JP4416000B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that performs parking assistance control for guiding a vehicle along a target locus to a parking target position set by a user.

  2. Description of the Related Art Conventionally, there is known a parking assist device that superimposes and displays a target parking frame display (an image of a vehicle after completion of automatic parking) that can be adjusted by a user on a real image around the vehicle on a display monitor (for example, , See Patent Document 1). According to this prior art, by leaving the setting of the parking target position to the user, the intention of the user such as when the vehicle is desired to be parked by being right-justified or left-justified within the parking frame is reflected. Unlike the configuration in which the system side automatically determines the parking target position based on the recognition result or the like, it is possible to prevent the vehicle from being guided to the parking target position contrary to the user's intention.

Further, in the parking assistance system that automatically guides the vehicle to the parking target position, the current vehicle is based on each wheel speed detected by the wheel speed sensor and the yaw rate detected by the yaw rate sensor during the execution of the parking assistance control. A technique is known for correcting the deviation from the target trajectory by estimating the position and, when the current vehicle position deviates from the target trajectory, by correcting and turning the rear wheels according to the deviation from the target trajectory. (For example, refer to Patent Document 2).
JP 11-208420 A Japanese Patent Laid-Open No. 10-264839

  However, in a general parking assistance system, as in the conventional parking assistance system described above, the current vehicle position monitored during execution of the parking assistance control is estimated based on information from a wheel speed sensor, a yaw rate sensor, or the like. Value. For this reason, when road disturbances, system abnormalities (for example, abnormalities such as failure in the yaw rate sensor), etc. occur, there is an error between the estimated current vehicle position and the actual vehicle position, The system may recognize that the current vehicle position exists on the target route. In this case, unless the state in which such an error has occurred can be detected, the parking support control is continued, and there is a problem that the vehicle is led to a position different from the intended parking target position set by the user.

  Accordingly, an object of the present invention is to provide a parking assist device that can reliably prevent a vehicle from being led to a position different from an intended parking target position due to an estimation error of the current vehicle position. To do.

In order to achieve the above object, the first invention provides means for superimposing and displaying a target parking frame display capable of adjusting a display position by a user on a real image around the vehicle, and the target parking frame display on the real image. Means for determining a parking target position based on the display position, and a parking support device that performs parking support control for guiding a vehicle along a target locus to the parking target position,
Feature point recognition means for recognizing feature points in the real image;
Storage means for storing a relative relationship between the parking target position and the feature point;
Vehicle position estimation means for estimating a vehicle position during execution of parking assist control;
Based on the estimation result of the vehicle position estimation means and the recognition result of the feature points by the feature point recognition means during execution of parking support control, the relative relationship stored in the storage means is maintained during execution of parking support control. And a trajectory correcting means for automatically correcting the target trajectory.

The parking assist device according to the second invention comprises an imaging means for imaging the scenery around the vehicle,
Means for superimposing and displaying the target parking frame display on the actual image obtained from the imaging means;
First display position changing means for changing the display position of the target parking frame display in response to an instruction input via the input means;
Parking target position determining means for determining a parking target position based on the display position of the target parking frame display;
Target trajectory calculating means for calculating a target trajectory up to the parking target position;
Control means for performing parking support control for guiding the vehicle along the target locus to the parking target position based on the target locus calculated by the target locus calculating means;
Vehicle position estimation means for estimating a vehicle position during execution of parking assist control;
Second display position changing means for changing the display position of the target parking frame display in accordance with a change in the vehicle position during execution of parking support control based on the estimation result of the vehicle position by the vehicle position estimating means;
Feature point recognition means for recognizing a feature point in an actual image obtained from the imaging means;
Storage means for storing a target parking frame display when the parking target position is determined and a relative relationship between the feature points as a reference relative relationship;
The target parking frame display after the display position is changed by the second display position changing unit based on the recognition result of the feature point by the feature point recognizing unit that is executing the parking support control, and the feature point A relative relationship calculating means for calculating the relative relationship;
Comparing means for comparing the relative relation calculated by the relative relation calculating means with the reference relative relation stored in the storage means;
Trajectory correcting means for correcting the target trajectory based on the comparison result of the comparing means.

