JP5459553B2 - Parking assistance device - Google Patents

Parking assistance device Download PDF

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Publication number
JP5459553B2
JP5459553B2 JP2010135953A JP2010135953A JP5459553B2 JP 5459553 B2 JP5459553 B2 JP 5459553B2 JP 2010135953 A JP2010135953 A JP 2010135953A JP 2010135953 A JP2010135953 A JP 2010135953A JP 5459553 B2 JP5459553 B2 JP 5459553B2
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vehicle body
index
position
parking
displayed
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JP2012001041A (en
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昌央 深谷
淳 門脇
功祐 佐藤
優 田中
裕之 立花
元克 友澤
謙司 小寺
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アイシン精機株式会社
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Description

  The present invention relates to a parking assist device, and more specifically, displays a captured image obtained by capturing a road surface or the like with a camera or the like provided on the vehicle body on a display unit such as a monitor, and superimposes and displays an index on the road surface of the captured image. It is related with the technique which guides a vehicle body to a parking target by moving a vehicle body toward the parameter | index displayed in this way.

  As a parking assistance apparatus configured as described above, Patent Document 1 includes an image processing system that displays a captured image of a camera provided on a vehicle body on a monitor, and a road surface of the captured image displayed on the monitor (in the literature) Line-shaped guide information is displayed on the ground), and a frame-shaped index corresponding to the current position of the vehicle body is displayed. A control mode is described in which the vehicle body is guided to the parking position by advancing the vehicle body so that the index matches the guide information.

  As a specific control mode, when a parking position is set by the user, a route for guiding the vehicle body to the parking position is obtained by calculation, and guide information is displayed on the ground where the vehicle body should stop on the route. Is done. In addition, when the index is displayed so as to be superimposed on the captured image of the monitor and the vehicle body is moved, the relative positional relationship with the index displayed on the captured image displayed on the road surface changes. . Then, by setting the relative positional relationship so as to be in a positional relationship surrounding the guide information by the movement of the vehicle body, the vehicle body reaches a target posture at the target position on the course. By performing this once or a plurality of times, the vehicle body can be introduced into the parking position.

Japanese Patent No. 4414959

  In what performs control shown by patent document 1, it is necessary to preserve | save the data for displaying a parameter | index. In addition, a process step for displaying data on the monitor is required when executing the parking support control, and since the index is continuously displayed on the monitor, the index blocks the road surface, and the road surface is depressed. It was thought that it was difficult to grasp the situation from the monitor display.

  As shown in Patent Document 1, in the case where the vehicle body travels so that the guide information displayed on the monitor matches the indicator, the accuracy of the stop position of the vehicle body is increased, and this effective surface is impaired. There is a need for a device that can provide parking assistance without any problems.

  An object of the present invention is to rationally configure a parking assistance device that can accurately stop a vehicle body at a target position while easily grasping a road surface condition on a display means.

A feature of the present invention is that an in-vehicle type imaging unit that images a road surface in a traveling direction of a vehicle body, a display unit that displays a captured image captured by the imaging unit, and a guidance that sets a guidance route for guiding the vehicle body to a target position. A route setting unit; and an index generation unit that generates an index corresponding to a target position on the guidance route and displays the index on the captured image;
The index generating means generates the index that has a shape that matches a contour of a part of the vehicle body included in the captured image when the vehicle body reaches the target position.

According to this configuration, the index is displayed on the road surface of the photographed image displayed on the display unit, and an image of a part of the vehicle body is displayed on the photographed image. This partial image of the vehicle body is naturally reflected on the lower end side of the photographed image taken by the photographing means. For example, when compared with an image that displays some information at the center position of the photographed image, It does not cover the road surface of the image, but makes it easy to grasp the road surface condition. When the vehicle body is guided to the target position along the guidance route, the vehicle body can be stopped at an appropriate position by stopping the vehicle body at the timing when the contour of the image of a part of the vehicle body matches.
As a result, a parking support apparatus that can accurately stop the vehicle body at the target position while easily grasping the road surface condition on the display means is rationally configured. In particular, when the driver advances the vehicle body while steering and guides it to the target position, the vehicle body is aimed at the target position with respect to the target position by matching the contour of the image of a part of the vehicle body and the index. It becomes possible to stop with high accuracy.

  According to the present invention, a part of the vehicle body is a bumper, and the index generation unit is configured to capture an index having a shape along an outline of a bumper image included in the captured image in a state where the vehicle body is at the target position. In the virtual space corresponding to the image, it may be generated at the height of the bumper above the road surface of the target position and displayed on the captured image.

  According to this, an index generated at the height of the bumper is displayed above the road surface of the target position with respect to the captured image displayed on the display means. When the vehicle body is advanced and approaches the target position, an index is displayed in the space above the target position in the captured image of the display means. In other words, since the index is displayed in a form floating in the space on the road surface, when the vehicle body is moved, the relationship between the index and the background changes. By matching, the vehicle body can be guided to the target position.

