At this operation change reference point P7, the details of the parking operation are shown. The information K7 is represented by the characters “reverse” (reverse while keeping the steering angle 0 degree (neutral position)) and the vehicle mark 200 in a state where the front wheel 210 is maintained at the neutral position. ing. The vehicle mark 200 is a moving image from the operation change reference point P6 to the operation change reference point P7 as a moving image by “straight forward and backward”.

  Further, in the bird's-eye view image Q1 displayed in the left display area D1 of FIG. 20, when “reverse” as the parking operation content information K7 is input to the vehicle 200, the bird's-eye view is an area that the driver should pay attention to. In the image Q1, a shooting area by the rear camera 11 is displayed surrounded by a thick frame.

  When the touch switch type “camera image switching” button is touched in the parking operation navigation image N1 displayed in the right display area D2, the rear camera 11 corresponding to the imaging area respectively surrounded by the thick frame is displayed. The captured image is displayed in place of the overhead image Q1 in the left display area D1 where the overhead image Q1 is displayed without being converted into the overhead image.

  In place of the bird's-eye view image Q1, during the period in which the captured image of the rear camera 11 is displayed in the left display area D1, a touch switch type “all-around video switch” button is displayed in the right display area D2. When this button is touched by the driver, the photographed image of the rear camera 11 displayed in the left display area D1 is switched to the overhead image Q1, and the state shown in FIG. 20 is restored.

  When the parking operation navigation image N1 is reproduced and stopped to the state at the operation change reference point P7 shown in FIG. 20, the input operation ("neutral") to the vehicle 200 at the operation change reference point P6 is appropriate. The driver inputs “reverse” to the vehicle 200 as the parking operation content information K7 at the operation change reference point P7 shown in FIG.

  That is, with the input operation ("neutral") to the vehicle 200 at the operation change reference point P6, the transmission is moved backward, the accelerator pedal is depressed, and the vehicle 200 is advanced backward.

  Based on the “reverse” behavior of the vehicle 200, the travel distance in which the vehicle 200 has moved straight forward is detected by the vehicle operation detection unit 20, and this travel distance is input to the navigation video control unit 50.

  The navigation image control unit 50 sets the moving distance of the vehicle 200 detected by the vehicle operation detecting means 20 to the moving distance set in advance as the parking operation content information K7 (“reverse”) in the parking operation navigation image N1. When they match, the vehicle 200 is appropriately guided to the parking section A and stopped, and the navigation video control unit 50 ends the parking operation navigation video N1 and ends the parking navigation mode M.

  And the display control part 62 makes the display of the image | video display means 63 be a bird's-eye view image Q1 in the left side display area D1, and the picked-up image by the front camera 12 in the right side display area D2 similarly to FIG.

  The above description is a case where the guidance pattern PTi in the parking navigation mode M is a combination guidance pattern PT1 in which the parking mode PM is “left parallel” (PM1) and the parking pattern PP is “narrow” (PP1). In the case of other guidance patterns PT2 (PP1, PM2), PT3 (PP1, PM3),..., PT8 (PP2, PM4) and in the case of individual guidance patterns PTi recorded in the recording mode, the corresponding parking operation navigation images are also provided. Ni is different (parking operation navigation video N2 for the guidance pattern PT2, parking operation navigation video N3 for the guidance pattern PT3,..., Parking operation navigation video N8 for the guidance pattern PT8, and other individual guidance patterns PTi. Parking operation navigation video corresponding to However, the processing method of the control for reproducing and temporarily stopping the parking operation navigation video Ni is the same as in the case of reproducing and temporarily stopping the parking operation navigation video N1 in the guidance pattern PT1, and thus the description thereof is omitted. .

  According to the parking navigation system 100 of the embodiment configured as described above, the vehicle operation (parking operation) is recorded in advance as the parking operation navigation image Ni in the recording mode, and then the recorded parking operation navigation in the reproduction mode. Since the video Ni can be played back, a parking section A that requires individual parking operations (for example, a home parking lot that requires special parking operation, a hospital parking lot, a convenience store parking lot, a school parking lot) When recording in such a parking section A after the next time by recording the details of the parking operation to the bookstore parking lot, the pharmacy parking lot, etc.) in the recording mode, The parking operation navigation image Ni can be read and reproduced and displayed in the reproduction mode, and necessary individual parking operation instructions can be obtained.

  Even if the parking operation is performed in the parking section A where no individual parking operation is required, for example, a skilled driver's parking operation is recorded in advance in the navigation video storage unit 30 in the recording mode, so that he / she is not accustomed to driving later. When a driver is parking, the skilled driver's parking operation navigation image Ni is read from the navigation image storage unit 30 in the playback mode and played back, so that even a driver who is unfamiliar with driving is skilled. Accurate parking operation according to the driver's parking operation can be performed.

  That is, when the parking operation navigation image Ni stored in the navigation image storage unit 30 is reproduced in the reproduction mode, the driver's parking operation is detected by the vehicle operation detection means 20, but the parking operation navigation image Ni is Since the playback status (playback or pause) changes according to the detected parking operation content, the driver can see the playback status of the parking operation navigation video Ni displayed on the video display means 63 so that the skilled driver Whether or not the same operation as the parking operation is being performed can be determined in real time, and the operation is sequentially fine-tuned so that the operation is the same as the parking operation by the skilled driver, and the vehicle is placed in the target parking section A. The 200 can be parked with high accuracy like a skilled driver.

  Therefore, according to the parking navigation system 100 according to this embodiment, the operation content for the vehicle 200 can be presented even in the parking section A that requires an individual parking operation.

  In addition, when the parking operation navigation video recording unit 31 records the parking operation navigation video Ni that schematically illustrates the behavior of the vehicle 200 corresponding to the operation content, each parking operation is used as an index for later playback. Since the navigation images Ni are recorded with names assigned to different guidance patterns PTi so that each can be identified, it is easy to use as a clue when searching for a parking operation navigation image Ni to be reproduced. .

  According to the parking navigation system 100 of the present embodiment, the plurality of cameras 11 to 14 mounted on the vehicle 200 capture the surroundings of the vehicle 200 and the surroundings of the vehicle 200 obtained by capturing with the cameras 11 to 14. The camera video processing unit 15 performs a viewpoint conversion process on the image to obtain an overhead image Q1 near the vehicle 200, while the parking operation navigation video Ni stored in the parking operation navigation video storage unit 30 is Parking operation content information Kj for explaining the content of the operation to be input for each operation change reference point Pj corresponding to the timing at which the operation to change the behavior of the vehicle 200 should be input is a schematic animation image. The display control unit 62 adds the display area of the video display means 63 to two areas, a left display area D1 and a right display area D2. Split, and the with the overhead view image Q1 and the parking operation navigation image Ni to each other, is displayed in the area D1, D2 obtained by dividing.

  When the parking navigation changeover switch 41 receives an input for starting the parking navigation mode M, the navigation video control unit 50 uses the eight basic guidance patterns PT1 to PT8 (stored in the parking operation navigation video storage unit 30). 4 parking modes PM1, PM2, PM3, PM4 and two parking patterns PP1, PP2 in combination) and other recorded guiding patterns PTi are presented, and these presented guiding patterns PT1-PT8 Among them, the guidance pattern PTi corresponding to the selection input by the guidance pattern selection switch 42 is read from the navigation video storage unit 30, and the timing is input to the start switch 43, and then to the vehicle 200 detected by the vehicle operation detection means 20. In response to the operation, the read parking operation navigation image Ni is reproduced. To your.

  As described above, in the parking operation navigation video Ni displayed on the video display means 63 installed in the passenger compartment of the vehicle 200, only an image obtained by moving the vehicle 200 is displayed as a display for guiding the vehicle 200. In addition, specific details of the parking operation to be input to the vehicle 200 necessary to realize such movement (behavior) of the vehicle 200 (steering direction and steering angle, necessary vehicle speed, start and stop (braking) ), The forward / reverse, etc.) parking operation content information Kj is included, so that the driver operates the vehicle 200 according to the displayed parking operation content information Kj. The vehicle 200 can be appropriately guided into the parking section A simply by inputting.

  Here, the parking operation input by the driver to the vehicle 200 appears as the behavior of the vehicle 200, and the operation content to the vehicle 200 is detected by the vehicle operation detection means 20, and the detected operation to the vehicle 200 is performed according to the detected operation. The navigation video control unit 50 controls the reproduction of the parking operation navigation video Ni (control to reproduce or stop, control of the speed of reproduction, etc.), and therefore whether or not the parking operation input by the driver to the vehicle 200 is appropriate. The driver can be notified by the reproduction state of the parking operation navigation image Ni.

