JP4312883B2 - Vehicle parking assist device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle parking assistance device that provides driving assistance based on image information to a driver who drives a vehicle, particularly when parking.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, proposals have been made to install a video camera or the like on a vehicle such as an automobile and to capture a blind spot image from a driver and to provide parking assistance to the driver of the vehicle. For example, in Japanese Patent Application Laid-Open No. 64-14700, a progress prediction curve is calculated from a steering angle, displayed superimposed on an image captured by a camera, and a vehicle contour indicating the contour of the vehicle is additionally displayed to assist parking. Prior art to do is disclosed. In Japanese Patent Laid-Open No. 7-44799, a parking space is measured by a lateral distance sensor, whether or not parking is possible, an operation amount of a handle or the like is calculated from data such as position and vehicle characteristics, and is displayed or automatically controlled. Prior art is disclosed. Japanese Patent Application Laid-Open No. 10-283592 discloses a prior art for determining and notifying the possibility of contact between the host vehicle and an obstacle through three-dimensional analysis of the image, and displaying the relationship as an image.
[0003]
[Problems to be solved by the invention]
As in the prior art disclosed in Japanese Patent Application Laid-Open No. 64-14700, when a vehicle is retracted and parked simply by displaying a progress prediction curve superimposed on a camera image or by additionally displaying a vehicle contour line indicating the contour of the vehicle, Can not provide proper driving assistance. As in the prior art disclosed in Japanese Patent Laid-Open No. 7-44799, the method of measuring a parking space with a side distance sensor cannot provide effective driving support when reversing and parking. As in the prior art of Japanese Patent Laid-Open No. 10-283592, parking assistance that guides the vehicle to a predetermined parking space is performed only by determining the possibility of contact between the host vehicle and the obstacle by three-dimensional analysis of the image. I can't.
[0004]
An object of the present invention is to provide a parking assist device for a vehicle that can effectively use a video captured by a camera and perform easy parking support for a driver.
[0005]
[Means for Solving the Problems]
  The present invention provides a vehicle parking assistance device for assisting a driver with image information when the vehicle is parked backward.
  A camera that captures the rear image of the vehicle;
  Display means for displaying an image of a rear image captured by the camera;
  Own vehicleA steering angle sensor for detecting the steering angle;
  A course prediction means for predicting the course of the host vehicle according to the steering angle detected by the steering angle sensor and calculating a progress prediction curve representing a prediction result;
  A vehicle projection that determines whether another vehicle is parked in a parking area adjacent to the parking area being imaged by the camera, and calculates a ground projection line of the vehicle when it is determined that the vehicle is parked Means,
  Progress prediction curve calculated by the course prediction means, and vehicle ground projection line calculated by the vehicle projection meansThis is a vehicle parking assistance device including a parking assistance means that displays the image superimposed on the rear image of the display means and provides parking assistance.
  According to the present invention, when an image of a parking area in which the host vehicle is going to park backward is captured by the camera, if there is another vehicle parked in the adjacent parking area, the ground projection line of the vehicle Is calculated and the ground projection line and the progress prediction curve are displayed on the rear image displayed on the display means to provide parking guidance. For example, even in the shadow portion of another vehicle that becomes the blind spot of the image, It is possible to reliably determine whether or not it will affect the progress prediction curve of the vehicle, and when guiding the host vehicle to the parking area, it is possible to ensure that the other vehicle even in the shadowed part of the image of the other vehicle. It is possible to determine whether or not the vehicle can enter the parking area without touching.
  Further, in the present invention, the parking support means displays a guideline extending the vehicle width rearward and a distance scale from the rear end portion of the vehicle superimposed on a rear image of the display means, and performs parking support. To do.
[0006]
According to the present invention, when the camera captures a rear image of the vehicle, the captured rear image is displayed on the display means. The parking assist means displays a guideline extending the vehicle width of the host vehicle rearward and a distance scale from the rear end portion of the vehicle, superimposed on the rear video. Since the guideline extends the vehicle width of the vehicle to the rear, the distance from the obstacle that moves backward after being parallel to the boundary line with the adjacent parking area in the parking area etc. It is possible to confirm based on this, and it is possible to easily determine the distance to a position where parking is completed and stopped.
[0007]
  Furthermore, the present invention providesIt further includes a parking position determination means for determining a parking position where the host vehicle should be parked,
  The parking assist means adjusts the length of the course prediction curve calculated by the course prediction means in accordance with the distance to the parking position determined by the parking position determination means, and displays it superimposed on the rear image of the display means. And provide parking assistanceIt is characterized byThe
[0008]
According to the present invention, the length of the progress prediction curve predicted according to the steering angle of the host vehicle is adjusted according to the distance to the parking position where the host vehicle should be parked. It becomes a position, and parking assistance with a display easy for the driver to see becomes possible.
[0009]
  Furthermore, in the present invention,The course prediction means includes:According to the steering angle detected by the steering angle sensor, the course of the roof part of the host vehicle is predicted, and a progress prediction curve representing the prediction result is calculated.And
  The parking support means includesThe vehicle's roof progress prediction curve calculated by the route prediction means is displayed superimposed on the rear image of the display means to provide parking assistance.UrineAnd features.
[0010]
According to the present invention, the progress prediction curve of the roof portion of the own vehicle is displayed on the rear image so as to provide parking assistance, so that the parking area does not hit the roof of the parked vehicle, etc. By retreating together with the progress prediction curve, it is possible to retreat regardless of the side of the vehicle next to the parking space that becomes a blind spot.
[0013]
  Furthermore, the present invention, MosquitoA plane model generation means for generating a planar model together with the own vehicle and the parked vehicle for the parking area where the own vehicle should be parked and the parking area adjacent to the parking area based on the rear image captured by the cameraFurther including
  The parking support means includesThe plane model generated by the plane model generation means is displayed on the display means for parking assistance.UrineAnd featuresThe
[0014]
  According to the present invention, the parking area where the own vehicle is to park and the adjacent parking area are planarized and displayed as a planar model, and the vehicle parked in the own vehicle and other parking areas is also planarized. Since it is displayed, the parking area can be displayed as shown in the view from above, and easy-to-understand parking guidance can be performed. Since the display is flat, it is possible to easily grasp the positional relationship between the host vehicle and the parking area and the adjacent parked vehicle, and the direction and traveling direction of the host vehicle.
  Furthermore, the present invention, MosquitoA plane model generation means for generating a planar model for displaying the host vehicle and a parking area where the host vehicle should be parked based on a rear image captured by the camera.Further including
  The parking support means includesThe plane model generated by the plane model generation means is displayed on the display means for parking assistance.UrineAnd features.
  According to the present invention, the parking area where the own vehicle is to be parked is flattened and displayed as a plane model, and the own vehicle is flattened and displayed, so that the parking area is displayed as seen from above. Thus, easy-to-understand parking guidance can be provided. Since the display is flat, it is possible to easily grasp the positional relationship between the host vehicle and the parking area, the direction of the host vehicle, and the traveling direction.
  Also in the present invention, HexThe progress prediction curve calculated by the road prediction means is displayed so as to be superimposed on the planar model.
  According to the present invention, the progress prediction curve displayed on the plane is displayed so that the host vehicle does not hit another vehicle or the like because the progress prediction curve of the own vehicle is displayed on the plane model for parking assistance. By retreating together, it is possible to retreat regardless of the vehicle next to the parking area that becomes the blind spot.
[0015]
Further, in the present invention, the parking support means displays on the display means so that the backward direction of the host vehicle is downward.
[0016]
According to the present invention, the backward direction of the host vehicle is displayed as downward, so that when the driver looks at the display means, an easy-to-understand display suitable for the driver's feeling can be performed.
[0017]
Further, in the present invention, the parking support means can display a rear image from the camera and a parking support image displayed on the rear image by switching to the planar model on the display means. It is characterized by.
[0018]
According to the present invention, since it is possible to switch between a parking guide that is modeled on a plane and a parking guide that is based on a rear image, it is possible to arbitrarily switch between parking support based on the actual rear image and parking support that is modeled on a plane. Therefore, it is possible to provide parking assistance that is easy for the driver to understand.
