JP5268368B2 - Parking support system and building - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking supporting system capable of properly supporting parking in a parking space, and a building equipped with the parking supporting system. <P>SOLUTION: The building 10 is provided with a garage 11 which is constructed integrally with the building 10, and the garage 11 has a parking space in which a vehicle 12 can be parked. The garage 11 is provided with an imaging device 21 and a controller 31. The imaging device 21 is provided to be capable of imaging the parking space in the garage 11. The controller 31 stores information on a standard image from an image taken by the imaging device 21, and compares information on an actual image, taken by the imaging device 21, with the information on the standard image when the operation of parking the vehicle 12 is performed. Thus, the controller 31 performs parking support for a driver in the vehicle 12 on the basis of the result of the above comparison. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a parking assistance system for assisting driving of a vehicle when parking in a parking space, and a building including the parking assistance system.

  Generally, a garage for storing a vehicle such as an automobile is provided in a building independently of the building or by using a part of the building. In such a garage, when a vehicle enters the vehicle, the vehicle may be parked in a state deviated from a desired parking position due to an operation error caused by inadequate driving skill or carelessness of the driver. Moreover, if the positional deviation becomes large, the vehicle body may be brought into contact with the inner wall of the garage, thereby damaging the vehicle.

In order to avoid such a situation, for example, Patent Document 1 discloses a configuration in which a vehicle includes an in-vehicle monitoring device for monitoring the surroundings of the host vehicle. In this case, data related to the position of the object around the vehicle and the position of the host vehicle is extracted based on the information from the in-vehicle monitoring device, and the positional relationship between the object and the host vehicle is extracted from the extracted data in the image display device in the vehicle. Displayed as a composite image. According to this configuration, the driver can recognize the position of the object relative to the host vehicle and the distance to the object by visually recognizing the composite image displayed on the image display device.
JP 7-229961 A

  However, in the configuration in which only the positional relationship between the object and the host vehicle is displayed using the in-vehicle monitoring device as described above, the driver looks at the display and determines whether the host vehicle contacts the object. It is necessary to judge. In the above configuration, the positional relationship between the object and the host vehicle can be displayed. However, depending on the parking space, the driver can recognize the shift of the host vehicle with respect to the desired parking position even if the display is viewed. I can't.

  The parking assistance for the vehicle is desirably performed not only in an indoor parking space such as a garage but also in an outdoor parking space. Even in this case, the same problem occurs in the configuration of Patent Document 1.

  This invention is made | formed in view of the said situation, and it aims at providing the parking assistance system which can perform the parking assistance to a parking space favorably, and a building provided with the same.

(1) In order to solve the above-described problem, the parking support system of the present invention includes:
Assisting driving of the vehicle in parking the vehicle in the parking space,
An imaging device capable of imaging the parking space;
Information of a captured image captured by the imaging device or information acquired based on the captured image, the state of the parking space serving as a reference for performing parking assistance or the vehicle parked in the parking space Storage means for storing reference information corresponding to the state;
Control means for performing processing for causing the vehicle to perform a parking operation in accordance with a comparison result, while comparing information of a captured image captured by the imaging device during a parking operation of the vehicle with the reference information;
An operation unit operated to execute a registration process for storing the reference information in the storage unit;
With
As the type of the reference information, the information for position guidance corresponding to the reference parking position serving as a reference as the parking position of the vehicle in the parking space, and the presence state of an obstacle that hinders the parking operation of the vehicle in the parking space. And corresponding obstacle information,
The operation unit includes a registration start button operated to start the registration process of the reference information, and a registration type determination button operated to select a type of the reference information to be registered.
The control means can switch between two patterns for position guidance and obstacle notification according to the operation of the registration type determination button,
When the registration start button is operated, it is determined whether or not the current registration process is the position guidance process,
If the current registration process is the process for position guidance, the registration process for position guidance is executed,
If the current registration process is the obstacle notification process, the obstacle notification registration process is executed,
The position guiding information or the obstacle information is stored in the storage means.

According to this structure, parking assistance to a parking space can be performed favorably.

(2) The parking support system
A first image analysis unit that executes position guidance image analysis for guiding the vehicle toward the reference parking position based on information of a captured image captured by the imaging device;
A second image analysis unit that executes an obstacle analysis image analysis for determining the presence state of the obstacle based on information of a captured image captured by the imaging device;
Further comprising
The control unit may distribute information of a captured image captured by the imaging device to the first image analysis unit or the second image analysis unit.

(3) In the parking support system, the imaging device is arranged on an entry destination side when a vehicle enters the parking space, and an imaging unit that collects light from a subject is entered into the vehicle. You may arrange | position toward the former side . In this case, the imaging range of the imaging apparatus can include not only vehicles in the parking space but also vehicles that are about to enter the parking space outside the parking space. As a result, it is possible to park the vehicle from the outside of the parking space without arranging the imaging devices at multiple locations, such as for the inside of the parking space and for the outside of the parking space, or making the imaging device movable. Support can be started.

(4) The control means compares the information of the captured image captured by the imaging device during the parking operation of the vehicle with the position guidance information, so that the relative position of the vehicle performing the parking operation with respect to the reference parking position There may be provided a relative position specifying means for specifying . In this case, since the relative position with respect to the reference parking position is specified on the parking support system side, it is possible to provide parking assistance to the driver so as to guide toward the reference parking position.

(5) The parking assist system may be configured as follows: the position guidance information includes information on a comparison target part of the vehicle, and the relative position specifying means The comparison target region of the captured image captured by the imaging device with respect to the comparison target region of the position guidance information is compared by comparing information of the captured image captured by the imaging device during the parking operation with the position guidance information The degree of distortion of the vehicle is identified, and the traveling angle of the vehicle to the parking space is identified based on the identification result. In this case, since not only the relative position with respect to the reference parking position but also the advance angle with respect to the parking space is specified on the parking support system side, the amount of information used as a reference when performing guidance toward the reference parking position increases. Therefore, it becomes possible to perform parking assistance more accurately.

(6) The parking assistance system, a shall apply to a building comprising a garage having provided or the parking space a garage with the parking space, the relative position identification means, identified the relative position and the You may come to identify whether the said vehicle may contact the wall part of the said building using advancing angle . In this case, when there is a possibility that the vehicle may come into contact with the wall of the building, it is possible to give a warning to the driver so as to avoid it or to guide it so as to avoid it.

(7) The parking assist system may be configured as follows: the imaging device is disposed on an entry destination side when a vehicle enters the parking space, and emits light from a subject. The imaging unit for condensing is arranged toward the approaching source side of the vehicle, and the relative position specifying unit uses the specified relative position and the advance angle to determine the reference parking position from the outside of the parking space. A traveling angle for the vehicle to travel along a reference trajectory set in advance as an approach trajectory to is specified. In this case, the guidance to the reference parking position is performed from the outside of the parking space, and the guidance is performed so that the vehicle travels along the reference track, so that the guidance to the reference parking position can be accurately performed. .

(8) The parking assist system may be configured as follows: the imaging device is disposed on an entry destination side when a vehicle enters the parking space, and emits light from a subject. An imaging unit for condensing is arranged toward the approaching source side of the vehicle, and the position guidance information includes information on at least one license plate on the front side or the rear side of the vehicle. The relative position specifying unit compares the license plate of the vehicle in the captured image captured by the imaging device with the information of the license plate of the parking position information. Since a standardized license plate is mounted on the vehicle, the versatility of the parking support system is enhanced by using the license plate as a comparison target.

(9) The control unit compares the information of the captured image captured by the imaging device with the information for the obstacle, thereby identifying whether the obstacle exists in the parking space . You may provide the specific means . In this case, if there is an obstacle in the parking space, that Do not it possible to give a warning to that effect to the driver.

(10) The obstacle specifying means specifies whether or not the obstacle existing in the parking space is different from the existing one specified by the obstacle information. It may be.

(11) The building of the present invention includes a garage having a parking space or a garage having a parking space, and includes the parking assistance system described above. In this case, a building having the effects described above can be provided.

  Hereinafter, means and the like effective for solving the above-described problems will be described while showing functions and effects as necessary.

The parking support system of the first configuration is a parking support system that supports driving of the vehicle when parking the vehicle in the parking space, and includes an imaging device capable of imaging the parking space, and parking support. Storage means for storing reference information corresponding to the state of the parking space or the state of a vehicle parked in the parking space, which is a reference in performing, and information of a captured image captured by the imaging device as the reference information And a control means for executing processing for causing the vehicle to perform a parking operation according to the comparison result.

  According to this configuration, not only the imaging result by the imaging device is provided to the driver of the vehicle, but the parking operation according to the comparison result between the information of the captured image captured by the imaging device and the reference information is performed on the vehicle. It is possible to provide parking assistance for the driver to perform. That is, in the configuration in which only the imaging result of the imaging device is provided to the driver of the vehicle, for example, whether or not the host vehicle is in contact with an obstacle or the like, or whether or not the vehicle is heading to a desired parking position However, in this configuration, the determination can be performed in the parking support system, and information on the determination result can be provided to the driver.

In the parking support system according to the second configuration , the reference information is information of a captured image captured by the imaging device or information acquired based on the captured image. In this case, since the comparison target in the control means is unified with the information of the captured image taken by the imaging device, the unified information is compared with each other at the time of comparison, and the configuration for comparing information that is not unified Compared to, the comparison process can be performed well. In addition, by using the information of the captured image captured by the imaging device as the reference information, the reference information can be changed at a desired timing for the user of the parking support system.

In the second configuration , the reference information may be information on a captured image in a vehicle parking state captured by the imaging device before each parking operation or information acquired based on the captured image.

In the parking support system of the third configuration , the imaging device is disposed on an entry destination side when the vehicle enters the parking space, and an imaging unit that collects light from a subject is entered into the vehicle. It is arranged toward the former side. In this case, the imaging range of the imaging apparatus can include not only vehicles in the parking space but also vehicles that are about to enter the parking space outside the parking space. As a result, it is possible to park the vehicle from the outside of the parking space without arranging the imaging devices at multiple locations, such as for the inside of the parking space and for the outside of the parking space, or making the imaging device movable. Support can be started.

Note that the third configuration may be applied to a building having a parking space. That is, the parking assist system is applied to a building including a garage having a parking space or a garage having a parking space, and the imaging device collects light from a subject in the garage. Is arranged toward the vehicle entrance / exit side of the garage.

In the parking support system of the fourth configuration , the storage means stores, as the reference information, position guidance information corresponding to a reference parking position serving as a reference as a parking position of the vehicle in the parking space, and the control means Relative position specification that specifies the relative position of the vehicle that is performing the parking operation with respect to the reference parking position by comparing information of the captured image captured by the imaging device during the parking operation of the vehicle with the information for position guidance Means. In this case, since the relative position with respect to the reference parking position is specified on the parking support system side, it is possible to provide parking assistance to the driver so as to guide toward the reference parking position.

The “relative position” means a relative distance and a relative direction with respect to the reference parking position. In the fourth configuration , when the reference information stored in the storage unit is information of a captured image captured by the imaging device, the position guidance information is used as the reference parking position. It is good also as information acquired based on the picked-up image which picturized the parking space with the image pick-up device in the parked state. According to this configuration, when the user stores the information for position guidance in the storage unit, the reference parking position is determined by performing imaging with the imaging device while the vehicle is parked at the position desired by the user. Can be set at a desired parking position.

In the parking support system of the fifth configuration , the position guidance information includes information on a comparison target part of the vehicle, and the relative position specifying unit is imaged by the imaging device during a parking operation of the vehicle. By comparing the information of the captured image with the position guidance information, the degree of distortion of the comparison target portion of the captured image captured by the imaging device with respect to the comparison target portion of the position guidance information is identified, and the identification result The traveling angle of the vehicle to the parking space is specified based on In this case, since not only the relative position with respect to the reference parking position but also the advance angle with respect to the parking space is specified on the parking support system side, the amount of information used as a reference when performing guidance toward the reference parking position increases. Therefore, it becomes possible to perform parking assistance more accurately.

The parking support system of the sixth configuration is applied to a building including a garage having the parking space or a garage having the parking space, and the relative position specifying means uses the specified relative position and the traveling angle. Then, it is determined whether or not the vehicle may come into contact with the wall of the building. In this case, when there is a possibility that the vehicle may come into contact with the wall of the building, it is possible to give a warning to the driver so as to avoid it or to guide it so as to avoid it.

In the parking support system of the seventh configuration , the imaging device is disposed on an entry destination side when a vehicle enters the parking space, and an imaging unit that collects light from a subject is entered into the vehicle. It is arranged toward the former side, and the relative position specifying means uses the specified relative position and the advance angle to set a reference preset as an approach trajectory from the outside of the parking space to the reference parking position. A traveling angle for the vehicle to travel along the track is specified. In this case, the guidance to the reference parking position is performed from the outside of the parking space, and the guidance is performed so that the vehicle travels along the reference track, so that the guidance to the reference parking position can be accurately performed. .

In the parking support system according to the eighth configuration , the imaging device is disposed on an entry destination side when a vehicle enters the parking space, and an imaging unit that collects light from a subject is entered into the vehicle. Further, the information for position guidance includes information on at least one license plate on the front side or the rear side of the vehicle, and the relative position specifying means includes the imaging The license plate of the vehicle in the captured image captured by the device is compared with the information of the license plate of the parking position information. Since a standardized license plate is mounted on the vehicle, the versatility of the parking support system is enhanced by using the license plate as a comparison target.

In the parking support system according to the ninth configuration , the storage unit stores, as the reference information, information for an obstacle corresponding to a state where there is no obstacle that inhibits the parking operation of the vehicle in the parking space. The control means identifies whether there is an obstacle that obstructs the parking operation of the vehicle in the parking space by comparing information of the captured image captured by the imaging device with the information for the obstacle. It has an obstacle identification means. In this case, when there is an obstacle in the parking space, a warning to that effect can be given to the driver. Further, Oite to those with the fourth configuration, by utilizing the configuration of inducing the reference parking position, it functions to give a warning with respect to the obstacle is fulfilled.

In the parking support system of the tenth configuration , there is provided transmission means for transmitting information corresponding to the comparison result by the control means to the vehicle. According to this configuration, for example, it is possible to notify the driver of information corresponding to the comparison result through notification means such as a navigation device mounted on the vehicle. In addition, for vehicles equipped with a parking assist device that automatically adjusts the steering angle of the steering wheel regardless of the driver's steering operation, information corresponding to the comparison result is transmitted to the vehicle. The operation can be performed by the parking assist device.

The building of the eleventh configuration includes a garage having a parking space or a garage having a parking space, and includes the parking assist system described above. In this case, a building having the effects described above can be provided.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a garage-equipped building (garage-equipped building) in which a garage (garage) is integrally provided on the first floor portion is embodied, and the attached garage will be described below. FIG. 1 is a longitudinal sectional view of a building showing an attached garage.

  As shown in FIG. 1, a building 10 such as a house is provided with a garage 11 constructed integrally with the building 10, and the garage 11 has a parking space in which a vehicle 12 such as an automobile can be parked. . The garage 11 has a vehicle entrance 13 formed on one side surface, and the vehicle 12 can enter and exit through the vehicle entrance 13.

  The vehicle entrance / exit 13 is opened and closed by a shutter device 14. The shutter device 14 includes a shutter curtain 15 that can be moved up and down, and a shutter case 16 that houses the shutter curtain 15, and the shutter case 16 is attached above the vehicle entrance 13. The shutter curtain 15 is housed in the shutter case 16 in a wound state. When the shutter curtain 15 is wound up, the vehicle doorway 13 is opened, and when the shutter curtain 15 is extended, the vehicle doorway 13 is opened. The whole is closed. Note that an illumination device 18 for illuminating the inside of the garage 11 is provided on the ceiling portion 17 of the garage 11.

  An imaging device 21 is provided in the garage 11. The imaging device 21 will be described with reference to FIG. 2A and 2B are explanatory diagrams for explaining the imaging range of the imaging device 21. FIG.

  The imaging device 21 includes a CCD camera and has a function of capturing a still image. In addition, as long as it has the image pick-up element which converts an optical signal into an electric signal, it is not limited to a CCD camera, You may use a CMOS camera. Moreover, it is not limited to the imaging device for visible light, A far-infrared imaging device or a near-infrared imaging device may be sufficient. The imaging device 21 is attached to the back wall portion 23 of the garage 11 facing the vehicle entrance 13 with the imaging lens 22 as an imaging portion that collects light from the subject facing the vehicle entrance 13 side. .

  The imaging range of the imaging device 21 includes not only a space in the garage 11 but also an outdoor space that can be imaged through the vehicle entrance 13 as shown in FIG. In addition, the imaging range of the space in the garage 11 includes the entire space that is behind the garage 11 and that can park the vehicle 12 with respect to the vehicle entrance 13. The entire circumference is included.

  By capturing a still image with the imaging device 21, as shown in FIG. 2B, a state in which the vehicle entrance / exit 13 side is viewed from the back wall portion 23 of the garage 11 is imaged. In this case, since the imaging range of the imaging device 21 includes the entire space that is behind the garage 11 from the vehicle entrance 13 and is capable of parking the vehicle 12, as described above. By parking the vehicle 12 with the rear portion facing the back wall portion 23, the rear portion number plate 24 is imaged in a front view. Note that the captured still image includes a frame of the still image at the outer periphery.

  Since the imaging range of the imaging device 21 includes the entire circumference of the periphery of the vehicle entrance 13 as described above, the entire circumference of the periphery of the vehicle entrance 13 can be imaged. However, in the state shown in FIG. 2A, an obstacle 25 is placed in the garage 11, and in the still image shown in FIG. 2B, a part of the vehicle entrance 13 is hidden by the obstacle 25. Yes. In addition, since the imaging range of the imaging device 21 includes an outdoor space that can be imaged through the vehicle entrance 13 as described above, there are two points in the vehicle 12 outside the vehicle entrance 13 (FIG. 2A). An image can also be taken. However, the range indicated by the two-dot chain line in FIG. 2A in an arc form is a limit range in which the license plate 24 of the vehicle 12 can be image-analyzed in an analysis process described later in the still image. In other words, the limit range in which the license plate 24 can be image-analyzed is set on the outdoor side of the vehicle entrance 13.

  The imaging device 21 executes imaging by being controlled by a controller 31 provided in the garage 11. Then, based on the control of the controller 31, parking assistance is performed for the driver of the vehicle 12 trying to park in the garage 11.

  Next, the electrical configuration of the parking assistance system will be described with reference to FIG. FIG. 3 is a block diagram showing an electrical configuration of the parking assistance system.

  The controller 31 controls the entire system, and is composed mainly of a controller-side control unit 32 formed of a known arithmetic device such as a CPU. The controller 31 includes a storage unit 33 including a ROM, a RAM, and the like. The storage unit 33 stores a system control program, information serving as a reference for control, and the like, and temporarily stores various information input to the controller 31. In this case, information of a standard image is stored as information serving as a control reference. The information on the standard image includes information on the standard image for position guidance and information on the standard image for obstacle notification. In addition to the standard image information, parking support reference information corresponding to the vehicle 12 and the garage 11 that are targets of parking support is stored. These various types of information will be described later.

  The controller 31 is integrally provided with an operation unit 34. The operation unit 34 is provided with various operation buttons such as a registration start button for starting registration processing of a standard image and a registration type determination button for determining the type of standard image to be registered. And the controller side control part 32 performs the requested | required control based on button operation by the user of the building 10, such as a resident.

  The controller 31 is electrically connected to the imaging device 21. The imaging device 21 includes an imaging-side control unit 41. The imaging-side control unit 41 executes imaging in the garage 11 based on the reception of an imaging command signal from the controller-side control unit 32, and is obtained by the imaging. The information of the obtained still image is transmitted to the controller-side control unit 32. The information of the still image received from the imaging device 21 is temporarily stored in the storage unit 33, and then predetermined image analysis is performed in the image analysis unit 35. In this case, the image analysis unit 35 includes a first image analysis unit for performing image analysis for position guidance, and a second image analysis unit for performing image analysis for obstacle notification. The still image information received from the device 21 is distributed to one of the first and second image analysis units as necessary based on the control by the controller-side control unit 32. Then, the controller-side control unit 32 executes various processes using information on the results analyzed by the image analysis unit 35. The contents of the image analysis in the image analysis unit 35 will be described later.

  In addition to the imaging device 21, the controller 31 is also electrically connected to the lighting device 18 in the garage 11, and the controller-side control unit 32 transmits a drive signal to the lighting device 18 when parking assistance is performed.

  The controller 31 includes a controller-side communication unit 36, and bidirectional communication is performed with the vehicle 12 that is performing a parking operation with respect to the garage 11 through the controller-side communication unit 36. In this case, the communicable area between the controller side communication unit 36 and the vehicle side communication unit 52 includes not only the inside of the garage 11 but also the outdoor side from the vehicle entrance 13. However, this outdoor communicable area is limited to the vicinity of the vehicle entrance / exit 13, and specifically, it is the same as the limit range in which the license plate 24 of the vehicle 12 can be image-analyzed in the still image of the imaging device 21. Or it is substantially the same.

  The vehicle 12 is provided with an ECU 51 as a vehicle controller, and the ECU 51 has a microcomputer including a CPU and the like. The ECU 51 is electrically connected to the vehicle-side communication unit 52, and the ECU 51 receives start information indicating that the engine has been started and operation state information indicating that the engine is operating via the vehicle-side communication unit 52. It transmits to the controller 31. Based on the signal, the controller 31 specifies whether or not the vehicle 12 is about to enter the garage 11.

  In addition, a navigation device 53 is mounted on the vehicle 12, and the navigation device 53 is electrically connected to the ECU 51. When the ECU 51 receives information from the controller 31 via the vehicle-side communication unit 52, the ECU 51 performs notification corresponding to the received information to the driver through the navigation device 53.

  Next, the contents of the control executed by the controller 31 and the imaging device 21 when performing parking assistance will be described.

  The controller 31 executes standard image registration processing and parking support processing as subroutines in a main routine that is repeatedly activated. Although detailed description is omitted, the parking support process is executed on condition that the information of the standard image is stored in the storage unit 33 of the controller 31. The standard image registration process and parking support process will be described below.

  First, the standard image registration process will be described based on the flowchart of FIG.

  In the standard image registration process, it is determined in step S101 whether or not the registration start button of the operation unit 34 has been operated. If the registration start button has not been operated, the standard image registration process is terminated as it is. If the registration start button has been operated, it is determined in step S102 whether or not the current registration process is a position guidance process. As registration processing, two patterns for position guidance and obstacle notification are set, and the pattern to be registered is switched by operating the registration type determination button of the operation unit 34.

  If the current registration process is a position guidance process, the registration process for position guidance in steps S103 to S106 is executed. If the current registration process is an obstacle notification process, step S103 is executed. The obstacle notification registration process in steps S107 to S110 is executed.

  In the registration process for position guidance, first, in step S103, an imaging command signal is transmitted to the imaging device 21. The imaging device 21 starts imaging in the garage 11 by receiving an imaging command signal.

  The imaging device side processing executed in the imaging device 21 will be described based on the flowchart of FIG. Note that the imaging device side processing is repeatedly activated at a predetermined cycle. In the imaging device side processing, first, in step S201, it is determined whether or not an imaging command signal is received from the controller 31. If the imaging command signal has not been received, the imaging apparatus side processing is terminated as it is. When the imaging command signal is received, imaging is executed in step S202, and the imaging result is transmitted to the controller 31 in step S203, and then the imaging apparatus side processing is terminated. As a result, information of a still image obtained by imaging the inside of the garage 11 is transmitted to the controller 31.

  Here, FIG. 6A shows a still image captured by the imaging device 21 based on the registration process for position guidance. When registering a standard image for position guidance, the vehicle 12 is parked in a parking position preferable for a user such as a resident in the garage 11, and the shutter curtain 15 of the shutter device 14 is fully closed. Further, the vehicle 12 is parked such that the rear portion faces the back wall portion 23 side of the garage 11. Accordingly, as shown in FIG. 6A, the still image includes the rear portion of the vehicle 12, and the still image is an image in which the vehicle entrance 13 is fully closed by the shutter curtain 15 of the shutter device 14. It has become. Thus, by making the shutter device 14 fully closed, the standard image does not include anything outside the garage 11.

  Returning to the description of the standard image registration process, after the imaging command signal is transmitted in step S103, it is determined in step S104 whether still image information has been received from the imaging device 21 or not. If the information has not been received, the process of step S104 is repeatedly executed until the information is received, and the process proceeds to step S105 upon reception. At this time, the received still image information is temporarily stored in the storage unit 33.

  In step S105, analysis processing is executed. In the analysis processing, information of the still image temporarily stored in the storage unit 33 is output to the first image analysis unit of the first and second image analysis units of the image analysis unit 35, and the first image analysis unit Let the image analysis be done. The first image analysis unit extracts a license plate portion from the received still image information. However, the extraction of the license plate portion is performed with the outer frame of the still image remaining. A known technique is used for extracting the license plate portion. As the extraction method, for example, there is a method of detecting an edge of a region including a plurality of character portions arranged at a predetermined relative position and extracting the edge. By performing the image analysis, as shown in FIG. 6B, information corresponding to an image in which only the license plate portion is displayed in the outer frame of the still image is obtained.

  In subsequent step S106, the information on the image obtained in step S105 is stored in the storage unit 33 as information on the standard image for position guidance. Thereafter, the standard image registration process is terminated.

  On the other hand, in the obstacle notification registration process, first, in step S107, an imaging command signal is transmitted to the imaging device 21. The imaging device 21 starts imaging in the garage 11 by receiving an imaging command signal. The imaging device side processing in the imaging device 21 is as already described.

  Here, FIG. 6C illustrates a still image captured by the imaging device 21 based on the obstacle notification registration process. When registering an obstacle notification standard image, the shutter curtain 15 of the shutter device 14 is fully closed in a state where the vehicle 12 is not parked in the garage 11. Therefore, as shown in FIG. 6C, the still image is an image in which the vehicle entrance 13 is fully closed by the shutter curtain 15 of the shutter device 14 when the vehicle 12 is not parked in the garage 11. Yes.

  After the imaging command signal is transmitted in step S107, it is determined in step S108 whether still image information has been received from the imaging device 21 or not. If the information has not been received, the process of step S108 is repeatedly executed until the information is received, and the process proceeds to step S109 upon reception. At this time, the received still image information is temporarily stored in the storage unit 33.

  In step S109, analysis processing is executed. In the analysis processing, image analysis is performed by the second image analysis unit of the first and second image analysis units of the image analysis unit 35. The second image analysis unit 35 specifies the periphery of the vehicle entrance 13 based on the horizontal line specific to the shutter curtain 15 and extracts the edge of the existing obstacle 25 arranged in the garage 11. By performing the image analysis, as shown in FIG. 6D, information corresponding to an image in which the periphery of the vehicle entrance 13 and the edge portion of the existing obstacle 25 are displayed in the outer frame of the still image. Become. In subsequent step S110, the image information obtained in step S109 is stored in the storage unit 33 as information on the standard image for obstacle notification. Thereafter, the standard image registration process is terminated.

  Next, a parking assistance process is demonstrated based on the flowchart of FIG. In the following description, the state of obstacle notification by the parking support process is described with reference to FIG. 8, and the state of position guidance by the parking support process is described with reference to FIG.

  In the parking support process, first, in step S301, it is determined whether or not the shutter curtain 15 of the shutter device 14 is in an open state. Whether or not the shutter curtain 15 is in the open state is determined by causing the imaging device 21 to image the garage 11 and analyzing the captured still image. The controller 31 may receive information indicating that the shutter curtain 15 is in the open state from the shutter device 14, and may determine whether the shutter curtain 15 is in the open state based on this information.

  If the shutter curtain 15 of the shutter device 14 is not in the open state, the parking assist process is terminated as it is. If the shutter curtain 15 of the shutter device 14 is in the open state, the process proceeds to step S302. In step S302, it is determined whether or not the reception of the operation state information is started in a situation where the start information non-reception state from the vehicle 12 is continued for a predetermined period. If the operating state information has not been received, the parking support process is terminated as it is. When the operation state information is received, the obstacle notification process in steps S303 to S306 is executed. In this case, the reception of the operation state information is started in a situation where the vehicle 12 is located on the outdoor side of the vehicle entrance 13 and the vehicle 12 does not enter the garage 11. Is started on the outdoor side of the vehicle entrance 13. In addition, the detection method of whether the vehicle 12 is going to enter is not limited to the above-mentioned method, For example, you may make it perform using a sensor.

  In the obstacle notification process, first, in step S303, an obstacle notification image acquisition process is executed. In this processing, an imaging command signal is transmitted to the imaging device 21, the imaging device 21 performs imaging, information on a still image that is the imaging result is received from the imaging device 21, and the received still image information is received. It is temporarily stored in the storage unit 33 as information of an actual image for obstacle notification.

  In the subsequent step S304, an obstacle notification image comparison process is executed. In this process, as shown in FIG. 8A, the information of the standard image for obstacle notification stored in the storage unit 33 in the standard image registration process, and in step S303 as shown in FIG. The information of the real image stored in the storage unit 33 is compared. In this case, the information of the standard image and the information of the actual image are superimposed on the basis of the outer frame of the still image. By performing this superposition, the peripheral edge of the vehicle entrance / exit 13 is specified in the information of the actual image. Then, it is determined whether or not there is an edge that does not exist in the standard image information below the lower peripheral edge of the vehicle entrance 13 in the real image information. As shown in FIG. 8B, when the edge is present, it means that an obstacle 25 different from the existing obstacle 25 exists in the garage 11, and therefore there is an obstacle. Information is temporarily stored in the storage unit 33. Note that the information on the actual image stored in the storage unit 33 is deleted at the timing when the comparison processing in step S304 is completed.

  In subsequent step S305, it is determined whether or not there is an obstacle by determining whether or not the obstacle presence information is stored in the storage unit 33. If the obstacle presence information is not stored, the process proceeds to step S307 and subsequent steps. If obstacle presence information is stored, notification processing at the time of obstacle discovery is executed in step S306. In this processing, obstacle finding information is transmitted to the vehicle 12 via the controller side communication unit 36. The obstacle finding information is received by the ECU 51 via the vehicle-side communication unit 52, and the ECU 51 confirms that the obstacle 25 different from the existing obstacle 25 exists in the garage 11 by the navigation device 53. Inform. After executing step S306, the process proceeds to step S307 and subsequent steps.

  In step S307 and subsequent steps, position guidance processing is executed. In the position guidance process, first, in step S307, a position guidance imaging and analysis process is executed. In this processing, an imaging command signal is transmitted to the imaging device 21, the imaging device 21 performs imaging, information on a still image that is the imaging result is received from the imaging device 21, and the received still image information is received. It is temporarily stored in the storage unit 33 as information on the actual image for position guidance. In this processing, the information on the real image temporarily stored in the storage unit 33 is output to the first image analysis unit of the image analysis unit 35, and the first image analysis unit performs image analysis. As a result, as described above, the license plate portion is extracted with the outer frame of the still image remaining in the real image information. The information subjected to the image analysis is updated as real image information in the storage unit 33.

  In the subsequent step S308, position comparison image comparison processing is executed. In this process, the information on the standard image for position guidance stored in the storage unit 33 in the standard image registration process is compared with the information on the actual image stored in the storage unit 33 in step S307.

  In this case, with reference to the outer frame of the still image, the standard image information and the actual image information are compared, and the ratio and center of the vertical dimension of the license plate portion in the actual image information to the license plate portion in the standard image information are compared. Specify the relative position of. Then, by comparing the reference information stored in advance in the storage unit 33 with the ratio of the vertical dimension and the relative position of the center, the parking operation is performed on the basis of the vehicle 12 parked when the standard image is registered. The distance and direction of the vehicle 12 performing the operation are specified. Here, the reference information is information provided by the manufacturer of the parking support system, and the information on the distance and direction of the vehicle 12 corresponding to the ratio of the vertical dimension and the relative position of the center is uniquely supported. It is attached.

  Further, in the comparison processing, distortion of the license plate portion in the information on the actual image with respect to the license plate portion in the information on the standard image is specified. Specifically, the difference ratio between the vertical and horizontal dimension ratios is specified. Then, by collating the reference information stored in advance in the storage unit 33 with the difference ratio between the vertical and horizontal dimension ratios, the traveling angle of the vehicle 12 (the direction of the vehicle body) parked when registering the standard image, That is, the traveling angle of the vehicle 12 performing the parking operation is specified based on the state where the rear portion is directed to the back wall portion 23 of the garage 11. Here, the reference information is uniquely associated with information on the traveling angle of the vehicle 12 corresponding to the difference ratio of the vertical and horizontal dimension ratios. Various types of information specified in the comparison processing in step S308 are temporarily stored in the storage unit 33, and information on the actual image for position guidance stored in the storage unit 33 is deleted.

  In a succeeding step S309, notification content specifying processing is executed. In this process, the information on the distance of the vehicle 12, the direction of the vehicle 12, and the traveling angle of the vehicle 12 specified in the comparison process in step S <b> 308 are compared with the reference information stored in advance in the storage unit 33. Here, in the reference information, the parking position of the vehicle 12 that was parked at the time of registration of the standard image (hereinafter referred to as standard parking) with respect to each information of the distance of the vehicle 12, the direction of the vehicle 12, and the traveling angle of the vehicle 12. Information corresponding to whether or not the parking operation is being performed toward the standard parking position, and the information corresponding to the fact that the parking operation is not being performed toward the standard parking position Contains information on whether the direction is approaching. Furthermore, the information corresponding to the fact that the parking operation is not performed toward the standard parking position includes information indicating whether or not the wall of the building 10 including the garage 11 is likely to be contacted.

  By the above collation, it is specified whether or not the parking operation is being performed toward the parking position of the vehicle 12 parked at the time of registration of the standard image. When the parking operation is being performed toward the standard parking position, the storage unit 33 stores a specific result indicating that the parking operation is normal. When the parking operation is not performed toward the standard parking position, the direction in which the vehicle is approaching is identified, and the identification result is stored in the storage unit 33 as information for notification. Further, when the parking operation is not performed toward the standard parking position, it is specified whether or not it is likely to contact the wall of the building 10 including the garage 11, and the result of the specification is stored in the storage unit 33 as information for notification. Remember. For example, in the situation where the standard parking position is as shown in FIG. 9A, when the position of the vehicle 12 performing the parking operation is as shown in FIG. It is specified that the parking operation is not performed, that it is too far to the right, and that it is likely to contact the wall of the garage 11.

  In subsequent step S <b> 310, information on the specific result stored in the storage unit 33 is transmitted to the vehicle 12 via the controller side communication unit 36. Information on the specific result is received by the ECU 51 via the vehicle-side communication unit 52. The ECU 51 notifies the navigation device 53 whether or not the parking operation is normally performed, and the parking operation is normally performed. If not, a notification is made as to which direction the vehicle is approaching and whether or not the wall of the building 10 is likely to be touched.

  In subsequent step S <b> 311, it is determined whether or not the information on the specific result stored in the storage unit 33 is information indicating that the wall of the building 10 is likely to be touched. If the information indicates that it is likely to contact the wall of the building 10, warning processing is executed in step S312. In the warning process, the lighting device 18 of the garage 11 is blinked to warn the driver of the vehicle 12 that it is likely to contact the wall of the building 10. After the warning process, or when it is not likely to contact the wall of the building 10, the process proceeds to step S313.

  In step S313, it is determined whether parking is completed. The determination as to whether or not the parking has been completed is performed by determining whether or not the operation state information received from the vehicle 12 has been stopped. When parking is not completed, the processes after step S307 are repeatedly executed. If parking is complete, an end process is executed in step S314. In the termination process, when blinking is performed in the lighting device 18, the blinking is terminated and information on the specific result stored in the storage unit 33 is erased. After executing the termination process, the parking support process is terminated.

  According to the embodiment described in detail above, the following excellent effects are obtained.

  An imaging device 21 is provided in the garage 11 and is imaged by the imaging device 21 when the standard image information stored in the storage unit 33 of the controller 31 and the parking operation (entrance operation) to the garage 11 are performed. By comparing the actual image information, the relative position (relative distance and relative direction) of the vehicle 12 performing the parking operation with respect to the reference parking position in the garage 11 is specified, and the garage 11 of the vehicle 12 is moved to. The advance angle was specified. And based on these specified information, it was made to alert | report whether the vehicle 12 was heading to the reference | standard parking position. This makes it possible to provide parking assistance to the driver so as to guide the vehicle 12 toward the reference parking position.

  In particular, according to the present configuration, not only the image pickup result by the image pickup device 21 is provided to the driver, but whether the vehicle 12 is heading to the reference parking position and the driver to go to the reference parking position. Can provide the driver with information on what kind of driving operation should be performed. Moreover, parking support can be performed accurately by specifying both the relative position and the traveling angle as described above.

  By using the information acquired based on the image captured by the imaging device 21 as the reference information for the parking assistance, the comparison target in the controller 31 becomes the information of the captured image captured by the imaging device 21. To be unified. As a result, unified information is compared with each other in comparison, and the comparison process can be performed better than a configuration that compares information that is not unified. In addition, since the user can perform an operation of registering an image captured by the imaging device 21 as a standard image, for example, when changing a parking support target vehicle or a reference parking position, the change operation is performed. Can be easily performed by the user himself.

  By attaching the imaging device 21 to the back wall portion 23 of the garage 11 with the imaging lens 22 facing the vehicle entrance 13, the imaging range of the imaging device 21 includes not only the vehicle 12 in the garage 11 but also the vehicle 12. The vehicle 12 that is about to enter the garage 11 outside the garage 11 can also be included. Thus, the vehicle 12 is located outside the garage 11 without arranging the imaging devices 21 at a plurality of locations such as for the inside of the garage 11 and for the outside of the garage 11 or making the imaging device 21 movable. Parking assistance can be started from the situation.

  The comparison object for comparing the information of the standard image and the information of the actual image was the license plate 24. Since the number plate 24 is always attached to the vehicle 12 and the number plate 24 is standardized, the versatility of the parking support system is enhanced by using the number plate 24 as a comparison target.

(Second Embodiment)
In the parking assistance system of the present embodiment, parking assistance is performed using the imaging device 21 as in the parking assistance system in the first embodiment. However, unlike the first embodiment, a predetermined reference is used. Parking assistance is performed so that the parking operation is performed along the track. Therefore, the parking support system in the present embodiment will be described below. In the following description, differences from the first embodiment will be described, and description of the same configuration will be basically omitted.

  In the parking assistance system according to the present embodiment, map information for causing the parking operation along the reference trajectory is stored in the storage unit 33 of the controller 31 as reference information. Here, the contents of the map information will be described with reference to FIG. FIG. 10 is a cross-sectional view of the garage 11 for explaining the map information.

  In the garage 11 according to the present embodiment, a wheel stopper 61 is provided on the floor as a parking position restricting means, and a standard image is registered in a state where the vehicle 12 is parked at a parking position restricted by the wheel stopper 61. Is called. The wheel retainers 61 are individually provided corresponding to the left and right tires, and the vehicle 12 is parked such that the left and right tires individually contact the wheel retainers 61, so that the depth direction in the garage 11 ( The parking position of the vehicle 12 in the vertical direction in the state of FIG. 10 and in the width direction (horizontal direction in the state of FIG. 10) is generally restricted (hereinafter, this restricted parking position is also referred to as a reference parking position). The parking position restricting means is not limited to the ring stopper 61, and may be a parking position restricting line or the like written on the floor surface.

  The standard image is registered with the vehicle 12 parked at the reference parking position with the rear portion facing the back wall 23 of the garage 11. In this case, in the storage unit 33 of the controller 31, the optimal travel angle of the vehicle 12 with respect to the relative distance and the relative direction from the position of the number plate of the rear portion in the vehicle 12 parked at the reference parking position as described above. Is stored as map information.

  In the map information, a plurality of areas are set with the relative distance of the predetermined range and the relative direction of the predetermined range as one area. Is set. In addition, the information on the optimal traveling angle of the vehicle 12 is obtained from any one of a plurality of patterns of reference trajectories (indicated by solid lines with arrows in FIG. 10) preset as preferable trajectories for the parking operation. It is set to guide. In addition, as the map information, warning information is set for an area where the vehicle 12 may come into contact with the wall of the building including the garage 11.

  In the controller 31, parking assistance is performed using the map information. Below, the parking assistance process performed with the controller 31 is demonstrated based on the flowchart of FIG.

  In the parking support process, it is first determined in step S401 whether entry has been detected. The determination method is the same as the warehousing detection method (the processes in steps S301 and S302) in the first embodiment. If no warehousing is detected, the parking support process is terminated. If the receipt is detected, the process proceeds to step S402.

  In step S402, an imaging and analysis process for parking assistance is executed, and then an image comparison process is executed in step S403. The imaging and analysis processing for parking support in step S402 is the same as the processing in step S307 in the first embodiment, and the comparison processing in step S403 is the same as the processing in step S308 in the first embodiment. is there. By executing the processing of step S402 and step S403, the distance and direction of the vehicle 12 performing the parking operation are specified with reference to the vehicle 12 parked at the time of registration of the standard image, and the rear portion is The traveling angle of the vehicle 12 performing the parking operation is specified on the basis of the state facing the back wall portion 23 of the garage 11. The identified information is stored in the storage unit 33 as information on the relative distance, the relative direction, and the relative travel angle.

  In a succeeding step S404, an optimum traveling angle extraction process is executed. In this process, the information on the optimal travel angle of the vehicle 12 corresponding to the information on the relative distance and the information on the relative direction stored in the storage unit 33 in step S403 is extracted from the map information stored in the storage unit 33. . Further, in the processing, if the warning information is included in the area corresponding to the relative distance information and the relative direction information in the map information, the information is also extracted.

  In a succeeding step S405, a notification content specifying process is executed. In this process, it is necessary to change the travel angle by comparing the information on the relative travel angle stored in the storage unit 33 in step S403 with the information on the optimal travel angle of the vehicle 12 extracted in step S404. Whether or not to perform the change and the operation of changing the advance angle is specified, the advance angle is specified, and the specification result is stored in the storage unit 33 as notification information. When warning information is extracted in step S404, the information is included in the notification information.

  In continuing step S406, the information for notification specified in step S405 is transmitted to the vehicle 12 via the controller side communication part 36. FIG. The notification information is received by the ECU 51 of the vehicle 12, and the ECU 51 notifies the navigation device 53 whether or not the parking operation is normally performed, and when the parking operation is not normally performed. Then, it is notified to which traveling angle the traveling angle of the vehicle 12 needs to be changed and whether or not it is likely to contact the wall of the building including the garage 11.

  In a succeeding step S407, it is determined whether or not parking is completed. When parking is not completed, the processes after step S402 are repeatedly executed. When parking is completed, the parking support process is terminated.

  According to the present embodiment described above in detail, the optimum traveling angle is extracted from the map information stored in the storage unit 33, and is set in advance as an approach trajectory to the reference parking position based on the extracted traveling angle. The driver is notified so that the vehicle 12 travels along the reference track. As a result, guidance to the reference parking position is performed stepwise from the outside of the garage 11, and the guidance is performed so that the vehicle 12 travels along the reference track, so the guidance to the reference parking position is accurately performed. It can be carried out.

(Third embodiment)
In the present embodiment, unlike the above-described embodiments, notifying is performed through a navigation device mounted on the vehicle as parking assistance, but the parking operation of the vehicle is controlled through a parking assist device mounted on the vehicle. . Therefore, the parking support system in the present embodiment will be described below. In the following description, differences from the second embodiment will be described, and description of the same configuration will be basically omitted.

  FIG. 12 is a block diagram showing an electrical configuration of the parking assistance system in the present embodiment. As shown in FIG. 12, in the present embodiment, the parking assist system includes an imaging device 21 and a controller 31, and a parking assist device 71 is mounted on the vehicle 12 to be supported. The parking assist device 71 is, for example, an IPA (intelligent parking assist) device, and specifically, is a device that automatically adjusts the steering angle of the steering regardless of the driver's steering operation based on the control of the ECU 51. Further, the map information is stored in the storage unit 33 of the controller 31 as in the second embodiment. However, the map information stores information on the optimum steering angle of the vehicle 12, not information on the optimum traveling angle of the vehicle 12.

  Next, the parking assistance process in this Embodiment is demonstrated based on the flowchart of FIG.

  In the parking support process, it is first determined in step S501 whether entry has been detected. If no warehousing is detected, the parking support process is terminated. When the receipt is detected, the process proceeds to step S502. In step S502, imaging and analysis processing for parking assistance is executed, and then image comparison processing is executed in step S503. By executing the processing of step S502 and step S503, the distance and direction of the vehicle 12 performing the parking operation are specified with reference to the vehicle 12 parked at the time of registration of the standard image. In the parking assistance system of the present embodiment, the traveling angle of the vehicle 12 is not specified. The identified information is stored in the storage unit 33 as information on the relative distance and the relative direction.

  In the subsequent step S504, an optimum steering angle extraction process is executed. In this process, information on the optimum steering angle of the vehicle 12 corresponding to the information on the relative distance and the information on the relative direction stored in the storage unit 33 in step S503 is extracted from the map information stored in the storage unit 33. .

  In subsequent step S505, the information of the optimum steering angle extracted in step S504 is transmitted to the vehicle 12 via the controller side communication unit 36. The information on the optimum steering angle is received by the ECU 51 of the vehicle 12, and the ECU 51 drives the parking assist device 71 so as to obtain the received steering angle. Thus, the parking operation of the vehicle 12 is controlled to be along the reference track without requiring a steering wheel operation by the driver.

  In a succeeding step S506, it is determined whether or not parking is completed. When parking is not completed, the processes after step S502 are repeatedly executed. When parking is completed, the parking support process is terminated.

  According to the present embodiment described in detail above, the guidance to the reference parking position is not performed by notification through the navigation device, but by driving the parking assist device 71, so that the driver can The parking operation of the vehicle 12 can be made to follow the reference track without requiring a steering wheel operation.

(Other embodiments)
The present invention is not limited to the contents described in the above embodiments, and may be implemented as follows.

  In each of the above-described embodiments, the imaging device 21 that captures a still image is used. However, the imaging device 21 is not limited to this and may capture a moving image. In this case, the controller-side control unit 32 of the controller 31 may be configured to extract a still image from a moving image when acquiring a standard image or an actual image.

  The arrangement position of the imaging device 21 is not limited to the back wall portion 23 of the garage 11 but may be the ceiling portion 17 of the garage 11. In this case, the imaging device 21 may be arranged in a direction to look down on the parking space in the garage 11, and the comparison process may be executed using the image in the state of looking down. Further, the imaging device 21 may be disposed at a midway position in the depth direction of the garage 11 as long as it is closer to the back wall portion 23 than the vehicle entrance 13.

  In each of the embodiments described above, the comparison target for comparing the information of the standard image and the information of the actual image is the license plate, but is not limited thereto, and may be a muffler of the vehicle 12, for example. A comparison target sticker may be attached to the vehicle 12 and used as a comparison target.

  It is not an essential configuration to transmit information corresponding to the comparison result between the standard image information and the real image information to the vehicle 12. For example, the lighting device according to the first embodiment without transmitting the information. It may be configured to perform only 18 blinks. Moreover, you may make it output the audio | voice for parking assistance, etc. toward the driver | operator of the vehicle 12 from the speaker apparatus provided in the garage 11. FIG.

  In the second embodiment, the optimum travel angle is specified based on the map information stored in the storage unit 33. However, an arithmetic expression is stored in the storage unit 33 and specified by image comparison processing. The optimum traveling angle may be calculated from the information on the relative distance, the relative direction, and the traveling angle using an arithmetic expression. Similarly, in the third embodiment, the information about the optimum steering angle may be calculated using an arithmetic expression.

  In each of the above embodiments, the relative distance, the relative direction, and the traveling angle of the vehicle 12 with respect to the reference parking position are specified by comparing the information on the standard image and the information on the real image. If the relative direction and the traveling angle can be specified, it is not essential to use the information of the standard image. For example, the configuration may be such that information on the size and shape of the outer edge of the license plate portion when the vehicle 12 is parked at the reference parking position is stored in advance in the storage unit 33 of the controller 31. In addition, the information may be acquired from a database provided by a manufacturer or the like as necessary.

  Although the registration of the standard image information is performed based on the operation of the operation unit 34 by the user, a configuration in which the operation of the operation unit 34 by the user is not required may be employed. For example, registration of the standard image for position guidance may be performed each time using the completion of parking of the vehicle 12 in the garage 11 as a trigger.

  In each of the above embodiments, when comparing the information of the standard image and the information of the actual image, the information of both images is compared using the outer frame of the image as a reference. However, the present invention is limited to this. For example, the peripheral edge of the vehicle entrance 13 may be used as a reference.

  The parking assistance system may be configured to provide assistance when the vehicle 12 advances from the parking space. Moreover, you may make it monitor the illegal intrusion into the garage 11 using the imaging device 21 of the parking assistance system. Further, the parking assistance system may be applied to an independent garage instead of being applied to the attached garage, or may be applied to an outdoor parking space.

The longitudinal cross-sectional view of the building which shows the attached garage in 1st Embodiment. (A), (b) Explanatory drawing for demonstrating the imaging range of an imaging device. The block diagram which shows the electrical structure of a parking assistance system. The flowchart which shows the standard image registration process performed with a controller. The flowchart which shows the imaging device side process performed with an imaging device. (A), (b) Explanatory drawing for demonstrating the standard image for position guidance, (c), (d) Explanatory drawing for demonstrating the standard image for an obstacle alerting | reporting. The flowchart which shows the parking assistance process performed with a controller. (A), (b) Explanatory drawing for demonstrating the mode of an obstacle alerting | reporting. (A), (b) Explanatory drawing for demonstrating the mode of position guidance. Explanatory drawing for demonstrating the map information of the parking assistance system in 2nd Embodiment. The flowchart which shows the parking assistance process performed with a controller. The block diagram for demonstrating the electrical structure of the parking assistance system in 3rd Embodiment. The flowchart which shows the parking assistance process performed with a controller.

  DESCRIPTION OF SYMBOLS 10 ... Building, 11 ... Garage, 12 ... Vehicle, 21 ... Imaging device, 24 ... License plate, 31 ... Controller, 32 ... Controller side control part, 33 ... Memory | storage part, 35 ... Image analysis part, 51 ... ECU, 53 ... Navigation device, 71 ... parking assist device.

Claims (11)

A parking assistance system that assists in driving the vehicle when parking the vehicle in a parking space,
An imaging device capable of imaging the parking space;
Information of a captured image captured by the imaging device or information acquired based on the captured image, the state of the parking space serving as a reference for performing parking assistance or the vehicle parked in the parking space Storage means for storing reference information corresponding to the state;
Control means for performing processing for causing the vehicle to perform a parking operation in accordance with a comparison result, while comparing information of a captured image captured by the imaging device during a parking operation of the vehicle with the reference information;
An operation unit operated to execute a registration process for storing the reference information in the storage unit;
Equipped with a,
As the type of the reference information, the information for position guidance corresponding to the reference parking position serving as a reference as the parking position of the vehicle in the parking space, and the presence state of an obstacle that hinders the parking operation of the vehicle in the parking space. And corresponding obstacle information,
The operation unit includes a registration start button operated to start the registration process of the reference information, and a registration type determination button operated to select a type of the reference information to be registered.
The control means can switch between two patterns for position guidance and obstacle notification according to the operation of the registration type determination button,
When the registration start button is operated, it is determined whether or not the current registration process is the position guidance process,
If the current registration process is the process for position guidance, the registration process for position guidance is executed,
If the current registration process is the obstacle notification process, the obstacle notification registration process is executed,
A parking assistance system configured to store the position guidance information or the obstacle information in the storage means . A first image analysis unit that executes position guidance image analysis for guiding the vehicle toward the reference parking position based on information of a captured image captured by the imaging device;
A second image analysis unit that executes an obstacle analysis image analysis for determining the presence state of the obstacle based on information of a captured image captured by the imaging device;
Further comprising
The parking support system according to claim 1, wherein the control unit distributes information of a captured image captured by the imaging device to the first image analysis unit or the second image analysis unit .   The imaging device is arranged on an entry destination side when a vehicle enters the parking space, and an imaging unit that collects light from a subject is arranged toward the entry source side of the vehicle. The parking support system according to claim 1 or 2, wherein The control means identifies a relative position of the vehicle performing the parking operation with respect to the reference parking position by comparing information of a captured image captured by the imaging device during the parking operation of the vehicle with the information for position guidance. The parking support system according to any one of claims 1 to 3, further comprising a relative position specifying unit. The position guidance information includes information on the comparison target part of the vehicle,
The relative position specifying unit compares the information of the captured image captured by the imaging device with the position guidance information when the vehicle is parked, so that the imaging device captures the comparison target portion of the position guidance information. The parking support system according to claim 4, wherein a degree of distortion of the comparison target portion of the captured image is specified, and a traveling angle of the vehicle to the parking space is specified based on the specification result. Applied to a building comprising a garage having the parking space or consisting of a garage having the parking space,
The said relative position specific | specification means specifies whether the said vehicle may contact the wall part of the said building using the said relative position and the said advance angle which were specified. The described parking assistance system. The imaging device is arranged on the entry side when the vehicle enters the parking space, and an imaging unit that collects light from the subject is arranged toward the entry source side of the vehicle,
The relative position specifying means uses the specified relative position and the travel angle so that the vehicle travels along a reference trajectory set in advance as an approach trajectory from the outside of the parking space to the reference parking position. The parking assistance system according to claim 5 or 6, wherein a traveling angle of the vehicle is specified. The imaging device is arranged on the entry side when the vehicle enters the parking space, and an imaging unit that collects light from the subject is arranged toward the entry source side of the vehicle,
The information for position guidance includes information on the license plate of the vehicle,
The said relative position specific | specification means compares the number plate of the said vehicle in the picked-up image imaged with the said imaging device with the information of the number plate of the said information for position guidance, The any one of Claim 4 thru | or 7 characterized by the above-mentioned. The described parking assistance system. The control means includes obstacle identifying means for identifying whether or not the obstacle exists in the parking space by comparing information of the captured image captured by the imaging device with the information for the obstacle. The parking assistance system according to claim 1, further comprising a parking assistance system. The obstacle identifying means identifies whether there is an obstacle present in the parking space that is different from the existing one identified by the obstacle information. The parking support system according to claim 9 .   A building comprising a garage having a parking space or comprising a garage having a parking space, comprising the parking assistance system according to any one of claims 1 to 10.

Images