JP4548322B2 - Parking assistance system - Google Patents

Description

  The present invention relates to a parking assistance system that assists driving when a user parks his / her own vehicle backward.

As a parking support system that supports driving when the user moves the vehicle backward and parks, for example, when the user sets the left rear side of the vehicle as a parking target position (a position where the user finally wants to park), the current position A configuration is provided in which the trajectory of the left front end of the host vehicle from the vehicle to the parking target position is calculated, and the calculated trajectory of the left front end of the host vehicle is displayed (see, for example, Patent Document 1).
Japanese Patent Application No. 11-373207

  However, in what was described in patent document 1 mentioned above, since a user needs operation which sets a parking target position, operation which sets a parking target position for a user is complicated, and there exists a problem that it is inferior to operativity. there were.

  The present invention has been made in view of the above-described circumstances, and its purpose is to perform driving in a case where the user parks his / her own vehicle backward without requiring the user to set the parking target position. An object of the present invention is to provide a parking assistance system that can appropriately assist.

  According to the first aspect of the present invention, the bird's-eye image creation means creates a bird's-eye image by performing bird's-eye conversion on the photographed image taken by the photographing means, and the synthesized bird's-eye image creation means is created by the bird's-eye image creation means. A past bird's-eye image or a past synthesized bird's-eye image created by the user and a current bird's-eye image created by the bird's-eye image creating means based on the movement / rotation state of the own vehicle detected by the movement / rotation state detecting means. To create a composite bird's-eye view image. Then, after the host vehicle retreats from the current position with the maximum steering angle in the predetermined direction, the control means is approximately the same as the traveling direction at the current position with the maximum steering angle in the direction opposite to the predetermined direction at a midpoint. The trajectory of the front end portion of the parking position side on the parking position side when it is assumed that the parking position is in the same direction is superimposed on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means and displayed on the display means.

  Thus, for example, if the user parks the host vehicle rearward on the left side, the host vehicle is moved backward from the current position with the maximum steering angle in the right direction, and then the traveling direction with the maximum steering angle in the left direction at a midpoint. Is different from the conventional one by displaying the trajectory of the left front end of the host vehicle superimposed on the synthesized bird's-eye view image, assuming that the vehicle is moved backward to the parking position that is substantially the same as the traveling direction at the current position. The user can inform the user of the positional relationship between the trajectory of the left front end of the host vehicle and an obstacle (for example, a parked vehicle) without requiring an operation for setting the parking target position, and the user moves the host vehicle backward. Therefore, it is possible to appropriately support driving when parking the vehicle.

  That is, if the trajectory of the left front end of the host vehicle is displayed with sufficient margin without overlapping the obstacle, the user turns the steering wheel to the maximum steering angle in the right direction and then moves backward ( If the steering is turned to the maximum steering angle to the left at a certain point (after starting to cut), it can be determined that the vehicle can be parked behind the obstacle, while If the trajectory of the left front end of the vehicle is displayed overlapping the obstacle, even if the steering is turned rightward to the maximum rudder angle and retracted (even if it starts to turn), the host vehicle is obstructed. It can be determined that it is impossible to park behind the object.

In addition , the control means superimposes and displays the outer peripheral line connecting the outermost sides based on the trajectories of the front end portions of the plurality of host vehicle parking positions corresponding to the plurality of halfway points on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means. Display on the means. As a result, even if the host vehicle is parked at one of a plurality of different parking positions in the vehicle width direction, the track of the front end of the host vehicle parking position side and the obstacles correspond to all cases. The positional relationship can be notified to the user.

According to the second aspect of the present invention, the control means moves in the traveling direction at the maximum steering angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle is moved backward from the current position at the maximum steering angle in the predetermined direction. Is also created by the synthetic bird's-eye image creation means, the trajectory of the front end on the opposite side of the vehicle opposite to the parking position when assuming that the vehicle has moved backward to the parking position that is substantially the same as the traveling direction at the current position. It is superimposed on the synthesized bird's-eye image and displayed on the display means. Thus, for example, when the user parks the host vehicle rearward on the left side, not only the positional relationship between the trajectory of the left front end of the host vehicle and the obstacle but also the position of the trajectory of the right front end of the host vehicle and the obstacle The user can be informed of the relationship, and the user can be alerted not only to the left front end of the host vehicle but also to the right front end of the host vehicle.

