JP3933935B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device.
[0002]
[Prior art]
When driving a car, it is relatively difficult to perform parking such as garage parking or parallel parking. In particular, beginners are often not good at driving when parking. Therefore, a parking assistance device for assisting a driving operation in parking is known. Conventionally, as this type of parking assist device, there is a parking assist device disclosed in, for example, JP-A-11-334470. The parking assist device detects the rear of the vehicle with a camera, displays the video of the camera as a rear image on a display provided in the vehicle, and assists the driver in driving when parking. Then, the steering angle is detected by a steering sensor, a predicted traveling locus of the vehicle is obtained based on the steering angle, and the predicted traveling locus is variably displayed on the display according to the steering angle. Therefore, when the driver confirms the predicted traveling locus displayed in the image at the initial position before parking and determines that traveling is possible, the driver starts the driving operation for parking as it is.
[0003]
[Problems to be solved by the invention]
However, the parking assist device disclosed in the above-mentioned conventional publication merely displays the predicted traveling locus, and the driver who performs the parking operation has to adjust the steering angle himself. On the other hand, when performing the driving operation mainly for parking in the garage, when the vehicle reaches the parking preparation position, the vehicle is moved from the parking preparation position and the target parking position by setting the target parking position. There is a parking assistance device that performs parking assistance by calculating a distance and a steering angle of a steering by calculation. In this parking assist device, the vehicle travel route is calculated from the relative relationship between the parking preparation position and the target parking position so that the driver does not perform steering operation or the steering wheel has a specified steering angle. You can park the car by operating the steering wheel.
[0004]
However, in this parking assistance device, in order to avoid contact with obstacles such as other vehicles parked in the vehicle parking area etc. adjacent to the vehicle parking area, the vehicle parking area etc. The travel route was set outside the vehicle passage area. For this reason, there is actually no vehicle or the like parked in the adjacent vehicle parking area, and the movement route is not calculated even when the movement route of the own vehicle can be used. Therefore, since the range that can be set as the parking preparation position is limited to a considerably narrow range, there is a problem that convenience for the driver is lowered. This problem is particularly noticeable for beginners who frequently use the parking assist device.
[0005]
On the other hand, in the parking assistance device disclosed in the above-mentioned conventional publication, only the predicted travel locus is shown in a plane according to the steering angle. For this reason, for example, obstacles that protrude in the height direction of the travel locus of the vehicle, for example, obstacles such as a tree branch or a nose portion of a vehicle parked in the adjacent vehicle parking area, are on the predicted travel locus of the host vehicle. Even if it protrudes three-dimensionally, there is a problem that it cannot be easily recognized.
[0006]
Therefore, an object of the present invention is to improve the convenience of operation by allowing a driver, particularly a beginner, to take a wide initial position when performing a driving operation for parking. An object of the present invention is to provide a parking assistance device capable of providing parking assistance while avoiding an obstacle when there is an obstacle.
[0007]
[Means for Solving the Problems]
The present invention that has solved the above problems is a parking assist device that includes an imaging unit that images the outside of the vehicle and a display unit that displays the captured image, and includes a vehicle parking area including a set target parking position. An enlarged passage area setting means for setting an enlarged passage area that allows a vehicle to pass during parking by enlarging with a predetermined width in the width direction of the target parking position, and a side of the enlarged passage area based on the target parking position. Calculated by a trajectory calculating means for calculating a trajectory to the target parking position while prohibiting passage of the vehicle at the position, a boundary calculating means for calculating a boundary of the vehicle passing area based on the calculated trajectory, and a boundary calculating means And a display control means for displaying a boundary mark at a predetermined position on the screen corresponding to the boundary.
[0008]
In the parking assistance device according to the present invention, the vehicle passing area including the set target parking area is enlarged with a predetermined width in the width direction of the target parking area, and an enlarged passing area that allows the vehicle to pass is set. Yes. For this reason, since the initial position at the time of starting parking assistance can be made into a wide range, the convenience of the driver at the time of parking operation can be improved.