  According to the present invention, a part of the vehicle body is a bumper, and the index generation unit determines the contour of the image of the bumper included in the captured image from the position of the imaging unit in the situation where the vehicle body is at the target position. It may be generated at a position projected onto the image and displayed on the captured image.

  According to this, the index is displayed on the road surface opposite to the position of the vehicle body with respect to the target position in the captured image displayed on the display means. When the vehicle body is advanced and approaches the target position, an indicator is displayed on the road surface of the captured image of the display means on the downstream side in the movement direction of the vehicle body. That is, the index is displayed at a position separated from the target position on the road surface, but the vehicle body can be guided to the target position by performing steering so that the index matches the contour of the bumper.

In the present invention, the guidance route setting means sets the guidance route from the positional relationship between the parking target area and the vehicle body by setting the parking target area with the vehicle body stopped.
The index generation means generates the index with a position where the vehicle body should be stopped in the parking target area as a target position when a guidance route that can be guided to the parking target area without turning back the steering is set, When a guidance route that requires turning back of steering is set for the parking target area, the indicator is generated using the turning position and a position where the vehicle body should stop in the parking target area as a target position. May be.

  According to this, by setting the parking target area in the stopped state, the guide route setting means sets the guide route, and the index generating means sets the index corresponding to the target position based on the guide route set in this way. Generate. That is, by setting a parking target area in a stopped state, a target position is set by automatic processing, and an index corresponding to the target position is set.

  In the present invention, since the photographing unit includes a wide-angle lens, the upper region of the photographed image is displayed in a curved shape so as to be convex upward, and the indicator generation unit is configured such that the indicator is an upper part of the photographed image. Even when displayed in the area, the original shape may not be deformed, and may be displayed at an enlargement ratio corresponding to the distance from the vehicle body.

A photographed image photographed with a wide-angle lens is displayed so as to be curved so that the upper side is convex upward and curved so that the lower side is concave (projecting downward). When the index is superimposed on the captured image displayed in this way, the index shape is deformed to be curved along the background in order to eliminate the sense of discomfort with the background displayed on the captured image. However, when it is curved in this way, the shape of the indicator looks different from the outline of a part of the vehicle body, which causes inconvenience that is difficult to recognize as an indicator.
On the other hand, when the index is displayed at the top of the captured image, if the original shape is not deformed, the displayed size changes depending on the distance from the target position, but the contour of a part of the vehicle body Therefore, it can be easily recognized visually as an index.

It is a perspective view which shows the structure of a vehicle body. It is a perspective view which shows the panel part etc. in a vehicle. It is a perspective view of the vehicle body front part which shows the position of a front camera. It is a top view which shows the outline of a structure of a vehicle body. It is a block circuit diagram of a control system. It is a figure which shows the path | route which guides a vehicle body by direct guidance control. It is a figure which shows the path | route which guides a vehicle body by turn-back guidance control. It is a figure which shows the display of the monitor at the time of the setting start of a parking target area. It is a figure which shows the display of the monitor at the time of the completion of the setting of a parking target area. It is a figure which shows the shape of the parameter | index displayed on the monitor. It is a figure explaining the parameter | index displayed by a space display process. It is a figure explaining the parameter | index displayed by a road surface display process. It is a figure which shows the display of the monitor at the time of the start of switchback guidance control. It is a figure which shows the monitor when a vehicle body reaches the 1st stop target position. It is a figure which shows the monitor after a vehicle body reaches the 1st stop target position. It is a figure which shows the monitor on which the parameter | index corresponding to a 2nd stop target position was displayed. It is a figure which shows the monitor on which the parameter | index corresponding to the last stop target position was displayed. It is a figure which shows the monitor when a vehicle body approaches the final stop target position. It is a figure which shows the monitor when a vehicle body reaches the final stop target position. It is a flowchart which shows the outline | summary of parking assistance control.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, a parking assist device that guides a vehicle body 30 of a vehicle configured as a passenger car to a parking target area F (an example of a target position) by guidance control including automatic steering will be described.

  As shown in FIGS. 1 to 4, the vehicle body 30 has a front wheel 31 and a rear wheel 32, a driving seat 33 and a steering wheel 34 are provided in the room, and meters are provided at the front thereof. A panel 35 is disposed, and a shift lever 36 that performs shifting is disposed on the side of the driver seat 33.

  The steering wheel 34 is linked to a power steering unit PS that transmits a rotational operation force to the front wheels 31 to perform drive steering. An engine E and a speed change mechanism T composed of a torque converter, a CVT (continuously variable transmission), or the like are arranged at the front of the vehicle body to shift the power from the engine E and transmit it to the front wheels 31. In front of the driver's seat 33, an accelerator pedal 37 for controlling the traveling speed, a brake pedal 38 for operating the brake device BK of the front wheel 31 and the rear wheel 32 to apply a braking force to the front wheel 31 and the rear wheel 32, Are arranged in parallel.

  At the upper position of the console in the vicinity of the driver seat 33, a monitor 21 having a touch panel 21T formed on the display surface is provided as a display means. The monitor 21 is a liquid crystal type equipped with a backlight. Of course, a plasma display type or a CRT type may be used. The touch panel 21T is a pressure-sensitive or electrostatic instruction input device that can output a contact position by a finger or the like as location data. The monitor 21 is also provided with a speaker 22, but the speaker 22 may be provided at other places such as the inside of a door. The monitor 21 is also used as a display device of the navigation system. However, a dedicated monitor 21 may be provided for parking assistance.

  In the present embodiment, as a photographing means for photographing a scene including the road surface around the vehicle body, a rear camera 23R is provided at the rear end of the vehicle body 30 at a position above the bumper 30B, and at the front end of the vehicle body 30 at a position above the bumper 30B. A partial camera 23F is provided. The camera 23 (a collective term for the rear camera 23R and the front camera 23F) is a digital camera that incorporates an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS). Output. The camera 23 has a wide-angle lens, and a viewing angle of 120 to 180 degrees is ensured in the horizontal direction. The camera 23 is installed with an included angle of about 30 degrees on the optical axis, and can capture an area up to about 8 m behind the vehicle body 30.

  The vehicle body 30 is provided with various sensors for detecting driving operations and moving states. More specifically, the operation system of the steering wheel 34 includes a steering sensor 24 that measures a steering operation direction (steering direction) and an operation amount (steering amount). The operating system of the shift lever 36 is provided with a shift position sensor 25 for determining the shift position. The operating system of the accelerator pedal 37 is provided with an accelerator sensor 26 that measures the operation amount. The operation system of the brake pedal 38 is provided with a brake sensor 27 that detects the presence or absence of the operation.

  In the vicinity of the rear wheel 32, a movement distance sensor 28 that measures the movement amount of the vehicle body 30 from the rotation amount of the rear wheel 32 is provided. As the movement distance sensor 28, a sensor that acquires the movement amount from the rotation amount of the rotation system of the transmission mechanism T may be used. The moving distance sensor 28 may measure the amount of rotation of the front wheel 31, and a photo interrupter type or pickup type sensor can be used.

[Control system configuration]
In the central part of the vehicle body 30, an ECU 20 serving as the core of the parking assist device of the present invention is arranged. As shown in FIG. 5, the ECU 20 includes an interface including a sensor input interface 19a and a communication interface 19b so as to input / output information, and a microprocessor that processes information obtained through the interface, A DSP (digital signal processor) is provided.

  The sensor input interface 19a acquires information from various sensors such as a steering sensor 24 for detecting a driving operation and a moving state, and the communication interface 19b is a touch panel 21T, a camera 23, a power steering unit PS, a transmission mechanism T, a brake. Communication is performed with the device BK. Further, an image is output to the monitor 21 via the image processing module 8a, and a sound is output to the speaker 22 via the audio processing module 8b.

  As shown in FIG. 5, the parking assistance apparatus of the present invention includes a system for acquiring a signal through the sensor input interface 19a, a system for acquiring a signal for accessing information through the communication interface 19b, and an image processing module 8a. And an audio processing module 8b. Furthermore, the parking assist device includes a captured image acquisition unit 1, a parking target area setting unit 2, a guidance mode setting unit 3, a guidance control unit 4, and a stop index generation unit 5 (an example of a stop index generation unit). The position information acquisition unit 6, the image processing module 8a, and the sound processing module 8b are provided. This connection is made, for example, via a data bus inside and outside the microprocessor, an address bus, a control bus, and the like.

  The captured image acquisition unit 1, the parking target area setting unit 2, the guidance mode setting unit 3, the guidance control unit 4, the stop index generation unit 5, the position information acquisition unit 6, the image processing module 8a, and the voice processing module 8b are each software. For example, it may be composed of a combination of software and hardware, or may be composed only of hardware.

  The captured image acquisition unit 1 acquires image data captured by the camera 23 at a set interval (for example, several frames per second). The acquired image information is displayed on the monitor 21 as a moving image by the image processing module 8a. Note that, when the captured image of the rear camera 23R is displayed on the monitor 21, a mirror-inverted image obtained by switching the left and right from the captured image is generated and displayed. As a result, the driver can grasp information from the captured image displayed on the monitor 21 with the same feeling as when the rear of the vehicle body is confirmed by the rearview mirror.

  The parking target area setting unit 2 sets the parking target area F from automatic processing and artificial operation from the captured image acquired by the captured image acquisition unit 1. In this embodiment, an area between two marking lines W (parking marking lines) marked on the road surface as the parking target area F is assumed as the parking target area F, and the parking target is confirmed by the driver. Area F is set.

