JP2013091330A - Parking assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assist device that enables a driver to instinctively determine whether or not parking is possible and the degree of difficulty of parking, including the need to make quick turns of the steering wheel of a vehicle.SOLUTION: The parking assist device includes: an image capture unit 9 that captures an image to be captured from at least the rear of the vehicle; and an image superimposing unit 13 that superimposes a parking guideline boundary of the vehicle on the images obtained by the image capture unit 9 and outputs a synthesized image to a display unit 3. The parking guideline boundary of the vehicle which is superimposed by the image superimposing unit 13 has a first guideline boundary that indicates the boundaries of the area in which the vehicle can be parked, and a second guideline boundary that extends in the traveling direction of the vehicle from the first guideline boundary, and indicates an area in which the direction of the vehicle needs to be changed when parking.

Description

  The present invention relates to a parking assistance device that assists a driver in parallel parking.

  2. Description of the Related Art Conventionally, when a driver performs parallel parking, there is a parking assistance device that detects a parking space and displays whether parking is possible or the number of turnovers before parking is started (see, for example, Patent Document 1).

JP 2009-154765 A

  However, in the conventional parking assistance device, the determination result of the parking space, whether parking is possible, and the number of turnovers of the host vehicle is displayed. However, due to problems in the detection accuracy of the parking space and the variation in the driving skill of the driver, The person cannot intuitively judge whether or not parking is possible.

  The present invention has been made to solve the conventional problems, and it is an object of the present invention to provide a parking assist device that allows a driver to intuitively determine whether or not parking is possible, including whether or not the vehicle is turned over. And

  In order to achieve the above object, according to the present invention, a parking guide frame of the host vehicle superimposed on the image superimposing means includes a first guide frame indicating a limit area where parking is possible, and the first guide frame of the host vehicle. It has the 2nd standard frame which extends to the advancing direction side, and shows the field where the self-vehicle needs to be turned back at the time of parking.

  According to the present invention, there is an effect that the driver can intuitively determine whether or not parking is possible, including whether or not the own vehicle is turned over.

The block diagram which shows the structure of the parking assistance apparatus in embodiment of this invention. The figure explaining the 1st standard frame memorize | stored in the memory | storage means which is the principal part of the same FIG. 1 with an image. The figure explaining the parking space detection by the determination part which is the principal part of the same FIG. 1 with an image The flowchart figure explaining the parking assistance process by the parking assistance apparatus which is the principal part of FIG. The flowchart figure explaining the parking space detection process by the determination part which is the principal part of the same FIG. The figure explaining the parking standard frame which the image superimposition part which is the principal part of the same FIG. The figure explaining the 1st example of a display of the parking standard frame displayed on the display means which is the principal part of FIG. The figure explaining the 2nd example of a display of the parking standard frame displayed on the display means which is the principal part of FIG. The figure explaining the 3rd example of a display of the parking standard frame displayed on the display means which is the principal part of FIG. The figure explaining the 1st relationship of the parking standard frame and parking space which the image superimposition part which is the principal part of the same FIG. The figure explaining the 2nd relationship of the parking standard frame and parking space which the image superimposition part which is the principal part of the same FIG. The figure explaining the 3rd relationship of the parking standard frame and parking space which the image superimposition part which is the principal part of the same FIG. The figure explaining the example of a display of the parking standard frame displayed on the display means which is the principal part of FIG.

  Hereinafter, a parking assistance device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to an embodiment of the present invention.

  In FIG. 1, the parking assist device 1 is connected to an imaging unit 2, a display unit 3, a rudder angle sensor 4, a vehicle speed sensor 5, a gear position sensor 6, an input unit 7, and a distance sensor 8. The imaging unit 2, the display unit 3, the rudder angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, and the distance sensor 8 may be included in the parking assistance device 1.

