JP2014162398A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To predict in advance whether a vehicle can park at a desired parking space without performing steering operation at a vehicle stop position.SOLUTION: A parking support device 10 comprises: imaging means (imaging unit 12); display means (display unit 14) displaying an image of a rear part of a vehicle imaged by the imaging means; and control means (control unit 11, draw/display control unit 13) for displaying a retreat prediction locus in the case of making the vehicle retreat by performing steering operation at the maximum steering angle while superposing it with the image of the rear part of the vehicle displayed by the display means.

Description

  The present invention supports driving operations in parallel parking, garage parking, etc., and in particular, by capturing a rear image of the vehicle with a camera installed at the rear of the vehicle and displaying it on a display monitor in the vehicle, etc. The present invention relates to a parking assistance device that supports driving operations.

  In order to support driving operations during parallel parking, garage parking, etc., conventionally, a vehicle width extension line, etc., is superimposed on the image of the camera installed at the rear of the vehicle, and the driving operation is performed with reference to that line. Is being promoted.

  For example, in Patent Literature 1, a vehicle travel prediction trajectory is obtained from a steering angle acquired from a sensor installed in a vehicle, and a pair of left and right corresponding to the vehicle width is extended to a display monitor in the vehicle and extends in the traveling direction of the vehicle. A vehicle reverse operation assisting technology for assisting parking by displaying a predicted travel locus is disclosed.

  In addition, for example, in Patent Document 2, a parking space in a vertical direction with respect to an axis in the vehicle front-rear direction that can be parked when the vehicle retreats at the maximum steering angle is preliminarily displayed on a rear image as a virtual parking space template. Thus, there is disclosed a backward operation support technology that can accurately park in a parking space by one backward movement without adjusting a handle during backward movement.

  Further, for example, in Patent Document 3, a backward image and a predicted movement trajectory corresponding to an allowable steering angle are displayed in a superimposed manner, and a reverse operation support technology that enables correct steering even if the vehicle slightly deviates from the trajectory. Is disclosed.

JP 2004-142741 A JP 2002-160597 A JP 2002-19492 A

  However, according to the technique disclosed in Patent Document 1, since the predicted trajectory linked to the steering operation is displayed on the display monitor in the vehicle, the vehicle can be moved backward while the steering is not operated or during the operation. Cannot be known in advance.

  Further, according to the technique disclosed in Patent Document 2, it is possible to enter the parking space at one time with the steering fixed at the maximum steering angle, but the positional relationship between the parking space and the vehicle is vertical, And it is necessary to arrange | position a vehicle in the position where a section template and a parking space overlap, and the conditions for obtaining an effect are limited.

  Moreover, according to the technique disclosed in Patent Document 3, the predicted movement trajectory is displayed on the display monitor in the vehicle at an angle close to the maximum rudder angle. It is impossible to know in advance the maximum range (left and right end) in which the vehicle can move backward. In addition, because there is no trace display on the inner wheel side of the turn, the driver cannot enter the parking space at one time from the current vehicle position without being able to perform a reverse operation using the parking line in front of the inner wheel near the vehicle as a guide. Cannot predict.

  The present invention has been made in order to solve the above-described problem, and provides a parking assist device capable of predicting in advance whether or not a desired parking space can be entered without performing a steering operation at a vehicle stop position. The purpose is to provide.

In order to solve the above-described problems, the present invention includes an imaging unit that is attached to a vehicle and images the rear of the vehicle,
Display means for displaying an image behind the vehicle imaged by the imaging means;
When the vehicle is moved backward at the maximum steering angle, the vehicle is extended in the traveling direction, and the predicted backward trajectory corresponding to the rear right end and the rear left end of the vehicle is superimposed on the image displayed on the display means. And a control means for displaying the vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, the parking assistance apparatus which can predict beforehand whether it can enter into a desired parking space, without performing steering operation from a predetermined vehicle stop position can be provided.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on embodiment of this invention. It is the figure which showed the example of a superimposition display of the vehicle back image produced | generated by the parking assistance apparatus which concerns on embodiment of this invention, and a backward prediction locus | trajectory. It is the sequence diagram which showed the operation | movement of the parking assistance apparatus which concerns on embodiment of this invention, and the driving operation of a driver in association on the time axis. It is the figure which linked | related and showed an example of the screen structure produced | generated and displayed by the parking assistance apparatus which concerns on embodiment of this invention. FIG. 5 is a diagram (continuation of FIG. 4) illustrating an example of a screen configuration generated and displayed by the parking assist device according to the embodiment of the present invention in association with a driving operation.

