JP3374833B2 - Vehicle reversal support device when parking - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle retreat support device during parking, and more particularly, a device for superimposing a display for supporting steering wheel operation during parking on a monitor screen imaged behind the vehicle. Regarding

[0002]

2. Description of the Related Art Conventionally, there has been proposed a device for displaying a rear view of a vehicle on a monitor when a driver cannot see a target location due to a blind spot of the vehicle when the vehicle is moving backward. For example, in Japanese Examined Patent Publication No. 2-36417,
A TV camera that shoots the rear of the vehicle, a monitor TV that displays the image captured by this TV camera, a sensor that outputs an information signal related to the tire steering angle, and a marker signal is generated according to the information signal from this sensor, A rear monitoring monitor device for a vehicle is disclosed which includes a circuit for displaying a marker on a television screen in a superimposed manner. In this device, the steering angle data of the tire and the marker position data along the backward direction of the vehicle corresponding to the steering angle are stored in the ROM, and the predicted backward trajectory of the vehicle corresponding to the steering angle at that time is stored in the marker. The image is displayed as a row on the television screen by superimposing it on the image captured by the television camera.

According to such an apparatus, when the vehicle is moving backward, the field of view of the road behind the vehicle and the expected backward movement trajectory of the vehicle according to the steering angle are displayed on the screen of the monitor TV. You can move the vehicle backward by operating the steering wheel while watching the TV screen without turning around.

[0004]

However, when such a conventional device is used for parallel parking or parallel parking, it is difficult to know the timing of turning the steering wheel and the steering amount in parallel parking, and when parallel parking, parking is completed. There is a problem that it is difficult to understand the amount of backward movement and the amount of steering. On the other hand, if it is possible to know what kind of angular relationship the vehicle has with respect to the target parking space at the start of parking, it is possible to provide a suitable guide display in parallel parking or parallel parking based on that.

The present invention has been made in view of such a problem, and a parking assisting guide display is provided which allows the driver to easily grasp the steering timing, the steering amount or the backward movement amount when parking. It is an object of the present invention to provide a vehicle reversing support device for a vehicle.

[0006]

In order to achieve the above-mentioned object, a vehicle reverse assisting device for parking according to the present invention includes a camera for photographing the rear of the vehicle, a monitor arranged in the driver's seat of the vehicle, and a vehicle. Turning start recognition means for recognizing the start of turning,
A turning angle detecting means for detecting a turning angle of the vehicle from the start of turning, a turning angle acquisition instructing means for instructing the turning angle detecting means at a timing for detecting the turning angle, and an image taken by the camera when the vehicle moves backward. And a guide display for assisting the driving of the vehicle when parked, the guide display being based on the turning angle detected by the turning angle detecting means and being superimposed on the screen of the monitor. It is characterized by having and.

Further , the guide display indicates that the turning start has been confirmed.
Acquiring the turning angle from the start of turning recognized by the identification means
Start turning by the amount of turning angle until instructed by the instruction means
It is preferable that the display is tilted from the previous display posture.
Further, the turning start recognition means may be composed of a left and right wheel rotation speed difference detection means, a vehicle speed sensor and a steering angle sensor, or a dedicated button, and the turning angle detection means,
Yaw rate sensor, steering angle sensor and mileage sensor,
Alternatively, it may be configured by a geomagnetic sensor, and the turning angle acquisition instruction means may be configured by a shift lever or a dedicated button.

The guide display is a display for parallel parking, and includes a vertical guide line displayed on the screen of the monitor according to the turning angle detected by the turning angle detecting means and a steering angle of the steering wheel. Accordingly, a vehicle space mark that is moved and displayed along the vertical guide line on the monitor screen, and an eye mark that is fixedly displayed at a predetermined position on the monitor screen and that guides the turning point of the steering wheel may be included. .

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. Embodiment 1. As shown in FIG. 1, a camera 2 that captures a field of view behind the vehicle 1 is attached to a rear portion of the vehicle 1. A rear bumper 3 of the vehicle 1 is provided at an end portion on the near side of the field of view of the camera 2. A monitor 4 composed of a color type liquid crystal display is arranged in the driver's seat of the vehicle 1 and is usually used as a display device of a navigation device. When a shift lever 5 provided in the driver's seat is operated to a reverse position. Images from the camera 2 are displayed. The front wheels 6 as steered wheels are steered by operating the steering wheel 7.

FIG. 2 shows the structure of a vehicle reverse movement assisting device in parallel parking according to the first embodiment of the present invention. An image processing device 8 is connected to the camera 2, and a monitor 4 is connected to the image processing device 8 via a monitor controller 9.
Further, the vehicle 1 is provided with a rear position switch 10 for detecting whether or not the shift lever 5 has been switched to the reverse position, and the steering shaft of the steering wheel 7 is provided with a steering angle sensor 11 for detecting the steering angle θ of the steering wheel 7. A seesaw switch 12, which is a column guide line moving switch for moving a column guide line, which will be described later, is arranged on the monitor 4 in the driver's seat.
The steering angle sensor 11 and the seesaw switch 12 are each connected to the image processing device 8.

A yaw rate sensor 118 is connected to the image processing device 8 as a turning angle detecting means for detecting a turning angle. The yaw rate sensor 118 includes a shift lever 5 that also functions as a turning angle acquisition instructing unit that gives a timing for detecting the turning angle of the vehicle, and a left and right wheel rotational speed difference detecting unit 120 that is a unit that recognizes the start of turning of the vehicle. And are connected. The left and right wheel rotation speed difference detection means 120 can be composed of, for example, two rotation speed sensors attached to each of the left and right wheels.

The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and displays it on the monitor 4. However, when a display signal is input from the image processing device 8, the display signal from the image processing device 8 is displayed. Is displayed on the monitor 4. The image processing device 8 includes a CPU 1
3, a ROM 14 storing a control program, and an image processing processor 1 for processing video data from the camera 2.
5, an image memory 16 in which video data processed by the image processing processor 15 is stored, and a working RAM 17
It has and. The image processing device 8, the monitor controller 9 and the rear position switch 10 form the display control means of the present invention.

The CPU 13 operates based on the control program stored in the ROM 14, and the rear position switch 10
When it is detected that the shift lever 5 is switched to the reverse position and the vehicle enters the parallel parking mode, the pair of vertical guides symmetrically arranged in the screen 19 of the monitor 4 is displayed as shown in FIG. The display data for displaying the lines 30 and 31 and the rectangular vehicle space mark 32 arranged between them on the image of the camera 2 in a superimposed manner are created at a predetermined cycle. These column guide lines 30 and 31 and the vehicle space mark 32 can be moved up and down within the screen 19 of the monitor 4 by the operation of the seesaw switch 12 arranged in the driver's seat, as shown in FIG. It has become.

Further, the CPU 13 controls the steering angle sensor 11
Steering angle θ of the steering wheel 7 at that time based on the output signal of
Column guide lines 30 and 3 of the screen 19 of the monitor 4 according to
The vehicle space mark 32 is moved and displayed along one of the positions. For example, when the handle 7 is turned to the left, FIG.
As shown in (c), the column guide line 30 on the left side of the screen
The vehicle space mark 32 is moved to the left along the above, and when the steering wheel 7 is turned to the right, it is moved to the right along the column guide line 31 on the right side of the screen.

Further, as shown in FIG. 3D, the CPU 13 superimposes the eye mark 23 for notifying the driver of the turning back timing of the steering wheel 7 on the image of the camera 2 and displays the display data in a predetermined cycle. Create with. The eye mark 23 has a shape corresponding to the expected parking position when the vehicle 1 moves backward with the steering wheel 7 turned back. When the eye mark 23 overlaps the target parking space PS on the screen 19, the eye mark 23 turns back to the driver. Notify that it is a position.

