JP2015107675A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable appropriate parking support that meets situations including a vehicle speed in backward parking.SOLUTION: A parking support device 100 captures an image in the back of a vehicle that is picked up by an imaging device 200 and displays the image in a display device 300 in a vehicle cabin in backward parking. The parking support device 100 includes: a vehicle information input section 102 for inputting vehicle information; a parking frame detecting section 103 which analyzes the image captured from the imaging device 200 for detecting a parking frame; an expected locus calculating section 104 and a reference point calculating section 105 for calculating a relation between the parking frame and the vehicle based on the vehicle information; and an image setting section 106 and an image generating section 107 which generate a prescribed image from the image captured from the imaging device 200 based on the calculated relation between the parking frame and the vehicle to display the prescribed image in the display device 300. A width of a display area for the prescribed image is set in accordance with a vehicle speed included in the vehicle information when the prescribed image is displayed in the display device 300.

Description

  The present invention relates to a parking assist device that captures an image behind a vehicle imaged by an imaging device and displays the image on a display device in a passenger compartment during reverse parking.

  2. Description of the Related Art Conventionally, there has been proposed a technique for assisting parking by capturing an image behind a vehicle with an imaging device and displaying the image on a display device in a passenger compartment during reverse parking. For example, Patent Literature 1 discloses a wide-angle camera that captures an image behind the vehicle and a white line detection that detects a white line (parking line) shown to recognize a parking space behind the vehicle from an image acquired by the wide-angle camera. There is disclosed a vehicle rear display device that includes an image output unit that switches an image to be displayed on a display from a wide area image to a narrow area image based on information detected by the white line detection unit. The image output unit is configured to switch from the wide area image to the narrow area image when the interval between the white lines detected by the white line detection unit becomes equal to or greater than a predetermined value.

JP 2010-184606 A

  Although the vehicle speed at the time of reverse varies depending on the conditions of the parking lot, etc., Patent Document 1 does not consider the vehicle speed at the time of reverse. Ideally, the parking area near the target parking position should be displayed large so that the driver can easily see when reversing, but it is also required to be able to confirm the safety of the surroundings when the vehicle speed is high when reversing. The

  The present invention has been made in view of the above points, and an object of the present invention is to enable appropriate parking assistance according to the situation including the vehicle speed during reverse parking.

The parking assistance device of the present invention is a parking assistance device that captures an image of the rear of the vehicle imaged by the imaging device and displays it on a display device in a vehicle compartment during reverse parking, and includes an input means for inputting vehicle information, Based on the vehicle information input by the input means and the parking frame detection means for analyzing the image captured from the imaging device and detecting the parking frame, the relationship between the parking frame detected by the parking frame detection means and the vehicle is calculated. And a display control means for generating an image captured from the imaging device into a predetermined image based on the relationship between the parking frame calculated by the calculation means and the vehicle, and displaying the image on the display device. The display control means sets the width of the display area of the predetermined image according to the vehicle speed included in the vehicle information input by the input means when displaying the predetermined image on the display device. To.
Another feature of the parking assist device according to the present invention is that the display control means makes the display area of the predetermined image wide when the vehicle speed input by the input means exceeds the threshold, and is equal to or lower than the threshold. In this case, the display area of the predetermined image is narrowed.
Another feature of the parking assist apparatus according to the present invention is that the calculation means includes a reference point where the own vehicle is parallel to the parking frame, and a parking frame when the own vehicle is parallel to the parking frame. And a limit point in the longitudinal direction of the parking frame that can be accommodated.

  According to the present invention, the image captured by the imaging device is converted into a predetermined image according to the relationship between the parking frame and the vehicle, and is displayed on the display device. Further, the display area of the predetermined image is determined according to the vehicle speed. Therefore, it is possible to perform appropriate parking assistance according to the situation including the vehicle speed during reverse parking.

