JP5067377B2 - Parking support system, on-vehicle parking support device - Google Patents

Description

The present invention relates to a vehicle parking assist equipment constituting the parking assistance system and the system.

  Conventionally, as a parking support system, a parking support system is known that includes a marker (mark) installed in a parking space and a parking support device that is mounted on a vehicle and includes an in-vehicle camera that images the marker ( For example, Patent Document 1).

  In this patent document 1, the learning mode for calculating an ideal parking locus is performed as advance preparation. In this learning mode, the vehicle is first parked at the ideal parking position, and then the driver travels from that position to the parking start reference position. Then, an ideal parking locus is calculated from the traveling locus of the vehicle at this time.

  Then, in the parking mode in which parking assistance is performed, the mark is photographed by the camera, the current position of the vehicle with respect to the mark is determined from the position in the image of the mark, and the determined current position is on the ideal parking locus. Steering control is performed.

JP 2008-174000 A

  In the parking assistance device of Patent Document 1, it is necessary to calculate an ideal parking locus in advance in order to perform parking assistance. And in order to calculate this ideal parking locus, since it is necessary to actually drive the vehicle from the ideal parking position to the parking start reference position, the preliminary preparation is troublesome.

  Further, when the vehicle is actually traveled to calculate the ideal parking locus, naturally, the vehicle travels in consideration of the size of the vehicle, and travels while turning more than the minimum turning radius. For this reason, if the actual vehicle size and the minimum turning radius are different, the ideal parking locus may be different. Therefore, it is necessary to calculate the ideal parking locus for each vehicle.

  In addition, if the parking operable space in front of the parking space is narrow, the ideal parking locus may include turnover, but in this case, the driving operation for teaching the ideal parking locus cannot be performed well, so There is a high possibility that the driving operation must be performed several times, and preparation is troublesome.

The present invention has been made based on this situation, it is an object to provide a vehicle parking assist equipment constituting the parking assistance system and the system can be reduced labor preparatory There is.

In order to achieve the object, the invention according to claim 1 has parking space information indicating the size of the parking space that is installed in the parking space and is based on the installation position, and parking operable space information for the parking space. And an on-vehicle parking support device that is mounted on a vehicle, acquires information from the marker with information, and performs parking support when parking the vehicle in the parking space based on the acquired information. A parking support system provided,
The on-vehicle parking assist device analyzes an on-vehicle camera for imaging the marker with information and an image captured by the on-vehicle camera, and acquires parking space information and parking operable space information included in the information marker. Information acquisition means, relative position determination means for determining the relative position of the vehicle with respect to the marker with information, a vehicle information storage section for storing the size and minimum turning radius of the vehicle, and the information acquisition means Based on the parking space information, the parking operable space information, the relative position of the own vehicle determined by the relative position determining means, the size of the own vehicle and the minimum turning radius stored in the own vehicle information storage unit, the parking operation is performed. a scheduled route calculation means for calculating a planned route, seen including a running control means for performing running control of the vehicle based on the parking operation scheduled route, said scheduled route calculation A route confirmation means for displaying the planned parking operation route calculated by the means on a predetermined display device and confirming whether or not the vehicle occupant may perform the travel control based on the displayed planned parking operation route. The planned route calculating means calculates a parking operation planned route different from that when the occupant desires a different route as a result of the confirmation by the route confirming means, and the route confirming means If the route calculation means calculates a parking operation planned route different from the previous one, the parking operation planned route is displayed again on a predetermined display device and displayed to the vehicle occupant. check may perform travel control based on the operation planned route, the travel control means, this performing driving control when it may perform travel control by the path verification means is confirmed The features.

  Thus, in the present invention, the marker has the parking space information and the parking operable space information, the relative position of the own vehicle with respect to the marker can be determined, and the size and minimum of the own vehicle can be determined. The turning radius is memorized. And the planned route calculation means calculates the parking operation planned route from these.

  In the technique of Patent Document 1 described above, the marker only has a mark function for detecting a deviation between the ideal parking locus and the vehicle position. However, in the present invention, the marker with information installed in the parking space has the parking space information and the parking operable space information, the parking space information and the parking operable space information, and the position of the vehicle relative to the marker. A parking operation scheduled route is calculated from the information, the size of the host vehicle, and the minimum turning radius. This eliminates the need for teaching the ideal parking locus in advance.

  Moreover, since the size of the host vehicle and the minimum turning radius are used for calculating the planned parking operation route, the planned parking operation route reflecting the size of the vehicle and the minimum turning radius can be calculated.