  According to the present invention, even if an error occurs in the estimation of the current vehicle position, the vehicle can be reliably guided to the intended parking target position.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment of a parking assistance apparatus according to the present invention. As shown in FIG. 1, the parking assistance device is configured around an electronic control unit 12 (hereinafter referred to as “parking assistance ECU 12”). Parking assistance ECU12 is comprised as a microcomputer which consists of CPU, ROM, RAM, etc. which were mutually connected via the bus | bath which is not shown in figure. The ROM stores a program executed by the CPU.

  The parking assist ECU 12 includes a steering angle sensor 16 that detects a steering angle Ha of a steering wheel (not shown) and a vehicle speed sensor 18 that detects a vehicle speed V via an appropriate bus such as a high-speed communication bus. It is connected. The vehicle speed sensor 18 may be a wheel speed sensor that is disposed on each wheel and generates a pulse signal at a cycle according to the wheel speed. Output signals from the steering angle sensor 16 and the vehicle speed sensor 18 are supplied to the parking assist ECU 12.

  A shift position sensor 50 and a parking switch 52 are connected to the parking assist ECU 12. The shift position sensor 50 supplies an electric signal corresponding to the operation position of the shift lever to the parking assist ECU 12. Moreover, the parking switch 52 is provided in the vehicle interior and can be operated by the user. The parking switch 52 is normally maintained in an off state, and is turned on by a user operation. The parking assistance ECU 12 determines whether or not the shift lever is in the R range based on the output signal of the shift position sensor 50, and determines whether or not the user needs parking assistance based on the output signal of the parking switch 52. Determine.

  The parking assist ECU 12 is connected to a back monitor camera 20 disposed in a bumper central portion at the rear of the vehicle and a display monitor 22 provided in the passenger compartment. The back monitor camera 20 is a CCD camera that captures a landscape in a predetermined angle area behind the vehicle, and supplies the captured image signal to the parking assist ECU 12. The parking assist ECU 12 displays the captured image (actual image) of the back monitor camera 20 on the display monitor 22 when the shift lever is in the R range and the parking switch 52 is in the ON state. At this time, on the display monitor 22, as shown in FIG. 2 (screen for parking in a garage), a target parking frame display is superimposed on the captured image, and a touch switch for setting a parking target position is displayed. Is done.

  As shown in FIG. 2, the touch switch for setting the parking target position includes an adjustment switch for moving the target parking frame display in the vertical and horizontal directions and rotating, and the type of parking to be executed (parallel parking or garage A parking selection switch (not shown) for selecting “parking parking” and a confirmation switch for confirming the position of the target parking frame display (including the orientation; the same applies hereinafter) may be included. Each of these touch switches is displayed on the display monitor 22 at an appropriate stage according to the purpose. The target parking frame display may be a figure imitating the actual parking frame or the outer shape of the vehicle, as indicated by a broken line in FIG. The target parking frame display has a form in which the position and orientation can be visually recognized by the user, and two types of display for garage parking and display for parallel parking may be prepared.

  The user changes the position of the target parking frame display on the display monitor 22 by using the parking target position setting touch switch (adjustment switch), so that the target parking frame display is adapted to the actual parking frame. The operation is performed on the display monitor 22. That is, the user adapts the target parking frame display position to the actual parking frame position by moving the target parking frame display in the vertical and horizontal directions and rotating on the display monitor 22 using the adjustment switch. Let The target parking frame display whose position has been adjusted in this way is determined as the final target parking frame display position when the user presses the confirmation switch, for example (that is, the setting of the parking target position by the user is completed). To do).

  Thus, when the final target parking frame display position is determined by the user, the parking assist ECU 12 determines a parking target position corresponding to the target parking frame display position, and starts parking for the parking target position. Based on the positional relationship, the target trajectory (see FIG. 3) is calculated, and the target turning angle of the wheel to be steered at each position on the target trajectory is calculated. Note that the target parking frame display position and the parking target position always correspond one to one. Hereinafter, the parking target position determined when the position of the target parking frame display is determined by the user is referred to as “desired parking target position”.

  An automatic steering means 30, an automatic braking means 32, and an automatic drive means 34 are connected to the parking assist ECU 12 via an appropriate bus. The parking assist ECU 12 controls the automatic steering means 30, the automatic braking means 32, and the automatic drive means 34 so that the vehicle is guided along the target locus. Specifically, when the driver reduces the amount of depression of the brake pedal, a creep force is generated, and when the vehicle starts to move backward, the parking assist ECU 12 uses the automatic steering means 30 at each vehicle position on the target locus. The wheels are automatically turned by the target turning angle. Then, when the vehicle finally reaches the parking target position, the driver is requested to stop the vehicle (or the vehicle is automatically stopped by the automatic braking means 32), and the parking support control is completed.

