JP2013043505A - Parking assist apparatus and parking assist method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assist apparatus 100 that presents input support information enabling a driver to determine whether he/she has to cut a wheel in the other direction, when assisting parking of a vehicle.SOLUTION: The parking assist apparatus includes a control device 10 which performs: an input support function of making a display present the input support information in which a first parking space enabling the driver to park the vehicle without cutting the wheel in the other direction and/or a second parking space enabling the driver to park the vehicle when cutting the wheel in the other direction are/is superimposed on a bird's eye view image including a plurality of parkable spaces generated based on an taken image of the periphery of the driver's own vehicle, in the setting and input of a vehicle parking target space; and an input reception function of receiving the setting and input of the parking target space based on the presented input support information.

Description

  The present invention relates to a parking assistance apparatus and method for assisting parking by presenting a video around a host vehicle to a driver.

  With regard to this type of device, there is known a device that shows a bird's-eye view image including the host vehicle and that shows a parking space corresponding to the size of the host vehicle at a target parking position (Patent Document 1).

JP 2004-252837 A

  However, in the conventional apparatus, since only the parking space for one vehicle is displayed, it is not known whether the vehicle can be parked without turning over the empty space, or it cannot be parked without turning over. There was a problem.

  The problem to be solved by the present invention is that when the vehicle is parked in the parking target space, the driver can know whether the vehicle can be parked without turning back or cannot be parked without turning back. It is to provide a support device and a parking support method.

  The present invention can be parked if the first parking space and / or the vehicle turns over in a bird's-eye view image including a plurality of parking spaces generated based on captured images around the host vehicle. The above problem is solved by accepting a setting input of the parking target space after the input auxiliary information on which the second parking space is superimposed is presented on the display.

  According to the present invention, at the time of setting input of the parking target space, the parking space where the vehicle can be parked without turning back and / or the parking space which can be parked when the vehicle turns back is shown to the driver. The driver can know whether the vehicle can park without turning back or cannot park without turning back. As a result, it is possible to perform parking support with the contents corresponding to the actual empty space, and it is possible to accurately guide the host vehicle to the parking target space.

It is a block diagram which shows the structure of the parking assistance system which concerns on embodiment to which this invention is applied. It is a flowchart which shows the procedure of the parking assistance process by the parking assistance system which concerns on embodiment to which this invention is applied. It is a figure which shows an example of arrangement | positioning of the camera of the parking assistance system which concerns on this embodiment to which this invention is applied. It is a figure for demonstrating the 1st display mode of the input auxiliary information at the time of parallel parking in the parking assistance system which concerns on embodiment to which this invention is applied. It is a figure for demonstrating the 2nd display aspect of the input auxiliary information at the time of parallel parking in the parking assistance system which concerns on embodiment to which this invention is applied. It is a figure for demonstrating the 3rd display aspect of the input auxiliary information at the time of parallel parking in the parking assistance system which concerns on embodiment to which this invention is applied.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, the parking assistance device according to the present invention is applied to a parking assistance system that guides the host vehicle to a parking target space set by the driver in the selected parking mode (left and right parallel parking). I will explain.

  FIG. 1 is a diagram illustrating a block configuration of a parking assistance system 1000 including a parking assistance device 100 according to the present embodiment.

  As shown in FIG. 1, a parking assistance system 1000 according to the present embodiment includes a camera 1a to 1d, an image processing device 2, a parking assistance device 100, a vehicle controller 200, a vehicle drive system 400, and a steering 500. Meter display 600 and navigation display 600.

  As shown in FIG. 1, the control device 10 of the parking assistance device 100 according to the present embodiment provides a bird's-eye view of a first parking space in which a vehicle can be parked without turning back and / or a second parking space that can be parked if the vehicle turns back. The input auxiliary information superimposed on the display is presented on the display, and a ROM (Read Only Memory) 12 storing a program for guiding the host vehicle to the set parking target space and the program stored in the ROM 12 are executed. Thus, a CPU (Central Processing Unit) 11 as an operation circuit that functions as the parking assist device 100 and a RAM (Random Access Memory) 13 that functions as an accessible storage device are provided.

  The parking assistance device 100 can include a parking assistance control unit. The parking assistance control unit includes shift range information from the AT / CVT control unit (vehicle controller 200), wheel speed information from the ABS control unit (vehicle controller 200), and steering angle from the steering angle sensor control unit (vehicle controller 200). Information, instruction information related to automatic steering to the EPS control unit (vehicle controller 200), instructions to the meter control unit (vehicle controller 200), etc. based on engine speed information from the ECM (vehicle controller 200), etc. Calculate and output information. The content and method of parking assistance are not particularly limited, and a method known at the time of filing can be appropriately applied.

  The drive system 400 is a vehicle drive mechanism group for carrying out parking assistance, and is driven based on a control command signal acquired from the parking assistance device 100 to guide the host vehicle to the parking target space. For example, the EPS motor included in the drive system 400 drives the power steering mechanism included in the steering 500 based on the control command signal acquired from the parking assist device 100 to guide the host vehicle to the parking target space.

  The parking assistance device 10 of the present embodiment is connected by a CAN (Controller Area Network) or other vehicle-mounted LAN so that information can be exchanged with each configuration of the parking support system 1000 shown in FIG. 1 and other vehicle-mounted devices. ing.

  The control device 10 of the parking assistance device 100 according to the present embodiment includes software for realizing a display control function, a parking mode selection function, a parking target space setting function, and a vehicle guidance function, and the hardware described above. Each function can be executed by cooperation.

  Hereinafter, parking support processing realized by executing each function of the parking support system 1000 will be described with reference to FIGS.

  FIG. 2 is a flowchart showing a control procedure of the parking assistance system 1000 according to this embodiment of the present invention. FIG. 3 is a diagram illustrating cameras 1a to 1d that acquire captured images used for generating input auxiliary information and a virtual viewpoint of the overhead image, and FIGS. 4 to 6 are examples of input auxiliary information displayed on the display 600. FIG.

  When an ON signal is input to an IPA activation switch (IPA: Intelligent Parking Assist System), the parking assist device 100 according to the present embodiment activates the parking assist device 100 and starts a parking assist process. The mode of the IPA start switch is not particularly limited, and the IPA start switch of the present embodiment can be obtained by assigning an IPA start function to various switches provided around the steering 500.

  In step 10, the control device 10 of the parking assistance device 100 according to the present embodiment determines whether or not the parking mode has been selected. The parking mode in the present embodiment includes at least a left and right parallel parking mode. The control device 10 of the parking assistance device 100 acquires selection information for specifying the parking mode selected by the driver based on an input operation of a touch panel display 600 or a steering switch (not shown). When the user performs an input operation for confirming the selected information, it is determined that the selection of the parking mode is completed based on the input operation. The method for determining the selection of the parking mode and the completion of the selection is not particularly limited, and a method known at the time of filing can be appropriately used.

  In subsequent step 11, the control device 10 determines whether or not it is a stage where setting input for setting the parking target space is performed (whether or not it is a stage where setting input should be waited). When the user operates the setting input start switch for setting the parking target space, and the control device 10 receives a setting input start command for setting the parking target space, the process proceeds to step 12. The setting input start switch for setting the parking target space is not particularly limited, and a steering switch (for example, an audio switch provided on the steering wheel, an inter-vehicle distance control switch, or the like) can be used. When the determination signal for starting the setting input is assigned to the input signal of the steering switch, and the steering switch corresponding to the determination signal is operated, the control device 10 stands by for the setting input of the parking target space setting.

  And in step 12, the control apparatus 10 of the parking assistance apparatus 100 which concerns on this embodiment produces | generates the 1st input auxiliary information containing the 1st parking space which can park a vehicle without turning over according to the selected parking mode. To do.

  The first auxiliary input information of the present embodiment is an image obtained by superimposing a first parking space in which a vehicle can be parked without being turned over on an overhead image including a plurality of parking spaces generated based on captured images around the vehicle. Information. The parking support apparatus 100 defines a first parking space for each parking pattern based on the size of the host vehicle (vehicle width and length), the rotation radius of the host vehicle, and the like, and stores them in the ROM 12 in advance.