Furthermore, when the parking operation available space is narrow and it is necessary to switch back during the parking operation, if the ideal parking operation trajectory has to be taught as in the technique of Patent Document 1, driving for teaching at a time. There is a high possibility that the operation cannot be performed well and the driving operation for the professor must be performed several times. However, in the present invention, since it is not necessary to drive the vehicle as advance preparation, even if it is necessary to switch back during the parking operation, the effort for advance preparation is not particularly increased.
In addition, since it is confirmed to the occupant whether traveling control based on the planned parking operation route is possible, the vehicle travels on the planned parking operation route even if there is an obstacle such as a parked vehicle on the planned parking operation route. It is also possible to suppress running control.

  In the invention according to claim 2, the marker with information has parking space inclination information indicating an inclination of the parking space in addition to the parking space information and parking operable space information, and the information acquisition means includes: In addition to the parking space information and the parking operable space information, parking space inclination information is also acquired, and the relative position determining means includes the position and size of the marker with information in the image captured by the in-vehicle camera, The relative position of the vehicle with respect to the marker with information is determined based on the parking space inclination information acquired by the information acquisition means.

  It is difficult to determine whether or not the parking space is inclined from the image captured by the in-vehicle camera. Therefore, when determining the relative position of the vehicle with respect to the marker with information based on the position and size of the marker with information in the image, if the parking space is inclined, the relative position of the parking space is determined at the determined relative position of the vehicle. There is a possibility that an error based on the inclination is included. However, according to the second aspect, the relative position of the vehicle with respect to the marker with information can be accurately determined even when the parking space is inclined. As a result, the calculation accuracy of the planned parking operation route is improved.

  According to a third aspect of the present invention, a plurality of the markers with information are installed in one parking space at positions different from each other in the longitudinal direction of the parking space, and the relative position determining means is imaged by the in-vehicle camera. Based on the position and size of the marker with information in the image, the relative position of the own vehicle with respect to the marker with information is sequentially determined, and the travel control unit is configured to determine the relative position of the host vehicle sequentially determined by the relative position determining unit. The travel route of the vehicle is controlled based on a comparison between the position and the planned parking operation route calculated by the planned route calculation means.

  When only one marker with information is installed in the vicinity of the entrance of the parking space, the marker with information is hidden in the own vehicle and cannot be imaged by the in-vehicle camera when a part of the own vehicle enters the parking space. For this reason, the vehicle position cannot be determined from the position and size in the image of the marker with information. However, in this way, even if a marker with information installed near the entrance of the parking space can no longer be imaged, another marker with information can be imaged. Even when the vehicle is in the vehicle, the vehicle position can be determined from the position and size of the marker with information in the image. As a result, the traveling control means can cause the host vehicle to travel accurately along the parking operation scheduled route.

According to a fourth aspect of the present invention, the marker with information has a direction defining line in which an orientation with respect to the parking space is fixed, and the travel control means is based on the orientation of the direction defining line in the image. The vehicle direction with respect to the parking space is sequentially determined, and the travel control is performed based on the determined vehicle direction and the planned parking operation route.

  As described above, when traveling control is performed while sequentially detecting the direction of the vehicle with respect to the parking space, it is possible to suppress the actual movement route of the vehicle from greatly deviating from the planned parking operation route.

According to a fifth aspect of the present invention, the on-vehicle parking assist device further includes an installation position storage unit that stores an installation position of the marker with information, and a current position determination unit that sequentially determines the current position of the vehicle. When the current position determined by the current position determination means falls within a predetermined distance from the installation position of the marker with information stored in the installation position storage unit, the vehicle is mounted to image the marker with information. It is characterized by turning on the camera.

  In this way, since the in-vehicle camera does not need to always capture an image in order to capture the marker with information, the power consumption and the processing load can be reduced.

The invention according to claim 6 further includes a portable device that performs wireless communication with the on-vehicle parking support device, and the marker with information is for identifying the position of the parking space in which the marker with information is installed. The information acquisition means also acquires the position identification code, and the in-vehicle parking assistance device generates parking position information indicating the position of the parking space based on the position identification code, The generated parking position information is wirelessly transmitted to the portable device, and the portable device includes a display for displaying the parking position information transmitted from the in-vehicle parking assistance device.

  In this way, since the parking position of the vehicle can be confirmed by displaying the parking position information on the display of the portable device, the vehicle can be quickly found even when parked in a large-scale parking lot. it can.

The invention according to claim 7 is provided with a remote control button for remotely controlling the movement of the vehicle, and a portable device for transmitting a vehicle travel instruction signal based on the remote control button being pressed. The parking assist device includes a receiver that receives a vehicle travel instruction signal transmitted from the portable device, and the travel control means detects the vehicle based on the reception of the vehicle travel instruction signal by the receiver. The vehicle is moved along the planned parking operation route. In this way, it is possible to remotely control the vehicle and park the vehicle in the parking space.

The invention of claim 8, wherein the Ru invention der according to the vehicle parking assist device which constitutes the parking assist system of claim 1, wherein.

