JP4061219B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device.
[0002]
[Prior art]
In recent years, back monitor devices for vehicle rearward confirmation have become widespread. The feature of this back monitor device is that the driver of the vehicle can easily confirm the rear (periphery) by monitoring the blind spot portion of the rearview mirror with a video camera. ) Is effective when the area around the back is a blind spot.
[0003]
Further, in the back monitor device, not only the driver is shown an image, but also as shown in Japanese Patent Application Laid-Open No. 64-14700 (Patent Document 1), after the vehicle is moved backward according to the steering angle. In some cases, the predicted track trajectory of the wheel is superimposed and displayed on the image of the rear or rear side view of the monitor to improve the operability of the driver.
[0004]
Since the predicted trajectory display of the rear wheel disclosed in the above-described prior art can know the traveling direction and the vehicle width of the host vehicle at a glance, the driver can easily perform the backward traveling at the time of parking. . However, during rotational travel, when the vehicle rotates backward, for example, clockwise, the front wheels that are on the outside with respect to the rotation, unlike the course of the outer rear wheels, rotate a lot. Therefore, if the driver pays attention only to the predicted course trajectory of the rear wheel and is enthusiastic about the driving operation, the vehicle front body part that rotates more than the rear wheel may come into contact with the obstacle.
[0005]
Therefore, as a technique for solving the above-described problem, there is a technique disclosed in Japanese Patent Laid-Open No. 2000-339598 (Patent Document 2) previously proposed by the applicant. In this technique, the predicted trajectory of the minimum turning part (for example, the rear wheel on the inner side) and the maximum turning part (for example, the front end of the outer shape of the vehicle) at the time of forward or backward movement of the vehicle is calculated. They are superimposed and displayed simultaneously. Thereby, the predicted course direction and the vehicle width of the vehicle are known, and further, the front or rear confirmation range is clarified, so that there is an advantage that the front or rear confirmation and operability of the driver are facilitated.
[0006]
[Patent Document 1]
JP-A 64-14700
[Patent Document 2]
JP 2000-339598 A
[0007]
[Problems to be solved by the invention]
However, both of the above-mentioned techniques can assist the steering of the driver when the vehicle is moving forward or backward when parallel parking or parallel parking, but prior to moving forward or backward, parallel parking or parallel parking is required. The driver was not able to accurately tell the initial position to start.
[0008]
Therefore, in view of the above-described conventional problems, an object of the present invention is to provide a parking assistance device that can confirm a space necessary for moving a vehicle when parking.
[0009]
[Means for Solving the Problems]
  In order to solve the above-mentioned problems, the invention according to claim 1 is directed to assisting when the vehicle is parked by displaying on the display means in the vehicle a captured image around the vehicle imaged by the imaging means mounted on the vehicle. A parking assist device that is located on the side of the vehicle at a predetermined distance from the vehicle in parallel with the longitudinal direction of the vehicle.On both sides of the vehicleRepresents the side space required to move the vehicle when parkedTwoSuperimposing means for superimposing a lateral space line on the captured image to be displayed on the display means is provided.The predetermined distance between the one of the two measuring space lines and the vehicle is the parking frame next to the parking space where the expected track of the inner rear wheel at the full rudder angle is to be parked. The distance between the vehicle and the predetermined space between the other measuring space line and the vehicle is the maximum turning portion of the vehicle at a full steering angle. Is set larger than the distance between the vehicle and the tangent line when the tangent line of the predicted path trajectory is parallel to the side space line.It exists in the parking assistance apparatus characterized by this.
[0010]
  According to the first aspect of the present invention, there is provided a parking support apparatus that displays a captured image of the periphery of the vehicle imaged by an imaging unit mounted on the vehicle on a display unit in the vehicle and assists when the vehicle is parked. Parallel to the vehicle front-rear direction at a predetermined distance from the vehicle.On both sides of the vehicleRepresents the side space required to move the vehicle when parkedTwoSince the superimposing unit that superimposes the lateral space line on the captured image and displays it on the display unit is provided, it is possible to facilitate the judgment of the driver at the time of parking and to reduce the operation burden on the driver.
[0012]
  In addition, the predetermined distance between one of the two measurement space lines and the vehicle is such that the expected course trajectory of the inner rear wheel at the full rudder angle interferes with the parking frame next to the parking space scheduled for parking. The distance between the other measurement space line and the vehicle is set to be the distance required from the vehicle at the minimum required to avoid the Is set larger than the distance between the vehicle and the tangent when the tangent is parallel to the side space lineTherefore, the vehicle can be moved safely during parking.
[0013]
  Claims made to solve the above problems2The invention described in claim 1 is characterized in that the maximum turning portion is a corner of a front end of a vehicle.1It exists in the parking assistance device described.
[0014]
  Claim2According to the described invention, since the maximum turning portion is the corner of the front end of the vehicle, safety can be ensured when steering is performed during parking.
[0015]
  Claims made to solve the above problems3In the described invention, in the parallel parking mode, the superimposing unit superimposes the side space line and the predicted course of the rear wheel of the vehicle on the captured image and displays the superimposed image on the display unit. Item 1Or 2It exists in the parking assistance apparatus of description.
[0016]
  Claim3According to the described invention, in the parallel parking mode, the superimposing means superimposes the side space line and the expected course locus of the rear wheel of the vehicle on the captured image and displays them on the display means. Thus, safety can be confirmed when the vehicle is moved backward.
[0017]
  Claims made to solve the above problems4The described inventionThe superimposing unit superimposes the side space line and the front and rear marker lines orthogonal to the side space line on the captured image and causes the display unit to display the superimposed image.Claim 1Or 2It exists in the parking assistance apparatus of description.
[0018]
  Claim4According to the described invention,Since the superimposing means superimposes the side space line and the front and rear marker lines orthogonal to the side space line on the captured image and displays them on the display means, when steering the steering during parallel or parallel parking, the vehicle is moved. In addition, safety can be confirmed.
[0019]
  Claims made to solve the above problems5The described inventionThe front and rear marker lines are vehicle front end extension lines extended from the front end of the host vehicle.Claims4It exists in the parking assistance apparatus of description.
[0020]
  Claim5According to the described invention,Since the front / rear marker line is a vehicle front end extension line extended from the front end of the host vehicle, in addition to the parking support effect, an effect of knowing the jump length of the host vehicle at an intersection or the like can be expected.
[0021]
  Claims made to solve the above problems6The described inventionA parking assist device for assisting when a vehicle is parked by displaying a captured image of the periphery of the vehicle captured by an imaging unit mounted on the vehicle on a display unit in the vehicle, and is provided on the side of the vehicle from the vehicle. A side space line that is drawn in parallel with the vehicle front-rear direction at a distance of a distance between the two, and is displayed on the display unit so as to superimpose a side space line representing a side space necessary for moving the vehicle at the time of parking on the captured image. In the parallel parking mode, the superimposing unit superimposes the lateral space line and the predicted course locus of the maximum turning portion of the vehicle after steering is displayed on the display unit. It exists in the parking assistance apparatus characterized by this.
[0022]
  Claim6According to the described invention,A parking assist device for assisting when a vehicle is parked by displaying a captured image of the periphery of the vehicle captured by an imaging unit mounted on the vehicle on a display unit in the vehicle, and is provided on the side of the vehicle from the vehicle. A superimposing unit that is drawn in parallel with the front-rear direction of the vehicle at a distance of the distance of the vehicle and displays a side space line representing a side space necessary for moving the vehicle at the time of parking on the captured image on the display unit. In the parallel parking mode, the superimposing means superimposes the lateral space line and the predicted course trajectory of the maximum turning portion of the vehicle after steering on the captured image and displays it on the display means. Safety can be confirmed when the vehicle is moved backward by steering.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In summary, the parking assist device according to the present invention is mounted on a vehicle, and displays a space necessary for moving the vehicle for parallel parking or parallel parking on an image with a side space line or the like, This makes it possible to easily confirm that the vehicle does not come into contact with surrounding vehicles and the like, thereby reducing the burden on the driver.
[0024]
(First embodiment)
First, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing a first embodiment of a parking assistance apparatus according to the present invention. In the figure, the parking assist device includes a camera 2 as an image pickup means, a microcomputer (hereinafter referred to as a microcomputer) 3, a reverse detection sensor 4, a rudder angle sensor 5 as a rudder angle detection means, a travel sensor 6, a yaw rate sensor 7, It comprises a parallel parking start switch 8, a parallel parking start switch 9, a parking area selection switch 10, an instruction unit 11, an on-screen display controller (hereinafter referred to as OSDC) 12 as a superimposing means, a memory 13 as a storage means, and an EEPROM 14. .
[0025]
As shown in FIGS. 2 (A) and 2 (B), the camera 2 is attached to the rear of the host vehicle 100, and a horizontal viewing angle (for example, 120 degrees) at which a desired parking space can be visually recognized in parallel parking or parallel parking. And outputs a captured image behind the vehicle to the OSDC 12. The instruction unit 11 includes a monitor 11a as a display unit and a speaker 11b.
[0026]
The microcomputer 3 is attached to the gear mechanism and outputs a reverse detection sensor 4 that outputs an H-level reverse signal S1 when the gear enters reverse. The microcomputer 3 is attached to the steering mechanism of the vehicle and is pulsed every time the steering rotates by a unit angle. A steering angle sensor 5 that outputs a signal S2, a travel sensor 6 that is attached to a transmission mechanism of the vehicle and outputs a pulse signal S3 every time the vehicle travels a unit distance, and detects a yaw rate generated around the center of gravity of the vehicle. The yaw rate sensor 7 for outputting the yaw rate detection signal S4, the parallel parking start switch 8 for instructing the parallel parking mode, the parallel parking start switch 9 for instructing the parallel parking mode, and the parking area selection for instructing to select the parking area A switch 10, a speaker 11 b that outputs a voice message, an OSDC 12, EEPROM14 and for storing the steering angle at the time of grayed Knitting Deployment switch off is connected. The navigation device 15 is also connected to the microcomputer 3.
[0027]
The microcomputer 3 is output from the CPU 3a that operates according to the control program, the ROM 3b that stores the control program of the CPU 3a, vehicle information such as the minimum turning radius Rmin of the vehicle, the shape of the vehicle, the steering angle sensor 5 and the traveling sensor 6. And a RAM 3c that temporarily holds data required when the CPU 3a executes the calculation, such as a count area for counting the pulse signals S2 and S3 to be executed.
[0028]
The OSDC 12 is connected to the camera 2, the memory 13, and the monitor 11a, and outputs to the monitor 11a an image signal in which a pattern image (described later) read from the memory 13 is superimposed (superimposed) on the captured image from the camera 2. To do.
[0029]
The memory 13 is composed of a ROM or the like, and stores in advance text messages used in the parallel and parallel parking modes, predicted trajectory pattern data corresponding to the steering angle, and side space line pattern data.
[0030]
The side space line in the side space line pattern data is drawn to the rear of the vehicle by a predetermined length parallel to the vehicle front-rear direction at a predetermined distance from the vehicle on the side of the vehicle. It is a line showing the side space required for vehicle movement.
[0031]
Two types of predicted trajectory patterns are stored for the parallel parking mode and the parallel parking mode. The expected trajectory pattern for the parallel parking mode is, for example, that the expected course trajectory of the rear wheel of the vehicle and the vehicle width extension line representing the vehicle width are the maximum angle (for example, 2 °) for each predetermined angle (for example, 2 °). , ± 35 °) are stored in correspondence with each steering angle.
[0032]
The expected trajectory pattern for the parallel parking mode is the expected trajectory trajectory of the rear wheel of the vehicle by a combination of arbitrary angle steering in one direction of steering, turning-back turning point and maximum angle steering in the other direction of steering, The first expected trajectory pattern that combines the standard parking position that represents the stop position and size of the vehicle at the end point of the course trajectory, and the road shoulder side (or curb side) parking position prediction when steered at the position of the turning turning point A second expected trajectory pattern composed of a line, and a third expected trajectory pattern composed of an expected trajectory trajectory of the maximum turning portion of the vehicle at the time of maximum angle steering when the steering is steered in the other direction.
[0033]
Next, operation | movement at the time of the parallel parking mode of the parking assistance apparatus of the structure mentioned above is demonstrated with reference to the flowchart of the process of CPU3a shown in FIG.
[0034]
Normally, the CPU 3a operates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to display route guidance from the departure place to the destination, the current position of the host vehicle, and voice guidance. .
[0035]
Therefore, by first pressing the parallel parking start switch 8, parking support processing is started and initialization processing is performed (step S <b> 1). Next, it is determined whether or not the ignition switch is off (step S2).
[0036]
If the ignition switch is off (Y in Step S1), the steering angle at that time is stored in the EEPROM 14 by the pulse signal S2 from the steering angle sensor 5 (Step S3). The steering angle stored in the EEPROM 14 is read when the ignition switch is turned on, and the state of the steering is confirmed. Subsequent to step S3, an end process is performed (step S4), and then the parking support process ends.
[0037]
On the other hand, if the ignition switch is not turned off (N in step S2), whether or not there is a reverse signal (pulse signal S1) from the reverse detection sensor 4 (in other words, whether or not the gear is put in reverse). Is determined (step S5), and if not, the process returns to step S2.
[0038]
If there is a reverse signal (pulse signal S1) (Y in step S5), the navigation function is stopped and the screen of the monitor 11a is switched from the navigation image to the display of the camera image from the camera 2 accordingly. (Step S6). Next, the steering angle is read by the pulse signal S2 from the steering angle sensor 5 (step S7). Next, referring to the memory 13, the expected trajectory pattern for the parallel parking mode corresponding to the read steering angle is stored in the memory 13. (Step S8).
[0039]
Next, the expected trajectory pattern read from the memory 13 is superimposed on the camera image from the camera 2 by the OSDC 12 and drawn on the screen of the monitor 11a (step S9).
[0040]
Next, it is determined whether or not there is a reverse signal (pulse signal S1) from the reverse detection sensor 4 (in other words, whether or not the gear is put in reverse) (step S10). Return.
[0041]
On the other hand, if there is no reverse signal (pulse signal S1) (N in step S10), it means that the reverse has been canceled, so the screen of the monitor 11a is erased (step S11), and then the process returns to step S2.
[0042]
Next, a specific example of the operation in the parallel parking mode will be described in detail. 4 and 5 are diagrams for explaining a specific parking assist operation in the parallel parking mode, and will be described below with reference to these drawings.
[0043]
Normally, the CPU 3a operates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to display route guidance from the departure place to the destination, the current position of the host vehicle, and voice guidance. .
[0044]
Therefore, as shown in FIG. 4, first, the host vehicle 100 is stopped at the position A. This is because the driver advances several meters past the parking space P to be parked, and at a suitable distance from the parked vehicle 201 in front of the parking space P, or the parking frame line indicated by the dotted line in FIG. When the vehicle is pulled to the ground, the vehicle 100 is stopped at an appropriate interval (for example, about 2 meters) from the parking frame in front of the parking space P to be parked.
[0045]
After stopping at the position A in this way, next, a transition is made to the parallel parking mode. This is done by the driver depressing the parallel parking start switch 8 after putting the gear in reverse. Note that when the parallel parking start switch 8 is pressed again, the parallel parking mode is canceled.
[0046]
When the parallel parking start switch 8 is pressed, the CPU 3a stops the navigation function in response to the input of the parallel parking start signal from the parallel parking start switch 8, and captures the screen of the monitor 11a from the camera 2 from the navigation screen. In addition to switching to the image, the side track lines 108a and 108b pattern data stored in the memory 3 in advance and the expected trajectory pattern for the parallel parking mode including the expected course trajectory 101 of the rear wheel are read out and superimposed on the captured image by the OSDC 12 And displayed on the screen of the monitor 11a.
[0047]
The lateral space lines 108 a and 108 b are drawn so as to be parallel to the front-rear direction of the host vehicle 100 at a predetermined distance from the host vehicle 100. In FIG. 4, the side space line 108 a assumes parallel parking in the parking space P on the left side of the host vehicle 100, but the expected track locus 101 of the inner rear wheel at the full steering angle is adjacent to the parking space. This indicates the minimum distance D1 from the host vehicle 100 necessary to prevent interference with the frame, and it is only necessary that the line of the parking frame is further away from the side space line 108a.
[0048]
The side space line 108b on the opposite side to the parking side represents the distance D2 required to turn outward and widen when the maximum turning portion of the host vehicle 100, that is, the corner on the front end outside moves. In FIG. 4, considering the display error and the like, the maximum turning portion at the full steering angle, that is, the vehicle 100 when the tangent to the expected course locus 109 of the corner on the outer side of the front end is parallel to the side space line 108b. It is drawn away from the tangent distance by a turning allowance space d1.
[0049]
If the side space lines 108a and 108b are set to the same distance on the left and right, the side space lines 108a and 108b can be displayed on the monitor 11a before determining which parking space is left or right, which is very effective. In the example of FIG. 4, D1 = D2 = 1.8 m is set.
[0050]
The pattern data of the side space lines 108a and 108b for the parallel parking mode set as described above is stored in the memory 13 in advance.
[0051]
FIG. 6 shows an example in which the predicted path trajectory of the side space line and the rear wheel is displayed on the screen of the monitor 11a installed in the vicinity of the driver's seat of the host vehicle 100, superimposed on the rear image captured by the camera 2. Indicates. In FIG. 6, the side space line 108a corresponding to the parking frame P scheduled to be parked and the expected course locus 101 of the inner rear wheel, and the side space line 108b and inner rear wheel displayed on the opposite side of the parking frame scheduled to be parked. The expected course trajectory 101 'is displayed. The side space line 108b and the expected course locus 101 ′ of the inner rear wheel are used when parking in parallel in the parking space on the right side of the host vehicle 100.
[0052]
The driver sees the side space line 108a on the screen of the monitor 11a, and then opens a side space of a predetermined distance (1.8 m in this example) next to the parked vehicle 201 on the parking space P side where parking is scheduled. It is possible to confirm whether the vehicle has stopped and whether the side space on the opposite side necessary for turning for parallel parking is vacant.
[0053]
As described above, if it is confirmed that the space on both sides of the host vehicle 100 is free for the turn for parallel parking, the driver then displays the side space 108a at the same time. The host vehicle 100 is retreated straight while looking at the predicted inner track of the inner rear wheel 101, and as shown in FIG. 5, the intersection of the side space 108a and the predicted inner track of the inner rear wheel 101 is parked in parallel. The parking vehicle 201 (or the parking frame in which it is parked) is in a position that can be seen rearward, or the expected rear trajectory 101 of the inner rear wheel is at the front end of the parked vehicle 201. After confirming that the position B is visible behind the corner (or the parked parking frame), the host vehicle 100 is stopped.
[0054]
Next, the driver turns the steering wheel at a predetermined angle and moves the host vehicle toward the parking space P.
[0055]
As described above, when the driver steers the steering wheel at a predetermined angle, the side space lines 108a and 108b and the expected course trajectories 101 and 101 'of the inner rear wheels displayed as shown in FIG. In addition to being deleted from the screen of the monitor 11a, an expected trajectory pattern for the parallel parking mode having the vehicle width extension line 102 and the expected trajectory trajectories 101 of both rear wheels according to the steering angle at the time of turning is stored from the memory 13. It is read out and displayed on the screen of the monitor 11a.
[0056]
FIG. 7 shows an example of the screen of the monitor 11a in the parallel parking mode at this stage, in which an expected course locus 101 and a vehicle width extension line 102 of an expected locus pattern at the time of parallel parking are displayed. FIG. 7A shows a case where the host vehicle 100 is moved backward while maintaining a predetermined steering angle other than the zero steering angle, and FIG. 7B is different from the case of FIG. The case where the host vehicle 100 is moved backward while maintaining the steering angle other than the steering angle is shown.
[0057]
As can be seen from FIGS. 7A and 7B, when the steering rudder angle is changed, an expected trajectory for the parallel parking mode having an expected trajectory trajectory 101 having a different curve curve according to the changed steering rudder angle. Since the pattern is read out from the memory 13 and displayed on the screen of the monitor 11a, the driver looks at the screen of the monitor 11a and looks at the vacant parking space (for example, the parking space P or the parking space P before this). By steering the vehicle so that the predicted course trajectory 101 just fits in the vacant parking frame) and moving the host vehicle 100 backward, it is possible to easily park in parallel.
[0058]
If the steering wheel is moved backward with a full steering angle, the vehicle is parked in the parking space P. At this time, the intersection X of the predicted course locus 101 of the inner rear wheel and the row line on the own vehicle 100 side of the parking space P is the row line, the adjacent parking frame where the parked vehicle 201 is parked, and the parking space P. After the host vehicle 100 is stopped at the position B so as to coincide with the intersection with the separation line, when the host vehicle 100 moves backward with a full steering angle, the host vehicle 100 is moved from the parking frame where the parked vehicle 201 is located to a parking margin space. d2 can be opened and the parking space P can be suitably parked.
[0059]
Next, a specific example of the operation in the parallel parking mode that is started by operating the parallel parking start switch 9 will be described in detail.
[0060]
In the parallel parking mode, as shown in the parallel parking support image diagram of FIG. 8, when the host vehicle 100 tries to perform parallel parking in the vacant parking space P, the host vehicle 100 usually passes the parking space P. From the stop position to the turning radius Rmin (where Rmin = minimum turning radius) and the turning angle θ1 from the first turning center d1 of the host vehicle 100 from the starting point c1 to the turning point c2 at the maximum turning angle in one direction of the steering. It is defined by the first turning path L1 that is defined, the turning radius Rmin and the turning angle θ2 (= θ1) from the second rotation center d2 from the turning turning point c2 to the end point c3 by the maximum angle steering in the other direction of the steering. The vehicle is parked in the parking space P following a traveling route formed by a second turning route L2 opposite to the turning direction of the first turning route L1.
[0061]
The travel route described above may be a travel route by a combination of arbitrary angle steering other than the maximum angle in one direction of the steering, the turning-back turning point, and the maximum angle steering in the other direction of the steering. Here, as an example A case will be described in which the vehicle 100 is parked in parallel in the parking space P by following a traveling route by a combination of 15 degree steering in one direction of steering, a turning point in turn, and maximum angle steering in the other direction of steering.
[0062]
9-11 is a figure explaining the concrete parking assistance operation | movement at the time of parallel parking mode, and hereafter, it demonstrates, referring these figures.
[0063]
Normally, the CPU 3a operates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to display route guidance from the departure place to the destination, the current position of the host vehicle, and voice guidance. .
[0064]
Therefore, first, the host vehicle 100 is stopped at the position A as shown in FIG. This is because the driver puts an appropriate space (for example, about 1 meter) from the vehicle 201 parked in front of the parking space P to be parked, or a parking frame as shown by a dotted line in FIG. When the line is drawn on the ground, the vehicle 100 is stopped at an appropriate interval from the parking frame line in front of the parking space P scheduled to be parked.
[0065]
After stopping at the position A in this way, the process next shifts to the parallel parking mode. This is done by the driver depressing the parallel parking start switch 9 after putting the gear in reverse. Note that when the parallel parking start switch 9 is pressed again, the parallel parking mode is canceled.
[0066]
When the parallel parking start switch 9 is pressed, the CPU 3a stops the navigation function in response to the input of the parallel parking start signal from the parallel parking start switch 9, and the screen of the monitor 11a is switched from the navigation screen to the camera 2 from the camera 2. In addition to switching to the image, the side space lines 108a and 108b pattern data stored in the memory 3 in advance and the third expected trajectory pattern, that is, the vehicle at the time of the maximum angle steering at the time of steering in the other direction of steering. The predicted course trajectory 110 of the maximum turning portion is read out, superimposed on the captured image by the OSDC 12, and displayed on the screen of the monitor 11a.
[0067]
The side space lines 108a and 108b in the parallel parking mode are drawn so as to be parallel to the front-rear direction of the host vehicle 100 at a predetermined distance from the host vehicle 100 in the same manner as the side space lines in the parallel parking mode. However, in FIG. 9, the side space line 108a is drawn at a distance D3 assuming parallel parking to the parking space P on the left side of the host vehicle 100.
[0068]
The side space line 108b on the opposite side to the parking side represents the distance D4 necessary to turn outward and widen when the maximum turning portion of the host vehicle 100, that is, the corner on the front end outside moves. In FIG. 9, the display error is considered, for example, when the maximum turning portion when the steering angle is 15 degrees, that is, when the tangent to the expected course locus 109 of the front outer corner is parallel to the side space line 108b. From the distance between the vehicle 100 and the tangent line, the vehicle is pulled away by a margin for turning d3.
[0069]
If the side space lines 108a and 108b are set to the same distance on the left and right, the side space lines 108a and 108b can be displayed on the monitor 11a before determining which parking space is left or right, which is very effective. In the example of FIG. 9, D3 = D4 = 1 m is set.
[0070]
The pattern data of the side space lines 108a and 108b for the parallel parking mode set in this way is stored in the memory 13 in advance.
[0071]
Further, the predicted course trajectory 110 of the maximum turning portion of the vehicle at the time of the maximum angle steering at the time of steering in the other direction of the steering is from the turning point c2 to the end point c3 by the maximum angle steering in the other direction of the steering in FIG. When the host vehicle 100 travels on the second turning route L2 opposite to the turning direction of the first turning route L1 defined by the turning radius Rmin and the turning angle θ2 (= θ1) from the second turning center d2 to The corner on the outside of the front end of the host vehicle 100 (that is, the corner on the left side of the front end in the example of FIG. 9) is an expected course locus drawn as the maximum turning portion.
[0072]
In FIG. 12, the side space line and the expected course trajectory of the maximum turning portion of the vehicle at the time of maximum angle steering at the time of steering in the other direction of the steering are superimposed on the captured image and displayed on the screen of the monitor 11a. An example is shown. In FIG. 12, the side space line 108a corresponding to the parking frame P scheduled to be parked and the expected trajectory trajectory 110 of the maximum turning part, and the side space line 108b and the maximum turning part displayed on the opposite side of the parking frame scheduled to be parked. The predicted course trajectory 110 'is displayed. The side space line 108b and the predicted course trajectory 110 ′ of the maximum turning portion are used when performing parallel parking in the parking space on the right side of the host vehicle 100.
[0073]
The driver sees the side space line 108a on the screen of the monitor 11a, and then stops by leaving a side space of a predetermined distance (1 m in this example) next to the forward parked vehicle 201 on the parking space P side where parking is scheduled. It is possible to confirm whether or not the side space on the opposite side necessary for turning for parallel parking is vacant.
[0074]
As described above, if it is confirmed that the space on both sides of the host vehicle 100 is free for the turn for parallel parking, the driver then displays the side space 108a at the same time. While looking at the predicted course trajectory 110 of the maximum turning section, the host vehicle 100 is retreated straight, and as shown in FIG. 10, the intersection of the side space 108a and the predicted course trajectory 110 of the maximum turning section is parked in parallel. The vehicle is in a position that can be seen behind the parked vehicle 201 (or the parking frame in which it is parked), or the predicted trajectory 110 of the maximum turning section is behind the front parked vehicle 201. After confirming that the position B is visible behind the corner of the end (or the parking frame where the vehicle is parked), the host vehicle 100 is stopped.
[0075]
This stop position is an optimal position (that is, a position corresponding to the starting point c1 in FIG. 8) for starting a backward operation described later for parallel parking.
[0076]
Next, it is determined whether to steer to the left or right of the vehicle. This is performed based on detection of the pulse signal S2 of the rudder angle sensor 5 which is generated when the driver turns the steering to the side where he wants to park (first turning operation). For example, to park in a parking space on the left side of the vehicle, the driver turns the steering to the left. At this time, the side space displayed as shown in FIG. 12 according to the pulse signal S2 corresponding to the left 15 degree steering from the rudder angle sensor 5 when the driver steers the steering angle 15 degrees to the left. The lines 108a and 108b and the expected trajectory trajectories 110 and 110 'of the maximum turning part are deleted from the screen, and for the parallel parking mode corresponding to the left parking space according to the pulse signal S2 output from the steering angle sensor 5 The first expected trajectory pattern data is read from the memory 13 and displayed on the screen of the monitor 11a.
[0077]
Similarly, when the user wants to park in the parking space on the right side of the vehicle, the driver steers the steering to the right. At this time, the side space displayed as shown in FIG. 12 according to the pulse signal S2 corresponding to the left 15 degree steering from the steering angle sensor 5 when the driver steers the steering angle to the right by 15 degrees. The lines 108a and 108b and the predicted trajectory trajectories 110 and 110 'of the maximum turning section are deleted from the screen, and for the parallel parking mode corresponding to the right parking space according to the pulse signal S2 output from the steering angle sensor 5 The first expected trajectory pattern data is read from the memory 13 and displayed on the screen of the monitor 11a.
[0078]
FIG. 13 shows a first example of the parallel parking mode in the case of parallel parking in the left parking space P displayed on the screen of the monitor 11a when the host vehicle 100 is stopped at the position B in FIG. The expected course trajectory 101 and the parking standard position 104 of the expected trajectory pattern are shown. FIG. 13 shows a case where the host vehicle 100 can be parked well in the parking space P.
[0079]
On the other hand, when the host vehicle 100 is considerably protruded from the parking space P by observing the screen of the monitor 11a, the driver cancels the parallel parking mode, restarts the previous steering in the parallel parking mode, and again The host vehicle 100 observes the expected course trajectory 101 and the parking standard position 104 of the first expected trajectory pattern for the parallel parking mode displayed in the left side parking space P displayed on the screen of the monitor 11a. It is confirmed that the parking space P is almost entered.
[0080]
Next, the backward movement of the host vehicle 100 is started. At this time, a pre-stored text message “Please pay attention to the surroundings, please move backward” is read from the memory 13, superimposed on the camera image, and displayed on the screen of the monitor 11a.
[0081]
Next, when the vehicle is moved backward from the position B while the steering angle is maintained at 15 degrees, the expected course locus 101 and the parking standard position 104 shown in FIG. 13 are determined according to the pulse signal S3 output from the traveling sensor 6. The second predicted locus pattern data for parallel parking corresponding to the left parking space is read from the memory 13 and displayed on the screen of the monitor 11a instead.
[0082]
FIG. 14A shows a display example of the screen of the monitor 11a after retreating from the position B. FIG. In FIG. 14A, the roadside parking position prediction line 111 of the second expected locus pattern is an expected outside locus locus of the vehicle rear wheel on the side close to the parking space P to be parallelly parked. It can be confirmed that the arc is displayed on the screen.
[0083]
As shown in the modified example of FIG. 14B, the road shoulder parallel tangent of the above-mentioned outside predicted course locus may be displayed on the screen in a straight line as the roadside parking position prediction line 111.
[0084]
When the driver confirms that the roadside parking position prediction line 111 approaches the road shoulder as the host vehicle 100 moves backward, and passes through the shoulder of the parking space P, the driver 100 stops the host vehicle 100. This stop position is substantially equal to the position C shown in FIG. This position C is an optimum position for performing the second turning operation for parallel parking (that is, a position corresponding to the turning-back turning point c2 shown in FIG. 8).
[0085]
Next, the vehicle is steered at position C. This is done by the driver fully steering in the opposite direction. Corresponding to the pulse signal S2 indicating the maximum angle from the rudder angle sensor 5 based on this full steering, the roadside parking position prediction line 111 shown in FIG. 14 (A) is deleted from the screen of the monitor 11a. An expected trajectory pattern for parallel parking corresponding to the pulse signal S2 indicating the maximum angle from the angle sensor 5 is read from the memory 13, and the expected course trajectory 101 and the vehicle width extension line 102 are superimposed on the camera image, and the monitor 11a. Displayed on the screen.
[0086]
FIG. 15 shows an example of the screen of the monitor 11a at the position C in the parallel parking mode, in which an expected course trajectory 101 and a vehicle width extension line 102 toward the parking space to be parked in parallel are displayed.
[0087]
Next, the driver confirms that full steering is maintained, and then confirms the display of the screen of the monitor 11a. When the predicted track 101 on the screen of the monitor 11a matches the parking space P, the vehicle starts to move backward. At this time, on the screen of the monitor 11a, a display “Please pay attention to the surroundings and retreat” is superimposed. If the predicted track 101 is not in alignment with the parking space P, the predicted track 101 can be adjusted to the parking space P by adjusting the steering to a steering angle other than full steering.
[0088]
Next, the vehicle is stopped at position D as shown in FIG. This position D is a position where the vehicle is parallel to the parking space, and the driver retreats the host vehicle 100 until the vehicle width extension line 102 is parallel to the road shoulder, and the driver is parallel. Confirm that the steering is turned straight back and stop the vehicle.
[0089]
Finally, the parallel parking mode is canceled by releasing the reverse gear.
[0090]
Thus, according to the first embodiment of the present invention, the space necessary for moving the vehicle for parallel parking or parallel parking is the side space lines 108a, 108b, etc., and the vehicle rear side from the camera 2 Since it is superimposed on the captured image and displayed on the screen of the monitor 11a, it can be easily confirmed that the vehicle does not come into contact with the surrounding vehicle, etc., making it easy for the driver to judge when parking and reducing the driver's operation burden. Can be reduced.
[0091]
(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, the parking assistance apparatus has the same configuration as the block diagram shown in FIG. 1 in the first embodiment, but the camera 2 is located on the side of the host vehicle 100 as shown in FIG. And has a horizontal viewing angle (for example, 60 degrees) at which a desired parking space can be visually recognized in parallel parking or parallel parking, and outputs a captured image on the side of the vehicle to the OSDC 12.
[0092]
In addition, instead of the side space line pattern data, the memory 13 prestores pattern data including a side space line and front and rear marker lines orthogonal to the side space line.
[0093]
Next, a specific example of the operation in the parallel parking mode in the second embodiment of the parking assistance apparatus having the above-described configuration will be described in detail. 17 and 18 are diagrams for explaining a specific parking assist operation in the parallel parking mode, and will be described below with reference to these drawings.
[0094]
Normally, the CPU 3a operates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to display route guidance from the departure place to the destination, the current position of the host vehicle, and voice guidance. .
[0095]
Therefore, as shown in FIG. 17, first, the host vehicle 100 is stopped at the position A. In this case, when the host vehicle 100 comes near the parking space P scheduled to be parked, the driver depresses the parallel parking start switch 8 to shift to the parallel parking mode.
[0096]
When the parallel parking start switch 8 is pressed, the CPU 3a stops the navigation function according to the input of the parallel parking start signal from the parallel parking start switch 8, and the screen of the monitor 11a is moved from the navigation screen to the side from the camera 2. In addition to switching to the side-captured image, the pattern data including the side space lines and the front and rear marker lines stored in advance in the memory 13 is read out, superimposed on the side-captured image by the OSDC 12, and displayed on the screen of the monitor 11a.
[0097]
In FIG. 17, the side space line 108 a and the front and rear marker lines 112 assuming parallel parking in the parking space P on the left side of the host vehicle 100 are shown, but on the side opposite to the parking side (that is, the right side). Side space lines and front and rear marker lines are omitted.
[0098]
FIG. 19 shows an example in which the side space line and the front and rear marker lines are displayed on the screen of the monitor 11 a installed in the vicinity of the driver's seat of the host vehicle 100 while being superimposed on the side captured image by the camera 2. In FIG. 19, the side space line 108 a and the front and rear marker lines 112 are displayed corresponding to the parking space P scheduled to be parked that can be directly visually recognized from the side captured image from the camera 2.
[0099]
The driver can see the side space line 108a on the screen of the monitor 11a to stop the vehicle by leaving a side space of a predetermined distance beside the parked vehicle 201 on the side of the parking space P to be parked, or in parallel. It is possible to check whether the opposite side space necessary for turning for parking is vacant. The driver can determine the initial position A for parallel parking in the parking space P scheduled to be parked by viewing the position of the front and rear marker lines 112 on the screen of the monitor 11a.
[0100]
That is, on the screen shown in FIG. 19, a partition boundary line with the parking frame next to the parking space P for which parking is desired, that is, the parking frame in which the parked vehicle 201 ahead is parked as viewed from the approach direction of the host vehicle 100 Side space lines displayed so that Pb and the front-rear marker line 112 displayed so as to be parallel to the left-right direction of the host vehicle substantially coincide on the screen and are parallel to the front-rear direction of the host vehicle 100. The initial position A can be determined by making 108a substantially coincide with the parking section front edge line Pa. The initial position A may be adjusted by the driver moving the own vehicle 100, and the positions of the side space line 108a and the front and rear marker lines 112 are viewed from a key input means (not shown) while viewing the screen of the monitor 11a. The optimum position may be selected by adjusting the key input or the like. Of course, fine adjustment may be performed on the screen by input from the key input means after roughly adjusting the vehicle 100 by movement.
[0101]
The range that can be adjusted on the screen is limited, but when adjusting the display on the screen using key input means, etc., the expected trajectory pattern leading to the parking space P changes. It is necessary to read the locus pattern from the memory 13.
[0102]
If the initial position A of the host vehicle 100 is determined as described above, the CPU 3a deletes the side space line 108a and the front and rear marker lines 112 from the screen of the monitor 11a based on the determination of the initial position A. An expected trajectory pattern corresponding to the initial position A is read from the memory 13, and a parking operation guide based on the read expected trajectory pattern is performed. This parking operation guide is performed by reading a character message stored in advance in the memory 13 and displaying it on the screen of the monitor 11a.
[0103]
As shown in FIG. 18, the driver steers in the direction opposite to the direction in which the host vehicle 100 is parked based on the parking operation guide from the initial position A that is stopped according to the side space line 108 a and the front and rear marker lines 112. The vehicle is steered, and the host vehicle 100 is moved forward to a position B by a predetermined distance while maintaining a steering angle predetermined based on the expected trajectory pattern. At this time, the CPU 3a detects the pulse signal S2 from the rudder angle sensor 5 and the pulse signal S3 from the travel sensor 6 (or a signal indicating a change in direction from an azimuth angle sensor (not shown)) to move forward by a predetermined distance. Detect that
[0104]
In accordance with the parking operation guide, the driver stops the own vehicle 100 at the position B, and subsequently reverses the gear, and then steers the steering to a predetermined steering rudder angle in the opposite direction. Holding the corner, the host vehicle 100 is moved backward toward the parking space P. Next, when the host vehicle 100 is parallel to the parking space P (position C in FIG. 18), the driver returns the steering to the straight traveling position, and further moves the host vehicle 100 backward to enter the parking space P. When it has entered, the vehicle is stopped, and the parallel parking start switch 8 is pressed to cancel the parallel parking mode.
[0105]
In addition, in the operation after the position B, in addition to the camera 2 that captures the side, when the camera that captures the rear is also mounted, the parking space P starts to appear in the rear captured image, so the screen of the monitor 11a Is switched from the captured image of the side camera 2 to the captured image of the rear camera, and a superimposed display for guides such as an expected course locus of the rear wheel corresponding to the steering angle and a vehicle width extension line representing the vehicle width is displayed on the image. May be issued.
[0106]
Further, as shown in FIG. 20, the front and rear marker lines 112 are not the partition boundary line Pb but the parking frame on the near side of the parking space P where parking is desired, that is, the partition with the parking frame where the parked vehicle 202 is parked. The initial position A can also be determined so that the boundary line Pc substantially coincides with the screen.
[0107]
Next, a specific example of the operation in the parallel parking mode in the second embodiment of the parking assistance device having the above-described configuration will be described in detail. FIGS. 21 and 22 are diagrams for explaining a specific parking assist operation in the parallel parking mode, and will be described below with reference to these drawings.
[0108]
Normally, the CPU 3a operates the navigation function by the navigation device 15, and uses the monitor 11a and the speaker 11b to display route guidance from the departure place to the destination, the current position of the host vehicle, and voice guidance. .
[0109]
Therefore, as shown in FIG. 21, first, the host vehicle 100 is stopped at the position A. When the host vehicle 100 comes near the parking space P scheduled to be parked, the driver depresses the parallel parking start switch 9 to shift to the parallel parking mode.
[0110]
When the parallel parking start switch 9 is pressed, the CPU 3a stops the navigation function according to the input of the parallel parking start signal from the parallel parking start switch 8, and the screen of the monitor 11a is moved from the navigation screen to the side from the camera 2. In addition to switching to the side-captured image, the pattern data including the side space lines and the front and rear marker lines stored in advance in the memory 13 is read out, superimposed on the side-captured image by the OSDC 12, and displayed on the screen of the monitor 11a.
[0111]
The driver can see the side space line 108a on the screen of the monitor 11a to stop the vehicle by leaving a side space of a predetermined distance beside the parked vehicle 201 on the side of the parking space P to be parked, or in parallel. It is possible to check whether the opposite side space necessary for turning for parking is vacant. The driver can determine the initial position A for parallel parking in the parking space P scheduled to be parked by viewing the position of the front and rear marker lines 112 on the screen of the monitor 11a.
[0112]
That is, as shown in FIG. 21, the intersection of the side space line 108 and the front and rear marker lines 112 substantially coincides with the right rear end of the parked vehicle 201 parked in front of the parking space P where parking is desired. The initial position A can be determined on the screen of the monitor 11a. (In addition, when the parking lot line is drawn, the side space line 108 and the front and rear markers are at the intersection of the zone boundary line and the zone leading edge line between the parking frame in which the parked vehicle 201 is parked and the parking space P. The initial position A can be determined on the screen of the monitor 11a so that the intersections of the lines 112 substantially coincide.) The initial position A may be adjusted by the driver moving the host vehicle 100, The optimal positions may be selected by adjusting the positions of the side space lines 108a and the front and rear marker lines 112 by key input from a key input means (not shown) while viewing the screen of the monitor 11a. Of course, fine adjustment may be performed on the screen by input from the key input means after roughly adjusting the vehicle 100 by movement.
[0113]
The range that can be adjusted on the screen is limited, but when adjusting the display on the screen using key input means, etc., the expected trajectory pattern leading to the parking space P changes. It is necessary to read the locus pattern from the memory 13.
[0114]
If the initial position A of the host vehicle 100 is determined as described above, the CPU 3a deletes the side space line 108a and the front and rear marker lines 112 from the screen of the monitor 11a based on the determination of the initial position A. An expected trajectory pattern corresponding to the initial position A is read from the memory 13, and a parking operation guide based on the read expected trajectory pattern is performed. This parking operation guide is performed by reading a character message stored in advance in the memory 13 and displaying it on the screen of the monitor 11a.
[0115]
As shown in FIG. 22, the driver steers in the direction opposite to the direction in which the host vehicle 100 is parked based on the parking operation guide from the initial position A stopped in accordance with the side space line 108 a and the front and rear marker lines 112. Steer and hold the steering angle predetermined based on the expected trajectory pattern, advance the vehicle 100 by a predetermined distance, and move to the position B. Even at the time of forward movement, compared to the first embodiment, it is not necessary to move forward a large distance from the parking space P, and the start of the parking operation is appealed to the driver of another vehicle by moving forward at an angle. Can do. At this time, the CPU 3a detects the pulse signal S2 from the rudder angle sensor 5 and the pulse signal S3 from the travel sensor 6 (or a signal indicating a change in direction from an azimuth angle sensor (not shown)) to move forward by a predetermined distance. Detect that
[0116]
In accordance with the parking operation guide, the driver stops the host vehicle 100 at the position B, subsequently puts the gear in reverse, returns the steering to the straight traveling position, and moves backward as it is. Next, the driver stops the own vehicle 100 again at the position C according to the parking operation guide, and again steers the steering to a predetermined steering rudder angle opposite to the direction in which the own vehicle 100 is parked. Holding the steering angle, the host vehicle 100 is moved backward toward the parking space P. Next, when the host vehicle 100 is parallel to the parking space P (position D in FIG. 22), the driver returns the steering to the straight traveling position and adjusts the front and rear positions of the host vehicle 100 with respect to the parking space P. Then, the parallel parking start switch 8 is pressed to cancel the parallel parking mode.
[0117]
In addition, in the operation after the position B, in addition to the camera 2 that captures the side, when the camera that captures the rear is also mounted, the parking space P starts to appear in the rear captured image, so the screen of the monitor 11a Is switched from the captured image of the side camera 2 to the captured image of the rear camera, and a superimposed display for guides such as an expected course locus of the rear wheel corresponding to the steering angle and a vehicle width extension line representing the vehicle width is displayed on the image. May be issued.
[0118]
Thus, according to the second embodiment of the present invention, the space necessary for moving the vehicle for parallel parking or parallel parking is the side space lines 108a, 108b, etc., and the vehicle rear side from the camera 2 Since it is superimposed on the captured image and displayed on the screen of the monitor 11a, it can be easily confirmed that the vehicle does not come into contact with the surrounding vehicle, etc., making it easy for the driver to judge when parking and reducing the driver's operation burden. Can be reduced.
[0119]
As described above, the embodiment of the present invention has been described. However, the present invention is not limited to this, and various modifications and applications are possible.
[0120]
For example, as the superimposing means, instead of the on-screen display controller 12 and the memory 13, a graphic controller that can calculate and redraw a predicted travel path every time the steering angle changes may be used.
[0121]
Further, in the second embodiment, the initial position A is determined by the side space line and the front and rear marker lines. However, as an alternative example, the standard parking position 104 used in the parallel parking mode is displayed. For example, even if the initial position A is determined so that the display of the standard parking position 104 enters the parking space P on the screen of the monitor 11a as shown in FIG. good. The initial position A in this case may be adjusted by the driver moving the vehicle 100, or the display position of the standard parking position 104 is input from a key input means (not shown) while viewing the screen of the monitor 11a. For example, the optimum position may be selected. Of course, fine adjustment may be performed on the screen by input from the key input means after roughly adjusting the vehicle 100 by movement. (Although in the parallel parking mode, the initial position A can be determined in a similar manner although not shown.)
[0122]
In the second embodiment, the parking operation guide is performed by displaying a text message on the screen of the monitor 11a. However, the present invention is not limited to this, and the speaker 11b is configured to guide and output a voice message. Or both of them may be used in combination.
[0123]
As another example of the present invention, when displaying a side image of the camera 2 in the second embodiment on the screen of the monitor 11a, a vehicle front end extension line extended from the front end of the host vehicle 100 is used as a front / rear marker. By superimposing and displaying on the screen of the monitor 11a as the line 112, in addition to the parking support effect, it is possible to expect the effect of knowing the jumping length of the host vehicle at an intersection or the like. For example, as shown in FIG. 24, the driver has a vehicle front end extension line 113 (here, the side space line is omitted) which is a virtual line superimposed on the side captured image of the camera 2 displayed on the monitor 11a. ) And roadside structures such as the walls of the buildings 301 and 302, the degree of the vehicle jumping out to the crossing road side can be understood, and safety can be confirmed. Further, a distance gauge may be displayed backward from the vehicle front end extension line 113 as a starting point. (The distance gauge can also be displayed in the horizontal direction starting from the side space line.
[0124]
As still another embodiment of the present invention, a camera of a type that can be mounted at the center of the front bumper of the vehicle and can monitor the left and right sides by one as the camera 2 for obtaining the side captured image. . Furthermore, if it is a side camera, it is applicable even if it attaches to the vehicle center part or rear end part vicinity.
[0125]
Further, as still another embodiment of the present invention, as shown in FIG. 25, a rear side camera (or a door camera) that captures an image of a rear side that is mounted obliquely rearward on a vehicle side surface or a door mirror is similarly used. Applicable.
[0126]
【The invention's effect】
According to the first aspect of the present invention, the judgment of the driver at the time of parking can be facilitated, and the operation burden on the driver can be reduced.
[0127]
  Also,The vehicle can be moved safely during parking.
[0128]
  Claim2According to the described invention, safety can be ensured when steering is performed during parking.
[0129]
  Claim3According to the described invention, safety can be confirmed when the steering is steered and the vehicle is moved backward during parallel parking.
[0130]
  Claim4According to the described invention,Safety can be confirmed when the vehicle is moved by steering the steering wheel in parallel or parallel parking.
[0131]
  Claim5According to the described invention,In addition to the parking support effect, it can be expected to know the length of the vehicle's jump at an intersection.
[0132]
  Claim6According to the described invention,Safety can be confirmed when the vehicle is moved backward by steering the vehicle during parallel parking.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a first embodiment of a parking assistance apparatus according to the present invention.
FIGS. 2A and 2B are diagrams for explaining camera mounting positions in the parking assistance apparatus of FIG. 1;
FIG. 3 is a flowchart for explaining the operation of the parking assist device of FIG. 1;
FIG. 4 is a diagram for explaining a specific parking support operation in the parallel parking mode.
FIG. 5 is a diagram illustrating a specific parking assist operation in the parallel parking mode.
FIG. 6 shows an example of a monitor screen at position A in the parallel parking mode.
FIGS. 7A and 7B show an example of a monitor screen at position B in the parallel parking mode.
FIG. 8 is a parking assistance image diagram in a parallel parking mode.
FIG. 9 is a diagram for explaining a specific parking support operation in the parallel parking mode.
FIG. 10 is a diagram for explaining a specific parking assist operation in the parallel parking mode.
FIG. 11 is a diagram for explaining a specific parking assist operation in the parallel parking mode.
FIG. 12 is a diagram showing an example of a monitor screen at position A in the parallel parking mode.
FIG. 13 is a diagram showing an example of a monitor screen before the backward movement operation at the position B in the parallel parking mode.
FIGS. 14A and 14B are diagrams showing an example of a monitor screen after a backward movement at position B in the parallel parking mode.
FIG. 15 is a diagram showing an example of a monitor screen at a position C in the parallel parking mode.
FIG. 16 is a diagram for explaining a camera mounting position in the second embodiment of the parking assistance apparatus according to the present invention;
FIG. 17 is a diagram illustrating a specific parking support operation in the parallel parking mode.
FIG. 18 is a diagram illustrating a specific parking assist operation in the parallel parking mode.
FIG. 19 shows an example of a monitor screen at position A in the parallel parking mode.
FIG. 20 is a diagram for explaining a modified example of a specific parking assist operation in the parallel parking mode.
FIG. 21 is a diagram for explaining a specific parking assist operation in the parallel parking mode.
FIG. 22 is a diagram for explaining a specific parking assist operation in the parallel parking mode.
FIG. 23 is a diagram illustrating a modification of the second embodiment.
FIG. 24 is a diagram for explaining another embodiment of the present invention.
FIG. 25 is a diagram illustrating still another embodiment of the present invention.
[Explanation of symbols]
2 Camera (imaging means)
3 Microcomputer
4 Reverse detection sensor
5 Rudder angle sensor (steering angle detection means)
6 Running sensor
7 Yaw rate sensor
8 Parallel parking start switch
9 Parallel parking start switch
10 Parking area selection switch
11 Indicator
11a Monitor (display means)
11b Speaker
12 On-screen display controller (OSDC) (superimposing means)
13 Memory (memory means)
14 EEPROM
101 Expected course of rear wheel
102 Car width extension line
104 Standard parking position
108a, 108b Side space line
110 Expected course trajectory of the maximum turning section
112 Front and rear marker lines
113 Vehicle front end extension line

Claims (6)

A parking assist device for assisting when a vehicle is parked by displaying a captured image around the vehicle imaged by an imaging means mounted on the vehicle on a display means in the vehicle,
Two side space lines are drawn on both sides of the vehicle parallel to the vehicle front-rear direction at a predetermined distance from the vehicle at the side of the vehicle, and represent the side space required for vehicle movement during parking. A superimposing unit that superimposes the captured image on the display unit ,
The predetermined distance between the one of the two measurement space lines and the vehicle is such that the expected course locus of the inner rear wheel at the full rudder angle is in the parking frame next to the parking space to be parked. It is set apart from the minimum necessary distance from the vehicle so as not to interfere, and the predetermined space between the other measurement space line and the vehicle is the maximum turning part of the vehicle at the full steering angle. A parking assist device, wherein a tangent of an expected course trajectory is set to be larger than a distance between the vehicle and the tangent when the tangent to the side space line is parallel . The parking assist device according to claim 1, wherein the maximum turning portion is a corner of a front end of a vehicle. The said superimposing means superimposes the said side space line and the predicted course locus of the rear wheel of the vehicle on the captured image and displays them on the display means in the parallel parking mode. Parking assistance device. The said superimposing means superimposes the said side space line and the front and rear marker lines orthogonal to the said side space line on the said picked-up image, and makes it display on the said display means. Parking assistance device. The parking support device according to claim 4, wherein the front / rear marker line is a vehicle front end extension line extended from a front end of the host vehicle. A parking assist device for assisting when a vehicle is parked by displaying a captured image around the vehicle imaged by an imaging means mounted on the vehicle on a display means in the vehicle,
  A lateral space line that is drawn parallel to the vehicle front-rear direction at a predetermined distance from the vehicle at the side of the vehicle and that represents the side space necessary for vehicle movement during parking is superimposed on the captured image. Superimposing means for displaying on the display means,
  In the parallel parking mode, the superimposing means superimposes the lateral space line and the predicted trajectory of the maximum turning portion of the vehicle after steering is displayed on the display means so as to be superimposed on the captured image. Parking assistance device.

Images