  The parking assist device 1 includes a video acquisition unit 9, a storage unit 10, and a control unit 11. The parking assist device 1 is connected to the imaging unit 2, the display unit 3, the rudder angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, and the distance sensor 8. The parking assist device 1 includes a steering angle sensor 4, a vehicle speed sensor 5, a gear position sensor 6, an input unit 7, and a signal around the host vehicle input from the imaging unit 2 based on input signals from the distance sensor 8. A composite video is created from the captured video and output to the display means 3.

  The imaging means 2 has at least one camera and images the surroundings of the own vehicle. The imaging unit 2 inputs captured images captured at predetermined time intervals to the parking assistance device 1.

  The display means 3 is composed of, for example, a navigation device or a rear seat display. The display means 3 displays the composite video input from the parking assistance device 1.

  The steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input means 7, and the distance sensor 8 are respectively a steering angle signal indicating the steering angle of the steering wheel, a vehicle speed signal indicating the vehicle speed of the host vehicle, and a shift. A shift lever state signal indicating a lever state, an input signal indicating a user instruction command, and a distance signal indicating a distance to an obstacle are output to the parking assistance device 1. The input unit 7 includes, for example, a touch panel, a remote control, a switch, and operation buttons. The input means 7 may be provided in the display means 3 when configured by a touch panel. The distance sensor 8 is composed of, for example, a sonar or an infrared sensor, and is provided at a corner portion of the host vehicle.

  The video acquisition means 9 is composed of a volatile memory. For example, it is composed of a video memory or RAM (Random Access Memory). The video acquisition unit 9 is connected to the imaging unit 2. The video acquisition unit 9 temporarily stores video data obtained from the captured video input from the imaging unit 2. The video data stored in the video acquisition unit 9 is read by the control unit 11.

The storage means 10 is composed of a nonvolatile memory. For example, it is composed of a flash memory or a ROM (Read Only Memory). The storage means 10 stores various image data such as image data of the own vehicle, image data of the parking guide frame of the own vehicle, various programs of the control means 10, data unique to the own vehicle such as the vehicle width and the maximum turning angle of the tire. Remember. The parking reference frame of the host vehicle stored in the storage means 10 includes a first guide frame indicating a limit area where parking is possible, and the first guide frame extending from the first guide frame toward the traveling direction of the host vehicle. It is comprised from the 2nd standard frame which shows the area | region which needs to switch back of a vehicle.

  The size of the first guide frame is the size of the host vehicle. In addition, you may give a predetermined margin to the vehicle advancing direction and vehicle width direction of a 1st standard frame.

  Next, the second reference frame will be described with reference to the drawings.

  FIG. 2 is a diagram for explaining the first guide frame stored in the storage unit as an image. From the maximum turning angle of the front tire 22 on the side opposite to the side where the steering wheel of the own vehicle 21 is cut (left side of the own vehicle in FIG. 2) and the distance between the front tire 22 and the rear tire 23, A certain fulcrum 24 is calculated. Reference numeral 25 denotes a front front end opposite to the side of the host vehicle 21 where the handle is cut. Reference numeral 26 denotes an expected locus with the fulcrum 24 at the front end 25 as the center of rotation. Reference numeral 27 denotes an intersection point with an expected locus 26 when a dotted line is drawn in the traveling direction of the host vehicle 21 from the side surface of the host vehicle 21 on the side where the handle is turned (in FIG. 2, the right side of the host vehicle). The length from the rear end of the host vehicle 21 on the side where the steering wheel is turned to the intersection point 27 is the length of the second guide frame in the vehicle traveling direction. The length in the width direction of the second guide frame is the length of the vehicle width of the host vehicle. Note that a predetermined margin may be provided in the vehicle traveling direction and the vehicle width direction of the second guide frame.

  The control unit 11 includes, for example, an application specific integrated circuit (ASIC), a very large scale integration (VLSI), and a central processing unit (CPU). The control unit 11 includes a video conversion unit 12, an image superimposition unit 13, and a determination unit 14. The control unit 11 is connected to the display unit 3, the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, the distance sensor 8, the image acquisition unit 9, and the storage unit 10. The control means 11 starts various kinds of operations such as starting parking assistance processing and creating video for parking assistance based on input signals from the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input means 7, and the distance sensor 8. Process.

