JP2019127189A - Parking support device - Google Patents

Abstract

To provide, as a sample, a parking support device not requiring newly installation of a marker.SOLUTION: A parking support device in an embodiment includes a detection part for detecting a wheel stopper which is a structure capable of stopping a vehicle by abutting on a wheel of the vehicle from a captured image, and a generation part for determining a target parking position based on the center of a width of the detected wheel stopper, and generating a moving route for parking the vehicle on the target parking position so that a longer direction of the vehicle and a width direction of the wheel stopper form a prescribed angle.SELECTED DRAWING: Figure 3

Description

  Embodiments of the present invention relate to a parking assistance device.

  BACKGROUND ART Conventionally, there is known a technique of imaging a marker installed in a parking lot or the like to detect the size of a parking area where a vehicle can park and the relative position between the marker and the vehicle. Moreover, the parking assistance technique for parking a vehicle in the said parking area using such a prior art is known.

JP, 2008-174000, A JP, 2010-186257, A

  However, there has been a need for a parking assistance method that does not require the installation of a new marker.

  As an example, a parking assist device according to an embodiment of the present invention has been detected from a captured image, a detection unit that detects a ring stop, which is a structure that can stop a vehicle by abutting against the wheel of the vehicle. The target parking position is determined based on the center of the width of the clasp, and the moving path for the vehicle to park at the target parking position such that the longitudinal direction of the vehicle and the width direction of the clasp are at a predetermined angle And a generation unit to generate. Therefore, according to the parking assistance apparatus concerning embodiment, parking assistance can be performed using the existing ring connection, without installing a marker newly, as an example.

  In the parking assist device, as an example, the generation unit sets the target parking position on a straight vertical bisector whose end points are the first end and the second end in the width direction of the detected clasp. Then, at the target parking position, a moving route is generated in which the vertical bisector and the longitudinal direction of the vehicle are parallel to each other. Therefore, according to the parking assistance device according to the embodiment, as an example, it is possible to assist the vehicle to park straight with respect to the loop stop.

  In the parking assist apparatus, as an example, the detection unit detects a ring connection including the first member and the second member arranged in the width direction, and the generation unit is the second member of the first member. An end portion close to the first member is a first end portion, and an end portion of the second member close to the first member is a second end portion. Therefore, according to the parking assistance apparatus concerning embodiment, it can assist that a vehicle parks in the parking lot etc. in which the loop tie containing two members was installed as an example.

  In the above parking assist apparatus, as an example, the detection unit detects a single member, the ring connection, and the generation unit is configured to set both ends in the width direction of the ring connection to the first end and the second end. I assume. Therefore, according to the parking assistance apparatus concerning embodiment, it can assist that a vehicle parks in the parking lot etc. in which the ringing which is a single member was installed as an example.

  In the parking assistance device, as an example, the generation unit changes the target parking position in accordance with the inclination angle of the surface of the wheel holding wheel in contact with the ground. Therefore, according to the parking assistance apparatus concerning embodiment, a vehicle can be parked in the state which closely contacted the wheel and ring connection as an example.

FIG. 1 is an exemplary perspective view showing a state in which a part of a passenger compartment of a vehicle according to an embodiment is seen through. FIG. 2 is a diagram illustrating an example of a hardware configuration of a vehicle control system including the ECU according to the embodiment. FIG. 3 is a block diagram showing an example of functions of the ECU according to the embodiment. FIG. 4 is a flowchart showing an example of the flow of the parking assistance process according to the embodiment. FIG. 5 is a view showing an example of the positional relationship between the snap ring and the target parking position according to the embodiment. FIG. 6 is a diagram illustrating another example of the positional relationship between the ring stopper and the target parking position according to the embodiment. FIG. 7 is a diagram for explaining the parking position of the vehicle for each inclination angle of the ring connection according to the modification.

  The parking assistance apparatus of this embodiment determines a target parking position based on the ring stop installed in the parking lot etc., and assists parking of a vehicle. The ring stopper in the present embodiment is a structure that can abut the wheels of the vehicle and stop the vehicle. In addition, the clasp is also referred to as a car clasp or a parking block.

  FIG. 1 is an exemplary perspective view showing a state in which a part of a passenger compartment 2a of a vehicle 1 according to the present embodiment is seen through. The vehicle 1 may be an internal combustion engine vehicle, an electric vehicle, a fuel cell vehicle, a hybrid vehicle using both the internal combustion engine and an electric motor as driving sources, or an automobile equipped with other driving sources. .

  As illustrated in FIG. 1, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a transmission operation unit 7, and the like are provided in the passenger compartment 2 a so as to face the driver's seat 2 b as an occupant. It is provided. The steering unit 4 is, for example, a steering wheel (handle) that protrudes from the dashboard 24. The acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's foot. The braking operation unit 6 is, for example, a brake pedal positioned under the driver's foot. The shift operating unit 7 is, for example, a shift lever. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, and the speed change operation unit 7 are not limited to these.

  Further, a display device 8 and an audio output device 9 are provided in the passenger compartment 2a. The audio output device 9 is, for example, a speaker. The display device 8 is, for example, an LCD (liquid crystal display) or an OELD (organic electroluminescent display). Further, the display device 8 is covered with a transparent operation input unit 10 such as a touch panel, for example. The display device 8, the audio output device 9, the operation input unit 10 and the like are provided in, for example, the monitor device 11.

  As illustrated in FIG. 1, the vehicle body 2 is provided with four imaging units (imaging devices) 15 a to 15 d (15). The imaging unit 15 is a digital camera including an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 15 can output moving image data at a predetermined frame rate. The imaging unit 15 sequentially captures (captures) an external environment around the vehicle body 2 including a road surface on which the vehicle 1 can move and an area in which the vehicle 1 can park, and outputs as a captured image.

  The imaging unit 15a is, for example, located at the rear end 2e of the vehicle body 2. The imaging unit 15 b is located at the right end of the vehicle body 2. The imaging unit 15c is located at, for example, the front side of the vehicle body 2, that is, the front end in the vehicle front-rear direction. The imaging unit 15d is located, for example, on the left side of the vehicle body 2, that is, on the left end in the vehicle width direction. The number of imaging units 15 and the installation position are not limited to these.

  Further, as illustrated in FIG. 1, the vehicle 1 is, for example, a four-wheeled vehicle, and has two left and right front wheels 3F and two left and right two rear wheels 3R. All of these four wheels 3 can be configured to be steerable. 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 variously set.

  As illustrated in FIG. 1, the vehicle body 2 is provided with a plurality of distance measuring units 16 and 17. The distance measuring units 16 and 17 are, for example, sonars (sonar sensors, ultrasonic detectors) which emit ultrasonic waves and catch the reflected waves. The number and positions of the distance measuring units 16 and 17 provided in the vehicle body 2 are not limited to the example shown in FIG.

  FIG. 2 is a diagram illustrating an example of a hardware configuration of a vehicle control system 100 including an ECU (electronic control unit) 14 according to the present embodiment. As shown in FIG. 2, in the vehicle control system 100, the brake system 18, the steering angle sensor 19 (angle sensor), the accelerator sensor 20, in addition to the ECU 14, the monitor device 11, the steering system 13, the distance measuring units 16 and 17, etc. , Shift sensor 21, wheel speed sensor 22, GPS (global positioning system) receiver 25 and the like are electrically connected via an in-vehicle network 23 as a telecommunication line.

  The ECU 14 controls the steering system 13, the brake system 18 and the like by sending a control signal through the in-vehicle network 23. The ECU 14 detects detection results of the torque sensor 13b, the brake sensor 18b, the rudder angle sensor 19, the distance measuring units 16, 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the like, and the captured image captured by the imaging unit 15. , And receives an operation signal or the like from the operation input unit 10. The ECU 14 is an example of the parking assistance device in the present embodiment.

  The ECU 14 includes, for example, a CPU 14a (Central Processing Unit), a ROM 14b (Read Only Memory), a RAM 14c (Random Access Memory), a display control unit 14d, an audio control unit 14e, an SSD 14f (Solid State Drive, flash memory), and the like. ing. The CPU 14a reads a program installed and stored in a nonvolatile storage device such as the ROM 14b, and executes arithmetic processing according to the program.

  The display control unit 14 d controls image output to the display device 8. In addition, the voice control unit 14 e mainly executes processing of voice data output from the voice output device 9 among the calculation processes in the ECU 14.

  The steering system 13 steers at least two wheels 3. The steering system 13 has an actuator 13a and a torque sensor 13b. The steering system 13 is, for example, an electric power steering system, an SBW (steer by wire) system, or the like.

  The brake system 18 has an actuator 18a and a brake sensor 18b. The brake system 18 includes, for example, an anti-lock brake system (ABS), a skid prevention device (ESC: electronic stability control), an electric brake system that increases brake force (executes brake assist), and BBW (brake by wire). Etc. The brake system 18 applies a braking force to the wheel 3 and thus to the vehicle 1 via the actuator 18a.

  The steering angle sensor 19 is a sensor that detects the steering amount (turning angle) of the steering unit 4. The accelerator sensor 20 is, for example, a sensor that detects the position of the movable portion of the acceleration operation unit 5. The shift sensor 21 is, for example, a sensor that detects the position of the movable portion of the shift operation unit 7. 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 GPS receiver 25 acquires the current position of the vehicle 1 based on the radio wave received from the artificial satellite.

  The configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are examples, and can be set (changed) in various ways.

  FIG. 3 is a block diagram showing an example of functions of the ECU 14 according to the present embodiment. As shown in FIG. 3, the ECU 14 includes an acquisition unit 141, a reception unit 142, a detection unit 143, a generation unit 145, and a movement control unit 146. Each structure of the acquisition part 141, the reception part 142, the detection part 143, the production | generation part 145, and the movement control part 146 is implement | achieved when CPU14a runs the program stored in ROM14b. Note that these configurations may be configured to be realized by a hardware circuit.

  The acquisition unit 141 acquires, from the imaging unit 15, a captured image obtained by imaging the surroundings of the vehicle 1.

  The accepting unit 142 accepts an operation for starting parking assistance by the driver based on the operation signal acquired from the operation input unit 10. In addition, the reception unit 142 may receive an operation for starting parking assistance by the driver from an operation unit such as a switch (not shown).

  The detection unit 143 detects a loop from the captured image acquired by the acquisition unit 141. As an example, the detection unit 143 detects an object (structure) having a shape that meets a predetermined condition from the captured image as a loop.

  As an example, the predetermined condition includes two objects arranged in the width direction, the two objects being lower in height than the bottom of the vehicle 1, and the length of the two objects in the width direction. The condition is that it is shorter than the width (length in the short direction) of a general parking area. Furthermore, it may be added as a predetermined condition that the interval between the two objects is narrower than the interval between the left and right wheels 3 of the vehicle 1.

  In addition, as the predetermined condition, as another example, the single object is formed of a single object, the single object is lower in height than the bottom of the vehicle 1, and the width direction length of the single object is That is, the condition is that it is longer than the distance between the left and right wheels 3 of the vehicle 1 and the length in the width direction of the single object is shorter than the width of the general parking area. The predetermined condition may further include other conditions. In addition, the method of detecting the ring stop is not limited to this, and for example, the detection unit 143 performs the ring stop based on the result of detection of objects and the like around the vehicle 1 by the distance measuring units 16 and 17. A configuration for detecting may be adopted.

  The generation unit 145 determines the target parking position based on the center of the width of the loop detected by the detection unit 143. The generation unit 145 of the present embodiment can guide the vehicle 1 to the parking area by determining the target parking position based on the center of the width of the loop, for example, without using the white line as a reference.

  In addition, the generation unit 145 generates a movement path (hereinafter, simply referred to as a path) for the vehicle 1 to park at the target parking position at a predetermined angle with respect to the loop. The predetermined angle in the present embodiment is an angle at which the longitudinal direction of the vehicle 1 is perpendicular to the width direction (longitudinal direction) of the ringing. Details of the determination of the target parking position and the generation of the route by the generation unit 145 will be described later. That is, by specifying the direction of the vehicle 1 based on the width direction of the snap ring, parking can be performed without being inclined as compared to the parking area based on the snap ring.

  The movement control unit 146 executes steering control (automatic steering) based on the route generated by the generation unit 145, and moves (guides) the vehicle 1 to the target parking position. The movement control unit 146 may automatically control a part or all of the operations (acceleration, deceleration, shift) other than the steering, or may adopt a configuration in which the driver performs the operations other than the steering. The movement control unit 146 may display guidance on the display device 8 or the like to instruct the driver to operate the acceleration operation unit 5 or the like.

  Next, the parking assistance processing applied to the ECU 14 configured as described above will be described. FIG. 4 is a flow chart showing an example of the flow of the parking assistance processing according to the present embodiment. The process of this flowchart is started when the reception unit 142 receives an operation for starting parking assistance by the driver, for example.

  The acquisition unit 141 acquires a captured image obtained by imaging the surroundings of the vehicle 1 from the imaging unit 15 (S1).

  Then, the detection unit 143 determines whether or not the loop is detected from the captured image acquired by the acquisition unit 141 based on a predetermined condition (S2). FIG. 5 is a diagram illustrating an example of a positional relationship between the loop stopper 50a and the target parking position P according to the present embodiment. In FIG. 5, the width direction (longitudinal direction) of the loop stopper 50a is referred to as the X direction, and the short direction of the loop stopper 50a is referred to as the Z direction. The detection unit 143 according to the present embodiment detects the looped member 50a including the first member 51a and the second member 51b on the assumption that the predetermined condition is satisfied. Although the 1st member 51a and the 2nd member 51b are made into two concrete blocks of the same size and shape, shape and materials are not limited to this. The detection unit 143 determines that the loop stopper 50a, which is an object that satisfies a predetermined condition, has been detected from the captured image (S2 “Yes”).

  In addition, when the detecting unit 143 determines that the clasp 50a is not detected from the captured image (S2 “No”), the process returns to S1 and repeats the processing.

  When it is determined that the detection unit 143 has detected the loop stop 50a from the captured image (S2 “Yes”), the generation unit 145 includes an end of the first member 51a of the loop stop 50a detected by the detection unit 143, and The end of the second member 51b is determined as two end points (S3).

  More specifically, the generation unit 145 selects an end portion of the end portion in the width direction (X direction) of the first member 51a that is close to the second member 51b and located on the vehicle 1 side as an end point. It is assumed that 60a. Further, the generation unit 145 sets an end portion close to the first member 51a and located on the vehicle 1 side among end portions in the width direction (X direction) of the second member 51b as an end point 60b. . The end portion determined as the end point 60a is an example of the first end portion in the present embodiment, and the end portion determined as the end point 60b is an example of the second end portion in the present embodiment.

  Next, the generation unit 145 sets a straight line 61 connecting the end point 60a and the end point 60b. Then, the generation unit 145 sets the vertical bisector 62 of the straight line 61 (S4). The vertical bisector 62 is also a center line of the width W of the ring 50a.

  Then, the generation unit 145 determines the target parking position P on the vertical bisector 62 (S5). More specifically, the generation unit 145 determines, as the target parking position P, a position on the vertical bisector 62 that is separated by a predetermined distance from the straight line 61 to the vehicle 1 side. The predetermined distance is, for example, the length of the radius of the wheel 3 but is not limited thereto. In addition, the generation unit 145 may determine the target parking position P based on the center of the width of the clasp 50 a, and may determine the target parking position P other than on the vertical bisector 62.

  And the production | generation part 145 produces | generates the path | route which the vehicle 1 moves to the target parking position P from the present position (S6). More specifically, the generation unit 145 generates a route in which the center C of the rear wheel shaft of the vehicle 1 overlaps the target parking position P, and the vertical bisector 62 and the longitudinal direction of the vehicle 1 are parallel. In the present embodiment, the position of the vehicle 1 is based on the center C of the rear wheel shaft. At the end position of the route, the longitudinal direction of the vehicle 1 is perpendicular to the longitudinal direction (width direction) of the wheel ring 50a. Further, at the end position of the route, the longitudinal direction of the vehicle 1 is perpendicular to the width direction (X direction) of the ring stop 50a. Further, as shown in FIG. 5, the central axis 80 in the longitudinal direction of the vehicle 1 at the end of the parking assistance is superimposed on the vertical bisector 62. The vertical bisector 62 and the longitudinal direction of the vehicle 1 are not limited to being completely parallel, but may be substantially parallel. Further, the longitudinal direction of the vehicle 1 and the width direction of the ring clasp 50a at the end position of the route are not limited to perfect vertical, but may be substantially vertical.

  Then, the movement control unit 146 moves the vehicle 1 to the target parking position P along the route generated by the generation unit 145 (S7). When the movement of the vehicle 1 is completed, the process of the parking assistance ends.

  Further, in the example of FIG. 5 described above, the example using the hoop 50a including the first member 51a and the second member 51b has been described. However, the ECU 14 may have other shapes, It can support parking.

  FIG. 6 is a diagram illustrating another example of the positional relationship between the loop stopper 50b and the target parking position P according to the present embodiment. As shown in FIG. 6, the wheel ring 50 b installed on the ground such as a parking lot is lower in height than the bottom of the vehicle 1, and the length in the width direction (width W) is that of the left and right wheels 3 of the vehicle 1. It is a single object (member) that is longer than the interval and whose length in the width direction (width W) is shorter than the width of a general parking area. When such a loop stop 50b is included in the captured image, the detection unit 143 determines that the loop stop 50b that is an object satisfying a predetermined condition is detected from the captured image in the process of S2 described above.

  In addition, when the loop stopper 50b that is a single member is detected as illustrated in FIG. 6, the generation unit 145 performs both ends in the longitudinal direction (width direction, X direction) of the loop stopper 50b in the process of S3 described above. The portion is a first end and a second end. In other words, the production | generation part 145 makes the both ends of the longitudinal direction of the loop stopper 50b the end point 60a and the end point 60b, respectively. The processes of S4 to S7 are the same process regardless of the shape of the loop.

  As described above, according to the ECU 14 of the present embodiment, the target parking position P is determined based on the center of the width W of the wheel stoppers 50a and 50b (hereinafter referred to as the wheel stopper 50) detected from the captured image. In order to generate a route for parking at the target parking position P at a predetermined angle with respect to the loop stopper 50, when there is no white line or the like for displaying the parking area, it is already installed without newly installing a marker. The parking support can be performed using the snap ring 50 of

  Conventionally, when there is no white line or the like indicating the longitudinal direction of the parking section, it may be difficult to appropriately determine the parking angle of the vehicle 1, but according to the ECU 14 of the present embodiment, it is installed in a parking lot or the like. The parking angle of the vehicle 1 can be determined from the fixed clasp 50.

  In addition, according to the ECU 14 of the present embodiment, the target parking position P is determined on a straight vertical bisector with the first end and the second end of the loop stopper 50 as end points. In P, it is possible to support the vehicle 1 to park straight with respect to the clasp 50 in order to create a path in which the vertical bisector 62 and the longitudinal direction of the vehicle 1 are parallel.

  Further, according to the ECU 14 of the present embodiment, the loop stopper 50a including the first member 51a and the second member 51b is detected, and the end portion of the first member 51a adjacent to the second member 51b is detected. 1 and the end of the second member 51b that is close to the first member 51a is the second end. Can help to park.

  Further, according to the ECU 14 of the present embodiment, the ring stopper 50b, which is a single member, is detected, and both end portions in the width direction of the wheel stopper 50b are used as the first end portion and the second end portion. It can assist that the vehicle 1 is parked in a parking lot or the like in which the loop stopper 50b, which is a single member, is installed.

  In the present embodiment, the ECU 14 sets the straight line 61 connecting the end point 60a and the end point 60b, and then determines the target parking position P on the vertical bisector 62 of the straight line 61. The determination method of P is not limited to this. For example, you may employ | adopt the structure which calculates the target parking position P directly from the position of the end point 60a and the end point 60b.