According to the third aspect of the present invention, the control means causes the display means to display the own vehicle figure representing the own vehicle in an animation display according to the trajectory or the outer peripheral line of the front end portion of the own vehicle parking position. Thus, for example, if the user parks the host vehicle rearward on the left side, the user can be notified of the manner in which the host vehicle moves backward in accordance with the trajectory of the left front end of the host vehicle or the outer peripheral line.

According to the invention described in claim 4 , the control means creates a synthetic bird's-eye view image based on the trajectory or outer peripheral line of the front end portion of the host vehicle parking position and the detection point representing the position of the obstacle detected by the obstacle detection means. The image is superimposed on the synthesized bird's-eye image created by the means and displayed on the display means. Thus, for example, when the user parks the host vehicle rearward on the left side, the user can be informed of the positional relationship between the locus of the left end of the host vehicle or the outer peripheral line and the detection point of the obstacle. Even when the obstacle is uncertain (unclear) on the image, the user can be notified of the locus of the front end of the vehicle parking position or the positional relationship between the outer peripheral line and the obstacle. That is, even when the obstacle is uncertain on the synthesized bird's-eye view, the user's left front end locus or outer peripheral line may be displayed with sufficient margin without overlapping the obstacle detection point. For example, it can be determined that the host vehicle can be parked behind the obstacle. On the other hand, if the trajectory or outer peripheral line of the left front end of the host vehicle is displayed overlapping the obstacle, the host vehicle is displayed. It can be determined that it is impossible to park the vehicle behind the obstacle.

According to the fifth aspect of the present invention, the control means moves in the traveling direction at the maximum steering angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle has moved backward from the current position at the maximum steering angle in the predetermined direction. Is the position of the obstacle detected by the obstacle detection means and the trajectory of the front end of the vehicle parking position side on the parking position side when assuming that the vehicle has moved backward to the parking position that is substantially the same direction as the traveling direction at the current position. The detection point to be displayed is displayed on the display means.

  Thus, for example, if the user parks the host vehicle rearward on the left side, the host vehicle is moved backward from the current position with the maximum steering angle in the right direction, and then the traveling direction with the maximum steering angle in the left direction at a midpoint. By displaying the trajectory of the left front end of the host vehicle and the detection point of the obstacle when it is assumed that the vehicle has moved backward to a parking position that is substantially in the same direction as the traveling direction at the current position. In the same manner as described above, the user can be notified of the positional relationship between the trajectory of the left front end of the host vehicle and the obstacle without requiring the user to set the parking target position. It is possible to appropriately support driving when reversing and parking.

Moreover , a control means displays on the display means the outer periphery line which connects the outermost sides based on the locus | trajectory of the front end part of the several own vehicle parking position side corresponding to several waypoints. Thus, in the same manner as described in claim 1 , when the host vehicle is parked at any one of a plurality of parking positions having different vehicle width directions, the host vehicle is parked corresponding to all cases. The user can be informed of the positional relationship between the locus of the position side front end and the obstacle.

According to the sixth aspect of the present invention, the control means moves in the traveling direction with the maximum steering angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle is moved backward from the current position with the maximum steering angle in the predetermined direction. Is displayed on the display means also on the trajectory of the front end portion on the opposite side of the vehicle opposite to the parking position when it is assumed that the vehicle has moved backward to the parking position that is substantially the same as the traveling direction at the current position. Thus, in the same manner as described in claim 2 , for example, if the user parks the host vehicle rearward on the left side, not only the positional relationship between the trajectory of the front end of the left side of the host vehicle and the obstacle. In addition, the user can be informed of the positional relationship between the trajectory of the right front end of the host vehicle and the obstacle, and the user is cautioned not only to the left front end of the host vehicle but also to the front right end of the host vehicle. Can do.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a case will be described in which the user parks the host vehicle rearward on the left side. FIG. 1 shows the overall configuration of the parking assistance system as a functional block diagram. The parking assist system 1 includes a control device 2 (bird's-eye image creation means, movement / rotation state detection means, synthetic bird's-eye image creation means, control means) according to the present invention, sonars 3a to 3f (obstacle detection means according to the present invention). , An in-vehicle camera 4 (photographing means in the present invention), a vehicle speed sensor 5, a yaw rate sensor 6, a steering sensor 7, a display device 8 (display means in the present invention), an audio output device 9, and a vehicle information database 10. Has been.