Next, such column guide lines 30 and 3 will be described.
A method of drawing 1 and the vehicle space mark 32 will be described with reference to FIG. As shown in FIG. 4, with the center of the rear axle of the vehicle 1 in the state where the vehicle 1 is properly parked in the parking space PS as the origin, the Y axis is set in the backward direction of the vehicle 1 parallel to the road, and the X axis is perpendicular to the Y axis. Take Further, the back corner of the parking space PS is set as the target point T, and its coordinates are set as T (W / 2, a). Here, W indicates the vehicle width and a indicates the rear overhang. The vehicle 1 at the vehicle position M has a point C
When the vehicle position P reaches the vehicle position P, the steering wheel 7 is rotated while making a turn around the angle α with a radius Rm centered at 1 (first turn).
The vehicle is turned back in the opposite direction so that the steering angle is maximized, and in this state, the vehicle 1 is moved backward around the point C2 at the radius Rc (second turn) and appropriately parked in the parking space PS.

On the screen 19, the seesaw switch 12
The vertical guide lines 30 and 31 are moved up and down by the operation of and the vehicle 1 at the vehicle position M is temporarily set to the origin, that is, the parking space PS by overlapping the rear end line of the parking space.
The Y coordinate Tmy of the point Tm corresponding to the target point T of the parking space PS when the vehicle is moved in parallel is obtained. This Tmy
The Y coordinate My of the rear axle center of the vehicle 1 at the vehicle position M is expressed as My = Tmy−a.

The radius Rm of the first turn from the vehicle position M to the vehicle position P has K1, K2 and K3 as known coefficients,
The steering angle θ of the steering wheel 7 at this time is calculated as follows. Rm = B / tan (K1 · θ 2 + K2 · θ + K3) [B: Known factor] Furthermore, the angle α is obtained from sin .alpha = My / relationship (Rc + Rm). Next, the X coordinate T of the point Tm
mx is obtained from Tmx = (Rc + Rm)  (1-cosα) + W / 2, and the vehicle space mark 32 can be drawn at a position corresponding to the steering angle θ with the point Tm (Tmx, Tmy) as the rear end. On the screen 19, the steering angle θ is changed by the operation of the steering wheel 7, the vehicle space mark 32 is moved along the vertical guide lines 30 and 31 accordingly, and is overlapped with the parking space PS. A corresponding proper steering angle θ is obtained.

Next, a method of drawing the eye mark 23 will be described. The eye mark 23 can be considered to be the outer shape of the vehicle 1 in a state where the vehicle 1 is properly parked in the parking space PS as viewed from the vehicle position P that is the turning position of the steering wheel 7.
Therefore, the vehicle 1 properly parked in the parking space PS rotated by the angle α around the center C2 of the second turn is drawn as the eye mark 23. In general, a point P '(Xp', Yp ') when the point P (Xp, Yp) is rotated about the point C (Xc, Yc) by an angle γ.
Is expressed as Xp ′ = (Xp−Xc) · cosγ + (Yp−Yc) · sinγ + Xc Yp ′ = − (Xp−Xc) · sinγ + (Yp−Yc) · cosγ + Yc, so the coordinate C2 (− of the center C2 Rc, 0) and the angle α, the eye mark 23 as shown in FIG.
Can be drawn.

Further, even if the stop position of the vehicle 1 is inclined with respect to the target parking space PS, the vertical guide lines 30, 3 are displayed on the screen 19 so that the vehicle can be easily parked in parallel.
1 and the vehicle space mark 32 are inclined. That is, as shown in FIG. 5, the center of the rear axle of the vehicle 1 parked diagonally with respect to the parking space PS is the origin O, and the Y axis is located directly behind the vehicle 1 at that time.
The X axis is taken at right angles to this Y axis. If the turning angle φ of the vehicle 1 is obtained, the vehicle space mark 32 is tilted φ based on that.
The points indicating the outer shape of the vehicle space mark 32 are inclined relative to the rear axle center GP.

In FIG. 5, the turning angle of the first turn from the origin O to the vehicle position P is β, and it is assumed that the turning radius Rm of the first turn is Rm.
And α is the turning angle of the first turn when the vehicle 1 is moved to a position parallel to the parking space PS while maintaining α, sin α = (GPy ・ cos | φ | + Rm ・ sin | φ |) / (Rc + Rm Since β = α−φ, the coordinates (TPx, T) of the rear axle center TP in the parking space PS according to the steering amount of the steering wheel 7 are obtained.
Py) is expressed as TPx = Rm− (Rc + Rm) · cosβ + Rc · cos | φ | TPy = (Rc + Rm) · sinβ + Rc · sin | φ |. A point indicating the outer shape of the vehicle space mark 32 is drawn based on this point TP. Also, eye mark 2
3 is a vehicle 1 that is properly parked in the parking space PS
Is drawn at a position rotated by an angle β in the direction of the origin O about the center C1 of the first turn.

Next, the operation of the vehicle reverse support device during parallel parking will be described. First, as shown in FIG. 6, the vehicle travels straight along a line CL parallel to the target parking space PS and reaches the vehicle position A. Meanwhile, the yaw rate sensor 118 continues to detect the angular velocity of the vehicle until the vehicle position B is reached. Since the vehicle is traveling straight along the line CL and traveling straight until it reaches the vehicle position A, the left and right wheels of the vehicle are rotating at the same rotation speed, which is detected by the left and right wheel rotation speed difference detection means 120. It is recognized that the vehicle is moving straight when the difference in rotational speed is almost zero. Then, the angular velocity of the vehicle in the yaw direction detected by the yaw rate sensor 118 is continuously canceled while the vehicle is traveling straight.

When the driver passes the vehicle position A on the side of the target parking space PS, a proper steering angle is given and the vehicle position is inclined by the turning angle φ from the line CL parallel to the target parking space PS. Move the vehicle to B and stop. When the vehicle starts to turn toward the position B, the left and right wheel rotational speed difference detection means 120 detects the rotational speed difference between the left and right wheels, and when the rotational speed difference exceeds a predetermined value, the vehicle starts to turn. The yaw rate is recognized as the yaw rate, and the turning angular velocity of the vehicle detected by the yaw rate sensor 118 from the start of turning is integrated as the yaw angle.

When the driver operates the shift lever 5 to the reverse position at the vehicle position B, the yaw angle at that time is detected as the turning angle φ from the vehicle position A at the start of turning which is the reference state. That is, the operation of operating the shift lever 5 to the reverse position is an operation of instructing the timing for determining the turning angle φ. Further, based on the detection signal from the rear position switch 10, the image processing device 8 symmetrically displays a pair of vertical guide lines 30 and 31 in the screen 19 of the monitor 4 as shown in FIG. The vehicle space mark 32 arranged between the two is superimposed and displayed on the image of the camera 2. At this time, the image processing device 8 tilts and displays the vertical guide lines 30 and 31 and the vehicle space mark 32 on the screen 19 based on the turning angle φ.

Then, the driver operates the seesaw switch 12 to move the vertical guide lines 30 and 31 and the vehicle space mark 32 up and down while observing the display on the screen 19 of the monitor 4, as shown in FIG. As shown, the operation of the seesaw switch 12 ends when the column guide line 30 overlaps with the rear end line U of the parking space PS.

When the steering wheel 7 is turned to the left, the vehicle space mark 32 gradually moves to the left along the vertical guide line 30 in accordance with the steering amount of the steering wheel 7.
Then, as shown in FIG. 3C, when the vehicle space mark 32 overlaps the parking space PS, the vehicle 1 is moved backward while maintaining the steering angle θ of the steering wheel 7. As a result, the vehicle 1 turns with a radius Rm. At this time, the driver can move the vehicle 1 backward while keeping an eye on the screen 19 to check the safety of the surroundings.

When the first turn starts, the CPU 13
The display of the column guide lines 30 and 31 and the vehicle space mark 32 is ended, and instead, the eye mark 23 is displayed by being superimposed on the image of the camera 2. As the vehicle 1 retreats, the parking space PS gradually approaches the eye mark 23 on the screen 19. Then, as shown in FIG. 3D, when the parking space PS overlaps the eye mark 23, it is determined that the vehicle position P has been reached, and the vehicle 1 is stopped.

Next, the steering angle of the steering wheel 7 is maximized in the opposite direction in stationary steering, and the vehicle 1 is retracted as it is. At this time, the driver can move the vehicle 1 backward while keeping an eye on the screen 19 to check the safety of the surroundings. As a result, the vehicle 1 properly enters the parking space PS, the clearance between the vehicle 1 and the rear is confirmed, or when the side of the vehicle 1 becomes parallel to the roadside, the vehicle 1 is stopped and the parallel parking is completed.

As described above, in the first embodiment, it is a common practice to tilt the vehicle with respect to the target parking space to stop the vehicle and start parking. Even when the vehicle 1 is stopped at the inclined position, the column guide lines 30 and 31 are superimposed on the rear end line U of the parking space PS on the screen 19 only by operating the seesaw switch 12, and the steering wheel 7
Steering the vehicle space mark 32 to the parking space PS
By arranging them in parallel, it is possible to easily perform parallel parking in the parking space PS.

In the above description, parking in the left rear parking space has been described, but parallel parking can also be performed in the right rear parking space. Further, the movement of the vertical guide line is performed by the seesaw switch 12, but the present invention is not limited to this. For example, the display may be moved and displayed on a touch panel provided on the screen of the monitor 4.

Embodiment 2. In the first embodiment, the left and right wheel rotational speed difference detecting means 120 is used as the turning start recognizing means for recognizing the turning start of the vehicle, but the present invention is not limited to this. It may be configured by the steering angle sensor 11. In that case, when the vehicle speed sensor detects a vehicle speed equal to or higher than a certain value and the steering angle sensor detects a steering angle equal to or more than a predetermined angle for the vehicle to turn, the vehicle starts turning from a straight traveling state. Can be recognized. Further, as another modified form, a dedicated button can be used instead of the left and right wheel rotation speed difference detection means 120. That is, the driver may press the dedicated button at the vehicle position A in FIG. 6 to recognize that the vehicle starts turning.

Embodiment 3. In the first embodiment, the yaw rate sensor 118 has been used as the turning angle detecting means for detecting the turning angle of the vehicle from the start of turning, but the present invention is not limited to this, and for example, the steering angle sensor 11 Alternatively, it may be configured by a travel distance sensor. That is, since the turning radius of the vehicle can be known from the steering angle detected by the steering angle sensor 11 and the running distance can be known by the running distance sensor, the turning angle of the vehicle can be detected from the information on how far the vehicle has traveled with the found turning radius. it can. Further, as another modified form, a geomagnetic sensor can be used instead of the yaw rate sensor 118.

Fourth Embodiment In the first embodiment, the shift lever 5 has been used as the turning angle acquisition instructing means for instructing the turning angle detection timing, but the present invention is not limited to this, and for example, a dedicated button may be used. Good.

Embodiment 5. In the first to fourth embodiments, the case where the present invention is applied to parallel parking has been described as an example, but the present invention can also be applied to parallel parking. That is, according to the present invention, the turning angle of the vehicle based on the vehicle position D in FIG. 7 can be detected. Therefore, at the vehicle position F where the turning angle is zero, after finally turning 90 degrees, the vehicle enters the target parking space, so the steering assist locus f for 90 degrees is drawn, and the vehicle position E where the turning angle φ is reached. In, it is possible to draw a steering assist locus e of 90-φ degrees. Therefore, regardless of the turning angle of the vehicle position where the vehicle starts to move backward, when a constant locus of, for example, 90 degrees is drawn, the tip of the locus is displayed outside the target parking space when the vehicle approaches the target parking space. However, if the length of the locus is adjusted according to the turning angle that can be detected by the present invention, the driver can make the tip of the locus enter the target parking space. By steering, appropriate parallel parking can be performed, and the amount of backward movement can be easily grasped.

[0035]

As described above, according to the vehicle backward movement assisting apparatus of the present invention, the guide display based on the turning angle is displayed even when the vehicle is stopped at the position inclined to the target parking space. Is provided, so parking can be performed easily.

[Brief description of drawings]

FIG. 1 is a side view showing a vehicle equipped with a vehicle reverse movement support device according to the present invention.

FIG. 2 is a block diagram showing a configuration of a vehicle reverse movement support device according to the first embodiment.

FIG. 3 is a diagram schematically and stepwise showing a monitor screen during parallel parking according to the first embodiment.

FIG. 4 is a diagram showing a method of drawing a guide display according to the first embodiment.

FIG. 5 is a diagram showing a method of inclining and drawing a guide display.

FIG. 6 is a diagram for explaining parallel parking when the turning angle is φ.

FIG. 7 is a diagram for explaining parallel parking when the turning angle is φ.

[Explanation of symbols]

1 vehicle, 2 camera, 4 monitor, 5 shift lever, 6 front wheels, 7 steering wheel, 8 image processing device, 9
Monitor controller, 10 rear position switch, 11
Steering angle sensor, 12 seesaw switch, 13 CP
U, 19 screens, 23 eye marks, 30, 31 vertical guide lines, 32 vehicle space marks, 118 yaw rate sensor, 120 left and right wheel rotational speed difference detecting means, PS
Parking space, T target point, U rear end line.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI B62D 6/00 B62D 6/00 H04N 7/18 H04N 7/18 J // B62D 105: 00 B62D 105: 00 113: 00 113: 00 137: 00 137: 00 (58) Fields surveyed (Int.Cl. ⁷ , DB name) B60R 21/00

Claims (6)

(57) [Claims] 1. A camera for photographing the rear of the vehicle, a monitor arranged in the driver's seat of the vehicle, a turning start recognition means for recognizing the turning start of the vehicle, and a turning angle of the vehicle from the start of the turning. A turning angle detecting means, a turning angle acquisition instructing means for instructing the turning angle detecting means at a timing of turning angle detection, an image displayed by the camera when the vehicle moves backward, and a driving operation of the vehicle during parking. A guide display for assisting, and a display control means for superimposing and displaying a guide display based on the turning angle detected by the turning angle detecting means on the screen of the monitor. Vehicle reverse support device. 2. The guide display is the turning start recognition hand.
Instruction to obtain the turning angle from the start of turning recognized by the step
Before the start of turning,
The vehicle reversing support device according to claim 1, wherein the vehicle reversing support device is displayed while being tilted from a display posture . 3. The turning start recognition means is composed of left and right wheel rotation speed difference detection means, a vehicle speed sensor and a steering angle sensor, or a dedicated button.
Alternatively, the vehicle reversing support device according to item 2. 4. The yaw rate sensor, the steering angle sensor and the mileage sensor, or the geomagnetic sensor, the turning angle detection means, any one of claims 1 to 3, characterized in that Vehicle reverse support device. 5. The vehicle reverse assistance device according to claim 1, wherein the turning angle acquisition instructing means includes a shift lever or a dedicated button. 6. The guide display is a display for parallel parking, wherein a vertical guide line displayed on the screen of the monitor according to the turning angle detected by the turning angle detection means and steering of a steering wheel. A vehicle space mark that is moved and displayed along the vertical guide line on the screen of the monitor according to a corner, and an eye mark that is fixedly displayed at a predetermined position on the screen of the monitor and that guides the turning point of the steering wheel. The vehicle retreat support device for parking according to any one of claims 1 to 5, wherein: