JP2019081419A - Parking support device - Google Patents

Abstract

To provide a parking support device capable of improving a driver's parking skill.SOLUTION: A parking support ECU 2 for supporting parking of a vehicle 1 mounted with an electronic mirror system having imaging means (a right side rear camera 31 and a left side rear camera 32) for taking an external image of the vehicle 1, and display means (a right side monitor 71 and a left side monitor 72) for displaying the external image includes: a target parking position setting unit 24 for setting a target parking position; a support image creation unit 26 for superimposing a display based on parking support information for parking the vehicle at the target parking position on the external image and creating a parking support image; and an image sound control unit 27 for causing the parking support image to be displayed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parking assistance device that assists a parking operation of a driver.

  BACKGROUND Conventionally, a parking assistance device has been developed that supports driving operation at the time of parking. The parking assistance device creates an ideal track from the current position of the car to the target parking position for parking. Then, the driver assists the parking operation so that the car travels along the track. Patent Document 1 discloses an automatic parking device that performs steering control of a vehicle and guides the vehicle to a target parking position. Thereby, the driver can park without operating the steering wheel.

JP-A-5-143895

  However, when the user is used to the automatic parking apparatus, the driver's parking skill may be reduced. As a result, when the driver parks a car not equipped with the automatic parking device, that is, when the automatic parking device can not be used, parking may not be successful.

  The present invention has been conceived under the above-described circumstances, and an object of the present invention is to provide a parking assistance device capable of improving the parking skill of the driver.

  In order to solve the above problems, the present invention takes the following technical measures.

  The parking assistance apparatus provided by the present invention is a parking assistance apparatus for performing parking assistance for the vehicle equipped with an electronic mirror system having imaging means for capturing an external image of the car and display means for displaying the external image. A target parking position setting unit that sets a target parking position; and a support image generation unit that generates a parking support image by superimposing a display based on parking support information for parking at the target parking position on the external image; And display control means for displaying the parking assistance image.

  According to the present invention, the display based on the parking assistance information for parking the car at the target parking position is superimposed on the external image captured by the imaging means of the electronic mirror system to create a parking assistance image and display it ing. Then, the driver steers the steering wheel by himself while checking the displayed parking assistance image and understanding how to drive at the time of parking. Therefore, the parking skill of the driver can be improved.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the accompanying drawings.

It is a block diagram showing composition of a car in which a parking assistance device concerning a 1st embodiment was applied. It is a figure which shows an example of the flowchart for demonstrating the parking assistance process which concerns on 1st Embodiment. It is a figure showing an example of an ideal orbit. It is a parking assistance image concerning a 1st embodiment, and is a figure showing an example of the parking assistance image displayed on the left side monitor. It is a figure which shows the condition when the parking assistance image shown in FIG. 4 is displayed. It is a figure which shows an example of the flowchart for demonstrating the parking assistance process which concerns on 2nd Embodiment. It is a parking assistance image concerning a 2nd embodiment, and is a figure showing an example of the parking assistance image displayed on the left side monitor. It is a block diagram showing the composition of the car to which the parking assistance device concerning a 3rd embodiment was applied. It is a figure which shows an example of the flowchart for demonstrating the parking assistance process which concerns on 3rd Embodiment. It is a parking assistance image concerning a 3rd embodiment, and is a figure showing an example of a parking assistance image displayed on a left side monitor. It is a parking assistance image concerning a modification, and is a figure showing an example of a parking assistance image displayed on a console monitor.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of a car 1 to which a parking assistance device according to the first embodiment is applied. As shown in FIG. 1, the car 1 includes a parking assist ECU (Electronic Control Unit) 2, a plurality of imaging devices 3, various sensors 4, an operating device 5, a speaker 6, and a plurality of display devices 7. In addition, although the vehicle 1 is also equipped with the other structure, description is abbreviate | omitted in FIG. In the following description, the traveling direction of the car 1 is referred to as the front direction, and the vehicle width direction of the car 1 is referred to as the left-right direction.

  The car 1 in the present embodiment mounts an electronic mirror system instead of an optical mirror as an outer rear view mirror such as a fender mirror or a door mirror. The term "optical mirror" refers to one that reflects a mirror image by utilizing the reflection of light. The electronic mirror system captures an area where the driver's blind spot such as the rear or side of the car 1 is captured by an imaging device (right rear camera 31 and left rear camera 32 described later) and installed at a position where the driver can easily view The photographed image is displayed on the display device (right side monitor 71 and left side monitor 72 described later). The imaging device in the electronic mirror system is generally installed at the same position as the conventional optical mirror is installed. Since the imaging device in the electronic mirror system can be made smaller than the optical mirror, the air resistance during traveling can be reduced. Therefore, it contributes to the improvement of the fuel consumption of car 1.

  Each of the plurality of photographing devices 3 shoots an external peripheral image of the car 1. Each imaging device 3 includes an imaging element such as a CCD or a CMOS, for example, and images a predetermined imaging area at a predetermined frame rate. In the present embodiment, the plurality of photographing devices 3 include a right rear camera 31, a left rear camera 32, a right direction camera 33, a left camera 34, a front camera 35, and a rear camera 36.

  The right rear camera 31 captures an image of the right rear of the car 1. The right rear camera 31 photographs at least a range which the conventional right-hand optical outer rear view mirror captures. The right rear camera 31 is an imaging device in an electronic mirror system as described above. The right rear camera 31 is supported by the tip of a rod-like support member mounted on the right side of the car 1. In the following description, an image captured by the right rear camera 31 is referred to as a “right mirror image”. The right rear camera 31 corresponds to the "photographing means" of the present invention. The right side mirror image corresponds to the "external image" of the present invention.

  The left rear camera 32 captures an image of the left rear of the car 1. The left rear camera 32 captures at least a range which the conventional left optical outer rear view mirror captures. The left rear camera 32 is an imaging device in an electronic mirror system as described above. The left rear camera 32 is supported by the tip of a rod-like support member mounted on the left side of the car 1. In the following description, an image captured by the left rear camera 32 is referred to as a “left mirror image”. The left rear camera 32 corresponds to the "photographing means" of the present invention. Further, the left mirror image corresponds to the "external image" of the present invention.

  The right side camera 33 captures an image of the right side of the car 1 including the right side surface of the car 1 and the road surface. The right side camera 33 is attached, for example, to the support member (for example, a portion facing the road surface) that supports the right rear camera 31, and captures an image including both the front and rear of the mounting position.

  The left side camera 34 captures an image of the left side of the car 1 including the left side surface of the car 1 and the road surface. The left side camera 34 is attached, for example, to the above-described support member (for example, a portion facing the road surface) that supports the left rear camera 32, and captures an image including both the front and rear of the mounting position.

  The front camera 35 captures an image of the front of the car 1 including the front of the car 1 and the road surface. The front camera 35 is mounted, for example, near the center in the vehicle width direction of the front of the car 1.

  The rear camera 36 captures an image of the rear of the car 1 including the rear surface of the car 1 and the road surface. The rear camera 36 is mounted, for example, near the center in the vehicle width direction of the back door of the vehicle 1.

  The mounting positions of these cameras 31 to 36 are not limited as long as they can capture an image of a necessary area. Image data captured by each of the cameras 31 to 36 is output to the parking assist ECU 2. Then, these image data are processed by the parking assist ECU 2 into an image suitable for display on each display device 7.

  The various sensors 4 detect various detection values and output the detected values to the parking assist ECU 2. Various sensors 4 include a steering angle sensor that detects the steering angle of the steering wheel, a vehicle speed sensor that detects the wheel speed of each wheel of the car 1, a brake sensor that detects the operation amount of the brake pedal, and the operation amount of the accelerator pedal. An accelerator sensor, a shift position sensor that detects a shift position that changes in conjunction with the operation of the shift lever, and the like are included. In addition, the above-mentioned thing is an example and it is not limited to these.

  The speaker 6 outputs a voice, and outputs a voice based on the voice signal input from the parking assistance ECU 2.

  Each of the plurality of display devices 7 is configured of, for example, an LCD (Liquid Crystal Display Device), and is disposed in the car 1. Each display device 7 is not limited to the LCD, and may be an organic EL display, a plasma display, or the like. The plurality of display devices 7 are all mounted at positions easily visible to the driver. The plurality of display devices 7 include a right side monitor 71, a left side monitor 72, and a console monitor 73.

  The right side monitor 71 is disposed on the right side in the vehicle width direction. The right side monitor 71 is disposed, for example, at a position on the right side in the vehicle width direction in a dashboard, a pillar on the right side in the vehicle width direction, a right front seat door, or the like. A right side mirror image is displayed on the right side monitor 71 during normal travel, and a parking support image in which a display based on parking support information for parking at the target parking position is superimposed on the right mirror image (see below The right parking support image is displayed. The right side monitor 71 is a display device in the electronic mirror system as described above. The right side monitor 71 corresponds to the "display means" of the present invention.

  The left side monitor 72 is disposed on the left side in the vehicle width direction. The left side monitor 72 is disposed, for example, at a position on the left side in the vehicle width direction in the dashboard, a pillar on the left side in the vehicle width direction, a left front seat door, or the like. A left side mirror image is displayed on the left side monitor 72 during normal travel, and a parking support image in which a display based on parking support information for parking at the target parking position is superimposed on the left mirror image The left parking support image is displayed. The left side monitor 72 is a display device in the electronic mirror system as described above. The left side monitor 72 corresponds to the "display means" of the present invention.

  The console monitor 73 is installed at the center console portion of the car 1. The console monitor 73 displays the overhead view image based on the image signal input from the parking assist ECU 2 at the time of parking assist. The console monitor 73 may also be used as a display of a navigation system or the like. In this case, when an operation signal instructing start of parking assistance is input from the operating device 5, the navigation screen may be switched to a screen for parking assistance (such as a bird's-eye view image or a parking assistance image).

  The operating device 5 is operated by a driver (or a passenger) and outputs an operation signal corresponding to the operation to the parking assist ECU 2. In the present embodiment, the controller device 5 is a touch panel disposed on the screen of the console monitor 73. When a button or the like displayed on the screen of the console monitor 73 is operated with a fingertip, the touch panel reads a touch position and outputs a corresponding operation signal. The operation device 5 is not limited to this, and may be an input device such as an operation button or a joystick. The driver (or the passenger) can instruct the parking assistance ECU 2 to start parking assistance or designate a target parking position by operating the operation device 5.

  The parking assistance ECU 2 is an electronic control unit for performing parking assistance, and is realized by a microcomputer including a CPU and a memory. The parking assistance ECU 2 performs control for parking assistance based on the image data input from each imaging device 3, each detection signal input from various sensors 4, and the operation signal input from the operating device 5. . In the present embodiment, the parking assistance ECU 2 performs various controls for parking assistance of the car 1. The parking assistance ECU 2 corresponds to the "parking assistance device" of the present invention.

  The parking assistance ECU 2 includes, as functional blocks, a vehicle state identification unit 21, a bird's-eye view image creation unit 22, a parking frame detection unit 23, a target parking position setting unit 24, a track creation unit 25, a support image creation unit 26, and image voice control. A unit 27 is provided.

  The vehicle state identification unit 21 identifies the current state of the car 1 (hereinafter referred to as “vehicle state”). The vehicle state is identified based on detection signals input from the various sensors 4. In the present embodiment, the vehicle state identification unit 21 identifies, as the vehicle state, the current position of the vehicle 1, the steering angle of the steering wheel, the operation amount of the brake pedal, the operation amount of the accelerator pedal, the vehicle speed, and the shift position. .

  The overhead image creation unit 22 creates an overhead image. The overhead image is an image displayed as if looking down from a virtual viewpoint above the car 1. The bird's-eye view image creation unit 22 creates a bird's-eye view image from image data input from the right side camera 33, the left side camera 34, the front camera 35, and the rear camera 36 by predetermined image processing.

  The parking frame detection unit 23 detects a parking frame from the overhead image created by the overhead image creation unit 22. The parking frame detection unit 23 detects, for example, a white line, and detects a rectangular area formed by the white line as a parking frame. In addition, the method to detect a parking frame is not limited. The parking frame may be detected by image recognition processing such as pattern matching. The lines forming the parking frame are not limited to white lines, and may be yellow lines or lines of other colors, or may be broken lines. In addition, the parking frame is not limited to being formed in a rectangular shape, and may be formed in a parallelogram shape, or may be formed by only two parallel lines. Also in these cases, it is desirable to be able to detect as a parking frame.

  The target parking position setting unit 24 sets a target parking position. The target parking position setting unit 24 selects a parking frame for parking the car 1 (hereinafter, referred to as “target parking frame”) from the parking frames detected by the parking frame detection unit 23. The target parking frame is automatically selected from the parking frames detected by the parking frame detection unit 23 according to a predetermined algorithm. Alternatively, all (or to some extent) the parking frame detected by the parking frame detection unit 23 may be displayed on the console monitor 73, and the driver may be made to select the target parking frame by the operation of the operation device 5. Further, the driver may set the target parking frame on the overhead image by the operation of the operation device 5 without performing the detection and display of the parking frame by the parking frame detection unit 23. Then, a predetermined position in the target parking frame is set as the target parking position. The predetermined position is, for example, the center position of the target parking frame. In addition, the target parking position may be set by another method without using the overhead image. For example, a parking space may be detected by an ultrasonic sensor (sonar), and a parking space for parking the car 1 may be selected from the detected parking spaces and set as the target parking position. The setting method of the target parking position is not limited.

  The track creating unit 25 creates an ideal parking track (hereinafter referred to as “ideal track”) for parking at the target parking position from the current position of the car 1. The ideal track is created based on the vehicle state (in particular, the current position of the car 1) specified by the vehicle state specifying unit 21 and the target parking position set by the target parking position setting unit 24. The algorithm for creating the ideal trajectory is not particularly limited.

  The support image creation unit 26 creates a parking support image for performing parking support of the car 1. Specifically, the support image generation unit 26 acquires parking support information for parking the car 1 at the target parking position. Then, a display based on the acquired parking support information is superimposed on the right side mirror image and the left side mirror image to create a parking support image. In addition, a parking assistance image in which a display based on parking assistance information is superimposed on a right side mirror image is referred to as a "parking assistance image for right" and a parking assistance image in which a display based on parking assistance information is superimposed on a left mirror image is It is called "parking support image". The parking support information in the present embodiment includes, for example, information on a target parking space, information on an attention point, and information on a driving operation. Note that other information may be included. The information regarding the target parking frame is information for notifying the target parking frame in the right side mirror image and the left side mirror image. The information on the point of interest is information for notifying a point to be focused on in the right side mirror image and the left side mirror image at the time of parking. In addition, as a point to be noted, for example, the right side mirror image such as the side of the car 1, the line of the parking frame on the road surface, an obstacle (for example, another car, a wall, a building etc.) and their boundaries The features displayed in the left mirror image are extracted. The information related to the driving operation is information for informing the driving operation necessary for causing the vehicle 1 to travel along the ideal track. These pieces of information are configured by image data and / or text data. The parking assistance information is acquired by the assistance image creation unit 26 by being read from the storage unit (not shown) based on the vehicle state, the ideal trajectory, and each image data captured by each imaging device 3 and the like. Alternatively, the parking assistance information is acquired by the assistance image creation unit 26 by being created based on the vehicle state, the ideal track, and each image data captured by each imaging device 3 or the like.

  The image voice control unit 27 performs notification control for parking assistance. In the present embodiment, the image / sound control unit 27 causes the right side monitor 71 to display the right parking assist image. Further, the image / sound control unit 27 causes the left side monitor 72 to display the left parking assist image. Furthermore, the image / sound control unit 27 causes the speaker 6 to output a sound based on the parking support information. When parking assistance is started, the image / sound control unit 27 causes the console monitor 73 to display the overhead image created by the overhead image creation unit 22. The image sound control unit 27 corresponds to the "display control means" of the present invention.

  Next, the parking assistance processing performed by the parking assistance ECU 2 according to the first embodiment will be described below with reference to the flowchart shown in FIG.

  FIG. 2 shows an example of the parking assistance process. In the present embodiment, the parking assistance process is started, for example, when an operation signal instructing start of parking assistance is input from the operating device 5. When the R range (reverse range) is selected by the shift operation, for example, when the vehicle speed becomes 10 km / hour or less, the operation may be started when there is an operation indicating the intention to perform parking.

  When the parking assistance processing is started, the overhead image creation unit 22 first creates a overhead image (S11). Specifically, image data is input to the parking assist ECU 2 from the right side camera 33, the left side camera 34, the front camera 35, and the rear camera 36, and the overhead image creation unit 22 uses these image data. Create an eyebrow image. At this time, the created overhead view image is displayed on the console monitor 73 by the image / sound control unit 27. The console monitor 73 may display another image instead of or in addition to the overhead image. For example, as another image, an image captured by the front camera 35 when the car 1 advances, an image captured by the rear camera 36 when the car 1 retracts, or the like may be displayed. Further, the overhead image and the image data of each of the cameras 33 to 36 may all be displayed.

  Next, setting of a target parking position is performed by the target parking position setting unit 24 (S12). Specifically, a parking frame is detected from the bird's-eye view image in which the parking frame detection unit 23 is created, and selection of a target parking frame and a target parking position from the parking frames in which the target parking position setting unit 24 is detected. Make settings.

  Next, the trajectory creation unit 25 creates an ideal trajectory (S13). Specifically, the track creating unit 25 creates an ideal track from the current position of the car 1 to the target parking position.

  FIG. 3 is a diagram for explaining the ideal trajectory created by the trajectory creation unit 25. As shown in FIG. In FIG. 3, it is assumed that the parking assistance processing is started when the car 1 is located at the point Ps. In FIG. 3, the point Ps is, for example, the center position of the car 1 (the same applies to the points P11 and Pg1). It is assumed that the start processing of the parking support processing is executed at the point Ps and the position indicated by the point Pg1 from the target parking frame K1 selected among the plurality of parking frames is set as the target parking position. At this time, in order to park the vehicle from the start position Ps to the target parking position Pg1, it is necessary to switch back and forth, and the trajectory L11 and the trajectory L12 are created as the ideal trajectory. The trajectory L11 is an ideal trajectory from the start position Ps to the turning position P11, and the trajectory L12 is an ideal trajectory from the turning position P11 to the target parking position Pg1. The ideal trajectory is a set of position information based on the start position.

  Next, the current vehicle state of the car 1 is specified by the vehicle state identification unit 21 (S14). Specifically, based on the detection values input from the various sensors 4, the vehicle state identification unit 21 determines the current position of the car 1, the steering angle (steering amount) of the steering wheel, the operation amount of the accelerator, the operation amount of the brake, Identify vehicle conditions such as shift position.

  Next, the assistance image creation unit 26 creates a parking assistance image (S15). Specifically, the support image creation unit 26 acquires parking support information, superimposes a display based on the acquired parking support information on the right mirror image and the left mirror image, respectively, and the right parking support image and the left support image Create

  Next, notification processing of a parking assistance image is performed by the image voice control unit 27 (S16). Specifically, the image / sound control unit 27 causes the right side monitor 71 to display the right parking support image, and causes the left side monitor 72 to display the left parking support image. Furthermore, the image / sound control unit 27 causes the speaker 6 to output a sound based on the parking support information.

  FIG. 4 shows an example of the left parking assist image displayed on the left side monitor 72. As shown in FIG. The parking assist image for the left shown in FIG. 4 is an example when the car 1 travels the point Px shown in FIG. The parking support start position (point Ps), the target parking position (point Pg1), the ideal track (tracks L11 and L12), and the turning position (point P11) shown in FIG. 5 are the same as those shown in FIG. In the situation shown in FIG. 5, the car 1 is traveling on the track L11 and before reaching the turning position P11 on the ideal track. In FIG. 5, the area RR indicates the imaging area of the right rear camera 31, and the area RL indicates the imaging area of the left rear camera 32. In the example shown in FIG. 4, each piece of information included in the parking assistance information is displayed as follows. That is, the information on the driving operation is displayed as the comment C1, the information on the attention point is displayed as the figures Z1 and Z2, and the information on the target parking frame is displayed as the figure F1. FIG. 5 shows the situation before the car 1 reaches the turning position P11 on the ideal track, so the comment C1 shown in FIG. 4 is information for guiding the car 1 to the turning position P11. In this comment C1, when using the features such as the side surface of the car 1, the road surface, and a line that separates a plurality of parking frames, the driving operation is performed such that the positional relationship between the features is in any state. It is presented that you can drive along the ideal track. The speaker 6 outputs the contents of the comment C1 as an audio. The figure Z1 shown in FIG. 4 shows "the boundary between the side surface of the vehicle and the road surface" shown in the comment C1. The figure Z2 shown in FIG. 4 is for showing "this end of the parking frame (the lower right end of the target parking frame in FIG. 4)" shown in the comment C1. Further, a figure F1 shown in FIG. 4 indicates a target parking frame K1 displayed on the right side mirror image and the left side mirror image. The driver performs the driving operation of the car 1 while confirming the parking assistance image for the left displayed on the left side monitor 72.

  Next, it is determined whether the parking of the car 1 has ended (S17). Whether or not parking has ended is, for example, whether or not the P range (parking range) is selected by the shift operation, or whether or not the car 1 is recognized to be within the target parking frame K1 based on the overhead image. It may be determined based on whether or not an operation to end the parking assistance has been input by the driver's operation of the operating device 5. In addition, determination of whether parking was complete | finished is not limited to what was mentioned above. Further, even if the determination is made based on one determination condition, the determination may be made based on a plurality of determination conditions. If it is determined in step S17 that parking has not ended yet (S17: NO), the processing from step S14 to step S17 is repeated. On the other hand, if it is determined in step S17 that the parking has ended (S17: YES), the parking support processing is ended.

  In the present embodiment, the parking assistance processing is performed as described above. As a result, the driver drives the car 1 to the ideal track by driving while checking the right parking assist image displayed on the right side monitor 71 and the left parking assist image displayed on the left side monitor 72. It can be run along. Therefore, the car 1 can be parked at the target parking position. In addition, the above-mentioned parking assistance processing is an example, and is not limited to this. For example, when it is determined in step S17 that parking has not ended yet, the processing from step S13 to step S16 may be repeated. That is, the creation of the ideal trajectory by the trajectory creation unit 25 may be performed as needed during the parking assistance.

  Next, the operation and effects of the parking assist ECU 2 according to the first embodiment will be described.

  According to this embodiment, the display based on the parking assistance information for causing the vehicle 1 to travel along the ideal track is the right mirror image displayed on the right side monitor 71 and the left mirror displayed on the left side monitor 72. It is displayed superimposed on the image. That is, the parking assistance image is displayed on the right side monitor 71 and the left side monitor 72. Then, the driver understands the positional relationship between the features displayed on each of the right and left mirror images by confirming the displayed parking assistance image. While performing the driving operation (steering the steering wheel, operating the accelerator and brake, shift operation, etc.) by yourself. Therefore, it is possible to understand how to perform the driving operation while confirming what kind of things when parking. From the above, the parking assistance ECU 2 can improve the parking skill of the driver, in particular, while confirming the right side mirror image and the left side mirror image. For this reason, even when the driver drives a car that does not perform automatic steering, the driver can park himself while checking the mirror image reflected on the optical outer rear view mirror.

  Next, a second embodiment of the present invention will be described. The configuration of the car 1 to which the parking assistance device according to the second embodiment is applied is the same as that of the first embodiment (see FIG. 1), and thus the description thereof will be omitted. In addition, the same code | symbol is attached | subjected to the component which is the same as that of 1st Embodiment, or similar, and the description is abbreviate | omitted. In the first embodiment, the case where the information related to the driving operation included in the parking support information is the information of the driving operation necessary for causing the vehicle 1 to travel along the ideal track is shown. In the second embodiment, it is shown that the information about the driving operation is the information of the driving operation necessary to correct the deviation between the current position of the car 1 and the ideal track. This point is different from the first embodiment.

  The support image generation unit 26 according to the present embodiment acquires parking support information and generates a parking support image, as in the first embodiment. However, when the predetermined notification condition is satisfied, the support image generation unit 26 according to the present embodiment determines whether or not the current position of the car 1 deviates from the ideal track, and parking assistance is performed based on the determination result. Create an image The predetermined notification conditions include that a predetermined position (for example, a turning back position) has been reached, that a predetermined operation (for example, a notification execution operation) has been input to the controller device 5, and the like. It is judged based on the vehicle state specified by the vehicle state specification unit 21 whether the vehicle position has reached zero or not, for example, whether the vehicle speed has become zero or not. It can be determined whether the position has switched from the D range (drive range) to the R range, and whether the shift position has switched from the R range to the D range. The notification conditions are not limited to those described above. Specifically, when the support image creation unit 26 determines that the current position of the car 1 is not deviated from the ideal track (including the case where the deviation is extremely small), only the information related to the target parking frame among the acquired parking support information Use to create a parking assistance image. Therefore, the figure which shows the information regarding the target parking frame is superimposed on the created parking assistance image. In addition, when it is judged that the current position of car 1 is not deviated from the ideal track, a comment is given to praise the actual parking such as "Can be parked along the ideal parking track" in addition to this It may be output by voice. On the other hand, when the support image creation unit 26 determines that the current position of the car 1 deviates from the ideal track, all the information of the acquired parking support information (ie, information on the target parking frame, information on the attention point, And, using the information related to the driving operation, a parking assistance image is created. Therefore, a graphic indicating information related to the target parking space, a graphic indicating information related to the attention point, and a comment indicating information related to the driving operation are superimposed on the generated parking assistance image. The information related to the driving operation according to the present embodiment is, as described above, the information of the driving operation required to eliminate the deviation between the current position of the car 1 and the ideal track.

  FIG. 6 is a flowchart showing a parking assistance process performed by the parking assistance ECU 2 according to the second embodiment. In the parking support process according to the second embodiment, as shown in FIG. 6, steps S21 to S23 are performed instead of steps S15 to S16 as compared with the parking support process (see FIG. 2) according to the first embodiment. It differs in the point added.

  In the parking assistance process according to the present embodiment, after the ideal track is created by the track creation unit 25 (S13), when the vehicle state is identified by the vehicle state identification unit 21 (S14), subsequently, the notification condition is satisfied. It is judged whether or not it is (S21). In addition, the alerting | reporting conditions in this embodiment demonstrate the case where it is that the vehicle 1 has reached the turning position. That is, in step S21, whether or not the vehicle 1 has reached the switching position is determined by the support image creation unit 26 determining whether the shift position has been switched from the D range to the R range (R range to D range), for example. A determination is made as to whether or not the notification condition is satisfied. If it is determined in step S21 that the notification condition is not satisfied (S21: NO), the processes of step S14 and step S21 are repeated until the notification condition is satisfied. At this time, the image / sound control unit 27 causes the right side monitor 71 to display the right mirror image and causes the left side monitor 72 to display the left mirror image until the notification condition is satisfied. On the other hand, when it is determined in step S21 that the notification condition is satisfied (S21: YES), the process proceeds to the next process (S22).

  Next, the assistance image creation unit 26 creates a parking assistance image (S22). Specifically, the support image creation unit 26 acquires parking support information, and causes the display based on the acquired parking support information to be superimposed on the right mirror image and the left mirror image, respectively, and the right parking support image and the left parking support Create an image In the creation of the parking assistance image, as described above, the assistance image creating unit 26 determines whether the current position of the car 1 deviates from the ideal trajectory, and based on the determination result, the parking assistance image is create.

  Next, notification processing of the parking assistance image is performed by the image voice control unit 27 (S23). Specifically, the image / sound control unit 27 causes the right side monitor 71 to display the right parking assist image, and causes the left side monitor 72 to display the left parking assist image. Furthermore, the image / sound control unit 27 causes the speaker 6 to output a sound based on the parking support information.

  FIG. 7 shows an example of the left parking assist image displayed on the left side monitor 72. As shown in FIG. In this state, the current position of the car 1 deviates from the ideal track, and in order to return the current position of the car 1 to the ideal track, it is necessary to further advance the steering wheel while steering the steering wheel to the right. In the example shown in FIG. 7, each piece of information included in the parking assistance information is displayed as follows. That is, the information on the driving operation is displayed as the comment C2, the information on the attention point is displayed as the figures Z1 and Z2, and the information on the target parking frame is displayed as the figure F1. In this comment C2, when using the features such as the side surface of the car 1, the road surface, and a line that separates a plurality of parking frames, the driving operation is performed such that the positional relationship between these features is in any state. It is suggested that the current position of the car 1 can be returned to the ideal trajectory. The speaker 6 outputs the content of the comment C2 as an audio. The figure Z1 shown in FIG. 7 shows "the boundary between the side surface of the vehicle and the road surface" shown in the comment C2. The figure Z2 shown in FIG. 7 is for showing “this end of the parking frame (the lower right end of the target parking frame in FIG. 7)” shown in the comment C2. Further, a figure F1 shown in FIG. 7 indicates a target parking frame K1 displayed on the right side mirror image and the left side mirror image. The driver performs the driving operation of the car 1 while confirming the parking assistance image for the left displayed on the left side monitor 72.

  Next, as in the first embodiment, a determination is made as to whether parking of the car 1 has ended (S17), and if parking has not ended yet (S17: NO), steps S14 to S17 The processing up to is repeated, and when the parking is finished (S17: YES), the parking assistance processing is finished.

  In the present embodiment, the parking assistance processing is performed as described above. As a result, the driver performs a driving operation while checking the right parking assist image displayed on the right side monitor 71 and the left parking assist image displayed on the left side monitor 72 so that the car 1 starts from the ideal track. In the case of deviation, it is possible to return to the ideal trajectory. Therefore, the car 1 can be parked at the target parking position.

  Next, the operation and effects of the parking assist ECU 2 according to the second embodiment will be described.

  According to the present embodiment, the display based on the parking assistance information for eliminating the deviation between the current position of the car 1 and the ideal trajectory is displayed on the right mirror image displayed on the right side monitor 71 and on the left side monitor 72 It is superimposed on the mirror image. That is, the parking assistance image is displayed on the right side monitor 71 and the left side monitor 72. Then, the driver understands the positional relationship between the features displayed on each of the right and left mirror images by confirming the displayed parking assistance image. While performing the driving operation (steering the steering wheel, operating the accelerator and brake, shift operation, etc.) by yourself. Therefore, it is possible to understand how to perform the driving operation while confirming what kind of things when parking. From the above, the parking assistance ECU 2 can improve the parking skill of the driver, in particular, while confirming the right side mirror image and the left side mirror image. As a result, even when the driver drives a vehicle that does not perform automatic steering, parking can be performed while confirming the mirror image reflected on the optical outer rear view mirror.

  Next, a third embodiment of the present invention will be described. In the third embodiment, instead of providing parking assistance to follow the created ideal trajectory, the movement trajectory of the wheel of the car 1 is predicted based on the steering angle of the steering wheel, and parking is performed using the predicted movement trajectory of the wheel Provide support. This point is different from the first and second embodiments. FIG. 8 shows the configuration of a car 1 to which the parking assistance device according to the third embodiment is applied. In addition, the same code | symbol is attached | subjected to the component the same as that of 1st and 2nd embodiment, or similar, and the description is abbreviate | omitted. As shown in the figure, the parking assistance ECU 2 differs from the car 1 according to the first embodiment (see FIG. 1) in that a wheel trajectory prediction unit 28 is provided instead of the trajectory generation unit 25. .

  The wheel trajectory prediction unit 28 predicts a trajectory on which the wheels of the vehicle 1 move, based on the steering angle of the steering wheel. In the present embodiment, although the case of predicting the trajectory of the rear wheel is shown, the trajectory of the front wheel may be predicted, or the trajectory of both the front wheel and the rear wheel may be predicted. In the following description, the trajectory predicted by the wheel trajectory prediction unit 28 may be referred to as a “predicted trajectory”.

  The support image creation unit 26 acquires parking support information and creates a parking support image, as in the first and second embodiments. However, unlike the first and second embodiments, the parking assistance information in the present embodiment further includes information on the predicted trajectory predicted by the wheel trajectory prediction unit 28. That is, the parking support information in the present embodiment includes information on the target parking space, information on the attention point, information on the driving operation, and information on the predicted trajectory. The information on the driving operation in the present embodiment is, unlike the first and second embodiments, information on the driving operation required to park the car 1 in the target parking frame, and the predicted trajectory and the target parking frame Created based on the information in Further, the support image generation unit 26 in the present embodiment determines whether the car 1 can be parked at the target parking position based on the information of the predicted track and the target parking frame, and based on the determination result, parking is performed. Create a supportive image. Specifically, when the support image creation unit 26 determines that the car 1 can be parked at the target parking position, parking assistance is performed using information on the target parking frame and information on the predicted track among the acquired parking assistance information. Create an image Therefore, a graphic indicating information related to the target parking space and a graphic indicating information related to the predicted trajectory are superimposed on the generated parking assistance image. In addition, when it is judged that the car 1 can be parked at the target parking position, a comment to praise the actual parking such as "Can be parked along the ideal parking track" is displayed in addition to this Voice output may be performed. On the other hand, when the support image creation unit 26 determines that the car 1 can not be parked at the target parking position, all the information of the acquired parking support information (that is, information on the target parking frame, information on the attention point, driving operation) The parking assistance image is created using the information related to and the information related to the predicted trajectory. Therefore, a graphic indicating information related to the target parking space, a graphic indicating information related to the attention point, a comment indicating information related to the driving operation, and a graphic indicating information related to the predicted trajectory are superimposed on the parking assistance image created.

  FIG. 9 is a flowchart showing a parking assistance process performed by the parking assistance ECU 2 according to the third embodiment. The parking support process according to the third embodiment is, as shown in FIG. 9, compared with the parking support process according to the first embodiment (see FIG. 2), that step S13 is not performed, and steps S15 to S15. The difference is that steps S31 to S34 are added instead of S16.

  In the parking assistance processing according to the present embodiment, when the vehicle state identification unit 21 identifies the vehicle state (S14) after the target parking position is set by the target parking position setting unit 24 (S12), the assistance is continued It is determined by the image creation unit 26 whether the car 1 is moving backward (S31). Whether or not to move backward can be determined, for example, by whether or not the shift position is in the R range. If it is determined in step S31 that the vehicle is not in the backward position (S31: NO), the process proceeds to step S17. In step S17, as in the first embodiment, it is determined whether or not parking of the car 1 has ended. If parking has not ended yet (S17: NO), the process returns to step S14, and parking is stopped. Is completed (S17: YES), the parking assistance processing is ended. On the other hand, if it is determined in step S31 that the vehicle is moving backward (S31: YES), the process proceeds to the next process (S32).

  In step S32, the wheel trajectory prediction unit 28 performs trajectory prediction of the wheels (rear wheels). Specifically, the wheel trajectory prediction unit 28 predicts a predicted trajectory based on the steering angle of the steering wheel.

  Next, the assistance image creation unit 26 creates a parking assistance image (S33). Specifically, the support image generation unit 26 acquires parking support information, superimposes a display based on the acquired parking support information on the right mirror image and the left mirror image, respectively, and the parking support image for the right and the parking support for the left Create an image In the creation of the parking assistance image, the assistance image creation unit 26 determines whether the car 1 can be parked at the target parking position based on the information of the predicted track and the target parking frame as described above, Based on the determination result, a parking assistance image is created. In addition, based on the information about the right side mirror image and the left side mirror image and the predicted track, when the predicted track of the rear wheel and the predetermined obstacle overlap and there is a possibility that the car 1 contacts the obstacle, this obstacle The information related to the driving operation necessary to avoid contact with the vehicle may be further displayed on the parking assistance image. One example of a comment indicating such information related to the driving operation is "Please check the distance so that the front wheel tires do not contact the left and right vehicles (obstacles)."

  Next, notification processing of a parking assistance image is performed by the image voice control unit 27 (S34). Specifically, the image / sound control unit 27 causes the right side monitor 71 to display the right parking support image, and causes the left side monitor 72 to display the left parking support image. Furthermore, the image / sound control unit 27 causes the speaker 6 to output a sound based on the parking support information. When the process of step S34 is completed, the process returns to step S14.

  FIG. 10 shows an example of the left parking assist image displayed on the left side monitor 72. As shown in FIG. In this state, the car 1 can not be parked at the target parking position, and the steering wheel needs to be steered to the left. In the example shown in FIG. 10, each piece of information included in the parking assistance information is displayed as follows. That is, the information on the driving operation is displayed as the comment C3, the information on the attention point is displayed as the figures Z2 and Z3, the information on the target parking frame is shown as the figure F1, and the information on the predicted trajectory is shown as the figure Y1. In this comment C3, when using a feature such as the side surface of the car 1, the road surface, and a line that separates a plurality of parking frames and the predicted track, the driving operation is performed such that the positional relationship thereof becomes It is suggested that the car 1 can be parked at the target parking position. The speaker 6 outputs the content of the comment C3 as an audio. The figure Z2 shown in FIG. 10 is for showing “this end of the parking frame (the lower right end of the target parking frame in FIG. 10)” shown in the comment C3. The figure Z3 shown in FIG. 10 is for indicating the end of the predicted trajectory of the rear wheel. Furthermore, a figure F1 shown in FIG. 10 shows a target parking frame K1 displayed on the right side mirror image and the left side mirror image. The driver performs the driving operation of the car 1 while confirming the parking assistance image for the left displayed on the left side monitor 72.

  In the present embodiment, the parking assistance processing is performed as described above. As a result, the driver operates the vehicle 1 while checking the parking assistance image for the right displayed on the right side monitor 71 and the parking assistance image for the left displayed on the left side monitor 72, thereby achieving the target parking position of the car 1 Can be parked at

  Next, the operation and effects of the parking assist ECU 2 according to the third embodiment will be described.

  According to the present embodiment, the display based on the parking assistance information for parking the car 1 at the target parking position is superimposed on the right mirror image displayed on the right side monitor 71 and the left mirror image displayed on the left side monitor 72 Be done. That is, the parking assistance image is displayed on the right side monitor 71 and the left side monitor 72. Then, the driver may check the displayed parking assistance image to locate the feature and the predicted trajectory displayed on each of the right side mirror image and the left side mirror image so as to have a positional relationship. Do the driving operation (steering the steering wheel, operating the accelerator and the brake, shift operation, etc.) by yourself. Therefore, it is possible to understand how to perform the driving operation while confirming what kind of things when parking. From the above, the parking assistance ECU 2 can improve the parking skill of the driver, in particular, while confirming the right side mirror image and the left side mirror image. As a result, even when the driver drives a vehicle that does not perform automatic steering, parking can be performed while confirming the mirror image reflected on the optical outer rear view mirror.

  In the third embodiment, as the display based on the parking support information, information on the target parking space, information on the predicted trajectory, information on the attention point, and information on the driving operation are displayed. The present invention is not limited to this, and any one or more pieces of information may be displayed. For example, even if only the display indicating information on the predicted trajectory is superimposed on the right side mirror image and the left side mirror image, the driver can display the feature displayed on the right side mirror image and the left side mirror image at any position When it appears, you can understand how much you should steer the steering wheel. Therefore, the parking assistance ECU 2 can improve the parking skill of the driver.

  In 3rd Embodiment, although the case where parking assistance ECU2 was not provided with the track preparation part 25 was shown, you may provide this. When the track creation unit 25 is provided, the support image creation unit 26 creates, as parking support information, information on the track (exemplary track) of the wheel based on the ideal track created by the track creation unit 25. Then, the support image creation unit 26 creates a parking support image by using the information on the model track together with the other parking support information (such as information on the predicted track). At this time, the drawing method (the thickness and the color of the line, the shape of the line (for example, a solid line, a broken line, a chain line) or the like) of the model track and the predicted track is changed. As a result, the driver can park the car 1 at the target parking position by driving to overlap the predicted track with the model track. Further, when the model track is created, the information related to the driving operation included in the parking assistance information may be configured as the information of the driving operation necessary to overlap the predicted track and the model track.

  In the first to third embodiments, in the parking assistance image (see FIGS. 4, 7 and 10), comments C1, C2, C3 indicating the driving operation, figure F1 indicating the target parking frame, figure Z1 indicating the attention point , Z2 and Z3 are displayed, but it is not necessary to display them all, and any one or more of them may be displayed. For example, if a figure F1 indicating a target parking frame is displayed, it can be grasped which parking frame is the target parking frame K1 set at the start of the parking assistance in the right mirror image and the left mirror image. Thus, it is possible to lose sight of the target parking space. In addition, if figures Z1, Z2, and Z3 indicating points of interest are displayed, it is possible to understand what kind of points should be used for driving.

  In the first to third embodiments, the parking assistance image (see FIGS. 4, 7 and 10) is displayed with the four corners cut off (blackened) in accordance with the shape of the conventional optical outer rear view mirror. However, the present invention is not limited to this, and may be displayed in accordance with the shapes (for example, rectangles) of the right side monitor 71 and the left side monitor 72.

  The parking assistance processing shown in the first to third embodiments may be combined respectively. For example, in each of the parking assistance image according to the first embodiment (see FIG. 4) and the parking assistance image according to the second embodiment (see FIG. 7), parking assistance information according to the third embodiment , And at least one of the information related to the driving operation may be displayed. In addition, it may be configured to switch so that any one of the parking assistance images according to the first to third embodiments is displayed when the vehicle 1 moves forward and backward. Furthermore, all the parking assistance images shown in the first to third embodiments may be displayed. In addition, these are an example and it is not limited to what was mentioned above.

  In the first to third embodiments, the case where the electronic mirror system is applied to the outer rear view mirror is shown, but the present invention is not limited to this. The present invention may be applied to an inner rear view mirror that reflects the rear of the vehicle from the vehicle interior. In this case, the plurality of photographing devices 3 include an inner rear view camera. The inner rear view camera is for photographing at least a range photographed by the optical inner rear view mirror. Further, the plurality of display devices 7 include an inner rear view monitor. The inner rear view monitor is installed at the position of a conventional optical inner rear view mirror, and displays an image of the inner rear view camera. Also in such a modification, the parking assistance ECU 2 (assistance image creation unit 26) creates a parking assistance image by superimposing a display based on the parking assistance information on the image captured by the inner rear view camera. Then, the image / sound control unit 27 causes the parking assistance image to be displayed on the inner rear view monitor. Thereby, the driver can park the car 1 at the target parking position while checking the parking assistance image at the time of parking. Therefore, the parking assistance ECU 2 can improve the parking skill of the driver. Also, the electronic mirror system may be applied to both the outer rear view mirror and the inner rear view mirror. In this case, it is also possible to display three on the inner rear view monitor, the right parking assist image, the left parking assist image, and the parking assist image for the inner rear view camera.

  In the first to third embodiments, the case where the vehicle 1 is provided with the right rear camera 31 and the right direction camera 33 is shown, but the invention is not limited thereto. For example, when the imaging area of the right rear camera 31 is included in the imaging area of the right side camera 33, the right rear camera 31 need not be provided. In this case, the parking assistance ECU 2 creates a right mirror image by performing appropriate image processing on the image data input from the right side camera 33. Similarly, when the imaging area of the left rear camera 32 is included in the imaging area of the left side camera 34, the left rear camera 32 need not be provided. Further, even in the modification in which the electronic mirror system is applied to the inner rear view mirror, when the imaging area of the inner rear view camera is included in the imaging area of the rear camera 36, it is not necessary to provide the inner rear view camera.

  In the first to third embodiments, although the case where the positional relationship between the features in each of the right side mirror image and the left side mirror image is used in the comment indicating the driving operation is shown, the present invention is not limited thereto. For example, the feature may be used in each of the images captured by the right side camera 33, the left side camera 34, the front camera 35, and the rear camera 36. As an example of the comment in this case, for example, “〇 (features captured by any of right side camera 33, left side camera 34, front camera 35, and rear camera 36) are Please move forward (or backward) while steering the steering wheel until it is reflected in the mirror image).

  Although the case where the parking assistance image is displayed on the right side monitor 71 and the left side monitor 72 is shown in the first to third embodiments, the present invention is not limited to this. For example, the parking assistance image may be displayed on the console monitor 73. At this time, only the parking assistance image may be displayed on the console monitor 73, or the overhead image and the parking assistance image (either or both of the parking assistance image for the right and the parking assistance image for the left) may be displayed. Good. For example, FIG. 11 shows the case where the bird's-eye view image and the left parking assist image in the first embodiment are displayed. If both the overhead view image and the parking assistance image are displayed on the console monitor 73, the driver can display the parking assistance image (mirror image) when the car 1 is located on the overhead image. It is easy to grasp the correspondence relationship between the bird's-eye view image and the parking assistance image. In addition, since the driver can confirm the parking assistance image and the overhead image by looking at the console monitor 73, the movement of the line of sight between the right side monitor 71 or the left side monitor 72 and the console monitor 73 is suppressed. That is, it is possible to reduce eye movement. When the parking assist image is displayed on the console monitor 73, the parking assist image may be displayed on the right side monitor 71 and the left side monitor 72, and the image of the right rear camera 31 (right mirror image) and The image of the left rear camera 32 (left mirror image) may be displayed. In addition, also in the modification in which the electronic mirror system is applied to the inner rear view mirror, the parking assist image may be displayed on the console monitor 73 as well.

  In the first to third embodiments, the case where the comment indicating the information on the driving operation is output from the speaker 6 by voice is shown, but this may not be performed. That is, the comment may only be displayed on the parking assistance image. In addition, a comment indicating information related to the driving operation may be output as voice from the speaker 6 without being displayed on the parking assistance image.

  In the first to third embodiments, the image and voice control unit 27 has described the case of displaying both the right parking assist image and the left parking assist image, but only one of them is configured to be displayed. May be For example, when the steering wheel is steered to the left, the left parking assist image is displayed, and the right parking assist image is not displayed. On the other hand, when the steering wheel is steered to the right, the right parking assist image is displayed and the left parking assist image is not displayed. In addition, the above-mentioned thing is an example, Comprising: It is not limited to this.

  In the first to third embodiments, the case of parallel parking the car 1 has been described, but the parking assistance process can be similarly performed also in the case of parallel parking the car 1.

  The parking assistance apparatus according to the present invention is not limited to the embodiment described above. The specific configuration of each part of the parking assistance device according to the present invention can be varied in design in many ways.

1: Car 2: Parking support ECU (parking support device)
21: vehicle state identification unit 22: overhead image creation unit 23: parking frame detection unit 24: target parking position setting unit 25: trajectory creation unit 26: support image creation unit 27: image voice control unit (display control means)
28: Wheel trajectory prediction unit 3: Shooting device 31: Right rear camera (shooting means)
32: Left rear camera (shooting means)
33: right side camera 34: left side camera 35: front camera 36: rear camera 4: various sensors 5: operation device 6: speaker 7: display device 71: right side monitor (display means)
72: Left side monitor (display means)
73: Console monitor

Claims (1)

A parking assist apparatus for carrying out parking assist of a car equipped with an electronic mirror system having a photographing means for photographing an external image of the car and a display means for displaying the external image,
Target parking position setting means for setting a target parking position;
A support image creation unit that creates a parking support image by superimposing a display based on parking support information for parking at the target parking position on the external image;
Display control means for displaying the parking assistance image;
A parking assist apparatus comprising:

Images