JP3906892B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assist device that displays a rear image on a monitor when a vehicle is parked backward.
[0002]
[Related background]
In order to park a vehicle in a parking space or the like partitioned by a white line, etc., the steering operation, the accelerator operation, the brake operation, and the clutch operation are also required for a manual transmission vehicle, so the driving operation is very complicated. In addition, when the vehicle is parked with the vehicle retracted, the driving is carried out in an unnatural posture that is turned backward, which is particularly tense for an inexperienced driver.
[0003]
Therefore, various proposals have been made in order to facilitate the driving operation at the time of parking. For example, a rear image captured by a CCD camera is displayed on a monitor screen in a vehicle interior, and the rear image is displayed on the rear image. In addition, a vehicle width line extending rearward, a guide line indicating a vehicle trajectory predicted from the current steering angle, etc., are superimposed and displayed by superimposing, and serve as a reference when the driver performs a driving operation. A parking assist device has been proposed.
[0004]
However, the above-described parking assistance device does not take any measures against the obstacle, and the driver can only find the obstacle from the rear image displayed on the monitor screen, and the rear image is unclear particularly in backlight or at night. Sometimes the driver could overlook an obstacle.
On the other hand, an example of a parking assistance device that can detect an obstacle is described in Japanese Patent Laid-Open No. 7-234999. This parking assist apparatus is configured to input a rear image through a pair of lenses arranged at a predetermined interval, and input each rear image to an image comparator through a prism. In the image comparator, the distance to the obstacle is detected using parallax based on both input rear images, and then the obstacle is superimposed on the rear image on the monitor screen, thereby displaying the driver. The presence of obstacles is informed.
[0005]
[Problems to be solved by the invention]
However, the parking assist device described in the above publication detects an obstacle by recognizing the contrast and contour between the obstacle and the background based on image data optically captured by a CCD camera. Therefore, it is easily affected by backlight or nighttime as in the case of being visually recognized by the naked eye. Therefore, the certainty in detecting an obstacle is poor, and it is difficult to say that it has a sufficient function in reducing the driver's burden.
[0006]
An object of the present invention is to provide a parking assist device capable of reliably detecting an obstacle without being affected by backlighting, nighttime, or the like and notifying the driver, thereby greatly reducing the burden on the driver during parking. Is to provide.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, in the parking assist apparatus configured to display the rear image captured by the imaging means provided at the rear of the vehicle on the monitor screen in the vehicle interior when the vehicle is reversing, Obstacle detection means for detecting an obstacle behind the vehicle using information other than image information, and a rear obstacle based on at least one of the rear image information from the imaging means and the rear obstacle information from the obstacle detection means. When detected, the position of the rear obstacle is displayed superimposed on the rear image of the monitor screen , and the rear obstacle is enlarged and displayed on the monitor screen for a predetermined time, while a plurality of rear obstacles are displayed. Control means for sequentially enlarging and displaying each rear obstacle on the monitor screen every predetermined time when detected .
[0008]
Therefore, even when the optical rear obstacle is not normally detected by the imaging means due to the influence of backlight or nighttime, for example, an obstacle using information other than image information such as ultrasonic waves, radio waves, and lasers. The rear obstacle is reliably detected by the detection means, and the position of the rear obstacle is displayed on the monitor screen based on the detection result. At this time, because the rear obstacle is enlarged and displayed on the monitor screen for a predetermined time, the driver can easily grasp not only the presence of the rear obstacle but also the actual state, size, shape, etc. of the rear obstacle. It becomes. Moreover, when a plurality of rear obstacles are detected, the respective rear obstacles are sequentially enlarged and displayed on the monitor screen every predetermined time, so that the driver can grasp all the rear obstacles without omission.
According to a second aspect of the present invention, the control means sequentially enlarges and displays a rear obstacle located in a predetermined area behind the vehicle on the monitor screen every predetermined time when the vehicle is stopped, and while the vehicle is moving backward. Since the rear obstacle newly entered into the predetermined area is configured to be enlarged and displayed over a predetermined time, the driver approaches the obstacle in the predetermined area where the risk of collision is increased due to approaching the vehicle. Attention can be concentrated.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a parking assistance apparatus embodying the present invention will be described.
FIG. 1 is a block diagram showing the overall configuration of the parking assistance apparatus of the present embodiment. As shown in the figure, the parking assistance apparatus includes a CCD camera 1 as an imaging means and an ultrasonic sensor as an obstacle detection means. 2 is provided. The CCD camera 1 is installed on the trunk lid of the vehicle (shown in FIGS. 6 and 7) and captures a rear image. The ultrasonic sensor 2 is composed of a transmission unit 2a and a reception unit 2b and is installed on a rear bumper of the vehicle (shown in FIGS. 6 and 7). The ultrasonic wave transmitted from the transmission unit 2a is received by the reception unit 2b. It is supposed to be.
[0011]
The CCD camera 1 and the ultrasonic sensor 2 are respectively connected to the obstacle detection units 3 and 4, and each obstacle detection unit 3 and 4 is connected to an image processing / control unit 5 as a control means. As will be described later, each of the obstacle detection units 3 and 4 detects an obstacle based on the image data captured by the CCD camera 1 or the reception state of the reflected wave by the reception unit 2b of the ultrasonic sensor 2. It is like that. The image processing / control unit 5 includes a liquid crystal monitor 6 installed on an instrument panel in the vehicle interior, a gear position sensor 7 for detecting the gear position of a transmission mounted on the vehicle, and a vehicle speed sensor 8 for detecting the vehicle speed. Are connected to control the detection operation by the obstacle detection units 3 and 4 and the display operation of the monitor 6.
[0012]
Next, processing executed by the image processing / control unit of the parking assistance apparatus configured as described above will be described.
FIG. 2 is a flowchart showing an obstacle display routine executed by the image processing / control unit 5. The image processing / control unit 5 executes this routine at a predetermined control interval. First, in step S2, it is determined whether or not the current gear position is a reverse gear based on information from the gear position detection sensor 7. When the gear position is other than the reverse gear, it is necessary to provide parking assistance by displaying a rear image. If not, a NO (negative) determination is made and the routine is terminated.
[0013]
Further, when the determination in step S2 is YES (positive), the process proceeds to step S4, and each obstacle detection unit 3, 4 is instructed to detect an obstacle. In response to this command, the obstacle detection unit 3 on the CCD camera 1 side detects an obstacle behind the vehicle by image recognition processing based on the rear image data captured by the CCD camera 1. Further, the obstacle detection unit 4 on the ultrasonic sensor 2 side detects the obstacle based on the reception state of the reflected wave by the reception unit 2b, for example, presence or absence of reception. If there are a plurality of obstacles at this time, the distance to each obstacle is detected.
[0014]
In a succeeding step S6, it is determined whether or not there is an obstacle behind the vehicle based on the detection results of the obstacle detection units 3 and 4. As described above, the obstacle detection is performed independently by the respective obstacle detection units 3 and 4, but in the process of step S6, the obstacle is detected by at least one of the obstacle detection units 3 and 4. Sometimes it is determined that an obstacle exists. When no obstacle is present and NO is determined in step S6, image data is input from the CCD camera 1 via the obstacle detection unit 3 in step S8, and a rear image is displayed on the monitor 6. End the routine.
[0015]
FIG. 3 shows a monitor screen when no obstacle is present. At this time, the image processing / control unit 5 displays the vehicle width line L1 extending the vehicle width rearward on the rear image of the monitor 6, and the vehicle. Further, the rear line L2 indicating the rear position at a predetermined distance (for example, 4 m) is superimposed and displayed by superimposition. The vehicle width line L1 serves as a reference for the driver to grasp the vehicle width, and the rear line L2 serves as a reference for grasping the rear distance feeling.
[0016]
On the other hand, if YES is determined in step S6 that an obstacle exists, the marker M is superimposed on the front and rear positions (vertical positions in the screen) corresponding to the obstacle on the rear image of the monitor 6 in step S10. Are displayed in a superimposed manner. That is, when an obstacle is detected by recognizing the rear image data from the CCD camera 1, the distance to the obstacle is calculated based on the fixed angle, focal length, etc. of the CCD camera 1, and the obstacle on the rear image is calculated. Identify the location of the object. Further, when the reflected wave is received by the receiving unit 2b of the ultrasonic sensor 2 and an obstacle is detected, first, the distance to the obstacle is calculated based on the required time from transmission to reception. Since the relationship between the vertical position in the rear image and the actual position in the depth direction is known in advance from the fixed angle of the CCD camera 1, the position of the obstacle (the upper and lower positions on the rear image based on the calculated distance). Direction). In step S10, the marker M is displayed at the vertical position specified in this way.
[0017]
FIG. 4 shows a monitor screen when an obstacle is present. In this figure, a marker M is attached to the original obstacle (block) B, and the vehicle stop S is also detected as an obstacle, and the marker M is attached. Has been. The marker M is not only displayed in a predetermined color, but may be displayed in a different color when a plurality of markers M are displayed, or may be blinked to improve visibility.
[0018]
Next, in step S12, based on the information from the vehicle speed sensor 8, it is determined whether or not the current vehicle speed is substantially zero. Since the reverse of the vehicle has not started at the beginning of switching to the reverse gear as described above, a determination of YES is made and the process proceeds to step S14. In the subsequent step S14, it is determined whether or not an obstacle exists in a predetermined area behind the vehicle, for example, an area 1m behind the vehicle. If there is an obstacle, as shown in FIG. After the image is enlarged and displayed for a predetermined time, the routine is terminated.
[0019]
The monitor 6 at this time may be simply switched from the display of FIG. 4 to the display of FIG. 5 or may be switched to the display of FIG. 5 while continuously zooming up the obstacle of FIG. Also, as shown in FIG. 6, when there are a plurality of obstacles in the area A behind the vehicle, the obstacles that are closest to each other in step S16 (in the order of B1-B2-B3 in the figure), every predetermined time. The obstacles B1 to B3 are sequentially enlarged.
[0020]
On the other hand, when the vehicle starts to move backward and the determination of step S12 becomes NO, the process proceeds to step S16, and as shown in FIG. 7, an obstacle (B4 in the figure) that has newly entered the area A as the vehicle moves backward, Similar to step S16, the display is enlarged for a predetermined time, and then the routine is terminated. In this embodiment, the display time of the obstacle at this time is fixed. However, for example, the control may be performed so that the display time is shortened as the vehicle speed at the time of reverse is higher.
[0021]
As described above, the parking assist apparatus according to the present embodiment includes the ultrasonic sensor 2 that acoustically detects an obstacle in addition to the CCD camera 1 that optically detects the obstacle. Even if the image recognition process based on the image data of the CCD camera 1 is not normally performed due to the influence of the obstacle, the obstacle can be reliably detected by the ultrasonic sensor 2 that is not affected by the influence. it can. Therefore, the marker M displayed on the monitor screen based on the detection result makes it possible for the driver to easily grasp the obstacle, thereby greatly reducing the burden on the driver during parking.
[0022]
Further, when there is an obstacle, the obstacle is enlarged and displayed for a predetermined time, so that the driver not only has the obstacle but also the actual condition of the obstacle (for example, the type of block, etc.). The size, shape, etc. can be easily grasped.
Furthermore, when there are a plurality of obstacles, the obstacles are sequentially enlarged and displayed, so that the driver can grasp all the obstacles without omission.
[0023]
On the other hand, the enlarged display is limited to the obstacle in the predetermined area A behind the vehicle, and the obstacle behind the enlarged display is displayed when the vehicle enters the area A as the vehicle moves backward. Therefore, the driver can concentrate his attention on the obstacle in the area A where the risk of collision is high due to approaching the vehicle, and the burden can be further reduced.
This is the end of the description of the embodiment, but the aspect of the present invention is not limited to this embodiment. For example, in the above-described embodiment, the embodiment is embodied as a parking assistance device including the ultrasonic sensor 2 that acoustically detects an obstacle in addition to the CCD camera 1. However, the obstacle is detected without being affected by backlight or nighttime. If possible, it is not limited to the ultrasonic sensor 2, and for example, a radio wave sensor or a laser radar may be applied.
[0024]
【The invention's effect】
As described above, according to the parking assist device of the first aspect of the present invention, obstacles can be reliably detected and notified to the driver without being affected by backlighting or nighttime, so that the driver's The burden can be greatly reduced , and the driver can easily grasp the actual state, size, shape, etc. of the rear obstacle by the enlarged display of the rear obstacle, and when multiple rear obstacles are detected. However, since the driver can grasp all the rear obstacles without omission, the burden can be further reduced.
Further, according to the parking assist device of the second aspect of the present invention, in addition to the first aspect, the driver can concentrate his attention on the obstacle which is close to the vehicle and has a high risk of collision, and the burden is further increased. Can be reduced.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of a parking assistance apparatus according to an embodiment.
FIG. 2 is a flowchart showing an obstacle display routine executed by an image processing / control unit.
FIG. 3 is an explanatory diagram showing a monitor screen when no obstacle exists.
FIG. 4 is an explanatory diagram showing a monitor screen when an obstacle exists.
FIG. 5 is an explanatory diagram showing a monitor screen in which an obstacle is enlarged and displayed.
FIG. 6 is an explanatory diagram showing a relationship between an area and an obstacle when the vehicle is stopped.
FIG. 7 is an explanatory diagram showing a relationship between an area and an obstacle when the vehicle is moving backward.
[Explanation of symbols]
1 CCD camera (imaging means)
2 Ultrasonic sensor (obstacle detection means)
5 Image processing / control section (control means)
6 Monitor B, B1-B4 Block (obstacle)

Claims (2)

In the parking assist device configured to display a rear image captured by an imaging means provided at the rear of the vehicle when the vehicle is reversing on a monitor screen in the vehicle interior,
Obstacle detection means for detecting obstacles behind the vehicle using other than image information;
When a rear obstacle is detected based on at least one of the rear image information from the imaging means and the rear obstacle information from the obstacle detection means, the position of the rear obstacle is displayed on the rear image of the monitor screen. The rear obstacle is displayed in an enlarged manner on the monitor screen for a predetermined time, and when a plurality of rear obstacles are detected, each rear obstacle is displayed on the monitor screen every predetermined time. And a control means for sequentially enlarging and displaying . The control means sequentially enlarges and displays a rear obstacle located in a predetermined area behind the vehicle on the monitor screen every predetermined time when the vehicle is stopped, and newly displays the obstacle in the predetermined area while the vehicle is moving backward. The parking support apparatus according to claim 1 , wherein a rear obstacle entering the vehicle is enlarged and displayed over a predetermined time.

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