  The control device 2 includes a CPU, a RAM, a ROM, and an I / O bus, and controls the overall operation of the parking support system 1. As shown in FIG. 2, the sonars 3 a to 3 f are arranged at the left front end, the right front end, the left rear end, the center rear end, and the right rear end of the host vehicle. These sonars 3a to 3f detect whether or not an obstacle exists in a substantially fan-shaped detection area by radiating ultrasonic waves with a radiation angle of approximately 90 degrees.

  The in-vehicle camera 4 is disposed at the rear of the host vehicle, captures the rear of the host vehicle, and outputs the captured image to the control device 2. When a captured image is input from the in-vehicle camera 4, the control device 2 converts the input captured image into a bird's-eye view based on a predetermined viewpoint conversion algorithm to create a bird's-eye view image. The synthesized bird's-eye image and the current bird's-eye image are synthesized to create a synthesized bird's-eye image.

The vehicle speed sensor 5 detects the vehicle speed and outputs a vehicle speed detection signal representing the detected vehicle speed to the control device 2. The yaw rate sensor 6 detects the yaw rate and outputs a yaw rate detection signal representing the detected yaw rate to the control device 2. The steering sensor 7 detects the turning angle of the steering and outputs a steering detection signal representing the detected turning angle of the steering to the control device 2. The control device 2 analyzes the vehicle speed detection signal input from the vehicle speed sensor 5, the yaw rate detection signal input from the yaw rate sensor 6, and the steering detection signal input from the steering sensor 7 to determine the movement / rotation state of the host vehicle. To detect.

  The display device 8 is arranged at a position where the user can easily see the display screen. When a display instruction signal is input from the control device 2, the display device 8 displays the display screen based on the display instruction signal. The voice output device 9 is arranged at a position where the user can easily hear the voice. When the voice output instruction signal is input from the control device 2, the voice output apparatus 9 outputs the voice based on the voice output instruction signal.

  The vehicle information database 10 is substantially the same as the traveling direction at the current position with the maximum rudder angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle is moved backward from the current position at the maximum rudder angle in the predetermined direction. Stores the trajectory of the front end portion of the host vehicle parking position when it is assumed that the vehicle is retreated to the parking position in the same direction, and based on the trajectories of the front end portions of the host vehicle parking position corresponding to a plurality of midpoints. The outer peripheral line connecting the outermost sides is stored.

  Specifically, as shown in FIG. 3, the vehicle information database 10 has a maximum steering angle in the left direction at the first halfway point after the host vehicle is moved backward from the current position at the maximum steering angle in the right direction. The trajectory of the left front end of the host vehicle (see “BB ′” in FIG. 3), assuming that the traveling direction is retracted to a parking position that is substantially the same as the traveling direction at the current position, the host vehicle is directed to the right It was assumed that after reversing from the current position with the maximum rudder angle to the parking position, the second halfway point was retreated to the parking position with the maximum rudder angle to the left and the traveling direction being substantially the same as the traveling direction at the current position. In the case of the left front end of the vehicle (see “C-C ′” in FIG. 3) and the vehicle to the left at the third halfway point after retreating from the current position with the maximum steering angle in the right direction. Retreat to the parking position where the traveling direction is the same as the traveling direction at the current position at the maximum steering angle. The trajectory of the left front end of the host vehicle when it is assumed to have been stored (see “DD ′” in FIG. 3), and the outer circumference connecting the outermost sides based on the trajectories of the three front left ends of the host vehicle A line (see “L” in FIG. 3) is stored. These trajectories and outer peripheral lines are determined according to vehicle characteristics.

  Further, in the present embodiment, the case is described in which the outer peripheral line calculated with three intermediate points for turning the steering is stored, but the outer peripheral line calculated with four or more intermediate points for turning the steering is stored. May be. Furthermore, since the host vehicle may be parked not only in the rear left side but also in the rear right side, a trajectory and outer peripheral line symmetrical to these may be stored. As is clear from FIG. 3, the length from the current position to the parking position becomes longer as the distance from the current position to the midpoint becomes longer (as the timing for turning the steering is delayed) (current position). Away from). Moreover, in the above-described configuration, a part of the function (for example, display function) of the parking support system 1 may be substituted by the function of the navigation system.

Next, the operation of the above configuration will be described with reference to FIGS. Here, FIG. 4 shows a process performed by the control device 2 as a flowchart.
The control device 2 monitors whether or not the user has performed an operation for starting the parking support operation (step S1), and when the user performs an operation for starting the parking support operation ("YES" in step S1). Then, a captured image in which the rear of the vehicle is captured from the in-vehicle camera 4 is input (captured) (step S2), and the input captured image is subjected to viewpoint conversion based on a predetermined viewpoint conversion algorithm to create a bird's-eye image ( In step S3), the past bird's-eye image and the current bird's-eye image are synthesized to create a synthesized bird's-eye image (step S4). And the control apparatus 2 reads an outer periphery line from the vehicle information database 10, and as shown in FIG. 6, it superimposes the outer periphery line read from the vehicle information database 10 on a synthetic bird's-eye image, and displays it on the display apparatus 8 (step). S5).

  This informs the user of the positional relationship between the trajectory of the left front end of the host vehicle and the parked vehicle. That is, as shown in FIG. 5A, for example, in a situation where the host vehicle is positioned ahead of the parked vehicle and the outer peripheral line overlaps the parked vehicle, the outer peripheral line is Since it is displayed on the display device 8 so as to overlap with the parked vehicle, the user confirms that the outer peripheral line is overlapped with the parked vehicle, and from that time, the steering is turned rightward to the maximum steering angle. Even if the vehicle is moved backward (beginning to cut), it can be determined that it is impossible to park the host vehicle behind the parked vehicle. On the other hand, as shown in FIG. 5B, in the situation where the host vehicle is positioned behind the parked vehicle and the outer peripheral line does not overlap the parked vehicle, as shown in FIG. Since the line is displayed on the display device 8 without overlapping the parked vehicle, the user confirms that the outer peripheral line does not overlap the parked vehicle, and from that point, the steering is turned to the right in the maximum direction. It is possible to park the vehicle behind the parked vehicle by turning the steering wheel to the corner and then moving backward (after starting to cut) if the steering wheel is turned leftward to the maximum rudder angle and moved backward. It can be judged.

  Next, after the control device 2 superimposes the outer peripheral line on the synthesized bird's-eye view and displays it on the display device 8 in this way, has the steering turning angle been less than a specified angle (an angle very close to the maximum angle)? (Step S6), and if it is detected that the turning angle of the steering is less than the specified angle (“YES” in step S6), it is determined whether or not the amount of movement of the host vehicle is greater than or equal to the specified amount. Determination is made (step S7). When the control device 2 detects that the amount of movement of the host vehicle has exceeded the specified amount (“YES” in step S7), the control device 2 deletes the outer peripheral line (step S8), and the sound output device 9 outputs a warning sound. Is output (step S9). This is because the above-described series of processing assumes that the steering turning angle is maximized (in the case of the maximum steering angle), so that the host vehicle is defined with the steering turning angle not maximized. This is because the parking assistance is promptly stopped when the vehicle moves more than the amount.

  By the way, as shown in FIG. 7, the control device 2 can also cause the display device 8 to display the own vehicle figure representing the own vehicle in an animation display (the own vehicle figure is moved and displayed over time) according to the outer peripheral line. It is. Further, as shown in FIGS. 8 and 9, the control device 2 can cause the display device 8 to display the detection points indicating the positions of the parked vehicles detected by the sonars 3 a to 3 f on the composite bird's-eye image. Is possible. Further, as shown in FIG. 10, the control device 2 detects not only the trajectory of the left front end of the host vehicle but also the trajectory of the front right end of the host vehicle opposite to the front left end of the host vehicle (“L ′” in FIG. 10). Can also be displayed on the display device 8 superimposed on the synthesized bird's-eye view image.

  In addition, although the above demonstrated the case where a user parks the own vehicle to the left back, also when a user parks the own vehicle to the right back, the relationship of the left-right direction (vehicle width direction) becomes reverse. It can be implemented on the same principle as this.

  As described above, according to the present embodiment, in the parking support system 1, for example, if the user parks the host vehicle rearward on the left side, the host vehicle moves backward from the current position at the maximum steering angle in the right direction. The combined bird's-eye view of the trajectory of the left front end of the host vehicle assuming that the vehicle is moved backward to the parking position where the traveling direction is the same direction as the traveling direction at the current position with the maximum rudder angle to the left at a midpoint Since it is configured to be superimposed and displayed, the user can inform the user of the positional relationship between the trajectory of the left front end of the host vehicle and the parked vehicle without requiring an operation for setting the parking target position, It is possible to appropriately support driving when the user parks his / her vehicle backward.

  Further, in this case, since the outer peripheral line connecting the outermost sides based on the trajectories of the three left front ends of the host vehicle corresponding to the midpoint of the three points is configured to be superimposed on the synthesized bird's-eye view image, the host vehicle is Even when parking at one of a plurality of different parking positions in the vehicle width direction, the user can be notified of the positional relationship between the trajectory of the left front end of the host vehicle and the parked vehicle in all cases. it can.

  Also, for example, if the user parks the host vehicle rearward on the left side, after the host vehicle is moved backward from the current position with the maximum steering angle in the right direction, the traveling direction is the maximum steering angle in the left direction at a midpoint. If it is configured so that the trajectory of the front right side of the host vehicle when it is assumed that the vehicle is moved backward to the parking position that is substantially the same direction as the traveling direction at the current position, the left front end of the host vehicle is also displayed. In addition to the positional relationship between the trajectory of the vehicle and the obstacle, the user can also be notified of the positional relationship between the trajectory of the vehicle's right front end and the obstacle. The user can also be alerted to the right front end of the vehicle.

  Furthermore, if the detection point indicating the position of the parked vehicle detected by the sonars 3a to 3f is also displayed so as to be superimposed on the synthesized bird's-eye view image, the trajectory of the left front end of the host vehicle and the detection point of the parked vehicle The positional relationship can be notified to the user, and the positional relationship between the outer peripheral line and the obstacle can be notified to the user even when the obstacle is uncertain on the synthesized bird's-eye view image.

The present invention is not limited to the above-described embodiment, and can be modified or expanded as follows.
For example, when the user parks the host vehicle rearward on the left side, the configuration is not limited to the configuration in which the trajectory of the left front end portion of the host vehicle is displayed superimposed on the synthesized bird's-eye image. The structure which displays the locus | trajectory of a part and the detection point showing the position of a parked vehicle may be sufficient.

Functional block diagram showing an embodiment of the present invention Diagram showing the layout of sonar The figure which shows the locus | trajectory and outer periphery line of the left front end part of the own vehicle roughly flowchart The figure which shows the positional relationship of the own vehicle and a parked vehicle roughly The figure which shows the aspect in which an outer periphery line is displayed The figure which shows the aspect by which the own vehicle figure is animatedly displayed The figure which shows the positional relationship of the own vehicle, a parked vehicle, and a detection point roughly The figure which shows the aspect by which an outer periphery line and a detection point are displayed. The figure which shows the aspect by which the locus | trajectory of an outer periphery line and the vehicle right front end part is displayed.

Explanation of symbols

  In the drawings, 1 is a parking assist system, 2 is a control device (bird's-eye image creation means, movement / rotation state detection means, synthetic bird's-eye image creation means, control means), 3a to 3f are sonars (obstacle detection means), 4 An on-vehicle camera (photographing means) 8 is a display device (display means).

Claims (6)

A parking assistance system that assists driving when the user parks his / her vehicle backward,
Photographing means for photographing the rear of the vehicle;
Bird's-eye image creation means for creating a bird's-eye image by performing bird's-eye conversion on a photographed image photographed by the photographing means;
A movement / rotation state detecting means for detecting the movement / rotation state of the own vehicle;
The moving / rotating state detecting unit detects a past bird's-eye image created by the bird's-eye image creating unit or a past synthesized bird's-eye image created by itself and a current bird's-eye image created by the bird's-eye image creating unit. A synthesized bird's-eye image creation means for creating a synthesized bird's-eye image by combining based on the movement / rotation state of the own vehicle;
A parking position where the traveling direction is substantially the same as the traveling direction at the current position with the maximum rudder angle in the opposite direction to the predetermined direction at a halfway point after the host vehicle is moved backward from the current position at the maximum steering angle in the predetermined direction. Control means for superimposing the trajectory of the front end portion of the vehicle parking position side on the parking position side assuming that the vehicle has been moved back to the synthetic bird's-eye image created by the synthetic bird's-eye image creating means on the display means ,
The control means superimposes an outer peripheral line connecting the outermost sides based on the trajectories of a plurality of host vehicle parking position side front ends corresponding to a plurality of halfway points on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means. A parking support system, characterized by being displayed on a display means . In the parking assistance system according to claim 1,
The control means is configured such that the traveling direction is substantially the same as the traveling direction at the current position with the maximum rudder angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle is moved backward from the current position at the maximum steering angle in the predetermined direction. The trajectory of the front end on the opposite side of the host vehicle, which is opposite to the parking position when it is assumed that the vehicle is moved backward to the parking position in the direction, is also superimposed on the synthesized bird's-eye image created by the synthesized bird's-eye image creating means and displayed. A parking support system characterized by being displayed on a means. In the parking assistance system according to claim 1 ,
The said control means displays the own vehicle figure showing the own vehicle on the said display means by animation display according to the locus | trajectory or outer periphery line of the own vehicle parking position side front end, The parking assistance system characterized by the above-mentioned. In the parking assistance system according to any one of claims 1 to 3 ,
An obstacle detection means for detecting whether an obstacle exists around the host vehicle;
The control means is a composite bird's-eye image created by the synthetic bird's-eye image creation means with the trajectory or outer peripheral line of the front end portion of the host vehicle parking position side and the detection point representing the position of the obstacle detected by the obstacle detection means. A parking assistance system, wherein the display means displays the image on the display unit in a superimposed manner . A parking assistance system that assists driving when the user parks his / her vehicle backward,
Obstacle detection means for detecting whether there is an obstacle around the host vehicle;
A parking position where the traveling direction is substantially the same as the traveling direction at the current position with the maximum rudder angle in the opposite direction to the predetermined direction at a halfway point after the host vehicle is moved backward from the current position at the maximum steering angle in the predetermined direction. Control means for displaying on the display means the trajectory of the front end of the vehicle parking position side on the parking position side assuming that the vehicle has been moved back to the position and the detection point indicating the position of the obstacle detected by the obstacle detection means. Prepared,
The said control means displays on the said display means the outer periphery line which connects the outermost side based on the locus | trajectory of the front end part of the several own vehicle parking position side corresponding to several waypoints, The parking assistance system characterized by the above-mentioned. In the parking assistance system according to claim 5,
The control means is configured such that the traveling direction is substantially the same as the traveling direction at the current position with the maximum rudder angle in the direction opposite to the predetermined direction at a midpoint after the host vehicle is moved backward from the current position at the maximum steering angle in the predetermined direction. A parking assist system, wherein the display means also displays a trajectory of a front end portion on the opposite side of the host vehicle, which is opposite to the parking position side when it is assumed that the vehicle is retreated to a parking position corresponding to the direction .

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