  The parking assistance ECU 12 of this embodiment monitors whether or not the relationship between the target parking frame display and the feature points on the real image is maintained during the execution of the parking assistance control described above. Specifically, the parking assist ECU 12 calculates the relative relationship between the target parking frame display and the feature points on the actual image when the confirmation switch is operated by the user. This feature point is a feature point on the real image that is image recognizable and in the vicinity of the target parking frame display, preferably a white line of the actual parking frame corresponding to the target parking frame display, As long as image recognition is possible, it may be another feature point such as a road shoulder or a wheel stop near the target parking frame display. The relative relationship between the target parking frame display and the feature point on the actual image is the distance between the predetermined reference point on the target parking frame display and the feature point on the actual image (or the feature point on the actual image and the target parking point). In the case of parking in a garage, a line (typically defined by a predetermined line of the target parking frame display and a predetermined feature point on the actual image is included. Specifically, it may further include an angle formed with a white line. The relationship between the target parking frame display and the feature points on the actual image when the position of the target parking frame display calculated by the parking assist ECU 12 is determined by the user is hereinafter referred to as “reference relative relationship”. Called. The parking assistance ECU 12 stores the reference relative relationship in a predetermined storage unit (for example, the RAM of the parking assistance ECU 12).

  In addition, since the coordinate value of the coordinate system on the display monitor 22 and the coordinate value of the real coordinate system correspond one-to-one by a predetermined conversion formula, the reference relative relationship described above is a relationship based on the coordinate system on the display monitor 22. Or a relationship based on a real coordinate system.

  By the way, in the parking support control as described above, since the target turning angle is determined in advance at each vehicle position on the target locus, as long as the vehicle position is accurately estimated during the execution of the parking support control, The vehicle can be reliably guided to the parking target position of the period. However, the vehicle position during the execution of the parking assist control is only estimated based on information obtained from the vehicle speed sensor 18 and the steering angle sensor 16, and therefore, system abnormality (for example, failure of the sensor itself) or environment If there is an error between the estimated vehicle position and the actual vehicle position due to dynamic disturbance (road disturbance), the vehicle will be guided to a parking target position that is different from the intended parking target position. Inconvenience occurs (see FIG. 3). Therefore, it is useful from the viewpoint of improving the reliability and accuracy of the parking assistance control that it is possible to detect a state in which an error is generated between the estimated vehicle position and the actual vehicle position (that is, deviation from the target locus).

  On the other hand, the parking support ECU 12 of the present embodiment calculates the relationship between the target parking frame display and the feature points on the real image for each predetermined period during the parking support control, and the calculation result And the above-mentioned reference relative relationship. In other words, in this embodiment, the relative position of the target parking frame display based on the position of the absolute feature point based on the image recognition is monitored during the execution of the parking assist control. Here, the position of the target parking frame display on the display monitor 22 during the execution of the parking assistance control is determined by estimation based on information from the vehicle speed sensor 18 and the steering angle sensor 16 as in the case of the vehicle position during the execution of the parking assistance control. ing. Therefore, according to the present embodiment, a deviation from the reference relative relationship of the relative relationship between the target parking frame display and the feature point on the real image that can occur during the execution of the parking assistance control (that is, the target for the absolute feature point). By detecting the relative position relationship of the parking frame display), an error has occurred between the estimated vehicle position and the actual vehicle position due to a system abnormality or the like (ie, deviation from the target locus). Can be detected.

  Further, in this embodiment, when it is detected that the relative relationship between the target parking frame display during execution of the parking assist control and the feature point on the actual image deviates from the reference relative relationship, the parking assist ECU 12 In order to correct the deviation, the position of the target parking frame display on the display monitor 22 is automatically changed. Further, the parking assistance ECU 12 recalculates the target locus and the target turning angle corresponding to the position of the new target parking frame display, and restarts the parking assistance control according to the target locus and the like. Therefore, according to the present embodiment, even if the vehicle deviates from the target locus due to a system abnormality or the like, the deviation is corrected and the reference relative relationship is always ensured. The vehicle can be reliably guided to the parking target position. In other words, according to the present embodiment, the user can move the vehicle to the intended parking target position even if a system abnormality or the like occurs unless the parking target position is newly set by the user during execution of the parking assist control. Can be guided reliably.

  Further, in this embodiment, the parking assist control is not executed directly based on the white line information of the actual parking frame obtained by the image recognition, but as described above, the target parking frame display set by the user is only displayed. Based on this, parking assistance control is executed. Therefore, in the present embodiment, when the user wants to park in a position that is biased to the left or right with respect to the center line of the actual parking frame or in an inclined direction due to surrounding obstacle conditions or the convenience of opening and closing the door. Can also respond to the user's intention.

  Alternatively, in this embodiment, the vehicle movement vector relative to the feature point on the real image during execution of parking support control is compared with the absolute movement vector of the vehicle during execution of parking support control. A configuration is also possible in which deviation of the vehicle from the target locus is detected when a deviation occurs in these movement vectors. Further, when a shift occurs in the movement vector, the vehicle can be reliably guided to the intended parking target position by recalculating the target locus and the target turning angle according to the shift amount. In this case, the movement vector of the feature point on the actual image is calculated based on the image recognition, and the movement vector of the vehicle is being subjected to parking assist control based on the output signals of the vehicle speed sensor 18 and the steering angle sensor 16. It is estimated by calculating the amount of change in the moving distance of the vehicle and the direction of the vehicle. These movement vectors may be calculated and estimated every time the vehicle travels a predetermined movement distance (for example, 0.5 m) and may be compared with each other.

  Similarly, the position of the vehicle that is executing the parking support control based on the parking start position is detected based on the image recognition, and the movement amount of the vehicle that is executing the parking support control (the vehicle speed sensor 18 and the steering angle sensor 16). It is also possible to perform the estimation based on the output signal. In such a configuration, vehicle positions detected and estimated independently of each other are compared, and when they are different from each other, a deviation of the vehicle from the target locus can be detected. Further, when the vehicle positions are different from each other, the vehicle can be reliably guided to the intended parking target position by recalculating the target locus and the target turning angle according to the difference amount.

  Further, in the present embodiment, it is possible to simply interrupt the parking support control without recalculating the target locus and the target turning angle when the deviation of the vehicle from the target locus is detected. Further, it is possible to adopt a configuration in which parking support control is interrupted when a deviation of the vehicle from the target locus is detected and an appropriate target locus cannot be obtained as a result of recalculation.

  Next, with reference to FIG. 4, a process executed for the purpose of detecting a deviation of the vehicle from the target locus as described above and correcting the deviation will be described. FIG. 4 is a flowchart of a processing routine executed by the parking assist ECU 12 according to this embodiment. This processing routine is started, for example, when the shift lever is in the R range and the parking switch 52 is turned on.

  In step 100, a process of displaying the captured image of the back monitor camera 20 on the display monitor 22 and displaying the target parking frame display superimposed on the captured image is executed. At this time, the initial position of the target parking frame display displayed on the display monitor 22 may be determined by estimation based on the traveling state of the vehicle up to the parking start position, for example. Alternatively, the initial position of the target parking frame display may be specified by the user directly touching the touch screen of the display monitor 22, and in such a case, the initial position of the target parking frame display is in a captured image around the touch position. May be determined based on the recognition result of the white line.

  In the subsequent step 110, processing for changing the display position of the target parking frame display in accordance with the operation of the touch switch (excluding the confirmation switch) by the user is executed. The process of step 110 is executed until the confirmation switch is operated by the user. If the confirmation switch is operated without the touch switch being operated by the user, the process proceeds to step 120 without executing any processing in step 110. In step 110, the target parking frame display is moved in accordance with the operation mode of the adjustment switch described above.

  In the following step 120, a white line around the target parking frame display when the confirmation switch is operated is searched, and the relative relationship between the target parking frame display and the feature point on the real image (in this example, the feature point on the white line). Is determined and stored as a reference relative relationship. At this time, as described above, the reference relative relationship may be a distance between a predetermined reference point of the target parking frame display (for example, a vertex or intersection of the target parking frame display) and a predetermined point of the white line. In the case of parking, an angle formed by the direction of the target parking frame display and the direction of the actual parking frame (white line frame) may be further included.

  In the following step 130, a parking target position is determined based on the target parking frame display determined in step 120, and a target locus for guiding the vehicle from the current vehicle position (ie, parking start position) to the parking target position is determined. While calculating, the process which calculates the target turning angle of the wheel which should be steered in each position on a target locus is performed. When the process of step 130 is completed, the pre-process for executing the parking support control is completed. When the reverse of the vehicle is started after the completion of step 130, execution of parking support control is started, and the processing of steps 140 to 170 is repeatedly executed until the parking target position is reached (determined in step 180). . Note that the processing of steps 140 to 170 may be executed, for example, every 0.5 m of the moving distance of the vehicle.

  In step 140, based on the relative relationship between the vehicle position estimated in the previous processing routine (the parking start position in the first case) and the vehicle position estimated in the current processing routine, the target parking frame display on the display monitor 22 is displayed. Processing for determining the position (position after movement) is executed. The estimation of the vehicle position may be realized by calculating the moving distance of the vehicle and the amount of change in the vehicle direction that occurs during the moving distance. In this case, the moving distance of the vehicle is calculated by time-integrating the output signal (wheel speed pulse) of the vehicle speed sensor 18, and the amount of change in the direction of the vehicle corresponds to the road surface curvature (the reciprocal of the turning radius of the vehicle, (Determined based on the rudder angle obtained from the rudder angle sensor 16) is integrated by the travel distance (the integral section is the calculated travel distance of the vehicle (0.5 m in this example)). . Note that the amount of change in the direction of the vehicle is obtained by multiplying the road surface curvature obtained for each minute movement distance (for example, 0.01 m) by the minute movement distance (0.01), and multiplying these multiplied values by the movement distance 0.5 m. It may be calculated by integrating the minutes. Note that the relationship between the road surface curvature and the steering angle may be stored in the ROM of the parking assist ECU 12 as a map created based on the correlation data acquired in advance for each vehicle.

  In the next step 150, the position of the target parking frame display on the display monitor 22 is updated, a white line in the real image around the position of the target parking frame display is searched, and a predetermined reference point (the above-mentioned reference parking frame display) A process for calculating a relative relationship between the same reference point as in step 120) and a feature point on the actual image (the same feature point as in step 120) is executed.

  In the subsequent step 160, processing for determining whether or not the relative relationship calculated in step 150 is within a predetermined range with respect to the reference relative relationship calculated in step 120 is executed. For example, in this step 160, it is determined whether or not the absolute value of the difference between the distance between the reference point and the feature point calculated in step 150 and the same distance related to the reference relative relationship is smaller than a predetermined threshold value. Good.

  If the determination in step 160 is affirmative, it is determined that the reference relative relationship is maintained (that is, it is determined that there is no deviation of the vehicle from the target locus), and the process returns to step 140. On the other hand, if the determination in step 160 is negative, it is determined that the reference relative relationship is disturbed due to some cause (for example, system abnormality) (that is, the deviation of the vehicle from the target locus has occurred), and the process proceeds to step 170. move on.

  In step 170, processing for correcting the position of the target parking frame display on the display monitor 22 is executed in accordance with the amount of deviation of the relative relationship calculated in step 150 from the reference relative relationship. In step 170, a process of recalculating the target locus and the target turning angle is further executed according to the corrected target parking frame display position. As a result, after the end of this step 150, the vehicle is controlled in accordance with the newly calculated target locus and target turning angle. In addition, the relative relationship between the reference point of the corrected target parking frame display and the feature point on the actual image matches the reference relative relationship (note that the parking target position corresponding to the corrected target parking frame display) Is the same as the parking target position (the intended parking target position) determined in step 130). When the process of step 170 is completed, the process returns to step 140.

  As described above, according to the present embodiment, the relative relationship between the target parking frame display during execution of the parking assistance control and the feature point on the real image is monitored based on the reference relative relationship, and By detecting the deviation, it is possible to detect a deviation of the vehicle from the target trajectory caused by a system abnormality or the like. In addition, when the deviation of the vehicle from the target locus is detected, the target locus and the target turning angle are recalculated so that the reference relative relationship is maintained, thereby determining the intended parking target position (ie, determined in step 130). The vehicle can be reliably guided to the parking target position).