  Therefore, according to the reproduction state of the parking operation navigation image Ni, it is possible to promote the optimization of the operation content input by the driver to the vehicle 200, and the parking operation remains inaccurate and the driver is parked. The operation can be prevented from being continued, and the vehicle 200 can be reliably guided into the parking section A.

  The display control unit 62 divides the display area of the video display means 63 into two areas D1 and D2, and the overhead image Q1 obtained by the camera video processing unit 15 and the parking reproduced by the navigation video control unit 50. The video display means 63 is controlled so that the operation navigation video Ni is separately displayed on the two display areas D1 and D2 obtained by the division. The parking operation navigation video Ni is sent to the start switch 43 at a timing. Since it is not reproduced at the stage before the vehicle is input, whether or not the vehicle 200 is set to the start reference state S is determined based on the bird's-eye view displayed on the one divided display area D1 of the video display means 63 by the driver. The timing when the driver determines that the vehicle 200 is set to the start reference state S by looking at the overhead image Q1. By performing the input to the start switch 43, it is possible to start playing the parking operation navigation image Ni being displayed on the other divided display areas D2 of the image display unit 63.

  Moreover, the display control unit 62 divides the display area of the video display means 63, and the video displayed in the two display areas D1 and D2 obtained by the division is an overhead view obtained by the camera video processing unit 15. An image Q1 and a parking operation navigation image Ni reproduced by the navigation image control unit 50. This parking operation navigation image Ni is not a signal processing of the actual image obtained by the camera 10, but an animation image or the like. Since it is a schematic image, it can be displayed as an image without distortion up to an area far from the vehicle 200.

  In the parking navigation system 100 according to the embodiment, the navigation video control unit 50 reproduces the parking operation navigation video Ni between the operation change reference points Pj to P (j + 1), and pauses at each operation change reference point Pj. When the operation of the vehicle 200 detected by the vehicle operation detection means 20 matches the parking operation content information Kj at the operation change reference point Pj at the corresponding timing in the parking operation navigation image Ni, The parking operation navigation image Ni is shifted from the pause state to the reproduction state, and is temporarily stopped at the next operation change reference point Pj in time series.

  As a result, the navigation video control unit 50 reproduces the parking operation navigation video Ni between the operation change reference points Pj to P (j + 1), pauses at the operation change reference point Pj, and is detected by the vehicle operation detection means 20. When the operation on the vehicle 200 matches the parking operation content image Kj at the operation change reference point Pj at the corresponding timing of the parking operation navigation image Ni, the parking operation navigation image Ni is set to the reproduction state. Since the parking operation navigation image Ni is temporarily stopped, if the operation input by the driver to the vehicle 200 is not correct (does not match the parking operation content information Kj), the vehicle 200 follows the parking operation navigation image Ni. Therefore, the navigation video control unit 50 does not Whether or not the parking operation is accurately performed in order to control the reproduction so that normal reproduction is not performed, for example, the reproduction of the operation navigation video Ni is stopped or the reproduction operation is not started from the pause state. Can inform the driver.

  Therefore, it is possible to prevent the driver from continuing the parking operation while the parking operation remains inaccurate, and the vehicle can be reliably guided into the parking section A.

  In the parking navigation system 100 of the present embodiment, the parking operation navigation image Ni is an image that is two-dimensionally viewed from above (above the sky), and the area around the vehicle 200 is more than the overhead image Q1. Although the video Ni is drawn to a wide range, this video Ni is not a real video obtained by signal processing of the real image of the camera 10 but a schematic animation video, so that the video display is performed for the area around the vehicle 200. Even if the image is created by enlarging a range far wider than the bird's-eye view image Q1 displayed in one of the divided display areas D1 of the means 63, the range far from the vehicle 200 is distorted like a real image. There is no fear.

  Therefore, a wider range than the bird's-eye view image Q1 can be used as the parking operation navigation video Ni, and even as a video representing a wide range as such a parking operation navigation video Ni, There can be no distortion, that is, no discomfort due to distortion.

  Further, the parking navigation system 100 of the present embodiment has one of the divided display areas D1 and D2 of the video display means 63 for a period before the parking navigation changeover switch 41 receives an input for starting the parking navigation mode M. The overhead image Q1 is displayed on D1, and the video (raw image captured by the camera 10) Q0 before the viewpoint conversion processing (conversion processing to the overhead image Q1) is performed on the other video image processing unit 15 is displayed on D2. Since the navigation video control unit 50 controls the display control unit 62 so as to display, the navigation video control unit 50 is in a period before receiving an input for starting the parking navigation mode M in the parking navigation switch 41. Displays the bird's-eye view image Q1 in one display area D1 of the video display means 63, and the camera display section 15 views it in the other display area D2. So as to display the previous image Q0 conversion process is performed, by controlling the display control unit 62, it is possible to hide a required parking operation navigation image Ni in parking operation before step.

  In the parking navigation system 100 according to the present embodiment, the video display means 63 includes a touch sensor in its display area, and at least one of the parking navigation switch 41, the guidance pattern selection switch 42, and the start switch 43 is a display. Since the driver is composed of an icon displayed in the area and a touch sensor corresponding to the icon, the driver can view the overhead image Q1 or the camera video Q0 displayed in the display area of the video display means 63, or park the vehicle. While the operation navigation video Ni is being viewed, the switch operation by the touch sensor can be performed without removing the line of sight from the images displayed in the display areas D1 to D2, and the convenience can be improved. .

  Further, when the parking operation content information Kj is displayed on the video display means 63 of the parking navigation system 100 and the driver starts the parking operation, the driver inputs it to the vehicle 200 particularly in the case of a driver who is not accustomed to the parking operation. The parking operation navigation image Ni used in the parking navigation system 100 according to the present embodiment is necessary where there is a risk that a specific part of the vehicle 200 may come into contact with another vehicle or the like because of the operation. Accordingly, since the information L indicating the part of the vehicle 200 to which attention should be paid is added for each operation change reference point Pj, the driver's focus on the surroundings of the vehicle 200 can be prevented from being reduced.

(Embodiment 2)
FIG. 1 is a block diagram showing a configuration of a parking navigation system 100 ′ according to Embodiment 2 (Example 2) of the present invention, and FIG. 2 is a vehicle equipped with the parking navigation system 100 ′ of Embodiment 2 shown in FIG. FIG. 3 is a diagram showing a photographing range of the camera 10 in FIG. 200, and FIG.

  In this embodiment, a state in which the vehicle 200 is parked in the parking section A is used as a reference for operation start, and the operation content when the vehicle 200 parked in the parking section A is taken out of the parking section A is parked. Parking navigation video is recorded as a navigation video, and the recorded parking navigation video is reversed and reproduced in chronological order so that the parking operation video is stored in the parking zone A from outside the parking zone A. It is used as

  The illustrated parking navigation system 100 ′ is installed on each of the front, rear, left and right sides of the vehicle 200 shown in FIG. 2 and captures the surroundings of the vehicle 200 as a whole (a camera that captures the rear of the vehicle 200 (hereinafter referred to as a rear camera). 11. Camera for photographing the front of the vehicle 200 (hereinafter referred to as a front camera) 12, Camera for photographing the right side of the vehicle 200 (hereinafter referred to as a right camera) 13, Camera for photographing the left side of the vehicle 200 (hereinafter referred to as a front camera) 14) and the image Q0 around the vehicle 200 obtained by photographing with each of the cameras 11 to 14 are subjected to viewpoint conversion processing, and the vicinity of the vehicle 200 is synthesized into a single overhead image Q1. A camera video processing unit 15, a video display unit 63 (image display unit) that is mounted on the vehicle 200 and displays an input image (video), and an input to the vehicle 200. Vehicle operation detection means 20 for detecting the operation content (the vehicle speed appearing by the input of the operation content, the behavior of forward / backward movement, steering angle, etc.) and a predetermined parking section A ( A plurality of schematic (designed) parking operation navigation images Ni (i = 1, 2,...) Set for each guidance pattern PTi (i = 1, 2,...) Of the vehicle 200 to the parking target area). ) And the start reference state S ′ (completion reference state E, which is a reference state for completing the warehousing operation), which is a reference for starting the warehousing operation from the predetermined parking section A to the vehicle 200, and the warehousing operation are completed. An operation for changing the behavior of the vehicle 200 is input from among a series of motion images of the vehicle 200 with respect to the completion reference state E ′ (start reference state S which is a reference state for starting the warehousing operation). Vs timing For each operation change reference point Pj (j = 1, 2,...), Information (parking operation content information) Kj (j = 1, 2,. A navigation video storage unit 30 (storage medium) in which the added ones are recorded, and a parking navigation changeover switch that receives an input of the start of a parking navigation mode M that presents an operation for appropriately guiding the vehicle 200 to the parking section A 41, a guidance pattern selection switch 42 that receives an input of one of the plurality of guidance patterns PTi of the vehicle 200, a start switch 43 that receives an input of timing when the vehicle 200 is set to the start reference state S ′, When the parking navigation switch 41 receives an input for starting the parking navigation mode M, a plurality of guidance patterns recorded in the navigation video storage unit 30 PTi is displayed by displaying it on the video display means 63 in a time-series reverse manner with respect to when it is recorded, and is input by the guide pattern selection switch 42 among the presented guide patterns PTi. The guidance pattern PTi corresponding to the selection is read from the navigation video storage unit 30, and after the timing is input to the start switch 43, the operation content to the vehicle 200 detected by the vehicle operation detection means 20 (or the input of the operation content) The display area of the video display means 63 and the navigation video control unit 50 'for controlling the reproduction of the read parking operation navigation video Ni and the video display means 63 are divided into two left and right areas D1 and D2. Then, the overhead view image Q1 obtained by the camera video processing unit 15 and the parking operation navigation reproduced by the navigation video control unit 50 ′ And an image Ni, and includes as display separately independent two display areas obtained by the dividing, a display control unit 62 for controlling the image display unit 63.

