JP3395725B2 - Steering support device for parallel 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 steering assist device for parallel parking, and more particularly, a display for assisting steering operation during parallel parking is displayed on a monitor screen imaged behind the vehicle. Regarding the device.

[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, such a conventional device shows a relationship between an obstacle behind the vehicle and an expected backward trajectory of the vehicle by indicating the expected backward trajectory of the vehicle, and the vehicle avoids the obstacle. It only provides reference information so that the driver can determine if it can do it. When parking in parallel, it is possible for the driver to park properly in the parking space without making slight adjustments to the steering amount while the vehicle is moving backward. While parallel parking is possible, this is an important point in enabling accurate parallel parking.However, in the conventional rear-view monitoring device, the driver approaches the parking space where he or she intends to park in parallel, Steer,
Moreover, it is difficult to judge how much the steering amount of the steering wheel can be operated to properly park the vehicle in the parking space without finely adjusting the steering amount of the steering wheel when reversing.
There was a problem that it was not possible to provide adequate support for accurate parallel parking.

The present invention has been made in order to solve such a problem. For parallel parking, the vehicle can be parked properly in the parking space without finely adjusting the steering amount of the steering wheel while the vehicle is moving backward. A steering assist device for parallel parking is provided.

[0006]

A steering assist device for parallel parking according to claim 1 of the present invention is a camera for photographing the rear of a vehicle, a monitor arranged in a driver's seat of the vehicle, and a vehicle retreating. A display control means for displaying the image from the camera on the monitor at the same time and superimposing the guide display during parallel parking, and a steering angle sensor for detecting the steering angle of the steering wheel are provided. Steering start guideline consisting of a line segment that is fixedly displayed and indicates an appropriate steering start point for parallel parking in a parking space,
The steering angle detected by the steering angle sensor
Correspondingly, it is displayed on the screen of the monitor so as to move along the steering start guideline and corresponds to the steering start point.
A steering amount guide mark for guiding an appropriate steering wheel steering angle when the vehicle is turning and reversing .

According to a second aspect of the present invention, in the steering assist device for parallel parking according to the first aspect, the vehicle is moved straight forward and backward at a right angle to the parking space, and a predetermined target of the parking space in the image of the camera. Stop the vehicle when the point overlaps the steering start guideline, steer the steering wheel until the steering amount guide mark overlaps with the target point, and then move backward while maintaining the steering amount of the steering wheel, so that the vehicle is properly parked in the parking space. They are parked in parallel.

The steering assist device for parallel parking according to claim 3 of the present invention is the device according to claim 1 or 2, wherein the guide display is fixedly displayed at a predetermined position on the screen of the monitor and the vehicle is receding straight. A vehicle width guideline indicating expected positions on both sides of the vehicle at this time is further included.

According to a fourth aspect of the present invention, there is provided the steering assist device for parallel parking according to any one of the first to third aspects, wherein the guide display indicates a left rear side for parking to the left rear side. The steering start guideline for parking and the steering start guideline for right rear parking for parking to the right rear are included.

In the steering assist device for parallel parking according to the first aspect of the present invention, an image of the rear of the vehicle taken by the camera when the vehicles are moving backward is displayed on the monitor arranged in the driver's seat of the vehicle and at the time of parallel parking. Is displayed in a superimposed manner.
The steering start guideline, which is included in the guide display, is fixedly displayed at a predetermined position on the monitor screen, and includes a line segment indicating an appropriate steering start point for parallel parking in the parking space, and the steering wheel steering angle detected by the steering angle sensor. Based on the guide mark that is moved and displayed according to the steering start guideline according to the size of the steering wheel, the vehicle is steered while grasping the appropriate steering wheel start point and steering wheel steering amount for parallel parking.

In the steering assist device for parallel parking according to claim 2, in the device according to claim 1, the driver moves the vehicle straight forward and backward at a right angle to the parking space, and a predetermined target of the parking space in the image of the camera. Stop the vehicle when the point overlaps the steering start guideline, steer the steering wheel until the steering amount guide mark overlaps with the target point, and then move backward while maintaining the steering amount of the steering wheel. Parked in parallel. In the steering assist device for parallel parking according to claim 3, in the device according to claim 1 or 2, both sides of the vehicle are fixedly displayed on the screen of the monitor by the driver according to the vehicle width guideline included in the guide display. Grasp the expected position of and complete the parallel parking. The steering assist device for parallel parking according to claim 4,
In the device according to any one of items 1 to 3, the driver, depending on the positions of the parking spaces to be parked in parallel, the steering start guideline for left rear parking and the right rear parking for parking to the left rear included in the guide display. Grasp the steering start point according to one of the steering start guidelines for right rear parking for parking.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. 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. The steering angle θT of the front wheels 6 is represented as a value Kθ obtained by multiplying the steering angle θ of the steering wheel 7 by a predetermined coefficient K.

FIG. 2 shows the configuration of the steering assist device for parallel parking according to the first embodiment of the present invention. An image processing device 8 which is a display control means 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 that detects whether or not the shift lever 5 has been switched to the reverse position, and the rear position switch 10 is connected to the image processing device 8. Further, the steering shaft of the steering wheel 7 has a steering angle sensor 1 for detecting the steering angle θ of the steering wheel 7.
1 is attached, and the steering angle sensor 11 is connected to the image processing device 8 via the steering angle calculation unit 12.

The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and causes the monitor 4 to display the display signal. When the display signal is input from the image processing device 8, the display from the image processing device 8 is displayed. Display is performed on the monitor 4 based on the signal. Further, the steering angle calculation unit 12
Is the steering angle θ of the steering wheel 7 detected by the steering angle sensor 11.
Calculates the steering angle θT of the front wheels 6 and outputs it to the image processing device 8. The image processing device 8 includes a CPU 13, a ROM 14 that stores a control program, an image processing processor 15 that processes video data from the camera 2, and an image memory that stores video data processed by the image processing processor 15. 16 and a work RAM 17.
Such an image processing device 8, a monitor controller 9,
A display control means is formed by the rear position switch 10, the steering angle sensor 11, and the steering angle calculation unit 12.

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 has been switched to the reverse position by the steering start guideline 100, 110, the vehicle width guideline 140, the vehicle track guideline 20 and the screen 19 of the monitor 4, as shown in FIG. As shown in FIG. 3C, each guide display of the steering amount mark 120 is displayed by being superimposed on the image of the camera 2.

The ROM 14 stores display data of the steering start guide lines 100 and 110 fixedly displayed at a predetermined position on the screen 19 of the monitor 4 regardless of the steering of the steering wheel 7. Steering start guideline 100, 110
Is a line segment showing a proper steering start point for parallel parking indicated by a solid line in FIG. The steering start guideline 100 is a steering start guideline for right rear parking for parking to the right rear, and the steering start guideline 110 is a steering start guideline for left rear parking for performing a left rear parking. is there.

Further, the steering amount mark 120 indicates the CPU 13
The steering start guideline 100 or 11 depending on the magnitude of the steering angle of the steering wheel detected by the steering angle sensor 11.
It is displayed on the monitor 4 along 0, for example, a red circle. The steering amount mark 120 is on the steering start guideline 100 when the steering wheel is steered to the right, and on the steering start guideline 110 when the steering wheel 7 is steered to the left. Move downwards.

Further, the pair of left and right vehicle width guides 140 drawn by solid lines in FIG. 3A is based on the entire width data of the vehicle 1 stored in the ROM 14 in advance, and the CPU 13 has both sides of the vehicle 1 when the vehicle goes straight forward and backward. FIG. 3 is a view showing an expected position of a part, and is an outline drawing of a plane projection pattern of the virtual vehicle when the vehicle 1 is virtually arranged in contact with the rear bumper at the current vehicle position. A line segment 141 below the vehicle width guide 140 is a bumper line indicating the current position of the rear bumper of the vehicle.