  A specific processing mode of the parking target area setting unit 2 will be described below. When setting the parking target area F, the vehicle body 30 is stopped in the vicinity of the parking target area, and the shift lever 36 is set to reverse. As a result, the parking target area setting unit 2 displays a captured image of the rear periphery of the vehicle body captured by the camera 23 on the monitor 21 as shown in FIG. 8, and a pair of left and right attention area images V are superimposed on the captured image. The images are superimposed and displayed by such processing. Note that the attention area image V is generated by the parking target area setting unit 2 and superimposed on the captured image.

  By operating the steering wheel 34 in this display state, the attention area image V moves by a distance corresponding to the operation amount of the steering wheel 34. 9, when the attention area image V reaches a position overlapping the lane line W, the parking target area setting unit 2 recognizes the position of the lane line W by image processing, and is sandwiched between the lane lines W. A frame-like area Fx is displayed in the area to be displayed. When the frame-like area Fx displayed in this way is an area to be parked, the frame-like area Fx is set as a parking target by performing a confirmation operation such as a driver touching the confirmation button 41 of the monitor 21 with a finger. The area F (see FIGS. 6 and 7) is stored in the nonvolatile memory of the ECU 20 or the like. Also, as shown in FIG. 9, when the car stop 10 exists in the area between the two lane markings W, the car stop is extracted by image processing, and processing is performed so as to increase the accuracy of selecting the parking target area F. The form may be set.

  The operation mode for setting the frame-like area Fx is not limited to this. The frame-like area Fx is displayed on the screen, and the driver touches the touch panel 21T to operate the switches. What is the processing form, such as moving the area Fx by dragging with a finger and operating the confirm button 41 to confirm the parking target area F when reaching the area desired by the driver? Also good. The parking target area F thus determined is continuously displayed on the monitor 21.

  The guidance mode setting unit 3 includes guidance route setting means 3A and stop position setting means 3B. Then, the guidance route setting means 3A performs “direct guidance control” in which the vehicle body 30 is moved backward from the stop position to the parking target area F without being turned back, and is directly guided to the parking target area F from the stop position. On the other hand, one of “turn-back guidance control” for guiding the vehicle body 30 by turning-back operation of the steering wheel 34 is set.

  As an outline of the processing mode of this guidance route setting means 3A, the guidance route setting means 3A is a virtual for moving the vehicle body 30 backward and guiding it to the parking target area F from the current stop position of the vehicle body 30 and the parking target area. Assume multiple guidance routes. The plurality of virtual guidance paths have different steering angles and steering timings, and the body of the vehicle body 30 does not protrude to the side of the parking target area F even in one of the plurality of virtual guidance paths ( If there is something that can be guided (without passing through a position overlapping with the lane marking W shown in FIGS. 6 to 9), “direct guidance control” is set. Then, as shown in FIG. 6, the virtual guidance route is set as the direct guidance route J, and the stop position setting means 3 </ b> B determines that the direct guidance route J starts from the current position P 0 at the rear end of the vehicle body 30 to the parking target area F Is set between the final stop target position Px to be stopped at.

  On the contrary, when it is determined that the body of the vehicle body 30 protrudes to the side of the parking target area F when the vehicle body 30 is moved along all of the assumed plurality of virtual guidance routes, The guide route setting means 3A sets “turn-back guide control” and sets the indirect guide route K shown in FIG.

  Taking the indirect guidance route K in this “turn-back guidance control” as an example, as shown in FIG. 7, the indirect guidance route K is the final stop target to be stopped in the parking target area F from the current position P0 at the rear end of the vehicle body 30. The first guidance route K1, the second guidance route K2, and the third guidance route K3 formed between the positions Px are configured. The stop position setting means 3B sets the first stop target position P1 between the first guide route K1 and the second guide route K2, and the second stop position between the second guide route K2 and the third guide route K3. A stop target position P2 is set. Further, the final stop target position Px is set at the terminal position of the third guide route K3.

  The guidance control unit 4 is composed of direct guidance control means 4A and switching guidance control means 4B. Then, the direct guidance control means 4A is configured so that the direct steering control unit 4A follows the direct guidance path J while referring to the current position of the vehicle body 30 based on the position information acquired by the position information acquisition unit 6 in the “direct guidance control”. Control is performed to control the PS and to reverse the vehicle body 30 by automatic steering.

  In the “turning guidance control”, the turning guidance control unit 4B refers to the current position of the vehicle body 30 based on the position information acquired by the position information acquisition unit 6, and moves the power steering unit PS along the indirect guidance route K. Control is performed to advance (reverse or forward) the vehicle body 30 by automatic steering.

  Thus, when the vehicle body 30 is advanced by automatic steering, the driver can adjust the speed by operating the brake pedal 38. In addition, since the indirect guide route K is configured by the first guide route K1, the second guide route K2, and the third guide route K3, when the “turn-back guide control” is executed, the first stop target position P1 At the second stop target position P2, the driver stops by operating the brake pedal 38, and the driver switches the traveling direction by operating the shift lever 36.

  In particular, when either the direct guidance control unit 4A or the switching guidance control unit 4B is executed, a necessary message is displayed on the monitor 21 and this message is output from the speaker 22 by voice.

  The stop index generating unit 5 as a stop position image generating means displays an index Q at a position corresponding to the target position P. More specifically, when the above-described direct guidance route J is set, an index Q (FIG. 17) corresponding to the final stop target position Px (an example of the target position P) where the vehicle body 30 should stop in the parking target area F. , See FIG. 18) is superimposed on the captured image. When the above-described indirect guidance route K is set, as shown in FIG. 13, the first stop target position P1 (an example of the target position P) at which the vehicle body 30 should be stopped first, and the vehicle body 30 next. An index Q corresponding to the second stop target position P2 (an example of the target position P) to be stopped is superimposed on the photographed image (see FIGS. 13 and 18), and the vehicle body 30 is displayed in the parking target area F. An index Q (see FIGS. 17 and 18) corresponding to the final stop target position Px to be stopped is superimposed on the captured image. When the indirect guidance route K is set and the vehicle body 30 is moved, a process of not displaying the next index Q is performed until the vehicle body 30 reaches the stop target position (turnback position).

  Note that the final stop target position Px, the first stop target position P1, and the second stop target position P2 are concepts included below the target position P of the present invention.

  The position information acquisition unit 6 acquires information on the current position of the vehicle body 30 necessary for guidance of the vehicle body 30 and information on the relative position of the parking target area F with respect to the vehicle body 30 when the vehicle body 30 moves. That is, in the position information acquisition unit 6, the relative position between the vehicle position detection process for detecting the position information of the vehicle body 30 that changes with the movement of the vehicle body 30 and the parking target area F that changes with the movement of the vehicle body 30. A parking target area detection process for detecting the relationship is performed. These processes are based on the information acquired by image processing from the captured image captured by the camera 23, the movement amount of the vehicle body 30 acquired by the movement distance sensor 28, and the steering amount of the steering wheel 34 measured by the steering sensor 24. Based on.

[Processing form of stop index generation unit]
The parking assistance device of the present invention is characterized by the shape and display form of the index Q. That is, the stop index generation unit 5 includes the upper contour 30E of the bumper 30B (an example of a part of the vehicle body) reflected in the captured image (included in the captured image) when the vehicle body 30 reaches the target position P. The matching shape index Q is generated and displayed on the monitor 21.

  As described above, since the camera 23 includes the wide-angle lens, the contour 30E is displayed in a concavely curved line shape on the upper side of the bumper 30B reflected in the lower region of the captured image. In addition, the stop index generation unit 5 displays the index Q at a magnification corresponding to the distance from the vehicle body 30 in order to display the index Q at a position corresponding to the target position P from the vehicle body 30 on the screen of the monitor 21. become. In other words, the index Q corresponding to the target position P existing far away is displayed smaller on the screen, and displayed larger as the distance from the vehicle body 30 is shorter, and the index Q existing far away is displayed in the upper area of the screen.

  Since the camera 23 is provided with a wide-angle lens, the image in the upper area of the screen is curved into a convex shape. Therefore, the index Q that is far away from the vehicle body 30 is displayed in the upper area of the screen. For example, the index Q can be visually curved to have a convex shape as shown in FIG. There is no reason. However, when the index Q is displayed in a convex shape upward, it does not correspond to the contour 30E above the bumper 30B, and the driver recognizes it as an object to be matched with the contour 30E above the bumper 30B. It will be difficult. For this reason, when the indicator Q is displayed on the upper side of the monitor 21, the stop indicator generating unit 5 does not deform the original shape of the indicator Q, and the concave shape so as to follow the contour 30E above the bumper 30B. indicate.

  In particular, as a specific display form of the index Q by the stop index generation unit 5, one of a space display process and a road surface display process is performed. For example, as shown in FIG. 11A, the space display process is a shape that matches the contour 30E on the upper side of the bumper 30B of the vehicle body 30 that has reached the final stop target position Px, and the height at which the bumper 30B exists. The index Q is drawn in the virtual space so as to display the index Q.

  In this space display process, the index Q is displayed in a space (position directly above the final stop target position Px) corresponding to the final stop target position Px (an example of the target position P) as shown in FIG. Before starting the operation, as shown in FIG. 11 (b), it is displayed at a position separated from the actual final stop target position Px (position away from the vehicle body with reference to the vehicle body). Then, as the vehicle body 30 is moved to approach the final stop target position Px, as shown in FIG. 11C, the indicator for the road surface G so that the display position of the index Q approaches the final stop target position Px. The display position of Q changes. When the vehicle body 30 reaches the final stop target position Px, the index Q matches the contour 30E of the bumper 30B.

  In this space display process, since it is difficult to grasp the final stop target position Px position on the road surface G from the initially displayed index Q, the process of displaying the shadow Qs corresponding to the index Q on the road surface immediately below the index Q Is done. The shadow Qs has the same hue as the index Q or an approximate hue and has a lower luminance than the index Q. The indicator Q may be displayed in a blinking form, or may be a display form in which the shade Qs changes in association with the blinking. The index Q and the shadow Qs may be displayed with different hues.

  Further, the road surface display process is a position where the upper contour 30E of the bumper 30B of the vehicle body 30 that has reached the final stop target position Px (an example of the target position P) is projected onto the road surface G as shown in FIG. In this process, the index Q is drawn on the road surface G of the captured image so that the index Q exists.

  In this road surface display processing, the index Q is displayed on the road surface G of the final stop target position Px. The display position of this index Q is the projection of the contour 30E on the upper surface of the bumper 30B on the road surface G from the position of the camera 23. The position is displayed slightly behind the end of the vehicle body 30 (for example, the rear end). Therefore, when the vehicle body 30 is moved toward the target position, the relative positional relationship between the road surface G and the index Q does not change as shown in FIGS. 12 (b) and 12 (c). . When the vehicle body 30 reaches the target position, the index Q matches the contour 30E of the bumper 30B.

  The parking assist device of the present invention is characterized by the display form of the index Q displayed on the monitor 21 regardless of which of the “direct guidance control” and the “turnback guidance control” is used. The outline is explained below by taking "turn-back guidance control" as an example.

[Parking assistance control (turn-back guidance control)]
The outline of this control is shown in the flowchart of FIG. 20, and the initial display contents of the monitor 21 when the vehicle body 30 is guided to the parking target area F by the “turn-back guidance control” in the indirect guidance route K shown in FIG. This is shown in FIG. In this control, the captured image of the camera 23 is displayed on the monitor 21 and the index Q is superimposed on the captured image so that the vehicle body 30 can be stopped with high accuracy relative to the target position. . In the following, a control form in which the vehicle body 30 is moved by automatic steering is shown, but the index Q can also be displayed when the driver manually operates the steering wheel 34 to move the vehicle body 30.

  In particular, in this parking support control, the index Q is displayed by the space display process described above, and the index Q and the shadow Qs of the index Q are superimposed and displayed on the captured image.

  When performing parking support control, the guidance route setting means 3A of the guidance mode setting unit 3 sets the indirect guidance route K after the parking target area setting unit 2 sets the parking target area F by the above-described operation. Then, a notification that the guidance control executed when the indirect guidance route K is set is “turn-back guidance control” and a notification that prompts the vehicle body 30 to move are performed (steps # 101 and # 102).

  For such notification, for example, as shown in FIG. 13, a message “Please back to the return position” is displayed on the monitor 21, and at the same time, this message is output by voice from the speaker 22. In particular, since the vehicle body 30 is moved along the first guide route K1 at the initial stage of the control, the “turn-back position” output as a message for prompting the movement of the vehicle body 30 is the first stop target position P1. It is.

  In the initial stage of this control, a captured image is displayed on the monitor 21, and the stop index generating unit 5 corresponds to the captured image displayed on the monitor 21 at the first stop target position P1, as shown in FIG. A process of superimposing and displaying the index Q and the shadow Qs of the index Q at the corresponding position is performed, and “turn-back guidance control” by the direct guidance control means 4A is executed (steps # 103 to # 105).

  The “turn-back guidance control” in step # 105 is executed immediately after the parking target area F is set, so that the monitor 21 is already in the state where the captured image around the rear of the vehicle body is displayed. For this reason, only the index Q is displayed at the start of execution of the “turn-back guidance control”. Further, since the brake pedal 38 is depressed when the parking target area F is set, the vehicle body 30 starts to reverse by adjusting the amount of depression of the brake pedal 38 by the driver. In addition, the movement speed can be adjusted by operating the brake pedal 38. In this way, the accelerator pedal 37 may be operated when the vehicle body 30 is moved backward.

  When the reverse movement of the vehicle body 30 is started in accordance with the execution of the “turnback guidance control” as described above, the position information acquisition unit 6 acquires the position information of the vehicle body 30, and the switchback guidance control unit 4B controls the power steering unit PS. Thus, the vehicle body 30 is moved along the first guide route K1 by automatic steering.

  When the vehicle body 30 is moved backward along the first guide path K1 by this automatic steering, the steering amount is adjusted based on the position information acquired by the position information acquisition unit 6 as the vehicle body 30 moves, and the index The display position and display size of Q and the shadow Qs of the index Q are obtained by calculation, and are superimposed and displayed so as to be updated to the captured image. Thus, the automatic steering which moves the vehicle body 30 along the 1st guidance path | route K1 is performed, and the vehicle body 30 approaches the 1st stop target position P1.