It is a figure which shows the structure of the parking assistance system containing the parking assistance apparatus which concerns on embodiment. It is a flowchart which shows the process for parking assistance by the parking assistance apparatus which concerns on embodiment. It is a figure for demonstrating the relationship between a parking frame and a vehicle. It is a figure for demonstrating the relationship between a parking frame and a vehicle. It is a figure for demonstrating the relationship between a parking frame and a vehicle. It is a figure which shows the example of a display of a display apparatus.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a diagram showing a configuration of a parking assistance system including a parking assistance device 100 according to an embodiment to which the present invention is applied.
The parking assist device 100 captures an image of the rear of the vehicle imaged by the imaging device 200 and displays it on the display device 300 in the passenger compartment during reverse parking.
The imaging device 200 is configured by a wide-angle camera attached to an appropriate position at the rear of the vehicle such as a back door or a bumper.
The display device 300 is installed at a suitable place (such as on the dashboard or in front of the steering wheel) where the driver in the vehicle can easily see. The display device 300 may use a display unit of a navigation system.

  In the parking assist apparatus 100, reference numeral 101 denotes an image input unit that captures and temporarily records an image behind the vehicle captured by the imaging apparatus 200.

  Reference numeral 102 denotes a vehicle information input unit which inputs a rudder angle, a vehicle speed, and a yaw rate as vehicle information at the time of reverse movement and temporarily records the information.

  A parking frame detection unit 103 analyzes the image captured by the image input unit 101 and detects a parking frame surrounded by a parking frame line displayed on the road surface.

  An expected trajectory calculation unit 104 calculates the predicted trajectory (expected course) of the host vehicle based on the steering angle, vehicle speed, and yaw rate input by the vehicle information input unit 102.

  Reference numeral 105 denotes a reference point calculation unit, which is based on the relationship between the parking frame detected by the parking frame detection unit 103 and the predicted trajectory of the host vehicle calculated by the predicted trajectory calculation unit 104. A reference point P on the expected trajectory is calculated. Then, the position of the reference point P in the width direction of the parking frame is determined, and the limit point in the longitudinal direction of the parking frame that can be accommodated in the parking frame when the vehicle is parallel to the parking frame is calculated. It is determined whether or not it fits in the parking frame.

  Reference numeral 106 denotes an image setting unit, which is set to generate an image captured by the image input unit 101 as a predetermined image when the reference point calculation unit 105 determines that the image fits in the parking frame. For example, an image captured by the image input unit 101 is set to be converted into an image in which the shooting direction is virtually changed so that the reference point P is the center of the image. Further, when the vehicle speed input by the vehicle information input unit 102 exceeds the threshold value, the cutout range is set so that the predetermined image display area is a wide range, and when the vehicle speed is equal to or lower than the threshold value, the predetermined image display area is a narrow range. Set.

  Reference numeral 107 denotes an image generation unit that performs conversion, clipping, and the like of the image captured by the image input unit 101 so that the image set by the image setting unit 106 is displayed on the display device 300.

  The parking assist device 100 configured as described above can be realized by a computer device including a microprocessor, a memory, and the like. In FIG. 1, the expected trajectory calculation unit 104 and the reference point calculation unit 105 function as calculation means in the present invention, and the image setting unit 106 and image generation unit 107 function as display control means in the present invention. The functional configuration shown in FIG. 1 is an example, and the present invention is not limited to this.

Hereinafter, a parking support method by the parking support system according to the present embodiment will be described.
FIG. 2 is a flowchart showing a process for parking assistance by the parking assistance apparatus 100. Moreover, FIGS. 3-5 is a figure for demonstrating the relationship between a parking frame and a vehicle. FIG. 6 is a diagram illustrating a display example of the display device 300.
The flowchart of FIG. 2 is started when the vehicle moves backward, and loops, for example, in units of the frame rate of the imaging apparatus 200.
In step S1, the vehicle information input unit 102 inputs a steering angle, a vehicle speed, and a yaw rate, and temporarily records them.
In step S <b> 2, the image input unit 101 captures and temporarily records an image behind the vehicle (hereinafter referred to as a camera image) captured by the imaging device 200.

In step S3, the parking frame detection unit 103 analyzes the camera image captured in step S2, and detects a parking frame surrounded by a parking frame line displayed on the road surface.
In step S4, the parking frame detection unit 103 determines whether a parking frame is detected in step S3. If a parking frame is detected, the process proceeds to step S5. If no parking frame is detected, the process proceeds to step S24.

