JP5151803B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance device and method for supporting backward parallel parking in a parking frame.

2. Description of the Related Art Conventionally, a method for assisting a driver's operation when a vehicle is parked in a parking frame is known. For example, Patent Document 1 discloses a parking support device that supports a parking operation for reverse parallel parking. According to this parking assist device, when parking in the parking frame located at the left rear, the vehicle is first stopped at the initial stop position where the center of the rear axle is substantially on the center line of the passage width. Next, the vehicle is moved backward by a steering amount where the expected trajectory of the left rear wheel is in contact with the frame line entrance end of the parking frame, and is stopped at a position where the rear wheel reaches the front frame line entrance end. Then, the steering is set to the maximum turning angle in the same direction and the vehicle moves backward, and is stopped when the right rear end of the vehicle contacts the rear frame line of the parking frame. Further, the steering is reversed to set the maximum turning angle and move forward, and the vehicle moves forward until the right front end of the vehicle contacts the passage end. By repeating this forward and backward movement, the vehicle is moved to a position parallel to the front frame line and the rear frame line in the center of the parking frame. Thereafter, the vehicle is moved straight back to a predetermined position. Parallel parking is completed by such a series of operations.
JP 2004-314708 A

  However, according to the technique disclosed in Patent Document 1, in order to move to a position parallel to the front frame line and the rear frame line at the center of the parking frame, it is necessary to repeat forward and reverse operations, In the case of a driver who is unfamiliar with driving, there is a possibility that the number of times of turning back may increase, and there is a problem that operability is lowered.

  This invention is made | formed in view of this situation, The objective is to perform parking easily by suppressing the frequency | count of a return.

  In order to solve this problem, the present invention provides a parking assistance device. The parking assist device sets the steering to the maximum turning angle based on the turning trajectory of the rear wheel and the front end of the vehicle corresponding to the minimum turning radius of the vehicle, the parking frame width, and the obstacle distance, and reverses the vehicle. Thus, the backward turn boundary indicating the boundary that can enter the target parking frame at a time is calculated. Then, a presentation image is created by superimposing a reverse switching boundary on a captured image obtained by imaging the periphery of the vehicle. The created presentation image is displayed on the display means.

  According to the present invention, since it becomes possible to grasp the boundary line that can enter the target parking frame at a time without interfering with the obstacle from the displayed reverse switching boundary, the number of times of switching Can be suppressed, and parking can be performed easily.

(First embodiment)
FIG. 1 is a configuration diagram schematically showing a parking assistance apparatus according to a first embodiment of the present invention. The parking assistance device is a device that supports backward parallel parking in a parking frame. In this embodiment, the parking assistance apparatus is mainly configured by a plurality of cameras 1, a parking assistance switch 2, a monitor 3, and a control unit 10. The plurality of cameras 1, the parking assist switch 2, and the monitor 3 are connected to the control unit 10.

  Cameras (imaging means) 1 are installed at a plurality of locations around the vehicle, for example, at four locations, front, rear, left and right. Each camera 1 images the surroundings of the vehicle, for example, a road surface in a range of about 5 m from the own vehicle, and outputs the captured image to the control unit 10.

  The parking assistance switch 2 is installed on the instrument panel or the steering handle. The parking assistance switch 2 outputs a signal instructing the start / end of the parking assistance operation to the control unit 10 when operated by the occupant. Moreover, the parking assistance switch 2 sets the parking frame which parks a vehicle with respect to the control unit 10 as a target parking frame by being operated by the passenger | crew.

  The monitor (display means) 3 is installed on the instrument panel in the passenger compartment, and displays information for parking assistance by the output from the control unit 10. As the monitor 3, a known display device such as a liquid crystal panel or a CRT can be used. As the monitor 3, for example, a display device used for displaying navigation information can be used.

  As the control unit 10, a microcomputer mainly composed of a CPU, a ROM, a RAM, and an I / O interface can be used. The control unit 10 receives the signals from each camera 1 and the signals from the parking support switch 2 as input, performs various processes related to parking support according to the control program stored in the ROM, and provides information for parking support. Is output to the monitor 3. When the control unit 10 grasps this functionally, the viewpoint conversion unit 11, the overhead image creation unit 12, the obstacle distance detection unit 13, the parking frame width detection unit 14, the turning boundary calculation unit 15, and the storage A unit 16 and an image composition unit 17.

  The viewpoint conversion unit 11 performs viewpoint conversion processing on each captured image corresponding to one frame output from each camera 1 as a processing target. In this viewpoint conversion process, by performing pixel rearrangement on the captured image, viewpoint conversion is performed so that an image is captured from a viewpoint in which the camera optical axis is perpendicular to the road surface. The viewpoint conversion unit 11 outputs each captured image subjected to viewpoint conversion to the overhead image creation unit 12.

  The overhead image creation unit (overhead image creation means) 12 connects the captured images that have undergone viewpoint conversion. By this connection, an overhead image is created in which the entire periphery of the vehicle is looked down with the virtual viewpoint directly above the vehicle. The overhead image creation unit 12 outputs the created overhead image to the obstacle distance detection unit 13, the parking frame width detection unit 14, and the image composition unit 17, respectively.

  The obstacle distance detection unit (detection means) 13 detects the obstacle distance L based on the overhead image by using image processing such as edge detection. The obstacle distance L is a distance from the parking frame to an obstacle (for example, a wall) existing in the opposite direction of the parking frame. Specifically, as shown in FIG. 2, the obstacle distance detection unit 13 is a pair of left and right frame lines on the road surface that defines the parking frame based on the focal length of the camera 1 and the distance per pixel. The obstacle distance L is calculated by detecting the distance from the entrance end of F (the front end of the parking frame on the vehicle entrance side) to the obstacle OB present in the opposite direction of the parking frame on the overhead image. To do. The obstacle distance detection unit 13 outputs the detected obstacle distance L to the return boundary calculation unit 15.

  The parking frame width detection unit (detection unit) 14 detects a parking frame width W that is a distance in the width direction of the parking frame based on the overhead image by using image processing such as edge detection. Here, the width direction in the parking frame width W corresponds to the vehicle width direction (left-right direction) of the vehicle CA when the vehicle CA is parked in the parking frame. Specifically, as shown in FIG. 2, the parking frame width detection unit 14 draws a pair of left and right images that define the parking frame drawn on the road surface based on the focal length of the camera 1 and the distance per pixel. The parking frame width W is calculated by detecting the distance in the width direction of the frame line F on the overhead image. The parking frame width detection unit 14 outputs the detected parking frame width W to the switching boundary calculation unit 15.

  The return boundary calculation unit (calculation means) 15 calculates the return boundary based on the obstacle distance L, the parking frame width W, and vehicle parameters described later stored in the storage unit 16. Here, the return boundary indicates a boundary line for switching between forward and reverse in order to park the vehicle in the target parking frame, and includes a reverse return boundary and a forward return boundary. The reverse turning boundary is a boundary line that indicates a boundary that can enter the target parking frame at a time by setting the steering to the maximum turning angle and moving backward. Consists of cutback boundaries. In other words, the reverse turning boundary indicates a boundary line for turning the vehicle from forward to reverse in order to enter the parking frame. On the other hand, the forward turning boundary is a boundary line indicating a boundary for turning the vehicle from backward to forward in order to enter the target parking frame, and is configured by third and fourth turning boundaries described later. . The calculated cut-off boundary is superimposed on the overhead image so that a boundary line that can enter the parking frame without interfering with an obstacle on the opposite side of the parking frame across the vehicle is displayed. Show. The cut boundary calculation unit 15 outputs the calculated cut boundary to the image composition unit 17.

  Further, as a premise for calculating the return boundary, the return boundary calculation unit 15 uses, as a target parking frame, a parking frame for parking the vehicle in the captured image based on a signal from the parking assist switch 2 operated by the occupant. Set (setting means). The details of the processing executed by the return boundary calculation unit 15 will be described later.

  The storage unit (storage means) 16 has a function of storing vehicle parameters and image display icons. The storage unit 16 includes a dimension storage unit 16a, a rotation radius storage unit 16b, and an icon storage unit 16c.

  The dimension storage unit 16a stores the total length, full width, left and right rear wheel positions of the vehicle, and left and right front end corner positions of the vehicle. Here, the left and right rear wheel positions are positions corresponding to the start point of the turning trajectory in the Ackerman turn. The left and right front end positions correspond to positions on the vehicle that pass the outermost side when the vehicle turns. Various values stored in the dimension storage unit 16a are read by the return boundary calculation unit 15 as vehicle parameters.

  The turning radius storage unit 16b has a turning radius of the rear wheel corresponding to the minimum turning radius of the vehicle, that is, a turning locus drawn by the vehicle rear wheel corresponding to the inside of the turning when turning at the maximum turning angle (hereinafter referred to as "inner rear wheel locus"). And a turning trajectory (hereinafter referred to as “outer rear wheel trajectory”) drawn by the vehicle rear wheel corresponding to the outside of the turn. Further, the turning radius storage unit 16b has a turning radius at the front end corresponding to the minimum turning radius of the vehicle, that is, a turning locus drawn by the vehicle front end corresponding to the turning outside at the time of turning at the maximum turning angle (hereinafter referred to as “outer front end locus”). ) Is remembered. Various values stored in the turning radius storage unit 16b are read as necessary by the return boundary calculation unit 15 as vehicle parameters.

  The icon storage unit 16c stores an icon corresponding to the vehicle (hereinafter referred to as “vehicle icon”). The vehicle icon is an icon representing the current position of the vehicle on the overhead image, and a computer graphics image or the like that simulates the vehicle is used. The icon storage unit 16c stores the size (vehicle length and width) of the vehicle icon and the left and right rear wheel positions as data accompanying the vehicle icon. The vehicle icon and accompanying data stored in the icon storage unit 16c are read as necessary by the image composition unit 17 as display data.

  The image composition unit (image composition means) 17 creates a first presentation image in which a vehicle icon is superimposed on the overhead view image. Specifically, when the image composition unit 17 reads the vehicle icon from the icon storage unit 16c of the storage unit 16, the image icon is displayed at a position corresponding to the vehicle position in the real space with a size corresponding to the size of the vehicle. Is superimposed on the overhead image. The bird's-eye view image created by the bird's-eye view image creation unit 12 is created with the current position of the vehicle as a reference, for example, so that the current position of the vehicle is the center of the image. Therefore, the image composition unit 17 superimposes the vehicle icon on the position serving as the reference of the overhead image, that is, the center of the image. Thereby, the image composition unit 17 creates a first presentation image. The created presentation image is output to the monitor 3, and this presentation image is displayed on the monitor 3.

  Further, the image composition unit 17 creates a second presentation image in which the cut boundary calculated by the cut boundary calculation unit 15 is superimposed on the first presentation image. Specifically, when the return boundary is calculated by the return boundary calculation unit 15, the image composition unit 17 superimposes the return boundary on the first presentation image. The return boundary calculated by the return boundary calculation unit 15 is set based on the positions of the parking base point and the parking frame in the overhead image as will be described later. Therefore, the image composition unit 17 superimposes the return boundary in correspondence with the parking base point and the position of the parking frame on the overhead image. Thereby, the image composition unit 17 creates a second presentation image. The created presentation image is output to the monitor 3, and this presentation image is displayed on the monitor 3.

  FIG. 3 is a flowchart illustrating a procedure of parking support processing according to the first embodiment. The process shown in this flowchart is executed by the control unit 10 using as a trigger a signal that instructs the start of a parking support operation that is output from the parking support switch 2 in accordance with the operation of the occupant. As shown in FIG. 4, the operation of the parking assistance switch 2 corresponding to the start of the parking assistance operation is performed, for example, in a state where the driver visually stops the parking frame at the left front of the vehicle CA and stops the vehicle. .

  In step 10 (S10), the viewpoint conversion unit 11 reads a captured image corresponding to one frame captured by each camera 1. In step 11 (S11), the viewpoint conversion unit 11 performs a viewpoint conversion process on each of the read captured images as a processing target.

  In step 12 (S12), the overhead image creation unit 12 creates an overhead image based on each captured image subjected to viewpoint conversion. In step 13 (S13), the image composition unit 17 creates a first presentation image by superimposing a vehicle icon on the created overhead image. Then, the overhead image creation unit 12 displays the first presentation image on the monitor 3 by outputting the first presentation image to the monitor 3.

  In step 14 (S14), the turning boundary calculation unit 15 sets a parking frame in which the vehicle is parked as a target parking frame based on a setting signal output from the parking assist switch 2 according to the operation of the occupant. For example, when the cut-off boundary calculation unit 15 outputs a setting signal to the image composition unit 17, the image composition unit 17 displays an icon (for example, a rectangular frame) corresponding to the parking frame on the first presentation image. It superimposes on a 1st presentation image. Then, the image composition unit 17 moves the icon on the first presentation image in response to a signal output from the parking assistance switch 2 according to the operation of the occupant. Then, the occupant sets the position of the icon corresponding to the frame line F of the parking frame drawn on the road surface in the overhead view image. The position of the icon in the bird's-eye view image is output from the image composition unit 17 to the cut-off boundary calculation unit 15, and the turn-off boundary calculation unit 15 sets a target parking frame on the bird's-eye view image based on the icon position.

  Referring to FIG. 4, in the present embodiment, a parking frame that exists on the left front side of the vehicle CA is set as the target parking frame. In this case, after the vehicle is once moved forward, the parking operation when the vehicle is parked in the parking frame by the backward movement accompanied by the left turn is supported. In the present embodiment, the base point for defining the turning boundary set for the target parking frame (hereinafter referred to as “parking base point”) is at the entrance end of the frame line F of the parking frame corresponding to the inside of the turn. Is set. This parking base point corresponds to the innermost position through which the vehicle can pass when entering the target parking frame.

  In step 15 (S15), the obstacle distance detection unit 13 detects the obstacle distance L based on the overhead image. Moreover, the parking frame width detection part 14 detects the parking frame width W based on a bird's-eye view image.

  In step 16 (S16), the return boundary calculation unit 15 reads the vehicle parameters stored in the storage unit 16. Specifically, the turning boundary calculation unit 15 reads the total length, full width, left and right rear wheel positions, and left and right front end positions of the vehicle from the dimension storage unit 16a. Further, the turning boundary calculation unit 15 reads the inner rear wheel locus, the outer rear wheel locus, and the outer front end locus from the turning radius storage unit 16b.

  FIG. 5 is an explanatory diagram of the first switching boundary R1. In step 17 (S17), the turning boundary calculation unit 15 sets the first turning boundary R1 in the overhead image based on the vehicle parameters, the obstacle distance L, and the parking frame width W. The first turning boundary R1 corresponds to an outer front end locus Rout drawn based on a vehicle position that satisfies the first condition described below. Specifically, the vehicle position that satisfies the first condition is that the outer front end locus Rout is in contact with the obstacle boundary line LB, and the side of the vehicle CA corresponding to the outside of the turn corresponds to the outside of the turn. The position can be set by defining the position of the vehicle CA so as to correspond to the position F. Here, the obstacle boundary line LB is a line indicating the boundary of the obstacle OB facing the parking frame.

  In this embodiment, it is a parking operation by reverse driving with left turn. Therefore, the side surface of the vehicle CA corresponding to the outside of the turn corresponds to the right side surface of the vehicle CA, and the frame line F corresponding to the outside of the turn corresponds to the right side frame line F of the pair of frame lines F in the parking frame. . The outer front end locus Rout corresponds to the turning locus of the right front end.

  Note that, from the viewpoint of creating a second presentation image, which will be described later, the cut-off boundary calculation unit 15 starts from the contact point with the obstacle OB in the outer front end locus Rout drawn based on the vehicle position that satisfies the first condition. A trajectory to the vehicle front end corresponding to the outside of the turn is defined as a first turning boundary R1.

  Further, in a scene where the frame width W of the parking frame is narrower than the frame width of the parking frame shown in FIG. 5, the first turning boundary R1 is a frame line F corresponding to the inside of the turn (in this embodiment, the left side of the frame). There may be a case where it contacts or intersects with the entrance end (parking base point) of the frame line F). When the first turning boundary R1 is in contact with the entrance end of the frame line F, the first turning boundary R1 draws a trajectory corresponding to the second turning boundary R2 described later. On the other hand, when the first turning boundary R1 intersects the frame line F, the first turning boundary R1 is set because the frame width W of the parking frame is extremely narrow or the obstacle distance is short. Can not do it. In this case, this process ends.

  FIG. 6 is an explanatory diagram of the second switching boundary R2. In step 18 (S18), the turning boundary calculation unit 15 sets a second turning boundary R2 in the overhead view image based on the vehicle parameters, the obstacle distance L, and the parking frame width W. The second turning boundary R2 corresponds to the outer front end locus Rout drawn based on the vehicle position that satisfies the second condition described below. Specifically, the vehicle position that satisfies the second condition is that the outer front end locus Rout is in contact with the obstacle boundary line LB, and the inner rear wheel locus Rin is the parking base point, that is, the frame line F corresponding to the inside of the turn. It can be set by defining the position of the vehicle CA so as to pass through the entrance end.

  In this embodiment, it is a parking operation by reverse driving with left turn. Accordingly, the inner rear wheel locus Rin corresponds to the turning locus of the left rear wheel. Note that, from the viewpoint of creating a second presentation image, which will be described later, the turning boundary calculation unit 15 starts from the contact point with the obstacle OB in the outer front end locus Rout drawn based on the vehicle position that satisfies the second condition. A locus corresponding to the outside of the turn is defined as a second turning boundary R2.

  In step 19 (S19), the turning boundary calculation unit 15 sets a third turning boundary R3 in the overhead image based on the vehicle parameters, the obstacle distance L, and the parking frame width W. As shown in FIG. 6, the third turning boundary R3 corresponds to the inner rear wheel locus Rin drawn on the basis of the vehicle position that satisfies the second condition described above. Note that, from the viewpoint of creating a second presentation image to be described later, the turning boundary calculation unit 15 parks from the inner rear wheel position among the inner rear wheel locus Rin drawn based on the vehicle position that satisfies the second condition. A trajectory up to the base point is defined as a third switching boundary R3.

  In step 20 (S20), the turning boundary calculation unit 15 sets the parking frame boundary line L1 in the overhead image. The parking frame boundary line L1 is a straight line that passes through the entrance ends of the pair of frame lines F that define the parking frame and extends in the width direction of the parking frame.

  FIG. 7 is an explanatory diagram of the fourth switching boundary R4. In step 21 (S21), the turning boundary calculation unit 15 sets a fourth turning boundary R4 in the overhead view image based on the vehicle parameters, the obstacle distance L, and the parking frame width W. The fourth turning boundary R4 corresponds to the inner rear wheel locus Rin drawn based on the vehicle position that satisfies the third condition described below. Specifically, the vehicle position that satisfies the third condition is such that the side surface of the vehicle CA corresponding to the inside of the turn corresponds to the parking frame boundary line L1, and the inner rear wheel locus Rin is the parking reference point. That is, it can be set by defining the position of the vehicle CA so as to pass through the entrance end of the frame line F corresponding to the inside of the turn.

  Note that, from the viewpoint of creating a second presentation image to be described later, the turning boundary calculation unit 15 parks from the inner rear wheel position among the inner rear wheel locus Rin drawn based on the vehicle position that satisfies the third condition. The trajectory up to the base point is the fourth switching boundary R4, and the other trajectory connected to the inner rear wheel position uses the parking frame boundary line L1. However, in the present embodiment, the fourth turning boundary R1 substantially corresponds to the parking frame boundary line L1 because the parking frame boundary line L1 passes through the parking base point.

  FIG. 8 is an explanatory diagram of the second presentation image. In step 22 (S22), the image composition unit 17 superimposes the first to fourth switching boundaries R1 to R4 set in the switching boundary calculation unit 15 on the first presentation image, thereby Create a presentation image. The positions of the first to fourth switching boundaries R1 to R4 are set based on the parking base point and the position of the parking frame on the overhead image, and the image composition unit 17 sets the parking base point on the first presentation image. The first to fourth switching boundaries R1 to R4 are overlapped based on the position of the parking frame.

  In step 23 (S23), the image composition unit 17 outputs the generated second presentation image to the monitor 3 to display the second presentation image on the monitor.

  In step 24 (S24), the return boundary calculation unit 15 determines whether or not there is an end instruction. Specifically, when a signal instructing the end of the parking support operation output from the parking support switch 2 according to the operation of the occupant or a signal instructing the ignition off output from an ignition switch (not shown) is acquired. It is determined that an end instruction has been acquired. If an affirmative determination is made in step 24, this process ends. On the other hand, if a negative determination is made in step 24, the process returns to step 23 after performing the process of step 25 (S25).

  In step 25 (S25), the image composition unit 17 updates the second presentation image. Specifically, the camera 1 repeats imaging at a predetermined cycle, and the latest bird's-eye view image is always created according to the processing from step 10 to step 12 for each cycle. When the image composition unit 17 detects the position of the parking base point and the parking frame in the latest first presentation image created, the image composition unit 17 superimposes the first to fourth switching boundaries R1 to R4 based on the positions. Thus, the second presentation image is updated.

  Through the above series of processes, when the vehicle is parked, the first to fourth switching boundaries R1 to R4 are superimposed and displayed on the second presentation image, that is, the first presentation image (overhead image). In this case, the driver advances the vehicle into these turning boundaries R1 to R4, and then turns backward toward the target parking frame. If the vehicle icon touches any one of the turning boundaries R1 to R4 during the reverse travel, the vehicle cannot be placed in the target parking frame even if the reverse travel is continued. Therefore, the display of the cut boundaries R1 to R4 can provide an opportunity to switch the traveling direction back to the forward direction. In addition, when the vehicle icon touches one of the turning boundaries R1 to R4 in the middle of the forward movement, when the forward movement is continued as it is, it is not possible to enter the target parking frame at once even if the vehicle moves backward thereafter. . Therefore, it is possible to give an opportunity to switch the traveling direction to the backward direction by displaying the switching boundaries R1 to R4.

  Thus, in the present embodiment, the parking assist device calculates the reverse travel boundary based on the vehicle parameters, the parking frame width W, and the obstacle distance L. Then, a presentation image is created by superimposing a reverse switching boundary on a captured image obtained by imaging the periphery of the vehicle. The created presentation image is displayed on the monitor 3.

  According to such a configuration, the reverse switching boundary is superimposed and displayed on the first presentation image (overhead image). This reverse turning boundary indicates a boundary line that allows the vehicle to enter the target parking frame at a time when the vehicle moves backward to the target parking frame at the maximum turning angle. The vehicle parameter and the parking frame width W And the obstacle distance L. The driver can grasp the boundary line that can enter the target parking frame at a time without interfering with the obstacle OB from the reverse turning boundary. Therefore, by performing the turn from the forward to the reverse with the reverse turning boundary as a guideline, the space between the target parking frame and the obstacle can be effectively utilized within the maximum range that does not contact the obstacle. . Thereby, it becomes possible to suppress the frequency | count of a return and parking can be performed easily. In addition, in the case of a vehicle position that cannot fit in the target parking frame once in reverse, the reverse travel boundary and the vehicle interfere with each other. Therefore, it is possible to determine whether or not the parking frame can be accommodated before starting reverse.

  Further, according to the present embodiment, the backward switch boundary is constituted by the first switch boundary R1 and the second switch boundary R2. As a result, it is possible to set the reverse turn boundary effectively.

  In the present embodiment, the parking assist device further calculates a forward turn-off boundary based on the vehicle parameters, the parking frame width W, and the obstacle distance L. Then, a presentation image is created by superimposing a reverse travel boundary and a forward travel boundary on a captured image obtained by capturing the periphery of the vehicle. The created presentation image is displayed on the monitor 3.

  According to such a configuration, the forward turning boundary is superimposed and displayed on the first presentation image (overhead image). This forward turning boundary indicates a boundary for turning the vehicle from reverse to forward in order to enter the target parking frame, and is set based on the vehicle parameters, the parking frame width W, and the obstacle distance L. . The driver can grasp that it is not possible to enter the target parking frame at a time even if the vehicle continues to move backward from the forward turning boundary. Therefore, by switching from reverse to forward using this reverse-turning boundary as a guideline, the situation of being too close to a vehicle parked in an adjacent parking frame is suppressed, while maximizing the space to the obstacles facing each other. Can be secured. Thereby, it becomes possible to suppress the frequency | count of a turn-back and to perform parking easily. Further, in the case of a vehicle position that cannot fit in the target parking frame once in reverse, or in a position that cannot fit in the parking frame in one turn, the forward turning boundary and the vehicle interfere with each other. Therefore, it is possible to determine whether or not the vehicle can be accommodated in the parking frame by going backward.

  Further, according to the present embodiment, the forward turning boundary is constituted by the third turning boundary R and the fourth turning boundary R4. As a result, it is possible to set the reverse turn boundary effectively.

  In the present embodiment, a second presentation image is created based on the overhead image. According to such a configuration, the positional relationship between the host vehicle and the surrounding obstacles OB and the frame line F of the parking frame can be grasped with high accuracy, so that a maximum space for parking can be ensured. . Thereby, it becomes possible to suppress the frequency | count of a turn-back and to perform parking easily.

  In the present embodiment, the parking base point is set at the entrance end of the frame line F of the target parking frame corresponding to the inside of the turn. According to such a configuration, since a gap is secured between the parked vehicle parked in the adjacent parking frame, a situation where the vehicle is too close to the parked vehicle can be suppressed.

  In this embodiment, the obstruction OB and the frame line F of the parking frame are described in contact with the first to fourth switching boundaries R1 to R4 (gap 0). However, the present invention is not limited to this. The first to fourth switching boundaries R1 to R4 may be set in a state in which a predetermined margin (for example, an interval of 30 cm) is secured in these intervals. If the first to fourth switching boundaries R1 to R4 are set with the gap secured in this way, a larger gap is secured between the obstacle and the parking frame line, so that the obstacle and the adjacent one are adjacent to each other. The parking operation can be performed with a margin for the parking frame to be performed.

  FIG. 9 is an explanatory diagram showing a modified example of the first to fourth switching boundaries R1 to R4. In the embodiment described above, the entrance end of the frame line F corresponding to the inside of the turn of the parking frame is set as the parking base point. However, the present invention is not limited to such a method. The parking base point may be set at a position that has entered a part of the adjacent parking frame that exists in the inside direction of the turn. For example, the parking base point is set at the front end corner of the adjacent parked vehicle CA1 existing inside the turn. The front end corner of the adjacent parked vehicle may be recognized by image processing based on the bird's-eye view image. For example, the position where the front of the corner of the parking frame has entered the inside by 30 cm in the front-rear direction and 30 cm in the left-right direction May be set in advance.

  According to this method, even when the vehicle is parked in the adjacent parking frame, a part of the adjacent parking frame can be used for the parking behavior of the own vehicle. Thereby, since a turning boundary can be set in a wider range, parking assistance can be performed effectively. Thereby, the reduction | decrease frequency required for parking can be aimed at.

  In addition, when the entrance end of the frame line F corresponding to the inside of the turn is set as the parking base point, the fourth turning boundary R4 is present inside the parking base point (that is, the depth direction of the parking frame). The parking frame boundary line L1 was used instead of the fourth switching boundary R4. However, when the parking base point is set to other than the entrance end of the frame line F corresponding to the inside of the turn, for example, when set to the front end corner of the adjacent parked vehicle CA1 existing inside the turn, It is necessary to use the boundary R5.

(Second Embodiment)
Hereinafter, the parking assistance apparatus concerning the 2nd Embodiment of this invention is demonstrated. The parking assistance apparatus according to the second embodiment is different from that of the first embodiment in that parking assistance is performed in a form that is more easily understood by the occupant. In addition, about the structure of a parking assistance apparatus, since it is the same as that of 1st Embodiment, the overlapping description is abbreviate | omitted. Hereinafter, differences will be described.

  FIG. 10 is an explanatory diagram showing a second presented image that is initially displayed. In the present embodiment, when the first to fourth cut boundaries R <b> 1 to R <b> 4 calculated by the cut boundary calculation unit 15 are output, the image composition unit 17 outputs the first set by the cut boundary calculation unit 15. A second presentation image is created by superimposing the first to fourth switching boundaries R1 to R4 on the first presentation image. In the present embodiment, the image composition unit 17 performs hatching processing corresponding to the inner region surrounded by the first to fourth cut-off boundaries R1 to R4. Thereby, hatching area | region RS is set to the inner side area | region enclosed by 1st-4th switching boundary R1-R4. Further, the image composition unit 17 superimposes a straight line (hereinafter referred to as “vehicle passing straight line”) LC extending in the front-rear direction of the vehicle on the side surface corresponding to the inside of the turning of the vehicle icon on the first presentation image.

  FIG. 11 is an explanatory diagram illustrating an example of the updated second presentation image. This figure shows a state in which the vehicle CA starts moving backward from the position shown in FIG. 10 and the vehicle icon is in contact with the turning boundary, specifically, the first turning boundary R1. In the case of switching from reverse to forward, the image synthesizing unit 17 is an area through which the vehicle passage straight line LC has passed (particularly, in front of the vehicle icon, with the update of the second presentation image). Cancel hatching in (Area).

  By narrowing hatching area | region RS, it can be made to grasp | ascertain that it should just steer to the existence direction of narrowed hatching area | region RS. Thereby, even when the traveling direction is switched, the turning direction can be imaged.

  FIG. 12 is an explanatory diagram illustrating an example of the updated second presentation image. This figure shows a state in which the vehicle CA moves forward from the position shown in FIG. 11 while turning right, and the vehicle icon is in contact with the turning boundary, specifically, the first turning boundary R1. . In the case of switching back from forward to reverse, the image compositing unit 17 is an area through which the vehicle passage straight line LC has passed (particularly, ahead of the vehicle icon with the update of the second presentation image). Cancel hatching in (Area).

  Similar to the above-described example, it is possible to grasp that it is only necessary to steer in the direction of existence of the narrowed hatching area RS by narrowing the hatching area RS. Thereby, even when the traveling direction is switched, the turning direction can be imaged.

  FIG. 13 is an explanatory diagram illustrating an example of the updated second presentation image. This figure shows a state in which the vehicle CA is moving backward from the position shown in FIG. 12 while turning left, and the vehicle icon is in contact with the turning boundary, specifically, the first turning boundary R1. . When the steering angle is held in a substantially neutral state, or when it is detected that the vehicle icon is substantially parallel to the frame line F, the image composition unit 17 accompanies the update of the second presentation image, The hatching of the area where the vehicle passage straight line LC has passed (particularly, the area existing in front of the vehicle rather than the vehicle icon) is canceled.

  Since the remaining hatching area RS linearly extends rearward of the vehicle, it is possible to make an image that the hatched area RS fits in the parking frame by moving backward straight.

  As described above, according to the present embodiment, the image composition unit 17 performs the hatching process on the region surrounded by the backward switch boundary and the forward switch boundary to create the second presentation image. In addition, the image composition unit 17 cancels the hatching process of the region through which the vehicle passes every time the second presentation image is updated.

  According to such a configuration, it is possible to make the driver image the turning direction when turning back. Therefore, even a driver who is unfamiliar with driving can switch back. Thereby, parking can be performed easily.

(Third embodiment)
FIG. 14: is a block diagram which shows schematically the parking assistance apparatus concerning the 3rd Embodiment of this invention. The parking assistance device according to the third embodiment is different from that of the first embodiment in that the vehicle is guided to the parking frame according to the positional relationship between the turning boundary and the vehicle. In addition, about the structure which is common in 1st Embodiment, description shall be abbreviate | omitted by quoting a code | symbol, and it demonstrates focusing on difference below.

  The parking support apparatus according to the second embodiment includes an ultrasonic sensor 4, an inhibitor switch 5, and a speaker 6 in addition to the plurality of cameras 1, the parking support switch 2, the monitor 3, and the control unit 10. ing.

  The ultrasonic sensors 4 are installed at a plurality of locations around the vehicle, for example, at two locations on the left and right of the front end. Each ultrasonic sensor 4 detects the position and distance of an obstacle present in the detection area, and outputs the detection result to the control unit 10.

  The inhibitor switch 5 is provided in the vicinity of the shift lever of the vehicle, and detects the shift position in conjunction with the operation of the shift lever. The inhibitor switch 5 outputs the detection result to the control unit 10.

  The speaker 6 is installed in the vehicle interior, and outputs information for parking assistance by sound from the output from the control unit 10.

  Moreover, in this embodiment, when this is functionally grasped | ascertained, the control unit 10 further has the switch determination part 18 and the vehicle guidance part 19 in addition to the element shown in 1st Embodiment. A second presentation image created (updated) by the image composition unit 17 is input to the switching determination unit 18. In addition, the detection result of the inhibitor switch 5 is input to the vehicle guidance unit 19.

  The switch determination unit (switch determination unit) 18 reads the dimensions (vehicle length and vehicle width) of the vehicle icon from the icon storage unit 16 c of the storage unit 16. The switching determination unit 18 determines where the vehicle icon is in contact with the second presentation image created by the image composition unit 17, that is, the switching boundary set in the overhead image. In other words, the return determination unit 18 determines whether the vehicle icon is in contact with any of the first to fourth return boundaries R1 to R4 or is not in contact with any of the return boundaries. To detect. Specifically, the return determination unit 18 detects whether or not they are in contact with each other based on the positional relationship between the pixels constituting the return boundary and the pixels constituting the vehicle icon. The switching determination unit 18 outputs the determination result to the vehicle guidance unit 19.

  The vehicle guiding unit (vehicle guiding means) 19 guides the vehicle to the parking frame based on the determination result by the switching determination unit 18 and the shift position detected by the inhibitor switch 5. Specifically, the vehicle guide unit 19 displays the traveling direction of the vehicle within the turning boundary displayed on the monitor 3 by cooperating with the image composition unit 17. Moreover, the vehicle guidance part 19 outputs the predetermined | prescribed signal to the speaker 6, and performs the audio | voice announcement for teaching a driver parking operation. Accordingly, the vehicle is guided to the parking frame using the display and the sound.

  In the first embodiment, the obstacle distance detection unit 13 detects the obstacle distance L based on the bird's-eye view image. In the present embodiment, in addition to the technique based on image processing or the like, the ultrasonic sensor The detection result by 4 can be used.

  FIG. 15 is a flowchart illustrating a procedure of parking support processing according to the third embodiment. The process shown in this flowchart is executed by the control unit 10 using as a trigger a signal that instructs the start of a parking support operation that is output from the parking support switch 2 in accordance with the operation of the occupant. As shown in FIG. 4, the operation of the parking assistance switch 2 corresponding to the start of the parking assistance operation is performed, for example, in a state where the driver visually stops the parking frame at the left front of the vehicle CA and stops the vehicle. .

  First, in step 30 (S30), a turning boundary setting process is performed. In this cut-off boundary setting process, a second presentation image is created according to the process from step 10 to step 22 in the first embodiment described above.

  In step 31 (S31), the image composition unit 17 outputs the created second presentation image to the monitor 3 to display the second presentation image on the monitor.

  In step 32 (S32), the turning boundary calculation unit 15 sets a straight line L2 obtained by extending the frame line F (in this embodiment, the left frame line F) corresponding to the inside of the turn in the front-rear direction. Then, the image composition unit 17 sets an intersection point between the straight line L2 and the first cut-off boundary R1. As shown in FIG. 16, the return boundary calculation unit 15 sets the first return boundary R1 corresponding to the counter-turning side (specifically, the right side) from the set intersection as a new first return. Set as boundary R1 '. In addition, the return boundary calculation unit 15 sets the first return boundary R1 and the second return boundary R2 corresponding to the turning side (specifically, the left side) from the set intersection as a new second. Set as cut-off boundary R2 ′. The set new cutoff boundaries R1 ′ and R2 ′ are also output to the image composition unit 17.

  In step 33 (S33), the return determination unit 18 determines whether or not the vehicle icon and the return boundary are in contact with each other. If an affirmative determination is made in step 33, that is, if the vehicle icon and the turning boundary come into contact, the process proceeds to step 37 (S37) described later. On the other hand, if a negative determination is made in step 33, that is, if the vehicle icon is not in contact with the turning boundary, the process proceeds to step 34 (S34).

  In step 34, the vehicle guide 19 determines whether or not there is an end instruction. Specifically, when a signal instructing the end of the parking support operation output from the parking support switch 2 according to the operation of the occupant or a signal instructing the ignition off output from an ignition switch (not shown) is acquired. It is determined that an end instruction has been acquired. If an affirmative determination is made in step 34, this processing is terminated. On the other hand, if a negative determination is made in step 34, the process returns to step 33 described above through steps 35 and 36 (S35, S36).

  In step 35, the image composition unit 17 updates the second presentation image. Specifically, the camera 1 repeats imaging at a predetermined cycle, and the latest bird's-eye view image is always created according to the processing from step 10 to step 12 for each cycle. When the image composition unit 17 detects the parking base point and the position of the parking frame in the created first presentation image, the image combining unit 17 superimposes the first to fourth switching boundaries R1′R2 ′ based on the positions. By doing so, the second presentation image is updated.

  In step 36, the image composition unit 17 displays the second presentation image on the monitor by outputting the backward second presentation image to the monitor 3.

  On the other hand, in step 37 (S37), the vehicle guiding unit 19 detects the traveling direction of the vehicle based on the shift position detected by the inhibitor switch 5.

  In step 38 (S38), the vehicle guiding unit 19 determines whether or not the current traveling direction is forward based on the detection result of the traveling direction. If an affirmative determination is made in step 38, that is, if the vehicle is moving forward, the routine proceeds to step 39 (S39). On the other hand, if a negative determination is made in step 38, that is, if the vehicle is in reverse, the process proceeds to step 44 (S44) described later.

  In step 39, based on the determination result by the switching determination unit 18, the vehicle guiding unit 19 has a switching boundary that is in contact with the vehicle icon, that is, a switching boundary corresponding to the outside of the turn, that is, the first switching. It is determined whether the boundary R1 ′ or the second switching boundary R2 ′. If an affirmative determination is made in step 39, that is, if the vehicle icon is in contact with the turning boundary outside the turn, the process proceeds to step 40 (S40). On the other hand, if a negative determination is made in step 39, that is, if the vehicle icon is in contact with a turning boundary other than the outside of the turn, the process proceeds to step 41 (S41).

  In step 40, the vehicle guidance unit 19 outputs a signal to the image composition unit 17 indicating that the vehicle is to be moved backward while maintaining the steering in a neutral state. For example, as illustrated in FIG. 17, the image composition unit 17 superimposes an arrow I <b> 1 extending linearly rearward of the vehicle on the rear end portion of the vehicle icon in the second presentation image. This presentation image is output from the image composition unit 17 to the monitor 3, and the second presentation image on which the vehicle icon is superimposed is displayed on the monitor. Further, the vehicle guidance unit 19 outputs a predetermined sound signal to the speaker 6 to output a sound indicating that the vehicle is moving backward while maintaining the steering in a neutral state.

  In step 41, based on the determination result by the switching determination unit 18, the vehicle guiding unit 19 has a switching boundary in contact with the vehicle icon, that is, a switching boundary corresponding to the inside of the turn, that is, a third switching. It is determined whether the boundary is the boundary R3 or the fourth switching boundary R4 (in this embodiment, the parking frame boundary line L1 used alternatively). If an affirmative determination is made in step 41, that is, if the vehicle icon is in contact with the turning boundary inside the turn, the process proceeds to step 42 (S42). On the other hand, if a negative determination is made in step 41, that is, if the vehicle icon is in contact with the turning boundary other than the inside of the turn, specifically, the frame line F of the parking frame corresponding to the outside of the turn, the step It progresses to 43 (S43).

  In step 42, the vehicle guidance unit 19 outputs a signal to the image composition unit 17 indicating that the vehicle is to move forward while maintaining the steering state. For example, as illustrated in FIG. 18, the image composition unit 17 superimposes an arrow I <b> 2 that extends while curving toward the left front of the vehicle on the front end of the vehicle icon in the second presentation image. This presentation image is output from the image composition unit 17 to the monitor 3, and the second presentation image on which the vehicle icon is superimposed is displayed on the monitor. In addition, the vehicle guide unit 19 outputs a predetermined sound signal to the speaker 6 to output a sound indicating that the steering state is turned in the left turn direction with the maximum turning angle to advance.

  When the vehicle icon is in contact with the turning boundary outside the turn, the steering start timing for entering the parking frame tends to be too early. By the guidance by the vehicle guidance unit 19, the same operation can be performed again by delaying the turning timing.

  In step 43, the vehicle guidance unit 19 outputs a signal to the image composition unit 17 indicating that the steering is reversed, that is, the vehicle is advanced in the right turning direction with the maximum turning angle. . For example, as illustrated in FIG. 19, the image composition unit 17 superimposes an arrow I <b> 3 that extends while curving toward the right front of the vehicle on the front end portion of the vehicle icon in the second presentation image. This presentation image is output from the image composition unit 17 to the monitor 3, and the second presentation image on which the vehicle icon is superimposed is displayed on the monitor. In addition, the vehicle guide unit 19 outputs a predetermined sound signal to the speaker 6 to output a sound indicating that the steering is steered in the right turning direction at the maximum turning angle and the vehicle is advanced.

  If the vehicle icon is in contact with the frame line F of the parking frame corresponding to the outside of the turn or its extension line, if the vehicle continues to move backward, the vehicle icon may enter the right adjacent parking frame. It is taught that the vehicle guidance unit 19 turns the vehicle forward to avoid entry into the right adjacent parking frame.

  In step 44, based on the determination result by the switching determination unit 18, the vehicle guiding unit 19 determines that the switching boundary in contact with the vehicle icon corresponds to the switching boundary corresponding to the outside of the turn, that is, the first switching. It is determined whether the boundary R1 ′ or the second switching boundary R2 ′. If an affirmative determination is made in step 44, that is, if the vehicle icon is in contact with the turning boundary outside the turn, the process proceeds to step 45 (S45). On the other hand, if a negative determination is made in step 44, that is, if the vehicle icon is in contact with a turning boundary other than the outside of the turn, the process proceeds to step 34 (S34) described above.

  In step 45, the vehicle guidance unit 19 outputs a signal to the image composition unit 17 indicating that the steering is reversed, that is, the vehicle is to turn backward in the left turn direction with the maximum turning angle. For example, as illustrated in FIG. 20, the image composition unit 17 superimposes an arrow I <b> 4 that extends while curving toward the left rear of the vehicle on the front end of the vehicle icon in the second presentation image. This presentation image is output from the image composition unit 17 to the monitor 3, and the second presentation image on which the vehicle icon is superimposed is displayed on the monitor. In addition, the vehicle guidance unit 19 outputs a predetermined sound signal to the speaker 6 to output a sound indicating that the steering is steered in the left turn direction at the maximum turning angle and the vehicle is going backward.

  When the vehicle icon is in contact with the turning boundary outside the turn, if the vehicle continues to move forward, it may come into contact with the obstacle OB in the opposite space. Since guidance by the vehicle guidance unit 19 prompts turning back, it can be taught to avoid contact with the obstacle OB.

  As described above, in the present embodiment, the parking assist device determines contact between the reverse travel boundary or the forward travel boundary and the vehicle (specifically, a vehicle icon). Then, based on the determination result and the shift position, the next operation necessary for guiding the vehicle to the target parking frame is taught.

  According to such a configuration, it is possible to teach the driver the next action in the turn-back parking and guide the vehicle to the target parking frame. As a result, it is possible to suppress the inconvenience that the number of turn-backs increases due to the driver making a mistake in the next action. In addition, when the vehicle comes into contact with the turning boundary, the next operation is taught, so that the space between the target parking frame and the obstacle can be effectively utilized within the maximum range that does not contact the obstacle. . Thereby, it becomes possible to suppress the frequency | count of a return and parking can be performed easily.

  In addition, according to the present embodiment, since the contact between the vehicle icon and the reverse turning boundary or the forward turning boundary is determined on the overhead view image, such a function can be realized with an inexpensive configuration.

  In the present embodiment, in step 43, it is taught that the steering wheel is steered in the right turn direction with a maximum turning angle. Accordingly, when the vehicle moves forward and the vehicle icon comes into contact with the turning boundary corresponding to the outside of the turn, in step 45, the steering is turned in the left turn direction at the maximum turning angle and the vehicle moves backward. Teach that. However, in the following scenes, the parking action may be performed across the turning boundary line.

  As the first scene, as shown in FIG. 21, when the vehicle turns right and moves forward in accordance with the arrow I3 indicated by the process of step 43, the parking frame before the vehicle contacts the obstacle OB in the opposite space. This is a case where the vehicle is parallel to the frame line F. In this first scene, as the next operation, if the vehicle is moved backward with the steering in a neutral state, it can fit in the parking frame. Therefore, even if the execution condition of the process of step 45 is satisfied, it may be taught to advance beyond the turning boundary.

  As a method of determining such a first scene, as shown in FIG. 21, there is a method of confirming a point P2 that is in line symmetry with the center point P1 of the turning radius with respect to the center line in the longitudinal direction of the vehicle. If the point P2 reaches the straight line L3 before the vehicle CA comes into contact with the obstacle OB in the facing space, it can be determined that the scene is the first scene. Here, the straight line L3 is a straight line that passes through the point P2 in a state where the vehicle CA is accommodated in the parking frame and is parallel to the parking frame.

  Further, in this first scene, as shown in FIG. 22, the first turning boundary R1 is not displayed, and the corresponding part is a straight line along the obstacle OB from the end point of the second turning boundary R2. You may make it a shape. According to such a configuration, if the vehicle moves forward a little more, if it fits in the target parking frame, it is allowed, so that the number of turn-backs can be reduced. Furthermore, it is possible to suppress a situation in which the host vehicle is sandwiched in the vertical direction between the vehicle in the adjacent parking frame corresponding to the outside of the turn and the obstacle OB in the facing space, and the person cannot move.

  In the present embodiment, the ultrasonic sensor 4 for detecting the obstacle distance is provided. However, as in the first embodiment, the obstacle distance L may be detected only by image processing. Moreover, 1st Embodiment mentioned above may be equipped with the ultrasonic sensor 4 in the structure of a parking assistance apparatus, as shown to 2nd Embodiment.

  In each of the above-described embodiments, a method has been described in which a vehicle that stops in front of the parking frame is parked in the parking frame by moving backward with a left turn. However, since the turning direction is uniquely determined as a right turn even when a vehicle that stops right in front of the parking frame is parked in the parking frame by moving backward with a right turn, the present invention is implemented as described above. It can be applied in the same way as the form.

The block diagram which shows schematically the parking assistance apparatus concerning 1st Embodiment. Illustration of obstacle distance and parking frame width The flowchart which shows the procedure of the parking assistance process concerning 1st Embodiment. Explanatory drawing explaining the positional relationship between the vehicle and the parking frame Explanatory drawing of the first cut-off boundary R1 Explanatory drawing of 2nd switching boundary R2 Explanatory drawing of 4th return boundary R4 Explanatory drawing of the 2nd presentation image Explanatory drawing which shows the modification of 1st-4th switching boundary R1-R4 Explanatory drawing which shows the 2nd presentation image displayed initially Explanatory drawing which shows an example of the updated 2nd presentation image Explanatory drawing which shows an example of the updated 2nd presentation image Explanatory drawing which shows an example of the updated 2nd presentation image The block diagram which shows schematically the parking assistance apparatus concerning 3rd Embodiment. The flowchart which shows the procedure of the parking assistance process concerning 3rd Embodiment. Explanatory drawing which shows 1st and 2nd return boundary R1 ', R2' Explanatory drawing showing an example of operation teaching Explanatory drawing showing an example of operation teaching Explanatory drawing showing an example of operation teaching Explanatory drawing showing an example of operation teaching Explanatory drawing explaining the modification of 3rd Embodiment Explanatory drawing explaining the modification of 3rd Embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Camera 2 ... Parking assistance switch 3 ... Monitor 4 ... Ultrasonic sensor 5 ... Inhibitor switch 6 ... Speaker 10 ... Control unit 11 ... Viewpoint conversion part 12 ... Overhead image creation part 13 ... Obstacle distance detection part 14 ... Parking frame width Detection unit 15... Switching boundary calculation unit 16... Storage unit 16 a... Dimension storage unit 16 b .. rotation radius storage unit 16 c .. icon storage unit 17.

