JP4799722B2 - Parking assistance device with relative position detection device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assist system provided with a relative position detection equipment for detecting the relative position between the vehicle and the reference object.
[0002]
[Prior art]
Conventionally, as a relative position detecting device for detecting the relative position between the host vehicle and a reference object, for example, those described in Japanese Patent Application Laid-Open No. 63-191987 and Japanese Patent No. 2676971 are known. The devices described in these publications detect a relative position between the vehicle and a reference object using a distance measuring sensor (object sensor) such as an ultrasonic sensor or a laser scanner attached to a predetermined position of the vehicle.
[0003]
Further, as a similar device, for example, a field of view of the traveling direction of the vehicle is photographed by an image acquisition device (for example, a camera) and displayed on a monitor screen provided in the passenger compartment, and a reference object (for example, A device that recognizes an image of a white line or the like and detects a relative position between the vehicle and a reference object is also known.
[0004]
[Problems to be solved by the invention]
By the way, in the relative position detection devices described in these publications, it is necessary to separately provide a distance measuring sensor (object sensor) for detecting the relative position between the host vehicle and the reference object, which inevitably increases costs. It was.
[0005]
Also, in the case of recognizing the reference object on the monitor screen, a frame memory and a recognition algorithm are required for that purpose, and the cost is inevitably increased.
[0006]
An object of the present invention is to provide a parking assist device including without increasing the cost, the relative position equipment capable of detecting a relative position between the vehicle and the reference object.
[0007]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the invention according to claim 1 is a parking assist device for assisting parking of a vehicle in a parking frame, wherein the field of view of the traveling direction of the vehicle is photographed by an image acquisition means. Then, based on the display device that is displayed on the monitor screen provided in the passenger compartment and the input amount of the relative position detection switch, it moves horizontally on the monitor screen and substantially coincides with one end of the displayed reference object. A horizontal distance measurement marker output unit that superimposes and draws a horizontal distance measurement marker for operation on the monitor screen, and a vertical movement on the monitor screen based on the input amount of the relative position detection switch Vertical distance measurement marker output means for superimposing and drawing a vertical distance measurement marker for performing an operation of substantially matching one end of the displayed reference object on the monitor screen; and the relative position detection switch. Based on the input amount, rotating the monitor screen on the center positions on the monitor screen at one end of said lateral distance measuring marker output means and the longitudinal distance measuring marker output the reference object which is determined and means In addition, an angle measurement marker output unit that superimposes and draws an angle measurement marker on the monitor screen for performing an operation of extending the displayed reference object substantially along the extending direction, the lateral distance measurement marker output unit, the longitudinal distance measuring marker output means, from said angle measuring marker output means, and a relative position detecting device for detecting the relative position in the horizontal road surface of the reference object and the subject vehicle, the relative position detection device It includes a lateral distance between the lateral distance measuring vehicle and reference which is measured by the marker, and the vehicle and reference measured by the longitudinal distance measurement markers Based on the vertical distance, it said detects the relative position on the coordinates in the horizontal road surface and one end of the vehicle and the reference object, and the lateral distance measuring marker output means, the longitudinal distance measurement markers An angle between the host vehicle and the reference object on a horizontal road surface is detected based on the output means and the angle measurement marker output means , and the reference object is a line of the parking frame. The gist.
[0008]
Invention of Claim 2 is the parking assistance apparatus of Claim 1, Comprising: When the said horizontal direction distance measurement marker and the said vertical direction distance measurement marker are made to substantially correspond to the end of the said reference | standard thing, The gist is to calculate the parking route to the parking frame based on the relative position of the host vehicle and the reference object on the monitor screen and the angle between the host vehicle and the reference object .
(Function)
According to the first aspect of the present invention, the lateral distance between the host vehicle and the reference object measured by the lateral distance measurement marker, and the distance between the host vehicle and the reference object measured by the longitudinal distance measurement marker. Based on the vertical distance and the angle between the host vehicle and the reference object measured by the angle measurement marker, the relative position between the host vehicle and the reference object is detected without increasing the cost.
[0009]
Further , for example, by setting a white line of a parking frame as a reference object, for example, an operation for parking in the parking frame is suitably assisted.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS.