It is a block diagram which shows the structure of the vehicle-mounted parking assistance apparatus 1 among the parking assistance systems used as embodiment of this invention. It is a figure which shows the imaging range of four vehicle-mounted cameras. It is a figure which shows the marker 100. FIG. It is a figure which shows the installation position of the marker 100, the parking space information which the information code 120 of the marker 100 shows, and parking operation possible space information. It is a flowchart explaining the procedure of prior work. It is a flowchart which shows the processing content of the automatic parking control which the automatic parking control apparatus 80 performs. When it arrives at home, it is a figure (B) which shows the example of a display (A) displayed on display 70, and the state where in-vehicle camera 10 is turned on. It is the figure (B) which shows the state which discovered the marker 100 with the example of a display (A) displayed on the display apparatus 70, when the marker is detected, and the vehicle-mounted camera 10. FIG. (A) is a figure which shows the example of a display in the case of confirmation of a parking operation | movement plan path | route. (B) is a figure which illustrates the state where the vehicle C stopped after detecting the marker 100. FIG. It is a figure (B) which shows a display example (A) of display 70 in the state where vehicle parking control is being performed but vehicle C has not entered into a parking space at all, and a position of vehicle C. It is a figure (B) which shows the example of a display of display 70 in the state where vehicle parking control is being performed and vehicle C entered into the parking space, and the position of vehicle C. FIG. 7 is a display example (A) of the display device 70 in a state where the vehicle parking control is being executed and the vehicle C is positioned at the parking completion position, and FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a vehicle-side configuration, that is, a configuration of an in-vehicle parking support device 1 in a parking support system according to an embodiment of the present invention. As shown in FIG. 1, the on-vehicle parking assist device 1 includes an on-vehicle camera 10, a brake control device 20, an accelerator control device 30, a steering control device 40, a navigation system 50, an obstacle detection device 60, A display device 70 and an automatic parking control device 80 are included.

  The in-vehicle camera 10 includes four units in the present embodiment. FIG. 2 shows the imaging range of these four in-vehicle cameras 10, and as shown in FIG. 2, in this embodiment, the imaging range covers the four directions of the vehicle front, the vehicle rear, the vehicle right side, and the vehicle left side. It is said. As can be seen from FIG. 2, the present embodiment includes four in-vehicle cameras 10 including a vehicle front camera, a vehicle rear camera, a vehicle right side camera, and a vehicle left side camera. However, it is not always necessary to have four in-vehicle cameras 10, and it is only necessary to have at least one in-vehicle camera 10 for imaging the traveling direction during parking. The image captured by the in-vehicle camera 10 is output to the automatic parking control device 80.

  The brake control device 20 includes a brake actuator and an actuator control device that controls the brake actuator, and performs control for automatically decelerating the vehicle C. The accelerator control device 30 includes a throttle actuator that adjusts the throttle opening and an actuator control device that controls the throttle actuator, and performs control for automatically accelerating the vehicle C. These brake control device 20 and accelerator control device 30 automatically control the vehicle speed.

  The steering control device 40 includes a steering angle sensor that detects a steering angle and outputs a steering angle signal indicating the detected steering angle, a steering actuator that is an actuator that rotates a steering wheel, and a steering computer that controls the steering actuator. The steering computer controls the steering angle based on the steering angle signal from the steering angle sensor and the target steering angle signal determined by the automatic parking control device 80.

  The navigation system 50 functions as current position determination means in claims, and includes a position determination unit such as a GPS receiver for radio wave navigation, a direction sensor for self-contained navigation, a distance sensor, and the like. The current position of is sequentially determined. In addition, display control for displaying a road map on the display device 70, setting of a guide route to the destination, guide control according to the guide route, and the like are performed. In addition, the navigation system 50 is provided with a marker 100 (see FIG. 3) described later, such as a parking lot at home, and a point for performing automatic parking control using the marker 100 (hereinafter referred to as an automatic parking point), It can be registered in advance in an internal storage device (not shown). Therefore, the navigation system 50 also functions as an installation position storage unit. Then, the navigation system 50 sequentially determines whether or not the vehicle has arrived near the automatic parking spot. Whether or not the vehicle has arrived in the vicinity of the automatic parking spot is determined based on whether or not the current position of the vehicle is within a predetermined distance from the automatic parking spot. When it is determined that the vehicle has arrived in the vicinity of the automatic parking spot, a signal indicating that is output to the automatic parking control device 80.

  The obstacle detection device 60 is an ultrasonic sonar, for example, and detects an obstacle around the vehicle. The display device 70 is provided at a position visible from the driver, such as an instrument panel, and displays a road map, a vehicle bird's-eye view image, and the like.