  The video conversion unit 12 is connected to the video acquisition unit 9, performs image processing on the captured video input from the video acquisition unit 9, and converts it into a video signal that can be displayed on the display unit 3.

  The image superimposing unit 13 is connected to the display unit 3, the storage unit 10, and the video conversion unit 12. The image superimposing unit 13 creates a composite video in which the image data of the parking guide frame read from the storage unit 10 is superimposed on the video signal converted by the video converting unit 12. The image superimposing unit 13 outputs the composite video created every predetermined time to the display unit 3 as a video.

  The determination unit 14 is connected to the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, the distance sensor 8, and the image superimposing unit 13. The determination unit 14 detects the state of the host vehicle based on input signals from the steering angle sensor 4, the vehicle speed sensor 5, the gear position sensor 6, the input unit 7, and the distance sensor 8. Based on the detection result, the determination unit 14 instructs the image superimposing unit 13 to superimpose a parking guide frame and a parking space, and to output a composite video to the display unit 3. For example, the determination unit 14 obtains information on the distance from the distance sensor 8 to the obstacle and determines whether there is a parking space.

  FIG. 3 is a diagram illustrating parking space detection by the determination unit using an image.

As shown in FIG. 3, when the host vehicle 31 with the distance sensor 8 attached to the rear corner moves in the front direction, the detection range 32 of the distance sensor 8 also moves. Thereby, the distance sensor 8 is
The distance from the own vehicle 31 to the parked vehicles 33 and 34 is detected. Further, since there is an empty space 35 between the parked vehicle 33 and the parked vehicle 34, the distance sensor 8 is further ahead of the empty space 35 from the own vehicle 31 in the section of the empty space 35 (right direction in FIG. 3). Detect the distance to the obstacle. The determination unit 14 determines that the empty space 35 is a parking space from the distance information detected by the distance sensor 8.

  Next, parking support processing by the parking support device 1 will be described.

  FIG. 4 is a flowchart for explaining parking support processing by the parking support apparatus.

  First, as shown in step S <b> 41, the determination unit 14 detects an execution instruction for parallel parking guidance from the input unit 7.

  Next, as shown in step S <b> 42, the image superimposing unit 13 reads the image data of the parking guide frame read from the storage unit 10 with respect to the video signal read from the video conversion unit 12 based on the instruction from the determination unit 14. To create a composite image.

  Next, as shown in step S43, the image superimposing unit 13 outputs the composite video created in step S42 to the display unit 3 for parallel parking guidance. The display means 3 displays this synthesized video.

  Next, as shown in step S44, the determination unit 14 detects whether or not the host vehicle has started turning. The determination unit 14 determines that the vehicle is turning when the steering angle amount input from the steering angle sensor 4 is equal to or greater than a predetermined threshold.

  In the case of YES in step S44, as shown in step S45, the image superimposing unit 13 erases the parking guide frame based on the instruction of the determining unit 14. The image superimposing unit 13 outputs the image signal read from the video converting unit 12 to the display unit 3 without superimposing the parking guide frame.

  On the other hand, in the case of NO in step S44, as shown in step S46, the determination unit 14 performs a parking space detection process described later.

  Next, as shown to step S47, the determination part 14 determines whether the parking space was detected.

  In the case of NO in step S47, the determination unit 14 performs the process of step S44 again.

  In the case of YES in step S47, as shown in step S48, the determination unit 14 measures the movement amount of the host vehicle based on the vehicle speed information input from the vehicle speed sensor 5.

  Next, as shown to step S49, the determination part 14 determines whether the parking space detected by step S47 exists in the object range of parallel parking. The determination unit 14 determines that the parking space has moved out of the target range for parallel parking when the amount of movement of the host vehicle measured in step S48 is equal to or greater than a predetermined value.

  In the case of NO in step S49, the determination unit 14 performs the process of step S44 again.

  In the case of YES in step S49, as shown in step S50, the determination unit 14 displays the parking space based on the movement amount of the host vehicle detected in step S48 and the obstacle distance information obtained from the distance sensor 8. Calculate

  Next, as shown in step S <b> 51, the image superimposing unit 13 creates a composite video by superimposing a parking space on the video signal read from the video converting unit 12 according to a command from the determining unit 14. And the image superimposition part 13 outputs this synthesized image to the display means 3 for parallel parking guidance.

  Next, as shown in step S52, the determination unit 14 detects whether or not the host vehicle has started turning. The determination unit 14 determines that the vehicle is turning when the steering angle amount input from the steering angle sensor 4 is equal to or greater than a predetermined threshold.

  In the case of NO in step S52, the determination unit 14 performs the process of step S48 again.

  In the case of YES in step S52, as shown in step S53, the image superimposing unit 13 erases the parking guide frame and the parking space based on the instruction of the determining unit 14. Then, the image superimposing unit 13 outputs the image signal read from the video converting unit 12 to the display unit 3 without superimposing the parking guide frame and the parking space.

  Next, the parking space detection process of step S46 will be described.

  FIG. 5 is a flowchart illustrating a parking space detection process performed by the determination unit.

  As shown in step S461, the determination unit 14 detects a lateral distance from the host vehicle to an obstacle located on the side of the host vehicle based on the distance information input from the distance sensor 8.

  Next, as shown in step S462, the determination unit 14 determines whether or not the side distance is equal to or greater than a predetermined threshold. The determination unit 14 determines that the parking space start position has been crossed when the lateral distance is equal to or greater than a predetermined threshold.

  In the case of NO in step S462, as shown in step S463, the determination unit 14 determines that the parking space has not been detected.

  On the other hand, in the case of YES in step S462, as shown in step S464, the determination unit 14 initializes the accumulated travel distance of the host vehicle.

  Next, as shown in step S465, the determination unit 14 measures the cumulative travel distance of the host vehicle based on the vehicle speed information input from the vehicle speed sensor 5.

  Next, as shown in step S466, the determination unit 14 detects a lateral distance from the host vehicle to an obstacle located on the side of the host vehicle based on the distance information input from the distance sensor 8.

  Next, as shown in step S467, the determination unit 14 determines whether the side distance is equal to or less than a predetermined threshold. The determination unit 14 determines that the parking space end position has been crossed when the lateral distance is equal to or less than a predetermined threshold.

  In the case of NO in step S467, the determination unit 14 performs the process of step S465 again.

  On the other hand, in the case of YES in step S467, as shown in step S468, the determination unit 14 determines whether or not the cumulative travel distance of the host vehicle is greater than or equal to a predetermined threshold value.

  In the case of NO in step S468, as shown in step S463, the determination unit 14 determines that the parking space has not been detected.

  On the other hand, in the case of YES in step S468, as shown in step S469, the determination unit 14 determines that a parking space has been detected.

  Next, the parking guide frame superimposed by the image superimposing unit 13 will be described.

  FIG. 6 is a diagram for explaining an image of the parking guide frame superimposed by the image superimposing unit.

  As shown in FIG. 6, the parking guide frame 61 includes a first guide frame 61A indicating a limit area where parking is possible, and the first guide frame 61A extending from the first guide frame 61A toward the traveling direction of the host vehicle. This is composed of a second guide frame 61B indicating an area where it is necessary to turn the host vehicle by operating the shift lever. The first guide frame 61A and the second guide frame 61B are color-coded and superimposed on each other.

  In FIG. 6, when performing parallel parking on the left rear side of the host vehicle, the image superimposing unit 13 superimposes the parking guide frame 61 on the video signal behind the host vehicle read from the video converting unit 12 in accordance with the instruction of the determining unit 14. And output to the display means 3. In addition, when performing parallel parking in front of the host vehicle, the image superimposing unit 13 superimposes the parking guide frame 61 on the video signal in front of the host vehicle read from the video converting unit 12 in accordance with the instruction of the determining unit 14. Output to the display means 3. When parallel parking is performed on the right rear or left front of the host vehicle, the parking guide frame superimposed by the image superimposing unit 13 is displayed symmetrically with the parking guide frame 61 of FIG. It is the shape that is done.

  Next, a display example of the parking guide frame on the display unit 3 will be described.

  7-9 is a figure explaining the 1st-3rd display example of the parking standard frame displayed on a display means.

  As shown in FIG. 7, the display unit 3 displays a parking guide frame 71 and parked vehicles 72 and 73. The parking guide frame 71 is composed of a first guide frame 71A and a second guide frame 71B. When the host vehicle moves, the background video (video signal read from the video conversion unit 12) such as the parked vehicles 72 and 73 moves, but the display position of the parking guide frame 71 is fixed. 8 and 9, the above relationship is the same, so only the reference numerals are changed and the detailed description is omitted.

  As shown in FIG. 7, when the end of the first guide frame 71 </ b> A on the side of the parked vehicle 73 is displayed near the end of the parked vehicle 73, the second guide frame 71 </ b> B reaches the end of the parked vehicle 72. It ’s not so far away. At this time, it can be seen that the driver can park between the parked vehicles 72 and 73 without turning the host vehicle. Therefore, it can be seen that the driver can park between the parked vehicles 72 and 73 only by operating the steering wheel without operating the shift lever. Also, the greater the distance between the second guide frame 71B and the end of the parked vehicle 72, the easier it is for the driver to park without turning the vehicle by operating the shift lever. Can do.

  As shown in FIG. 8, a parking guide frame 81 and parked vehicles 82 and 83 are displayed on the display means 3.

  As shown in FIG. 8, when the end of the first guide frame 81A on the side of the parked vehicle 83 is displayed near the end of the parked vehicle 83, the end of the parked vehicle 82 reaches the second guide frame 81B. The first reference frame 81A is not reached. At this time, it can be seen that the driver can park between the parked vehicles 82 and 83 by switching back. Therefore, the driver can park between the parked vehicles 82 and 83 by operating the shift lever and the handle.

In addition, the driver can easily turn the vehicle by operating the shift lever when parking so that the end of the parked vehicle 82 is positioned on the parked vehicle 82 side of the second guide frame 81B. It can be understood that the more the end portion is located closer to the first reference frame 81A, the more difficult it is to turn the vehicle and handle the vehicle by operating the shift lever during parking.

  As shown in FIG. 9, a parking guide frame 91 and parked vehicles 92 and 93 are displayed on the display means 3.

  As shown in FIG. 9, when the parking vehicle 93 side end of the first guide frame 91A is displayed near the end of the parked vehicle 93, the end of the parked vehicle 92 is added to the second guide line 91B. The first reference frame 91A is reached. At this time, it is understood that the driver cannot park between the parked vehicles 92 and 93. Therefore, it is understood that the driver cannot park between the parked vehicles 92 and 93 even if the driver operates the shift lever and the handle.

  As described above, the image superimposing unit 13 superimposes the parking standard frame composed of the first standard frame and the second standard frame on the video signal read from the video conversion unit 12 to create a composite video, and display means Therefore, the driver can intuitively determine whether or not parking is possible, including whether or not the vehicle is turned over.

  In addition, the driver can easily turn over the parking of the own vehicle or park without turning the own vehicle depending on the size of the overlap between the parking guide frame and the parked vehicle and the size of the area where the parking guide frame and the parked vehicle do not overlap. Can be judged.

  In addition, since the first guide frame and the second guide frame are color-coded, the driver can easily determine whether parking is possible when the ends of the parked vehicle overlap each other in the vicinity of each other's boundary. Can do. In addition, when the first guide frame and the second guide frame are filled with colors up to the inside of the frame, the driver determines whether the parked vehicle overlaps the area of the first guide frame and the second guide frame. Can be determined most easily.

  Next, a parking guide frame and a parking space that are superimposed by the image superimposing unit 13 will be described.

  FIGS. 10-12 is a figure explaining the 1st-3rd relationship of the parking standard frame and parking space which an image superimposition part superimposes on an image.

  As shown in FIG. 10, the parking guide frame 101 includes a first guide frame 101A indicating a limit area where parking is possible, and the first guide frame 101A extends from the first guide frame 101A toward the traveling direction of the host vehicle when parking. It is composed of a second guide frame 101B indicating an area where the own vehicle needs to be turned back. The first guide frame 101A and the second guide frame 101B are color-coded and superimposed on each other. In addition, the parking space 102 detected in step S46 is superimposed with a frame as a dotted line. Note that the parking space 102 may be superimposed in a form other than the form in which the frame is a dotted line as long as the parking indication frame 101 and the display form can be distinguished.

  In FIG. 10, the position of the parking guide frame 101 superimposed by the image superimposing unit 13 is fixed. On the other hand, the position of the parking space 102 superimposed by the image superimposing unit 13 is variable. The parking space 102 moves upward as the host vehicle moves in the forward direction, and moves downward as the host vehicle moves in the backward direction. Based on the inputs from the gear position sensor 6 and the vehicle speed sensor 5, the determination unit 14 instructs the image superimposing unit 13 about the moving direction and moving speed of the parking space 102.

In FIG. 10, when performing parallel parking at the left rear of the host vehicle, the image superimposing unit 13 parks the parking guide frame 101 and the parking guide frame 101 on the video signal read from the video converting unit 12 in accordance with the instruction of the determining unit 14. The space 102 is superimposed and output to the display means 3. In addition, when performing parallel parking in front of the host vehicle, the image superimposing unit 13 adds the parking guide frame 101 and the parking space 102 to the video signal in front of the host vehicle read from the video converting unit 12 according to the instruction of the determining unit 14. Are superimposed and output to the display means 3. When parallel parking is performed on the right rear or left front of the host vehicle, the parking guide frame and the parking space superimposed by the image superimposing unit 13 are the parking guide frame 101 of FIG. The shape is displayed symmetrically with the space 102. 11 and 12, the above relationship is the same except that the sign is different, and a detailed description thereof will be omitted.

  In FIG. 10, the determination unit 14 detects that both the first guide frame 101 </ b> A and the second guide frame 101 </ b> B are within the frame of the parking space 102. At this time, the determination unit 14 determines that the parking space 102 can be parked without turning back of the host vehicle. In other words, when determining that the parking space 102 is larger than the parking guide frame 101, the determination unit 14 determines that the vehicle can be parked without turning over the host vehicle. Therefore, it can be seen that the driver can park the vehicle in the parking space 102 only by operating the steering wheel without operating the shift lever.

  In FIG. 11, the determination unit 14 detects that the first guide frame 111 </ b> A is fit in the parking space 112 but the second guide frame 111 </ b> B is protruding. At this time, the determination unit 14 determines that the parking space 102 can be parked if the host vehicle is turned back. In other words, when determining that the parking space 112 is larger than the first guide frame 111A but smaller than the parking guide frame 111, the determination unit 14 determines that parking is possible if the host vehicle is turned back. Therefore, it can be seen that the driver can park the vehicle in the parking space 112 by operating the shift lever and the handle.

  In FIG. 12, the determination unit 14 detects that the first guide frame 121 </ b> A protrudes from the parking space 122. At this time, the determination unit 14 determines that the parking space 122 cannot be parked. In other words, the determination unit 14 determines that parking is impossible when it is detected that the parking space 122 is smaller than the first guide frame 121A. Therefore, it can be seen that the driver cannot park the vehicle in the parking space 122 even if the driver operates the shift lever and the handle.

  As described above, the image superimposing unit 13 superimposes the parking guide frame and the parking space on the video signal read from the video converting unit 12 to create a composite video, and the determination unit 14 determines the vehicle's own vehicle based on the composite video. It is determined whether or not parking is possible, including the presence or absence of return. By outputting this determination result to the display means 3, it is possible to make the driver recognize whether or not parking is possible including the presence or absence of turning back even when the driver is concentrating on driving. In this case, the determination result may be output to an audio output unit (not shown) together with the display unit 3 or instead of the display unit 3.

  In the present embodiment, the video converted by the video conversion unit 12 may be a video subjected to viewpoint conversion. For example, the video conversion unit 12 may convert the video obtained from the video acquisition unit 9 into an overhead view video.

  FIG. 13 is a diagram illustrating a display example of a parking guide frame and a parking space displayed on the display unit from a bird's-eye view.

As shown in FIG. 13, when the host vehicle 130 turns the steering wheel to the left rear and performs parallel parking, the display means 3 displays a parking guide frame 131 and a parking space 132. The parking space 132 is displayed between the parked vehicles 133 and 134. Since the parking space 132 protrudes from the first guide frame 131A and overlaps a part of the second guide frame 131B, the driver operates the shift lever to turn the host vehicle 130 back.
It can be seen that parking is possible between the parked vehicles 133 and 134.

  In addition, even when the parking space 132 is not displayed, the driver knows that the parked vehicle 133 does not overlap the first guide frame 131A but overlaps a part of the second guide frame 131B. Therefore, it can be understood that if the own vehicle 130 is turned back by operating the shift lever, the own vehicle 130 can be parked between the parked vehicles 133 and 134 by the handle operation. In addition, the driver knows that the more the portion where the second guide frame 131B and the parked vehicle 133 overlap, the more severe the conditions of turning the host vehicle 130 and operating the steering wheel by operating the shift lever. In this way, the turn-back parking is performed in which the driver turns the own vehicle 130 by operating the shift lever and performs parking by operating the shift lever according to the size of the overlap between the second guide frame 131B and the parked vehicle 133 or the size of the non-overlapping area. The difficulty level can be easily determined. Further, since the first guide frame 131A and the second guide frame 131B are color-coded, when the frame line of the parking space 132 and the end of the parked vehicle 133 overlap each other in the vicinity of each other, the driver Can easily determine whether or not parking is possible.

  The parking assistance device of the present invention is useful as a driver intuitively determining whether or not parking is possible including whether or not the host vehicle is turned back during parallel parking.

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 2 Imaging means 3 Display means 9 Image | video acquisition means 13 Image superimposition part

Claims (6)

Image acquisition means for acquiring at least a captured image of the rear of the host vehicle;
Image superimposing means for outputting to the display means a composite video obtained by superimposing the parking guide frame of the host vehicle on the captured video acquired by the video acquisition means,
The parking guide frame of the host vehicle superimposed on the image superimposing means includes a first guide frame indicating a limit area where parking is possible, and a parking space extending from the first guide frame toward the traveling direction of the host vehicle. And a second reference frame indicating a region where the own vehicle needs to be turned back.   The parking assistance device according to claim 1, wherein the first guide frame and the second guide frame are color-coded from each other. Imaging means for imaging at least the back of the vehicle and inputting the captured video to the video acquisition means;
The parking support apparatus according to claim 1, further comprising display means for displaying a composite video superimposed by the image superimposing means. A determination means for determining a parking space based on a distance to an obstacle input from an external distance sensor;
The parking support apparatus according to claim 1, wherein the image superimposing unit superimposes and superimposes the parking space determined by the determination unit on the parking guide frame.   The parking assistance device according to claim 4, further comprising a distance sensor that detects a distance to an obstacle and inputs the distance to the determination unit.   The determination means determines that the own vehicle cannot be parked when the parking space is smaller than the first guide frame, and when the parking space is larger than the first guide frame and smaller than the parking frame. 5. The parking assist device according to claim 4, wherein the vehicle is turned back to determine that parking is possible, and it is determined that the vehicle can be parked without turning back when the parking space is larger than the parking guide frame.