  Although not particularly limited, the bird's-eye view image included in the auxiliary input information of the present embodiment is generated based on the captured images acquired by the cameras 1a to 1d provided on the vehicle. FIG. 3 is a diagram illustrating an arrangement example when the cameras 1a to 1d are mounted on the host vehicle. In the example shown in FIG. 3, the camera 1a is arranged on the front grille of the vehicle, the camera 1d is arranged near the rear bumper, and the cameras 1b and 1c are arranged below the left and right door mirrors. The cameras 1a to 1d use wide-angle cameras with a wide viewing angle. The image processing device 2 performs viewpoint conversion of the captured images of the cameras 1 a to 1 d and generates an overhead image viewed from the virtual viewpoint 20. Image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Satoshi Chimino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of the Society of Automotive Engineers of Japan, 116-07 (2007-10), 17- 22. ”etc. may be used.

  In the next step 13, the control device 10 of the parking assistance device 100 according to the present embodiment presents the input auxiliary information generated in step 11 on the display 600 when the parking target space of the vehicle is set and input.

  FIG. 4 shows an example of the first input auxiliary information A1 in the case of parallel parking, in which a first parking space where the vehicle can be parked without being turned over is superimposed. As shown in the figure, the parking assistance device 100 of the present embodiment includes an overhead image around the own vehicle based on the captured images of the cameras 1a to 1d mounted on the own vehicle, a parking space around the own vehicle, The first input auxiliary information A1 including the first parking space P that can be parked in parallel without turning back and the monitoring video B1 around the host vehicle are presented on the navigation display 600. The first input auxiliary information A1 may include a setting frame indicating a parking space at a predetermined position with respect to the host vehicle. In the example shown in each drawing, the first input auxiliary information A1 is arranged on the left side of the navigation display 600, and the monitoring video B1 around the host vehicle is arranged on the right side thereof.

  The control device 10 of the parking assistance device 100 according to the present embodiment generates a monitoring image of the same virtual viewpoint as the overhead image based on the captured images around the vehicles of the cameras 1a to 1d, and the display 600 together with the input auxiliary information A1. To display. Thus, the driver who performs the parking operation while viewing both the input auxiliary information A1 and the monitoring video B1 by using the input auxiliary information A1 and the monitoring video B1 that are simultaneously displayed on the display 600 as images viewed from the same virtual viewpoint. It is possible to prevent the user from feeling uncomfortable. As a result, the driver can accurately perform the input operation according to the first input auxiliary information A1 while visually confirming the surroundings directly or by using the monitoring video B1.

  In step 14, the driver determines whether or not the vehicle can be parked in the parking target space based on the first input auxiliary information A1 including the first parking space P in which the vehicle can be parked in parallel without turning back. Input a parking target space determination command via a predetermined switch. On the other hand, if the vehicle cannot be parked, a request command for requesting display of the second input auxiliary information including the second parking space that can be parked by turning back is input via a predetermined switch. When the command for determining the parking target space is input, the process proceeds to Step 20, and when the request command for requesting the display of the second input auxiliary information including the second parking space is input, the process proceeds to Step 15.

  In the example of the first input auxiliary information A1 shown in FIG. 4, since the first parking space Pa1 overlaps the parked vehicle V1, the driver determines that the vehicle cannot be parked in the parking target space without turning over. Then, a request command for displaying the second input auxiliary information including the second parking space is input, and the process proceeds to step 15.

  In step 15, the control device 10 of the parking assistance device 100 according to the present embodiment generates the second input auxiliary information A2 in the case of parallel parking, in which the second parking space that can be parked if the vehicle turns over is superimposed. . The parking assistance apparatus 100 defines a second parking space for each parking pattern based on the size of the host vehicle (vehicle width and length), the rotation radius of the host vehicle, and the like, and stores them in the ROM 12 in advance.

  In the next step 16, the control device 10 of the parking assistance device 100 according to the present embodiment presents the second input auxiliary information generated in step 15 on the display 600.

  FIG. 5 shows an example of second input auxiliary information A2 in the case of parallel parking, in which a second parking space that can be parked if the vehicle turns over is superimposed. As in the case of the first input auxiliary information A1 without switching, the second input auxiliary information A2 is arranged on the left side of the navigation display 600, and the monitoring video B1 around the host vehicle is arranged and presented on the right side thereof. In addition, the presentation aspect of 1st input auxiliary information A1 and A2 is not specifically limited, As shown in FIG. 6, 3rd input auxiliary information A3 which superimposed both 1st parking space Pa1 and 2nd parking space Pa2 is shown. The first parking space Pa1 and the second parking space Pa2 may be alternately displayed at a predetermined cycle.

  In step 17, the driver determines whether or not the vehicle can be parked if the vehicle turns back to the parking target space based on the input auxiliary information A2 including the second parking space P that can be parked in parallel if the vehicle turns back. If parking is possible by turning back, a command for determining a parking target space is input via a predetermined switch, and the process proceeds to step 18. When the second input auxiliary information A2 shown in FIG. 5 is confirmed, since the second parking space Pa2 does not overlap the parked vehicle V1, it can be determined that the vehicle can be parked in the parking target space by turning over. The parking target space determination command can also be input by touching the second parking space Pa2 displayed on the touch panel display 600.

  On the other hand, if it is determined in step 17 that the user cannot park even if the user turns back, a parking target space determination cancellation command is input via a predetermined switch. If parking is not possible even after switching back, it is impossible to park in that parking target space. Enter a parking target space decision cancel command to temporarily cancel the execution of parking support and enter another parking target. The process after step 10 is repeated searching for a space.

  In step 13 described above, the first input auxiliary information A1 including the first parking space Pa1 in which the vehicle can be parked without turning back, and the second input auxiliary information including the second parking space Pa2 in which parallel parking is possible if the vehicle turns over. Information A2 can be displayed alternately at a predetermined cycle. In this case, the processing of steps 12 to 14 and the processing of steps 15 to 17 described above can be performed simultaneously. Specifically, the first auxiliary input information A1 including the first parking space Pa1 and the second parking space Pa2 are alternately displayed on the touch panel display 600, and the input auxiliary information A1, A2 in which touch input is performed during the display. It can be determined that the first parking space Pa1 or the second parking space Pa2 is selected. Thereby, since one of the process of steps 12-14 and the process of steps 15-17 can be omitted, the input process can be simplified.

  Returning to FIG. 2, in step 18, the parking space for which the driver has determined whether or not parking is possible in step 17 is determined as a parking target space, and the process proceeds to step 19.

  In step 19, the parking assist device 100 of the present embodiment uses the parking mode selected in step 10, the parking route when the parking target space selected in step 18 is turned over and parked, and the parking route. The control parameters of the steering 500 and the drive system 400 during parking for guiding the vehicle are calculated.

  The parking route is stored in a memory (ROM) one by one for each of parallel parking, parallel parking, and diagonal parking, and the route corresponding to the selected parking mode is read and parking support processing starts. The parking route is calculated based on the positional relationship between the position of the host vehicle and the position of the parking target space. Although it does not specifically limit, the parking assistance control unit calculates the curve from the return position to the parking target space as the parking route.

  If a parking target space that can be parked without turning back is selected in step 14, the parking space for which the driver has determined whether or not parking is possible in step 14 is determined as the parking target space in step 20, and the process proceeds to step 21.

  In step 21, the parking assist device 100 of the present embodiment uses the parking mode selected in step 10, the parking route when parking in the parking target space selected in step 14 without turning back, and the parking route. The control parameters of the steering 500 and the drive system 400 during parking for guiding the vehicle are calculated.

  After calculating the parking route and the parking parameters in steps 19 and 21, the process proceeds to step 22.

  In step 22, the parking assist device 100 according to the present embodiment controls the steering of the steering 500 so that the host vehicle moves along the parking route. The parking assist device 100 feeds back the output values of the steering angle sensor 510 and the steering direction sensor 520 of the steering 500 so that the movement locus of the host vehicle coincides with the calculated parking route, and the driving system of the vehicle such as an EPS motor. The command signal to 400 is calculated, and this command signal is sent to the drive system 400 or the vehicle controller 200 that controls the drive system 400. Of course, the calculated parking route is displayed on the navigation display 600, and the steering amount of the steering 500, the steering 500 turning timing, and the operation timing of the brake or accelerator are used for the driver so that the movement locus of the host vehicle coincides with the parking route. Parking assistance can also be provided by instructing.

  When the host vehicle parks in the parking target space, the parking support process by the parking support apparatus 100 according to the present embodiment ends.

  The parking assistance device 10 of the present embodiment configured and operating as described above has the following effects.

  According to the parking assist device 10 of the present embodiment of the present invention, when a parking target space setting is input, the vehicle switches back to an overhead image including a plurality of parking spaces generated based on captured images around the vehicle. The first input auxiliary information A1 in which the first parking space that can be parked without being overlapped and / or the second input auxiliary information A2 in which the second parking space that can be parked if the vehicle turns over are displayed on the display 600, Since it accepts the setting input of the parking target space from the driver who saw the input auxiliary information A, whether the driver can park without turning back the empty space, or whether the parking is not possible without turning back, You can know before you decide the parking target space. As a result, it is possible to perform parking support with the contents corresponding to the actual empty space, and it is possible to accurately guide the host vehicle to the parking target space. The parking assistance method of the present invention also achieves the same effect by the same operation.

  According to the parking assistance device 10 of the present embodiment of the present invention, the first input auxiliary information including the first parking space in which the vehicle can park without turning back, and the second parking space including the second parking space in which the vehicle can park if turned over. By alternately switching the 2-input auxiliary information and displaying it on the display 600, the same operations and effects as described above can be achieved.

  Based on the captured images of the cameras 1a to 1d around the vehicle, a monitoring image of the same virtual viewpoint as the overhead image is generated and displayed on the display 600 together with the input auxiliary information A1. Thereby, the parking operation is performed while viewing both the first input auxiliary information A1 and the monitoring video B1 by making the input auxiliary information A1 and the monitoring video B1 simultaneously displayed on the display 600 into images viewed from the same virtual viewpoint. So that the driver does not feel uncomfortable. As a result, the driver can accurately perform the input operation according to the input auxiliary information A1 while visually confirming the surrounding area directly or by using the monitoring video B1.

  It should be noted that all the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  In this specification, the parking support system 1000 including the parking support device 100 mounted on a vehicle will be described as an example of the parking support device according to the present invention. However, the present invention is not limited to this. .

  In this specification, the parking assistance apparatus 100 provided with the control apparatus 10 which performs a display control function and a parking target space setting function at least as one aspect | mode of the parking assistance apparatus which has a display control means and parking target space setting means based on this invention. However, the present invention is not limited to this. Moreover, the control apparatus 10 of the parking assistance apparatus 100 of this embodiment can perform a parking mode selection function and a vehicle guidance function in addition to a display control function and a parking target space setting function in performing the parking assistance process. it can.

1000 ... Parking assistance system 100 ... Parking assistance device 10 ... Control device 11 ... CPU, 12 ... ROM, 13 ... RAM
DESCRIPTION OF SYMBOLS 1a-1d ... Camera 2 ... Image processing apparatus 200 ... Vehicle controller 400 ... Drive system 500 ... Steering 510 ... Steering angle sensor 520 ... Steering direction sensor 600 ... Display

Claims (4)

A parking assistance device that assists in parking a vehicle,
The first parking space in which the vehicle can park without being turned over and / or the vehicle is turned over in an overhead view from a predetermined viewpoint including a plurality of parking spaces that are generated based on captured images around the vehicle. Input auxiliary information that superimposes the second parking space that can be parked, and presents it on the display when setting the parking target space of the vehicle;
The parking assistance apparatus which has a parking target space setting means which sets a parking target space according to the setting input of the parking target space based on the said input auxiliary information.   The input auxiliary means includes first input auxiliary information obtained by superimposing a first parking space on which the vehicle can be parked without being turned over on the overhead image, and a second parking space on which the vehicle can be parked if the vehicle is turned over on the overhead image. The parking assistance apparatus characterized by alternately switching and presenting the second input auxiliary information superimposed on the display.   The parking assistance device according to claim 1, wherein the input assistance means generates a monitoring image having the same viewpoint as the overhead view image based on a captured image around the vehicle and displays the monitoring image together with the input assistance information. When entering the setting of the parking target space when assisting vehicle parking,
A first parking space in which the vehicle can be parked without turning over and / or a second parking that can be parked if the vehicle turns over in an overhead view image including a plurality of parking spaces generated based on captured images around the vehicle. Input auxiliary information with space superimposed is presented on the display,
The parking assistance method which receives the setting input of the parking target space based on the presented input auxiliary information.

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