  Then, when the timing at which the upper contour 30E of the bumper 30B matches the index Q displayed on the monitor 21 is reached, a notification that prompts the vehicle to stop is issued. As shown in FIG. 14, a message “Please stop” is displayed on the monitor 21 and this message is output from the speaker 22 by voice.

  For example, a message that informs the user that the vehicle needs to stop when it reaches the target position (turn-back position) before the vehicle body 30 reaches the first stop target position P1. That is, in the “turn-back guidance control”, notification that should be stopped is performed based on the position information acquired by the position information acquisition unit 6, and therefore the notification timing includes some error. Therefore, the driver recognizes that the vehicle is approaching the target position (turning position) before reaching the target position (turning position), and then determines that the driver has reached the target position based on the index Q or the like. In order to increase the accuracy of the stop position, it is preferable to stop the vehicle body 30.

  Based on such notification and the indicator Q displayed on the monitor 21, the driver operates the brake pedal 38 to stop the vehicle body 30, so that the vehicle can be stopped with high accuracy at the first stop target position P1. Next, the shift lever 36 is set to the drive position (advance position), and notification for urging the vehicle body 30 to move is performed (steps # 106 to # 109 and # 102).

  As shown in FIG. 15, for example, a message “Set the shift to D and advance to the return position” is displayed on the monitor 21 as shown in FIG. 22 is output by voice.

  Next, when the shift lever 36 is set to D (drive), the photographed image of the front camera 23F is displayed on the monitor 21 and, as shown in FIG. The shadow Qs of the index Q is superimposed and displayed, and the “turning guidance control” is continuously executed. Also in this control, the vehicle body 30 starts to advance by an operation of adjusting the depression amount of the brake pedal 38 by the driver, and the moving speed can be adjusted by the operation of the brake pedal 38 during the advancement. Even in the forward movement of the vehicle body 30, the position information acquisition unit 6 acquires the position information of the vehicle body 30, and the turn-back guidance control means 4B controls the power steering unit PS and moves the vehicle body 30 along the second guidance path K2 by automatic steering. Move (Steps # 103 to # 105).

  When the vehicle body 30 is moved forward in this way, the stop target position P ′ is originally set corresponding to the rear end position of the vehicle body 30 as shown in FIG. An index Q is displayed at a position corresponding to the second stop target position P2 on the front end side of the vehicle body 30 with reference to the stop target position P ′. Even during this movement, the display position and the display size of the index Q and the shadow Qs of the index Q are obtained by calculation, and are superimposed and displayed so as to be updated to the captured image. Thus, the automatic steering which moves the vehicle body 30 along the 2nd guidance path | route K2 is performed, and the vehicle body 30 approaches the 2nd stop target position P2.

  In the control for moving the vehicle body 30 forward as described above, the upper side of the bumper 30B with respect to the index Q displayed corresponding to the second stop target position P2 displayed on the monitor 21 as in the control described above. When the timing at which the contours 30E coincide with each other is reached, a notification to stop the vehicle is issued. Although this notification is not shown in the drawing, a message “Please stop” is displayed on the monitor 21 as described above, and at the same time, this message is output from the speaker 22 by voice.

  When the driver operates the brake pedal 38 to stop the vehicle body 30, next, notification (not shown) that prompts the vehicle body 30 to move backward is performed (# 106 to # 108, steps # 102). ). Also in this notification, a message indicating that the shift lever 36 needs to be set to the reverse R (reverse position) is output from the monitor 21 and the speaker 22 in the same manner as in the above notification.

  Next, when the shift lever 36 is set to R (reverse), the captured image of the rear camera 23R is displayed on the monitor 21, as shown in FIG. The shadow Qs of Q is superimposed and displayed, and the “turn-back guidance control” is continuously executed. Then, the backward movement of the vehicle body 30 is started by an operation of adjusting the depression amount of the brake pedal 38 by the driver, and the moving speed can be adjusted by the operation of the brake pedal 38 during the backward movement. Even in the backward movement of the vehicle body 30, the position information acquisition unit 6 acquires the position information of the vehicle body 30, and the turn-back guidance control means 4B controls the power steering unit PS and moves the vehicle body 30 along the third guidance path K3 by automatic steering. As shown in FIG. 17, the monitor 21 displays the index Q and the shadow Qs superimposed on the captured image (steps # 103 to # 105).

  Also in this control for moving the vehicle body 30 backward, as shown in FIG. 19, the upper contour 30E of the bumper 30B with respect to the index Q displayed corresponding to the final stop target position Px displayed on the monitor 21. When the timings coincide with each other, a notification to stop the vehicle is issued, the vehicle body 30 is stopped, and the control is ended by operating a predetermined operation (for example, a switch or the like displayed on the monitor 21) (# 108, 109 steps). In this notification, a message “Please stop” is displayed on the monitor 21 as shown in FIG.

  Further, although the control mode when the vehicle body 30 is guided to the parking target area F by “direct guidance control” has not been described, the index is displayed on the monitor 21 in this “direct guidance control” as in FIGS. Q will be displayed.

[Effect of the embodiment]
As described above, in the parking assist device of the present invention, a captured image of the road surface in the traveling direction is displayed on the monitor 21 in any of the “direct guidance control” and the “turnback guidance control”. An index Q corresponding to the target position P is displayed on the image. When the driver reaches the state where the index Q and the contour 30E on the upper side of the bumper 30B coincide with each other, the driver stops the vehicle body 30 so that the vehicle body 30 can be stopped at the target position with high accuracy.

[Another embodiment]
The present invention may be configured as follows in addition to the embodiment described above.

(A) In addition to the bumper, the vehicle body 30 included in the captured image of the camera 23 may be a part of the body of the vehicle body or a part of a towing hook or the like. Further, a part of the vehicle body included in the captured image of the front camera 23F may be a part of a front grill or a towing hook.

(B) When the direct guidance route J or the indirect guidance route K is set, the index Q corresponding to the target position P such as the final stop target position Px or the first stop target position P1 is superimposed on the captured image of the monitor 21. You may set the control form of the guidance control part 4 so that the process only to display may be performed. By setting the control mode in this way, the driver artificially operates the steering wheel 34 and performs steering so that the index Q and the upper contour 30E of the bumper 30B coincide with each other, so that the parking target area F Thus, the vehicle body 30 can be introduced with high accuracy relative to the vehicle body 30.

(C) The stop mode generating unit 5 sets a control mode so that either the space display process or the road surface display process can be artificially selected as the display mode of the index Q. By setting the control form in this way, the index Q can be displayed in a form necessary for the driving of the driver.

  INDUSTRIAL APPLICABILITY The present invention can be used for control for stopping a vehicle body at a target position with high accuracy when the vehicle body is moved to a target position and stopped at the time of parking.

5 index generation means (stop index generation unit)
3A Guide route setting means 21 Display means (monitor)
23 Shooting means (camera)
30 Vehicle body 30B Part of vehicle body / bumper 30E Contour F Parking target area G Road surface J Guide route (direct guide route)
K guide route (indirect guide route)
Q index P target position P1 target position (first stop target position)
P2 target position (second stop target position)
Px target position (final stop target position)

Claims (5)

  1. A vehicle-mounted image capturing means for capturing a road surface in the traveling direction of the vehicle body; a display means for displaying a captured image captured by the image capturing means; a guide path setting means for setting a guide path for guiding the vehicle body to a target position; An index generation unit that generates an index corresponding to the target position on the guide route and displays the index on the captured image;
    The parking assist device that generates the index that has a shape that matches a contour of a part of the vehicle body included in the captured image when the vehicle body reaches the target position.
  2.   A part of the vehicle body is a bumper, and the index generation unit corresponds to the captured image an index having a shape along the contour of the image of the bumper included in the captured image in a state where the vehicle body is at the target position. The parking assist device according to claim 1, wherein the parking assist device is generated at a height of the bumper above the road surface of the target position in a virtual space and displayed on the captured image.
  3.   A part of the vehicle body is a bumper, and the index generation unit projects a contour of an image of a bumper included in the captured image from the position of the imaging unit onto the road surface in a situation where the vehicle body is at the target position. The parking assistance device according to claim 1, wherein the parking assistance device is generated and displayed on the captured image.
  4. The guidance route setting means sets the guidance route from the positional relationship between the parking target area and the vehicle body by setting the parking target area while the vehicle body is stopped.
    The index generation means generates the index with a position where the vehicle body should be stopped in the parking target area as a target position when a guidance route that can be guided to the parking target area without turning back the steering is set, When a guidance route that requires turning back of steering is set for the parking target area, the index is generated using the turning position and a position where the vehicle body should stop in the parking target area as a target position. The parking assistance apparatus as described in any one of Claims 1-3.
  5.   When the photographing unit includes a wide-angle lens, the upper region of the photographed image is displayed in a curved shape so as to be convex upward, and the indicator generation unit displays the indicator in the upper region of the photographed image. The parking assistance device according to any one of claims 1 to 4, wherein the parking shape is displayed at an enlargement ratio corresponding to a distance from the vehicle body without deforming the original shape even when the vehicle is moved.
JP2010135953A 2010-06-15 2010-06-15 Parking assistance device Active JP5459553B2 (en)

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JP5862431B2 (en) * 2012-04-06 2016-02-16 三菱自動車工業株式会社 Driving assistance device
JP2014116756A (en) * 2012-12-07 2014-06-26 Toyota Motor Corp Periphery monitoring system
JP6096155B2 (en) * 2014-09-12 2017-03-15 アイシン精機株式会社 Driving support device and driving support system
JP2016173644A (en) * 2015-03-16 2016-09-29 アルパイン株式会社 Driving support device and driving support method

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JP4414959B2 (en) * 2005-11-16 2010-02-17 アイシン精機株式会社 Parking assistance device
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