JP4561512B2 - Parking support method and parking support device - Google Patents

Description

  The present invention relates to a parking assistance method and a parking assistance device.

  Conventionally, as a device for assisting driving operation when parking a car, a parking system that acquires image data from an in-vehicle camera attached to the rear end of the vehicle and outputs the image data to a display disposed near the driver's seat Support devices are known. The screen based on this image data is, for example, a rear imaging screen 100 as shown in FIG. 19, and a rear end image 101 obtained by imaging the rear end of the vehicle such as a rear bumper and a background obtained by imaging several meters behind the vehicle. An image 102 is displayed. In the background image 102, a vehicle width extension line 103 obtained by extending the vehicle width and an expected trajectory line 104 corresponding to the steering angle are drawn in an overlapping manner. The rear end image 101 is an image of only the center part of the rear bumper, and the corner part of the rear bumper is a blind spot area of the camera. For this reason, even if there is an obstacle around the corner of the rear bumper, it is difficult to grasp the relative distance between the obstacle and the corner of the rear bumper.

In response to this problem, there has also been proposed an apparatus for storing image data acquired from an in-vehicle camera at each point of a vehicle movement locus in a memory and displaying a composite image using image data captured in the past ( Patent Document 1). In this device, image data is acquired from an in-vehicle camera provided behind the driver's seat. Then, when the vehicle starts to move backward, image data captured at a point corresponding to the driver's seat of the current vehicle is read from the accumulated image data, and the image data and the current image data are combined. Further, when viewed from the viewpoint set at the position of the driver's seat, the image data stored in the memory is synthesized in an area corresponding to the rear body, seat, etc. of the vehicle, and the outline of the vehicle body is drawn on the image. Thereby, a virtual viewpoint is set at the position of the driver's seat, and an image in which an external background is displayed in an area such as the rear body is displayed on the display.
JP 2003-244688 A

  However, when an image with a virtual viewpoint set on the driver's seat is displayed as described above, it is possible to display an image as if the vehicle was viewed from behind the driver's seat. Since it is displayed, it is difficult to grasp the distance from the rear end of the vehicle to the obstacle. For this reason, even if the presence / absence of an obstacle in the blind spot area of the camera can be determined from the composite image, it has not been possible to assist in parking in the target area while avoiding a collision with the obstacle.

  On the other hand, if a wide-angle lens with a larger angle of view is used for the in-vehicle camera and an attempt is made to include the entire rear bumper (vehicle rear end) in the screen, the peripheral portion of the image is greatly distorted due to lens aberration. As a result, a screen is displayed in which the relative distance to the obstacle is difficult to understand and is difficult for the driver to understand intuitively.

  The present invention has been made in view of the above problems, and a purpose thereof is a parking assist method capable of displaying an image in which the relative distance between the rear or front of the vehicle and an obstacle around the vehicle can be easily grasped. And providing a parking assistance device.

In order to solve the above problems, the invention according to claim 1 is characterized in that a position specifying means for specifying a position of a vehicle, a rear end central portion provided in the vehicle, excluding a rear end corner of the vehicle, and the vehicle An image pickup device that picks up a background on the rear side of the vehicle, or a front end central portion excluding the front end corner of the vehicle and a background on the front side of the vehicle, an image data acquisition unit that acquires image data from the image pickup device, and the image In a parking support method for supporting a parking operation using image data storage means for storing data and display means for displaying an image based on the image data, the image data acquired by the image data acquisition means is at least The image data is stored in the image data storage means as the recorded image data in association with the position of the vehicle that has captured the image data, and the position is associated with the recorded image data Based on over data, reading the recorded image data of the captured region including the position of the rear end corner or front corner of the vehicle at the location of at least the current vehicle, newly acquired current image data by the image data acquisition means An area where the current image including the image of the rear end of the vehicle or the front end of the vehicle based on the image is arranged in the image display area of the display means, and the rear end corner or the front end corner is located at the current vehicle position. A past image based on the recorded image data corresponding to is arranged on the side of the current image in the image display area and displayed on the display means, and indicates the current position of the rear end corner or the front end corner. indicators, the currently is continuous with a portion of the front center portion of the rear central portion and the vehicle of the vehicle included in an image, the previous image on And it is required to draw.
According to a second aspect of the present invention, in the parking assist method according to the first aspect, the current image is arranged in the center in the image display area, and the past image is the current image in the image display area. It arrange | positions on both sides of this, and makes it a summary to display on the said display means.
The invention according to claim 3 is the parking support device according to claim 1 or 2, wherein the current image data newly acquired by the image data acquisition means is reduced only in the vehicle width direction, and the reduced current image data is obtained. The present invention is based on the present invention in which the current image is arranged in the image display area.

According to a fourth aspect of the present invention, in the parking assist device provided in the vehicle, a position specifying means for specifying the position of the vehicle, a rear end central portion provided in the vehicle, excluding a rear end corner of the vehicle, and An imaging device that images the background on the rear side of the vehicle, or a front center portion excluding the front end corner of the vehicle and the background on the front side of the vehicle, and image data acquisition means that acquires image data from the imaging device ; Image data storage means for storing the image data as recorded image data in association with at least the position of the vehicle that captured the image data, and at least the current vehicle based on the position data associated with the recorded image data reading means for reading the recorded image data of the captured region including the position of the rear end corner or front corner of the vehicle at the position, the image Currently based on the image data newly acquired by the data acquisition unit, a current image including the image of the vehicle rear end or the vehicle front end, as well as arranged in the image display area of the display unit, after said at the current position of the vehicle An image output means for displaying a past image based on the recorded image data corresponding to the area where the end corner or the front end corner is located on the side of the current image in the image display area, and displaying the image on the display means; An index indicating the current position of the rear end corner or the front end corner is drawn on the past image continuously with the image of the rear end center portion of the vehicle or the front end center portion of the vehicle included in the current image. It is a gist to provide an index drawing means.
According to a fifth aspect of the present invention, in the parking assist device according to the fourth aspect, the image output means arranges the current image in the center in the image display area and displays the past image as the image display. The gist of the present invention is that it is arranged on both sides of the current image in the region and displayed on the display means.
The invention according to claim 6 is the parking support apparatus according to claim 4 or 5, wherein the image output means reduces the current image data newly acquired by the image data acquisition means only in the vehicle width direction, The gist is to arrange the current image based on the reduced current image data in the image display area.

A seventh aspect of the present invention is the parking assist apparatus according to any one of the fourth to sixth aspects, further comprising: a viewpoint conversion unit that converts the read recorded image data into a viewpoint of the current imaging apparatus. In addition, the summary is provided.

According to an eighth aspect of the present invention, in the parking assist device according to any one of the fourth to seventh aspects, the image output means captures an image of a rear center portion of the vehicle or a front center portion of the vehicle. The gist is that the image is displayed at the end opposite to the traveling direction of the vehicle in the image display area of the display means.

According to a ninth aspect of the present invention, in the parking assistance device according to any one of the fourth to eighth aspects, the recorded image data is further associated with steering angle information or azimuth information of the vehicle at the imaging position. In addition, the image output means is configured to provide a relative value between a past steering angle based on the steering angle information or the direction information associated with the recorded image data and a current steering angle based on the current steering angle information or the direction information of the vehicle. The gist of the present invention is to further include a rotation converting means for rotating and converting the recorded image data based on the angle.

According to a tenth aspect of the present invention, in the parking assist device according to any one of the fourth to ninth aspects, the image output means is based on the past image based on the recorded image data and the current image data. The gist of the present invention is that the current image is output to the display means in an identifiable manner.

According to an eleventh aspect of the present invention, in the parking assistance device according to any one of the fourth to tenth aspects, the reading means moves in the traveling direction each time the vehicle moves by a predetermined image update distance. The image data storage means reads the recorded image data associated with a position a predetermined distance behind the current vehicle position from the image data storage means, and the image output means each time the vehicle moves by the image update distance, The gist is to display the past image based on the read recorded image data and the current image based on the newly acquired image data on the display means.

The invention described in claim 12 is the parking assist apparatus according to any one of claims 4 to 11 , wherein the image output means includes the current image based on the current image data and the image data storage means. Based on the stored recorded image data, the past image obtained by imaging an area including the position of the rear end corner or the front end corner, and the past image obtained by imaging an area including a lower side or a side of the vehicle. The gist is to display on the display means.

According to the invention described in claims 1 to 6, newly based on the current image data by the imaging device imaged the current image including an image of the front central portion of the rear central portion or the vehicle of the vehicle, the current vehicle A region where the rear end corner or the front end corner is located can be supplemented with a past image captured. Furthermore, an index indicating the current rear end corner or front end corner position can be drawn on the past image. For this reason, the image which imaged the rear-end center part of the present vehicle or the front-end center part of a vehicle , and the image of the corner periphery can be displayed on a display means. Therefore, the image displayed on the display means can be an image in which the current vehicle rear end region or the front end region and the relative distance between the obstacle and the obstacle can be intuitively grasped.

Further, the image data acquisition means, rear central portion of the vehicle except the rear end corner of the vehicle, or, from the imaging device for imaging the front central portion of the vehicle except the front corner, to obtain image data. Then, the image output means uses the recorded image data that supplements the area where the current rear end corner or the front end corner is located, and uses the rear end center portion of the current image or the front end center portion of the vehicle as the rear end corner or Make up with the image corresponding to the front corner. For this reason, without mounting a wide-angle lens capable of imaging the rear end corner or the front end corner of the vehicle in the imaging device, an image obtained by imaging the center of the rear end of the current vehicle or the center of the front end of the vehicle , and the corner The surrounding image can be displayed on the display means. Therefore, the image displayed on the display means is an image that does not have a large distortion due to the lens and can intuitively grasp the relative distance between the entire rear end of the current vehicle or the entire front end and the obstacle. Can do.

According to the seventh aspect of the present invention, since the past image based on the read recorded image data is converted to the viewpoint of the current imaging device, the continuity between the past image and the current image is improved. It is possible to display an image without a sense of incongruity.

According to the invention of claim 8, the image of the front central portion of the rear central portion or the vehicle of the vehicle, in the image display region of the display means to display the end opposite to the traveling direction of the vehicle. For this reason, an image as if the rear background or the front background is viewed from the rear end or the front end of the vehicle can be displayed, so that it is easy to grasp the relative distance between the vehicle and the surrounding obstacles or the parking target area.

According to the ninth aspect of the present invention, the recorded image data is rotationally converted based on the relative angle between the steering angle or azimuth at the time of capturing the recorded image data and the current steering angle or azimuth. . For this reason, the continuity between the current image and the past image can be improved. Moreover, since only the recorded image data is rotationally converted, there is no need to rotationally convert the current image data, and the processing time can be shortened.

According to the tenth aspect of the present invention, the current image and the past image are displayed on the display means in a distinguishable manner. For this reason, since the reliable image can be discriminated among the images displayed on the display means, the safety can be improved.

According to the eleventh aspect of the invention, every time the vehicle moves by the image update distance, the screen is updated using the image data captured at the rear position by the predetermined distance. For this reason, since the image is updated each time the vehicle moves by the image update distance, it is possible to provide relatively accurate information in accordance with the current situation.

According to the invention described in claim 12, the current image, and the image near the rear end Corner or front Corner of the vehicle, at least including the image of the floor below or side of the vehicle are displayed together. Therefore, not only the rear Corner or front perimeter corner, can grasp the relative position between the parking frame and the vehicle body.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which a parking support method and a parking support apparatus of the present invention are embodied in a navigation device mounted on a vehicle (automobile) will be described with reference to FIGS. FIG. 1 is a block diagram illustrating the configuration of the navigation device 1.

  As shown in FIG. 1, the navigation device 1 includes a control device 2. The control device 2 includes a control unit 3 that performs main control, a main memory 4, and a ROM 5. The control unit 3 includes a CPU and performs various processes according to various programs such as a route guidance program and a parking assistance program stored in the ROM 5. The control unit 3 constitutes position specifying means and reading means in the scope of claims. The main memory 4 is a RAM and stores various variables for parking assistance.

  The ROM 5 stores contour drawing data 5a. The contour drawing data 5a is data for drawing the contour of the corner BC as the rear end corner of the rear bumper RB in the vehicle C shown in FIG. As shown in FIG. 7, when the contour drawing data 5a is output to the image display area 6Z of the display 6 (see FIG. 1) as display means, the rear end as an index indicating the contour of the corner BC of the rear bumper RB. A drawing line 39 is drawn. The rear end corner of the vehicle C (the corner BC in this embodiment) refers to the corner of the rear bumper RB or the corner of the rear end of the vehicle C.

  Moreover, as shown in FIG. 1, the control apparatus 2 is provided with the GPS receiving part 7 which comprises a position specific means. The GPS receiver 7 receives radio waves from GPS satellites. The control unit 3 periodically calculates the absolute position of the vehicle C such as latitude / longitude / altitude based on the position detection signal input from the GPS receiving unit 7.

  Furthermore, the control device 2 includes a vehicle-side interface unit (vehicle-side I / F unit 8). The control unit 3 receives vehicle data including the shift position signal SP, the steering angle sensor signal ST as the steering angle information, the vehicle speed signal VS, and the direction detection signal DS as the direction information via the vehicle side I / F unit 8. input.

  In this embodiment, the shift position signal SP is a signal output from the shift position switch 20 provided in the vehicle C and indicates the current shift position. The steering angle sensor signal ST is a signal output from the steering steering angle sensor 21 and indicates the current steering angle of the vehicle C. The vehicle speed signal VS is a pulse signal output from the vehicle speed sensor 22 that detects the rotational speed of the wheel, and the control unit 3 calculates the speed of the vehicle C based on the pulse signal and sets the number of input pulses. Based on this, the moving distance of the vehicle C is calculated. The direction detection signal DS indicates the direction of the vehicle C and is output from the gyro sensor 23 provided in the vehicle C.

  The control unit 3 generates autonomous navigation data based on the vehicle speed signal VS and the direction detection signal DS, and corrects the own vehicle position calculated based on the GPS receiving unit 7. In the present embodiment, the position of the navigation device 1 is calculated as the vehicle position.

  The control device 2 includes a map data storage unit 9. The map data storage unit 9 stores route data 9a and map drawing data 9b. The route data 9a includes node data and link data, and the control unit 3 uses this route data 9a to perform route search and route guidance according to the route guidance program stored in the ROM 5. In addition, the control unit 3 collates the vehicle position calculated as described above, the travel locus, and the route data 9a, and positions the vehicle position on an appropriate road, thereby increasing the accuracy of the vehicle position. It is like that. The map drawing data 9b is data for displaying on the display 6 a map screen 6a on which a map ranging from a wide range to a narrow range is drawn, and is associated with the route data 9a.

  Further, the navigation device 1 includes a display 6 and a speaker 11. The display 6 is a touch panel, and displays the map screen 6a by drive control by the control unit 3 when the vehicle C moves forward. Further, when the vehicle C moves backward, it is switched to the parking assist mode by drive control by the control unit 3. In the parking assist mode, first and second display modes are set. In the first display mode, a rear imaging screen 100 in which the back of the vehicle C is imaged by a back monitor camera (hereinafter referred to as a camera 25) as an imaging device. (See FIG. 19) is displayed on the display 6. In the second display mode, a screen using a plurality of image data captured by the camera 25 is displayed. The speaker 11 outputs a guide sound or a guide voice for guiding a guide route or the like based on an output signal from the voice output unit 12 included in the control device 2.

  The control device 2 also includes an image data acquisition unit 10 as image data acquisition means. The image data acquisition unit 10 drives and controls the camera 25 provided in the vehicle C, and sequentially acquires the image data G (see FIG. 4) every time the vehicle C moves by the image acquisition distance D1. In the present embodiment, the image acquisition distance D1 is preset to 200 mm.

As shown in FIG. 2, the camera 25 is substantially above the rear bumper RB, and is located at a substantially central position in the vehicle width direction (Y arrow direction in the figure) of the rear end CA (rear end portion) such as a back door. Are attached with the optical axis facing downward. The camera 25 is a digital camera that captures a color image and generates analog / digital converted image data G, and includes an optical mechanism including a wide-angle lens, a mirror, and the like, and a CCD image sensor (both not shown). )). As shown in FIG. 3, the camera 25 has a rear visual field of 140 degrees on the left and right, for example, and a visible range Z is about several meters on the road surface behind the vehicle C. Further, the imaging range of the camera 25 includes a rear background of the vehicle C and a central portion BM as a vehicle rear end excluding the corner BC around the corner of the rear bumper RB.

  The image data G generated by the camera 25 displays, for example, an image 30 as shown in FIG. In the image 30, a rear end image 40 obtained by capturing only the central portion BM of the rear bumper RB is displayed at the lower end opposite to the backward direction of the vehicle C (the x arrow direction in the figure). That is, the corner BC of the rear bumper RB, which is the blind spot of the camera 25, is not included in the image 30. Further, since the camera 25 uses a wide-angle lens, the image 30 has a so-called distortion aberration that distorts the surrounding image. Further, the image 30 is a horizontally reversed image so as to be similar to the image reflected on the rearview mirror in the vehicle interior.

  The control unit 3 acquires the image data G from the image data acquisition unit 10 when the vehicle C is in the reverse state. The image data G is recorded image data G1 stored in the image memory 15 (see FIG. 1). As schematically shown in FIG. It is attached as (position data). Further, the steering angle based on the steering angle sensor signal ST is attached as the steering angle data 14. Then, the recorded image data G1 to which the imaging position data 13 and the steering angle data 14 are attached is stored in the image memory 15 as the image data storage means as the recorded data GA. In other words, the image memory 15 stores each recorded image data G1 that is captured each time the vehicle C moves the image acquisition distance D1. The attached imaging position data 13 may be absolute coordinates or relative coordinates from the reference position. Further, instead of the steering angle data 14, azimuth data based on the azimuth detection signal DS may be attached to the image data G.

  As shown in FIG. 1, the control device 2 includes a user input I / F unit 17. The user input I / F unit 17 outputs an input signal corresponding to the input operation to the control unit 3 when the operation switch 16 provided adjacent to the touch panel or the display 6 is input by the user.

  Further, the control device 2 includes a drawing processing unit 18 constituting image processing means, reading means, image output means, viewpoint conversion means, rotation conversion means, and index drawing means. The drawing processing unit 18 includes a calculation unit that performs image processing, a VRAM (not shown) that temporarily stores output data to be displayed on the display 6, and the like.

  The drawing processing unit 18 performs processing in the first display mode according to the control of the control unit 3 when the vehicle C moves backward. The drawing processing unit 18 outputs the image data G acquired by the image data acquisition unit 10 to the display 6 and displays the rear imaging screen 100 described above.

  In the second display mode, the drawing processing unit 18 outputs a parking assistance screen 44 as shown in FIG. 11 for each image update distance D2 under the control of the control unit 3. More specifically, the drawing processing unit 18 inputs the current position of the vehicle C from the control unit 3 and is imaged behind the current position by a compositing distance D3 as a predetermined distance in the traveling direction (reverse direction). The recorded image data G1 is searched in the image memory 15. In the present embodiment, the image update distance D2 is preset to 200 mm. The composition distance D3 is a minimum distance between the one point and another point that is a position behind the point in the traveling direction from one point and images a peripheral region including the position of the corner BC of the rear bumper RB at the one point. In this embodiment, it is preset to 1 m.

Specifically, when the vehicle C travels straight back and reaches a position B shown in FIG. 5B, the drawing processing unit 18 performs synthesis from the current position among the recorded image data G1 accumulated. The recorded image data G1 to which the initial position A behind the distance D3 is attached as the imaging position data 13 is read. At this time, the read recorded image data G1 is recorded image data G1 obtained by capturing an area including at least the position of the corner BC of the rear bumper RB of the vehicle C at the current position. For example, FIG. This is data for outputting a past image 30 as shown in FIG. In the past image 30, a background 30 a including an obstacle 30 b around the vehicle C and a rear end image 40 are displayed.

  Then, the drawing processing unit 18 converts the viewpoint of the recorded image data G1 captured at the camera viewpoint VA at the initial position A into the camera viewpoint VB of the camera 25 at the current position (position B), for example, FIG. A converted image 31 as a past image as shown in FIG. As a result, the converted image data G2 obtained by viewing the imaging range from the current camera viewpoint VB can be obtained without changing the imaging range of the recorded image data G1. As this viewpoint conversion processing, known conversion processing such as affine conversion is used. In the present embodiment, the camera viewpoints VA to VC indicate the lens positions of the camera 25 at the respective positions A to C.

  Further, when the vehicle C is moving backward while turning, the drawing processing unit 18 uses the current steering angle based on the steering angle sensor signal ST and the past based on the steering angle data 14 attached to the read image data G. Based on the relative angle to the steering angle, the image data G is rotationally converted into image data with the current camera viewpoint VC as the viewpoint. At this time, the drawing processing unit 18 reads each rotation conversion table (not shown) created for each relative angle stored in the ROM 5 and associates the pixel value of each coordinate of the image data G with the table. Map to the coordinates.

  Further, the drawing processing unit 18 acquires image data G captured at the current position (hereinafter referred to as current image data G3). The current image data G3 is data for outputting a current image 32 as shown in FIG. 6C, for example. Then, the drawing processing unit 18 reduces the current image data G3 at a predetermined reduction rate in the vehicle width direction (the arrow y direction in FIG. 6), and generates reduced data G4 as shown in FIG. 6 (d). As a result, the reduced image 33 based on the reduced data G4 is in a state of being contracted in the vehicle width direction (the direction of the arrow y), but the traveling direction (the backward direction, the direction of the arrow x) is not stretched. ing.

  Further, as shown in FIG. 6E, the drawing processing unit 18 arranges a predetermined area of the reduced data G4 in the synthesis area 34 that is set at a substantially central part of the image display area 6Z of the display 6. The reduced data G4 and the converted image data G2 are synthesized. At this time, the composition area 34 is set by obtaining the coordinates of the movement destination where the pixel coordinate moves in parallel with the movement of the vehicle C when the vehicle C moves by the composition distance D3. As a result of the synthesis, when a portion that does not overlap with the converted image data G2, such as the upper end portion of the reduced data G4, is generated, the portion is set as a non-display region that is not displayed in the image display region 6Z. Further, the feature points of the reduced data G4 and the feature points of the recorded image data G1 may be matched to be combined.

  Alternatively, as shown in FIG. 6B, a predetermined synthesis area 35 may be extracted from the converted image data G2, and the extracted data and the reduced data G4 may be synthesized. The composite area 35 includes at least areas corresponding to the corner BC as the rear end corner of the current rear bumper RB on both sides of the recorded image data G1. Since the composition area 35 varies depending on the composition distance D3, the mounting position of the camera 25, the angle of view of the lens, and the like, the composition area 35 is obtained for each vehicle type by calculation / experiment.

  Then, the drawing processing unit 18 displays on the display 6 a composite image 38 that displays the reduced current image 36 based on the reduced data G4 and the converted image data G2 based on the recorded image data G1. The converted images 31 are arranged on both sides of the reduced current image 36. The converted image 31 is an image of an area that is outside the visible range of the current camera 25, and is a corner BC of the current rear bumper RB and a range of several tens to several hundreds mm centering on the corner BC. Is imaged. For this reason, for example, the obstacle 30 b that is not displayed in the reduced current image 36 is also displayed in the composite image 38.

  In addition, the drawing processing unit 18 draws a rear end drawing line 39 as shown in FIG. 7 on the composite image 38 in accordance with the current vehicle position using the contour drawing data 5 a stored in the ROM 5. The rear end drawing line 39 is a contour line of the corner BC of the rear bumper RB, and is drawn so as to be superimposed on the converted image 31, as shown in FIG. 11, and after the central portion BM of the rear bumper RB is imaged. The image is drawn to be continuous with the end image 40.

  Further, as shown in FIG. 11, the drawing processing unit 18 processes the recorded image data G1 so that the converted image 31 and the reduced current image 36 can be identified by visual recognition. For example, the drawing processing unit 18 processes any one of the color tone, gradation, brightness, and pattern of the recorded image data G1 so as to be different from the reduced current image 36, and converts the converted image 31 and the reduced current image 36 into Can be discriminated by visual recognition.

  Further, the drawing processing unit 18 draws an image dividing line 41 that divides the converted image 31 and the reduced current image 36 on the composite image 38 as shown in FIG. With this image demarcation line 41, it is possible to determine which display range of the composite image 38 is an image in accordance with the current situation.

  Then, the drawing processing unit 18 draws the vehicle width extension line 42 and the predicted trajectory line 43 on the composite image 38 in the same manner as when the rear imaging screen 100 is displayed. The vehicle width extension line 42 is an index obtained by extending the vehicle width of the vehicle C rearward. The predicted trajectory line 43 is an index for predicting the traveling trajectory of the vehicle C that moves backward based on the vehicle width and the steering angle of the vehicle C at that time, and is a distance from the vehicle C to a predetermined distance (for example, 2.7 m). A travel locus is shown. In the actual screen, the vehicle width extension line 42 and the predicted trajectory line 43 are drawn with lines of different colors so that they can be easily discriminated. Moreover, in the parking assistance screen 44 shown in FIG. 11, since the vehicle C is going straight ahead, the vehicle width extension line 42 and the expected locus line 43 are overlapped.

  Furthermore, the parking support screen 44 has a warning display 46 for notifying that this screen is a screen using the converted image 31, an operation unit 47 that can delete the vehicle width extension line 42 and the predicted locus line 43, and a second display. An operation unit 48 for switching from the mode to the first display mode is displayed. In the parking assistance screen 44, the reduced current image 36 is reduced in the vehicle width direction, but the distance in the traveling direction (reverse direction, x arrow direction in the figure) is the same as that of the converted image 31 and the normal rear imaging screen 100. Therefore, the image is easy to grasp the distance between the center of the rear bumper RB and the obstacle.

  Further, at the corner BC of the rear bumper RB, unlike the central portion BM, not only the relative distance in the traveling direction (x arrow direction) with the obstacle but also the relative distance in the vehicle width direction (y arrow direction). You need to be careful. Since the converted image 31 of the parking assistance screen 44 is not reduced, it is easy to view, and the sense of distance in the converted image 31 is the same as that of the normal rear imaging screen 100. For this reason, it becomes easier to grasp the relative distance between the corner BC of the rear bumper RB and the obstacle.

  Next, the process procedure of the parking assistance process of this embodiment is demonstrated according to FIGS. First, after starting the navigation device 1, the control unit 3 follows the parking assistance program stored in the ROM 5, as shown in FIG. 8, based on the shift position signal SP input from the shift position switch 20, the transmission of the vehicle C The determination of whether or not is in the reverse range is repeated (step S1). If it is the reverse range (YES in step S1), the position is set as the initial position, and it is further determined whether or not the second display mode for displaying the parking assistance screen 44 is started (step S2). This second display mode can be selected by the operation unit 47 displayed on the display 6 or the operation switch 16 provided adjacent to the display 6. When the setting for starting the second display mode is made, the mode start flag stored in the main memory 4 is set to the ON state.

  When the control unit 3 determines that the mode activation flag stored in the main memory 4 is in the OFF state (NO in step S2), the control unit 3 controls the drawing processing unit 18 to perform the first display mode (step S3). . If it is determined that the mode activation flag is on (YES in step S2), the process proceeds to step S4.

  As shown in FIG. 9, in step S4, the control unit 3 initializes various parameters. These parameters include a recording counter Ln1 and an update counter Ln2. The recording counter Ln1 is a counter for determining whether or not the image acquisition distance D1 for acquiring the image data G has been reached. The update counter Ln2 is a counter for determining whether or not the image update distance D2 for updating the parking assistance screen 44 has been reached. In the present embodiment, the recording counter Ln1 and the update counter Ln2 are stored in the main memory 4.

  When the parameters are initialized, the control unit 3 controls the image data acquisition unit 10 to acquire the image data G from the camera 25 when the vehicle C is located at the initial position (step S5). Further, the control unit 3 acquires vehicle data such as the shift position signal SP, the steering angle sensor signal ST, the vehicle speed signal VS, and the direction detection signal DS through the vehicle side I / F unit 8 almost simultaneously (step S6). ). The control unit 3 calculates the vehicle position based on the GPS reception unit 7, the vehicle speed signal VS, and the direction detection signal DS.

  And the control part 3 attaches the imaging position data 13 which shows the present position of the vehicle C, and the steering angle data 14 based on the steering angle sensor signal ST to the image data G, and uses the image memory 15 as recorded image data G1. (Step S7).

  Moreover, the control part 3 repeats judgment whether the vehicle C is drive | working back based on the received vehicle speed signal VS (step S8). Specifically, it is determined whether or not a vehicle speed signal VS (pulse signal) is input.

  If it is determined that the vehicle is traveling (YES in step S8), “1” is added to the recording counter Ln1 based on the vehicle speed signal VS to update the recording counter Ln1 (step S9). Further, the control unit 3 adds “1” to the update counter Ln2 to update the update counter Ln2 (step S10). That is, the moving distance of the vehicle C is calculated by updating the recording counter Ln1 and the updating counter Ln2 according to the number of input pulses.

  And the control part 3 judges whether the moving distance of the vehicle C calculated based on the recording counter Ln1 is more than the image acquisition distance D1 (step S11). When the moving distance based on the recording counter Ln1 is equal to or greater than the image acquisition distance D1 (YES in step S11), the image data acquisition unit 10 acquires the image data G from the camera 25 as in step S5. (Step S12). And vehicle data is acquired similarly to step S6, S7 (step S13), and the acquired image data G is stored in the image memory 15 as recording image data G1 (step S14). Further, the control unit 3 resets the recording counter Ln1 to an initial value (step S15). That is, in steps S8 to S15, every time the vehicle C moves by the image acquisition distance D1, the image data G is acquired, and the imaging position data 13 and the steering angle data 14 of the vehicle C that captured the image data G are attached. The recorded image data G 1 is stored in the image memory 15.

If the control unit 3 determines that the recording counter Ln1 is less than the image acquisition distance D1 (NO in step S11), the process proceeds to step S16.
In step S16, the control unit 3 determines whether or not the movement distance calculated based on the update counter Ln2 is equal to or greater than the image update distance D2. For example, the initial position is shown in FIG.
It is determined whether or not the image has moved backward from the initial position A by the image update distance D2 (200 mm). If it is determined that the movement distance based on the update counter Ln2 is equal to or greater than the image update distance D2 (YES in step S16), the process proceeds to the next step. If the movement distance based on the update counter Ln2 is less than the image update distance D2 (NO in step S16), the process returns to step S8.

  Next, in step S <b> 17 shown in FIG. 10, under the control of the control unit 3, the drawing processing unit 18 determines whether or not there is recorded image data G <b> 1 imaged behind the current position by the synthesis distance D <b> 3. More specifically, the control unit 3 calculates a movement locus based on the imaging position data 13 of each recorded image data G1 stored in the image memory 15, and in the movement locus, the composition distance (1 m) behind the current position. It is determined whether there is recorded image data G1 imaged at the position. For example, when the vehicle C is between the position A and the position B shown in FIG. 5, it is determined that there is no recorded image data G1 captured at a position behind the current position (position B) by the compositing distance D3. Control goes to step S8. The calculated movement trajectory is stored in the main memory 4.

  Then, after repeating steps S8 to S16, when the vehicle C reaches the position B shown in FIG. 5, the recorded image data G1 captured at the initial position A behind the position B by the compositing distance D3 is stored in the image memory 15. Therefore, the control unit 3 determines that there is the corresponding recorded image data G1 (YES in step S17). Then, the drawing processing unit 18 reads the corresponding recorded image data G1 from the image memory 15 (step S18).

  When the recorded image data G1 is read, the drawing processing unit 18 generates a composite image 38 using the current image data G3 and the recorded image data G1 (step S19). First, the drawing processing unit 18 converts the viewpoint of the recorded image data G1. For example, the drawing processing unit 18 converts the viewpoint of the recorded image data G1 captured by the camera 25 from the camera viewpoint VA into the recorded image data G1 viewed from the current camera viewpoint VC. Thereby, the past image 30 as shown in FIG. 6A is converted into a converted image 31 shown in FIG. The converted image 31 subjected to the viewpoint conversion is an image in which the optical axis or the angle of view is further inclined toward the road surface.

  When the vehicle C moves backward while turning, the drawing processing unit 18 reads the rotation conversion table and performs rotation conversion. However, when the vehicle C travels straight as shown in FIG. 5, the rotation conversion is omitted. Further, the drawing processing unit 18 processes any one of the color tone, gradation, brightness, and pattern of the recorded image data G1.

  Further, the drawing processing unit 18 reduces the current image data G3 captured at the current position (position B) at a predetermined reduction rate in the vehicle width direction (direction of the arrow y), and generates reduced data G4. As a result, the current image 32 based on the current image data G3 is reduced as a reduced image 33 in FIG. Then, the reduced data G4 and the recorded image data G1 subjected to viewpoint conversion are synthesized, and synthesized data composed of the reduced data G4 and the recorded image data G1 is output to the display 6 (step S20).

  Further, the drawing processing unit 18 reads the contour drawing data 5a from the ROM 5, and draws the rear end drawing line 39 on the composite image 38 as shown in FIG. Further, the drawing processing unit 18 draws an image demarcation line 41, a vehicle width extension line 42, an expected trajectory line 43 based on the current steering angle input from the control unit 3, and the like. Further, a warning display 46 and the operation units 47 and 48 are displayed below the image display area 6Z of the display 6. As a result, a parking assistance screen 44 as shown in FIG. When the parking assistance screen 44 is output, the updating counter Ln2 is reset (step S21).

If the parking assistance screen 44 is output to the display 6, the control part 3 will judge whether the 2nd display mode which outputs the parking assistance screen 44 is an OFF state (step S22). Specifically, it is determined whether or not the user input I / F unit 17 has input an input signal for ending the second display mode by performing an input operation on the touch panel operation or the operation switch 16. To do.

  If the second display mode is on (NO in step S22), the process returns to step S8. If the second display mode is in the off state (YES in step S22), it is determined whether or not a trigger for ending the parking assist mode has been input (step S23). Examples of the end trigger include a signal indicating change of the shift position, such as a signal indicating ignition off, output from an electronic control unit (ECU) (not shown) provided in the vehicle C, and the like.

  When the end trigger is input (YES in step S23), the parking assist mode is ended. When it is determined that there is no input of an end trigger (NO in step S23), that is, when the second display mode is ended but the first display mode is on, the process returns to step S2.

  When the second display mode is continued, for example, when the vehicle C moves backward from the position B shown in FIG. 5B by the image update distance D2 and moves to the position C shown in (c), the control unit 3 Updates the recording counter Ln1 and the update counter Ln2, respectively (step S9, step S10). Then, the image data G picked up at the position C is stored in the image memory 15 as the recording data GA used at the further retracted position (steps S11 to S15).

  Then, in step S17 shown in FIG. 10, the recorded image data G1 picked up from the position C at the position (not shown) that is the position behind the composition distance D3 in the traveling direction is read. Then, the read recorded image data G1 and the current image data G3 captured at the position C are synthesized (step S19), and the parking assistance screen 44 is output (step S20). As a result, for example, a parking assistance screen 44 as shown in FIG. 12 is output. As shown in the parking assistance screen 44, for example, when the vehicle C enters the middle of the parking target area 50 and the other vehicle C1 parked next in the reduced current image 36 is not displayed, By supplementing with the conversion image 31, it is possible to grasp the relative distance between the corner BC (rear end drawing line 39) and the other vehicle C1 in the vehicle width direction and the traveling direction.

  On the other hand, as shown in FIG. 13, when the vehicle C turns to the parking target area 50 while turning, the control unit 3 moves based on the imaging position data 13 and the steering angle data 14 of the recorded image data G1. Ask for.

  Under the control of the control unit 3, the drawing processing unit 18 records image data G <b> 1 captured at a position on the movement locus 51 and behind the current position of the vehicle C by the synthesis distance D <b> 3. 15 is read out (step S18). Then, the relative angle between the past steering angle based on the steering angle data 14 attached to the recorded image data G1 and the current steering angle is calculated. Further, the rotation conversion table based on the relative angle is read, and each pixel coordinate of the recorded image data G1 is mapped to the pixel coordinate of the conversion destination linked by the table. Thereby, the recorded image data G1 is converted like data captured from the current camera viewpoint of the camera 25.

  When the recorded image data G1 is converted, the recorded image data G1 and the current image data G3 are combined as described above (step S19), and the parking assistance screen 44 is output (step S20). Thereby, the parking assistance screen 44 as shown in FIG. 14 is displayed. In this parking assistance screen 44, for example, the relative distance between the obstacle (other vehicle C1) displayed in the converted image 31 and the corner BC of the rear bumper RB can be grasped, so that the obstacle is not excessively approached. Steering can be performed.

According to the above embodiment, the following effects can be obtained.
(1) In the above embodiment, the navigation device 1 acquires the image data G from the camera 25 that captures the central portion BM of the rear bumper RB of the vehicle C and the rear background of the vehicle C. The acquired image data G is stored in the image memory 15 as recorded image data G1 in association with the imaging position data 13 and the steering angle data 14. Further, as the vehicle C moves, the recorded image data G1 obtained by imaging the region including the position of the corner BC of the rear bumper RB of the current vehicle C is read out. Then, the reduced current image 36 based on the current image data G3 and the converted image 31 based on the read recorded image data G1 are displayed on the display 6. Further, the rear end drawing line 39 indicating the current position of the corner BC is superimposed on the converted image 31 for drawing. For this reason, the position of the corner BC of the rear bumper RB is used by using one camera 25 without increasing the angle of view of the lens of the camera 25 or using another camera that captures the periphery of the corner BC of the vehicle C. The corresponding image can be displayed on the display 6. Therefore, the parking assist screen 44 displayed on the display 6 is a screen that does not have a sense of incongruity due to lens distortion and can intuitively grasp the distance between the entire rear bumper RB of the vehicle C and the obstacle. be able to. Therefore, even when there is an obstacle around the corner BC of the rear bumper RB, the driver can park the vehicle C in the parking target area 50 while paying attention to the relative distance from the obstacle.

  (2) In the above embodiment, the image data acquisition unit 10 acquires the image data G from the camera 25 provided at the rear end of the vehicle C and immediately above the rear bumper RB. That is, the image data acquisition unit 10 can capture the center part BM of the rear bumper RB, which is the rear end of the vehicle C, and check the relative distance to the obstacle, parking frame, wheel stop, etc. on the rear side of the vehicle C. Image data G can be obtained directly. Therefore, by leaving the rear end image 40 captured in the reduced current image 36 without deleting it, a screen in which the relative distance between the rear bumper RB and the obstacle can be easily understood can be displayed. Further, since it is not necessary to convert the image data G at the current position into a viewpoint in which the relative distance to the obstacle can be confirmed, the load on the navigation device 1 is reduced.

  (3) In the above embodiment, the drawing processing unit 18 converts the read recorded image data G1 to the viewpoint of the current camera 25. For this reason, since the converted image 31 can be an image having good continuity with the reduced current image 36, the parking support screen 44 can be a screen that can be intuitively understood without a sense of incongruity.

  (4) In the above embodiment, the drawing processing unit 18 reduces the current image data G3 captured at the current position in the vehicle width direction. The reduced current image 36 based on the reduced data G4 is arranged in the center of the image display area 6Z of the display 6, and the converted image 31 is arranged on both sides of the reduced current image 36. For this reason, both corners BC of the rear bumper RB can be displayed on the parking assistance screen 44. Moreover, since the reduced current image 36 is not reduced in the traveling direction (reverse direction) of the vehicle C, the surrounding background can be easily seen. Further, since the converted image 31 is not reduced and is displayed at a scale similar to that of the normal rear imaging screen 100, the converted image 31 is displayed in the traveling direction of the corner BC of the rear bumper RB and the obstacle and in the vehicle width direction. It is possible to make the screen easy to grasp the relative distance at.

  (5) In the above embodiment, the control unit 3 attaches not only the imaging position data 13 but also the steering angle data 14 to the acquired image data G, and stores it in the image memory 15. For this reason, since the recorded image data G1 can be rotationally converted in accordance with the current steering angle, the converted image 31 is viewed from the viewpoint of the current camera 25 even when the backward moving vehicle C is steered. It can be converted like an image. Therefore, the converted image 31 can be an image having good continuity with the reduced current image 36.

  (6) In the above embodiment, the rendering processing unit 18 visually processes the converted image 31 and the reduced current image 36 by processing any one of the color tone, gradation, brightness, and pattern of the recorded image data G1. Is displayed on the display 6 in an identifiable manner. For this reason, since the present image can be distinguished among the parking assistance screens 44, safety can be improved.

  (7) In the above embodiment, every time the vehicle C moves by the image update distance D2, the drawing processing unit 18 associates the imaging position data 13 behind the current position of the vehicle C by the composition distance D3 in the traveling direction. The recorded image data G1 thus read is read from the image memory. Then, the converted image 31 based on the read recorded image data G1 and the reduced current image 36 based on the current image data G3 are displayed on the display 6. For this reason, since the image is updated every time the vehicle C moves by the image update distance D2, it is possible to display a relatively accurate image in accordance with the current situation.

  (8) In the said embodiment, the parking assistance apparatus was actualized in the navigation apparatus 1 provided with the GPS receiving part 7, the display 6, and the vehicle side I / F part 8. FIG. For this reason, it is possible to effectively use each device included in the navigation device 1 and store the recorded image data G1 to which the imaging position data 13 and the like with relatively high accuracy are attached in the image memory 15.

In addition, you may change this embodiment as follows.
In the above embodiment, the current image data G3 may be reduced not only in the vehicle width direction but also in the traveling direction. Specifically, as shown in FIG. 15 (b), the current image 61 based on the current image data G3 imaged at the current position of the vehicle C is reduced in the vehicle width direction and the traveling direction, and shown in FIG. 15 (c). Reduced data G4 that displays the reduced image 62 shown may be generated. Then, at least the viewpoint of the recorded image data G1 for displaying the past image 60 shown in FIG. As a result, a composite image 63 as shown in FIG. In the composite image 63, the proportion occupied by the reduced image 62 is smaller than that in the parking assistance screen 44 shown in FIG. For this reason, as shown in FIG. 15D, a partial region of the past image 60 that is not combined with the reduced image 62 is generated below the reduced image 62.

  Then, as shown in FIG. 16, not only the rear end drawing line 39 but also the vehicle body outline 64 may be drawn on the past image 60. That is, since the past image 60 below the reduced image 62 corresponds to an area below the floor of the vehicle C, the position of the vehicle C on the past image 60 can be shown by drawing the outline of the current vehicle body. The vehicle body contour line 64 has at least a vehicle body drawing line 65 indicating the outline of the vehicle body and a rear wheel drawing line 66 indicating the rear wheel. In this way, not only the corner BC of the rear bumper RB but also the position of the vehicle body can be confirmed, so that parking can be performed without deviating from the parking target area 50.

In the above embodiment, the widths of the converted images 31 arranged on both sides of the reduced current image 36 are the same length, but may be different lengths. For example, as shown in the parking assistance screen 44 of FIG. 17, the area (width) of the converted image 31 arranged on the left side of the reduced current image 36 is larger than the area (width) of the converted image 31 arranged on the right side. You may make it do. As a case where such a parking assistance screen 44 is displayed, the camera 25 may be disposed at a position offset with respect to the central axis of the vehicle C. At this time, since the visible range of the camera 25 is close to the corner BC on one side of the corner BC of the rear bumper RB, it is difficult to check the corner BC on the other side. For this reason, in order to include the corner BC on the other side in the parking assistance screen 44, the area of the converted image 31 on the other side may be enlarged. Further, the ratio of the regions (widths) of the converted images 31 arranged on both sides of the reduced current image 36 may be changed by performing an input operation on the operation unit 67 displayed on the screen of the display 6. When the operation unit 67 is operated, the drawing processing unit 18 reads out the recorded image data G1 captured further behind the composition distance D3 from the current position from the image memory 15, and updates the screen. In this way, the relatively new recorded image data G1 cannot be used, but when there is an obstacle on one side of the vehicle C, the obstacle is increased by increasing the ratio of the converted image 31 on the side having the obstacle. And the relative distance between the vehicle C and the vehicle C can be confirmed.

  In the above embodiment, the converted images 31 are arranged on both sides of the reduced current image 36 on the parking assistance screen 44, but may be arranged on one side. For example, the parking assistance screen 44 as shown in FIG. 18 is displayed by rotationally converting the recorded image data G1 or synthesizing a part of the recorded image data G1 and the current image data G3. In the parking assistance screen 44, the converted image 31 is arranged only on the left side of the reduced current image 36. At this time, an operation unit 68 for switching the position for displaying the converted image 31 between the left side and the right side of the reduced current image 36 may be displayed. If it does in this way, the side of vehicles C which cannot be visually recognized from a driver's seat, and the field where an obstacle exists can be displayed on display 6 intensively.

  In the above-described embodiment, the rear end drawing line 39 for drawing the corner BC of the rear bumper RB is superimposed on the converted image 31 and displayed. In addition to this, an image in which the corner BC is drawn instead of the contour line, and an index indicating the entire rear bumper RB may be superimposed on the reduced current image 36 and the converted image 31, or other indices may be used.

  In the above embodiment, the position of the navigation device 1 is detected as the vehicle position, but the position of the camera 25 may be used. Alternatively, other positions such as the position of the rear bumper RB of the vehicle C may be used.

  In each of the above embodiments, the image acquisition distance D1 is 200 mm, but other distances such as 100 mm may be used. Further, although the image acquisition distance D1 and the image update distance D2 are the same distance, they may be different distances. Furthermore, the composition distance D3 is not 1 m, and may be another distance.

In the above embodiment, the navigation device 1 may include a gyro sensor that detects the direction of the vehicle C.
The navigation device 1 inputs the shift position signal SP from the shift position switch 20, but may detect the backward movement of the vehicle C by the vehicle speed pulse input from the vehicle speed sensor 22.

  The navigation device 1 may be switched to the second display mode based on a sensor or detection device as a detection unit attached to the vehicle C. For example, the navigation device 1 is provided with a sonar (detection device) that detects a three-dimensional obstacle inside or around the parking target area, an image processing device that detects a moving body around the vehicle C based on the image data G, and the like. When a moving body such as a pedestrian is not detected in the vicinity, the second display mode using the converted image 31 may be started. That is, when a moving body is detected, the position of the obstacle in the converted image 31 may be different from the current position of the obstacle, so the second display mode is not performed and the speaker 11 is not performed. The detection of the moving object is notified by, for example. Alternatively, the second display mode may be started when a stationary obstacle is detected using the above-described detection device.

  In the embodiment described above, the control unit 3 accumulates the image data G when it detects that the vehicle C has started to reverse. In addition to this, the control unit 3 may start the accumulation of the image data G when the backward movement of the vehicle C is detected and the current steering angle becomes less than a predetermined steering angle. In this way, the accumulation of the image data G can be minimized, and the load on the image data input process and apparatus can be reduced.

In the above embodiment, the imaging position data 13 is attached to the image data G. However, an accumulated distance from the initial position may be attached. Further, the imaging position data 13 and the steering angle data 1
4 is not attached to the image data G, but may store a table associated with each recorded image data G1 in the ROM 5 or the main memory 4.

  In the above embodiment, the warning display 46 is displayed on the parking assistance screen 44. However, this is omitted, and the speaker 11 outputs a sound and warning sound for notifying that the converted image 31 is displayed. May be.

  The camera 25 may be attached not to the rear of the vehicle C but to the front end of the vehicle C such as above the front bumper. In this case, the camera 25 can image the center portion of the front bumper as the vehicle front end and the front background, and the corner portion as the front end corner is a blind spot. At this time, for example, when the vehicle C enters the parking target area while moving forward, the parking assistance process may be performed. Also in this case, since the corner of the front bumper of the vehicle C can be displayed using the image data G generated by the camera, the relative distance between the vehicle C and the obstacle can be grasped.

  In each of the above embodiments, only the case where the vehicle C is parked in parallel has been described. However, when parking in parallel, the parking assistance screen 44 using the recorded image data G1 and the current image data G3 may be displayed on the display 6. Good.

  In the above embodiment, the imaging range of the camera 25 includes the rear background of the vehicle C and the central portion BM as the vehicle rear end excluding the corner BC of the rear bumper RB. A camera using a wide-angle lens with a large angle of view can be used so that the imaging range includes the corner BC of the rear bumper RB. In this case, an image near the corner BC of the rear bumper RB is cut out from the current image data G3, and the remaining current image data G3 and the recorded image data G1 corresponding to the vicinity of the corner BC of the rear bumper RB are synthesized. Also good.

  In the above embodiment, the parking assistance device is embodied in the navigation device 1, but may be embodied in other in-vehicle devices. In this case, the GPS receiving unit 7, the map data storage unit 9 and the like are omitted.

The block diagram explaining the structure of the navigation apparatus of this embodiment. Explanatory drawing explaining the attachment position of a camera. Explanatory drawing explaining the imaging range of a camera. Explanatory drawing of the image data stored in the image memory. It is explanatory drawing for demonstrating the update of an image, Comprising: (a) shows the initial position A of a vehicle, (b) and (c) show the position B-position C. It is explanatory drawing of a synthesis | combination process, Comprising: (a) And (b) is recording image data, (c) And (d) is explanatory drawing of the image processing of present image data, (e) is explanatory drawing of a synthesized image. Explanatory drawing of a rear end drawing line. Explanatory drawing of the process sequence of this embodiment. Explanatory drawing of the processing procedure. Explanatory drawing of the processing procedure. Explanatory drawing of a parking assistance screen. Explanatory drawing of a parking assistance screen. Explanatory drawing of the movement locus | trajectory of a vehicle. Explanatory drawing of a parking assistance screen. FIG. 7A is another example of composition processing, where (a) is recorded image data, (b) and (c) are explanatory diagrams of image processing for current image data, and (d) is an explanatory diagram of a composite image. Explanatory drawing of the parking assistance screen of another example. Explanatory drawing of the parking assistance screen of another example. Explanatory drawing of the parking assistance screen of another example. Explanatory drawing of the conventional back imaging screen.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus as parking assistance apparatus, 3 ... Control part which comprises position specific means, reading means, 6 ... Display as display means, 6Z ... Image display area, 7 ... GPS receiving part which comprises position specific means, DESCRIPTION OF SYMBOLS 10 ... Image data acquisition part as image data acquisition means, 13 ... Imaging position data as position data, 14 ... Steering angle data as steering angle information, 15 ... Image memory as image data storage means, 18 ... Reading means, Drawing processing unit as image output means, viewpoint conversion means, rotation conversion means and index drawing means, 25... Camera as imaging device, 30, 60... Past image, 30 a. Background, 31. ... current image, 32, 61 ... current image, 39 ... rear end drawing line as index, B1 ... corner as rear end corner, C ... vehicle, CA ... rear end Rear end, D2 ... image update distance, D3 ... composition distance, DS ... azimuth detection signal as azimuth information, G ... image data, G1 ... recorded image data as recording data, G3 ... current image data, RB ... back Rear bumper ST as the end: rudder angle sensor signal as rudder angle information.

Claims (12)

A position specifying means for specifying the position of the vehicle; a rear end central portion excluding the rear end corner of the vehicle and a background on the rear side of the vehicle; or a front end central portion excluding the front end corner of the vehicle; An imaging device that captures a background in front of the vehicle, an image data acquisition unit that acquires image data from the imaging device, an image data storage unit that stores the image data, and an image based on the image data In a parking support method for supporting a parking operation using a display means for
The image data acquired by the image data acquisition unit is stored in the image data storage unit as recorded image data in association with at least the position of the vehicle that captured the image data,
Based on the position data associated with the recorded image data, read out the recorded image data obtained by imaging a region including at least the rear end corner or the front end corner of the vehicle at the current vehicle position;
Based on the current image data newly acquired by the image data acquisition means, a current image including an image of the rear end of the vehicle or the front end of the vehicle is arranged in the image display area of the display means , and the current vehicle position In the image display area, the past image based on the recorded image data corresponding to the area where the rear end corner or the front end corner is positioned is arranged on the side of the current image and displayed on the display means .
An index indicating the position of the current rear end corner or the front end corner is continuously displayed on the past image with a rear central portion of the vehicle or a part of the front central portion of the vehicle included in the current image. The parking assistance method characterized by drawing. In the parking assistance method according to claim 1,
The parking support method, wherein the current image is arranged in the center in the image display area, and the past image is arranged on both sides of the current image in the image display area and displayed on the display means. . In the parking assistance device according to claim 1 or 2,
A parking support method, wherein the current image data newly acquired by the image data acquisition means is reduced only in the vehicle width direction, and the current image based on the reduced current image data is arranged in the image display area. . In the parking assistance device provided in the vehicle,
Position specifying means for specifying the position of the vehicle;
Imaging provided in the vehicle for imaging a rear central portion excluding the rear corner of the vehicle and a background on the rear side of the vehicle, or a front central portion excluding the front corner of the vehicle and a background on the front side of the vehicle. Equipment ,
Image data acquisition means for acquiring image data from the imaging device ;
Image data storage means for storing the image data as recorded image data in association with at least the position of the vehicle that captured the image data;
Reading means for reading out the recorded image data obtained by imaging a region including the position of the rear end corner or the front end corner of the vehicle at least at the current vehicle position based on the position data associated with the recorded image data;
Based on the current image data newly acquired by the image data acquisition means, a current image including an image of the rear end of the vehicle or the front end of the vehicle is arranged in the image display area of the display means , and at the current vehicle position Image output means for displaying on the display means a past image based on the recorded image data corresponding to the rear end corner or the area where the front end corner is located , beside the current image in the image display area When,
An index indicating the current position of the rear end corner or the front end corner is drawn on the past image continuously with the image of the rear end center portion of the vehicle or the front end center portion of the vehicle included in the current image. A parking assist device comprising: an index drawing unit that performs the above. In the parking assistance device according to claim 4,
The image output means arranges the current image in the center in the image display area and arranges the past image on both sides of the current image in the image display area to display on the display means. A parking assist device. In the parking assistance device according to claim 4 or 5,
The image output means reduces the current image data newly acquired by the image data acquisition means only in the vehicle width direction, and arranges the current image based on the reduced current image data in the image display area. A parking assist device. In the parking assistance device according to any one of claims 4 to 6 ,
A parking assistance apparatus, further comprising a viewpoint conversion unit that converts the read recorded image data into a viewpoint of the current imaging apparatus. In the parking assistance device according to any one of claims 4 to 7 ,
The image output means includes
An image of the rear end center part of the vehicle or the front end center part of the vehicle is displayed on the end part on the opposite side to the traveling direction of the vehicle in the image display area of the display means. In the parking assistance device according to any one of claims 4 to 8 ,
The recorded image data is further associated with steering angle information or azimuth information of the vehicle at the imaging position,
The image output means includes
The recorded image data based on a relative angle between a past steering angle based on the steering angle information or the direction information associated with the recorded image data and a current steering angle based on the current steering angle information or the direction information of the vehicle. A parking assistance device, further comprising a rotation conversion means for rotating the rotation. In the parking assistance device according to any one of claims 4 to 9 ,
The image output means includes
The parking support apparatus, wherein the past image based on the recorded image data and the current image based on the current image data are output to the display unit so as to be distinguishable. In the parking assistance device according to any one of claims 4 to 10 ,
The reading means includes
Each time the vehicle moves a predetermined image update distance, the recorded image data associated with a position behind the current vehicle position by a predetermined distance in the advancing direction is read from the image data storage means,
The image output means includes
Each time the vehicle moves by the image update distance, the past image based on the read recorded image data and the current image based on the newly acquired image data are displayed on the display means. Parking assistance device. In the parking assistance device according to any one of claims 4 to 11 ,
The image output means includes
The current image based on the current image data; the past image obtained by capturing an area including the position of the rear end corner or the front end corner based on the recorded image data stored in the image data storage; and the vehicle A parking assist device, wherein the display means displays the past image obtained by imaging an area including a lower side or a side of the floor.

Images