Claims (9)

In the parking assistance device that supports backward parallel parking to the parking frame,
Imaging means for imaging the periphery of the vehicle and outputting a captured image;
In the captured image, setting means for setting a parking frame for parking the vehicle as a target parking frame;
Detection based on the captured image, wherein the width of the target parking frame is detected as a parking frame width and the distance from the target parking frame to an obstacle existing in the opposite direction of the target parking frame is detected as an obstacle distance Means,
Storage means for storing the turning trajectory of the rear wheel corresponding to the minimum turning radius of the vehicle and the turning trajectory of the vehicle front end corresponding to the minimum turning radius of the vehicle as vehicle parameters;
Based on the vehicle parameters, the parking frame width, and the obstacle distance, a boundary that allows the vehicle to enter the target parking frame at a time by setting the steering to the maximum turning angle and moving backward. Calculating means for calculating a reverse turning boundary indicating a reverse turning boundary indicating a boundary for turning the vehicle from reverse to forward in order to enter the target parking frame ;
The reverse switching boundary and the forward switching boundary are superimposed on the captured image, a presentation image is created by performing hatching processing on a region surrounded by the backward switching boundary and the forward switching boundary, and the presentation image Each time, the image composition means for canceling the hatching process of the area through which the vehicle has passed ,
And a display unit for displaying the presentation image created by the image synthesis unit. The reverse turning boundary is
The turning trajectory of the front end of the vehicle corresponding to the outside of the turn is in contact with the obstacle boundary line that defines the boundary of the obstacle, and the frame side and the position of the target parking frame corresponding to the outside of the turn are the side surfaces of the vehicle corresponding to the outside of the turn A first turning boundary that is a turning trajectory of the front end of the vehicle corresponding to the outside of the turn drawn when the vehicle position is defined so as to correspond to the vehicle,
The turning trajectory of the front end of the vehicle corresponding to the outside of the turn is in contact with the obstacle boundary line, and the vehicle can pass when the turning trajectory of the rear wheel of the vehicle corresponding to the inside of the turning enters the target parking frame. And a second turning boundary that is a turning trajectory of the front end of the vehicle corresponding to the outside of the turn drawn when the vehicle position is defined so as to pass through a parking base point that is an inside position. Item 2. The parking assistance device according to item 1. The forward turn boundary is
When the turning trajectory of the front end of the vehicle corresponding to the outside of the turn is in contact with the obstacle boundary line that defines the boundary of the obstacle, and the turning trajectory of the rear wheel of the vehicle corresponding to the inside of the turning enters the target parking frame A third turning boundary that is a turning trajectory of the vehicle rear wheel corresponding to the inside of the turn, which is drawn when the vehicle position is defined so as to pass through a parking base point that is the innermost position through which the vehicle can pass;
The side surface of the vehicle corresponding to the inside of the turn corresponds to the parking frame boundary line passing through the entrance end of the frame line of the target parking frame and extending in the frame width direction, and the side corresponding to the inside of the turn It is composed of a fourth turning boundary which is a turning locus of the vehicle rear wheel corresponding to the inside of the turning, which is drawn when the vehicle position is defined so that the turning locus of the vehicle rear wheel passes through the parking base point. The parking assistance device according to claim 1 or 2 , wherein Based on the captured image output from the imaging means, further comprising an overhead image creation means for creating an overhead image overlooking the entire periphery of the vehicle with a virtual viewpoint directly above the vehicle,
The parking support device according to any one of claims 1 to 3 , wherein the image composition unit creates the presentation image based on an overhead image created from the captured image. The parking assist device according to claim 2 or 3 , wherein the parking base point is set at an entrance end of a frame line of the target parking frame corresponding to the inside of the turn. The parking assist device according to claim 2 or 3 , wherein the parking base point is set at a front end portion of a vehicle parked in an adjacent parking frame corresponding to the inside of a turn. A return determination means for determining contact between the reverse switch boundary or the forward switch boundary and the vehicle;
Vehicle guidance means for teaching the next operation necessary for guiding the vehicle to the target parking frame based on the determination result of the switchback determination means and the shift position;
The vehicle guiding means is
If the vehicle comes into contact with the reverse turning boundary during reverse travel, teach that the vehicle keeps the steering in a neutral state and travels backward.
If the vehicle comes in contact with the forward turning boundary during reverse travel, teach that the vehicle will move forward while maintaining the steering state.
When the vehicle comes into contact with the frame line of the target parking frame corresponding to the outside of the turn during reverse travel, it is taught that the steering state of the steering wheel is reversed and the vehicle moves forward.
2. The parking assist device according to claim 1 , wherein when the vehicle contacts the reverse turning boundary during forward traveling, the vehicle is taught to reverse the steering state and reverse. Even if the vehicle guide means is in a case where the vehicle touches the reverse turning boundary during forward movement, the vehicle guiding means may make the target before contacting the obstacle when the vehicle moves forward beyond the reverse turning boundary. 8. The parking assist apparatus according to claim 7 , wherein when it is determined that the parallel frame is parallel to the parking frame, the image synthesizing unit is instructed to hide the reverse turning boundary. In a parking support method for supporting backward parallel parking to a parking frame,
In a captured image obtained by imaging the periphery of the vehicle, a first step of setting a parking frame for parking the vehicle as a target parking frame;
Based on the captured image, a width of the target parking frame is detected as a parking frame width, and a distance from the target parking frame to an obstacle existing in the opposite direction of the target parking frame is detected as an obstacle distance. Two steps,
Steering is maximized based on the turning trajectory of the rear wheel corresponding to the minimum turning radius of the vehicle, the turning trajectory of the front end of the vehicle corresponding to the minimum turning radius of the vehicle, the parking frame width, and the obstacle distance. By setting a corner and moving backward, a boundary line that can be entered at once into the target parking frame is calculated as a reverse turning boundary, and the vehicle is moved from backward to forward to enter the target parking frame. And a third step of calculating the boundary to turn back as a forward turning boundary ,
The reverse switching boundary and the forward switching boundary are superimposed on the captured image, a presentation image is created by performing hatching processing on a region surrounded by the backward switching boundary and the forward switching boundary, and the presentation image And a fourth step of canceling and displaying the hatching process of the area through which the vehicle has passed each time the vehicle is updated .

Images