[0019]
  Furthermore, the present invention,A timer for measuring the set time,
  Direction detecting means for detecting a switching state of the traveling direction of the vehicle;Further including
  The parking support means includesWhen it is detected by the direction detection means that the traveling direction of the vehicle is switched to the reverse direction, the rear image captured by the camera is displayed on the display means to provide parking assistance to the driver, and the direction detection means When it is detected that the traveling direction of the vehicle is switched from the backward direction to the forward direction, the timer starts timing, and parking by displaying the rear image on the display means until the time set in the timer elapses. Continued supportRukoAnd featuresThe
[0020]
  According to the present invention, when the vehicle moves backward, parking assistance based on the rear image is performed, and even if the traveling direction of the vehicle is switched from backward to forward, the situation behind the vehicle is maintained until the time set in the timer elapses. Since it displays and assists in parking, it is possible to easily confirm the rear situation in the case of forward and turnback. When steering is turned back, it is possible to provide an easy-to-understand indication of how far the vehicle should be advanced.
  Furthermore, the present inventionso,The parking support means includesGuidelines for extending the width of the vehicle to the rear and the distance scale from the rear end of the vehicle,lineDisplay withDoIt is characterized byThe
  According to the present invention, when the camera captures a rear image of the vehicle, the captured rear image is displayed on the display means. The parking support means displays a guideline extending the vehicle width of the host vehicle rearward and a distance scale from the rear end of the vehicle in a line superimposed on the rear image. The guideline extends the vehicle width of the vehicle to the rear, so the approximate distance from the obstacle that moves backward is displayed as a line after it becomes parallel to the boundary line of the adjacent parking area in the parking area etc. It can confirm based on the distance scale to be performed, and can determine easily the distance etc. to the position which completes parking and stops.
  Furthermore, the present invention provides a vehicle parking assistance device for assisting a driver with image information when the vehicle is parked backward.
  Display means for displaying a rear video of the host vehicle captured by a camera mounted on the host vehicle;
  Own vehicleA steering angle sensor for detecting the steering angle;
  A course prediction means for predicting the course of the host vehicle according to the steering angle detected by the steering angle sensor and calculating a progress prediction curve representing a prediction result;
  A vehicle projection that determines whether another vehicle is parked in a parking area adjacent to the parking area being imaged by the camera, and calculates a ground projection line of the vehicle when it is determined that the vehicle is parked Means,
  Progress prediction curve calculated by the course prediction means, and vehicle ground projection line calculated by the vehicle projection meansThis is a vehicle parking assistance device including a parking assistance means that displays the image superimposed on the rear image of the display means and provides parking assistance.
  According to the present invention, when the rear image of the vehicle is captured by the camera, the captured rear image is displayed on the display means. The parking assist means displays a guideline extending the vehicle width of the host vehicle rearward and a distance scale from the rear end portion of the vehicle, superimposed on the rear video. Since the guideline extends the vehicle width of the vehicle to the rear, the distance from the obstacle that moves backward after being parallel to the boundary line with the adjacent parking area in the parking area etc. It is possible to confirm based on this, and it is possible to easily determine the distance to a position where parking is completed and stopped.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a basic configuration when driving assistance is performed in each embodiment of the present invention. For example, when the driver of the vehicle 1 moves backward to the parking lot 2 and parks, it provides driving assistance together with an image that becomes a blind spot of the driver. The rear image and the progress prediction curve 5 are displayed on the screen of the information display 4 so that the driver can park at the correct position with the white line 3 or the like as a target. The information display 4 is composed of, for example, a liquid crystal display (LCD) or the like, and displays an image for driving support generated by a parking assist ECU 6 that is an electronic control unit (hereinafter abbreviated as “ECU”) for parking support. indicate. The progress prediction curve 5 is obtained by inputting a steering angle, which is the steering angle of the steering wheel 7, into the parking assist ECU 6, and is calculated by a calculation process based on the steering angle, and is displayed on the information display 4.