FIG. 1 is a schematic diagram showing a vehicle 2 equipped with a parking assist device 1 of the present embodiment. As shown in the figure, the parking assist device 1 functions as an image acquisition means and captures a rear view of the vehicle 2 (CCD camera) 11 and a reverse (reverse) state of a transmission shift lever (not shown). Shift lever reverse switch 14 for detecting the vehicle, parking switch 15 for operating the parking assist function during parking operation, relative position detection switch 16 for detecting the relative position of the vehicle 2 and a reference object, for example, on a horizontal road surface, monitor A screen 17, a speaker 18, and a controller 20 are provided.
[0011]
The camera 11 is installed with the optical axis directed downward, for example, at a substantially central portion behind the vehicle 2. Specifically, as shown in FIG. 3, the camera 11 is attached to be inclined downward at a predetermined angle (for example, 30 degrees) at the center at the rear of the vehicle. As shown in FIG. 4, the camera 11 itself has a wide-angle lens and secures a field of view of, for example, 140 degrees to the left and right, and can photograph a region up to about 8 m rearward.
[0012]
The parking switch 15 is a switch for operating a parking assist function, and is provided, for example, in the vicinity of the center console that can be easily operated by the driver.
The relative position detection switch 16 is installed on the operation panel of the monitor screen 17, for example. This relative position detection switch 16 is for shifting the x-axis adjustment marker a, the y-axis adjustment marker b, and the θ-axis adjustment marker c (see FIGS. 6 to 8) based on the reference object on the monitor screen 17, respectively. Two mode keys, that is, an x-axis adjustment mode key 16a, a y-axis adjustment mode key 16b, and a θ-axis adjustment mode key 16c are provided.
[0013]
The monitor screen 17 is installed on the center console, for example. In the display area shown in FIG. 5 of the monitor screen 17, graphic images such as the adjustment markers a, b, and c are displayed together with a rear image (raw image) of the vehicle 2 photographed by the camera 11. .
[0014]
From the speaker 18, required voice guidance is output (spoken) corresponding to each stage of the parking operation.
The controller 20 is provided, for example, inside an instrument panel, and a rear image of the vehicle 2 and the adjustment markers a, b, c are displayed on the monitor screen 17 based on input signals from the camera 11 and switches 14-16. And a desired voice guidance is output from the speaker 18.
[0015]
FIG. 2 is a system configuration diagram of the parking assist device 1. As shown in the figure, a controller 20 that controls the parking assist device 1 includes a central processing unit (CPU) 21 that is a central part thereof, a graphics drawing circuit 22 that draws graphics on a monitor screen 17, A superimpose circuit 23 that superimposes the graphics signal and the rear image from the camera 11, a synchronization separation circuit 24 that extracts a synchronization signal from the camera image and supplies it to the graphics drawing circuit 22, and an output from the speaker 18 to the driver. A voice synthesis circuit 25 for synthesizing voice guidance is provided.
[0016]
Next, a relative position detection mode between the host vehicle 2 and the parking frame S when performing, for example, parallel parking (garage storage) on the left parking frame S as viewed from the driver will be described with reference to FIGS. . 6 to 8 show images of the monitor screen 17 output by the controller 20 corresponding to each stage of the relative position detection. FIG. 9 is a plan view showing an actual positional relationship between the vehicle 2 and the parking frame S. As shown in the figure, the parking frame S is partitioned by a white line 30a on the near side with respect to the vehicle 2 and a white line 30b on the far side.
[0017]
When the vehicle 2 is stopped, the driver turns on the parking switch 15, further turns the shift lever in a reverse state, and turns on the shift lever reverse switch 14. At this time, as shown in FIG. 6, the CPU 21 displays an x-axis adjustment marker a on the monitor screen 17 in addition to the rear image from the camera 11. Further, as shown in FIG. 7, the CPU 21 displays a y-axis adjustment marker in addition to the rear image by the camera 11 and the x-axis adjustment marker a on the monitor screen 17.
[0018]
Here, as shown in FIG. 9, the x-axis adjustment marker a uses, for example, a straight line A parallel to the Y axis on a horizontal road surface, with the horizontal direction and the vertical direction of the host vehicle 2 as the X axis and the Y axis, respectively . monitor to correspond in real time to the display position of the screen 17 is obtained by superimposing drawn on the monitor screen 17. The x-axis adjustment marker a moves in the horizontal direction (x direction) on the monitor screen 17 by operating the x-axis adjustment mode key 16a. On the monitor screen 17, the x-axis adjustment marker a is made to substantially coincide with the tip of the white line 30b, for example, and the operation is stopped. At this time, if the x-axis adjustment marker a is in a stopped state for a predetermined time, the position of the x-axis adjustment marker a is determined, and the coordinate x of the tip of the white line 30b on the monitor screen 17 is specified.
[0020]
Moreover, y-axis adjustment markers b, as shown in FIG. 9, for example, a parallel straight line B and the X-axis in a horizontal road surface, in correspondence to the display position of the monitor screen 17, superimposed drawn on the monitor screen 17 Is. The y-axis adjustment marker b moves in the vertical direction (y direction) on the monitor screen 17 by operating the y-axis adjustment mode key 16b. On the monitor screen 17, this y-axis adjustment marker b is made to substantially coincide with the tip of the white line 30b, for example, and the operation is stopped. At this time, if the y-axis adjustment marker b is in a stopped state for a predetermined time, the position of the y-axis adjustment marker b is determined, and the coordinate y of the tip of the white line 30b on the monitor screen 17 is specified.
As shown in FIG. 9, the coordinates X and Y of the intersection of the straight line A and the straight line B on the horizontal road surface are superimposed and drawn in correspondence with the CCD element position of the camera 11, that is, the display position of the monitor screen 17 in real time. The coordinates x and y on the monitor screen 17 can be used to specify the coordinates using a known coordinate transformation (for example, the one conforming to the coordinate transformation described in JP-A-11-334470).
[0021]
As shown in FIG. 8, when the position of the x-axis adjustment marker a and the position of the y-axis adjustment marker b are determined as coordinates x and y on the monitor screen 17, the CPU 21 displays the camera 11 on the monitor screen 17. In addition to the rear image and the adjustment markers a and b, the θ-axis adjustment marker c is displayed.
[0022]
Here, the θ axis alignment markers c, as shown in FIG. 9, the straight line constituting the X-axis and the angle Θ in the XY plane, a straight line C parallel in example horizontal road surface, the display position of the monitor screen 17 It is made to correspond and is superimposed and drawn on the monitor screen 17. The θ-axis adjustment marker c rotates on the monitor screen 17 around the coordinates x and y determined by operating the θ-axis adjustment mode key 16c. On the monitor screen 17, for example, the θ axis adjustment marker c is rotated so as to be substantially along the extending direction of the white line 30b, and the operation is stopped. At this time, if the θ-axis adjustment marker c is in a stopped state for a predetermined time, the position of the θ-axis adjustment marker c is determined, and the angle θ in the direction in which the white line 30b extends on the monitor screen 17, that is, the host vehicle 2 The direction in which the actual white line 30b extends (angle Θ, see FIG. 9) is specified.
[0023]
By the above operation, the relative position (coordinates X, Y) between the host vehicle 2 and the tip of the white line 30b and the extending direction (angle Θ) of the white line 30b are detected. Therefore, the CPU 21 assists the driver's parking operation by, for example, calculating the parking route and the operation at that time (steering amount of the steering wheel, etc.) for the parking frame S defined by the white line 30b. It becomes possible to do.
[0024]
Alternatively, by monitoring the driver's operation on the parking frame S, it may be determined whether the operation at that time corresponds to an operation capable of parking in the parking frame S. It is also possible to notify the driver of the appropriateness of the operation at that time. Specifically, the CPU 21 displays the suitability on the monitor screen 17 or outputs it from the speaker 18, for example.
[0025]
In addition, although the case where it parks in the parking frame S on the left side seeing from a driver was demonstrated in the above, it is the same also when parking in the parking frame on the right side.
As described above in detail, according to the present embodiment, the following effects can be obtained.
[0026]
(1) In the present embodiment, the lateral distance between the host vehicle 2 measured by the x-axis adjustment marker a and the tip of the white line 30b, the host vehicle 2 measured by the y-axis adjustment marker b, and the tip of the white line 30b The relative position between the host vehicle 2 and the white line 30b can be detected without increasing the cost, based on the vertical distance and the extending direction of the white line 30b with respect to the host vehicle 2 measured by the θ-axis adjustment marker c.
[0027]
(2) In the present embodiment, an operation for parking the parking frame S can be suitably assisted.
In addition, embodiment of this invention is not limited to the said embodiment, You may change as follows. Even if such a change is added, the same effect as the above-described embodiment can be obtained.
[0028]
In the embodiment, the relative position detection switch 16 (adjustment mode keys 16a to 16c) installed on the operation panel of the monitor screen 17 is used as the input means. A wheel, joystick or switch may be employed.
[0029]
In the above embodiment, the white line 30b of the parking frame S is set as the reference object, but it may be set to a guide rail or a curb, for example. In particular, when an obstacle such as a parked vehicle is set as the reference object, the presence or absence of contact with the obstacle may be determined.
[0030]
In the embodiment, the actual coordinates X and Y and the angle Θ of the reference object on the horizontal road surface are detected in correspondence with the horizontal direction and the vertical direction of the vehicle 2. On the other hand, for example, the actual lateral and height coordinates and angles of the reference object at a position separated from the vehicle 2 by a predetermined distance (for example, 1 m) in the vertical direction may be detected. Further, for example, the actual vertical and height coordinates and angle of the reference object at a position separated from the vehicle 2 by a predetermined distance (for example, 1 m) in the lateral direction may be detected.
[0031]
In the above-described embodiment, the camera 11 is provided behind the vehicle 2, and the parking assist device in the case where the vehicle 2 is moved backward to park is described. On the other hand, it may be a parking assist device in the case where a camera is provided in front of the vehicle 2 and the vehicle 2 is moved forward to park.
[0032]
-In each above-mentioned embodiment, although the present invention was applied to the parking assistance device, this is an example.
Next, technical ideas other than the claims that can be grasped from the above embodiments will be described below.
[0033]
(A) A display device that captures a field of view of the traveling direction of the vehicle with a camera and displays it on a monitor screen provided in the passenger compartment, and the own vehicle according to the amount of movement on the monitor screen based on the input amount of the input means A lateral distance measurement marker output means for superimposing and drawing a lateral distance measurement marker for measuring a lateral distance from a reference object on the monitor screen, and a movement amount on the monitor screen based on an input amount of the input means Height direction distance measurement marker output means for superimposing and drawing a height direction distance measurement marker for measuring the height direction distance between the vehicle and the reference object on the monitor screen, and the monitor based on the input amount of the input means Angle measurement marker output means for superimposing and drawing on the monitor screen an angle measurement marker for measuring the angle between the host vehicle and the reference object according to the inclination angle on the screen, and is measured by the lateral distance measurement marker. The lateral distance between the host vehicle and the reference object, the distance between the host vehicle and the reference object measured by the height direction distance measurement marker, the own vehicle and the reference object measured by the angle measurement marker, A parking assist device comprising a relative position detection device , wherein the relative position between the host vehicle and a reference object is detected based on the angle of the vehicle. According to this configuration, the lateral distance between the host vehicle and the reference object measured by the lateral distance measurement marker, the height direction between the host vehicle and the reference object measured by the height direction distance measurement marker, Based on the distance and the angle between the host vehicle and the reference object measured by the angle measurement marker, the relative position between the host vehicle and the reference object is detected without increasing the cost.
[0034]
(B) a display device that captures the field of view of the traveling direction of the vehicle with a camera and displays it on a monitor screen provided in the vehicle interior; and the own vehicle according to the amount of movement on the monitor screen based on the input amount of the input means A vertical distance measurement marker output means for superimposing and drawing a vertical distance measurement marker for measuring a vertical distance from a reference object on the monitor screen, and a movement amount on the monitor screen based on an input amount of the input means Height direction distance measurement marker output means for superimposing and drawing a height direction distance measurement marker for measuring the height direction distance between the vehicle and the reference object on the monitor screen, and the monitor based on the input amount of the input means An angle measurement marker output means for superimposing and drawing an angle measurement marker on the monitor screen for measuring the angle between the host vehicle and the reference object in accordance with the inclination angle on the screen, and is measured by the vertical distance measurement marker. The vertical distance between the own vehicle and the reference object, the distance between the own vehicle and the reference object measured by the height direction distance measurement marker, the own vehicle and the reference object measured by the angle measurement marker, A parking assist device comprising a relative position detection device , wherein the relative position between the host vehicle and a reference object is detected based on the angle of the vehicle. According to this configuration, the vertical distance between the host vehicle and the reference object measured by the vertical distance measurement marker, and the height direction between the host vehicle and the reference object measured by the height direction distance measurement marker. Based on the distance and the angle between the host vehicle and the reference object measured by the angle measurement marker, the relative position between the host vehicle and the reference object is detected without increasing the cost.
[0035]
(C) In the parking assist device provided with the relative position detecting device according to any one of (1) and (b) above, the input means is a mode key installed on the operation panel of the monitor screen, Any one of a touch panel, a steering wheel, a joystick, and a switch that are superimposed and drawn on the monitor screen can be used.
[0036]
In the above-described embodiment, the parking assist device has been described with respect to a system that is completed within the vehicle. However, the present invention is not limited to this, and an external signal related to parking is obtained from the outside of the vehicle, and parking is performed based on the external signal. It can also be applied to systems that provide assistance.
[0037]
【The invention's effect】
As described above in detail, according to the first aspect of the invention, the relative position between the host vehicle and the reference object can be detected without increasing the cost.
[0038]
Moreover , the operation for parking in the parking frame can be suitably assisted.
[Brief description of the drawings]
FIG. 1 is a schematic view showing a vehicle equipped with an embodiment of the present invention.
FIG. 2 is a system configuration diagram of the embodiment.
FIG. 3 is a side view showing a mounting state of the camera of the embodiment.
FIG. 4 is a plan view showing a detection range of the camera of the embodiment.
FIG. 5 is an exemplary view showing display areas of a camera and a monitor screen according to the embodiment;
FIG. 6 is a diagram showing a display state of a monitor screen corresponding to each stage of relative position detection.
FIG. 7 is a diagram showing a display state of a monitor screen corresponding to each stage of relative position detection.
FIG. 8 is a diagram showing a display state of a monitor screen corresponding to each stage of relative position detection.
FIG. 9 is a plan view showing the arrangement of vehicles when performing parallel parking in the parking frame in the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 2 Vehicle 11 Camera 16 Relative position detection switch 17 Monitor screen 20 Controller

Claims (2)

A parking assistance device for assisting parking of a vehicle in a parking frame,
A display device that captures a field of view of the traveling direction of the vehicle by an image acquisition unit and displays the field of view on a monitor screen provided in a vehicle interior;
Based on the input amount of the relative position detection switch, the horizontal distance measurement marker for moving the monitor screen in the horizontal direction and making it substantially coincide with one end of the displayed reference object is superimposed and drawn on the monitor screen. Lateral direction distance measurement marker output means for
Based on the input amount of the relative position detection switch, the monitor screen is provided with a vertical distance measurement marker for performing an operation of moving the monitor on the monitor screen in the vertical direction and substantially matching one end of the displayed reference object. Vertical distance measurement marker output means for superimposing and drawing;
Based on the input amount of the relative position detection switch, the position of one end of the reference object determined from the lateral distance measurement marker output means and the vertical distance measurement marker output means as a center on the monitor screen An angle measurement marker output means for superimposing and drawing an angle measurement marker on the monitor screen for rotating on the monitor screen and performing an operation that substantially follows the direction in which the displayed reference object extends ;
A relative position for detecting a relative position on a horizontal road surface between the vehicle and the reference object from the lateral distance measurement marker output means, the vertical distance measurement marker output means, and the angle measurement marker output means. A detection device,
Said relative position detecting device, the longitudinal direction of the said lateral distance and lateral distance between the vehicle and the reference object measured by the measuring markers, the vehicle and the reference object which is measured by the longitudinal distance measurement markers Based on the distance, the relative position on the coordinate on the horizontal road surface between the host vehicle and one end of the reference object is detected, and the lateral distance measurement marker output means, the longitudinal distance measurement marker output means, , Detecting an angle formed by the vehicle and the reference object on a horizontal road surface based on the angle measurement marker output means ,
The parking assist device according to claim 1, wherein the reference object is a line of the parking frame. A relative position on the monitor screen between the host vehicle and the reference object when the lateral distance measurement marker and the vertical distance measurement marker are substantially coincident with one end of the reference object; Based on the angle with the reference object,
The parking assist device according to claim 1, wherein a parking route to the parking frame is calculated .

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