(Modification)
In the above embodiment, the generation unit 145 sets the position in the depth direction (Z-axis direction) of the target parking position P to a position separated from the straight line 61 by the length of the radius of the wheel 3 on the vehicle 1 side. The target parking position P may be changed according to the 50 shape.

  For example, in addition to the functions of the above-described embodiment, in the detection unit 143 of this modification, a captured image acquired from the imaging unit 15, or an object or the like around the vehicle 1 is detected by the distance measurement units 16 and 17. Based on the result, the inclination angle to the ground of the surface of the snap 50 that abuts the wheel 3 is detected.

  Further, in addition to the function of the above-described embodiment, the generation unit 145 of the present modification changes the target parking position P in accordance with the inclination angle of the surface of the snap 50 in contact with the wheel 3 with respect to the ground. FIG. 7 is a view for explaining the parking position of the vehicle 1 for each inclination angle of the ring stopper 50 according to this modification.

  The inclination angle of the surface 51 that abuts on the rear wheel 3R of the vehicle 1 is smaller in the case of the clasp 50d shown in (b) of FIG. 7 than in the clasp 50c shown in (a) of FIG. In this case, the generation unit 145 sets the position in the depth direction (Z-axis direction) of the target parking position P when the wheel stopper 50d is detected, rather than the target parking position P when the wheel stopper 50c is detected. Determine the position close to the clasp 50. For this reason, the position L2 of the rear end of the rear wheel 3R parked based on the wheel stopper 50d is more on the side of the wheel stopper 50 than the position L1 of the rear end of the rear wheel 3R parked based on the wheel stopper 50c. It is the position where it advanced to

  As described above, according to the ECU 14 of the present modification, the vehicle 3 is in close contact with the wheel 3 and the wheel stopper 50 by changing the position of the target parking position P in the depth direction according to the inclination angle of the surface 51. You can park one.

  As mentioned above, although the embodiment of the present invention was illustrated, the above-mentioned embodiment and modification are an example to the last, and limiting the scope of the invention is not intended. The above embodiment and modifications can be implemented in other various forms, and various omissions, replacements, combinations, and changes can be made without departing from the scope of the invention. In addition, the configurations and shapes of the embodiments and the modifications may be partially replaced and implemented.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 3 ... Wheel, 3R ... Rear wheel, 3F ... Front wheel, 15, 15a-15d ... Imaging part, 50, 50a-50d ... Wheel stop, 51a ... 1st member, 51b ... 2nd member, 51 ... plane, 60a, 60b ... end point, 61 ... straight line, 62 ... vertical bisector, 80 ... central axis, 100 ... vehicle control system, 141 ... acquisition unit, 142 ... reception unit, 143 ... detection unit, 145 ... generation Part 146: Movement control part P: Target parking position W: Width.

Claims (5)

A detection unit that detects, from a captured image, a ring stop that is a structure that can be brought into contact with a wheel of a vehicle to stop the vehicle;
The target parking position is determined based on the center of the detected width of the ring connection, and the vehicle is at the target parking position such that the longitudinal direction of the vehicle and the width direction of the ring connection are at a predetermined angle. A generation unit that generates a movement path for parking on the
A parking assistance device comprising: The generation unit determines the target parking position on a straight vertical bisector having an end point at a first end and a second end in a width direction of the detected ring connection, and the target parking is determined. Generating a movement path in which the vertical bisector and the longitudinal direction of the vehicle are parallel in position;
The parking assistance device according to claim 1. The detection unit detects the loop stop including a first member and a second member aligned in the width direction,
The generating unit uses an end portion of the first member that is close to the second member as the first end portion, and an end portion of the second member that is close to the first member is the second portion. The end of
The parking assistance device according to claim 2. The detection unit detects the looped member which is a single member;
The generation unit sets, as the first end and the second end, both end portions in the width direction of the ring connection.
The parking assistance apparatus of Claim 2 or 3. The generation unit changes the target parking position in accordance with an inclination angle of the surface of the ring stop that abuts on the wheel with respect to the ground.
The parking assistance apparatus of any one of Claim 1 to 4.

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