[0022]
The provision of the driving assistance information by the parking assist ECU 6 is started by operating the shift lever 8 of the transmission to the reverse R position. The information for driving assistance is not limited to the image on the information display 4. It is also provided as acoustic information via the speaker 9. A rear image when the vehicle 1 moves backward is captured by the camera unit 10. The camera unit 10 is attached to the rear part of the vehicle 1, for example, and is set so that the visual field 10a faces the parking lot 2 in the direction in which the vehicle moves backward. The steering angle of the steering 7 is detected by a steering angle sensor 11. Further, the operation of the shift lever 8 to the reverse position is determined according to the back lamp SW signal 12 which is an ON / OFF signal to a switch (hereinafter abbreviated as “SW”) that controls the lighting state of the back lamp. .
[0023]
FIG. 2 shows a state where the vehicle 1 of FIG. 1 is about to enter the parking space indicated by the white line 3 of the parking lot 2 while retreating. The camera unit 10 mounted on the rear part of the vehicle 1 captures an image in the visual field 10a. The visual field 10a is set so as to include many blind spots for the driver of the vehicle 1. A pulse signal corresponding to the steering angle detected by the steering angle sensor 15 and a back lamp SW signal 16 output from the transmission that is turned on when the vehicle is moving backward are provided to the parking assist ECU 6.
[0024]
The parking assist ECU 6 responds to the NTSC video signal from the camera unit 10, the pulse signal corresponding to the steering angle operation from the steering angle sensor 7, and the back lamp SW signal 16 that is turned on when reversing. The display 4 displays the progress prediction curve 5 of the vehicle 1 and provides parking assistance with a three-dimensional information image along the progress prediction curve 5.
[0025]
FIG. 3 shows an internal configuration of the parking assist ECU 6 of FIG. The parking assist ECU 6 includes a digital signal processor (hereinafter abbreviated as “DSP”) 20 that performs overall control and calculation. Peripheral circuits are connected to the DSP 20 via the bus 21. The video signal from the camera unit 10 is input to the amplifier + filter circuit 22 as an NTSC composite video signal. The amplifier + filter circuit 22 selectively amplifies an analog video component in the video signal, and its output is converted into a digital signal by an analog-to-digital conversion (hereinafter abbreviated as “ADC”) circuit 23. Stored in the buffer circuit 24. The video signal is also supplied from the amplifier + filter circuit 22 to the synchronization separation circuit 25, and the synchronization signal components for horizontal synchronization and vertical synchronization are separated and input to the DSP 20. An angular displacement detection signal from the steering angle sensor 11 and a center position detection signal generated when detecting the center position of the steering 7 are also input to the DSP 20 via the buffer circuit 26. Further, the back lamp SW signal is also input to the DSP 20 via the buffer circuit 26.
[0026]
The DSP 20 operates according to a program set in advance in a program memory 27 connected via the bus 21. The data memory 28 stores data necessary for the program operation of the program memory 27 in advance. The DSP 20 recognizes the white line 3 and the like based on the input video signal, and performs arithmetic processing for generating the progress prediction curve 5 according to the angular displacement operation of the steering 7.
[0027]
The generated image is stored in field buffer circuits 31 and 32 whose output can be switched by the SW circuit 30. The field buffer circuits 31 and 32 are selected by the SW circuit 30 from the digital-analog conversion (hereinafter abbreviated as “DAC”) circuit 33 to the information display 4 via the filter + amplifier circuit 34 and display NTSC video. Given as output. Electric power for operation is supplied from the power source 35 to the entire parking assist ECU 6. A reset signal is supplied from the reset circuit 36, and the parking assist ECU 6 starts an operation according to the program from the initial state. The CLK + frequency dividing circuit 37 supplies a clock signal serving as a reference timing for the operation performed by the parking assist ECU 6 and a signal obtained by dividing the clock signal.
[0028]
FIG. 4 is a simplified diagram showing a state in which an image for parking assistance is displayed in the first embodiment of the present invention. In the present embodiment, when an obstacle 40 such as a parking stopper is present in the rear image captured by the camera unit 10, the guide lines 41 and 42 and the distance scales 43, 44, 45 is displayed. The guide lines 41 and 42 are straight lines obtained by extending both sides of the vehicle 1 rearward, and the distance scales 43, 44, and 45 are lines indicating the distance from the rear end of the vehicle. Since the guide lines 41 and 42 have a width corresponding to the vehicle width, the guide lines 41 and 42 may be receded linearly in the direction of the guide lines 41 and 42 if they are parallel to the white line 3 indicating the parking space. Therefore, by displaying the image of FIG. 4, it is possible to easily confirm the approximate distance from the obstacle 40 when reversing, and it is easy to set a target stop position.
[0029]
FIG. 5 is a simplified diagram showing a state in which an image for parking assistance is displayed in the second embodiment of the present invention. In the present embodiment, the length of the progress prediction curve 5 is adjusted according to the distance to the parking position. The parking position can be set to a position where an obstacle 40 such as a parking stopper exists. Therefore, the length of the progress prediction curve 5 displayed superimposed on the rear image of the vehicle 1 is from the rear end of the vehicle 1 to the obstacle 40. Since the length of the progress prediction curve 5 can be adjusted according to the distance to the parking position, a display that is easy to see for the driver is possible.
[0030]
FIG. 6 is a simplified diagram showing a state in which an image for parking assistance is displayed in the third embodiment of the present invention. In this embodiment, three parking spaces 50, 51, and 52 arranged side by side are assumed. Other vehicles 53 and 54 are already parked in the parking spaces 50 and 52 on both sides. When the driving vehicle 1 moves backward into the vacant parking space 51 between the vehicles 53 and 54 and enters the roof, the roof portion prevents the vehicle 53 and 54 parked next to the parking space 51 from hitting the roof. The progress prediction curve 55 is displayed.
[0031]
Since the vehicle 1 has a three-dimensional shape, in the progress prediction curve 5 corresponding to the bottom of the vehicle 1, a portion that is hidden behind the adjacent vehicle 53 is a blind spot, and the roof portion is the other vehicle. It is difficult to determine whether or not it hits 53, 54 or an obstacle. If the progress prediction curve 55 of the roof portion is displayed, it is possible to guide the vehicle so as not to hit the roof of the adjacent vehicles 53 and 54 and to provide parking assistance.
[0032]
FIG. 7 is a simplified diagram showing a state in which an image for parking assistance is displayed in the fourth embodiment of the present invention. In the present embodiment, as in the embodiment of FIG. 6, the vehicles 53 and 54 are parked in the parking spaces 50 and 52 on both sides of the three parking spaces 50, 51 and 52 arranged side by side. Is assumed. Projection lines 56 and 57 on the ground are displayed for the vehicles 54 and 54, respectively. By displaying the projection lines 56 and 57 of the vehicles 53 and 54 parked in the parking spaces 50 and 52 adjacent to the parking space 51, in particular, the side of the vehicle 53 on the near side of the parking space 51 that becomes a blind spot of the image. The vehicle 1 can surely enter the parking space 51 regardless of the part.
[0033]
FIG. 8 is a simplified diagram illustrating a state in which an image for parking assistance is displayed in the fifth embodiment of the present invention. Also in this embodiment, as in the embodiment of FIGS. 6 and 7, the vehicles 53 and 54 are parked in the parking spaces 50 and 52 on both sides of the three parking spaces 50, 51 and 52 arranged side by side. Assuming that In the present embodiment, the vehicles 53 and 54 parked next to the parking space 51 and the host vehicle 1 are modeled in a plane and displayed as a plane model 80 as shown in the figure as viewed from above. The plane model 80 is based on the rough shape of the parking spaces 50, 51, 52 and the vehicles 53, 54 recognized from the image, the relative position of the vehicle 1, the shape of the vehicle 1 that is input in advance, and the like. And generated by the DSP 20. By providing an objective plane display from above the vehicle 1, it becomes easy to grasp the positional relationship between the host vehicle 1, the parking space 51 and the adjacent parked vehicles 53 and 54, the direction and the traveling direction of the host vehicle 1. .
[0034]
Further, in the planar display shown in FIG. 8, the backward direction of the host vehicle 1 is displayed on the display screen of the information display 4. By performing the planar display in such a direction, it is possible to perform a display suitable for the driver's feeling that the vehicle enters the parking space 51 and settles down. Further, the plane model 80 can also be input as data in advance with respect to the shape of the parking spaces 50, 51, 52, etc. as long as the parking is normally used.
[0035]
FIG. 9 shows a schematic electrical configuration of the parking assist ECU 66 used in the sixth embodiment of the present invention. The parking assist ECU 66 is similar to the parking assist ECU 6 shown in FIG. 3, and corresponding portions are denoted by the same reference numerals, and redundant description is omitted. A shift lever position signal indicating the operation position of the shift lever 8 and a signal from the changeover switch 67 are input to the DSP 20 through the buffer circuit 68 together with the angular displacement detection signal and the center position signal. A timer 69 is also connected to the bus 21 so that the DSP 20 can set the time and measure the set time.
[0036]
The changeover switch 67 is used for switching between the display of the planar model 80 as shown in FIG. 8 and the normal rear video screen display as shown in FIGS. 6 and 7, for example. The driver of the vehicle 1 can select an easy-to-understand display by operating the changeover switch 67 according to the situation such as the parking space.
[0037]
FIG. 10 shows a procedure for performing parking assistance in the embodiment of FIG. The procedure is started from step s1, and in step s2, it is determined from the shift lever position signal whether or not the shift lever 8 is in the back gear position. If the shift lever 8 is operated to the position of the back gear, it is determined that the parking assist mode is set, and it is determined in step s3 whether the changeover switch 67 is switched to the plane model 80 side. If switched to the plane model 80 side, the plane model 80 is displayed in step s4. If it is determined in step s3 that the changeover switch 67 has not been switched to the planar model 80 side, a rear image is displayed in step s5.
[0038]
After step s4 or step s5 is finished, in step s6, it is determined whether or not the shift lever 8 is operated to the drive position. If the shift lever 8 is not operated to the drive position, it is determined that the driving state in which the vehicle moves backward and parks continues, and the process returns to step s3, and thereafter, steps s3 to s6 are repeated.
[0039]
When the shift lever 8 is operated to the drive position, the vehicle moves forward. In the present embodiment, the parking assistance is performed for a certain period of time so that effective parking assistance can be performed even when the vehicle moves backward, moves forward a little, and then retreats again to park the vehicle, such as for turning the steering wheel back. Continue. For this reason, the timer 69 starts counting in step s7, and the parking guidance is continued until the timer 69 finishes counting in step s8. When the timing of the timer 69 is completed in step s8, or when it is determined in step s2 that the shift lever 8 is not in the back position, the procedure is terminated in step s9. The timer 69 is set in advance for a certain time, for example, about several tens of seconds. If the shift lever 8 is operated to the back position before this time elapses, it is possible to return to step s3.
[0040]
In each embodiment described above, the parking assist ECUs 6 and 66 use the DSP 20 for arithmetic processing and control, but a general-purpose CPU can also be used. A plurality of DSPs and CPUs can be used in combination. Furthermore, a dedicated semiconductor integrated circuit can be used for image processing.
[0041]
【The invention's effect】
  As described above, according to the present invention,Even if the vehicle's progress prediction curve becomes a shadow of another vehicle parked in the adjacent parking area in the rear image, the ground projection line is displayed for the other vehicle, and the progress prediction curve and the ground projection line are displayed. Since the driving assistance is performed for parking, the positional relationship between the traveling prediction curve of the host vehicle to the parking area and the other vehicle can be surely confirmed even at the blind spot of the image.
  Furthermore, according to the present invention,A guideline extending the width of the vehicle and a scale of distance are displayed on the rear image so as to provide easy parking assistance for the driver.
[0042]
Furthermore, according to the present invention, the length of the progress prediction curve displayed together with the rear image is adjusted according to the distance to the stop position, so that the route to the parking in the rear image is displayed to the driver in an easy-to-understand manner. Appropriate parking assistance.
[0043]
Furthermore, according to the present invention, the progress prediction curve of the roof portion of the host vehicle is displayed superimposed on the rear image, and even if a portion that becomes a blind spot for the adjacent vehicle exists in the rear image, it does not hit the roof of the vehicle. Thus, parking assistance can be performed effectively by retreating together with the progress prediction curve.
[0045]
  Furthermore, according to the present invention, parking support can be performed by displaying the own vehicle and other vehicles in the parking area as shown in the figure when viewed from above by the plane model. It is possible to easily grasp the positional relationship with the vehicle parked in the area, the direction of the host vehicle, and the traveling direction.
  Furthermore, according to the present invention, it is possible to provide parking assistance by displaying the parking area and the host vehicle as shown in the figure when viewed from above by a plane model. It is possible to easily grasp the direction and the traveling direction.
  furtherAccording to the present invention, it is possible to display the parking area, the host vehicle, and the progress prediction curve as shown in a view from above by displaying the progress prediction curve of the host vehicle on the plane model. The parking assistance can be effectively performed by retreating according to the situation.
  Furthermore, according to the present invention, the backward direction of the host vehicle is displayed downward, so that when the driver looks at the display means, an easy-to-understand display suitable for the driver's feeling can be performed.
[0046]
In addition, according to the present invention, it is possible to switch between a parking guide in a plane model and a parking guide in which a rear image is displayed. For example, appropriate assistance is switched and selected in accordance with the parking conditions. be able to.
[0047]
  Furthermore, according to the present invention, even after the vehicle is switched from the reverse state to the forward state, the image for parking assistance based on the rear image is displayed for a certain period of time. Can be easily performed.
  Furthermore, according to the present invention, the guideline extending the vehicle width of the vehicle and the scale of the distance are superimposed on the rear image and displayed as a line, and parking assistance that is easy for the driver to understand can be provided.
  Furthermore, according to the present invention, the guideline extending the vehicle width of the vehicle and the scale of the distance can be displayed superimposed on the rear image, and parking assistance that is easy for the driver to understand can be provided.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a basic configuration for providing parking assistance in each embodiment of the present invention.
FIG. 2 is a diagram showing a state in which the vehicle 1 of FIG.
FIG. 3 is a block diagram showing an electrical configuration of the parking assist ECU 6 in FIG. 1;
FIG. 4 is a diagram showing a simplified image displayed on the information display 4 in the parking assistance according to the first embodiment of this invention.
FIG. 5 is a diagram showing a simplified image displayed on the information display 4 in parking assistance according to the second embodiment of the present invention.
FIG. 6 is a diagram showing a simplified image displayed on an information display 4 in parking assistance according to a third embodiment of the present invention.
7 is a diagram showing a simplified image displayed on an information display 4 in parking assistance according to a fourth embodiment of the present invention. FIG.
FIG. 8 is a diagram showing a simplified image displayed on the information display 4 in parking assistance according to the fifth embodiment of the present invention.
FIG. 9 is a block diagram showing an electrical configuration of a parking assist ECU 66 used in the sixth embodiment of the present invention.
FIG. 10 is a flowchart showing a control procedure in the embodiment of FIG. 9;
[Explanation of symbols]
1,53,54 Vehicle
2 Parking lot
4 Information display
5 Progress prediction curve
6,66 Parking assist ECU
7 Steering
8 Shift lever
10 Camera unit
10a Field of view
11 Steering angle sensor
12 Back lamp SW signal
20 DSP
27 Program memory
28 Data memory
40 obstacles
41, 42 Guidelines
43, 44, 45 Distance scale
50, 51, 52 Parking space
55 Progress curve of roof part
56, 57 projection line
60 plane model
67 selector switch
69 timer

Claims (12)

In the vehicle parking assistance device that assists the driver with image information when the vehicle is parked backwards,
A camera that captures the rear image of the vehicle;
Display means for displaying an image of a rear image captured by the camera;
A steering angle sensor for detecting the steering angle of the host vehicle ;
A course prediction means for predicting the course of the host vehicle according to the steering angle detected by the steering angle sensor and calculating a progress prediction curve representing a prediction result;
A vehicle projection that determines whether another vehicle is parked in a parking area adjacent to the parking area being imaged by the camera, and calculates a ground projection line of the vehicle when it is determined that the vehicle is parked Means,
And a parking assist means for providing parking assistance by displaying a progress prediction curve calculated by the course predicting means and a ground projection line of the vehicle calculated by the vehicle projecting means superimposed on a rear image of the display means. A vehicle parking assist device. The parking assist means performs parking assistance by displaying a guideline extending the vehicle width rearward and a distance scale from the rear end of the vehicle superimposed on a rear image of the display means. The vehicle parking assistance device according to the description. It further includes a parking position determination means for determining a parking position where the host vehicle should be parked,
The parking assist means adjusts the length of the course prediction curve calculated by the course prediction means in accordance with the distance to the parking position determined by the parking position determination means, and displays it superimposed on the rear image of the display means. and parking assist apparatus for a vehicle according to claim 1 or 2, characterized in the TURMERIC line parking assistance. The course prediction means predicts the course of the roof portion of the host vehicle according to the steering angle detected by the steering angle sensor, calculates a progress prediction curve representing a prediction result ,
The parking assist means, the progression prediction curve of the roof portion of the vehicle calculated by the route prediction means, superimposed and displayed on the rearward image display means, according to claim 1, wherein the TURMERIC line parking assistance The parking assistance apparatus of the vehicle as described in any one . Based on the rearward image captured by the camera, the parking area adjacent to the vehicle should the parking parking area and the parking area, the planar model producing means for producing a planar model with the vehicle of the vehicle and parked In addition,
The parking assist means, a planar model produced by the planar model producing means, the vehicle is parked according to any one of claims 1 to 4, characterized in the TURMERIC line parking assist is displayed on the display unit Support device. Based on the rearward image captured by the camera further comprises a planar model producing means for producing a planar model which displays the parking area to be parked vehicle and the own vehicle,
The parking assist means, a planar model produced by the planar model producing means, the vehicle is parked according to any one of claims 1 to 4, characterized in the TURMERIC line parking assist is displayed on the display unit Support device. Advancing path progress prediction curve calculated by the prediction means, a parking assist apparatus for a vehicle according to claim 5 or claim 6, characterized in that displayed superimposed on the plane model.   The said parking assistance means performs the display to the said display means so that the reverse direction of the own vehicle may become downward, The parking assistance apparatus of the vehicle of Claim 5 or Claim 6 characterized by the above-mentioned.   The parking support means can display on the display means a rear video from the camera and a parking support image displayed on the rear video by switching to the planar model. Item 10. The vehicle parking assistance device according to any one of Items 5 to 8. A timer for counting a time that is pre-Me set,
Further comprising a direction detection unit for detecting the traveling direction of the switching state of the vehicle,
When the direction detection means detects that the traveling direction of the vehicle is switched to the backward direction, the parking assistance means displays a rear image captured by the camera on the display means to provide parking assistance to the driver. When the direction detection means detects that the traveling direction of the vehicle is switched from the reverse direction to the forward direction, the timer starts counting time until the time set in the timer elapses. parking assist apparatus for a vehicle according to the Turkey continued parking assistance by the rear image display to any one of claims 1 to 9, wherein the. The parking assist device is described in the guidelines extended the vehicle width of the vehicle to the rear, and a distance scale from the vehicle rear end, any one of the preceding claims, characterized in that the display by the line parking assist system of the vehicle. In the vehicle parking assistance device that assists the driver with image information when the vehicle is parked backwards,
Display means for displaying a rear video of the host vehicle captured by a camera mounted on the host vehicle;
A steering angle sensor for detecting the steering angle of the host vehicle ;
A course prediction means for predicting the course of the host vehicle according to the steering angle detected by the steering angle sensor and calculating a progress prediction curve representing a prediction result;
A vehicle projection that determines whether another vehicle is parked in a parking area adjacent to the parking area being imaged by the camera, and calculates a ground projection line of the vehicle when it is determined that the vehicle is parked Means,
And a parking assist means for providing parking assistance by displaying a progress prediction curve calculated by the course predicting means and a ground projection line of the vehicle calculated by the vehicle projecting means superimposed on a rear image of the display means. A vehicle parking assist device.

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