JP3849487B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device that supports driving operations of parallel parking and parallel parking (garage storage) of vehicles.
[0002]
[Prior art]
When parking your vehicle in parallel in an empty space between already parked vehicles, such as in a plaza with a parking space, you usually have to park your vehicle first while looking at the front side in the direction of travel. Find space. If there is a parking space, head to the parking space. Next, the vehicle approaches the parking empty space and determines whether or not the own vehicle can be stored in the parking empty space. If it is determined that the host vehicle can be parked, the host vehicle is advanced at a very low speed just before the entrance of the space, and is temporarily stopped at a point past the entrance. Then, from that point as the parking start position, the situation around the parking empty space that can be seen behind the vehicle is confirmed, and the vehicle moves backward while turning, and the vehicle is placed in the parking empty space. .
[0003]
However, this kind of parallel parking operation is troublesome. In particular, beginners often fail by mistake to determine whether the size of the entrance / exit of an empty parking space can be parked. Such a case can be seen not only in parallel parking but also in parallel parking called garage storage.
[0004]
Therefore, there is a driving support device that supports a parking operation. According to this device, a camera that captures the rear and surrounding areas is provided at the rear end of the vehicle, and a monitor that reflects the scene behind the vehicle captured by the camera is provided in the vehicle interior so that the vehicle passes past the parking space. If you shift to the reverse gear at a different position, an indicator that allows you to check the parking space is displayed on the monitor screen, and whether the parking space can be parked or not is determined from the monitor. The parking operation is performed after the comparison with the parking empty space.
[0005]
[Problems to be solved by the invention]
By the way, as described above, the determination of the presence or absence of a parking empty space is usually made by visual observation of the driver when approaching the entrance / exit of the parking empty space in a series of driving situations for searching for a parking empty space.
[0006]
However, with the above parking assist device, when going backwards from the parking start position after passing through the entrance of the parking empty space, the indicator is displayed for the first time so that you can see whether the parking empty space can really be parked. Is quite uncomfortable and difficult to handle. In addition, according to the parking assist device, when the parking operation is mistaken and the vehicle is advanced again, in order to eliminate the uncomfortable feeling of moving forward while confirming the front of the vehicle while the scene behind the vehicle is projected from the monitor, When there is no display from the monitor, the parking start position is difficult to adjust.
[0007]
The present invention has been made paying attention to the above circumstances, and the purpose of the present invention is to make it possible to judge whether there is a parking empty space without a sense of incongruity compared to normal parking behavior and to easily adjust the parking start position. An object of the present invention is to provide a parking assist device.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the invention of claim 1 is provided with a camera for imaging at least one scene in the left-right direction at the front of the vehicle, and a monitor for displaying the scene captured by this camera in the vehicle interior. A support issuance means for issuing a command requesting parking is provided. When a command for requesting parking support is issued, an indicator display means for displaying an indicator for checking whether there is a parking empty space is provided on the monitor screen, and the vehicle is parked. When approaching an empty space, an indicator is displayed in comparison with the parking empty space displayed on the monitor.
[0009]
That is, when a request for assistance is issued from the assistance issuing means when the host vehicle approaches the parking empty space, an indicator for confirming the scene on the side of the vehicle and the presence or absence of the parking empty space is displayed on the monitor screen.
[0010]
By this display, as the vehicle approaches the parking empty space, both the index and the entrance / exit of the parking empty space are displayed on the screen. From the comparison between these indicators and the entrance / exit of the parking space, it is possible to check the parking space with the same feeling as normal parking if it is determined whether the parking space is really a space where parking is possible. .
[0011]
Moreover, even if the parking operation is incorrect and the vehicle is moved backward when checking the parking empty space, the left side scene in the same direction as the scene in front of the vehicle is displayed on the monitor. This makes it possible to provide parking assistance with a sense of incongruity.
[0012]
In addition to the above object, the invention of claim 2 is a frame of a size indicating that the vehicle can be parked so that it can be quickly determined from the monitor display whether the parking empty space can be parked. It is that it was formed with lines.
[0013]
In addition to the above-described object, the camera of claim 3 can also be used as a left-right direction confirmation device for viewing left and right road conditions at an intersection with poor visibility. A first mode in which each of the left and right scenes for road condition recognition is divided into left and right parts and displayed on the screen by the switching means, and the parking empty space. For recognition, a configuration in which one of the left and right scenes is switched to the second mode for displaying a wide range on the screen is used.
[0014]
In addition to the above object, the camera according to claim 4 has a simple structure in which the reflecting member is switched, and the camera has a left-right direction so that it can also be used as a left-right direction confirmation device for viewing left and right road conditions at an intersection with poor visibility. Each of the scenes on both sides of the screen is configured to be reflected on a common imaging surface by reflection of a reflection member having a variable reflection angle, and the reflection member is a scene in the left-right direction for recognizing road conditions by the switching means. Among them, the first reflection angle for reflecting a specific range to the camera and the second reflection angle for reflecting one of the left and right scenes on the imaging surface of the camera over a wide range are used for parking empty space recognition. .
[0015]
In addition to the above object, the invention of claim 5 is provided with a parking start position for starting parking so that the vehicle can be led to a parking empty space from a parking starting position at which parking can be performed optimally at all times without relying on experience and intuition. As parking start support to notify the driver, the parking start position support command means for instructing the start of parking start position support and the vehicle position from which the command is issued by the parking start position support command means to the parking start position A parking start position setting means for determining the distance; a detecting means for detecting that the vehicle has advanced to the parking position start; and a notifying means for notifying the vehicle stop based on the detection by the detecting means; The distance from the parking start position as the base point to the parking start is a distance that the vehicle can lead to the parking empty space when turning backward from the parking start position while turning at the maximum steering angle.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
The present invention will be described below based on the first embodiment shown in FIGS.
[0017]
FIG. 1 shows a front side of an automobile (vehicle), and 1 in the figure shows a vehicle body. The vehicle body 1 includes a vehicle compartment 4 provided with a driver's seat 2 (seat on the right in the traveling direction) and a passenger seat 3 (seat on the left in the traveling direction), and an engine room 5 provided in front of the vehicle compartment 4. Configured. An engine (not shown) that drives the front wheels 6 attached to the vehicle body 1 is housed in the engine room 5.
[0018]
On the other hand, 10 shows a parking assistance apparatus. The parking assist apparatus 10 uses a structure in which an imaging system 11 that captures the scenes α and β in the left-right direction of the automobile and a monitor system 30 that monitors the captured scenes α and β are combined.
[0019]
As shown in FIGS. 1 and 2, the imaging system 11 has a vehicle width at the front end of the vehicle body 1, for example, the uppermost stage of the front grille 7 so that the scenes α and β in the left and right directions of the front of the vehicle can be easily obtained. A structure in which a mirror incident type camera 12 is installed at a directional position is used.
[0020]
The camera 12 will be described. In the figure, reference numeral 13 denotes a box-shaped casing (main body) installed on the front grille 7. A CCD camera 15 is housed near the front grill 7 in the casing 13 with the imaging surface 14 facing the front side of the vehicle. In addition, a left and right optical system 16 for projecting a lateral scene of the vehicle onto the imaging surface 14 is disposed on the front side of the imaging surface 14. The left-right optical system 16 uses, for example, a pair of left-right symmetrical mirrors 17 bent in a valley shape in the left-right direction. Reflecting surfaces 17a and 17b are formed on the inner surfaces of the left and right mirrors 17 facing the imaging surface 14 side. Further, in the left and right mirror 17, the length (vehicle width direction) of each reflecting surface 17a, 17b is larger than the dimension of the imaging surface 14 in the vehicle width direction. The inclined left reflecting surface 17 a faces a window 18 a provided on the left wall of the casing 13. The inclined right reflecting surface 17b faces a window 18b provided on the right wall of the casing 13, so that the left and right scenes α and β of the vehicle can be taken in from the windows 18a and 18b. In the left and right mirrors 17, for example, a corner portion in which both reflection surfaces 17 a and 17 b are connected is rotatably supported by the support shaft 20. With this support, the posture of the left and right mirrors 17 is reversed (fallen) to the right in the vehicle width direction shown in FIG. 4, for example, from the valley-shaped posture, which is the normal posture shown in FIG. 3, with the support shaft 20 as a fulcrum. It can be changed to a posture. Thus, the reflection angle of the reflection surfaces 17a and 17b can be changed. Specifically, in the valley-shaped posture that is the normal posture, as shown in FIG. 3, the reflection angles of the reflecting surfaces 17a and 17b are the left and right at the intersection where the line of sight is bad, of the left and right scenes α and β. Only a narrow specific range such as a road condition is incident, that is, a narrow angle, that is, a reflection angle θ1 (first reflection angle), and when the posture is reversed, a larger reflection angle θ2 (second reflection angle), that is, normal A wide range of scenes than the posture, specifically, a wide-angle scene in a range where the parking situation can be confirmed is changed to an incident angle. Further, the support shaft 20 is supported so as to be slidable along the surface direction of the imaging surface 14 by, for example, a guide rail portion (not shown), and the corner portion is located at the center of the imaging surface 15 shown in FIG. Is changed from a normal posture in which the corner is disposed to a posture in which the corner portion is disposed at the right end of the imaging surface 15, for example. By utilizing the combination of the movement of the left and right mirrors 17 and the reversal of the previous left and right mirrors 17, as shown in FIG. 4, a wide range of the imaging surface 14, specifically, the entire imaging surface 14, A scene, here, a wide-angle scene a incident on the left reflecting surface 17a can be reflected.
[0021]
An actuator 21 that drives the left and right mirrors 17 to rotate and slide the mirrors 17 is provided at a point adjacent to the CCD camera 15. The actuator 21 is composed of a mechanism (not shown) that combines a motor and gears, for example. The actuator 21 is connected to a control unit, for example, an ECU 23 (for example, composed of a microcomputer).
[0022]
As shown in FIG. 1, the monitor system 30 has a monitor 31 installed in the passenger compartment 4, for example, the instrument panel 8. As shown in FIGS. 3 and 4, the monitor 31 has a monitor surface 31 a facing the driver seat. The monitor 31 is connected to the CCD camera 15 via the ECU 23 so that the scene reflected on the imaging surface 14 of the CCD camera 15 is directly displayed on the monitor surface 31a.
[0023]
The ECU 23 is set with a function for assisting a parking operation using an image projected from the monitor 31 and a function for confirming the left and right road conditions at an intersection with poor visibility.
[0024]
That is, the ECU 23 includes a vehicle speed sensor 32 for detecting the vehicle speed and a parking switch 33 for inputting whether parking assistance is required (a function of selecting parallel parking or parallel parking (garage storage)): A confirmation switch 34 (corresponding to a parking start position support command means) for confirming a parking empty space, an alarm device 35 (a lamp, a buzzer, etc.) for notifying a parking start position The view switch 36 is connected. The vehicle speed sensor 32 other than the vehicle speed sensor 32 is provided in the passenger compartment 4. For example, it is provided in the case portion around the screen 31a of the monitor 31. The above functions are established using these devices.
[0025]
Specifically, the function to check the left and right road conditions is
a. For example, when the vehicle speed is very low, that is, when the view switch 36 is turned on at a constant vehicle speed or less, the CCD camera 15 uses the left and right mirrors 17 (narrow angle) in a normal posture, and both the left and right scenes α and β for road condition confirmation. The image is sent to the monitor 31 as it is, and the right and left road conditions (specific range of scenes) are displayed as they are from the monitor surface 31a (division display of left and right scenes: first mode).
[0026]
It is comprised.
[0027]
The functions that support parking operations are:
a. For example, when the parking switch 33 is turned on at a constant vehicle speed or less, the right and left mirrors 17 in the normal posture are switched to the wide-angle inverted posture shown in FIG. 4 by moving to the right and rotating about the support shaft 20.
[0028]
b. The left-side scene α captured from the switched wide-angle left reflective surface 17a to the entire imaging surface 14 is sent to the monitor 31 as it is. A function to display on the entire 31a (second mode).
[0029]
c. Further, for example, when parallel parking or parallel parking (garage entry) is selected using the parking switch 33, an indicator for confirming whether or not the vehicle can be parked on the monitor surface 31a on which the scene α is displayed. The function to display. Specifically, when parallel parking is selected, as shown in FIGS. 5 to 7, a frame line, for example, the vehicle's own space, is displayed in the center of the monitor surface 31 a as a space indicating that parallel parking of the own vehicle is possible. As shown in FIG. 9 to FIG. 11, when the frame line P1 having a size based on the length L obtained by adding the empty dimension to the total length and the height dimension of the host vehicle is superimposed and parallel parking is selected, In the center of the monitor surface 31a, as a space indicating that parallel parking of the host vehicle is possible, a frame line, for example, a length W including the vehicle width length of the host vehicle and an empty dimension of the host vehicle, and a height dimension of the host vehicle A function of superimposing a frame line P2 having a size based on the above (corresponding to an index display means).
[0030]
d. The driver determines that parking is possible from the comparison between the frame lines P1 and P2 and the entrance / exit of the parking empty space S on the screen, which is performed by looking at the screen of the monitor surface 31a, and the driver confirms the switch 34 (start parking). When the position support command means) is turned on (corresponds to the command), the vehicle starts the reverse parking operation as shown in FIG. 8 and FIG. A function for determining the distance from the point to the parking start position ahead (parking start position setting means). Here, the distance from the switched-on host vehicle position to the front parking start position is determined by considering the appearance of the host vehicle, the steering angle, etc. This is determined by the distance that the vehicle can lead to the entrance of the parking space S as it is.
[0031]
e. A function of detecting whether or not the host vehicle has advanced to the parking start position from the vehicle speed per unit of the host vehicle after the confirmation switch 34 is turned on (corresponding to detection means).
[0032]
f. When the vehicle travels to the parking start position, a function of notifying the driver that the host vehicle has reached the parking start position by sound or light generated from the alarm device 35 and prompting the host vehicle to stop (notification means).
[0033]
In general, the parking operation can be supported while maintaining the same feeling when parking.
[0034]
In other words, as shown in FIG. 5, it is assumed that parallel parking is performed in a space between the parked vehicle A and the parked vehicle B among the parked vehicles A to C parked in parallel at the road end.
[0035]
At this time, the host vehicle Z moves forward along the line of parked vehicles at a low speed to search for an empty space.
[0036]
At this time, the driver turns on the parking switch 33 and then selects parallel parking to receive parking assistance.
[0037]
Then, in response to a command from the ECU 23, the left and right mirrors 17 of the camera 12 at the front of the vehicle are controlled by the actuator 21 and a valley-shaped narrow-angle posture suitable for confirming the road condition at the intersection shown in FIG. Then, the vehicle moves to the right and then reverses to switch to the wide-angle posture as shown in FIG.
[0038]
Then, the situation on the left front side of the host vehicle Z is reflected on the entire imaging surface 14 of the CCD camera 15, and the scene is reflected on the entire monitor surface 31a as it is. At the same time, a frame line P1 representing a space where parallel parking is possible is displayed on the monitor surface 31a.
[0039]
Specifically, for example, as shown in FIG. 5 (a), at the point where the host vehicle Z is aligned with the rearmost parked vehicle C, the front of the parked vehicle C as shown in FIG. 5 (b), for example. And the entire parked vehicle B parked in front of it is displayed, and the frame line P1 is superimposed on the center of the screen so as to line up with the parked vehicle.
[0040]
The situation of the parked vehicle varies depending on the position of the own vehicle looking for an empty space. That is, as shown in FIG. 6 (a), if the host vehicle Z passes the parked vehicle B, the entire left front parked vehicle B is projected on the monitor surface 31a as shown in FIG. 6 (b). It is. Further, when the host vehicle Z travels until it is aligned with the parked vehicle B as shown in FIG. 7A, an empty space in front of the parked vehicle B is projected as shown in FIG.
[0041]
Then, at the position where the empty space and the frame line P1 overlap each other, the driver temporarily stops the host vehicle Z and compares whether the empty space is large enough to fit the frame line P1 from both images.
[0042]
At this time, the driver confirms that there is a parking empty space S by looking at an image in which the frame line P1 fits in the empty space as shown in FIG. Of course, if the frame line P1 is not stored in the empty space, it is determined that the empty space cannot be parked in parallel and the parking in the space is abandoned.
[0043]
And the confirmation switch 34 is turned on as confirmation of the place which can perform parallel parking. Then, the ECU 23 receives this ON operation, and determines the distance from the own vehicle position to the parking start position starting from the operation.
[0044]
After the confirmation operation, the driver advances the host vehicle Z at a slow speed as indicated by an arrow E in FIG. 8 and passes (passes) just before the entrance / exit of the parking empty space S.
[0045]
When the host vehicle Z travels until it reaches the parking start position, the ECU 23 (corresponding to detection means) activates the alarm 35 to generate a sound (buzzer), turn on (lamp), etc. It informs that it has arrived at the optimal point for starting parking and prompts the host vehicle Z to stop.
[0046]
Upon receiving this notification, the driver stops the host vehicle Z. Subsequently, the driver shifts the shift lever (not shown) to the reverse gear, for example, and then turns the handle 9 (shown only in FIG. 1) to the left side to the maximum steering angle, and in that state in FIG. The host vehicle moves backward as indicated by the arrow F. Then, the rear part of the host vehicle Z is led to the entrance / exit of the parking empty space S. Then, if the steering wheel is returned while visually checking the front and rear parked vehicles A and B, the host vehicle Z is accommodated in the parking empty space S.
[0047]
On the other hand, among the parked vehicles A to C that are parked in parallel in the parking space as shown in FIG. 9, the preceding column is also used when parking in the space vacant between the parked vehicle A and the parked vehicle B. As with parking, advance along the parked vehicle at low speed to find an empty space.
[0048]
At this time, the driver turns on the parking switch 33 and then selects parallel parking in order to receive parking assistance.
[0049]
Then, in response to a command from the ECU 23, the left and right mirrors 17 of the camera 12 at the front of the vehicle are driven by the actuator 21, and, as in the case of the previous parallel parking, a narrow valley shape suitable for checking the road conditions at the intersection. From the angular posture, the left side of the vehicle is switched to a wide-angle posture, and the situation on the left front side of the host vehicle Z is directly reflected on the entire monitor surface 31a through the CCD camera 15. At the same time, as shown in FIG. 9B, a frame line P2 representing a space where parallel parking is possible is displayed on the monitor surface 31a.
[0050]
Specifically, for example, as shown in FIG. 9A, at the point where the host vehicle Z approaches the last parked vehicle C, the front of the parked vehicle C as shown in FIG. The front part of the parked vehicle B parked in front of it is projected, and the frame line P2 is superimposed on the center of the screen so as to line up with the parked vehicle.
[0051]
The situation of the parked vehicle varies depending on the position of the own vehicle looking for an empty space. That is, as shown in FIG. 10 (a), if the host vehicle Z reaches the parked vehicle B, as shown in FIG. 10 (b), the front part of the parked vehicle B and a part of the empty space in front thereof Is displayed on the monitor surface 31a. Further, when the host vehicle Z travels until it is aligned with the parked vehicle B as shown in FIG. 11A, for example, as shown in FIG. 11B, the front of the parked vehicle B, the entire empty space, the parked vehicle A The front of is projected.
[0052]
Then, the driver temporarily stops the host vehicle Z at a position where the empty space and the frame line P2 overlap each other, and compares whether or not the empty space is large enough to fit the frame line P2 from both images.
[0053]
At this time, the driver confirms that there is a parking empty space S by looking at an image in which the frame line P2 fits in the empty space as shown in FIG. Of course, if the frame line P2 does not fit in the empty space, it is determined that the empty space cannot be parked in parallel, and parking in the space is abandoned.
[0054]
And the confirmation switch 34 is turned on as confirmation of the place which can perform parallel parking. Then, as in the case of the previous parallel parking, the ECU 23 receives this on operation and determines the distance from the own vehicle position to the parking start position starting from the operation.
[0055]
After the confirmation operation, the driver advances the host vehicle Z at a slow speed as indicated by an arrow G in FIG. 12 and passes (passes) just before the entrance / exit of the parking empty space S.
[0056]
When the host vehicle Z travels until it reaches the parking start position, the ECU 23 operates the alarm 35 as in the case of the previous parallel parking, and generates a sound (buzzer), lights up (lamp), etc. Is informed that the vehicle has arrived at an optimal point for starting parking, and prompts the host vehicle Z to stop.
[0057]
Upon receiving this notification, the driver stops the host vehicle Z. Subsequently, the driver shifts, for example, a shift lever (not shown) to the reverse gear, and then turns the handle 9 to the left to reach the maximum steering angle, and in this state, as indicated by an arrow H in FIG. Drive your vehicle backwards. Then, the host vehicle Z is guided to the entrance / exit of the parking empty space S. Then, if the handle 9 is returned while visually confirming the surroundings, the host vehicle Z is accommodated in the parking empty space S.
[0058]
The parking assist device that displays the front left side of the host vehicle Z and the frame lines P1 and P2 on the monitor 31 and compares the frame lines P1 and P2 with the entrance / exit of the parking space S is the same as in normal parking. When the host vehicle Z approaches the parking empty space S, it can be judged whether the parking empty space is really a space where parking is possible, so that the parking empty space can be confirmed with the same feeling as when parking normally. Yes, the host vehicle Z can be parked using parking assistance without a sense of incongruity. Moreover, even when the parking empty space S is confirmed, even if the parking operation is incorrect and the vehicle is moved backward when the parking empty space S is confirmed, the left of the monitor 31 in the same direction as the scene in front of the host vehicle Z is left. Since the scene of the direction is projected, the parking start position can be easily adjusted.
[0059]
Therefore, it is possible to perform parking support that is excellent in feeling with a sense of incongruity suppressed. In particular, since the frame lines P1 and P2 indicating that the host vehicle Z can be parked are used as indicators for confirming whether or not the parking empty space S is present, whether or not the parking empty space S can be quickly parked from the monitor display. Can be judged.
[0060]
In addition, the camera 12 employs a structure in which the left and right scenes α and β are displayed on the common imaging surface 14. The monitor 31 operates the view switch 36 to recognize each scene α for road condition recognition. , Β are divided into left and right and displayed on the monitor surface 31a, or the left-side scene α for recognizing the parking space is displayed on the monitor surface 31a in a wider range than that, so that not only the parking assistance device It can also be used as a left / right confirmation device for confirming left and right road conditions at intersections with poor visibility. That is, when it is desired to confirm the left and right situation of the road at an intersection with poor visibility, the view switch 36 is operated to divide the left and right scenes α and β from the monitor surface 31a to the left and right as shown in FIG. In this case, the left and right situation of the intersection can be confirmed through the image of the monitor surface 31a simply by causing the front of the host vehicle Z to enter the intersection.
[0061]
In particular, the switching between the left and right confirmation display and the parking support display can be easily realized because the structure that changes the reflection angle of the left and right mirrors 17 is used. Moreover, in order to switch the display, in addition to changing the reflection angle, the left and right mirrors 17 employ a structure in which a slide that opens the entire imaging surface 14 is used together. Can display a parking assistance scene.
[0062]
Also, a confirmation switch 34 that is operated when it is confirmed that there is a parking space S, and a notification that prompts the driver to stop using the ON signal of the switch 34 to inform the driver that the vehicle Z has advanced to the parking start position. Since the distance to the parking start position is determined to be the distance that can be led to the entrance / exit of the parking empty space S when the host vehicle turns backward at the maximum rudder angle, parking is easy without relying on experience or intuition. Thus, the host vehicle Z can be guided to the parking empty space S from the parking start position at which the host vehicle Z can be optimally performed, and the host vehicle Z can be easily parked.
[0063]
FIG. 13 shows a second embodiment of the present invention.
[0064]
In the present embodiment, the parking sky at the time of parallel parking is used as an index by using one reference line P3 displayed vertically in the center of the monitor surface 31 instead of the frame line as in the first embodiment. The presence or absence of the space S can be confirmed.
[0065]
For example, as shown in FIG. 13A, when the host vehicle z confirms the parking space S, the confirmation switch 34 is turned on when the reference line P3 displayed on the monitor surface 31 overlaps the front end of the parked vehicle B. Then, as shown in FIG. 13B, when the reference line P3 passes in front of the parking empty space S and reaches a preset distance that allows parallel parking, for example, the reference line P3 blinks. When the host vehicle Z is urged to stop, and the reference line P3 is close to the parking empty space S from the rear end of the parked vehicle A as shown in FIG. 13 (c), it is confirmed that parallel parking is possible and further blinks. Thus, the operation of the confirmation switch 34 is prompted.
[0066]
FIG. 14 shows a third embodiment of the present invention.
[0067]
In the present embodiment, by using one reference line P4 that is displayed vertically in the center of the monitor surface 31, it is possible to check the presence / absence of the parking empty space S in parallel parking (garage entry). Is. As with the case of parallel parking, the reference line P4 can be used for parallel parking because the reference line P4 passing through the parking empty space S is closer to the parking empty space S from the side end of the parked vehicle A. Make a judgment.
[0068]
Even with such an index, the same effect as in the first embodiment can be obtained. However, in FIG. 13 and FIG. 14, the same parts as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
[0069]
The present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the spirit of the present invention. For example, in the embodiment, when parking assistance is performed, it is assumed that the parked vehicle is mainly on the left side of both of the own vehicles, and the scene in the left direction of the vehicle is displayed on the monitor. When it is mainly on the right side of the host vehicle, a scene in the right direction of the vehicle may be projected from the monitor. Of course, there is a means to switch between the left and right scenes, and even if the parked vehicle is parked on the left side of the host vehicle and when it is parked on the right side, only the left or right direction is dedicated. You may make it project on a monitor only one of the left-right direction of a vehicle using the camera to project.
[0070]
【The invention's effect】
As described above, according to the first aspect of the present invention, if a request for assistance is issued in the middle of the vehicle approaching the parking empty space when searching for the parking empty space, the indicator displayed on the monitor screen and the parking empty space are displayed. From the comparison with the entrance / exit, it can be determined whether the parking empty space is really a space where parking is possible.
[0071]
Therefore, the parking empty space can be confirmed with the same feeling as when parking normally. Moreover, even if the host vehicle is moved backward when checking the parking empty space due to a parking operation error, the monitor displays the left-hand scene in the same direction as the scene in front of the vehicle. The parking start position can be adjusted easily, and parking support with excellent feeling with a sense of incongruity can be provided.
[0072]
According to invention of Claim 2, in addition to the said effect, it can be judged from a monitor display whether the parking empty space is a space which can be parked quickly.
[0073]
According to the third and fourth aspects of the invention, in addition to the above effects, the present invention can also be used as a left-right direction confirmation device for viewing left and right road conditions at an intersection with poor visibility. In addition, according to the invention of claim 4, it can be realized with a simple structure of switching the reflecting member.
[0074]
According to invention of Claim 5, in addition to the said effect, it can guide the own vehicle to a parking empty space from the parking start position which can park optimally without relying on experience and intuition.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a parking assist apparatus according to a first embodiment of the present invention together with a vehicle equipped with the apparatus.
FIG. 2 is a perspective view for explaining a structure of a camera attached to a front portion of the vehicle.
FIG. 3A is a diagram showing the posture of the left and right mirrors when checking the left and right direction.
(B) is a figure which shows the screen of the monitor reflected on the CCD camera through the left-right mirror.
FIG. 4A is a diagram showing the posture of the left and right mirrors when checking a parking empty space.
(B) is a figure which shows the screen of the monitor reflected on the CCD camera through the left-right mirror.
FIG. 5A is a diagram for explaining a situation of the own vehicle when the own vehicle is parked in parallel and looking for a parking space on the monitor screen.
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 6A is a diagram showing a situation of the host vehicle when further proceeding.
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 7A is a diagram for explaining a situation of the host vehicle when it is determined from the monitor screen whether or not a parking empty space is a space where parking is really possible.
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 8 is a diagram for explaining a process until the host vehicle travels to a parking start position and is guided from that position to a parking space.
FIG. 9A is a diagram for explaining the situation of the host vehicle when the host vehicle is looking for a parking space on the monitor screen when the host vehicle is parked in parallel (in a garage).
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 10A is a diagram showing a situation of the host vehicle when further proceeding.
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 11A is a diagram for explaining the situation of the host vehicle when it is determined from the monitor screen whether the parking empty space is a space where parking is really possible.
(B) is a figure which shows the screen projected on a monitor at that time.
FIG. 12 is a diagram for explaining a process until the host vehicle travels to a parking start position and is guided from that position to a parking space.
FIG. 13 is a diagram illustrating a process until it is determined whether a parking empty space for parallel parking is determined based on one reference line, which is a main part of the second embodiment of the present invention.
FIG. 14 is a diagram illustrating a process until it is determined whether a parking empty space for side-by-side parking (garage entry) is determined based on one reference line, which is a main part of the third embodiment of the present invention.
[Explanation of symbols]
12 ... Camera
15 ... CCD camera
17 ... right and left mirrors
23 ... ECU (index display means, parking start position setting means, detection means)
31 ... Monitor
33, 36 ... parking switch (support instruction means, switching means)
34. Confirmation switch (parking start position support command means)
35. Alarm (notification means)
36 ... View switch (switching means)
P1, P2 ... Frame lines (indexes).

Claims (5)

In order to support a driving operation in which the vehicle passes through the entrance of the parking empty space, moves forward to a parking start position where parking is started, and then moves backward to fit in the parking empty space while turning the vehicle. Parking assistance device,
A camera that is provided at the front of the vehicle and images at least one scene in the left-right direction of the vehicle from the front;
A monitor provided in a passenger compartment and displaying a scene imaged by the camera;
A support issuing means for issuing a command requesting parking assistance;
An indicator display means for displaying an indicator for confirming the presence or absence of the parking empty space on the screen of the monitor when a command to request the parking assistance is issued;
The parking assist device is configured such that when the vehicle approaches the parking empty space, the indicator is displayed in comparison with the parking empty space displayed on the monitor. In the parking assistance device according to claim 1,
The parking support device according to claim 1, wherein the index is formed by a frame line having a size indicating that the vehicle can be parked. In the parking assistance device according to claim 1,
The camera is configured to project each scene on both sides in the left-right direction onto a common imaging surface by reflection of a reflecting member,
The monitor has a first mode in which each of the left and right scenes for road condition recognition is divided into left and right parts and displayed on a screen by a switching means, and one of the left and right scenes is displayed on a screen for parking empty space recognition. A parking assist device configured to switch to a second mode for displaying a wide range. In the parking assistance device according to claim 1,
The camera is configured to project each scene on both sides in the left-right direction onto a common imaging surface by reflection of a reflection member whose reflection angle is variable, and the reflection member is switched by a switching unit. The first reflection angle for reflecting a specific range of the scene in the left-right direction for recognition to the camera and the one scene in the left-right direction for projecting a parking empty space are reflected in a wide range on the imaging surface of the camera. A parking assist device configured to switch to a second reflection angle. In the parking assistance device according to claim 1,
Parking start support for informing the driver of the parking start position for starting parking,
Parking start position support command means for issuing a start of parking start position support;
A parking start position setting means for determining a distance to the parking start position based on the vehicle position where the command is issued by the parking start position support command means;
Detecting means for detecting that the vehicle has advanced to the parking position start;
Notification means for notifying the vehicle stop based on the detection of the detection means,
The parking assist device according to claim 1, wherein a distance from the vehicle position to a parking start is a distance that the vehicle can lead to the parking empty space when moving backward from the parking start position while turning at a maximum steering angle.

Images