In step S24, the image setting unit 106 sets the camera image captured in step S2 as a display image as it is (see FIG. 6B), and proceeds to step S25. In the present embodiment, as shown by the arrow X ₁ in FIG. 6, the imaging apparatus 200 is assumed to be imaged straight behind the vehicle 51. Although it has been described that the camera image is used as it is as the display image, for example, a display image obtained by cutting out the central portion of the camera image, or an image in which the region in the direction predicted from the steering angle is the center is displayed. For example, the camera image may be processed.

  In step S5, the predicted trajectory calculation unit 104 calculates the predicted trajectory R of the host vehicle 51 as shown in FIG. 3 based on the steering angle, vehicle speed, and yaw rate input in step S1.

In step S6, the reference point calculation unit 105 _obtains the parking frame width W _park , the positions of the front and rear ends of the parking frame, and the center line L _c of the parking frame for the parking frame detected in step S3, and allows the parking area A _c. Set. In the example of FIG. 3, a parking frame in which parking frame lines (white lines) 52 are displayed in parallel on the left and right are shown. In this case, the distance between the left and right parking frame lines 52 and 52 is the parking frame width W _park , and the length of the parking frame line 52 is the position of the front and rear ends of the parking frame. The parking possible range A _c is a region centered on the center line L _c , and can be obtained by the following equation (1), where the vehicle width of the _host vehicle 51 is W _car and the margin width is W _margin .
A _c = W _park −W _car −W _margin (1)
Then, based on the relationship between the parking frame detected in step S3 and the predicted trajectory R of the host vehicle 51 calculated in step S5, the reference point P on the predicted trajectory R where the host vehicle 51 is parallel to the parking frame. Calculate

In step S7, the reference point calculation unit 105 determines the position of the reference point P in the width direction of the parking frame. That is, if the reference point P is located within the parking range A _c (step S8), and if also located in a range A _in the turning center side of the parking range A _c (step S9), and away from the turning center in the opposite It is determined whether it is located in the side range A _out (step S10).

If the reference point P is located within the parking range A _c (step S8), and the process proceeds to step S11, the reference point calculator 105, based on the position of the front and rear ends of the parking frame obtained in step S6, available parking limit Calculate point Q. As shown in FIG. 4, the parking limit point Q is a limit point in the longitudinal direction of the parking frame that can be accommodated in the parking frame when the host vehicle 51 is parallel to the parking frame. The parking possible limit point Q can be calculated based on the total length of the own vehicle 51, the front and rear end lengths of the parking frame, and the like. At this time, information such as the position of the loop stopper and the position of the obstacle behind the vehicle may be taken into consideration.

  In step S12, the reference point calculation unit 105 determines whether the reference point P is in front of or behind the parking limit point Q. When the reference point P is in front of the parking limit point Q (step S13), the process proceeds to step S15. When the reference point P is behind the parking limit point Q (step S14), the process proceeds to step S24. When the reference point P is behind the parking limit point Q, the host vehicle 51 does not fit so as to be parallel to the parking frame, so that a guidance to that effect may be displayed on the display device 300. .

  In step S15, the image setting unit 106 performs setting so that the camera image captured in step S2 is generated as a predetermined image. As illustrated in FIG. 6B, when a camera image (an image directly behind the vehicle 51) is simply displayed, the parking frame may be difficult to visually recognize depending on the angle between the parking frame and the vehicle 51. Therefore, as shown in FIG. 6A, setting is made so that the image is converted into an image in which the shooting direction is virtually changed so that the reference point P becomes the center of the image. At this time, the reference point P may be marked on the image. Further, a curved distortion may be corrected.

Further, in step S16, the image setting unit 106 sets the width of the display area according to the vehicle speed input in step S1. When the vehicle speed exceeds the threshold, the image display area set in step S15 is set to a wide range, and when the vehicle speed is equal to or less than the threshold, the cutout range is set so that the image display area set in step S15 is a narrow range. Thus, since the vicinity of the parking frame that is the target parking position is displayed large when the vehicle speed at the time of reverse is slow, the driver can easily see. However, a wide range is displayed when the vehicle speed at the time of reverse is high, so that it is easy to check the safety of the surroundings. This threshold value is preferably set in a range of 4 to 6 km / h according to the walking speed of the person so that it can be visually confirmed whether or not the person has entered the backward trajectory.
In step S17, the image generation unit 107 performs camera image conversion, clipping, and the like with the contents set in steps S15 and S16, sets them as display images, and proceeds to step S25.