  Hereinafter, an embodiment for carrying out the present invention (hereinafter simply referred to as an embodiment) will be described in detail with reference to the accompanying drawings.

(Configuration of the embodiment)
FIG. 1 is a block diagram illustrating a configuration of a parking assistance device 10 according to the present embodiment. As shown in FIG. 1, the parking assist device 10 according to the present embodiment includes a control unit 11, an imaging unit 12, a drawing / display control unit 13, a display unit 14, and a vehicle state determination unit 15. Configured. Each of the blocks 11, 12, 13, 14, and 15 is connected in common via a system bus 16 having a plurality of lines for address, data, and control.

  The imaging unit 12 (imaging means) is, for example, a color CCD (Charge Coupled Device) camera attached near the upper center of the license plate at the rear of the vehicle and installed with the optical axis directed slightly downward from the horizontal line. An image behind the vehicle is taken and delivered to the control unit 11. The color CCD camera itself secures a field of view of, for example, 140 degrees left and right by a wide-angle lens, and can capture an area from, for example, the vicinity of the rear of the vehicle to about 8 m.

  The drawing / display control unit 13 draws (writes) an image generated by the control unit 11 in a built-in or externally attached VRAM (Video RAM), and the image drawn in the VRAM here is displayed on the display unit. 14 is a graphics display controller that reads out in synchronism with the display timing of the display monitor that constitutes 14 and outputs it to the display unit 14. The display unit 14 (display unit) is a display monitor having a display element such as an LCD (Liquid Crystal Device) or an organic EL (Organic Electro-Luminescence).

  Various sensors attached to each part of the vehicle are connected to the vehicle state determination unit 15. In relation to the present invention, the gear position (P / 1/2 / N / D / R) indicated by the select lever is detected and notified to the control unit 11. Here, P indicates each parking position (parking), N indicates neutral, D indicates drive, and R indicates reverse (reverse). When the gear position indicates R, for example, the control unit 11 switches the display on the display unit 14 from a navigation screen to a screen display of a vehicle rear image captured by the imaging unit 12. It should be noted that the screen display switching may be replaced by switching by a push button switch operation without using the select lever.

  The control unit 11 includes, for example, a microprocessor, and is connected via the system bus 16 according to a program recorded in a built-in or external memory. The imaging unit 12, the drawing / display control unit 13, the vehicle state determination Each block of the unit 15 is controlled. The control unit 11 captures, by the imaging unit 12, a pair of left and right predicted backward trajectories (21 in FIG. 2 described later) corresponding to the vehicle width and extending in the vehicle traveling direction when the vehicle is retracted at the maximum steering angle. The drawing / display control unit 13 is controlled so as to be superimposed on the vehicle rear image to be displayed. The control unit 11 also has a center line (22 in FIG. 2) that indicates the center position of the vehicle in the vehicle width direction as a straight line from the rear end of the vehicle toward the vehicle traveling direction (reverse direction), and from the rear end of the vehicle to the traveling direction of the vehicle. The drawing / display control unit 13 displays a vehicle width extension line (23 in FIG. 2) that serves as a guide for the distance when going in the (reverse direction) on the display unit 14 in a color different from the predicted reverse trajectory. To control.