The vehicle trajectory guideline 20 is CP
Based on the output signal of the steering angle calculation unit 12, U13 calculates an expected trajectory of the vehicle 1 when the steering wheel 7 moves backward at the steering angle θ, and based on the estimated trajectory, the vehicle width is set to a position corresponding to the steering angle θ. It shows the standard of. The vehicle trajectory guideline 20 corresponds to the expected trajectory of the vehicle 1 when the vehicle 1 moves backward while maintaining the steering angle θT of the front wheels at that time, as indicated by the broken line in FIG. 21, 22, 23
Both ends of (1) indicate the positions of the rear bumper when the vehicle 1 moves backward by 1 m, 1.5 m, and 2.5 m from the current position of the rear bumper on the road surface, respectively.

Next, a method of drawing the steering start guideline 100 and the steering amount mark 120 on the screen 19 of the monitor 4 will be described. As shown in FIG. 5, the steering start guideline 100 and the steering amount mark 120 indicate that a vehicle to be parked in parallel turns at a constant vehicle turning radius and a predetermined distance DP (eg, from the entrance of the parking space 33). 1.5
m) and the parking space 33 so that the center of the rear axle of the vehicle 1 reaches the midpoint of the width WP of the parking space 33 (for example, 2.5 m). It is used to determine the steering start point of the vehicle and the steering amount of the steering wheel at that point according to the positional relationship with the vehicle.

First, an appropriate coordinate system is placed on the road surface, and line segments QP and QO which are the basis of the steering start guideline 100 on the road surface are assumed on this coordinate system. In FIG. 5, symbols L, P, O, N and M represent the position of the vehicle, and
A point TP at the entrance end of the parking space 33 represents a target point where the steering start guideline 100 is overlapped on the screen. The coordinate system on the road surface is a position that enters the parking space 33 from the entrance of the parking space 33 by a predetermined distance DP, and the midpoint of the width WP of the parking space 33 is the reference point OP, and the reference point OP is the origin. . From this origin, the center of the width WP on the road surface is defined as the Y-axis positive direction (Y +) inward in the longitudinal direction of the parking space 33, and the right direction in FIG. 5 is the X-axis positive direction (X +) orthogonal to the Y-axis. . The vehicle position P is a vehicle position at the start of steering such that the center of the rear axle of the vehicle 1 reaches the reference point OP when the vehicle 1 is steered by the steering wheel 7 with the maximum steering amount and turned by an angle of 90 °. X of a point PP which is the center of the rear axle of the vehicle 1 at this vehicle position P
The coordinate X _PP and the Y coordinate Y _PP are as follows. X _PP = -Rp Y _PP = -Rp Here, Rp is the turning radius of the rear axle center when the steering wheel is steered with the maximum steering wheel steering amount.

The line segment QP is a straight line drawn from the target point TP in parallel with the straight line QS passing through the point PP and the reference point OP,
The screen 19 of the monitor 4 when the vehicle 1 is at the vehicle position P
Is displayed as the steering start guideline 100. Of the end points QP1 and QP2 of the line segment QP, the end point QP1 coincides with the target point TP. On the other hand, the end point QP2 is located at the upper end of the screen 19 of the monitor 4 and the steering start guideline 100
The maximum drawing distance Ymax, which is the distance from the rear axle to the point displayed on the upper end of the screen 19 of the monitor 4, is calculated, and the maximum drawing distance Yma is calculated.
It is determined based on x. The maximum drawing distance Ymax is given by the following equation, as shown in FIG. Ymax = h / tan (ω − γ / 2) + DYc where h is the camera mounting height, ω is the dip angle of the camera, and γ
Is the vertical viewing angle of the camera, and DYc is the camera mounting position measured from the rear axle. As shown in FIG. 5, the end point QP2 is obtained as an intersection of a straight line drawn from the target point TP in parallel with a straight line QS passing through the point PP and the reference point OP and a straight line Y = Ymax.

The line segment QO is displayed on the screen 19 on the monitor 4.
Guideline for starting steering when the vehicle is at vehicle position O 1
It is displayed as 00. That is, the line segment QO indicates that when the vehicle turns 90 ° from the vehicle position P and the center of the rear axle reaches the reference point OP and reaches the vehicle position O, the line segment QP rotates this coordinate system together with the vehicle. Match. The line segment QO corresponds to the line segment QP when the coordinates of each axis are converted by 90 ° (X + → Y +, Y + → X−) with the point PP as the origin. The X coordinate X _Q01 and the Y coordinate Y _Q01 of one end point QO1 of the line segment QO are as follows. X _QO1 = Y _PP + DP = −Rp + DP Y _QO1 = −X _PP + WP / 2 = Rp + WP / 2 The X coordinate X _Q01 and the Y coordinate Y _Q01 of the other end point QO2 of the line segment QO are as follows. X _QO2 = −Ymax + DP + WP / 2 Y _QO2 = Ymax Further, the line segment QO ′ is a line symmetrical line segment having the Y axis of the line segment QO as the axis of symmetry, and steering starts when vehicles are parked in parallel to the left rear of the vehicle. It is a line segment that is the basis of the guideline 110.

Next, a method of calculating the point SP 'on the road surface which is the basis for displaying the steering amount guide mark 120 will be described.
It is assumed that the vehicle is in the vehicle position M as shown in FIG.
Here, the vehicle position M is a vehicle position in which the center of the rear axle coincides with the reference point OP by turning 90 ° at the turning radius RM. The turning radius RM around the rear axle and the steering angle θT of the front wheels 6 are related by the following equation. RM = B / tan (θT) where B is a wheel base and the steering angle θT of the front wheels 6 is
Is a positive value regardless of the horizontal direction. Further, when θT = 0, that is, when the steering wheel is not steered, the steering amount guide mark 120 is not displayed. X-coordinate X _MP and Y-coordinate Y _MP of rear axle center MP of the vehicle the vehicle position M is the following formula. X _MP = -RM Y _MP = -RM

Here, the X coordinate X _SP and the Y coordinate Y _SP of the point SP are determined as follows. That is, the coordinates of the point SP are the coordinates corresponding to the target point TP when the coordinates of each axis are converted by 90 ° (X + → Y +, Y + → X−) with the point MP as the origin. The _{X SP = Y MP + DP =} -RM + DP = B / tan (θT) + DP Y SP = -X MP + WP / 2 = RM + WP / 2 = B / tan (θT) + WP / 2 following processing with respect to the left and right steering Give. If you turned the steering wheel to the right, because it substitutes the -X _SP to X _SP, positive or negative sign is inverted. If you turn the handle to the left, X
_Since X _SP is substituted for _SP , the positive and negative signs remain the same.

The point S which is the basis of the steering amount guide mark 120
P'is calculated as follows. In the vehicle 1 at the vehicle position M, when the steering wheel 7 is gradually operated, the turning radius RM ′ corresponding to the steering amount of the steering wheel at that time is changed to the point S.
P ′ is obtained by substituting RM ′ into RM in the above equation, and the values of X _SP and Y _SP at this time are respectively points SP ′.
Is defined as the X coordinate and the Y coordinate of. The point SP ′ is moved to the end point Q by the translation of the line segment QP by the difference between the points PP and MP.
It is on the line segment QM designated as M1 and QM2, and moves on the line segment QM according to the value of RM '. The driver adjusts the steering amount of the steering wheel while observing the position of the steering amount guide mark 120 drawn at the position corresponding to the point SP ′ on the screen 19 of the monitor 4 described later, and sets the steering amount guide mark 120 to the target point. By matching with, the driver can recognize the steering amount as an appropriate amount.

Next, the line segments QO and Q assumed on the road surface
Steering start guideline 100, 1 based on O'and point SP '
10 and the steering amount guide mark 120 are drawn on the monitor 4 so as to be superimposed on the image taken by the camera installed in the vehicle. On the screen 19 on the monitor 4, the image captured by the camera 2 is displayed so that the backward traveling direction is on the upper side of the screen, the image on the right rear of the vehicle is on the right side of the screen, and the image on the left of the vehicle is on the left side of the screen. Since the background image is an image including distortion due to the camera lens, it is calculated by performing conversion in consideration of the distortion component when projecting each guide display point on the road surface onto the point on the monitor 4.

Next, the operation of the steering assist device at the time of parallel parking will be described with reference to FIGS. 3 and 4 by taking the case where the vehicle 1 is parked in the parking space at the rear right as an example. Figure 3
5A corresponds to the vehicle position L, FIGS. 3B and 3C correspond to the vehicle position P, FIGS. 4A and 4B correspond to the vehicle position O, and FIG. 4C corresponds to the vehicle position N. To do. First, the driver moves forward on the side of the parking space 33 to be parked at the rear of the vehicle, at an angle close to a right angle to the parking space 33, and the vehicle rear end is 2 to 3 m from the parking space 33.
Stop at the point where you have gone too far. Next, the driver first visually checks the safety at the rear of the vehicle and the positional relationship between the parking space 33 and the vehicle and operates the shift lever 5 to the reverse position. At this time, based on the detection signal from the rear position switch 10 when the shift lever 5 is switched, the image processing device 8 causes the steering start guide lines 100 and 110, the vehicle width guide line 140, and the vehicle guide line 140 as shown in FIG. The trajectory guideline 20 is displayed so as to be superimposed on the image behind the vehicle by the camera 2. Then, the driver moves the vehicle 1 back and forth, and as shown in FIG. 3B, the target point TP at the tip of the side parking frame line 35 on the far side of the vehicle in the parking space 33 is the steering start guideline 100. Stop when it overlaps. When the driver turns the steering wheel 7 while the vehicle is stopped at that position, the steering amount guide mark 120 is displayed on the steering start guideline 100, and as the steering wheel 7 is turned, the steering amount guide mark 120 is displayed on the steering start guideline 100. Move down. Then, as shown in FIG. 3C, the driver steers the steering wheel 7 until the steering amount guide mark 120 overlaps the target point TP. When the steering amount guide mark 120 overlaps the target point TP, the steering wheel 7 is moved backward while keeping the steering angle. As a result, the vehicle 1 retreats while turning in a range of about 90 ° with a constant vehicle turning radius, and the driver can properly enter the vehicle 1 into the parking space 33 without finely adjusting the steering amount of the steering wheel. it can.

Here, as shown in FIG. 4A, the vehicle 1 is stopped when the vehicle enters the parking space 33 and the vehicle width guide line 140 becomes parallel to the side parking frame line 35. Next, as shown in FIG. 4 (b), the driver returns the steering wheel 7 to the straight traveling state and slowly starts straight traveling and retreating. As shown in FIG. 4C, the rear parking frame line 36
Line segment 141 of bumper line of vehicle width guideline 140
When and are at appropriate intervals, the vehicle 1 is stopped. This completes parallel parking. The fan shape having a central angle of 90 ° indicated by the broken line in FIGS. 3 and 4 is drawn with a radius RP in FIG. 5 starting from the point PP and ending at the reference point OP.

Even when the position of the vehicle 1 at the time of starting the parallel parking is farther from the parking space 33 than the vehicle position L in FIG. 5, the driver similarly moves the vehicle 1 back and forth, and FIG.
As shown in (a), the vehicle is stopped when the target point TP overlaps the steering start guideline 100. With the vehicle 1 stopped at that position, the driver steers the steering wheel 7 until the steering amount guide mark 120 overlaps the target point TP. When the steering amount guide mark 120 overlaps the target point TP, the steering wheel 7 is moved backward while keeping the steering angle.

Further, when the position of the vehicle 1 at the time of starting the parallel parking is closer to the parking space 33 than the vehicle position L in FIG. 5, the driver similarly moves the vehicle straight forward and backward, and FIG.
As shown in FIG. 5, the tip of the steering start guideline 100 has a side frame line 35 of the parking space 33 near the target point TP.
Stop when it overlaps. When the driver steers the steering wheel 7 all the way to the right with the vehicle parked at that position, the steering amount guide mark 120 indicates the steering start guideline 1
00 down to the tip. In this state, the steering wheel 7 is moved backward while maintaining the steering angle. When the vehicle moves backward with the steering wheel 7 kept in that state, the vehicle becomes parallel to the side frame line while being deeper than the vehicle position O. The vehicle can be parked properly in the parking space 33 by stopping at that position, returning the steering wheel, and then moving straight forward and backward. in this case,
A part of the vehicle 1 may enter the adjacent parking space, but since the line segment 141 of the bumper line of the vehicle 1 is shown, whether the rear bumper of the vehicle 1 hits the adjacent vehicle, wall, pillar, or the like. Can be predicted.

Further, when the position of the vehicle 1 at the time of starting the parallel parking has an angle with respect to the state perpendicular to the parking space 33, the driver similarly moves the vehicles straight forward and backward, As shown in FIG. 7C, the steering start guideline 100 indicates that the parking space 33 near the target point TP.
Stop at the intersection with the side frame line 35. With the vehicle parked at that position, the driver can adjust the steering amount guide mark 12
The steering wheel 7 is steered until 0 overlaps the intersection of the steering start guideline 100 and the side frame line 35. In this state, the steering wheel 7 can be parked properly in the parking space 33 by moving backward while keeping the steering angle.

In this way, the steering start guideline 100
If the steering wheel guide mark 120 and the steering wheel steering wheel are steered from where the vehicle is moving backward for parallel parking, and the steering wheel steering amount is manipulated by the steering wheel steering amount, the steering wheel steering amount is not finely corrected when the vehicle is moving backward. Since it displays whether the vehicle can be parked properly, the steering amount of the steering wheel is not finely adjusted while the vehicle is moving backward. In addition, the vehicle width guideline 140 guides the position where the steering wheel 7 is returned,
Moreover, since the positional relationship between the vehicle 1 and the rear parking frame line 36 is shown, the vehicle can be parked at an appropriate position in the parking space 33.

Further, the vehicle 1 is provided with a parking space 33 on the left rear side.
When the vehicle is parked in parallel, the steering start guideline 110 on the left side of the screen 19 of the monitor 4 is used, and when the driver steers the steering wheel 7, the steering amount guide mark 120 appears on the steering start guideline 110. Parallel parking may be performed by the same procedure as the parallel parking of.

The method of expressing each guide display can be devised so that it can be easily understood by the driver. For example, the color of each guide display may be changed. Further, the steering amount guide mark 120
The shape of is not limited to a circle, and may be expressed by a shape such as a triangle, a rectangle, or a star. Further, the steering amount guide mark 120 may blink. In accordance with the steering direction of the steering wheel, the unnecessary one of the steering start guidelines 100 and 110 may be deleted. Further, regarding the target point TP,
Various places can be set, and the tip of the side frame 35 of the parking space 33 on the side near the vehicle may be set.
Furthermore, if both the near side and the far side of the side frame line 35 are set as the target points, it is possible to confirm whether the positional relationship between the parking space 33 and the vehicle 1 before parallel parking is maintained at a right angle. Also,
Thereby, it becomes possible to target the center of the parking space 33, and even if the width WP of the parking space 33 is different from the set value, it is possible to park in the center of the parking space 33.

[0036]

As described above, according to the steering assist device for parallel parking according to the first aspect of the present invention, the camera for photographing the rear of the vehicle, the monitor arranged in the driver's seat of the vehicle, and the vehicle Display control means for displaying a video image from the camera on the monitor when the vehicle moves backward and superimposing a guide display for parallel parking, and a steering angle sensor for detecting the steering angle of the steering wheel. The guide display is displayed at a predetermined position on the monitor screen. Steering start guideline consisting of a line segment that is fixedly displayed in and that indicates an appropriate steering start point for parallel parking in a parking space,
The steering angle detected by the steering angle sensor
Correspondingly, it is displayed on the screen of the monitor so as to move along the steering start guideline and corresponds to the steering start point.
Since it includes a steering amount guide mark that guides an appropriate steering wheel steering angle when turning and reversing , steering of the vehicle while grasping an appropriate steering wheel starting point and steering wheel steering amount for parallel parking It can be performed.

According to the steering assist device for parallel parking according to the second aspect, the vehicle is moved straight forward and backward at a right angle to the parking space, and the predetermined target point of the parking space in the image of the camera overlaps with the steering start guideline. By the way, stop the vehicle,
By steering the steering wheel until the steering amount guide mark overlaps with the target point and moving backward while maintaining the steering amount of the steering wheel, the vehicles can be parked properly in the parking space in parallel.

According to the steering assist device for parallel parking according to the third aspect of the present invention, the guide display is fixedly displayed at a predetermined position on the screen of the monitor, and indicates the expected positions of both sides of the vehicle when the vehicle moves straight backward. It also includes vehicle width guidelines, so
The vehicle can go straight backward by grasping the expected positions on both sides of the vehicle.

According to the steering assist device for parallel parking according to the fourth aspect, the guide display shows the steering start guideline for left rear parking for parking left rear and the parking right rear. Since it includes a steering start guideline for right rear parking, it can be applied to parallel parking in either direction.

[Brief description of drawings]

FIG. 1 is a side view showing a vehicle equipped with a steering assist device for parallel parking according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a steering assist device according to an embodiment.

FIG. 3 is a diagram showing a position and a monitor screen of a vehicle in parallel parking stepwise and schematically in the embodiment.

FIG. 4 is a diagram showing the position of the vehicle and the monitor screen in parallel parking stepwise and schematically in the embodiment.

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

FIG. 6 is a side view showing an image range of a camera of the steering assist device according to the embodiment.

FIG. 7 is a diagram schematically showing a vehicle position and a monitor screen when the position of the vehicle at the start of steering of parallel parking is different in the embodiment. It is a figure.

[Explanation of symbols]

1 ... Vehicle, 2 ... Camera, 4 ... Monitor, 5 ... Shift lever, 7 ... Steering wheel, 8 ... Image processing device, 10 ... Rear position switch, 11 ... Steering angle sensor, 19 ... Screen, 20 ... Vehicle trajectory guideline, 100 , 110 ... Steering start guideline, 120 ... Steering amount guide mark, 140 ... Vehicle width guideline, TP ... Target point.

Front Page Continuation (72) Inventor Takashi Kuriya 2-1-1 Toyota-cho, Kariya City, Aichi Prefecture Toyota Industries Corporation (56) References JP-A-9-180100 (JP, A) JP-A-10-244891 (JP, A) JP 11-208497 (JP, A) JP 11-1177 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60R 21/00 B60R 1 / 00 G08G 1/16 H04N 7/18

Claims (4)

(57) [Claims] 1. A camera for photographing the rear of the vehicle, a monitor arranged in the driver's seat of the vehicle, a steering angle sensor for detecting the steering angle of a steering wheel, and an image displayed by the camera on the monitor when the vehicle retreats. And a display control means for superimposing a guide display during parallel parking, wherein the guide display is fixedly displayed at a predetermined position on the screen of the monitor and is a line segment that guides an appropriate steering start point for parallel parking. a steering start guideline made, the steering angle corresponding to the magnitude of the steering angle detected by the sensor, and displayed so as to move along the steering start guideline on the screen of the monitor, the steering start locations
The appropriate steering wheel steering angle at the time of turning backward corresponding to the point
A steering assist device for parallel parking, comprising a steering amount guide mark for guiding the height. 2. The vehicle is moved straight forward and backward at a right angle to the parking space, the vehicle is stopped when a predetermined target point of the parking space in the image of the camera overlaps the steering start guideline, and the steering amount guide mark becomes the target point. The steering assist device for parallel parking according to claim 1, wherein the vehicles are appropriately parked in parallel in a parking space by steering the steering wheels until they overlap and further moving backward while maintaining the steering amount of the steering wheels. 3. The parallel parking according to claim 1, wherein the guide display further includes a vehicle width guideline which is fixedly displayed at a predetermined position on the screen of the monitor and indicates expected positions on both sides of the vehicle when the vehicle goes straight backward. Steering assist device. 4. The guide display includes a steering start guideline for left rear parking for parking left rear and a steering start guideline for right rear parking for parking rear right. The steering assist device for parallel parking according to any one of 1 to 3.