JP2017211814A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that overlapping various images with a captured image makes an image for display hard to be seen.SOLUTION: A parking support device includes: a parking route setting unit configured to set a parking route to a parking target position; a stop determination unit configured to determine stop of a vehicle on the basis of a predetermined stop condition; an image acquisition unit configured to acquire data of a captured image where a periphery of the vehicle is captured; and an output unit configured to display an image for display where an image at the parking target position is overlapped with the captured image. The output unit is configured to, when the parking route is not set or when the vehicle does not satisfy the stop condition, prevent the image at the parking target position from being overlapped with the captured image.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a parking assistance device.

  A parking assistance device that acquires a captured image including a parking frame of a parking lot, sets a parking target position, and assists the user in parking is known. When such a parking assist device sets a parking target position and a parking route to the parking target position, an image of the parking target position, an image of the parking route, an image of the current traveling direction of the host vehicle, and the like are captured images. The superimposed display image is displayed on the display device.

JP 2010-208545 A

  However, in the above-described parking assistance device, since various images are superimposed on the captured image, the display image may be difficult to see, and display of an easy-to-view display image is desired.

  In order to solve the above-described problem, the parking assist device of the present invention includes a parking route setting unit that sets a parking route to a parking target position, and a stop that determines stop of the vehicle based on a predetermined stop condition. A determination unit, an image acquisition unit that acquires data of a captured image obtained by imaging the periphery of the vehicle, and an output unit that displays a display image in which the image of the parking target position is superimposed on the captured image. The output unit does not superimpose the image of the parking target position on the captured image when the parking route is not set or when the vehicle does not satisfy a stop condition.

  Thereby, the parking assist device does not superimpose the image of the parking target position on the captured image when the parking route is not set or the vehicle does not satisfy the stop condition, so that the display image can be easily viewed. it can.

  In the above-described parking assistance device, the output unit of the parking assistance device of the present invention includes, in the captured image, a support mark indicating that parking assistance to the parking target position is possible when the parking route is set. May be displayed at a position different from the parking target position. Thereby, since a parking assistance apparatus displays a assistance mark in a position different from a parking target position, it can suppress that it becomes difficult for a driver | operator etc. to see the parking target position in a captured image with a assistance mark.

  In the above-described parking support device, the parking support device of the present invention further includes a reception unit that receives the operation instruction for parking support, and the output unit is configured so that the reception unit does not receive the operation instruction and the stop condition is received. When the vehicle is no longer satisfied, the image at the parking target position may be deleted from the display image. As a result, the parking assistance device does not accept the parking assistance instruction and when the stop condition is not satisfied, the parking target position image is erased. Can be easily recognized.

  In the above parking assistance device, when the output unit of the parking assistance device of the present invention displays the image of the parking target position, the output mark is erased, and the image of the parking target position is erased. If the parking route is set, the support mark may be displayed. Thereby, the parking assistance device displays the parking target position image, erases the support mark, and then when the parking route is set when the parking target position image is erased because the stop condition is not satisfied, again, Display a support mark. As a result, the parking assistance device can notify the driver or the like that parking assistance is possible while erasing the parking target position image to make the display image easier to see.

  In the above-described parking assistance device, the output unit of the parking assistance device of the present invention may output a sound indicating that parking assistance to the parking target position is possible when the parking route is set. Thereby, the parking assistance apparatus can notify that parking assistance is possible, without changing the direction of a driver | operator's eyes | visual_axis.

FIG. 1 is an exemplary perspective view illustrating a state in which a part of a passenger compartment of a vehicle according to an embodiment is seen through. FIG. 2 is an exemplary plan view (overhead view) of the vehicle according to the embodiment. FIG. 3 is a block diagram illustrating the configuration of the vehicle according to the embodiment. FIG. 4 is a block diagram illustrating functions of the ECU. FIG. 5 is a flowchart of parking support processing executed by the ECU. FIG. 6 is a plan view showing a state of the vehicle during the parking assistance process. FIG. 7 is a diagram of a display image displayed on the display device during the parking assistance process. FIG. 8 is a plan view showing a state of the vehicle during the parking assistance process. FIG. 9 is a diagram of a display image displayed on the display device during the parking assistance process. FIG. 10 is a plan view showing a state of the vehicle during the parking assistance process. FIG. 11 is a diagram of a display image displayed on the display device during the parking assistance process. FIG. 12 is a plan view showing a state of the vehicle during the parking assistance process. FIG. 13 is a diagram of a display image displayed on the display device during the parking assistance process.

  Similar components are included in the following exemplary embodiments and modifications. Therefore, below, the same code | symbol is attached | subjected to the same component, and the overlapping description is partially abbreviate | omitted. Portions included in the embodiments and modifications can be configured by replacing corresponding portions in other embodiments and modifications. In addition, the configuration, position, and the like of the parts included in the embodiments and modifications are the same as those in the other embodiments and modifications unless otherwise specified.

<Embodiment>
FIG. 1 is an exemplary perspective view showing a state in which a part of a compartment 2a of a vehicle 1 of the embodiment is seen through. The vehicle 1 may be, for example, an automobile (an internal combustion engine automobile) using an internal combustion engine (engine, not shown) as a drive source, or an automobile (electric vehicle) using an electric motor (motor, not shown) as a drive source. Or a fuel cell vehicle or the like, or a vehicle (hybrid vehicle) using both of them as drive sources. The vehicle 1 can be mounted with various transmissions, and various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of the device related to driving of the wheels 3 in the vehicle 1 can be set in various ways.

  As shown in FIG. 1, the vehicle 1 includes a vehicle body 2, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a speed change operation unit 7, and a monitor device 11.

  The vehicle body 2 constitutes a passenger compartment 2a in which a passenger (not shown) gets. In the passenger compartment 2a, facing the driver's seat 2b as an occupant, the steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the transmission operation unit 7, the display device 8, the audio output device 9, and the operation input Part 10 etc. are provided.

  The steering unit 4 is, for example, a steering wheel that protrudes from a dashboard. The acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's feet. The braking operation unit 6 is, for example, a brake pedal that is positioned under the driver's feet. The shift operation unit 7 is, for example, a shift lever that protrudes from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the shift operation unit 7, and the like are not limited to these.

  The monitor device 11 is provided, for example, at the center of the dashboard in the vehicle width direction, that is, the left-right direction. The monitor device 11 may have a function such as a navigation system or an audio system, for example. The monitor device 11 includes a display device 8, an audio output device 9, and an operation input unit 10. The monitor device 11 may have an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button.

  The display device 8 displays an image based on the image information. The display device 8 is, for example, an LCD (Liquid Crystal Display) or an OELD (Organic Electroluminescent Display).

  The sound output device 9 outputs sound based on the sound data. The audio output device 9 is, for example, a speaker. The audio output device 9 may be provided at a different position in the passenger compartment 2a other than the monitor device 11.

  The operation input unit 10 receives an occupant input. The operation input unit 10 is, for example, a touch panel. The operation input unit 10 is provided on the display screen of the display device 8. The operation input unit 10 is configured to be able to transmit an image displayed by the display device 8. Thereby, the operation input part 10 can make a passenger | crew visually recognize the image displayed on the display screen of the display apparatus 8. FIG. The operation input unit 10 receives an instruction input by the occupant touching a position corresponding to an image displayed on the display screen of the display device 8.

  FIG. 2 is an exemplary plan view of the vehicle 1 according to the embodiment. As shown in FIGS. 1 and 2, the vehicle 1 is, for example, a four-wheeled vehicle, and includes two left and right front wheels 3 </ b> F and two right and left rear wheels 3 </ b> R. All or a part of the four wheels 3 can be steered.

  The vehicle 1 includes a plurality of imaging units 15. The imaging unit 15 is a digital camera including an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The imaging unit 15 can output moving image data having a predetermined frame rate as captured image data. For example, the imaging unit 15 outputs captured image data obtained by imaging the periphery of the vehicle 1. Each of the imaging units 15 includes a wide-angle lens or a fish-eye lens, and can capture an image in a horizontal range of 140 ° to 190 °. The optical axis of the imaging unit 15 is set obliquely downward. Therefore, the imaging unit 15 outputs captured image data obtained by capturing an external environment around the vehicle body 2 including a road surface on which the vehicle 1 is movable and an area where the vehicle 1 can be parked.

  The vehicle 1 according to the present embodiment includes two imaging units 15a and 15b. The imaging unit 15a is located, for example, at the rear end 2e of the vehicle body 2, and is provided on a wall portion below the rear trunk door 2h. The imaging unit 15 a images the environment behind the vehicle 1. The imaging unit 15b is located, for example, at an end 2c on the front side of the vehicle body 2, and is provided on a front bumper or the like. The imaging unit 15 b captures an environment in front of the vehicle 1. The vehicle 1 may have three or more imaging units 15. In this case, the imaging unit 15 may be installed on the left side and the right side of the vehicle body 2.

  The vehicle 1 has a plurality of distance measuring sensors 16. The distance measuring sensor 16 emits light such as laser light, for example, and receives light reflected by a distance measuring object such as another vehicle or an obstacle existing around the vehicle 1. Thereby, the distance measurement sensor 16 transmits distance measurement information that is information regarding the distance to the distance measurement object. The distance measurement sensor 16 may calculate and transmit the distance itself as distance measurement information, or may transmit the light emission time and the light reception time necessary for calculating the distance. The distance measurement information transmitted by the distance measurement sensor 16 is also information for detecting an object around the vehicle 1 and imaging a object around the vehicle 1 to generate a distance measurement image.

  The vehicle 1 has, for example, two distance measuring sensors 16a and 16b. The distance measuring sensor 16a is located, for example, at the rear end 2e of the vehicle body 2 and is provided on a wall portion below the door 2h of the rear trunk. The distance measurement sensor 16 a generates distance measurement information of a distance measurement object behind the vehicle 1. The distance measuring sensor 16b is located, for example, at the front end 2c of the vehicle body 2 and is provided on a front bumper or the like. The distance measurement sensor 16 b generates distance measurement information of a distance measurement object in front of the vehicle 1.

  FIG. 3 is a block diagram illustrating the configuration of the vehicle 1 according to the embodiment. As shown in FIG. 3, the vehicle 1 includes a steering system 13, a brake system 18, a steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, a wheel speed sensor 22, an in-vehicle network 23, an ECU ( Electronic Control Unit) 24 is further provided. The monitor device 11, the steering system 13, the imaging unit 15, the distance measuring sensor 16, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the ECU 24 function as a parking assistance system. .

  The monitor device 11, the steering system 13, the distance measuring sensor 16, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the ECU 24 are connected via an in-vehicle network 23 that is an electric communication line. Are electrically connected. The in-vehicle network 23 is configured as a CAN (Controller Area Network), for example.

  The steering system 13 is, for example, an electric power steering system or an SBW (Steer By Wire) system. The steering system 13 includes an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by the ECU 24 or the like to operate the actuator 13a. The steering system 13 steers the wheel 3 by adding torque such as assist torque to the steering unit 4 by the actuator 13a to supplement the steering force. In this case, the actuator 13a may steer one wheel 3 or may steer a plurality of wheels 3. Moreover, the torque sensor 13b detects the torque which a driver | operator gives to the steering part 4, for example. The torque sensor 13b transmits torque to the ECU 24.

  The brake system 18 includes, for example, an ABS (Anti-lock Brake System) that suppresses the locking of the brake, a skid prevention device (ESC: Electronic Stability Control) that suppresses the skidding of the vehicle 1 during cornering, Including an electric brake system and BBW (Brake By Wire). The brake system 18 includes an actuator 18a and a brake sensor 18b. The brake system 18 is electrically controlled by the ECU 24 or the like, and applies a braking force to the wheel 3 via the actuator 18a. The brake system 18 can execute various controls by detecting brake lock, idle rotation of the wheels 3, signs of skidding, and the like from the difference in rotation between the left and right wheels 3. The brake sensor 18b is a displacement sensor that detects the position of a brake pedal as a movable part of the braking operation unit 6, for example. The brake sensor 18b transmits the position of the brake pedal to the ECU 24.

  The steering angle sensor 19 is, for example, a sensor that detects the steering amount of the steering unit 4 such as a steering wheel. The steering angle sensor 19 detects the rotation angle of the rotating portion of the steering unit 4 as a steering amount. The steering angle sensor 19 includes, for example, a hall element. The steering angle sensor 19 transmits steering angle information such as the steering amount of the steering unit 4 by the driver and the steering amount of each wheel 3 during automatic steering to the ECU 24.

  The accelerator sensor 20 is, for example, a displacement sensor that detects the position of an accelerator pedal as a movable part of the acceleration operation unit 5. The accelerator sensor 20 transmits the position of the acceleration operation unit 5 to the ECU 24.

  The shift sensor 21 is, for example, a sensor that detects the position of the movable part of the speed change operation unit 7. The shift sensor 21 detects positions of a lever, an arm, a button, and the like that are movable parts of the speed change operation unit 7. The shift sensor 21 may include a displacement sensor and may be configured as a switch. The shift sensor 21 transmits the position of the movable part of the shift operation part 7 to the ECU 24 as shift information.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 includes, for example, a hall element. The wheel speed sensor 22 transmits the wheel speed pulse number indicating the detected rotation speed to the ECU 24 as wheel speed information. The wheel speed sensor 22 may be provided in the brake system 18.

  The ECU 24 is an example of a parking assistance device. The ECU 24 transmits a control signal via the in-vehicle network 23 to control the steering system 13 and the brake system 18. The ECU 24 detects the torque sensor 13b, the brake sensor 18b, the rudder angle sensor 19, the distance measuring sensor 16, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the operation input unit 10 via the in-vehicle network 23. The operation signal is received. The ECU 24 receives captured image data from the imaging unit 15. The ECU 24 may receive captured image data from the imaging unit 15 via the in-vehicle network 23. The ECU 24 is, for example, a computer. The ECU 24 includes a CPU (Central Processing Unit) 24a, a ROM (Read Only Memory) 24b, a RAM (Random Access Memory) 24c, a display control unit 24d, an audio control unit 24e, an SSD (Solid State Drive) 24f, Is provided. The CPU 24a, ROM 24b, and RAM 24c may be integrated in the same package.

  The CPU 24a reads a program stored in a nonvolatile storage device such as the ROM 24b, and executes various arithmetic processes and controls according to the program. For example, the CPU 24a performs image processing related to the image displayed on the display device 8, calculation of the distance to the distance measurement target, setting of the parking target position, calculation of the parking route from the own vehicle position to the parking target position, and vehicle Carrying out parking support by automatic control of 1 is performed.

  The ROM 24b stores each program and parameters necessary for executing the program. The RAM 24c temporarily stores various types of data used in computations by the CPU 24a. The display control unit 24d mainly performs processing of a captured image that is acquired from the imaging unit 15 and output to the CPU 24a among arithmetic processing in the ECU 24, data conversion of a display image that is acquired from the CPU 24a and displayed on the display device 8, and the like. Execute. The voice control unit 24e mainly performs a voice process acquired from the CPU 24a and output to the voice output device 9 among the calculation processes in the ECU 24. The SSD 24f is a rewritable nonvolatile storage unit, and maintains data acquired from the CPU 24a even when the power of the ECU 24 is turned off.

  In the present embodiment, the ECU 24 governs overall control of the vehicle 1 by cooperation of hardware and software (control program). For example, the ECU 24 identifies a parking frame or the like shown on the road surface around the vehicle 1 from the image of the imaging unit 15, sets a parking target position inside the parking frame, and assists parking by automatic control or the like. . Thereby, ECU24 implement | achieves the function as a parking assistance apparatus.

  FIG. 4 is a block diagram showing functions of the ECU 24. As shown in FIG. 4, the ECU 24 includes a turning curvature calculation unit 30, a movement amount calculation unit 32, a traveling direction determination unit 34, a distance acquisition unit 36, an image acquisition unit 38, and a host vehicle position estimation unit 40. The stop determination unit 42, the parking target position setting unit 44, the parking route setting unit 46, the reception unit 48, the output unit 50, and the parking support unit 52 are provided. For example, when the CPU 24a executes a program for parking support processing stored in the ROM 24b or the SSD 24f, the ECU 24 causes the turning curvature calculation unit 30, the movement amount calculation unit 32, the traveling direction determination unit 34, and the distance acquisition unit 36. The functions of the image acquisition unit 38, the vehicle position estimation unit 40, the stop determination unit 42, the parking target position setting unit 44, the parking route setting unit 46, the reception unit 48, the output unit 50, and the parking support unit 52 are realized. . In addition, the turning curvature calculation unit 30, the movement amount calculation unit 32, the traveling direction determination unit 34, the distance acquisition unit 36, the image acquisition unit 38, the own vehicle position estimation unit 40, the stop determination unit 42, the parking target position setting unit 44, the parking Part or all of the route setting unit 46, the reception unit 48, the output unit 50, and the parking support unit 52 may be configured by hardware such as a circuit.

  The turning curvature calculation unit 30 acquires the steering angle information from the steering angle sensor 19. The turning curvature calculation unit 30 calculates the curvature of the turning radius of the vehicle 1 based on the steering angle information.

  The movement amount calculation unit 32 acquires wheel speed information from the wheel speed sensor 22. The movement amount calculation unit 32 calculates the movement amount based on the movement distance of the vehicle 1 based on the wheel speed information.

  The traveling direction determination unit 34 acquires wheel speed information from the wheel speed sensor 22 and acquires shift information from the shift sensor 21. The traveling direction determination unit 34 identifies the traveling direction of the vehicle 1 based on the shift information and the wheel speed information.

  The distance acquisition unit 36 acquires distance measurement information from the distance measurement sensor 16. The distance acquisition unit 36 calculates the presence / absence of a distance measurement target around the vehicle 1 and the distance and direction to the distance measurement target based on the distance measurement information. When the distance measurement information is information on the distance to the distance measurement target, the distance acquisition unit 36 may be omitted.

  The image acquisition unit 38 acquires captured image data around the vehicle 1 captured and output by the imaging unit 15. A part or all of the functions of the image acquisition unit 38 may be configured by the display control unit 24d.

  The own vehicle position estimation unit 40 acquires the curvature of the turning radius from the turning curvature calculation unit 30, acquires the movement amount from the movement amount calculation unit 32, and acquires the traveling direction from the traveling direction determination unit 34. The own vehicle position estimation unit 40 estimates the current position and the current traveling direction of the vehicle 1 based on the turning radius, the movement amount, and the traveling direction.

  The stop determination unit 42 determines the stop of the vehicle 1 based on a predetermined stop condition. For example, the stop determination unit 42 acquires the movement amount from the own vehicle position estimation unit 40. The stop determination unit 42 determines whether the vehicle 1 is stopped based on the movement amount and a predetermined stop condition. An example of the stop condition is a movement amount corresponding to less than or less than a predetermined speed (for example, 0.5 km / hour, more preferably 0.2 km / hour). For example, the stop determination unit 42 determines that the vehicle 1 is stopped when the movement amount satisfies the stop condition. The stop determination unit 42 may determine whether or not the vehicle 1 is stopped based on the speed calculated from the movement amount and the stop condition.

  The parking target position setting unit 44 acquires distance information from the distance acquisition unit 36 to the distance measurement target, and acquires captured image data from the image acquisition unit 38. The parking target position setting unit 44 extracts a parking frame in which the vehicle 1 can be parked from the captured image data. The parking target position setting unit 44 detects a ranging object around the vehicle 1 based on the ranging information. The parking target position setting unit 44 sets the parking frame as a parking target position when there is no obstacle such as another vehicle in the parking frame extracted from the captured image data.

  The parking route setting unit 46 acquires the host vehicle position from the host vehicle position estimation unit 40 and acquires the parking target position from the parking target position setting unit 44. The parking route setting unit 46 sets a parking route from the vehicle position to the parking target position. For example, the parking route setting unit 46 calculates the distance from the vehicle position to the parking target position, and uses any one of known models such as an arc model, a straight line model, and a two-circle model for the distance. Apply and set the parking route. When the arc model is adopted, the parking route setting unit 46 sets a parking route in which the parking route is an arc of one circle. When the straight line model is adopted, the parking route setting unit 46 sets a parking route that combines one straight line and one circular arc. When the two-circle model is adopted, the parking route setting unit 46 sets a parking route in which two circular arcs having different rotation directions (for example, clockwise and counterclockwise) are combined.

  The accepting unit 48 accepts an operation instruction from an occupant including a driver from the operation input unit 10. An example of the operation instruction received by the receiving unit 48 is a parking support instruction that instructs automatic parking support to the parking target position. The reception unit 48 transmits the received operation instruction to the parking support unit 52 and the output unit 50 when the received operation instruction is a parking support instruction.

  The output unit 50 acquires the determination result of the stop determination from the stop determination unit 42. The output unit 50 acquires a parking route from the parking route setting unit 46. The output unit 50 acquires the parking target position and the captured image data from the parking target position setting unit 44. When the parking route is set and the vehicle 1 satisfies the stop condition and the stop determination result indicates stop, the output unit 50 combines the image of the parking target position with the captured image. A display image is generated. On the other hand, when the parking route is not set or when the vehicle 1 does not satisfy the stop condition, the output unit 50 generates a display image that does not superimpose the image of the parking target position on the captured image. The output unit 50 transmits the display image to the display device 8 for display.

  When the parking route is set, the output unit 50 outputs that parking assistance by automatic control is possible before displaying the image of the parking target position. For example, when the parking route is set, the output unit 50 causes the display device 8 to display a support mark that is an image indicating that parking support is possible. Here, the output unit 50 preferably displays a support mark at a position different from the parking target position in the captured image.

  In addition, when displaying the image of the parking target position after displaying the support mark, the output unit 50 informs the driver or the like that parking support by automatic control is possible by displaying the image of the parking target position. Therefore, it is preferable to delete the support mark.

  After superimposing the image of the parking target position on the captured image, the output unit 50 deletes the image of the parking target position when the receiving unit 48 does not receive the parking support instruction and the vehicle 1 no longer satisfies the stop condition. When the image of the parking target position is deleted, the output unit 50 preferably displays the deleted support mark again if the parking route is set.

  The parking support unit 52 acquires a parking route from the parking route setting unit 46. The parking support unit 52 acquires a parking support instruction from the reception unit 48. When the parking support unit 52 acquires the parking route and acquires the parking support instruction, the parking support unit 52 controls the steering system 13 and the brake system 18 to move from the own vehicle position to the parking target position along the parking route. The vehicle 1 is run.

  FIG. 5 is a flowchart of parking support processing executed by the ECU 24. 6, 8, 10, and 12 are plan views showing the state of the vehicle 1 during the parking assistance process. 7, 9, 11, and 13 are diagrams of a display image 82 displayed on the display device 8 during the parking assistance process. The CPU 24a of the ECU 24 starts a parking assistance process by reading a parking assistance program stored in the ROM 24b or the like while the vehicle 1 is moving backward.

  As shown in FIG. 5, in the parking assistance process, first, the turning curvature calculation unit 30, the movement amount calculation unit 32, the traveling direction determination unit 34, the distance acquisition unit 36, and the image acquisition unit 38 respectively have steering angle information and The wheel speed information, wheel speed information and shift information, distance measurement information, and captured image data are acquired (S102).

  The own vehicle position estimating unit 40 acquires the curvature of the turning radius, the moving amount, and the traveling direction from each of the turning curvature calculating unit 30, the moving amount calculating unit 32, the traveling direction determining unit 34, and the distance acquiring unit 36. . The own vehicle position estimation unit 40 estimates the own vehicle position and the traveling direction of the vehicle 1 based on the curvature of the turning radius, the moving amount, and the traveling direction (S104).

  The parking target position setting unit 44 acquires distance measurement information and captured image data from the distance acquisition unit 36 and the image acquisition unit 38, respectively. Based on the distance measurement information and the captured image data, the parking target position setting unit 44 recognizes the parking frame 70 on or near the traveling direction CR of the vehicle 1 as shown by a dotted line in FIG. The parking target position 72 is set inside the frame 70 (S106). The parking target position setting unit 44 outputs the set parking target position 72 to the parking route setting unit 46 and the output unit 50.

  The parking route setting unit 46 acquires the own vehicle position and the parking target position 72 from each of the own vehicle position estimation unit 40 and the parking target position setting unit 44. The parking route setting unit 46 sets a parking route from the own vehicle position to the parking target position 72 based on the own vehicle position and the parking target position 72 (S108). The parking route setting unit 46 outputs the set parking route together with the parking target position 72 to the output unit 50 and the parking support unit 52.

  When the output unit 50 acquires the parking route from the parking route setting unit 46, the display unit 8 displays a support mark 80 indicating that parking support is possible, as shown in FIG. 7, along with the captured image 74 behind the vehicle 1. It is displayed (S110). The support mark 80 is also a mark that instructs the driver to stop. Here, the output unit 50 preferably displays the support mark 80 at a position different from the parking target position 72 indicated by the thick dotted line. For example, the output unit 50 displays the support mark 80 on the outside of the captured image 74. The output unit 50 may cause the display device 8 to display a message indicating that parking assistance is possible, together with the support mark 80. The output unit 50 is for display in which an image indicating a parking route (hereinafter referred to as a parking route image 76) and an image indicating a current traveling direction CR (hereinafter referred to as a traveling direction image 78) are superimposed on the captured image 74 together with the support mark 80. The image 82 may be displayed on the display device 8. At this stage, the parking target position 72 is not displayed, but is shown in the drawing for the sake of explanation.

  The stop determination unit 42 acquires the movement amount from the own vehicle position estimation unit 40. The stop determination unit 42 determines whether or not the vehicle 1 is stopped based on whether or not the movement amount satisfies a predetermined stop condition (S112). The stop determination unit 42 outputs the result of the stop determination to the output unit 50.

  The output unit 50 determines whether a parking route is set and the vehicle 1 is stopped (S114). The output unit 50 determines that the parking route is set when the parking route is acquired from the parking route setting unit 46. On the other hand, the output unit 50 determines that the parking route is not set when the parking route is not acquired from the parking route setting unit 46. The output unit 50 determines that the vehicle 1 is stopped when the stop determination result indicating that the vehicle 1 is stopped is acquired from the stop determination unit 42. The output unit 50 determines that the vehicle 1 has not stopped when the stop determination result indicating that the vehicle 1 has not stopped is acquired from the stop determination unit 42.

  When the output unit 50 determines that the parking route is not set or the vehicle 1 is not stopped (S114: No), the output unit 50 determines whether or not parking support is ended (S116). In other words, the output unit 50 displays the image of the parking target position in the captured image 74 even if the parking target position 72 is acquired when the parking route is not set or when the vehicle 1 is not stopped. Do not overlap. For example, when the shift operation unit 7 determines that the forward shift position is one of the forward shift positions based on the shift information, the output unit 50 determines that the parking assistance has ended. When the output unit 50 determines that the parking assistance is finished (S116: Yes), the parking assistance process is finished. If the output unit 50 determines that the parking assistance is not completed (S116: No), the process repeats step S112 and subsequent steps.

  When the output unit 50 determines that the parking route is set and the vehicle 1 is stopped as shown in FIG. 8 (S114: Yes), the support mark 80 is deleted from the display image 82 (S117). The display image 82 is displayed on the display device 8 in which the image of the parking target position 72 (hereinafter, the parking target position image 86) indicated by the bold line in FIG. The support mark 80 may be erased at the same time as or after the parking target position image 86 is displayed. As shown in FIG. 9, the output unit 50 may also display a message indicating that a parking assistance instruction can be accepted.

  The reception unit 48 determines whether or not a parking support instruction has been received (S120). When the reception unit 48 has not received a parking support instruction (S120: No), the reception unit 48 outputs a determination result indicating that the parking support instruction has not been received to the output unit 50. In addition, the reception part 48 does not need to output anything to the output part 50, when the parking assistance instruction is not received.

  When the output unit 50 acquires the determination result indicating that the parking support instruction is not received from the reception unit 48 (or when nothing is acquired from the reception unit 48), the output unit 50 determines whether the vehicle is moving backward (S124). For example, the output unit 50 determines whether or not the vehicle is moving backward based on the shift information, and determines whether or not the vehicle is moving based on whether or not the moving amount satisfies the stop condition. As shown in FIG. 10, the output unit 50 determines that the vehicle 1 moves backward and moves when the vehicle 1 has stopped once and then reverses and does not satisfy the stop condition (S124: Yes). As a result, the output unit 50 deletes the parking target position image 86 superimposed on the rear captured image 74 as shown in FIG. 11 (S126), and determines whether there is a parking route (S128). .

  When determining that there is no parking route (S128: No), the output unit 50 repeats Step S108 and subsequent steps, and sets the parking route again. Thereafter, when the parking route is set again (S108), the output unit 50 displays the support mark 80 on the display device 8 again (S110). If the output unit 50 determines that there is a parking route (S128: Yes), the support mark 80 is superimposed and displayed together with the parking route image 76 (S130), and then the steps after S112 are repeated to stop the vehicle 1 again. Determine.

  If the output unit 50 determines that the vehicle is moving forward or not moving even if the vehicle is moving backward (S124: No), the output unit 50 determines whether or not the parking support is ended (S132). For example, when the shift position is a forward position, the output unit 50 determines that the parking support is ended (S132: Yes), and ends the parking support process. For example, when the shift position is stopped at the reverse position, the output unit 50 determines that the parking support is not ended (S132: No), and repeats the steps after step S120.

  When the occupant inputs a parking support instruction using a touch panel or a mechanical button, the reception unit 48 determines that the parking support instruction is received (S120: Yes), and outputs the parking support instruction to the parking support unit 52. When the parking support unit 52 acquires the parking support instruction, the parking support unit 52 controls the steering system 13 and the brake system 18 to move the vehicle 1 to the parking target position 72 as shown in FIG. 12 (S134). While moving the vehicle 1 to the parking target position 72, the output unit 50 preferably continues the display of the parking target position image 86 with a message indicating that parking assistance is being performed, as shown in FIG. In this case, the output unit 50 may erase the support mark 80.

  As described above, the ECU 24 does not superimpose the parking target position image 86 on the captured image 74 when the parking route is not set or when the vehicle 1 does not satisfy the stop condition. Thereby, ECU24 can reduce the display of the unnecessary parking target position image 86, and can make it easy to see the display image 82 including the captured image 74 for the driver etc. who do not want parking assistance. In particular, the ECU 24 does not superimpose the parking target position image 86 on the captured image 74 unless the vehicle 1 satisfies the stop condition even when the parking target position 72 is recognized a plurality of times during reverse travel to the parking target position 72. Therefore, the ECU 24 can make the display image 82 easier to see even when the parking target position 72 is recognized a plurality of times.

  The ECU 24 displays the support mark 80 to be displayed when the parking route is set at a position different from the parking target position 72 or the parking target position image 86, so that the driver or the like uses the support mark 80 to display the parking target in the captured image 74. It can suppress that the position 72 becomes difficult to see.

  The ECU 24 deletes the parking target position image 86 when the parking support instruction is not received and the stop condition is not satisfied, so that the parking target position 72 in the captured image 74 can be easily set for a driver who does not need parking support. It can be visually recognized.

  The ECU 24 displays the parking target position image 86 and deletes the support mark 80. After the parking target position image 86 is deleted because the stop condition is not satisfied and the parking target position image 86 is deleted, the ECU 24 again displays the support mark. 80 is displayed. Thus, the ECU 24 can notify the driver or the like that parking assistance is possible while erasing the parking target position image 86 to make the display image 82 easier to see.

  The functions, arrangements, electrical connection forms, and the like of the components of the above-described embodiments are examples, and can be set or changed in various ways.

  For example, the ECU 24 may include a logic operation processor such as a DSP (Digital Signal Processor), a logic circuit, and the like instead of the CPU 24a.

  Although the output part 50 showed the example which displays the assistance mark 80 on the outer side of the captured image 74, the output part 50 displays the assistance mark 80 on the display apparatus 8 in the position different from the parking target position image 86 in the captured image 74. May be. In this case, the output unit 50 preferably displays the support mark 80 at a position different from the parking route image 76 in the captured image 74.

  Although the output part 50 displayed the support mark 80 which is an image on the display device 8, the example which notifies a driver | operator etc. that parking assistance is possible was shown. May be notified that parking assistance is possible. Even in this case, the output unit 50 may display the support mark 80 together. Thereby, the ECU 24 can notify that parking assistance is possible without changing the direction of the driver's line of sight.

  Although embodiments and modifications of the present invention have been described, these embodiments and modifications are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 8 ... Display apparatus 9 ... Audio | voice output device 10 ... Operation input part 15 ... Imaging part 15a ... Imaging part 15b ... Imaging part 24 ... ECU (parking assistance apparatus)
38 ... Image acquisition unit 42 ... Stop determination unit 44 ... Parking target position setting unit 46 ... Parking route setting unit 48 ... Reception unit 50 ... Output unit 52 ... Parking support unit 72 ... Parking target position 74 ... Captured image 76 ... Parking route image 80 ... Support mark 82 ... Display image 86 ... Parking target position image

Claims (5)

A parking route setting unit for setting a parking route to the parking target position;
A stop determination unit that determines stop of the vehicle based on a predetermined stop condition;
An image acquisition unit for acquiring data of a captured image obtained by imaging the periphery of the vehicle;
An output unit for displaying a display image in which an image of the parking target position is superimposed on the captured image;
With
The said output part is a parking assistance apparatus which does not superimpose the said image of the said parking target position on the said captured image, when the said parking route is not set or when the said vehicle does not satisfy stop conditions. The output unit displays, when the parking route is set, a support mark indicating that parking support to the parking target position is possible at a position different from the parking target position in the captured image. Parking assistance apparatus as described in. A reception unit that receives an operation instruction for the parking assistance;
The parking support according to claim 2, wherein the output unit erases the image at the parking target position from the display image when the receiving unit does not receive the operation instruction and the stop condition is not satisfied. apparatus. The output unit is
When the image of the parking target position is displayed, the support mark is erased,
The parking assistance device according to claim 3, wherein if the parking route is set when the image of the parking target position is deleted, the assistance mark is displayed. The parking support device according to any one of claims 1 to 4, wherein when the parking route is set, the output unit outputs a sound indicating that parking support to the parking target position is possible.

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