JP4062052B2 - Parking assistance device for vehicles - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a device that supports a driver's parking operation.
[0002]
[Prior art]
The parking assist systems that support parallel parking and parallel parking are roughly classified into the following two types based on the vehicle initial position where the assist starts and the steering steering method.
(1) There is a certain degree of freedom in the initial position of the vehicle, and parking is performed by adjusting the steering angle according to the target parking frame. (2) There is almost no degree of freedom in the initial position of the vehicle. How to park with full steering after stopping
In the method (1), even if the initial position is slightly different from the recommended position, it is possible to place the vehicle in the target parking frame by adjusting the steering angle of the steering, but the method (2) In some cases, a large parking space may be required, and it may be difficult for a beginner to move backward while maintaining a constant turning angle. On the other hand, the method {circle around (2)} does not cause the above-mentioned problem because the steering is fully turned and moves backward, but high accuracy is required in determining the initial position.
[0004]
For this reason, as a conventional parking assistance device, there is a device that improves the determination accuracy of the initial position by providing a mark as a mark on the window frame of the driver's seat or the passenger seat and aligning the mark with the parking frame line.
[0005]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-118334
[Problems to be solved by the invention]
However, the conventional parking assist device has a problem that the position of the mark as viewed from the driver changes depending on the seat position, so that the initial position varies, and the vehicle does not fit in the parking frame.
[0007]
The objective of this invention is providing the parking assistance apparatus for vehicles which enables parking easily using the camera incorporated in the door mirror.
[0008]
[Means for Solving the Problems]
The vehicle parking assistance apparatus according to the present invention assists the vehicle to stop at an initial position for parking the vehicle at a target parking position on the side of the vehicle, and controls storage / non-storage of the door mirror. A door mirror control device, a built-in door mirror, a photographing device arranged to photograph the side of the vehicle when the door mirror is retracted, and a lateral front of the vehicle when the door mirror is not retracted, and when the door mirror is not retracted, The image of the front side of the vehicle photographed by the photographing device and the first guideline for determining the vehicle initial position on the basis of the boundary line between the target parking position and the vehicle traveling path are displayed, and the door mirror is stored. Sometimes, the vehicle is based on the side image of the vehicle imaged by the imaging device and the parking frame line located on the left side of the vehicle when the vehicle completes parking at the target parking position. By providing the display device and which displays the second guide for determining the period position, to achieve the above object.
[0009]
【The invention's effect】
According to the vehicle parking assistance apparatus of the present invention, the video captured by the imaging device built in the door mirror and the guideline for determining the initial position are displayed on the display device, so that the driver can display the display device. The vehicle can be accurately stopped at the initial position while viewing the displayed image and the guideline.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a diagram showing a configuration in an embodiment of a vehicle parking assistance apparatus according to the present invention. The vehicle parking assistance apparatus according to the embodiment includes a display 1, a navigation apparatus 2, a parking assist system controller 3, a door mirror built-in camera 4, a parking assist switch 5, a door mirror storage apparatus 6, and a speaker 7. Prepare.
[0011]
The door mirror built-in camera 4 is a camera built on the opposite side of the mirror surface of the door mirror (not shown), and images the front side of the vehicle when the door mirror is open (when not retracted), and the vehicle with the door mirror retracted. The side of is photographed (see FIG. 2). The captured video is sent to the parking assist system controller 3. The parking assist switch 5 is a switch for starting a parking assist operation, and is operated by a passenger in the vehicle such as a driver. The parking assist switch 5 needs to be provided at a position where the driver can operate. However, if the parking assist switch 5 is provided in the steering, the driver can easily operate.
[0012]
The parking assist system controller 3 transmits a command for switching the contents of the screen displayed on the display 1 to the navigation device 2 based on the operation of the parking assist switch 5 by the occupant, and displays the image captured by the camera 4 with a built-in door mirror. Output to. The parking assist system controller 3 controls the door mirror storage device 6 based on the operation of the parking assist switch 5 by the operator. A detailed control method will be described later.
[0013]
The navigation device 2 has a function of presenting information related to vehicle travel, specifically, a function of displaying a road map around the vehicle position, a function of calculating a recommended route from the departure point to the destination, and a calculated recommended route. It also has a function to perform route guidance based on the above. When a command for switching the contents of the screen displayed on the display 1 is transmitted from the parking assist system controller 3, the navigation device 2 switches the video input to the display 1. In addition, the navigation device 2 outputs a guide voice for parking assistance using the speaker 7.
[0014]
As described above, when the parking assist switch 5 is operated, an image taken by the door mirror built-in camera 4 is displayed on the display 1. At this time, since the guideline for assisting the parking operation of the vehicle is also displayed on the display 1, the driver can perform the parking operation of the vehicle based on the captured video and the guideline.
[0015]
FIG. 2 is a diagram for explaining a procedure for determining the initial position of the vehicle when parking in the parking lot on the left side in the traveling direction of the vehicle 10. When the initial position of the vehicle is accurately determined, the driver need only reverse the vehicle with the steering wheel fully turned (in this case, full turning to the left). FIG. 3 shows the operating state of the parking assist switch 5 and the display 1 at each stage from the start of the parking assist operation by the vehicle parking assist apparatus according to the present embodiment to the stop of the vehicle at the initial position. The table shows the video content, door mirror status, and vehicle position. Hereinafter, the procedure until the vehicle is stopped at the initial position will be described with reference to FIGS.
[0016]
When the driver of the vehicle 10 sees the target parking frame 20 diagonally to the left and reaches the position indicated by (1) in FIG. 2, the driver pushes the parking assist switch 5 (step (1) in FIG. 3). As a result, a display screen switching command is sent from the parking assist system controller 3 to the navigation device 2, so that an image captured by the door mirror built-in camera 4 is displayed on the display 1. When the vehicle travels, the door mirror 11 is used in a non-retracted state, and thus a video image of the door mirror 11 in a non-retracted state is displayed on the display 1. An image displayed on the display 1 is shown in FIG. As shown in FIG. 4 (a), the display 1 displays a guideline L1 for stopping the vehicle in parallel to the parking frame A and at a predetermined distance apart from the parking frame A. Yes. In addition, the parking frame line A is a line for distinguishing a parking space and a vehicle travel path as shown in FIG.
[0017]
The driver operates the steering so that the guideline L1 displayed on the display 1 matches the parking frame line A. When the guide line L1 and the parking frame line A coincide with each other, the vehicle 10 is in parallel with the parking frame line A and separated by a predetermined distance. In this state, the driver moves the vehicle 10 to the vicinity of position (2) in FIG. The position (2) in FIG. 2 is the initial position with respect to the target parking frame 20. If the driver moves the vehicle 10 straight to the vicinity of the position {circle around (2)} using the parking frame line on the back side of the target parking frame 20, that is, the frame line B located on the left side of the vehicle 10 when parking is completed as a mark. Good.
[0018]
When the driver moves the vehicle 10 to the vicinity of position (2) in FIG. 2, the driver presses the parking assist switch 5 (step (2) in FIG. 3). Thereby, the parking assist system controller 3 controls the door mirror storage device 6 to store the door mirror 11. In addition, an image captured by the door mirror built-in camera 4 with the door mirror 11 stored is displayed on the display 1. FIG. 4B shows an image that is shot with the door mirror 11 stored and displayed on the display 1.
[0019]
In FIG. 4B, a guideline L2 for accurately stopping the vehicle 10 at the initial position is displayed together with the parking frame line A and the parking frame line B. The driver moves the vehicle 10 so that the guideline L2 displayed on the display 1 matches the parking frame line B (step (3) in FIG. 3), and stops the vehicle 10 when both lines match. The position where the guide line L2 and the parking frame line B coincide with each other is the initial position of the vehicle. In this case, the driver does not need to perform a steering wheel operation, and may adjust the guideline L2 and the parking frame line B to coincide with each other by moving the vehicle in the front-rear direction. When the guide line L2 matches the parking frame line B, the driver presses the parking assist switch 5 (step (4) in FIG. 3). Thereby, the parking assist system controller 3 controls the door mirror storage device 6 to return the door mirror 11 to the open state (non-storage state) again.
[0020]
Thereafter, the driver can put the vehicle 10 into the target parking frame 20 by moving the vehicle 10 backward while turning the steering all the way to the left. That is, the driver can accurately and easily stop at the initial position for parking in the target parking space by using the vehicle parking assistance apparatus according to the present embodiment. Thereafter, the vehicle can be easily parked in the target parking space simply by moving backward while turning the steering wheel fully.
[0021]
In the conventional vehicle parking assistance device, since the mark serving as a mark is provided on the window frame of the driver's seat or the passenger seat, the way of viewing the mark may change depending on the driver's seat position. According to the vehicle parking assistance device, the captured image and the guideline are displayed on the display 1 so that the appearance of the guideline does not change due to the difference in the seat position. Further, in the method of providing a mark on the window frame, the interior of the vehicle may be damaged. However, in the vehicle parking assistance device according to the present embodiment, the guideline is displayed on the display 1 when the vehicle is parked, and thus the interior of the vehicle is damaged. Nor.
[0022]
When the vehicle 10 is moved to the vicinity of the initial position, the door mirror 11 exceeds the parking frame line B. When the door mirror 11 is in a normal use state, the parking frame line B is photographed using the camera 4 with a built-in door mirror. Can not do it. However, in the vehicle parking assistance apparatus according to the present embodiment, when the vehicle 10 is moved to the vicinity of the initial position, the driver presses the parking assist switch 5 to store the door mirror 11. Thereby, the parking frame line B can be image | photographed using the camera 4 with a built-in door mirror. That is, in order to move the vehicle 10 to a position separated by a predetermined distance in parallel with the parking frame line A and then stop at the initial position, the parking frame line A is photographed at the position (1) in FIG. Then, it is necessary to photograph the parking frame line B at the position {circle around (2)}. According to the vehicle parking assistance apparatus in the present embodiment, the parking frame line A and the parking frame line B using one camera. Can be taken. Therefore, there is no need to provide two cameras, and even when one camera is used, there is no need to newly provide a control device for changing the direction of the camera.
[0023]
In the vehicle parking assistance apparatus in the present embodiment, when the parking assist switch 5 is pressed after the vehicle 10 is stopped at the initial position, the door mirror 11 is returned to the original non-retracted state. As a result, the driver can check the timing at which the steering wheel is turned back little by little while looking at the door mirror 11 to return the fully steered steering straight and the position at which the vehicle 10 is stopped within the target parking frame 20. it can.
[0024]
The present invention is not limited to the embodiment described above. For example, in the above-described embodiment, the case where the camera 4 built in the left door mirror 11 of the vehicle 10 is used to park in the target parking frame 20 on the left side of the vehicle 10 is described. It is also possible to park in the target parking frame on the right side of the vehicle using a camera.
[0025]
The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the camera 4 with a built-in door mirror constitutes a photographing device, the display 1 constitutes a display device, the door mirror storage device 6 constitutes a door mirror control device, and the parking assist switch 5 constitutes a parking assist switch. In addition, as long as the characteristic function of this invention is not impaired, each component is not limited to the said structure.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of an embodiment of a vehicle parking assistance apparatus according to the present invention. FIG. 2 explains a procedure for determining an initial position of a vehicle when the vehicle is put into a target parking frame. Fig. 3 is a diagram showing the operation of the parking assist switch until the vehicle is stopped at the initial position, the screen content displayed on the display, the state of the door mirror, and the position of the vehicle. Fig. 4 (a) Fig. 4B is a diagram showing an image taken with the door mirror not retracted, and Fig. 4B is a diagram showing an image taken with the door mirror retracted.
DESCRIPTION OF SYMBOLS 1 ... Display, 2 ... Navigation apparatus, 3 ... Parking assist system controller, 4 ... Camera with built-in door mirror, 5 ... Parking assist switch, 6 ... Door mirror storage device, 10 ... Vehicle, 11 ... Door mirror, 20 ... Target parking frame, L1, L2 ... Guidelines

Claims (5)

In the vehicle parking assistance device for assisting to stop the vehicle at the vehicle initial position for parking the vehicle at the target parking position on the side of the vehicle,
A door mirror control device for controlling storage / non-storage of the door mirror;
A photographing device built in the door mirror, arranged to photograph the side of the vehicle when the door mirror is retracted, and to photograph the front side of the vehicle when the door mirror is not retracted ;
When the door mirror is not retracted, a first vehicle position is determined based on a front side image of the vehicle photographed by the photographing device and a boundary line between the target parking position and the vehicle travel path. When the door mirror is retracted, a side image of the vehicle photographed by the photographing device, and a parking frame positioned on the left side of the vehicle when the vehicle completes parking at the target parking position A vehicle parking assistance device comprising: a display device that displays a second guideline for determining the vehicle initial position with reference to a line . In the vehicle parking assistance device according to claim 1,
The first guideline is a mark for setting the distance from the target parking position to the side of the vehicle to a predetermined distance, and the second guideline is a mark for stopping the vehicle at the vehicle initial position. A parking assist device for a vehicle, characterized in that The vehicle parking assistance device according to claim 1 or 2,
It further includes a parking assist switch operated by a vehicle occupant,
The display device displays, based on an initial operation of the parking assist switch by an occupant, an image taken by the photographing device when the door mirror is not retracted and the first guideline. apparatus. In the vehicle parking assistance device according to claim 3,
When the parking assist switch is operated again after the first guideline is displayed on the display device, the door mirror control device stores the door mirror,
The vehicle parking assistance apparatus, wherein the display device displays an image photographed by the photographing device and the second guideline in a state where the door mirror is stored. The vehicle parking assistance device according to claim 4,
The door mirror control device returns the door mirror in the retracted state to a non-retractable state when the parking assist switch is further operated after the second guideline is displayed on the display device. Parking assistance device.

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