[0009]
Here, the boundary mark is preferably a pole extending in the height direction. If the display mark is a pole, even if there are obstacles that exist three-dimensionally, such as nose parts of other vehicles or branches of trees, if parking assistance is performed as is, the vehicle will Since it can be confirmed that it touches an obstacle, parking assistance can be canceled before that. Therefore, even when there are these three-dimensional obstacles, it is possible to provide parking assistance so that the obstacles are not preferably touched.
[0010]
Further, it is more preferable to display the pole at the intersection of the partition line of the enlarged passage area and the boundary on the screen.
[0011]
Then, it is preferable that the boundary is calculated with a predetermined safety margin in the vehicle width direction from the locus. By expecting a predetermined safety margin at the boundary, it is possible to prevent the vehicle from passing through a marginal area very close to the obstacle, so that contact between the obstacle and the vehicle can be suitably avoided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
[0013]
FIG. 1 is a block diagram of a parking assistance apparatus according to an embodiment of the present invention, and FIG. 2 is a diagram showing an image displayed on a monitor.
[0014]
As shown in FIG. 1, the parking assistance apparatus 1 which concerns on this embodiment is mounted in a vehicle, and performs the parking assistance at the time of parking the vehicle. The parking assistance device 1 includes a parking assistance ECU 2 that is an electronic control device. The parking assist ECU 2 controls the entire parking assist device 1, and is composed of a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like, and various control routines including a parking assist control routine are provided. It is remembered.
[0015]
Connected to the parking assist ECU 2 are a camera 3 that is an imaging means of the present invention, a monitor 4 that is a display means of the present invention, and a target parking position setting means 5.
[0016]
The camera 3 is a camera provided with, for example, a wide-angle lens, which is disposed at the rear or side of the vehicle, and images the rear of the vehicle outside. The captured image is displayed on the monitor 4. The camera 3 may always capture the rear of the vehicle, or may start imaging when the vehicle moves backward to reduce power consumption. The backward movement of the vehicle can be detected, for example, when the shift lever enters the reverse range.
[0017]
The monitor 4 is installed in, for example, an instrument panel in the passenger compartment, and is disposed at a position where the driver's field of view can reach. As shown in FIG. 2, in addition to the image captured by the camera 3, the monitor 4 displays a target parking frame 11 indicating a target parking position displayed at a position calculated by the parking assist ECU 2, a pole PL, and the like. Since the camera 3 uses a wide-angle lens, the actual image is distorted at the periphery, but is drawn straight in FIG. 2 for easy understanding.
[0018]
As shown in FIG. 2, the target parking position setting means 5 is displayed on the screen of the monitor 4 as a touch panel, and rotates up and down, left and right arrows Y1 to Y4, and clockwise and counterclockwise. Arrows Y5 and Y6 are provided. By touching these arrows Y1 to Y6, the target parking position is set by rotating and moving the default position of the target parking position that is calculated in advance and displayed on the monitor 4 together with the image captured by the camera 3. Can do.
[0019]
The monitor 4 also displays a confirmation switch X1 that is touched when the driver determines that the target parking position has been confirmed, and a support stop switch X2 that is touched when the parking support is to be canceled halfway. Touching the confirmation switch X1 starts parking support, and touching the support stop switch X2 stops parking support.
[0020]
Furthermore, as shown in FIG. An automatic steering means 6 and a start switch 7 are connected to the parking assist ECU 2. The automatic steering means 6 includes an actuator for steering the steered wheels of the vehicle, and steers the steered wheels in response to a control signal from the parking assist ECU 2. Moreover, the start switch 7 is a switch for switching ON / OFF of parking assistance mode, for example, is equipped in the instrument panel. Therefore, when the start switch 7 is ON, when the assistance start condition is satisfied, for example, when a shift lever (not shown) is put in the reverse range, the parking assistance mode is entered and a predetermined process is started. Further, when the start switch 7 is OFF, even if the shift lever is put in the reverse range and the support start condition is satisfied, the parking support mode is not entered, and the process for parking support is not performed. It has become. Therefore, for example, when the driver is a skilled person and does not want to use such a parking assist device 1, the start switch 7 may be turned off.
[0021]
Next, operation | movement of the parking assistance apparatus which concerns on this embodiment is demonstrated.
[0022]
FIG. 3 is a flowchart about the operation of the parking assistance apparatus 1 according to the present embodiment. In the present embodiment, as shown in FIG. 4, an example will be described in which the vehicle C is parked in a garage B in one section B2 of a parking lot PA in which the vehicle parking area is divided into sections B1, B2,. .
[0023]
In a situation where the start switch 7 is ON, the driver of the vehicle C intends to park in the garage in the section B2, passes in front of the target parking position, and directs the rear part of the vehicle M to the section B2. When the vehicle C is turned to move the vehicle C to the parking preparation position P1 and a shift lever (not shown) in the passenger compartment is placed in the reverse range, the parking assist mode is entered. When the parking assistance mode is entered, the camera 3 is first turned on, and a rear image around the vehicle C is taken and read by the camera 3 (S1). The image taken by the camera 3 is output to the monitor 4 via the parking assist ECU 2 and displayed on the monitor 4 as shown in FIG. 2 (S2). If an image is displayed on the monitor 4, the target parking position P2 which is a vertically long rectangle corresponding to the shape when the host vehicle C is viewed in plan is calculated (S3). The target parking position P2 is first calculated as a default position based on the behavior of the vehicle before the driver puts the shift lever into the reverse range, and this default position is displayed on the monitor 4 as the target parking position P2. The monitor 4 displays a rear image outside the vehicle imaged by the camera 3, and the target parking position P2 is displayed so as to overlap this image. At this time, the monitor 4 displays the arrows Y1 to Y6 serving as the target parking position setting means 5 shown in FIG. 2 and the support stop switch X2 that is touched when the parking support is stopped halfway, and the confirmation switch X1 is displayed. Absent.
[0024]
After calculating the target parking position P2, a vehicle parking area including the target parking position P2 is set. The target parking area has a vertically long rectangle that is slightly larger than the target parking position P2. For example, if the target parking position P2 is 4.5 m long and 1.8 m wide, the vehicle parking area is 5.0 m long, Set the width to 2.3m. Further, the vehicle parking area is enlarged, and an enlarged passage area W having a width of 0.25 m to 0.5 m, for example, is set (S4).
[0025]
In setting the width of the enlarged passage area W, a case where a normal vehicle is parked in the adjacent section B3 will be considered. For example, if the width of the section B3 is 2.3 m and the lateral width of the vehicle is 1.8 m, there will be a total margin of 0.5 m on both sides of the section B3. If this margin width is even on both sides, there is a margin width of 0.25 m on one side. This marginal width portion is considered as an enlarged passage region and the passage of the host vehicle C is permitted.
[0026]
In addition, the vehicle parking area is usually set to be approximately the same as the size of the section B2 shown in FIG. 4, but the enlarged passing area W when the vehicle parking area coincides with the section B2 is the section B2. Is set to a part of the section B3 adjacent to. If this enlarged passage area W is set, based on the relative relationship between the parking preparation position P1 and the target parking position P2, the vehicle B is allowed to pass through the section B2 and the enlarged passage area W, and on the side of the enlarged passage area W. A trajectory T from the parking preparation position P1 to the target parking position P2 is calculated while prohibiting passage of the other part of the section B3 corresponding to the direction (S5). As described above, since the trajectory T allows not only the vehicle parking area but also the passage through the enlarged passage area, the width that can be set as the parking preparation position P1 is greatly widened, thereby improving the convenience for the user. Can do.
[0027]
Here, when there is no obstacle such as another vehicle D in the enlarged passage area W, the host vehicle C can pass through the enlarged passage area W. However, the enlarged passage area W is set in a section B3 in which another vehicle D indicated by a virtual line in FIG. 5 may be parked, and there may be an obstacle in the enlarged passage area W. is there. When there is such an obstacle, a pole PL indicating a boundary when the vehicle C passes is displayed on the image of the monitor 4 so that the driver can select the stop of the support. In order to display this pole PL, first, a vehicle passing boundary M indicated by a virtual line in FIGS. 4 and 5 is calculated (S6). For example, the vehicle trajectory T may be used as it is as the vehicle passing boundary M, but it is preferable to allow for a predetermined safety margin in order to ensure safety. Specifically, the safety margin can be a predetermined distance from the vehicle trajectory T, for example, 0.25 to 0.5 m.
[0028]
If the boundary M is calculated in view of such a safety margin, a position for displaying the pole PL as a boundary mark that allows the driver to confirm the boundary M is calculated on the boundary M (S7). The display position of the pole PL is set at a predetermined position on the boundary M. Here, the intersection of the partition line of the enlarged passage area W and the boundary M is calculated as the display position of the pole PL. Based on the calculated pole display position, the pole PL is displayed on the screen of the monitor 4 as shown in FIG. 2 (S8).
[0029]
If the pole PL is displayed, it is determined whether parking assistance is possible (S9). Whether or not parking assistance is possible is performed based on the calculation of the trajectory in step S5. First, based on the relative positional relationship between the parking preparation position P1 and the target parking position P2, it is determined that parking assistance is not possible when a locus from the parking preparation position P1 to the target parking position P2 cannot be drawn. . Even if the trajectory can be drawn, it is determined that parking assistance is not possible if the trajectory passes through the passage prohibition area on the side of the enlargement prohibition area in the section B3. If it is determined that parking assistance is not possible as described above, the display of “cannot be guided” is displayed on the screen of the monitor 4 (S10), and the target parking frame 11 is displayed in red, for example. At this time, if the confirmation switch X1 is displayed, the confirmation switch X1 is deleted.
[0030]
On the other hand, if the trajectory from the parking preparation position P1 to the target parking position P2 can be drawn while prohibiting the passage of the passage prohibition area on the side of the enlargement prohibition area, it is determined that parking assistance is possible. Then, as shown in FIG. 2, the confirmation switch X1 is displayed on the monitor 4 (S11), and the target parking frame 11 is displayed in blue, for example. At this time, if there is a display indicating “cannot guide”, the display is cleared and the confirmation switch X1 is displayed.
[0031]
When the display “cannot be guided” is displayed or the confirmation switch X1 is displayed, it is determined whether or not the target parking position P1 has been corrected (S12). When the driver touches any of the arrows Y1 to Y6 of the target parking position setting means 5 displayed on the screen of the monitor 4 and corrects the target parking position, the process returns to step S3 to calculate the target parking position. I do. If the target parking position P1 has not been corrected, it is determined whether or not the support cancellation condition is satisfied (S13). The case where the support stop condition is satisfied may be that the driver touches the support stop switch X2, for example. Further, the shift lever can be removed from the reverse range and moved to the drive range, or the steering angle can be changed by operating the steering. Here, for example, when another vehicle D shown in FIG. 5 overlaps the pole PL displayed on the screen of the monitor 4, there is a risk that the own vehicle C may come into contact with the other vehicle. The driver touches the support stop switch X2. Thus, when the support stop condition is satisfied in step S13, the control is terminated.
[0032]
On the other hand, if it is determined in step S13 that these support cancellation conditions are not satisfied, it is determined whether or not the parking support conditions are confirmed (S14). The determination as to whether or not the parking support condition has been determined is made based on, for example, whether or not the driver has touched the determination switch X1 displayed on the image of the monitor 4. If it is determined in step S9 whether or not support is possible, it is determined that support is not possible because the confirmation switch X1 is not displayed on the screen of the monitor 4. There is nothing. If the driver or the like has not determined that the parking support condition such as the target parking position has been confirmed and the confirmation switch X1 has not been touched, the process returns to step S12 to correct the target parking position P2. It is determined whether or not On the other hand, when the driver or the like determines that the parking support condition is confirmed and touches the confirmation switch X1, the setting of the target parking position P2 is completed, and the parking support condition is confirmed. And parking assistance is started as it is (S15). When the parking assistance is started, the automatic steering means 6 operates, so that the driver does not need a steering operation. And parking operation can be performed under parking assistance by adjusting speed appropriately. Thereafter, the vehicle is guided to the target parking position P2 and the control is terminated.
[0033]
As described above, according to the parking assistance device 1 according to the present embodiment, the target parking position P2 that is the vehicle passing position is set as an enlarged vehicle area that is enlarged with a predetermined width. The selection range of the parking preparation position when stopping at the parking preparation position can be expanded. Therefore, the convenience of the driver at the time of parking operation can be enhanced. In addition, since a predetermined margin is attached to the boundary of the vehicle passage area, it is possible to appropriately avoid dangers such as contact with obstacles, and to perform vehicle operations when parking in a safe state. Can do. Furthermore, a pole is used as a boundary mark, and contact with an obstacle in the height direction can be suitably avoided, so that a three-dimensional obstacle such as a nose part of another vehicle or a tree branch can be used. Contact with can also be suitably avoided.
[0034]
The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments. For example, in the above embodiment, one pole is displayed as the boundary mark, but two or more poles can be displayed, or a continuous wall along the boundary can be displayed. However, since it is difficult to ensure safety if the images behind the many poles and continuous walls are displayed and the image behind them is blocked, it is difficult to ensure that many poles and walls are displayed as translucent. desirable. Moreover, in the said embodiment, although the pole extended in a height direction is used as a suitable aspect, this can also be displayed by a planar point or a straight line. Furthermore, when calculating the boundary, a predetermined safety margin is expected from the trajectory of the vehicle, but the boundary can be set without allowing for this safety margin. The boundary in this case is the same as the trajectory of the own vehicle.
[0035]
On the other hand, in the above-described embodiment, when one pole serving as a boundary mark is displayed, it is displayed on the intersection of the passage enlargement region and the boundary. However, it can be displayed at another location on the boundary. For example, poles can be displayed at the intersection of a tangent drawn from the camera with respect to the boundary and the boundary, or at an arbitrary position of the boundary in the enlarged passage area.
[0036]
Furthermore, in the above embodiment, the automatic steering means is provided, but in order to perform parking assistance, in addition to the automatic steering means, an automatic braking means and an automatic driving means are provided so that the driver does not perform a speed operation. A parking operation can also be performed. Of course, one or two of these may be provided to assist the driver in parking.
[0037]
【The invention's effect】
As described above, according to the present invention, when a driver, particularly a beginner, performs a driving operation for parking, the convenience of the operation is improved by allowing a wide initial position to be taken, When there is an obstacle in three dimensions, it is possible to provide a parking assistance device that can perform parking assistance while avoiding the obstacle.
[Brief description of the drawings]
FIG. 1 is a block configuration diagram of a parking assistance apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an image displayed on a monitor.
FIG. 3 is a flowchart of the operation of the parking support apparatus according to the present embodiment.
FIG. 4 is a plan view showing a state in which the host vehicle moves to a target parking area.
FIG. 5 is an enlarged view of a main part of FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Parking assistance apparatus, 2 ... Parking assistance ECU, 3 ... Camera, 4 ... Monitor, 5 ... Target parking position setting means, 6 ... Automatic steering means, 7 ... Start switch, C ... Own vehicle (vehicle), M ... Boundary , P1 ... parking preparation position, P2 ... target parking position, PL ... pole, T ... locus, W ... enlarged passage area.

Claims (4)

A parking assist device including an imaging unit that images the outside of the vehicle and a display unit that displays the captured image,
An enlarged passage area setting means for enlarging a vehicle parking area including the set target parking position with a predetermined width in the width direction of the target parking position, and setting an enlarged passage area that allows the vehicle to pass during parking ; ,
Trajectory calculation means for calculating a trajectory to the target parking position while prohibiting passage of a vehicle at a lateral position of the enlarged passing area based on the target parking position;
Boundary calculating means for calculating the boundary of the vehicle passage area based on the calculated trajectory;
Display control means for displaying a boundary mark at a predetermined position on the screen corresponding to the boundary calculated by the boundary calculation means;
A parking assistance device comprising:   The parking assistance device according to claim 1, wherein the boundary mark is a pole extending in a height direction.   The parking assistance device according to claim 2, wherein the pole is displayed at an intersection of a partition line of the enlarged passage area and the boundary on the screen.   The parking assistance device according to any one of claims 1 to 3, wherein the boundary is calculated from the locus in anticipation of a predetermined safety margin in a vehicle width direction.

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