  Next, a process when the target parking frame display is changed by a user operation during the execution of the parking assistance control will be described with reference to FIG. FIG. 5 is a flowchart of a processing routine executed by the parking assist ECU 12 of the present embodiment. This processing routine is an interruption routine that is executed when the target parking frame display is changed by a user operation during the execution of the processing of steps 140 to 170 in FIG.

  When the above-described adjustment switch is operated by the user during the execution of the parking assist control, first, in step 300, the display position of the target parking frame display is changed according to the operation of the adjustment switch until the confirmation switch is operated again. Processing to change is executed.

  In the subsequent step 310, when the confirmation switch is operated again, a predetermined reference point (the same reference point as in step 120) of the target parking frame display and a feature point on the actual image (the same feature point as in step 120 above). ) Is calculated. In step 310, a process of updating and storing the calculated relative relationship as a new reference relative relationship is further executed.

  In the subsequent step 320, a parking target position is newly determined based on the target parking frame display determined in step 310, and a target locus for guiding the vehicle from the current vehicle position to the new parking target position is calculated. Then, processing for calculating the target turning angle of the wheel to be steered at each position on the target locus is executed. When the process of step 320 is completed, the interrupt routine is terminated, and the processes after step 140 are resumed (that is, parking support control is resumed). Therefore, the new reference relative relationship calculated in step 310 is used in the determination process in step 160.

  By the way, since the relationship between the target parking frame display on the display monitor 22 and the actual parking frame becomes clear as the vehicle moves backward, the position of the target parking frame display accurately corresponds to the initial setting of the user. In some cases, the user may notice later during execution of the parking assistance control. On the other hand, according to the present embodiment, as described above, the resetting of the target parking frame display is allowed during the execution of the parking assist control, so that the vehicle can be surely reached to the parking target position corresponding to the initial intention of the setting. It becomes possible to guide.

  Next, referring to FIG. 6 and FIG. 7, it is suitable for readjustment of the target parking frame display during execution of the parking assistance control, that is, readjustment of the target parking frame display executed by the user during the processing of step 300. The adjustment switch will be described.

  As shown in FIG. 6, the adjustment switch of this embodiment includes a standard switch 70 that realizes standard movement of the target parking frame display (that is, vertical and horizontal movement and rotational movement), and actual parking in the actual image. And an auxiliary switch 72 for realizing parallel movement of the target parking frame display along the white line of the frame. Therefore, when the auxiliary switch 72 is operated, the target parking frame display moves along the longitudinal direction of the white line of the actual parking frame, as shown by the arrow in FIG. Thereby, it is possible to easily realize the position correction in the front-rear direction of the target parking frame display whose direction corresponds to the actual parking frame but does not correspond to the position in the front-rear direction by the auxiliary switch 72. .

  Note that the adjustment switch according to the present embodiment may be displayed on the display monitor 22 during execution of parking assist control (for example, during execution of the processing of steps 140 to 170 in FIG. 4). Alternatively, the adjustment switch of the present embodiment may be displayed on the display monitor 22 before the parking assist control is executed, that is, at the stage of setting the target parking frame display. Further, in the configuration in which the position of the target parking frame display is determined based on the recognition result of the white line in the peripheral area at the position touched by the user, it is difficult to accurately identify the positions of the front and rear ends of the white line by image recognition. Therefore, the target parking frame display may be shifted in the front-rear direction with respect to the actual parking frame (the orientations tend to match). Therefore, in such a configuration, the auxiliary switch 72 that realizes the front-rear direction movement of the target parking frame display along the white line is particularly suitable.

  Moreover, as shown in FIG. 7, the auxiliary switch 72 of the present embodiment may be displayed superimposed on the peripheral position of the target parking frame display on the actual image. Further, the auxiliary switch 72 may be an arrow figure having a direction corresponding to the moving direction to be realized, as shown in FIG. As a result, the user can intuitively understand the function of the auxiliary switch 72.

  In this embodiment, the auxiliary switch 72 may realize not only the movement of the target parking frame display in the direction parallel to the longitudinal direction of the white line but also the movement in the direction perpendicular to the longitudinal direction of the white line. Further, the auxiliary switch 72 may realize the above-described various movements based on the longitudinal direction of the target parking frame display instead of the longitudinal direction of the white line.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the target parking frame display position and the vehicle position (and the vehicle movement vector) on the display monitor 22 during the execution of the parking assistance control are output from the steering angle sensor 16 and the vehicle speed sensor 18. However, it is also possible to estimate based on output signals from the yaw rate sensor and the vehicle speed sensor 18.