  For this reason, the control unit 11 operates in cooperation with the drawing / display control unit 13, “when the vehicle is retracted at the maximum rudder angle, the vehicle extends in the traveling direction and corresponds to the vehicle width. It functions as a control means that displays a pair of left and right backward prediction trajectories superimposed on the image displayed on the display means. Further, the control unit 11 operates in cooperation with the drawing / display control unit 13, so that “the vehicle width extension line that is a guide for the distance from the rear end of the vehicle toward the reverse direction is displayed on the display means. It also functions as a control means for “displaying in a color different from the predicted trajectory”. Further, the control unit 11 operates in cooperation with the drawing / display control unit 13, so that “the center line indicating the center position of the vehicle in the vehicle width direction as a straight line extending from the rear end of the vehicle toward the backward direction, It also functions as a control means that displays on the display means a color different from the predicted reverse trajectory and the vehicle width extension line.

  FIG. 2 shows a superimposed display example of the vehicle rear image generated by the parking assist apparatus 10 according to the present embodiment and the predicted backward trajectory. The predicted backward trajectory 21 drawn on the left and right above the screen extends in the direction in which the vehicle travels when the vehicle is retracted at the maximum steering angle, and represents a pair of predicted left and right movements corresponding to the vehicle width. Here, the guide line represents the position from the current vehicle stop position to the position where the vehicle moves backward by 90 degrees and turns sideways. However, how much of the rotation angle is displayed as the predicted trajectory is arbitrary. The center line 22 is a line obtained by extending the vehicle center in the traveling direction of the vehicle. The vehicle width extension line 23 is a linear guide line from the front of the screen toward the rear toward the rear from the rear end (bumper) of the vehicle. Further, the distance from the rear end of the vehicle in the backward direction, for example, a distance added with a horizontal line such as 30 cm rearward or 200 cm rearward is superimposed on the screen as a reference line. Characteristically, all these lines are fixed lines and are not linked to the steering operation.

(Operation of the embodiment)
FIG. 3 is a sequence diagram showing the operation of the parking assistance apparatus 10 according to the present embodiment and the driving operation of the driver in association with each other on the time axis. Hereinafter, the operation of the parking assistance apparatus 10 of the present embodiment shown in FIG. 1 and the driving operation of the driver will be described in detail with reference to the sequence diagram of FIG. 3 and the configuration examples of the display screens of FIGS. 4 and 5. .

  First, when the driver turns on the ignition key of the vehicle (IG-ON) (step S101), the parking support device 10 (control unit 11) generates navigation screen information and transfers it to the drawing / display control unit 13 together with a drawing command. To do. In accordance with the received drawing command, the drawing / display control unit 13 writes the received navigation screen information in the VRAM, reads out the navigation screen information written here in synchronization with the display timing of the display unit 14, and displays it in the display unit 14. Output. Thereby, the display part 14 can display a desired navigation screen (step S102).

  On the other hand, when the driver switches the shift lever from the D position to the R position in order to enter the parking space in reverse (step S103), the control unit 11 displays the navigation screen displayed on the display unit 14 as the imaging unit 12. Is switched to the display screen of the vehicle rear image that is imaged. At the same time, the control unit 11 generates a backward predicted trajectory 21, a center line 22, and a vehicle width extension line 23 when the steering is operated at the maximum steering angle, and draws these images so as to be superimposed on the vehicle rear image. A drawing command is transmitted to the display control unit 13 via the system bus 16.

  Receiving the drawing command via the system bus 16, the drawing / display control unit 13 captures, with the imaging unit 12, the predicted backward trajectory 21, the center line 22, and the vehicle width extension line 23 generated by the control unit 11. Then, the captured vehicle rear image (rear view) is superimposed (superimpose processing), and further, for example, blue is added to the predicted backward trajectory 21, yellow and red are added to the vehicle width extension line 23, and green is added to the center line 22, respectively. Color modification display processing is performed and written to the VRAM. Subsequently, the drawing / display control unit 13 reads the colored display data written in the VRAM in synchronization with the display timing of the display unit 14 and outputs the read display data to the display unit 14 (step S104). Thereby, for example, the screen shown in FIG. 4 is displayed on the display unit 14.

  By the way, in the screen of FIG. 4 (a), the parked vehicle overlaps with the left predicted backward trajectory (maximum snake angle line). Therefore, if the host vehicle is moved backward to the maximum steering angle at this timing, the vehicle is already parked. It is clear that the vehicle is touching. Therefore, the driver can determine that the host vehicle needs to go straight ahead and back before reaching the maximum steering angle in order to enter the parking space. Also, in the screen shown in FIG. 4B, the parking lot line 24 indicating the parking space section intersects with the predicted backward trajectory 21 (maximum snake line), so the driver maximizes the steering at this timing. Even if the vehicle is turned and retreated, it does not contact the parked vehicle, and it can be determined that the host vehicle can enter the parking space (step S105). In other words, when the steering operation is performed at the maximum steering angle at the position where the predicted backward trajectory 21 (maximum snake angle line) and the parking lot line 24 intersect, the left side of the vehicle enters the parking space along the predicted backward trajectory 21. Therefore, the driver can park in the parking space at one time by turning the steering wheel at the maximum position and entering the parking space (step S106).

  Subsequently, just before the rear part of the vehicle enters the parking space and the rear wheel touches the ring stop, the driver makes sure that the vehicle width extension line 23 and the left and right parking partition lines 24 of the parking space are substantially parallel or in the center. A steering operation by turning back is executed while gazing at the line 22 (step S107). And when it becomes parallel, a steering is returned to a straight-ahead state and it reverse | retreats slowly. According to the screens of FIG. 5A and FIG. 5B, the center line 22 shows the deviation of the vehicle position within the parking space of the vehicle. Conventionally, it has been necessary to keep balance while gazing at only two vehicle width extension lines. However, it is only necessary to pay attention to only one center line 22 and the operability of driving is improved.

  When the driver finally switches the gear position to the P position when the rear wheel comes into contact with the wheel retainer (step S108), the control unit 11 draws and displays so as to switch from the vehicle rear image display screen (rear view) to the navigation screen. The control unit 13 is controlled (step S109). Then, when the ignition key is turned off, the navigation screen disappears and the engine is stopped, and the above-described series of parking support processing and the driving operation of the driver are finished.

  As described above, according to the parking assist device 10 according to the present embodiment, the predicted backward movement locus 21 when the vehicle is steered at the maximum steering angle is superimposed on the vehicle rear image (rear view) on the display unit 14. Therefore, the driver can clearly recognize the movable range of the host vehicle when moving backward without performing a steering operation at the vehicle stop position, and can understand the course of movement to the parking space. Therefore, it can be determined in advance whether or not a desired parking space can be entered. Further, since the predicted backward trajectory 21 that is not linked to the steering operation is displayed, hardware for detecting the rudder angle is not required, and calculation and drawing of the backward predicted trajectory 21 that changes according to the rudder angle is unnecessary. Therefore, the calculation load and control load of the control unit 11 are reduced.

  Moreover, according to the parking assistance apparatus 10 which concerns on this embodiment, after a driver reverse | retreats by the maximum steering angle and enters a parking space according to the reverse predicted locus | trajectory 21 displayed on the display part 14, it is with a reverse predicted locus | trajectory. By turning back while referring to the vehicle width extension line 23 or the center line 22 displayed in different colors, it is possible to correct the deviation of the host vehicle in the parking space.

  The preferred embodiments of the present invention have been described in detail above. However, the technical scope of the present invention is not limited to the scope described in the above-described embodiments, and includes modifications or improvements within the scope that can achieve the object of the present invention. .

  DESCRIPTION OF SYMBOLS 10 ... Parking assistance apparatus, 11 ... Control part, 12 ... Imaging part, 13 ... Drawing and display control part, 14 ... Display part, 15 ... Vehicle state determination part, 16 ... System bus, 21 ... Reverse prediction locus, 22 ... Center Line, 23 ... Vehicle width extension line, 24 ... Parking lot line

Claims (1)

Imaging means for attaching to the vehicle and imaging the rear of the vehicle;
Display means for displaying an image behind the vehicle imaged by the imaging means;
When the vehicle is moved backward at the maximum steering angle, the vehicle is extended in the traveling direction, and the predicted backward trajectory corresponding to the rear right end and the rear left end of the vehicle is superimposed on the image displayed on the display means. Control means for displaying;
A parking assist device for a vehicle, comprising: