JP4654870B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance device and a parking assistance method for assisting a parking operation in which a host vehicle moves backward while turning and parks in a predetermined parking frame.

  2. Description of the Related Art Conventionally, as a technique for assisting an operation of moving the host vehicle backward and parking at a target parking position, for example, a parking assistance device described in Patent Document 1 below is known.

This parking assist device assists a parking operation in which a vehicle is moved to an initial position in front of a parking frame and moved backward from the initial position while turning toward a target parking position in a parking frame set by a driver. It is. According to this parking assist device, the route from the initial position to the target parking position is obtained, and if it is determined that the vehicle cannot be parked at the target parking position by one backward movement, the route reaching the vicinity of the target parking position is calculated. And it supports movement along this route. And this parking assistance device is supposed to be able to reliably guide the vehicle to the target parking position even if it is not possible to park at the target parking position by a single backward movement by performing turn-back assistance. .
JP 2003-237511 A

  By the way, in order to park at the target parking position while performing the backward movement including the above-mentioned Patent Document 1, depending on where the initial position of the backward start is taken, Ease of avoiding obstacles is affected. Therefore, a technique for presenting where to start the parking has been devised. However, it is difficult for beginners of driving to move the vehicle to the presented initial position. In particular, when the approach space in front of the parking frame is narrow, the parking initial position area to be presented is also narrowed, and the degree of difficulty increases.

  This is because the allowable range of the initial position is narrow because the range of the route that leads to the target parking position by one backward movement is narrow in the parking operation in a narrow place that really needs the assistance of the parking operation. It is difficult to guide the vehicle to the initial position. Further, in parking operation in a narrow place, the driver has psychological anxiety due to interference with an obstacle such as a vehicle placed around the target parking position, and there is a difficulty in controlling the vehicle. Furthermore, there is resistance due to psychological instability related to the reliability of the parking support system, and there is anxiety that the driver who uses the system is not responsible for the final driving operation in which the vehicle is in contact with the obstacle. There is.

  Therefore, it is desirable to park in a larger area and with a psychological margin that can be determined by visual observation that interference with an obstacle of the own vehicle can be avoided. As a specific method, the initial position of one backward parking is presented. In addition, it is desirable to present the initial position in consideration of turning back (reverse parking after the second time).

  On the other hand, there is a technique described in Patent Document 1 described above as a parking assistance device that takes into account repeated parking driving. However, this parking assistance device is configured to first try to park once backward and to support parking twice backward when parking is not possible. In this parking assist device, when the driving is started by the first backward movement, the initial position is not suitable for the parking driving by the second backward movement. There is a possibility that you will not be able to move without understanding how to drive. Therefore, there is a problem that it is not suitable for beginners, and there is a problem that the driving load during the first backward movement is also increased.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and as its purpose, a position for starting a relatively wide backward movement can be presented and easily guided to a target parking position. A parking support device and a parking support method are provided.

  The present invention is for supporting a driving operation of stopping the host vehicle in a region facing the parking frame before the host vehicle is moved backward and parked in a predetermined parking frame. A minimum turning trajectory when turning with a minimum turning radius is stored in advance, and the end position of the parking frame with respect to the position of the host vehicle is detected. Then, the minimum turning trajectory that faces the detected parking frame and extends from the approximate center point of the connected line to the end position of the detected parking frame and is in contact with the line orthogonal to the connected line at the center point By displaying the first reverse start area in which parking in the parking frame is possible by repeatedly driving the vehicle backward and forward several times in the area on the parking frame side and presenting it to the driver, the above-mentioned Solve the problem.

  According to the present invention, from the minimum turning trajectory that faces the parking frame and extends from the approximate center point of the connected line to the end position of the detected parking frame and is in contact with the line orthogonal to the connected line at the center point In the area on the parking frame side, by displaying the first reverse start area where parking in the parking frame is possible by repeated driving with multiple backward movements and forward movements, and presenting it to the driver, It is possible to present a relatively wide reverse start area compared to displaying the reverse start area that allows one backward movement. As a result, the vehicle can be easily moved to the reverse start area and guided to the target parking position.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
The present invention is applied to, for example, the parking assistance apparatus according to the first embodiment configured as shown in FIG. This parking assist device supports a driving operation in which a parking frame line is drawn on a road and the vehicle is moved backward to a target parking position defined by the parking frame line. For this reason, the parking assistance device presents an appropriate reverse start position for starting the reverse movement.

  As will be described later, this parking assist device is retracted at the maximum steering angle so as to go to one parking frame line of a pair of parking frame lines, and stops the vehicle just before contacting the other parking frame line. Then, the steering angle is moved forward by the maximum steering angle in the direction opposite to that in the first to reverse movement to make the second backward movement. According to this driving operation, even a driver with inadequate driving ability can park easily and smoothly.

  Here, although there are a plurality of vehicle trajectories at the time of the first backward movement, the parking assist device sets an area where the plurality of trajectories are collected as an area that can be parked by one turn. In addition, the parking assist device realizes simultaneous display of an initial position where parking can be performed in the parking frame by one backward movement and an area where parking can be performed by one turn-back.

[Configuration of parking assist device]
As shown in FIG. 1, for example, the parking assist device includes a reverse start position calculation unit 1 that is a control unit in an instrument panel of the host vehicle. The reverse start position calculation unit 1 includes a camera 2 that captures the surroundings of the host vehicle, a monitor 3 that is provided with a display screen at a position that is visible to the driver, and a wheel speed sensor that detects the state of the host vehicle. 4 and the yaw rate sensor 5 are connected.

  The camera 2 is installed, for example, in a front bumper of the vehicle body of the host vehicle, and the imaging direction is restricted to the front of the vehicle and the optical parameters such as the angle of view are designed. The camera image captured by the camera 2 includes a parking frame, and is used to grasp the current positional relationship between the vehicle and the parking frame. The camera 2 may be a camera with an imaging direction that includes an angle including the front and the rear, or a blind spot presentation camera that is installed at the front end of the vehicle and captures the lateral direction, and is installed at the rear end of the vehicle. A rear view camera that captures the rear may be used.

  In this example, the camera 2 images the parking frame in front of the vehicle when the host vehicle moves to a position where the host vehicle starts to reverse so as to support the operation of parking the vehicle in a predetermined parking frame while moving backward. The camera video data obtained by imaging is output to the reverse start position calculation unit 1. At this time, the operation of the camera 2 is controlled by the reverse start position calculation unit 1 and is controlled by the reverse start position calculation unit 1 so as to start when a predetermined activation switch is operated, and acquires camera video data.

  The wheel speed sensor 4 determines the positional relationship between the host vehicle and the parking frame even if the host vehicle moves after the positional relationship between the parking frame and the host vehicle is grasped from the camera image captured by the camera 2. The distance traveled by the vehicle is detected for continuous understanding.

  The yaw rate sensor 5 continues the positional relationship between the host vehicle and the parking frame even when the host vehicle moves after the positional relationship between the parking frame and the host vehicle is grasped from the camera image captured by the camera 2. In order to grasp it, the moving direction (direction) of the own vehicle is detected.

  The monitor 3 includes, for example, a liquid crystal monitor 3a included in the navigation system, a HUD (Head Up Display) 3b that projects an image on a combiner formed on the front window, and the like. The monitor 3 is supplied with camera image data captured by the camera 2 via the reverse start position calculation unit 1 and processing results of the reverse start position calculation unit 1 to present various information to the driver. Specifically, the monitor 3 superimposes and displays the reverse start area created by the drawing unit 17 on the camera image obtained by photographing the front of the vehicle as the calculation result of the reverse start position calculation unit 1.

  The reverse start position calculation unit 1 includes, for example, respective units 11 to 17 described later that store a parking support program in a ROM (Read Only Memory) (not shown) and execute the parking support program by a CPU (Central Processing Unit). In other words, the reverse start position calculation unit 1 sets the image processing unit 11 connected to the camera 2, the own vehicle minimum turning radius storage unit 12, and the first region setting for setting the first phase (first phase) reverse start region. A vehicle position detecting unit 14 connected to the wheel unit 13, the wheel speed sensor 4 and the yaw rate sensor 5, a parking availability determining unit 15, and a second phase (second phase) reverse start region. Area setting unit 16 and a drawing unit 17 connected to the monitor 3.

  The image processing unit 11 detects edge portions of the parking frame line drawn on the road surface by performing edge detection processing on the camera image data captured by the camera 2. In the edge detection processing, the image processing unit 11 detects the edge by comparing the edge strength and edge shape of the camera image data with the edge strength and edge shape indicating the parking frame line obtained in advance, and The position in the image of the front parking frame line is specified. Further, the image processing unit 11 determines how many pixels corresponding to the parking frame line specified by the edge detection from the fixed position of the camera 2 fixed to the own vehicle and the angle of view and the focal length of the camera 2 from the own vehicle. In the direction of, specify how far away it is.

  As a result, the image processing unit 11 detects the own vehicle side end portions (two places) of the two parking frame lines drawn on the road surface, and the distance and direction of the own vehicle with respect to the end portion position. Coordinate data, distance data, and direction data indicating end positions (parking frame line end portions) of the individual parking frame lines are output to the first region setting unit 13.

  Furthermore, the image processing unit 11 detects a front obstacle of the host vehicle. Specifically, in order to recognize the space in front of the parking frame for guiding the host vehicle to the parking frame, the vehicle position placed on the curb or in front of the parking frame is detected.

  The own vehicle minimum turning radius storage unit 12 stores minimum turning radius information when the steering wheel of the own vehicle is moved to the maximum steering angle in the right direction or the left direction. The information stored in the own vehicle minimum turning radius storage unit 12 is information specific to the own vehicle that is input in advance based on each parameter in the steering system such as the width of the own vehicle, the maximum steering angle, and the like. Are read by the first area setting unit 13.

  This minimum turning radius information includes not only the trajectory through which the center part of the rear wheel shaft passes, but also the end of the vehicle body when the steering wheel of the host vehicle is moved backward with the maximum steering angle in the right or left direction. It may be the innermost trajectory (innermost trajectory information) passing through and the outermost trajectory (outermost trajectory information). This minimum turning radius information is a set of coordinate data relative to the vehicle reference point that is the center of the rear wheel axis. The minimum turning radius information is a group of coordinates indicating the locus where the center position of the rear wheel axis moves from the reference point when the maximum steering angle is set to the left or right, and the innermost track information is the maximum left or right maximum. This is a group of coordinates indicating the trajectory of the vehicle's inner periphery moving relative to the reference point when the steering angle is set, and the outermost track information is the reference point at the vehicle's outer periphery when the left or right maximum steering angle is set. It is a coordinate group which shows the locus | trajectory which moves with respect to.

  The first area setting unit 13 is supplied with coordinate data, distance data, and direction data indicating the end position of the parking frame line from the image processing unit 11, and with the minimum turning radius information from the own vehicle minimum turning radius storage unit 12. Is read. Then, the first region setting unit 13 uses the information from the image processing unit 11 and the information from the own vehicle minimum turning radius storage unit 12 as a reference for two locations at the end of the parking frame line. A reversing start area A for parking once that can be parked by reversing movement and a reversing start area B for parking a plurality of times that can be parked by reversing movement after the second reversing movement after reversing movement once. Set. The details of the setting process of the reverse start areas A and B will be described later.

  The own vehicle position detection unit 14 obtains the moving distance of the own vehicle from the wheel speed signal from the wheel speed sensor 4 and obtains the moving direction of the own vehicle from the direction signal from the yaw rate sensor 5. The moving distance and moving direction of the host vehicle are determined by the positional relationship between the host vehicle, the reverse start area, and the parking frame when the host vehicle moves from the positional relationship between the host vehicle and the parking frame line specified by the image processing unit 11. Used to keep track of changes. Accordingly, the host vehicle position detector 14 inputs signals from the wheel speed sensor 4 and the yaw rate sensor 5 when the start switch of the reverse start position calculator 1 (not shown) is operated, and the host vehicle advances. A signal indicating that the vehicle is moving (movement distance and movement direction) is started to be supplied to the parking availability determination unit 15.

  The parking possibility determination unit 15 determines whether or not the position of the host vehicle is within the reverse start regions A and B sent from the first region setting unit 13, and the direction of the host vehicle is within a predetermined angle. It is determined whether or not. Then, the parking possibility determination unit 15 determines whether or not parking in the parking frame is possible based on the current positional relationship between the own vehicle and the reverse start areas A and B and the direction of the own vehicle.

  The second area setting unit 16 sets a reverse start area that indicates whether or not parking can be performed by the next reverse movement if the vehicle starts moving backward from a position that is advanced in which direction and how far from the current position of the host vehicle. To do. That is, the second area setting unit 16 sets the reverse start area where the reverse movement in the second phase (stage) should be started when the vehicle moves forward by first moving backward toward the parking frame line.

  The drawing unit 17 converts the reverse start region set by the first region setting unit 13 and the reverse start position set by the second region setting unit 16 into a landscape viewed from the line of sight of the driver, which will be described later. The data is transmitted to the liquid crystal monitor 3a or HUD 3b of the monitor 3. At this time, the drawing unit 17 creates an image that can present the backward start position.

  Such a parking assist device starts a reverse movement from the reverse start area by presenting a reverse start area where parking is possible with one backward movement and a reverse start area where parking is possible with two or more backward movements. For example, parking support processing for notifying that parking is possible within the target parking frame is performed.

[Parking assistance processing]
Next, parking assistance processing in the parking assistance apparatus configured as described above will be described with reference to FIG.

  This parking assist process is present when the parking frame desired by the host vehicle is present at a position where the parking frame can be visually recognized diagonally right forward or diagonally left forward, and when the user wants to park backward by traveling to the desired parking frame. By operating the start switch before proceeding to the reverse start area by forward travel (step S1), the subsequent processing is started.

  In the next step S <b> 2, the camera 2 captures a parking frame and an obstacle in front of the parking frame (for example, a curb or a front parked vehicle). The image processing unit 11 performs edge detection from the image captured by the camera 2 to detect parking frame line end portions (two locations), and sets the parking frame end portions as reference points on the parking frame side.

  At the same time, the image processing unit 11 obtains the distance and direction to the pixel corresponding to the parking frame line drawn on the road surface from the installation position of the camera 2, the magnification and focal length of the lens, and the current position of the own vehicle and the parking position. Understand the positional relationship with the frame line. Similarly, the image processing unit 11 obtains the distance and direction between the host vehicle and the front obstacle based on the pixels that appear due to the obstacle in front of the parking frame, and determines the current position of the host vehicle and the obstacle in front of the parking frame. Grasp the positional relationship between

  In the next step S3, the first region setting unit 13 performs region setting in the first phase on the basis of the parking frame front end detected in step S2 and the obstacle in front of the parking frame. A reverse start area A for multiple parking and a reverse start area B for multiple-time parking are set. The areas set in the first phase area setting include a one-time parking reverse start area A that can be parked by one backward movement and a multiple-time parking reverse start area that can be parked by two or more backward movements. There is B. The first-time parking reverse start area A and the multiple-time parking reverse start area B are simultaneously set by the first area setting unit 13.

  In the next step S4, the drawing start part 17 converts the parking start start area A and the parking stop start area B set in step S3 into a landscape from the viewpoint of the driver, and displays HUD. . At this time, the drawing unit 17 displays, for example, different colors so that the driver can recognize that the one-time parking backward start area A and the multiple-time parking backward start area B are different areas. Alternatively, the drawing unit 17 may superimpose the one-time parking backward start area A and the multiple-time parking backward start area B on the vehicle front image captured by the camera 2 and display them on the liquid crystal monitor 3a. As a result, the parking assist device causes the driver to move forward toward the parking start start area A for one-time parking and the parking start start area B for multiple-time parking, so that the reverse-start area A for single-time parking and the reverse for multiple-time parking If the backward movement is started in the start area B, it is presented that the movement to the parking frame line becomes possible.

  In the next step S5, the vehicle position detector 14 monitors the outputs of the wheel speed sensor 4 and the yaw rate sensor 5, and determines whether or not the position of the vehicle has moved relative to the target parking frame line. to decide. If it has moved, the process proceeds to step S6. If it is in a stopped state that has not moved, the determination in step S5 is repeated. At this time, the one-time parking backward start area A and the multiple-time parking backward start area B maintain the state displayed on the monitor 3.

  In the next step S <b> 6, the own vehicle position detection unit 14 specifies the distance and direction moved with respect to the target parking frame line from the output values of the wheel speed sensor 4 and the yaw rate sensor 5.

  In the next step S7, the drawing unit 17 causes the one-time parking reverse start area A and the multiple-time parking reverse start area B displayed in step S4 to be determined from the own vehicle position after the movement specified in step S6. The point of view is changed to the scenery at any time, and the content displayed on the monitor 3 is updated.

  In the next step S8, the parking enable / disable determining unit 15 starts to reverse the parking once from the own vehicle from the detection output of the own vehicle position detecting unit 14 and the end position of the parking frame line detected by the image processing unit 11. It is determined whether or not the distance to the area A and the multiple-time parking reverse start area B is equal to or less than the distance of the minimum turning radius of the host vehicle. Here, in the area set in the area setting process of the first phase, a one-time parking backward start area A that can be parked by one backward movement and multiple parking that can be parked by two backward movements. Although there is a retreat start area B, the parking permission / inhibition determining unit 15 compares each area with the position of the host vehicle to make a determination. If the distance between the host vehicle and the one-time parking reverse start area A and the multiple-time parking reverse start area B are both equal to or smaller than the minimum turning radius, the process proceeds to step S9. Then, the process is returned to step S6, and the video displayed on the monitor 3 is continuously updated.

  In the next step S9, the second area setting unit 16 causes the host vehicle to use the vehicle as a trigger when the distance between the reverse start area A for single parking and the reverse start area B for multiple-time parking is less than the minimum turning radius. The second phase area setting process is performed to enter the retreat start area A for single-time parking and the retreat start area B for multiple-time parking. That is, the second area setting unit 16 moves the host vehicle forward at a certain angle and at a distance, so that the parking start reverse area A for the one-time parking from the current position of the host vehicle and the parking for a plurality of times. A second area indicating whether the host vehicle can enter the reverse start area B is calculated. As the second area, there are an area A for entering the reverse start area A for parking once and an area B for entering the reverse start area B for parking multiple times. The area A and the area B set in the second phase are simultaneously set by the second area setting unit 16. In step S9, the display of the one-time parking reverse start area A and the multiple-time parking reverse start area B may be stopped.

  At this time, the second area setting unit 16 determines the positional relationship between the direction of the own vehicle and the reverse start area A for single parking and the reverse start area B for multiple parking from the signal from the own vehicle position detection unit 14. If it is possible to move to both the reverse start area A for parking once and the reverse start area B for multiple times parking, the moving angle and moving distance to both the reverse start areas A and B are determined. Calculate and present. On the other hand, when only one area of the reverse start area A for parking once and the reverse start area B for multiple times parking can be moved, only the movable area is calculated as the second area.

  In the next step S10, the drawing unit 17 converts the viewpoint of the second area set in step S9 into a landscape from the driver's viewpoint in the drawing unit 17, and displays the HUD. At this time, for example, the drawing unit 17 is color-coded so that the driver can recognize that the first parking reverse start area A and the multiple parking reverse start area B are separate areas by the driver. To be displayed. Alternatively, the drawing unit 17 superimposes the first parking reverse start area A and the multiple parking reverse start area B on the vehicle front image captured by the camera 2 and displays them on the liquid crystal monitor 3a. You may let them. As a result, the parking assist device causes the driver to travel forward toward the first parking reverse start area A and the multiple parking reverse start area B in the second area, and the single parking reverse start area A and If the backward movement is started within the multiple parking backward start area B, it is indicated that the movement to the parking frame line is possible.

  In the next step S11, after the second area is displayed by the drawing unit 17, the parking output determination unit 15 monitors the detection output from the vehicle position detection unit 14, and the yaw rate sensor during traveling of the vehicle. Whether or not there is a change in the output differential value of 5 is determined. As a result, it is determined whether the driver is not in a state of holding the steering wheel at a constant steering angle, but is increased or loosened (turned back). If there is no change in the output differential value of the yaw rate sensor 5 (= the steering angle is kept constant), the process returns to step S9. On the other hand, if there is a change in the differential value of the yaw rate sensor 5 (increase or decrease), the process proceeds to step S12, and the second area setting unit 16 restarts the second area from the current position. Let's calculate.

  In the next step S12, with respect to the change in position of the host vehicle determined in step S11, the own vehicle position detection unit 14 determines the movement distance with respect to the second region from the output values of the wheel speed sensor 4 and the yaw rate sensor 5. Specify the direction of movement.

  In the next step S13, the drawing unit 17 holds the movement distance and movement direction specified in step S12 and approaches the second area, and the second area according to the movement distance and movement direction. The viewpoint is changed from time to time to the scenery from the own vehicle position, and HUD is displayed.

  In the next step S14, the parking possibility determination unit 15 compares the current host vehicle position with the second region set in step S9 from the detection output of the host vehicle position detection unit 14, and It is determined whether or not the current position has reached the second area. If the host vehicle position has reached the second area, the process proceeds to step S15. If the vehicle position has not reached the second area, the process returns to step S11 to monitor whether the steering wheel is operated. Return to processing.

  In the next step S15, since the host vehicle has reached the second area, the drawing unit 17 can be parked by one backward movement or can be parked by two or more backward movements. Present what has been reached. At this time, the parking availability determination unit 15 determines whether the second area for the one-time parking reverse start area A has been reached or the second area for the multiple-time parking reverse start area B has been reached. . And the drawing part 17 is the case where it has reached the second area for the reversal start area B for multiple times and the display when it has reached the second area for the retreat start area A for single parking. Distinguish from display and present by state.

  When the vehicle reaches the second area for the one-time parking backward start area A, it indicates that parking by one backward movement is possible by starting backward from the current position. For example, it is suggested that the vehicle can be parked by one backward movement by combining the backward movement while turning with the minimum turning radius and the backward movement while going straight.

  On the other hand, when reaching the second area in the retreat start area B for multiple-time parking, it is suggested that parking by retreating more than once is possible by starting the retreat from the current position. To do.

[Setting process of the reverse start area A for single parking in the first phase]
Next, in the parking support process as described above, various information is detected in step S2, and the process of setting the one-time parking backward start area A in step S3 is described with reference to FIGS. This will be described with reference to the flowchart of FIG. In order to simplify the explanation, the parking frame line, the own vehicle position, etc. will be explained in the top view, but in reality, the positional relationship between the parking line frame and the own vehicle position is grasped from the fixed installation position of the camera 2. May be set / presented, and the image of the camera 2 may be presented by converting the viewpoint from the viewpoint from the top.

  In step S21 in step S2 shown in FIG. 6, the parking assist device uses the image captured by the camera 2 as shown in FIG. Coordinate data in the camera image of the parking frame line ends 101 ′ and 102 ′ of the frame lines 101 and 102 is acquired. Thereby, the desired parking frame is specified from the coordinate data indicating the positions of the pair of left and right parking frame lines in the camera image.

  Here, as shown in FIGS. 3 and 4, when the parking frame lines 101 and 102 exist, the host vehicle is opposite to the depth direction and faces the parking frame lines 101 and 102. It is located in the space (space opposite to the parking frame) and reverse driving is started. Then, the image processing unit 11 acquires camera image data (rear image data) from the camera 2 when the host vehicle is located in the parking frame facing space, and determines the positions of the parking frame line end portions 101 ′ and 102 ′. To detect. The positions of the parking frame line end portions 101 ′ and 102 ′ may be held at the coordinates of the inner end portions in the width direction of the parking frame lines 101 and 102, and are aligned in the width direction of the parking frame lines 101 and 102. You may hold | maintain as what consists of a some coordinate. When only the camera 2 at the front of the host vehicle can be used, the parking frame line ends 101 ′ and 102 ′ cannot be detected when the host vehicle exists in the facing space. The position of parking frame line edge part 101 ', 102' is detected from the camera image acquired when approaching.

  In step S 21, the image processing unit 11 obtains a straight line (end connection line 104) connecting the parking frame line end portions 101 ′ and 102 ′, and further, is the midpoint of the end connection line 104. The coordinates of the reference point 105 are obtained.

  In the next step S22, as shown in FIG. 5, the image processing unit 11 uses a limit line in which a reverse start region is set from an image of an obstacle (curbstone, parked vehicle, etc.) ahead of the parking frame lines 101, 102. A certain limit line 131 is detected.

  In the next step S23, the first area setting unit 13 inputs the coordinate data of the parking frame line end portions 101 ′ and 102 ′ and the reference point 105 from the image processing unit 11, passes through the reference point 105, and A parking frame center line 106 composed of a coordinate group orthogonal to the end connection line 104 is set.

  In the next step S 24, the first region setting unit 13 reads the minimum turning radius R of the own vehicle from the own vehicle minimum turning radius storage unit 12, and the end connection line 104 separated from the reference point 105 by the minimum turning radius R. The width direction region set point 107 is set to the extension line. At this time, when the host vehicle travels forward from the right side of the parking frame lines 101 and 102, the first area setting unit 13 moves from the parking frame lines 101 and 102 to the left side as shown in FIGS. A width direction area set point 107 is set, and conversely, when the host vehicle travels forward from the left side of the parking frame lines 101 and 102, the width direction area set point 107 is set to the right side from the parking frame lines 101 and 102. . Then, the first region setting unit 13 sets a width direction region setting line 108 that passes through the width direction region setting point 107 and is orthogonal to the extension line of the end connection line 104.

  In the next step S 25, the first area setting unit 13 causes the arc line 109 a having the same radius as the minimum rotation radius R around the width direction area setting point 107 (hereinafter simply referred to as “arc line 109 to be generically named). ").) Is set. Since the arc direction line 109 a is provided with the width direction area setting point 107 at a position separated from the reference point 105 by the minimum rotation radius R, it becomes a line segment connecting the end connection line 104 and the width direction area setting line 108. .

  In the next step S26, a curve 134 is set as a set of vehicle reference points 121 when the limit line 131 and the own vehicle can exist at a position farthest from the parking frame lines 101 and 102.

  In the next step S27, the first area setting unit 13 moves the area surrounded by the arc line 109a, the parking frame center line 106, the width direction area setting line 108, and the curve 134 to the first area for one-time parking retreat. It is set as a reverse start area 110 corresponding to the start area A. In FIG. 3, the upper limit of the reverse start area 110 corresponding to the single parking reverse start area A facing the parking frame lines 101 and 102 is closer to the parking frame lines 101 and 102 than the limit line 131. The distance that the vehicle can park in the parking frame lines 101 and 102 is set by a curve 134.

  Thus, the reverse start area A for single parking is set based on the parking frame lines 101 and 102 and the limit line 131 corresponding to the obstacle position in front of the parking frame, and the driver moves forward to this area. To instruct.

  Specifically, the reverse start area 110 corresponding to the reverse start area A for single parking includes the front-rear direction line and the width of the own vehicle when the vehicle reference point that is the center point of the rear wheel axle is present. An area in which parking in the parking frame is possible in one reversing run is shown by starting the retreat from a position where the arc line of the minimum rotation radius R moving up and down the direction area setting line 108 is shown. Therefore, the parking assistance device displays the reverse start area 110 and prompts the driver to move to the area.

  In addition, when parking in the parking frame is enabled by one backward travel, when the arc line 109a in FIG. 3 is in contact with the vehicle front-rear line, the vehicle travels backward at the maximum steering angle in the right or left direction. When the arc line 109n farther from the parking frame than the arc line 109a is in contact with the vehicle front-rear line, the vehicle travels backward at the maximum steering angle in the right or left direction and then travels straight. It will be.

  That is, in the reverse start area setting process, by setting the reverse start area 110 as described above, the vehicle reference point 121A of the host vehicle 120A exists in the reverse start area 110 as shown in FIG. When the arc line 109a and the front / rear direction line of the host vehicle 120A are in contact with each other, the vehicle reference point 121A of the host vehicle 120A is set to the reference point 105 only by causing the steering angle to be maximized and traveling backward in an arc shape. It can be a matched position. Further, when the vehicle reference point 121B of the host vehicle 120B exists in the reverse start region 110, and the arc line 109n and the front / rear direction line of the host vehicle 120B are in contact with each other, the vehicle travels backward in an arc shape. Later, the vehicle reference point 121B can be set to a position that matches the reference point 105 by running in a straight line so that the vehicle reference point 121B moves on the parking frame center line 106.

  Therefore, the vehicle reference point 121 and the reference point 105 or the parking frame center line 106 when the angle of the vehicle front-rear line with respect to the tangent line of the arc line 109 is within a predetermined angle in which the moving direction of the host vehicle can be parked in the parking frame. Can be matched.

  On the other hand, as shown in FIG. 4, even when the vehicle reference point 121 of the host vehicle 120 is located in the reverse start region 110, the vehicle longitudinal line and the arc line 109a are not in contact with each other. In a state where the arc line 109a and the vehicle front-rear line intersect each other, even if the steering angle is maximized, the vehicle reference point 121 cannot be made coincident with the reference point 105, and the vehicle is once advanced and then moved backward again. It is necessary to perform the reversing operation.

  In step S2, obstacles ahead of the parking frame lines 101 and 102 are detected, but this causes a restriction on the reverse start area 110. In the example of FIG. 5, the trajectory of the vehicle reference point 121 </ b> A that the vehicle can move back without interfering with the limit line 131 is a limit arc line 133. Thus, by moving the own vehicle 120 </ b> A backward on the limit arc line 133, parking within the parking frame lines 101 and 102 can be performed without interfering with the limit line 131.

  Here, when the backward movement is started, the position where the host vehicle can exist away from the parking frame lines 101 and 102 without interfering with the limit line 131 becomes wider than the boundary by the limit arc line, Including the position indicated by the position of the host vehicle 120B (vehicle reference point 121B) in the figure, the curve 134 is a boundary line.

  As described above, the first area setting unit 13 performs the backward movement parking in the narrow area in the area surrounded by the curve 134, the arc line 109, the parking frame center line 106, and the width direction area setting line 108. A possible reverse parking start area A is defined.

[Multiple-time parking reverse start area B setting process]
Next, in the parking support process as described above, various information is detected in step S2, and the process of setting the retreat start area B for multiple times parking in step S3 is illustrated in the explanatory diagram of FIG. 7 and the flowchart of FIG. The description will be given with reference. In order to simplify the explanation, the parking frame line, the own vehicle position, etc. will be explained in the top view, but in reality, the positional relationship between the parking line frame and the own vehicle position is grasped from the fixed installation position of the camera 2. May be set / presented, and the image of the camera 2 may be presented by converting the viewpoint from the viewpoint from the top.

  As described above, the multi-time parking backward start region B is moved backward with the maximum steering angle so as to be directed to one parking frame line of the pair of parking frame lines 101 and 102, and contacts the other parking frame line. The vehicle is stopped immediately before the vehicle is moved backward for the first time, and then the steering angle is advanced from the neutral position to the maximum steering angle in the direction opposite to that for the first backward movement. This is an area for entering the area A or the parking start start area B a plurality of times again to stop and starting the second backward movement. Thereafter, if the vehicle is moved backward from the reverse start area A for parking at the maximum steering angle, the vehicle reference point 121 can be positioned on the parking frame center line 106. When the vehicle enters a plurality of reverse start areas, the above operation is repeated, and the vehicle is allowed to enter the reverse start area A for parking once.

  Thus, the process which sets the reversal | retreat start area | region B for multiple times parking performs the process of step S21-step S25 similarly to FIG. 6, as shown in FIG. That is, in step S21, the parking assistance device acquires coordinate data in the camera image of the parking frame line ends 101 ′ and 102 ′ of the target parking frame lines 101 and 102, and the end connection line 104, the reference The coordinates of the point 105 are obtained.

  Next, in step S22, the limit line 131 is detected. In step S23, the parking frame center line 106 is set. In step S24, the width direction area setting point 107 and the width direction area setting line 108 are set. In step S25, The arc line 109a is set.

  Next, in step S31, the first area setting unit 13 of the parking assistance device determines the distance on both sides from the left and right rear wheels to the parking frame lines 101 and 102 when the vehicle reference point 121 is present at the reference point 105. The margin arc line 101 ′ ″ and the margin arc line 102 ′ ″ are used as a margin when parking, with the radius of. The margin arc lines 101 ′ ″ and 102 ′ ″ have a radius as a distance (margin) from the white line when the vehicle passes on the parking frame center line 106, and the parking frame line ends 101 ′ and 102 ′. It is an arc drawn around each of the above.

  Next, in step S32, the first area setting unit 13 sets the innermost circumferential arc line 142 drawn by the innermost end of the vehicle when the vehicle moves along the arc line 109a set in step S25.

  Next, in step S33, the first region setting unit 13 is a point 141 that is at a distance of the minimum turning radius R of the vehicle from the width direction region setting point 107 on the width direction region setting line 108 set in step S24. Is provided.

  Next, in step S34, the first area setting unit 13 moves the innermost circumferential arc line 142 set in step S32 while being in contact with the margin arc line 101 ′ ″ (margin arc line 102 ′ ″). A plurality of points 144 indicating the locus of the point 141 when set are set. Specifically, the innermost circular arc line 142 is shifted downward and rightward in the drawing so as to always touch the margin arc line 101 ′ ″, and the contact point of the circular arc line 142 with the width direction region setting line 108 is changed. Every time they deviate, the point 141 is moved so as to maintain the relative positional relationship. Thereby, the movement trajectory of the point 141 becomes a plurality of points 144. When the end point of the innermost circular arc line 142 that is in contact with the width direction region setting line 108 is in contact with the margin arc line 101 ′ ″, the point 141 moves to the position of the rightmost point 144 in the figure. Thus, the end point of the curve 143 can be set. This curve is the closest line on the parking frame lines 101 and 102 side indicating the retreat start area B for multi-time parking in the second area.

  Next, in step S35, the first area setting unit 13 sets the moving position of the point 141 when the innermost circular arc line 142 is closest to the parking frame and is in contact with the margin arc line 101 ′ ″ as a point 144. A straight line 145 connected from the point 144 to the arc 140 (= arc line 109a) in parallel with the end connection line 104 is set.

  Next, in Step S36, the first area setting unit 13 is an area inside the arc 140 set in Step S25, and the area 160 surrounded by the curve 143 and the straight line 145 is used for parking a plurality of times. Set to the reverse start area B. When the innermost circular arc line 142 moves in the state of contact with the margin arc line 101 ′ ″, it is drawn at a preset moving interval in the multiple-time parking reverse start area B set in this way. An arc group composed of a plurality of arcs 146 moved by the arc 140 can be set. Each arc 146 indicates a backward trajectory that can be parked by repeating a plurality of backward movements and forward movements, and is a trajectory when the host vehicle 120 moves backward so as to contact the margin arc line 101 ″ ″.

  Thus, by setting the reverse start area B for multiple times parking (area 160) as an area that can be parked by two backward movements and displaying it in a HUD display, as shown in FIG. The position can be led to the position of the host vehicle 120B. Then, when the vehicle reference point 121B is in the first multiple-time parking backward start region B and the center line in the vehicle longitudinal direction is in contact with the arc 146, the vehicle is moved forward after one backward movement. This indicates that the host vehicle can be advanced to the parking start reverse region A once.

[Other setting process for reverse start area A for single parking and reverse start area B for multiple-time parking]
Next, as another setting process for the one-time parking backward start area A, when the opposing space facing the parking frame lines 101 and 102 is narrow, the one-time parking backward start area that can be parked by one backward movement. The process for setting A will be described with reference to FIG. The situation where the facing space is narrow is, for example, that the facing space is narrower than the case shown in FIG. 5 described above, and the distance between the limit line 150 and the end connection line 104 is extremely short as shown in FIG. Point to.

  In such a situation, the curve 134 set in step S26 in FIG. 6, that is, the host vehicle can move backward once and does not interfere with the limit line 150 and is located farthest from the parking frame lines 101 and 102. The curve connecting the vehicle reference points 121 in a state where the vehicle can be moved is shaped like a parallel movement of the curve 134 of FIG. 5 toward the parking frame lines 101 and 102 as shown by a curve 142 of FIG.

  Therefore, the one-time parking backward start area A is an area surrounded by the parking frame center line 106, the curve 142, and the arc 109. The region set in this way is extremely narrow compared to the case of FIG. 5, and not only the driving operation for positioning the position of the own vehicle in the region, but also the direction of the own vehicle, the vehicle longitudinal line and the arc line If the driving operation is considered so as to be in contact with 109, the driving operation may be very difficult.

  Next, as another setting process for the multiple-time parking reverse start area B, when the opposing space facing the parking frame lines 101 and 102 is narrow, the single-time reverse start area for parking can be parked by one backward movement. The process for setting A will be described with reference to FIG.

  In the setting process of the reversing start area B for multi-time parking, similarly to the reversing start area A for single-time parking, the plurality of times of parking set in step S36 in FIG. The retreat start area B for use changes.

  That is, when the parking start reverse area B for multiple times parking is set as shown in FIG. 10, a comparison of the parking start reverse area B for multiple parking in FIG. 10 and the reverse parking start area A for single parking in FIG. 142 and the multiple-time parking start start area B overlap. Therefore, in this case, in step S36 in FIG. 8, the portion farther than the parking frame in the multiple-time parking start region B is narrowed as shown in FIG. That is, the arc 170 on the parking frame lines 101 and 102 side is set instead of the arc 140 (= arc line 109a) in FIG. At this time, the second area setting unit 13 sets the reverse parking start area A for single parking in FIG. 9 and the reverse parking start area B for multiple parking in FIG.

[Effect of the first embodiment]
As described above in detail, according to the parking assistance apparatus to which the present invention is applied, before the host vehicle is moved backward and parked within the predetermined parking frame lines 101, 102, the host vehicle is parked. In order to support the driving operation for stopping the vehicle in a region facing the vehicle, a minimum turning trajectory when the host vehicle turns with a minimum turning radius is stored in advance, and the end portions of the parking frame lines 101 and 102 with respect to the position of the host vehicle are stored. Detect position. Then, a plurality of reciprocations and forward movements are repeated in the area facing the parking frame lines 101 and 102 with respect to the arc frame 109a that faces the parking frame lines 101 and 102 and extends from the approximate center point of the end connection line 104. By driving, it is possible to set and display a retreat start area B for multiple parking where parking within the parking frame lines 101 and 102 is possible.

  Therefore, according to this parking assistance device, a plurality of reversal start areas that are wider than the case where only the one-time parking retreat start area A that can be parked on the parking frame lines 101 and 102 by one retreat movement is displayed. The reverse start area B for the second parking can be presented. Thereby, the movement to the reverse start area can be easily performed.

  Moreover, according to this parking assistance apparatus, not only the reversing start area B for multi-time parking that can be parked on the parking frame lines 101 and 102 by performing repetitive driving of a plurality of times of reverse movement and forward movement, By simultaneously displaying the reverse start area A for single parking that can be parked on the parking frame lines 101 and 102 by the backward movement, the display range of the reverse start area can be widened. This makes it easier to guide the vehicle to the reverse start area. Further, according to the parking assistance device, whether to perform the parking operation by one backward movement or to perform the parking operation by two backward movements without overdoing depending on the surrounding environment and the driving skill of the driver. The driver can select the vehicle before starting the parking operation. Furthermore, according to the parking assistance device, it is possible to recognize what kind of reverse start region is desired for the parking operation, and it becomes easy for the driver to learn the parking operation.

  Furthermore, according to this parking assist device, the other vehicle is located on the side where the parking frame lines 101 and 102 are opposed to each other and the one-time parking backward start area A and the multiple-time parking backward start area B are to be set. When an obstacle such as the above is detected, a limit line 131 can be set, and the parking start start area B can be set and displayed for the area where the host vehicle does not interfere with the obstacle. Even when the facing space of the parking frame lines 101 and 102 is narrow, the reverse start areas A and B that can be parked on the parking frame lines 101 and 102 without interfering with an obstacle can be recognized. That is, it is possible to perform driving support that allows parking by turning back while securing a space with an obstacle.

  For example, when the reverse start area A for parking is selected at first, but there is anxiety about the distance to the obstacle during the reverse, and there is not enough reverse amount for moving to the switch back start position, the margin allowance One-time parking becomes possible using.

  Furthermore, according to this parking assist apparatus, when the host vehicle travels backward with a minimum turning trajectory in the parking start region B for multiple times parking, the innermost peripheral edge of the host vehicle is in contact with the parking frame lines 101 and 102. By setting a plurality of backward trajectories to be moved backward, it is possible to set a trajectory for moving backward after stopping in the parking backward start region B a plurality of times. Therefore, it is possible to perform guidance to the parking frame lines 101 and 102 by performing an operation of applying a steering torque of the steering wheel according to the locus.

  Furthermore, according to this parking assist device, the margin arc lines 101 ′ ″ and 102 ′ ″ indicating the space margin between the parking frame lines 101 and 102 and the own vehicle when the own vehicle exists at the reference point 105 are displayed. Set so that the innermost peripheral edge of the host vehicle is in contact with the margin arcs 101 ′ ″ and 102 ′ ″ when the host vehicle travels backward with a minimum turning trajectory in the parking start area B for multiple times parking. Since a plurality of backward trajectories to be moved backward are set, it is possible to absorb an operation error when the operation as presented cannot be performed. In addition, when performing reverse parking, using the fact that bringing the innermost circumference to an obstacle is a driving point, guide the host vehicle so that it follows the trajectory and perform a turnover operation Can do. Furthermore, it is possible to easily learn the switching operation and to promote the acquisition of driving skills.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

  That is, in the above-described example, the case where the vehicle is first moved backward after the maximum steering angle so as to come into contact with one of the parking frame line ends 102 ′ and then moved backward again is described. When the wheel is close to the tip of the parking frame (in the state where the wheel is located within the margin arc line as an example), the forward and backward movements are repeated with the steering angle of the steering wheel set to the maximum steering angle on the opposite side when moving forward and backward. Parking can also be performed by returning the steering wheel to the neutral position when the vehicle is parallel to the parking frame lines 101 and 102 and moving backward.

In the present embodiment, the multiple-time parking reverse start area B supports the reverse so that the side surface of the vehicle is in contact with the front end of the parking frame. If the side of the vehicle comes into contact with the tip of the parking frame before the rear part contacts the other parking frame, the above operation is performed with the vehicle's inner rear wheel approaching the parking frame tip by moving straight forward from that position. If done, parking in the parking frame becomes possible. Therefore, it goes without saying that the parking by the two backward movements described above means that the parking is possible by repeating the backward and forward movements at least twice.

[Second Embodiment]
Below, the parking assistance apparatus which concerns on 2nd Embodiment to which this invention is applied is demonstrated. In addition, about the same component and process as 1st Embodiment mentioned above, the detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol and the same step number.

  The parking support apparatus according to the second embodiment causes the host vehicle to recede straight after the first backward running from the parking start start area B for multiple times so that the side surface of the host vehicle contacts the tip region of the parking frame. The vehicle is guided so as to move backward. Thereby, in the parking assistance apparatus according to the second embodiment, the driving load on the driver is reduced. In the following description, the host vehicle performs the first backward running from the state where the host vehicle is positioned in the parking backward start region B a plurality of times, and then performs the forward running to perform the second backward running. This is called “running”.

  In the parking assist apparatus according to the second embodiment, as shown in FIG. 11, a shift position sensor 201 is additionally connected to the reverse start position calculation unit 1 and a reverse initial position is set in the reverse start position calculation unit 1. It differs from the parking assistance device according to the first embodiment in that the unit 202 and the turn-back determination unit 203 are additionally incorporated. In such a parking assist device, the first area setting unit 13, the parking availability determination unit 15, and the second area setting unit 16 serve as a processing unit for setting the first reverse initial position, and the initial reverse position setting unit 202 This is a processing unit for setting the second reverse initial position.

  The shift position sensor 201 is used to determine the traveling direction intended by the driver at the time of switching. That is, the shift position sensor 201 detects whether the traveling direction is in a state indicating the front depending on the shift position or whether the traveling direction is in a state indicating the rear depending on the shift position. This detected output is read as traveling direction information by the cut-back determining unit 203.

  The turn-back determination unit 203 moves forward again by the turn-over operation of the host vehicle from the vehicle speed information from the wheel speed sensor 4, the traveling direction information from the shift position sensor 201, and the host vehicle position information from the host vehicle position detection unit 14. And the determination result is supplied to the reverse initial position setting unit 202. The own vehicle position detection unit 14 detects the relative position between the current own vehicle and the parking frame from the relative position between the own vehicle and the parking frame and the signals from the wheel speed sensor 4 and the yaw rate sensor 5 from the image processing unit 11. The position is obtained and supplied to the switching determination unit 203.

  The reverse initial position setting unit 202 determines the second time based on the relative position between the host vehicle and the parking frame from the host vehicle position detection unit 14 and the host vehicle minimum rotation radius stored in the host vehicle minimum rotation radius storage unit 12. Set the initial reverse start position. The initial position of the second reverse start is when the host vehicle moves backward so that the side of the vehicle comes in contact with the tip of the parking frame (with a margin) when moving backward in the parking frame in a narrow place and parking. This is the reverse start position for guiding. The reverse start initial position setting unit 202 starts the process for setting the second reverse start initial position when the first reverse travel is completed and the forward travel is started based on the determination result of the switch determination unit 203. To do. At this time, the reverse initial position setting unit 202 determines the necessity of displaying the initial reverse start position for starting the second reverse travel from the determination result of the switch determination unit 203 and supplies the determination result to the drawing unit 17. To do.

  The second reverse start initial position set by the reverse initial position setting unit 202 will be described with reference to FIGS. In order to simplify the description, the description will be made with reference to the top view. Actually, however, the positional relationship between the host vehicle and the parking frame line is obtained from the installation position of the camera 2 fixed to the host vehicle. The initial position for starting the backward movement may be set, or the processing for setting the initial position for starting the backward movement for the second time may be performed by converting the viewpoint of the fixed camera 2 to the viewpoint from the upper surface.

  For example, when the host vehicle 120 is positioned at the vehicle position A as shown in FIG. 12 and is traveling forward before starting the second reverse travel, the reverse initial position setting unit 202 sets the second reverse Set and present the starting initial position. When setting the initial position for starting the second retreat, the parking frame lines 101 and 102 and the parking frame line ends 101 ′ and 102 ′ are detected by the image processing unit 11 from the captured image of the camera 2. In the case shown in FIG. 12, since the end points of the parking frame lines 101, 102 close to the initial reversing start initial position of the host vehicle 120 are the parking frame line end portions 101 ′, the parking frame line end portions 101 ′ are Set to the reference position.

  Further, the reverse initial position setting unit 202 can set a margin arc line 101 ″ that is drawn with a preset radius centered on the parking frame line end portion 101 ′ and becomes a margin width with respect to the parking frame line 101. The margin arc line 101 ′ ″ or the corner of the vehicle approaching the margin arc line 101 ′ ″ side serves as a mark for recognizing the vehicle behavior when the vehicle is moving backward. The radius set in advance may be set to a distance easily recognized by the driver, or may be set according to the driving skill of the driver. Further, the reverse initial position setting unit 202 is concentric with the margin arc line 101 ′ ″ and sets the distance in the width direction from the vehicle center (1/2 of the entire vehicle width) to the radius of the margin arc line 101 ′ ″. An arc line 301 having a radius of the added distance can be set. Furthermore, when the host vehicle 120 shown in FIG. 12 turns rightward with a minimum turning radius from the vehicle position A, the reverse initial position setting unit 202 is centered on the arc line 302a drawn by the vehicle reference point 121 and the arc line 302a. Arc lines 302b and 302c separated by ½ of the entire vehicle width can be set.

  A point 305 serving as a contact point between the arc line 301 and the arc line 302a moves from the vehicle position A shown in FIG. 12 to the vehicle position B shown in FIG. 13 along the arc line 302a at the maximum right steering angle. When it is done, it becomes the guidance position for overlapping with the vehicle reference point 121. As shown in FIG. 13, when the host vehicle 120 moves to the vehicle position B, the reverse initial position setting unit 202 is parallel to the straight line 303a in which the arc line 301 and the arc line 302a are inscribed and the arc line 302a. Each straight line 303b and 303c can be set at a distance of ½ of the entire vehicle width. The straight line 303a becomes a target locus drawn by the center line of the host vehicle 120 when the host vehicle 120 approaches the parking frame lines 101 and 102, and is a straight line in contact with the margin arc line 101 ′ ″ and the margin arc line 102 ′ ″. It is.

  Further, when the host vehicle 120 moves from the vehicle position B to the vehicle position C while changing the steering angle to the neutral angle, the vehicle reference point 121 is on the straight line 303a and parked with reference to the point 305 as shown in FIG. The robot moves to a point 306 that has moved a predetermined distance away from the frame lines 101 and 102. The preset distance between the point 305 and the point 306 is a distance necessary to return the steering angle from the maximum steering angle to the neutral angle while moving at a very low speed when the host vehicle 120 is parked. It is set by trial experiment.

  Thus, the reverse initial position setting unit 202 sets the point 306 as the second reverse start initial position so as to move the vehicle reference point 121 of the host vehicle 120 to the point 306 and presents it to the driver. As a result, as shown in FIG. 14, the vehicle reference point 121 moves straight back and forward from the vehicle position C superimposed on the point 306, so that the side surface of the host vehicle 120 has the margin arc line 101 ′ ″ and the margin arc line 102 ″. It can be induced to touch '.

  As described above, since the parking assistance apparatus according to the second embodiment presents the initial position for starting the second reverse operation, the first step for calculating the initial reverse start position, that is, the first reverse operation is performed. Thus, depending on the vehicle position when the host vehicle 120 is positioned in the vicinity of the parking frame lines 101 and 102, there may be a situation where the second initial start position of reverse movement cannot be calculated.