1 is a system configuration diagram showing an embodiment of a parking assistance device according to the present invention. It is a figure which shows an example of the touch panel for parking target position setting on the display monitor. It is explanatory drawing which shows the deviation state of the vehicle from a target locus. It is a flowchart of the processing routine which parking assistance ECU12 of a present Example performs. It is a flowchart of the processing routine which parking assistance ECU12 of a present Example performs when the target parking frame display is changed by user operation during execution of parking assistance control. It is a figure for demonstrating the function of the switch for an adjustment of a present Example. It is a figure for demonstrating the structure of the switch for adjustment of a present Example.

Explanation of symbols

12 Parking assistance ECU
16 Steering angle sensor 18 Vehicle speed sensor 20 Back monitor camera 22 Display monitor 30 Automatic steering means 32 Automatic braking means 34 Automatic driving means 50 Shift position sensor 52 Parking switch 70 Standard switch 72 Auxiliary switch

Claims (7)

Means for superimposing and displaying a target parking frame display that allows the user to adjust the display position on a real image around the vehicle, and means for determining a parking target position based on the display position of the target parking frame display on the real image A parking assistance device that performs parking assistance control for guiding the vehicle along a target locus to the parking target position,
Feature point recognition means for recognizing feature points in the real image;
Storage means for storing a relative relationship between the parking target position and the feature point;
Vehicle position estimation means for estimating a vehicle position during execution of parking assist control;
Based on the estimation result of the vehicle position estimation means and the recognition result of the feature points by the feature point recognition means during execution of parking support control, the relative relationship stored in the storage means is maintained during execution of parking support control. As described above, the parking assist apparatus further includes trajectory correcting means for automatically correcting the target trajectory.   The parking assistance device according to claim 1, wherein the display position of the target parking frame display can be adjusted during execution of parking assistance control. The parking assistance device according to claim 1 or 2 , wherein the feature point in the real image is a white line of a parking frame, and the target parking frame can be adjusted in position in a direction parallel to the white line. Imaging means for imaging the scenery around the vehicle;
Means for superimposing and displaying the target parking frame display on the actual image obtained from the imaging means;
First display position changing means for changing the display position of the target parking frame display in response to an instruction input via the input means;
Parking target position determining means for determining a parking target position based on the display position of the target parking frame display;
Target trajectory calculating means for calculating a target trajectory up to the parking target position;
Control means for performing parking support control for guiding the vehicle along the target locus to the parking target position based on the target locus calculated by the target locus calculating means;
Vehicle position estimation means for estimating a vehicle position during execution of parking assist control;
Second display position changing means for changing the display position of the target parking frame display in accordance with a change in the vehicle position during execution of parking support control based on the estimation result of the vehicle position by the vehicle position estimating means;
Feature point recognition means for recognizing a feature point in an actual image obtained from the imaging means;
Storage means for storing a target parking frame display when the parking target position is determined and a relative relationship between the feature points as a reference relative relationship;
The target parking frame display after the display position is changed by the second display position changing unit based on the recognition result of the feature point by the feature point recognizing unit that is executing the parking support control, and the feature point A relative relationship calculating means for calculating the relative relationship;
Comparing means for comparing the relative relation calculated by the relative relation calculating means with the reference relative relation stored in the storage means;
A parking assistance apparatus comprising: a trajectory correcting means for correcting the target trajectory based on a comparison result of the comparing means.   The parking assistance device according to claim 1 or 4, wherein the feature point in the real image is a white line of a parking frame. The feature point in the real image is a white line of the parking frame,
The parking support according to claim 4, wherein the input means includes an input means for inputting an instruction to the first display position changing means to change the display position of the target parking frame display along a direction parallel to the white line. apparatus. The first display position changing unit changes the display position of the target parking frame display according to the instruction when an instruction is input through the input unit during the execution of parking support control.
When the display position of the target parking frame display is changed by the first display position changing unit during execution of parking support control, the parking target position determining unit displays the target parking frame display after the change according to the change. Re-determine the parking target position based on the position;
When the parking target position is re-determined by the parking target position determining unit during execution of parking support control, the target locus calculating unit calculates the target locus to the parking target position after re-determination accordingly The parking assistance device according to claim 4 or 6, wherein recalculation is performed.

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