  The automatic parking control device 80 is a computer including a CPU, a ROM, a RAM, and the like (not shown). A brake control device 20, an accelerator control device 30, a steering control device 40, a navigation system 50, and an obstacle detection are performed by an in-vehicle LAN 90. A device 60 is connected. In addition, a signal from the in-vehicle camera 10 is input, and a signal can be output to the display device 70.

  The automatic parking control device 80 also functions as a self-vehicle information storage unit in claims, and stores the size and minimum turning radius of the self-vehicle in an internal storage device (not shown). In addition, information for calculating the relative position of the vehicle with respect to the marker 100 from the image captured by the in-vehicle camera 10 (camera installation position, camera orientation, marker 100 size, etc.) is also stored. In addition, you may memorize | store these information in the memory | storage device outside the automatic parking control apparatus 80. FIG.

  The automatic parking control device 80 transmits and receives signals to and from the brake control device 20, the accelerator control device 30, the steering control device 40, the obstacle detection device 60, and the display device 70, and performs automatic parking control, which will be described in detail later. Execute.

  FIG. 3 is a diagram showing the marker 100. The marker 100 and the on-vehicle parking assistance device 1 shown in FIG. 1 constitute a parking assistance system. The marker 100 has a direction defining frame 110, and an information code 120 (in this embodiment, a QR code (registered trademark)) is written inside the direction defining frame 110.

  The direction defining frame 110 is a rectangular frame formed by two pairs of parallel lines, a pair of width direction defining lines 112 parallel to the width direction of the parking space, and a pair of long sides parallel to the longitudinal direction of the parking space. It consists of a direction defining line 114. The width direction defining line 112 and the longitudinal direction defining line 114 correspond to the direction defining line in the claims.

  The information code 120 includes at least parking space information and parking operable space information for the parking space in which the marker 100 is installed, and may include parking space inclination information.

  The parking space information is information indicating the size of the parking space on the basis of the marker 100, and the parking operable space information is based on the marker 100 based on the size of the parking operable space existing before the parking space. It is the information shown as. The parking space inclination information is information indicating the inclination angle of the parking space.

  FIG. 4 is a diagram illustrating the installation position of the marker 100, the parking space information indicated by the information code 120 of the marker 100, and the parking operable space information. As shown in FIG. 4, in the present embodiment, two markers 100 are installed in one parking space.

  The installation position of one marker 100 is the center in the width direction of the parking space and the front end of the parking space, and the installation position of the other marker 100 is the center in the width direction of the parking space and the rear end of the parking space. As shown in FIG. 4, the marker 100 on the rear end side of the parking space is installed on the rear side of the vehicle stop block 130. Therefore, the marker 100 on the rear end side of the parking space is a position that can be imaged by the in-vehicle camera 10 even when the vehicle is positioned at the parking completion position.

  The marker 100 is a planar figure, and a flat object on which the marker 100 is displayed is fixed at a predetermined position on the parking space by printing or the like. However, the marker 100 may be painted on the road surface of the parking space.

  The parking space information indicated by the information code 120 is specifically the lengths a to d shown in FIG. 4, and the parking operable space information indicated by the information code 120 is specifically shown in FIG. It is the length of e to g shown. These a to g are all lengths with the installation position of the marker 100 as a reference point.

  The upper and lower limits are set for the lengths of e to g, which are the parking operable space information, and the upper limit value is set when a length longer than the upper limit value can be secured, and when the upper limit value cannot be secured, The length is set based on the space where the parking operation is possible.

  In addition, ag shown in FIG. 4 has shown the information which the marker 100 installed in the entrance of the parking space has. Regarding the marker 100 installed at the rear end of the parking space, the parking space information and the parking operable space based on the marker 100 are represented as an information code 120.

  In the parking assistance system of this embodiment, the prior work which installs the said marker 100 in a parking space is needed. Next, this preliminary work will be described. FIG. 5 is a flowchart for explaining the procedure of the preliminary work.

  As shown in FIG. 5, in the preliminary work, first, the marker installation position is determined (step S1). As described above, in the present embodiment, the marker 100 is installed at the center in the width direction of the parking space and the front end of the parking space, and the center in the width direction of the parking space and the rear end of the parking space. Therefore, in this step S1, in the actual parking space, the position of the center in the width direction and the front end and the position of the center in the width direction and the rear end are determined.

  In subsequent step S <b> 2, the parking space and the parking operable space are measured based on the installation position of each marker 100. If the parking space has an inclination, the inclination is also measured.

  In subsequent step S3, the information measured in step S2 is input to marker 100 as information code 120 (printed on a flat object). In step S4, the flat plate on which the marker 100 is printed in step S3 is fixed at the marker installation position determined in step S1.

  In step S5, the position of the parking lot where the marker 100 is installed in step S4 is registered in the navigation system 50 as an automatic parking spot. Note that the operation in step S5 is not essential.

  Next, the processing contents of the automatic parking control performed by the automatic parking control device 80 when the vehicle C is traveling will be described with reference to FIG. First, in step S10, normal traveling is performed. This normal traveling means traveling that is not automatic parking traveling shown in step S12 and subsequent steps.

  In subsequent step S11, current position information is sequentially acquired from the navigation system 50, and it is determined whether or not the vehicle has approached the automatic parking spot registered in the above-described preliminary work. If this determination is negative, the routine returns to step S10 and normal driving is continued. On the other hand, when it becomes affirmation determination, it progresses to step S12.

  As described above, the registration of the automatic parking spot can be omitted. In this case, the determination in step S11 is always a negative determination. Therefore, an automatic parking control start instruction switch (not shown) is provided, and the process proceeds to step S12 even when an operation of this switch is detected.

  In step S12, the in-vehicle camera 10 is turned on. The in-vehicle cameras 10 that are turned on in step S12 may be all the in-vehicle cameras 10, or the in-vehicle cameras 10 that are to be turned on may be specified when the automatic parking spot is registered. Alternatively, the direction of the parking space may be determined from the vehicle traveling direction and the map information, and the in-vehicle camera 10 having the direction as the imaging range may be turned on.

  In step S13, marker search processing is performed. This marker search process analyzes an image picked up by the in-vehicle camera 10 and determines whether or not the marker 100 is included in the image. In step S13, the display device 70 displays that the marker is being searched.

  FIG. 7 shows a display example (FIG. 7 (A)) displayed on the display device 70 in this step S13 when arriving at a home registered as an automatic parking spot, and the in-vehicle camera 10 is turned on. It is a figure (Drawing 7B) which shows a state.

  The process of step S13 is continued until the marker 100 is found. If the marker 100 is found, the process proceeds to step S14. FIG. 8 is a diagram showing a display example displayed on the display device 70 when the marker 100 is detected (FIG. 8A), and a diagram showing a state where the marker 100 is found by the in-vehicle camera 10 (FIG. 8B). ).

  In step S14, it is determined whether or not a plurality of markers 100 are found. If only one marker 100 is found, the process proceeds directly to step S16. On the other hand, if two or more markers 100 are found, the process proceeds to step S15.

  In step S15, the driver is caused to select a parking space. As a process for selecting, for example, the display device 70 displays a camera image including the marker 100 discovered by the search process in step S13 and displays a selection frame. When one parking space is selected by the driver, the process proceeds to step S16.

  In addition, the identification code is included in the information code 120 of each marker 100, and the automatic parking control device 80 also stores the identification code of the marker 100 used when performing automatic parking control. One marker 100 may be selected based on this.

  Step S16 functions as information acquisition means in claims, and by analyzing the information code 120 of the marker 100 for the one marker 100 determined in steps S13 to S15, parking space information, parking operable space Get information. In addition, if parking space inclination information is included, the information is also acquired.

  Furthermore, this step S16 also performs the function as a relative position determination means. That is, based on the position and size of the marker 100 in the image captured by the in-vehicle camera 10, the relative position of the vehicle with respect to the marker 100 is determined by a known method such as the method described in Patent Document 1 described above. . The relative position is determined after detecting that the own vehicle has stopped.

  In determining the relative position, when the parking space inclination information can be acquired, the parking space inclination information is also used. It is difficult to determine whether or not the parking space is inclined from the image captured by the in-vehicle camera 10. Therefore, when parking space inclination information is not obtained, it is calculated that there is no inclination in the parking space. However, when the parking space is inclined, even if the distance between the road surfaces is the same as that when the distance between the road surfaces is flat, the in-vehicle camera 10 shows a large marker 100. Therefore, when parking space inclination information can be acquired, correction is performed based on the information.

  The subsequent step S17 is a process as a scheduled route calculation means in claims, and calculates the planned parking operation route using the information acquired in step S16. Specifically, an area surrounded by a broken line in FIG. 4 can be determined from the parking space information and the parking operable space information. In addition, the vehicle passing trajectory when the vehicle moves can be determined from the size of the host vehicle. Further, the minimum value of the curvature of the vehicle passing locus is defined by the minimum turning radius. From these, the vehicle reverse start point and the post-reverse start route from the vehicle reverse start point to the parking completion point are calculated in a coordinate system with the marker 100 as a reference. It should be noted that the route after the reverse start may include switching when the parking operable space is narrow.

  After determining the reverse travel start route, a forward travel route from the relative position of the vehicle to the marker 100 determined in step S16 to the vehicle reverse start point is calculated. The post-reverse start route and the forward route are parking operation planned routes.

  In step S18, if some of the in-vehicle cameras 10 are not turned on, the in-vehicle cameras 10 that are not on are turned on, and the bird's-eye conversion of the image captured by the in-vehicle camera 10 is performed. A bird's-eye view image showing the entire vehicle periphery is displayed on the display device 70. Further, in step S18, the parking operation planned route calculated in step S17 is superimposed and displayed on this bird's-eye view image.

  The subsequent step S19 is a process corresponding to the route confirmation means in the claims, and the driver confirms whether or not there is no problem in performing the parking operation on the planned parking operation route displayed in step S18. Specifically, a message such as “Parking along this route. Please press the start button if you like.” Is output in one or both of voice and screen. FIG. 9A is a diagram showing a display example at the time of this confirmation. FIG. 9B is a diagram illustrating a state in which the vehicle C has stopped after detecting the marker 100, and a parking operation scheduled route is calculated at this stop position.

  Then, based on the subsequent input operation of the driver, it is determined whether or not the driver has affirmed the proposed parking operation planned route. The driver determines whether there is an obstacle such as a parked vehicle on the planned parking operation route from the image displayed on the display device 70 and the actual situation around the vehicle, and inputs according to the determination result The operation is performed on a predetermined operation key in the passenger compartment.

  When it is determined that the driver has denied the proposed parking operation planned route, another parking operation scheduled route (for example, forward parking or the like) is calculated in step S20, and the calculated other parking operation planned route is displayed as a bird's-eye view image. Is superimposed on the screen. While the proposed parking operation planned route is denied by the driver, steps S19 to S20 are repeated.

  On the other hand, if it is determined that the driver has accepted the proposed parking operation planned route, the process proceeds to step S21 to start the vehicle parking control. Then, vehicle parking control for automatically moving the vehicle C to the parking completion point is performed.

  This vehicle parking control will be specifically described. The relative position of the vehicle C with respect to the marker 100 is sequentially determined as in step S16. The target steering angle is sequentially determined so that the sequentially determined relative position of the vehicle C is on the planned parking operation route, and a target steering angle signal indicating the target steering angle is output to the steering control device 40. In addition, a command signal is output to the brake control device 20 and the accelerator control device 30 in order to reduce the vehicle speed.

  Further, during the vehicle parking control, the bird's-eye view image is displayed on the display device 70, and the parking operation scheduled route and the current position of the vehicle C are superimposed on the bird's-eye view image. FIGS. 10-12 is a figure which shows the state in execution of the vehicle parking control of this step S22. In each figure, (A) shows a display example of the display device 70, and (B) shows the position of the vehicle C.

  FIG. 10 shows a state where the vehicle C has not yet entered the parking space. When the vehicle parking control is further continued from the state shown in FIG. 10 and the vehicle C enters the parking space, the marker 100 installed at the entrance of the parking space is under the vehicle C, so that the in-vehicle camera 10 cannot capture an image. FIG. 11 shows this state.

  However, as shown in FIG. 11, the marker 100 installed at the rear end of the parking space can be imaged by the in-vehicle camera 10. Therefore, when the marker 100 installed at the parking space entrance cannot be imaged, the vehicle parking control is continued using the marker 100 installed at the rear end of the parking space.

  As a method of using the marker 100 installed at the rear end of the parking space, the position and size of the marker 100 in the image captured by the in-vehicle camera 10 is the same as in the case of the marker 100 installed at the entrance of the parking space. Therefore, there is a utilization method for sequentially determining the relative position between the marker 100 and the vehicle C.

  Further, in a state where the marker 100 installed at the entrance of the parking space cannot be imaged, the parking operation planned route is parallel to the longitudinal direction of the parking space. Therefore, in this state, the vehicle C is parallel to the longitudinal direction of the parking space. You can set it back. The marker 100 includes a longitudinal direction defining line 114. Therefore, even if the target steering angle is determined while imaging the marker 100 installed at the rear end of the parking space and determining the direction of the vehicle C relative to the parking space from the direction of the longitudinal direction defining line 114 of the marker 100 in the image. Good. Instead of the longitudinal direction defining line 114, the direction of the vehicle C may be determined based on the width direction defining line 112 perpendicular to the longitudinal direction defining line 114.

  When the vehicle C is further retracted from the state shown in FIG. 11, the vehicle C reaches the parking completion point. FIG. 12 shows a state where the vehicle C is located at the parking completion point. It is determined from the position of the marker 100 in the image captured by the in-vehicle camera 10 that the vehicle C has reached the parking completion point. When it is determined that the vehicle C has reached the parking completion point, a message “parking is complete” is output as shown in FIG. When parking is completed, after the driver turns off the IG, the driver gets off the vehicle and performs a door lock operation.

  During vehicle parking control in step S22, the obstacle detection device 60 sequentially detects obstacles around the vehicle. When it is determined that there is a possibility that the detected obstacle is in contact with the vehicle C, the driver is warned that there is a risk of contact and the vehicle is stopped. Further, prior to this warning, when the driver determines that there is a danger, the driver may perform a brake operation and a steering operation.

  As described above, according to the present embodiment described above, the marker 100 has the parking space information and the parking operable space information, and the in-vehicle parking assistance device 1 determines the relative position of the own vehicle with respect to the marker 100. Remembers the size of the vehicle and the minimum turning radius. And the automatic parking control apparatus 80 is calculating the parking operation | movement plan path | route from these (step S17 of FIG. 2). This eliminates the need for teaching the ideal parking locus in advance.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention, and also the summary other than the following is also included. Various modifications can be made without departing from the scope.

  For example, in the above-described embodiment, the driver is getting on when performing the vehicle parking control (step S22), but the driver gets off the vehicle C when the parking operation scheduled route can be confirmed, and thereafter, The vehicle parking control (step S22) may be performed by a button operation of a portable device (for example, a wireless key or a smart key) that can perform wireless communication with the in-vehicle parking assistance device 1. Even in this case, for example, the vehicle traveling instruction signal is transmitted only while the button of the portable device is pressed, and the vehicle C moves, so that the vehicle can be stopped by operating the button of the portable device. Is preferred. In addition, when it is determined that the vehicle is located at the parking completion position by a button operation of the portable device or by automatic determination using the relative position with respect to the marker 100, a necessary actuator is provided and the engine is automatically Is turned off, the shift position is changed to the parking position, the side brake is turned on, and the door is locked.

  In addition, the marker 100 includes a position identification code for identifying the position of the parking space where the marker 100 is installed. In step S16, the position identification information is also acquired, and it is possible to determine whether the vehicle has got off such as IG off. Parking position information (for example, a parking space number) indicating the position of the parking space is generated based on the position identification information, and this information is stored in a portable device carried by a vehicle occupant (such as the smart key described above or registered in advance). May be transmitted to a mobile phone or the like. And a portable machine displays the parking position information on the indicator which a portable machine has. In this way, even when parked in a large-scale parking lot, the vehicle can be quickly found.

  Further, in the above-described embodiment, the relative position of the vehicle C with respect to the marker 100 is performed by analyzing the image of the in-vehicle camera 10. However, the present invention is not limited to this, and the relative position of the vehicle C with respect to the marker 100 may be determined using a laser radar.

  In the above-described embodiment, one marker 100 is installed at the rear end of the parking space in the center in the width direction of the parking space. However, the marker 100 may not be the rear end of the parking space as long as it is installed at a position where the marker 100 installed at the entrance of the parking space cannot be imaged. In addition, the marker 100 may not include information on a parking operable space. Furthermore, a marker that does not include information may be used. Further, the marker 100 installed at the entrance of the parking space is not limited to the installation position of the above-described embodiment, and may be any position that can be imaged by the in-vehicle camera 10 of the vehicle C traveling on the road.

  Further, in the above-described embodiment, automatic parking control that also performs automatic control of the vehicle speed is performed. However, only the steering angle may be automatically controlled, and the vehicle speed may be adjusted by performing parking support control in which the driver operates the brake and accelerator.

1: vehicle-mounted parking support device, 10: vehicle-mounted camera, 20: brake control device, 30: accelerator control device, 40: steering control device, 50: navigation system (current position determining means, installation position storage unit), 60: obstacle Detection device, 70: Display device, 80: Automatic parking control device (own vehicle information storage unit), 90: In-vehicle LAN, 100: Marker, 110: Direction defining frame, 112: Width direction defining line (direction defining line), 114 : Longitudinal direction defining line (direction defining line), 120: information code, 130: vehicle stop block, C: vehicle, S16: information acquisition means, relative position determination means, S17: planned route calculation means, S19: route confirmation means, S22 : Travel control means

Claims (8)

A marker with information that is installed in the parking space and has parking space information indicating the size of the parking space with reference to the installation position and parking operable space information for the parking space;
An on-vehicle parking support system that is mounted on a vehicle, acquires information from the marker with information, and supports parking when parking the vehicle in the parking space based on the acquired information. And
The in-vehicle parking assistance device is
An in-vehicle camera for imaging the marker with information;
Information acquisition means for analyzing an image captured by the in-vehicle camera and acquiring parking space information and parking operable space information that the marker with information has,
Relative position determining means for determining a relative position of the vehicle with respect to the marker with information;
A vehicle information storage unit for storing the size and minimum turning radius of the vehicle;
Parking space information acquired by the information acquisition means, parking operable space information, the relative position of the own vehicle determined by the relative position determination means, the size and minimum rotation of the own vehicle stored in the own vehicle information storage unit A planned route calculating means for calculating a planned parking operation route based on the radius;
Look including a running control means for performing running control of the vehicle based on the parking operation planned route,
The planned parking operation route calculated by the planned route calculation means is displayed on a predetermined display device, and it is confirmed whether or not the vehicle occupant can perform the travel control based on the displayed parking operation planned route. Further comprising a route confirmation means,
If the occupant desires another route as a result of the confirmation by the route confirmation unit, the planned route calculation unit calculates a parking operation planned route different from the previous route,
When the planned route calculation unit calculates another planned parking operation route, the route confirmation unit again displays the planned parking operation route on a predetermined display device, and Confirm to the crew whether or not it is possible to perform driving control based on the displayed parking operation planned route,
The parking support system , wherein the travel control means performs travel control when it is confirmed that the travel control may be performed by the route confirmation means . In claim 1,
The marker with information has parking space inclination information indicating the inclination of the parking space in addition to the parking space information and parking operable space information,
In addition to the parking space information and parking operable space information, the information acquisition means also acquires parking space inclination information,
The relative position determination means is based on the position and size of the marker with information in the image captured by the vehicle-mounted camera and the parking space inclination information acquired by the information acquisition means. A parking assistance system characterized by determining a relative position. In claim 1,
A plurality of the markers with information are installed in one parking space at different positions in the longitudinal direction of the parking space,
The relative position determining means sequentially determines the relative position of the vehicle with respect to the marker with information based on the position and size of the marker with information in the image captured by the in-vehicle camera;
The travel control unit controls the travel route of the vehicle based on a comparison between the relative position of the host vehicle sequentially determined by the relative position determination unit and the planned parking operation route calculated by the planned route calculation unit. A parking assistance system characterized by In any one of Claims 1 thru | or 3 ,
The marker with information has a direction defining line in which an orientation with respect to the parking space is fixed,
The travel control means sequentially determines the orientation of the vehicle with respect to the parking space based on the orientation of the direction defining line in the image, and performs the travel control based on the determined orientation of the vehicle and the planned parking operation route. A parking assistance system characterized by performing. In any one of Claims 1 thru | or 4 ,
The in-vehicle parking assistance device is
An installation position storage unit storing the installation position of the marker with information;
A current position determining means for sequentially determining the current position of the vehicle;
An in-vehicle camera for imaging the marker with information when the current position determined by the current position determination means is within a predetermined distance from the installation position of the marker with information stored in the installation position storage unit Parking assistance system characterized by turning on. In any one of Claims 1 thru | or 5 ,
A portable device that performs wireless communication with the on-vehicle parking assistance device;
The marker with information further has a position identification code for identifying the position of the parking space where the marker with information is installed,
The information acquisition means also acquires the position identification code,
The on-vehicle parking assistance device generates parking position information indicating the position of the parking space based on the position identification code, wirelessly transmits the generated parking position information to the portable device,
The said portable machine is provided with the indicator which displays the parking position information transmitted from the said vehicle-mounted parking assistance apparatus, The parking assistance system characterized by the above-mentioned. In any one of claims 1 to 6 ,
A remote control button for remotely controlling the movement of the vehicle, and a portable device that transmits a vehicle travel instruction signal based on the remote control button being pressed,
The on-vehicle parking assist device has a receiver that receives a vehicle travel instruction signal transmitted from the portable device,
The parking control system, wherein the travel control means moves the vehicle along the planned parking operation route based on the reception of a vehicle travel instruction signal by the receiver. Information obtained by acquiring information from a marker with information having parking space information indicating the size of the parking space with reference to the installation position and information on a parking operable space for the parking space. A vehicle-mounted parking assistance device that performs parking assistance when parking the vehicle in the parking space based on
An in-vehicle camera for imaging the marker with information;
Information acquisition means for analyzing an image captured by the in-vehicle camera and acquiring parking space information and parking operable space information that the marker with information has,
Relative position determining means for determining a relative position of the vehicle with respect to the marker with information;
A vehicle information storage unit for storing the size and minimum turning radius of the vehicle;
Parking space information acquired by the information acquisition means, parking operable space information, the relative position of the own vehicle determined by the relative position determination means, the size and minimum rotation of the own vehicle stored in the own vehicle information storage unit A planned route calculating means for calculating a planned parking operation route based on the radius;
Look including a running control means for performing running control of the vehicle based on the parking operation planned route,
The planned parking operation route calculated by the planned route calculation means is displayed on a predetermined display device, and it is confirmed whether or not the vehicle occupant can perform the travel control based on the displayed parking operation planned route. Further comprising a route confirmation means,
If the occupant desires another route as a result of the confirmation by the route confirmation unit, the planned route calculation unit calculates a parking operation planned route different from the previous route,
When the planned route calculation unit calculates another planned parking operation route, the route confirmation unit again displays the planned parking operation route on a predetermined display device, and Confirm to the crew whether or not it is possible to perform driving control based on the displayed parking operation planned route,
The in-vehicle parking support device , wherein the travel control means performs travel control when it is confirmed that the travel control may be performed by the route confirmation means .

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