  The situation in which the calculation of the second reverse start initial position is impossible is as follows. (1) The straight line 303a for presenting the second reverse start initial position cannot be set from the current position of the host vehicle 120. (2) Since the distance to the obstacle ahead of the parking frame lines 101 and 102 is short, there are two scenes where the host vehicle 120 cannot advance to a position in contact with the straight line 303a. On the other hand, the parking assistance device notifies the first region setting unit 13 that the initial initial position for reverse operation cannot be calculated by the reverse initial position setting unit 202, and the first region setting unit 13 Thus, another setting process of the reverse start area A for parking once and the reverse start area B for parking multiple times is performed.

  In addition, when the initial reverse start position cannot be calculated by the reverse initial position setting unit 202, it is desirable to notify the driver by voice or image to that effect.

  As described above, when it is detected that the vehicle has started moving forward in order to start the second backward traveling after the first backward traveling from the state where the vehicle has stopped in the parking backward start region B, the second backward traveling is detected. By presenting the start initial position to the driver, the steering angle can be returned without a sense of incongruity during the forward traveling, and the side surface of the host vehicle 120 is moved to the margin arc line 101 by the rectilinear advance from the initial reverse start position. The host vehicle 120 can be moved so as to be in contact with “″, the margin arc line 102 ″”. Thereby, the operation load in the second reverse traveling can be reduced, and the steering angle can be easily adjusted.

  Next, the overall processing in the parking assistance apparatus configured as described above will be described with reference to the flowchart of FIG.

  First, when the host vehicle 120 is present at a position where the desired parking frame can be visually recognized diagonally right forward or diagonally left forward, the vehicle 120 travels forward when the vehicle travels backward within the desired parking frame. When the start switch is operated before proceeding to the reverse start region by (step S41), the subsequent processing is started. In step S42, the first reverse start initial position setting processing (subroutine) is performed. This subroutine is the processing of Steps S1 to S15 of FIG. 2 in the first embodiment described above. The one-time parking reverse start area A and the multiple-time parking reverse start area B are calculated, and the host vehicle 120 is The driver is shown that the vehicle has advanced to the reverse start area A for parking once or the reverse start area B for parking multiple times.

  Next, in step S43, the parking assistance device determines whether or not it is necessary to display a second reverse start initial position. This determination process will be described with reference to FIG. In this determination process, when it is determined that the display of the second reverse start initial position is necessary, the process proceeds to step S44.

  In step S44, the parking assist device performs the second reverse start initial position setting process (subroutine) by the reverse initial position setting unit 202, and causes the drawing unit 17 to display the second reverse start initial position.

  On the other hand, if it is determined that the display of the second reverse start initial position is not necessary, or in the next step S45 when the second reverse start initial position setting process in step S44 is completed, the second reverse start A parking frame parallel steering process for making the direction of the host vehicle 120 parallel to the parking frame when the vehicle is running and the side surface of the host vehicle 120 comes into contact with the leading ends of the parking frame lines 101 and 102 by going straight forward and backward ( Subroutine). In this parking frame parallel steering process, the vehicle 120 continues to advance and retreat so that the side surface of the vehicle 120 is in contact with the front ends of the parking frame lines 101 and 102, and the front ends of the parking frame lines 101 and 102 are When the vehicle reaches the point where the axles meet, the vehicle travels backward at the maximum steering angle. Thereafter, the vehicle travels backward again and returns to the neutral position when the host vehicle 120 and the parking frame lines 101 and 102 become parallel. It is a process for making a driving operation, and is a process for presenting the driving operation to the driver.

  Next, the process for determining whether or not it is necessary to display the second reverse start initial position in step S43 will be described with reference to the flowchart of FIG.

  In this determination process, first, in step S51, the position of the host vehicle 120 is determined from the relative position between the host vehicle 120 and the parking frame determined by the host vehicle position detection unit 14 by the reverse initial position setting unit 202. Determine whether it is located inside or outside. If it is determined that the host vehicle 120 is located within the parking frame, the process ends, and the process proceeds to step S45. That is, when the host vehicle 120 is within the parking frame, the second reverse start initial position process in step S44 is not performed.

  On the other hand, in step S52, in which it is determined in step S51 that the host vehicle 120 is out of the parking frame, the reverse initial position setting unit 202 uses the information from the wheel speed sensor 4 acquired via the host vehicle position detection unit 14 to It is determined whether or not the vehicle 120 is stopped (vehicle speed = 0 km / h). If the host vehicle 120 is moving, the process returns to step S51. If the host vehicle 120 is stopped, the process proceeds to step S53.

  In step S <b> 53, the reverse initial position setting unit 202 determines whether the host vehicle 120 moves forward based on information obtained from the shift position sensor 201. Accordingly, in step S42 of FIG. 3, it is determined whether or not the own vehicle 120 is temporarily stopped in the retreat start area B for multiple times parking, the own vehicle 120 is advanced again, and the own vehicle 120 performs a turning operation. To do. If it is determined that the host vehicle 120 has moved forward, the process proceeds to step S44 in FIG. 15 to perform the reversing operation, and the second reverse start initial position is displayed. On the other hand, if it cannot be determined that the host vehicle 120 has moved forward, the return operation is not performed, and the process returns to step S51.

  Next, the second retreat start initial position setting process in step S44 described above will be described with reference to FIG.

  First, in step S <b> 61, the parking assist device captures a parking frame and an obstacle in front of the parking frame (for example, a curb or a forward parked vehicle) with the camera 2, and the image processing unit 11 performs parking frame line end 101 ′, 102 ′ (two places) and an obstacle in front of the parking frame are detected. At the same time, the image processing unit 11 obtains the distance and direction between the host vehicle 120 and the parking frame line ends 101 ′ and 102 ′, and positions the current position of the host vehicle 120 and the parking frame line ends 101 ′ and 102 ′. Understand relationships. Similarly, the image processing unit 11 obtains the distance and direction between the host vehicle 120 and the front obstacle, and grasps the positional relationship between the current position of the host vehicle 120 and the obstacle ahead of the parking frame.

  In the next step S62, the reverse initial position setting unit 202 sets the second reverse start initial position based on the parking frame line ends 101 'and 102' detected in step S61.

  In the next step S63, the drawing position 17 converts the initial position of the second reverse start set in step S62 into a landscape from the driver's viewpoint, and displays the HUD. Alternatively, the drawing unit 17 may superimpose a second backward start initial position on the vehicle front image captured by the camera 2 and display the superimposed image on the liquid crystal monitor 3a. As a result, the parking assist device allows the driver to guide the side surface of the host vehicle 120 to a position in contact with the margin arc line 101 ′ ″ and the margin arc line 102 ′ ″ if the vehicle travels straight forward. It is suggested that if the vehicle is moved forward and the backward movement is started within the initial position of the second backward movement start, the movement to the parking frame line ends 101 ′ and 102 ′ becomes possible.

  In the next step S64, the own vehicle position detection unit 14 monitors the outputs of the wheel speed sensor 4 and the yaw rate sensor 5, and the position of the own vehicle 120 is set to the target parking frame line end portions 101 ′ and 102 ′. It is determined whether or not it has moved. If it has moved, the process proceeds to step S65. If it is in a stopped state that has not moved, the determination in step S64 is repeated, and the display of the second reverse start initial position is continued.

  In the next step S65, the distance and direction of movement from the output values of the wheel speed sensor 4 and the yaw rate sensor 5 with respect to the target parking frame line end portions 101 ′ and 102 ′ by the own vehicle position detection unit 14 are determined. Identify.

  In the next step S66, the drawing unit 17 converts the initial position of the second backward start displayed in step S63 to the landscape from the position of the host vehicle 120 after the movement specified in step S65 as needed. The contents displayed on the monitor 3 are updated.

  In the next step S67, the reverse initial position setting unit 202 compares the second reverse start initial position set in step S62 with the information from the own vehicle position detection unit 14, and determines that the position of the own vehicle 120 is the second time. It is determined whether or not it substantially coincides with the initial reverse start position, and it is determined whether or not the initial reverse start position has been reached. At this time, if the reverse initial position setting unit 202 determines that the distance between the position of the host vehicle 120 and the initial position of the second reverse start is within a predetermined range (within an error), step S68 is performed. If it is determined that this is not the case, the process returns to step S65, and updating of the display image including the initial reverse start initial position is continued according to the position of the host vehicle 120.

  In this step S67, when the driver returns the steering angle to neutral while moving the own vehicle 120 forward, depending on the turning start position and timing to return to neutral, the host vehicle 120 may be on a straight line 303a that is the second backward trajectory. There may be situations where the aspects of these do not exactly match. In this case, even if the side surface of the host vehicle 120 does not completely coincide with the straight line 303a, the margin arc line 101 ′ ″ and the margin arc line 102 are within a preset allowable range (for example, when the host vehicle 120 is moved straight forward and backward). If the side surface of the host vehicle 120 is included in the range of '' '), it is determined that they match, and assistance for reverse parking is continued.

  In the next step S68, the reverse initial position setting unit 202 causes the drawing unit 17 to present on the monitor 3 that the position of the host vehicle 120 substantially coincides with the second reverse start initial position, and ends the process.

[Effects of Second Embodiment]
As described above in detail, according to the parking assistance device according to the second embodiment to which the present invention is applied, after the host vehicle 120 moves backward from the parking start area B for parking multiple times toward the parking frame, When the vehicle 120 travels forward again toward the area facing the parking frame, the side surface of the host vehicle 120 is moved to the front end of the parking frame by moving straight forward and backward after the forward travel while traveling forward. Since the initial position of the second reverse start ( second reverse start region) in contact is presented, the operation load in the second reverse travel can be reduced, and the steering angle can be easily adjusted.
That is, in the second reverse travel, the host vehicle 120 can be guided to the parking frame line end portions 101 ′ and 102 ′ only by moving straight forward and backward, and the driver can easily predict and judge the vehicle behavior. Further, during reverse, a large change in steering angle turning with a high steering load can be eliminated. Further, even in reverse parking where a complex driving operation is performed, each driving operation can be performed as a complex driving operation without performing each operation individually.

  Moreover, according to the parking assistance apparatus which concerns on 2nd Embodiment, while showing the 2nd reverse start initial position, the own vehicle 120 is advanced by the maximum steering angle in order to go to the 2nd reverse start initial position. When the host vehicle 120 reaches the initial position for starting the second reverse, it is shown that the vehicle 120 moves straight forward. Therefore, it is easy for the driver to perform the driving operation for moving to the initial position for starting the second reverse. Can communicate.

  Furthermore, according to the parking assistance device according to the second embodiment, after the host vehicle 120 has shown that it has reached the initial position for starting the second retreat and moves straight forward, the side surface of the host vehicle 120 is positioned at the end of the parking frame line. When the vehicle reaches the vicinity of 101 ′, 102 ′, it is indicated that the host vehicle 120 is moved backward at the maximum steering angle so as to be parallel to the parking frame lines 101, 102, and the host vehicle 120 and the parking frame lines 101, 102 are presented. When the two are parallel to each other, it is indicated that the vehicle is to move straight forward and backward, so that the driving operation for parking the host vehicle 120 in the parking frame can be easily transmitted to the driver from the initial position of the second backward start.

It is a block diagram which shows the structure of the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a flowchart which shows the whole process sequence of the parking assistance process in the parking assistance apparatus which concerns on 1st Embodiment to which this invention is applied. It is a figure for demonstrating a mode that the reverse start area | region A for 1 time parking is set in the area | region setting process of a 1st phase. It is a figure which shows the condition which cannot park once, when the reverse start area | region A for parking is set in the area | region setting process of a 1st phase. It is another figure for demonstrating a mode that the 1st parking area | region reverse start area | region A is set in the area | region setting process of a 1st phase. It is a flowchart which shows the process sequence which sets the reverse start area | region A for 1 time parking in the area | region setting process of a 1st phase. It is a figure for demonstrating a mode that the reverse start area | region B for multiple times parking is set in the area | region setting process of a 1st phase. It is a flowchart which shows the process sequence which sets the reverse start area | region B for multiple times in the area | region setting process of a 1st phase. It is a figure for demonstrating a mode that the reverse start area | region A for 1 time parking is set when the opposing space of a parking frame line is narrow. It is a figure for demonstrating a mode that the reverse start area | region B for multiple times parking is set when the opposing space of a parking frame line is narrow. It is a block diagram which shows the structure of the parking assistance apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a figure which shows a mode before it reverse | retreats from the reverse start area | region for parking several times, and heads for the reverse start initial position of the 2nd time. It is a figure which shows a mode when the vehicle reference point arrives at the 2nd reverse start initial position by moving forward toward the 2nd reverse start initial position. It is a figure which shows a mode at the time of returning a steering angle to neutrality from the 2nd reverse start initial position. It is a flowchart which shows operation | movement of the parking assistance apparatus which concerns on 2nd Embodiment to which this invention is applied. It is a flowchart which shows the process sequence which judges whether the display of the 2nd reverse start initial position is required. It is a flowchart which shows the process sequence when guiding the own vehicle to the 2nd reverse start initial position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Reverse start position calculating part 2 Camera 3 Monitor 3a Liquid crystal monitor 3b HUD
4 Wheel speed sensor 5 Yaw rate sensor 11 Image processing unit 12 Own vehicle minimum turning radius storage unit 13 First region setting unit 14 Own vehicle position detection unit 15 Parking availability determination unit 16 Second region setting unit 17 Drawing unit 101 Margin circle Arc line 101 ′ Parking frame line edge 101, 102 Parking frame line 101 ′ ″, 102 ′ ″ Margin arc line 102 Parking frame line edge 104 End connection line 105 Reference point 106 Parking frame center line 107 Width direction area setting Point 108 Width direction area setting line 109 Arc line 110 Reverse start area (reverse start area A for single parking)
120 Own vehicle 121 Vehicle reference point 142 Innermost circular arc line 131,150 Limit line 160 area (reverse start area B for multiple parking)
201 Shift position sensor 202 Backward initial position setting unit 203 Return determination unit

Claims (4)

In a parking assistance device that supports a driving operation for stopping the host vehicle in a region facing the parking frame before the host vehicle is moved backward and parked in a predetermined parking frame,
Storage means for storing in advance a minimum turning locus when the host vehicle turns with a minimum turning radius;
Parking frame detection means for detecting an end position of the parking frame relative to the position of the host vehicle;
More than the minimum turning trajectory that faces the detected parking frame and extends from the approximate center point of the line connecting the end positions of the detected parking frame and is in contact with the line orthogonal to the connected line at the center point A reverse start area presenting means for displaying a first reverse start area capable of parking in the parking frame by repetitive driving with a plurality of reverse movements and forward movements in the parking frame side area ,
The reverse start area presenting means, when the host vehicle travels forward again toward the area facing the parking frame again after the host vehicle moves backward from the first reverse start area toward the parking frame. In addition, during the forward traveling, the second backward start region where the side surface of the host vehicle is in contact with the front end of the parking frame is presented by moving straight forward and backward after the forward traveling. Parking assistance apparatus as described in. The reverse start area presenting means presents the second reverse start area and presents that the own vehicle is advanced at a maximum steering angle to go to the second reverse start area. The parking assistance device according to claim 1 , wherein when the second reverse start area is reached, the fact that the vehicle travels straight forward is presented. The reverse start area presenting means presents the fact that the host vehicle has reached the second reverse start area and is moving straight forward, and then when the side surface of the host vehicle reaches the vicinity of the tip of a parking frame, Presenting that the host vehicle is retracted at the maximum steering angle so that the host vehicle is parallel to the parking frame line, and presenting that the host vehicle and the parking frame line are parallel to each other when the host vehicle and the parking frame line are parallel. The parking assistance device according to claim 2 , wherein In a parking support method for supporting a driving operation for stopping the host vehicle in a region facing the parking frame before the host vehicle is moved backward and parked in a predetermined parking frame,
Preliminarily storing a minimum turning locus when the host vehicle turns with a minimum turning radius,
Detecting the end position of the parking frame relative to the position of the host vehicle;
More than the minimum turning trajectory that faces the detected parking frame and extends from the approximate center point of the line connecting the end positions of the detected parking frame and is in contact with the line orthogonal to the connected line at the center point In the area on the parking frame side, a first backward start area in which parking in the parking frame is possible by repeated operation of a plurality of backward movements and forward movements is displayed ,
After the host vehicle retreats toward the parking frame from the first reverse start region, the host vehicle travels forward again when the host vehicle travels again toward the region facing the parking frame again. A parking assist method, wherein a second reverse start region where the side surface of the host vehicle is in contact with the front end of the parking frame is presented by moving the vehicle straight forward and backward after the forward traveling .