  In step S25, the display image set in steps S17 and S24 is output to the display device 300.

On the other hand, when the reference point P is located _{in the} range A _in (step S9), the process proceeds to step S18. In this case, although it does not fit in the parking frame at present, it can be accommodated in the parking frame if the steering is corrected. Therefore, a message to that effect and steering correction information on how to correct the steering are displayed on the display device 300, and the process proceeds to step S11.

When the reference point P is located in the range A _out (step S10), the process proceeds to step S19, where the predicted trajectory calculation unit 104 calculates the expected trajectory of the vehicle 51 when the minimum turning radius is set, and calculates the reference point. The unit 105 calculates the reference point P _min on the expected trajectory with the minimum turning radius.
In step S20, the reference point calculation unit 105 determines the position of the reference point _Pmin in the width direction of the parking frame. That is, as shown in P _min _ ₂ in FIG. 5, or the reference point P _min is located within the parking range A _c (step S21), and as shown in P _min _ ₁ of FIG. 5, as the minimum turning radius Whether it is still within the range A _out is determined (step S22).
If the reference point P _min is located within the parking range A _c (step S21), and proceeds to step S23. In this case, although it does not fit in the parking frame at present, it can be accommodated in the parking frame if the steering is corrected. Therefore, a message to that effect and steering correction information on how to correct the steering are displayed on the display device 300, and the process proceeds to step S11. On the other hand, when the reference point P _{min is} still located in the range A _out (step S22), the process proceeds to step S24. In this case, since it does not fit in the parking frame, a message to that effect may be displayed on the display device 300.

As described above, when approaching the parking frame during backward parking, the position of the reference point P in the width direction of the parking frame and the relationship between the reference point P and the parking limit point Q, in other words, the width of the parking frame and Since it is determined whether it fits in the parking frame based on both of the lengths, and the display device 300 displays an image in which the parking frame serving as the target parking position is centered, the driver's visibility is improved. It improves and can provide accurate parking support.
Moreover, since the vicinity of the parking frame that is the target parking position is displayed large when the vehicle speed at the time of reverse is slow, the visibility of the driver is improved, and when the vehicle speed at the time of reverse is high, a wide range is displayed. It becomes easier to check the surrounding safety.

As mentioned above, although this invention was demonstrated with various embodiment, this invention is not limited only to these embodiment, A change etc. are possible within the scope of the present invention.
The present invention can also be realized by supplying software (program) that realizes parking assistance to a system or apparatus via a network or various storage media, and the computer of the system or apparatus reads and executes the program. It is.

  DESCRIPTION OF SYMBOLS 100: Parking assistance apparatus, 101: Image input part, 102: Vehicle information input part, 103: Parking frame detection part, 104: Expected locus calculation part, 105: Reference point calculation part, 106: Image setting part, 107: Image generation Part, 200: imaging device, 300: display device

Claims (3)

A parking assist device that captures an image of the rear of the vehicle imaged by the imaging device at the time of reverse parking and displays the image on a display device in the vehicle interior,
Input means for inputting vehicle information;
A parking frame detection means for detecting a parking frame by analyzing an image captured from the imaging device;
Calculation means for calculating the relationship between the parking frame detected by the parking frame detection means and the vehicle based on the vehicle information input by the input means;
Based on the relationship between the parking frame calculated by the calculating means and the vehicle, a display control means for generating an image captured from the imaging device into a predetermined image and displaying the image on the display device,
The display control means sets a display area of the predetermined image according to a vehicle speed included in the vehicle information input by the input means when the predetermined image is displayed on the display device. Parking assistance device.   The display control means makes the display area of the predetermined image a wide range when the vehicle speed input by the input means exceeds a threshold, and makes the display area of the predetermined image a narrow range when the vehicle speed is less than the threshold. The parking assistance device according to claim 1, wherein:   The calculation means includes a reference point at which the own vehicle is parallel to the parking frame, and a limit point in the longitudinal direction of the parking frame that can be accommodated in the parking frame when the own vehicle is parallel to the parking frame. The parking assist device according to claim 1, wherein the parking assist device is calculated.

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