  Further, the parking navigation system 100 ′ includes a start reference state S ′ (completion reference state E) input to the vehicle 200 and detected by the vehicle operation detection means 20 when the vehicle 200 is released from the predetermined parking section A. ) To the completion reference state E ′ (start reference state S) and recorded in the navigation image storage unit 30 as a parking operation navigation image Ni that schematically represents the behavior of the vehicle 200 corresponding to each operation content in association with the operation content. Recording / playback for switching between a parking operation navigation video recording unit 31, a recording mode for recording the parking operation navigation video Ni in the navigation video storage unit 30, and a playback mode for reading the parking operation navigation video Ni recorded in the navigation video storage unit 30. The navigation video control unit 50 ′ includes a recording / playback switching switch 44. When the mode is switched to the recording mode, the parking operation navigation video recording unit 31 is controlled so that the parking operation navigation video Ni is recorded in the navigation video storage unit 30 in association with the operation content, and the recording / playback changeover switch 44 plays back. When the mode has been switched, the parking operation navigation video Ni stored in the navigation video storage unit 30 is recorded at the time of recording (exit) according to the operation input to the vehicle 200 detected by the vehicle operation detection means 20. Time) is reversed in chronological order and is reproduced as an operation at the time of warehousing.

  In addition, the parking navigation system 100 ′ is configured to display a normal road when the vehicle travels, which is displayed on the video display means 63 before the parking navigation mode M is started or after the parking navigation mode M is ended. A memory 61 that stores map information R1 and the like for the travel navigation mode M ′ that is a mode for performing guidance, information Kj that is added to the parking operation navigation video Ni and that describes the content of the operation to be input, and travel A speaker 67 that outputs the guidance information in the navigation mode M ′ as aural information as a synthesized voice and a voice control unit 66 that controls the output of the synthesized voice to the speaker 67 are provided.

  The map information R1 for the traveling navigation mode M ′ stored in the memory 61 is input to the display control unit 62 and displayed on the video display means 63. On the other hand, the voice control unit 66 is controlled by the navigation video control unit 50.

  Here, the guide pattern PTi represents a series of movements of the vehicle 200 for appropriately guiding the vehicle 200 into the parking section A in relation to the position and posture of the parking section A and the vehicle 200. For example, For a series of movements of the vehicle 200, such as a parking mode PM such as a left-side parallel parking in the parking zone A existing on the left side of the vehicle 200, a right-side parallel parking in the parking zone existing on the right side of the vehicle 200, etc. It means a combination with a parking pattern PP that indicates whether the required space is wide or narrow (road width).

  Therefore, according to the combination of the parking mode PM and the parking pattern PP, at least the following eight induction patterns PT1, PT2,..., PT8 from (1) PT1 to (8) PT8 can be adopted as the induction pattern PTi.

That is,
(1) PT1; left parallel parking (PM1) when the road is narrow (PP1)
(2) PT2; Right parallel parking when the road is narrow (PP1) (PM2)
(3) PT3; left parallel parking when the road is narrow (PP1) (PM3)
(4) PT4; right parallel parking when the road is narrow (PP1) (PM4)
(5) PT5; left parallel parking (PM1) when the road is wide (PP2)
(6) PT6; right parallel parking (PM2) when the road is wide (PP2)
(7) PT7; Left parallel parking when the road is wide (PP2) (PM3)
(8) PT8; right parallel parking when the road is wide (PP2) (PM4)
It is.

  On the other hand, there is a situation where it is necessary to guide with a special guide pattern PT that does not correspond to any one of the guide patterns (1) to (8). For such a special guide pattern PTi, a parking operation is performed. The navigation video recording unit 31 may newly record the operation state when leaving the parking area A in the recording mode as the parking operation navigation video Ni in the navigation video storage unit 30. The parking operation navigation video Ni once recorded in the navigation video storage unit 30 is read out by being reversed in time series by the navigation video control unit 50 to be reproduced as the parking operation navigation video Ni when entering the parking section A. Therefore, when leaving the parking section A and then entering the parking section A, the parking operation navigation images N1 to N8 recorded at the time of leaving corresponding to the other basic guidance patterns PT1 to PT8. Similarly, the navigation video control unit 50 reads out from the navigation video storage unit 30 in a time-series reverse manner with respect to the recording time.

  Here, when the parking operation navigation video recording unit 31 newly records the parking operation navigation video Ni at the time of delivery in the recording mode in the navigation video storage unit 30, the start reference state S ′ ( The behavior of the vehicle 200 in a series of movements of the vehicle 200 from the completion reference state E ′ (corresponding to the start reference state S at the time of warehousing operation) to the completion of the warehousing operation) Each operation change reference point Pj (j = 1, 2,...) Is created corresponding to the timing at which the operation to be changed is input, and represents the contents of the input operation for each operation change reference point Pj. The information is the parking operation navigation image Ni (the image between each operation change reference point is also referred to as Nj. The navigation image control unit 50 reproduces the parking operation navigation image Ni in a time series reversely (reproduced from the start reference state S toward the completion reference state E). The parking operation navigation video Ni reproduced in reverse is reproduced between the operation change reference points Pj, paused at the operation change reference point Pj, and the vehicle detected by the vehicle operation detection means 20 at the operation change reference point Pj. The content of the input operation to 200 is the opposite of the operation recorded at the operation change reference point Pj in the parking operation navigation image Ni (when the recorded operation is “forward”, the opposite operation content is “ If the recorded operation is “backward”, the opposite operation will be recorded as “forward”. When the current operation is “Left Steering”, the opposite operation content is “Right Steering”, and when the recorded operation is “Right Steering”, the opposite operation content is “Left Steering”). The operation navigation video Ni is shifted from the pause state to the playback state.

  In addition, the start reference state S that is a reference for starting the regeneration of the parking operation with respect to the vehicle 200 is a reference state in which the regeneration of the parking operation navigation image Ni is started for each guidance pattern PTi. When the guide pattern PTi is PT7 “left parallel parking when the road is wide”, the vehicle 200 stops at the right front position of the target parking section A and parallel to the parking section A. This state becomes the start reference state S.

  For example, when the guide pattern PTi is PT5 “left parallel parking when the road is wide”, the position is the right front position of the target parking section A, and the posture is perpendicular to the parking section A. The state in which the vehicle 200 is stopped is the start reference state S.

  The completion reference state E, which is a reference for completing the parking operation with respect to the vehicle 200, is a state in which the vehicle 200 is parked in a proper posture in the parking section A and stopped in each guidance pattern PTi (operation when leaving the vehicle) Is equivalent to a start reference state S ′, which is a state in which is started.

  The vehicle operation detection means 20 detects the content of the operation input to the vehicle 200, but the operation input to the vehicle 200 by the driver appears as a corresponding behavior of the vehicle 200. Instead of detecting the content itself, it may be detected as a behavior of the vehicle 200. In this case, vehicle behavior detection means for detecting the behavior of the vehicle 200 may be provided instead of the vehicle operation detection means 20.

  Then, the navigation image control unit 50 ′, when reproducing the parking operation navigation image Ni, changes the operation change stored in the parking operation navigation image Ni, with the content of the input operation to the vehicle 200 detected by the vehicle operation detecting means 20 being performed. Opposite operation contents ("reverse" for "forward", "forward" for "reverse", "forward", "left steering" for the operation contents for each reference point Pj (operation contents recorded in the parking operation navigation image Ni) ”For“ right steering ”and“ left steering for “right steering”), the reproduction of the parking operation navigation video Ni is controlled.

  That is, since the recorded parking navigation image Ni corresponds to the operation at the time of leaving, this parking navigation image Ni is simply reversed in time series so that it can be seen as the parking navigation image Ni at the time of entering. If the operation contents ("forward", "backward", "left steering", "right steering") displayed there are still the operation contents at the time of recording, the parking navigation is reproduced in reverse. The movement of the image Ni and the behavior of the vehicle corresponding to the displayed operation content do not match.

  Therefore, when the navigation video control unit 50 ′ reversely reproduces the parking navigation video Ni, the recorded navigation content is converted into the operation content having the opposite behavior and displayed, so that the parking navigation is reproduced in reverse. The movement of the image Ni and the behavior of the vehicle corresponding to the displayed operation content can be matched.

  When recording the operation at the time of delivery, the driver performs a specific operation (for example, “second operation”) at a certain operation change reference point P (for example, the second operation change reference point P2). The vehicle is moved to the next operation change reference point (third operation change reference point P3) in accordance with the specific operation, and the operation change reference point (third operation change reference point P3) after the movement is moved. The driver performs the next specific operation (for example, referred to as “third operation”), and moves the vehicle to the next operation change reference point (fourth operation change reference point P4) according to the specific operation. Thus, in time series, the operation is decided first, and then the vehicle moves according to the operation. So that the navigation image Ni is recorded.

  However, when the parking navigation image Ni recorded in this way is reversed and reproduced in time series, first, an image of the vehicle moving at the operation change reference point P4 is displayed, and then necessary for the movement. The operation (third operation) becomes clear (the operation content (operation content indicating the opposite behavior to the recorded operation content) is displayed), and the parking navigation video Ni indicating the movement state and the movement state are displayed. The display order of the instruction contents of the operation required for generating them is reversed in time series, and the instruction of the appropriate operation contents cannot be displayed.

  Therefore, the operation content recorded at each operation change reference point P at the time of recording has a behavior opposite to the behavior due to the operation content at the previous operation change reference point P in time series at the time of recording. The navigation video control unit 50 'performs control so that the operation content to be presented is displayed.

  In addition, the reproduction control of the parking operation navigation image Ni performed by the navigation image control unit 50 ′ includes the control of reproducing the parking operation navigation image Ni in reverse or stopping the reverse reproduction, and the control of the reproduction speed when reproducing the parking operation navigation image Ni. (Normal playback speed, fast-forward playback speed (faster than normal playback speed), reverse playback (reverse playback, reverse with normal playback speed), fast reverse playback speed (reverse playback) ))) Etc. are also included.

  Further, the display control unit 62 divides the display area of the video display means 63 into two, and the overhead view image Q1 obtained by the camera video processing unit 15 and the parking operation navigation video reversely reproduced by the navigation video control unit 50. The video display means 63 is controlled so that Ni is separately displayed in the two display areas D1 and D2 of the video display means 63. The parking operation navigation video Ni is before the timing is input to the start switch 43. Therefore, the driver determines whether the vehicle 200 is set to the start reference state S by determining whether the driver has an overhead image Q1 (camera 10) displayed in one of the divided display areas D1 of the video display means 63. And the composite image is processed into a single overhead image Q1 by image processing), and the driver views the overhead image Q1. By performing an input to the start switch 43 at a timing when it is determined that the vehicle 200 is set to the start reference state S ′, the reverse operation of the parking operation navigation image Ni displayed in one of the divided display areas D2 of the image display means 63 is reproduced. Can be started.

  In the parking navigation system 100 ′ of this embodiment, the navigation video control unit 50 ′ reproduces the parking operation navigation video Ni between the operation change reference points Pj to P (j−1), and each operation change reference point P The operation at the operation change reference point P (j−1) at the corresponding timing of the parking operation navigation video Ni is performed while the vehicle 200 detected by the vehicle operation detection means 20 is temporarily stopped in (j−1). When the information (parking operation content information) K (j−1) explaining the content of the content (the content of the operation showing the behavior opposite to the behavior due to the operation at the time of recording) is matched, the parking operation navigation video Ni is paused. Transition from state to playback state.

  The parking operation navigation image Ni used in the parking navigation system 100 ′ is modeled as described above. Specifically, the parking operation navigation image Ni is expressed two-dimensionally as seen from above. It is an animation image.

  About the area | region around the vehicle 200, it has drawn to the range wider than the bird's-eye view image Q1 displayed on the division | segmentation display area D1.

  Further, in this parking navigation system 100 ′, one display area D 1 of the divided display areas of the video display means 63 is displayed in the period before the parking navigation changeover switch 41 receives an input for starting the parking navigation mode M. As described above, the navigation video control unit displays the bird's-eye view image Q1 and displays the video (camera video) Q0 before the viewpoint conversion processing is performed by the camera video processing unit 15 in the other region D2. 50 ′ controls the display control unit 62.

  Further, the video display means 63 includes a touch sensor in its display area, a parking navigation switch 41, a guidance pattern selection switch 42 (a parking mode selection switch 42a and a parking pattern selection switch 42b), a start switch 43, and a recording / reproduction switching switch. Reference numeral 44 denotes an icon displayed in this display area (the parking navigation switch 41 is an icon in which the letter “P” is placed in a rectangle, and the guidance pattern selection switch 42 is a horizontally long rectangle as shown in FIGS. The icons with the characters "Left Parallel", "Right Parallel", "Left Column" or "Right Column" and "Narrow" or "Wide" respectively displayed therein, and the start switch 43 is a horizontally long rectangle as shown in FIG. Icon with “Start” or “Stop” displayed inside, recording / playback As shown in FIG. 22, the switch 44 is an icon in which characters of “REC mode” representing the recording mode and characters of “PKB mode” representing the playback mode are displayed in a horizontally long rectangle, respectively. It is comprised by the said touch sensor of the corresponding part.

  Further, in this parking navigation system 100 ′, the parking operation navigation video Ni includes information L indicating the part of the vehicle 200 to which attention should be paid during the parking operation for each operation change reference point Pj. The information L representing the part to be paid attention is not superimposed on the parking operation navigation image Ni itself, but corresponds to the vehicle mark 200 in the overhead image Q1 displayed adjacent to the parking operation navigation image Ni. The display control unit 62 controls the display so that it is superimposed on the part.

  As described above, in the parking navigation system 100 ′ according to the second embodiment shown in FIG. 1, as shown in FIG. 3, the main navigation video controller 50 ′ and the like are actually carried out by the CPU 83 ′.

  That is, the navigation video control unit 50 ′, the parking operation navigation video recording unit 31 and the display control unit 62 in FIG. 1 correspond to the CPU 83 ′ of the camera ECU 80 ′ in the parking navigation system 100 ′ having the specific configuration shown in FIG. The camera video processing unit 15 in FIG. 1 corresponds to the image processing unit 82 in FIG.

  1 corresponds to the vehicle information acquisition unit 21 in FIG. 3, the navigation video storage unit 30 in FIG. 1 corresponds to the flash memory 84 in FIG. 3, and the memory 61 in FIG. The video display means 63 in FIG. 1 corresponds to the monitor 64 in FIG. 3, and the audio control unit 66 in FIG. 1 corresponds to the audio output unit 85 in FIG.

  In FIG. 3, components having the same reference numerals as those in FIG. 1 are the same as the corresponding components described in FIG.

  Next, the operation of the parking navigation system 100 ′ of the present embodiment will be described with reference to the flowcharts shown in FIGS. 4 and 5 and display examples on the monitor 64 shown in FIGS. 21 to 48.

  First, as shown in FIG. 21, the navigation video control unit 50 ′ controls the display control unit 62 so that the display control unit 62 divides the display area of the video display means 63 into two left and right display areas D1 and D2. .

  In the period before the parking navigation mode M is started, the video Q0 taken by the front camera 12 is displayed in the right display area D2, and the left display area D1 The bird's-eye view image Q1 obtained by the camera image processing unit 15 converting the surrounding image Q0 of the vehicle 200 photographed by all the cameras 10 is displayed.

  The bird's-eye view image Q1 is displayed by cutting out only a region near the vehicle 200 around a rectangular vehicle mark 200 imitating the vehicle 200 (this vehicle mark is also given the same reference numeral as the vehicle 200). In addition, the area | region where the vehicle mark 200 has stopped among the bird's-eye view images Q1 is in the parking area A partitioned off with the white line.

  In other words, in this embodiment, the state in which the vehicle 200 is parked in the parking section A is used as a reference for operation start, and the operation content from the parking section A to the completion of leaving is recorded as a parking navigation image. The state in which the parking navigation video is reversed in chronological order and the exit is completed (a state in which the vehicle is out of the parking section A) (a state in which the vehicle 200 is stored in the parking section A). By performing the reproduction directed to the vehicle, the guidance display of the parking operation for storing the vehicle in the parking section A from the outside of the parking section A is performed.

  The vehicle mark 200 displayed in the bird's-eye view image Q1 includes camera marks 11, 12, 13, 14 (this camera mark is also located at a position corresponding to the cameras 11, 12, 13, 14 installed on the vehicle 200). , The same reference numerals as those of the cameras 11, 12, 13, and 14) are displayed, and the video displayed in the display area D2 on the right side of the camera marks 11, 12, 13, and 14 is captured. The camera mark (front camera mark 12 in FIG. 21) corresponding to the camera (front camera 12 in FIG. 6) is displayed in a color distinguishable from other camera marks.

  These displays are performed by the navigation video control unit 50 ′ controlling the display control unit 62.

  The parking mark changeover switch 41 is displayed on the vehicle mark 200 in the bird's-eye view image Q1, and an input for the driver of the vehicle 200 or the like to start parking operation guidance (parking navigation mode M) is input to the parking navigation changeover switch 41. When input (touching the parking navigation switch 41) (step 11 (# 11) in FIG. 4), the parking navigation switch 41 changes from a yellow display indicating a non-selected state to an orange display indicating a selected state. The input is input to the navigation video control unit 50 ′, whereby the navigation video control unit 50 ′ records and reproduces the “REC mode” icon 44 a and the “PKB mode” icon 44 b as shown in FIG. The changeover switch 44 is displayed in the right display area D2. At this time, the parking navigation switch 41 has been deleted.

  Then, it waits for the driver to select either the recording mode or the reproduction mode (in FIG. 4, (# 12 → # 19 → # 12 →...)).

  When the driver touches the “REC mode” icon 44a and selects the recording mode, the “REC mode” icon 44a switches from the non-selected gray display to the selected blue display for a certain period of time. After the elapse of time, the navigation video control unit 50 ′ performs the recording mode (# 13) operation.

  Specifically, as shown in FIG. 23, in order to cause the driver to input the guidance pattern PTi corresponding to the parking operation navigation image Ni to be recorded in the navigation image storage unit 30 and to set the name, etc. A parking mode selection switch 42a for specifying the parking mode PM of the guidance pattern selection switch 42 is displayed in the display area D2.

  Here, in the case of the guidance pattern PT for left parallel parking (PM1), the driver touches the parking mode selection switch 42a for “left parallel parking”, so that the parking mode PM1 for “left parallel parking” is selected. In the case of the right parallel parking (PM2) guidance pattern PT, the driver touches the parking mode selection switch 42a for “right parallel parking” to select the parking mode PM2 for “right parallel parking”, and left parallel parking. In the case of the guide pattern PT of (PM3), the driver touches the parking mode selection switch 42a of “left parallel parking”, so that the parking mode PM3 of “left parallel parking” is selected and right parallel parking (PM4). In the case of the guide pattern PT, the driver touches the parking mode selection switch 42a for “right column parking”, and the parking mode PM4 for “right column parking” is selected.

  Note that the selected parking mode selection switch 42a switches from the gray display in the non-selected state to the blue display in the selected state, and then disappears after a predetermined time has elapsed.

  And parking mode PM selected by the driver is registered as an element which constitutes guidance pattern PT (# 14 of Drawing 4).

  Subsequently, a parking pattern selection switch 42b for specifying the parking pattern PP in the guidance pattern selection switch 42 is displayed (FIG. 24).

  Here, in the case of the guidance pattern PT when the road on which the vehicle 200 is located when the vehicle is completed is narrow (PP1), the driver touches the “narrow” parking pattern selection switch 42b so that the road width In the case of the guidance pattern PT when the “narrow” parking pattern PP1 is selected and the road width is wide (PP2), the driver touches the “wide” parking pattern selection switch 42b, so that the road width “wide” is parked. The pattern PP2 is selected, and the selected parking pattern PP is registered as an element constituting the guidance pattern PT (# 15 in FIG. 4).

  The selected parking pattern selection switch 42b switches from the non-selected gray display to the selected blue display, and then disappears after a predetermined time has elapsed.

  And the guidance pattern PTi is specified by the combination of the parking mode PM and the parking pattern PP, and the parking operation navigation video Ni recorded from now on is associated with the specified guidance pattern PTi. In the following description, it is assumed that the guidance pattern PT1 corresponding to the parking mode is left parallel parking (PM1) and the parking pattern is wide (PP1).

  Prior to that, a name can be assigned to this guidance pattern for the purpose of specifying the PTi later when searching for the parking operation navigation video Ni. For example, as shown in FIG. In the lower area of the display area D2, the name of each guidance pattern PTi (in the figure, “Hospital” "(Name of hospital parking lot)" can be registered.

  In this way, after the guidance pattern PTi corresponding to the parking operation navigation image Ni to be recorded is registered, the start switch 43 (in FIG. 26, the start icon (start SW) 43a or the stop icon (stop SW) 43b) (step # 16 → # 21 → # 16 → ... in FIG. 4).

  When the driver starts the delivery operation, the driver returns the parking wheel A to the neutral position or returns the transmission gear stage to the neutral position or the parking position, if necessary. Returning to the initial state before starting the operation, this position and state is a reference state for starting the exit operation from the parking section A, and is a start reference state S ′ (completion state of the entering operation into the parking section A) Corresponding to the parking completion state E).

  Then, when the driver touches the start icon 43a shown in FIG. 26, the start icon 43a is switched from the non-selected gray display to the selected blue display, and then disappears after a certain period of time. The recording of the operation content input and detected by the vehicle operation detection means 20 starts.

<Starting reference state S ′> Matches the completion reference state E at the time of the warehousing operation No operation at this time point. After the start icon 43a disappears, as shown in FIG. A “REC” mark 47 indicating that recording is in progress is displayed blinking in red, and an “interrupt” icon 46a for inputting an instruction to interrupt recording and a “complete” icon 46b for inputting an instruction to complete recording are displayed. Is done.

  In addition, during the period until the operation content is actually detected by the vehicle operation detection means 20, the text information “Please start the exit operation” prompting the start of the exit operation is displayed.

  When the recording starts as shown in FIG. 27, the details of the operation performed on the vehicle 200 by the driver are recorded (# 17 in FIG. 4). The operation content on the vehicle 200 is detected by the vehicle operation detection means 20, and the detected operation content is output to the parking operation navigation video recording unit 31 by the navigation video control unit 50 '. The parking operation navigation video recording unit 31 A display area in a parking operation navigation video Ni (shown in FIGS. 42 to 48 to be described later) or the like, which is a bird's-eye view schematically representing the behavior of the vehicle 200 corresponding to each operation content based on the input operation content The video displayed on D2 (like the image in the right display area in FIG. 13) is generated, and the generated parking operation navigation video Ni is recorded in the navigation video storage unit 30 (# 17 in FIG. 4). .

  In the present embodiment, as the guidance pattern PT1, the parking mode is left parallel parking (PM1), and the parking pattern is a road pattern (PP1) corresponding to the wide road (PP1) (“hospital” is set as the name of the guidance pattern). Therefore, when an operation for entering (parking) a vehicle in the parking section A is performed later, it is necessary to unload the vehicle 200 from the parking section A with a leaving operation that results in such a guidance pattern. is there.

  That is, first, as shown in FIGS. 28 and 29, the driver advances the vehicle 200 straight ahead (a neutral position where neither right nor left steering is performed) by a predetermined distance.

  Then, the content of the operation input by the driver to the vehicle 200 (steering wheel neutral, transmission gear position with either forward position as the forward position) is detected by the vehicle operation detecting means 20, and the operation change reference The content of the operation on the vehicle 200 at the point P1 (parking operation content information K1) is set as a parking operation navigation image N1 representing the behavior of the vehicle 200 according to this operation, and the navigation operation control unit 50 ′ performs the parking operation navigation image recording unit Is output to 31 and recorded.

<Operation change reference point P1>
Parking operation information K1
-Steering wheel neutral-Transmission gear position forward position-Predetermined distance forward And at a position where the vehicle 200 has advanced by a predetermined distance, as shown in FIG. When the steering of the maximum steering angle is input counterclockwise, the vehicle 200 moves forward while turning to the left as shown in FIG. 31, and the position where the vehicle 200 has completely left the parking section A as shown in FIG. The vehicle stops at a position that is orthogonal to the parking posture in the parking section A).

  Then, this operation content is detected by the vehicle operation detection means 20 and is the content of the operation on the vehicle 200 (parking operation content information K2) at the operation change reference point P2, and represents the behavior of the vehicle 200 according to this operation. The parking operation navigation video N2 is output to the parking operation navigation video recording unit 31 and recorded by the navigation video control unit 50 ′.

<Operation change reference point P2>
Parking operation information K2
-Steering wheel left maximum steering-Transmission gear position is forward position-Predetermined distance forward / stop And, at the stop position shown in FIG. 32, the driver returns the steering wheel of the vehicle 200 to the neutral position (FIG. 33).

  Then, this operation content is detected by the vehicle operation detection means 20 and is the content of the operation to the vehicle 200 (parking operation content information K3) at the operation change reference point P3, and represents the behavior of the vehicle 200 according to this operation. The parking operation navigation image N3 is output and recorded in the parking operation navigation image recording unit 31 by the navigation image control unit 50 ′.

<Operation change reference point P3>
Parking operation information K3
Steering wheel neutral The state shown in FIG. 33 is a completion reference state E ′ that is a reference state for the completion of the leaving operation from the parking section A (a start reference that is a reference for the start of the warehousing operation in the parking section A). Therefore, the driver touches the “complete” icon 46b shown in the display area D2 to end the recording mode (# 18 in FIG. 4). At this time, after the “complete” icon 46b is switched from the gray display in the non-selected state to the blue display in the selected state, it disappears after a lapse of a predetermined time.

  Further, the “REC” mark 47 displayed in red blinking in the display area D2 is turned off (FIG. 34), and the display returns to the display shown in FIG. 21 after a predetermined time has elapsed.

  In the above recording mode, a schematic representation of the behavior of the vehicle 200 from the start reference state S ′ (completion reference state E) to the operation change reference point P1 is recorded in the navigation video storage unit 30 as the parking operation navigation video N1. Then, a schematic representation of the behavior of the vehicle 200 from the operation change reference point P1 to the operation change reference point P2 is recorded in the navigation video storage unit 30 as the parking operation navigation video N2, and the operation change from the operation change reference point P2 A schematic representation of the behavior of the vehicle 200 up to the reference point P3 is recorded as a parking operation navigation image N3 in the navigation image storage unit 30, and the operation change reference point P3 is followed by a completion reference state E ′ (one in the start reference state S). Then, when the “completion” icon 46b is touched and the recording mode is ended) That the dynamic (no substantial behavior) schematically showing is recorded in the navigation image storage unit 30 as the parking operation navigation image N4.

  The parking operation navigation video Ni also includes parking operation content information Ki detected by the vehicle operation detecting means 20.

  Then, the navigation video control unit 50 ′ reads out the parking operation navigation video Ni (the recording order is N1 → N2 → N3 → N4) obtained from the recording from the navigation video storage unit 30 and is time-series. (The order of regeneration is N4 → N3 → N2 → N1), and the completion reference state E ′ at the time of delivery shown in FIG. 34 causes the vehicle 200 to enter the parking section A. In this case, the start reference state S becomes the reference for starting the warehousing operation, and when the start reference state S ′ at the time of leaving shown in FIG. 27 causes the vehicle 200 to enter the parking section A, the reference for completion of the warehousing operation. The completion reference state E becomes.

  The start of the recording mode described above is an operation after the start SW 43a is input in the input wait of the start SW 43a or the stop SW 43b (# 16 → # 21 → # 16 →...) In FIG. When the SW 43b is input, the state shown in FIG. 21 (the state before the transition to the parking navigation mode M and the transition to the parking navigation mode M can be selected; waiting for input of the parking navigation switch 41 Return to (# 11)).

  When the driver touches the “PKB mode” icon 44b in the state shown in FIG. 22 (recording mode or reproduction mode waiting to be selected) (# 19 in FIG. 4), navigation is performed. The video controller 50 ′ performs the operation in the playback mode (# 20 in FIG. 4).

  Actually, since the state shown in FIG. 21 is a parking state, the parking operation is not started from this state, and the state in which the parking operation is started is a state in which the vehicle 200 is outside the parking section A, That is, for example, the parking operation is started from the state shown in FIG.

  Therefore, for example, when the parking navigation switch 41 is touched in the state shown in FIG. 35 and the parking navigation mode M is started, the display control unit 62 displays the right side of the video display means 63 as shown in FIG. When the “REC mode” icon 44a and the “PKB mode” icon 44b are displayed in the area D2, and the “PKB mode” icon 44b is touched, the playback mode is selected (# 19 in FIG. 4). As in the recording mode, the guidance pattern PTi selection screen is displayed as shown in FIGS. 37 and 38, and the input of the parking mode PM for identifying the guidance pattern PTi (# 22 in FIG. 5) and the parking pattern PP are set. The navigation video control unit 50 ′ controls the display control unit 62 so as to wait for input (# 23 in FIG. 5).

  Specifically, when the guidance pattern PT1 of the left parallel parking (PM1) when the road width is narrow (PP1), the parking mode PMi is touched on the parking mode selection switch 42a of “left parallel parking” and “left The parking mode PM1 of "Parallel parking" is selected (# 22), and the parking pattern selection switch 42b of "Narrow road" is touched as the parking pattern PPi to select the parking pattern PP1 of "Narrow road" ( # 23).

Similarly, in the case of the guidance pattern PT2 which is right parallel parking (PM2) when the road width is narrow (PP1), the parking mode PMi is touched on the parking mode selection switch 42a of “right parallel parking” and “right parallel parking” is selected. Parking mode PM2 is selected (# 22), and the parking pattern selection switch 42b of “narrow road” is touched as the parking pattern PPi to select the parking pattern PP1 of “narrow road” (# 23). )
When selecting the guidance pattern PT3 which is left parallel parking (PM3) when the road width is narrow (PP1), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM3 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road narrow”, and the parking pattern corresponding to “road narrow” is selected. PP1 is selected (# 23).

  When selecting the guidance pattern PT4 that is right parallel parking (PM4) when the road width is narrow (PP1), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM4 corresponding to “parking” is selected (# 22), and further, the parking pattern PP1 corresponding to “narrow road” is selected by touching the parking pattern selection switch 42b of “narrow road” as the parking pattern PPi. Select (# 23).

  When selecting the guidance pattern PT5 that is left parallel parking (PM1) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM1 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road wide”, and the parking pattern corresponding to “road wide” is selected. PP2 is selected (# 23).

  When selecting the guidance pattern PT6 that is right parallel parking (PM2) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM2 corresponding to “parking” is selected (# 22), and further, the parking pattern PP2 corresponding to “wide road” is selected by touching the parking pattern selection switch 42b of “wide road” as the parking pattern PPi. Select (# 23).

  When selecting the guide pattern PT7 which is left parallel parking (PM3) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “left parallel parking” as the parking mode PMi, The parking mode PM3 corresponding to “parking” is selected (# 22), the parking pattern PPi is touched on the parking pattern selection switch 42b corresponding to “road wide”, and the parking pattern corresponding to “road wide” is selected. PP2 is selected (# 23).

  When selecting the guidance pattern PT8 that is right parallel parking (PM4) when the road is wide (PP2), touch the parking mode selection switch 42a corresponding to “right parallel parking” as the parking mode PMi, The parking mode PM4 corresponding to “parking” is selected (# 22), and the parking pattern PP2 corresponding to “wide road” is selected by touching the parking pattern selection switch 42b of “wide road” as the parking pattern PPi. Select (# 23).

  In addition to the eight basic guidance patterns PT1 to PT8 (above (1) to (8)), the parking guidance navigation image Ni to be reproduced includes individual guidance patterns PTi recorded in the recording mode. In FIG. 37 or FIG. 38, an icon (as a touch switch) such as “other candidate” is displayed so as to be selected (not shown in FIGS. 37 and 38). When the “candidate” icon is touched, as shown in FIG. 39, names corresponding to the individual guidance patterns PTi recorded in the recording mode (in FIG. 39, “home”, “hospital”, “convenience store”). ”,“ School ”,“ Bookstore ”,“ Pharmacy ”) 45 a, 45 b, 45 c, 45 d, 45 e, 45 f, and any one of these individual guidance parameters is displayed. So as to select the over emissions PTi, navigation image controller 50 reads out the information from the navigation video storage unit 30, and controls the display control unit 62.

  In FIG. 39, the icons of the names corresponding to the individual induction patterns PTi are represented by reference numerals 45a, 45b, 45c, 45d, 45e, and 45f, but these are induction pattern selection switches. In the block diagram, the guidance pattern selection switch 42 is included.

  In this way, when one of the guide patterns PTi is selected (# 22, # 23 in FIG. 5), as shown in FIG. 40, the start input wait (the start icon 43a or the stop icon 43b is touched). (A state in which it is in a standby state) (# 24 → # 26 → # 24 →... In FIG. 5).

  At this time, in the left display area D1 of the monitor 64, a frame X that is a parking target (hereinafter referred to as a parking target frame X) is displayed in a superimposed manner, for example, in red, and the parking target is displayed to the driver. The message “Please adjust parking space and start warehousing operation” is displayed, which is an instruction for prompting an operation to move the vehicle 200 so that the frame X is aligned with the parking area A to be stored.

  The parking target frame X displayed in the left display area D1 of the monitor 64 has a predetermined position / posture in advance with respect to the position / posture of the vehicle 200 when the parking mode is “left parallel” and the parking pattern is “hospital”. However, the display position and the display posture of the parking target frame X in the left display area D1 of the monitor 64 are set in advance for each parking mode and parking pattern.

  In accordance with the instruction displayed on the monitor 64, the driver moves the vehicle 200 so that the parking target frame X fits the parking area A to be stored. Specifically, the vehicle 200 is moved forward from the current position and the parking target frame X is adjusted to the parking area A1, or the vehicle 200 is moved backward from the current position and the parking target frame X is adjusted to the parking area A1.

  FIG. 41 shows a state in which the vehicle 200 is advanced from the current position and the parking target frame X is aligned with the parking section A1, and the driver who has confirmed this state on the monitor 64 touches the start icon 43a. Accordingly, the processing from step 24 (# 24) in FIG. 5 proceeds, and the navigation video control unit 50 ′ records the parking operation navigation video associated with the selected guidance pattern PTi recorded in the navigation video storage unit 30. Ni is read out to obtain a video that is reversed in time series from the time of recording, and the display control unit 62 is controlled to display the parking operation navigation video Ni that is reversed in time series in the right display area D2 of the monitor 64. This is displayed (# 25 in FIG. 5).

  On the other hand, when the driver touches the stop icon 43b (# 26 in FIG. 5), the navigation video control unit 50 ′ controls the display control unit 62, and the state shown in FIG. 21 (the transition to the parking navigation mode M). The display returns to the previous state and returns to the state in which the transition to the parking navigation mode M can be selected; waiting for input of the parking navigation switch 41 (# 11).

  The parking operation navigation image Ni that is touched by the start icon 43a and displayed (reproduced) in the right display area D2 of the monitor 64 is an image that is reversed in time series from the time of recording. The image is a parking operation navigation video N4.

  That is, as shown in FIG. 42, the parking operation navigation video N4 of the initial image is a state (position alignment) in which the vehicle 200 is set at a specific initial position (start reference state S) when the parking operation of the vehicle 200 is started. Is a schematic image showing the completed reference state E ′, which is a reference state for the completion of the leaving operation from the parking section A1.

  In the parking operation navigation image N4, an operation opposite to the parking operation content information K3 (an operation for returning the steering wheel from the left maximum steering state to the neutral state) at the previous operation change reference point P3 (the steering wheel is neutral) The operation to change the state to the maximum left steering state) is included as the parking operation content information K3 ′, and this parking operation content information K3 ′ (left turn steering) is displayed in the right display area D2.

  Further, a touch switch type “camera image switching” button is displayed in the right display area D2 of the monitor 64, and when this button is touched by the driver, an overhead view image displayed in the left display area D1. As shown in FIG. 43, Q1 is switched to an image Q14 that has been captured by the left camera 14 (image before the viewpoint is converted to an overhead image) Q14, and an image that has been captured by the camera 14 in this way. Since Q14 is an image that can be seen through to a deep area in the depth direction of the parking section A that was difficult to see in the overhead view image Q1, whether or not an obstacle exists in the deep area in the left display area of the vehicle 200 is determined. It can be visually recognized by the driver.

  In FIG. 43, when the touch switch type “all-around video switch” button displayed in the right display area D2 is touched by the driver, the image Q14 of the left camera 14 displayed in the left display area D1 is displayed. Switching to the overhead image Q1 returns to the state shown in FIG.

  From the state shown in FIG. 42, the driver moves leftward (counterclockwise) with respect to the steering wheel of the vehicle 200 in accordance with “left turn steering” which is the parking operation content information K3 ′ displayed in the right display area D2 of the monitor 64. Direction) Enter the maximum steering angle.

  The behavior of the left turn steering that occurs in the vehicle 200 by this operation is detected by the vehicle operation detection means 20, whereby the operation change reference point shifts from the start reference state S to the operation change reference point P3 and appears in the right display area D2. The displayed parking operation navigation image changes from N4 to N3.

  That is, in the parking operation navigation image N3, as shown in FIG. 44, the front wheel of the vehicle 200 displayed in the right display area D2 of the monitor 64 is steered to the left, and from the operation change reference point P3. The operation opposite to the parking operation content information K2 at the previous operation change reference point P2 (the operation for moving the transmission gear to the forward position and moving forward by a predetermined distance) (the operation for moving the transmission gear to the reverse position and moving backward by the predetermined distance) is performed. This is included as parking operation content information K2 ', and this parking operation content information K2' ("reverse by a predetermined distance") is displayed in the right display area D2.

  The driver who has seen the display on the monitor 64 shown in FIG. 44 changes the gear stage of the vehicle 200 according to the “reverse predetermined distance” which is the parking operation content information K2 ′ displayed in the right display area D2 of the monitor 64. At the reverse position, the vehicle 200 is moved backward by a predetermined distance.

  The behavior of the reverse of the predetermined distance generated by this operation in the vehicle 200 (reverse in the left-turn steering state) is detected by the vehicle operation detection means 20, and the vehicle 200 is retracted by the predetermined distance by the vehicle operation detection means 20. When this is detected, the operation change reference point moves from P3 to the operation change reference point P2, and the parking operation navigation image displayed in the right display area D2 changes from N3 to N2.

  It should be noted that the parking operation navigation video N3 that is reproduced while being reversed in time series changes from FIG. 44 to FIG. 45 and FIG.

  When the vehicle 200 moves backward by a predetermined distance and the parking operation navigation image changes from N3 to N2 (FIG. 46), the front wheels of the vehicle 200 displayed in the right display area D2 of the monitor 64 are in a neutral state and Parking operation content information K1 at the operation change reference point P1 immediately before the operation change reference point P1 that is the operation change reference point two times before the change reference point P2 (steering wheel neutral, transmission gear stage The parking operation content information K1 ′ (“neutral” includes the reverse operation to the forward position, the predetermined distance forward) (the steering gear is neutral, the transmission gear is in the reverse position, the predetermined distance backward) as the parking operation content information K1 ′. "Reverse predetermined distance") is displayed in the right display area D2.

  The driver who has viewed the display on the monitor 64 shown in FIG. 46 follows the steering wheel of the vehicle 200 according to the “neutral predetermined distance reverse” which is the parking operation content information K1 ′ displayed in the right display area D2 of the monitor 64. As shown in FIGS. 47 and 48, the vehicle 200 is moved backward by a predetermined distance.

  The neutral state of the steering wheel generated by this operation and the behavior of the backward movement (straight backward movement) of a predetermined distance are detected by the vehicle operation detection means 20, and the vehicle operation detection means 20 causes the vehicle 200 to be linearly moved by a predetermined distance. When it is detected that the vehicle has moved backward (position), the operation change reference point shifts from P2 to the operation change reference point P1, and the parking operation navigation image displayed in the right display area D2 changes from N2 to N1.

  When the vehicle 200 moves straight back by a predetermined distance and the parking operation navigation image changes from N2 to N1 (FIG. 48), the right-side display area D2 of the monitor 64 also includes text information that “the warehousing is completed”. It is displayed as parking operation content information K0 '.

  The operation change reference point P1 coincides with the start reference state S ′ at the time of delivery (the completion reference state E at the time of entry).

  That is, the vehicle 200 has been correctly stored in the parking section A1 by a simple operation that only requires an operation according to the parking operation navigation image Ni.

  Then, when the operation change reference point reaches P1 (completion reference state E at the time of warehousing), the navigation image control unit 50 ′ ends the display of the parking operation navigation image N1 and ends the parking navigation mode M. .

  Then, the display control unit 62 sets the display of the video display means 63 as the overhead image Q1 in the left display area D1 and the image taken by the front camera 12 in the right display area D2, as in FIG.

  The above description is a case where the guidance pattern PTi in the parking navigation mode M is a combination guidance pattern PT1 in which the parking mode PM is “left parallel” (PM1) and the parking pattern PP is “narrow” (PP1). In the case of other guidance patterns PT2 (PP1, PM2), PT3 (PP1, PM3),..., PT8 (PP2, PM4) and in the case of individual guidance patterns PTi recorded in the recording mode, the corresponding parking operation navigation images are also provided. Ni is different (parking operation navigation video N2 for the guidance pattern PT2, parking operation navigation video N3 for the guidance pattern PT3,..., Parking operation navigation video N8 for the guidance pattern PT8, and other individual guidance patterns PTi. Parking operation navigation video corresponding to However, the processing method of the control for reproducing and temporarily stopping the parking operation navigation video Ni is the same as in the case of reproducing and temporarily stopping the parking operation navigation video N1 in the guidance pattern PT1, and thus the description thereof is omitted. .

  According to the parking navigation system 100 ′ of the embodiment configured as described above, the vehicle operation (departure operation) is recorded in advance as the parking operation navigation image Ni in the recording mode, and then the recorded parking operation in the reproduction mode. Since the navigation video Ni is reversed and reproduced in chronological order, a parking operation can be presented by an operation opposite to that at the time of warehousing. Therefore, the parking area A that requires an individual parking operation (for example, a special parking operation) Home parking lots, hospital parking lots, convenience store parking lots, school parking lots, bookstore parking lots, pharmacy parking lots, etc.) By recording the exit operation in the recording mode in advance, when parking (entering) in such a parking section A after the next time, the parking operation navigation at the time of the recording is performed. In the playback mode, the playback video is read in reverse in time series so that the parking operation navigation video can be obtained with a simpler exit operation than the warehousing operation, and the necessary individual parking operation instructions can be displayed. It can be obtained more easily.

  According to the parking navigation system 100 ′ of the present embodiment, in addition to the effects described above, the same effects as the effects exhibited by the parking navigation system 100 of the above-described embodiments can be obtained.

  Although the parking navigation system 100 ′ of the second embodiment has been described as performing the reproduction in the direction reversed in time series from the time of recording when the parking operation navigation image Ni is reproduced, Whether the playback is reversed in time series as described above or the playback is performed in the same direction as the recording (forward direction not reversed in time series) as in the first embodiment, Since the recorded parking operation navigation image is determined depending on whether it is a record of the exit operation or a record of the entry operation, the parking operation navigation image itself is This parking operation navigation video will be played back later by recording as information whether the record is due to the exit operation or the entry operation. Reads the information of the record at the time of delivery or the record at the time of entry stored in the parking operation navigation video read out from the navigation video storage unit 30 by the parking operation navigation video recording unit 31, and based on the read information, You may make it determine automatically whether it is set as reproduction | regeneration reverse | reversed or reproduction | regeneration in a forward direction.

10, 11, 12, 13, 14 Camera 15 Camera image processing unit 20 Vehicle operation detection unit 30 Navigation image storage unit 31 Parking operation navigation image recording unit 44 Recording / playback switch 50 Navigation image control unit 62 Display control unit 63 Image display unit (Image display means)
DESCRIPTION OF SYMBOLS 100 Parking navigation system 200 Vehicle D1, D2 Display area Q1 obtained by dividing | segmenting Overhead image Ni Parking operation navigation image | video PTi Guidance pattern

Claims (11)

A camera that captures the surroundings of the vehicle,
A camera video processing unit that obtains a bird's-eye view image of the vicinity of the vehicle by performing viewpoint conversion processing on an image obtained by photographing with the camera;
Image display means for displaying an image;
Vehicle operation detecting means for detecting an operation input to the vehicle;
A parking operation in which the operation content detected by the vehicle operation detection means is recorded in a predetermined storage medium in association with the operation content as a parking operation navigation image that schematically represents the behavior of the vehicle corresponding to the operation content. A navigation video recording unit;
A recording / playback selector switch for switching between the recording mode and the playback mode;
When the recording / playback switch is switched to the recording mode, the parking operation navigation video recording unit is controlled to perform recording by the parking operation navigation video recording unit, and the recording / playback switching switch is operated in the playback mode. A navigation image for controlling the parking operation navigation image stored in the storage medium to be reproduced in accordance with an operation input to the vehicle detected by the vehicle operation detection means. A control unit;
2 obtained by dividing the display area of the image display means and dividing the overhead view image obtained by the camera image processing unit and the parking operation navigation image reproduced by the navigation image control unit. A parking navigation system, comprising: a display control unit that controls the image display means so as to be displayed separately in one display area. The parking operation navigation video recording unit is input to the vehicle from a start reference state that is a reference for starting an operation when the vehicle is moved into a predetermined parking target region to a completion reference state that is a reference for completing the operation. The content of the operation detected by the vehicle operation detection means is recorded in the storage medium in association with the operation content as a parking operation navigation image that schematically represents the behavior of the vehicle corresponding to the operation content. Is,
The navigation video control unit controls the parking operation navigation video stored in the storage medium to be played back in accordance with the recorded time series when the recording / playback changeover switch is switched to the playback mode. The parking navigation system according to claim 1, wherein: The parking operation navigation video recording unit is input to the vehicle from a start reference state that is a reference for starting an operation when leaving the vehicle from a predetermined parking target area to a completion reference state that is a reference for completing the operation. The content of the operation detected by the vehicle operation detection means is also recorded in the storage medium in association with the operation content as a parking operation navigation video that schematically represents the behavior of the vehicle corresponding to the operation content. In addition, the record at the time of entering and the record at the time of leaving are distinguished and recorded,
When the recording / playback changeover switch is switched to the playback mode, the navigation video control unit is configured to record a parking operation navigation video recorded when the parking operation navigation video is stored in the storage medium. Is reproduced in accordance with the recorded time series, and the parking operation navigation video recorded when leaving the parking operation navigation video stored in the storage medium is in the opposite direction of the recorded time series. The parking navigation system according to claim 2, wherein the operation contents recorded correspondingly are controlled to be reproduced as the opposite operation. The parking operation navigation video recording unit is provided for the vehicle from a start reference state to be a reference for starting the unloading operation when the vehicle is unloaded from a predetermined parking target area to a completion reference state to be a reference for completing the unloading operation. The content of the operation detected by the vehicle operation detection means input as a parking operation navigation image that schematically represents the behavior of the vehicle corresponding to the content of the operation, and a predetermined storage medium in association with the operation content To record,
The navigation video control unit responds to the parking operation navigation video stored in the storage medium in the opposite direction of the recorded time series when the recording / playback changeover switch is switched to the playback mode. The parking navigation system according to claim 1, wherein the operation content recorded in such a manner is controlled to be reproduced as an opposite operation. The navigation video control unit, when reproducing the parking operation navigation video in the playback mode, displays the parking operation navigation video as a vehicle in a series of vehicle movements between the start reference state and the completion reference state. Play between the operation change reference points corresponding to the timing at which the operation to change the behavior of each is to be input, pause at the operation change reference point,
When the content of the operation on the vehicle detected by the vehicle operation detection means matches the content of the operation to be reproduced, the parking operation navigation video is shifted from the pause state to the reproduction state. The parking navigation system according to any one of claims 1 to 4.   The parking operation navigation video is an animation video that is two-dimensionally viewed from above, and the area around the vehicle is drawn to a wider range than the overhead image. The parking navigation system according to any one of claims 1 to 5. A parking navigation switching switch for receiving an input of a start of a parking navigation mode for presenting an operation for guiding the vehicle to the parking target area;
A guidance pattern selection switch that receives an input of one of the plurality of guidance patterns of the vehicle;
A start switch for receiving an input of timing when the vehicle is set to the start reference state,
The parking operation navigation video recording unit records a predetermined guidance pattern in association with the parking operation navigation video,
The navigation video control unit presents a plurality of guidance patterns stored in the parking operation navigation video storage unit when receiving an input for starting the parking navigation mode to the parking navigation changeover switch, A parking operation navigation image corresponding to the guidance pattern input by the guidance pattern selection switch is read from the storage medium and detected by the vehicle operation detection means after the timing is input to the start switch. The parking according to any one of claims 1 to 6, wherein playback of the read parking operation navigation image is controlled in accordance with a content of the operation to the vehicle that has been performed. Navigation system.   The image display means includes a touch sensor in a display area, and at least one of the parking navigation switch, the guidance pattern selection switch, and the start switch corresponds to an icon displayed in the display area and the icon. The parking navigation system according to any one of claims 1 to 7, wherein the parking navigation system is configured by a touch sensor of the portion that has been selected. The parking navigation system according to any one of claims 1 to 8, wherein at least eight patterns (1) to (8) below are set as the plurality of guidance patterns.
(1) Left parallel parking when the road is narrow (2) Right parallel parking when the road is narrow (3) Left parallel parking when the road is narrow (4) Right parallel parking when the road is narrow (5) Wide road Left parallel parking when (6) Right parallel parking when the road is wide (7) Left parallel parking when the road is wide (8) Right parallel parking when the road is wide   The information which shows the site | part of the vehicle which should pay attention for every said operation change reference | standard point is added to the said parking operation navigation image | video, The any one of Claim 1 to 9 characterized by the above-mentioned. Parking navigation system.   A speaker that outputs information describing the content of the operation to be input added to the parking operation navigation video as audio information, and an audio control unit that controls output of the audio information to the speaker. The parking navigation system according to any one of claims 1 to 10, wherein the parking navigation system is any one of claims 1 to 10.

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