JP5464577B2 - Parallel parking guidance device - Google Patents

Description

  In the present invention, when a vehicle performs parallel parking, an image of a camera that captures the outside of the vehicle attached to the vehicle can be used to reliably start the vehicle behind the vehicle without being influenced by the vehicle, and the vehicle is a vehicle ahead. The present invention relates to a parallel parking guide device that can surely depart without being affected by obstacles such as.

  When the vehicle is parked, in addition to the method in which the parked vehicles are parked side by side, there is also parallel parking such as parking in one row on the roadside portion of the road where parking is permitted. This parallel parking is basically performed as shown in FIG. That is, when the host vehicle 1 in FIG. 5A attempts to park between the front vehicle 2 and the rear vehicle 3, the vehicle 1 changes from the position A in the state where the vehicle 1 stops at a predetermined interval to the parking position. The first retraction mode of retreating toward the position C via the position B is followed. Next, by rotating about the point O with the minimum turning radius R of the host vehicle from the position C shown in FIG. 4B, the vehicle reaches the tandem parking line at the position F via the positions D and E. Thereafter, the position in the front-rear direction is adjusted so that the distance f from the front vehicle 2 and the distance b from the rear vehicle 3 at the position F in FIG.

  When performing parallel parking as described above, the distance f from the forward vehicle 2 in FIG. 13C is finally determined when the vehicle is departed from this parked state, from (b) to (c) in FIG. It is preferable that there is an interval f that allows the vehicle to leave as much as possible without going backward as much as possible. In particular, even if the other vehicle parks behind the vehicle after being parked in parallel with little distance between the two cars, and the vehicle goes backward and leaves enough space with the vehicle ahead, It is preferable that there is an interval f at which the vehicle can be safely departed without contacting the vehicle ahead. Furthermore, when the vehicle ahead is about to depart, there is an interval f at which the vehicle ahead can move backward and depart from the vehicle when the vehicle ahead of the vehicle ahead is parked with little space. It is preferable.

  On the other hand, with respect to the distance b between the rear vehicle 3 and the rear vehicle 3 when the host vehicle is about to park in parallel as described above, there is an interval b at which the vehicle can leave without retreating as much as possible. In particular, it is preferable that there is an interval b that allows the vehicle to depart even when the other vehicle parks behind the rear vehicle with almost no space between them, and it is impossible to go backward. Furthermore, even when the host vehicle is parked in parallel with the other vehicle being parked in the front with little space, it is preferable that there is an interval b that allows the vehicle to depart after the host vehicle is backed.

  Even when there is not enough space f with the vehicle 2 ahead and there is almost no space with the vehicle behind, it is theoretically possible to escape from this parking area by performing a turning operation by repeating forward and backward movements. It is. However, the operation may involve many difficulties, and it may be extremely difficult to start without touching the front or rear vehicle.

In addition, as can be performed parallel parking in position during parallel parking, the monitor for displaying the camera images for photographing the rear of the vehicle, a technique for displaying a marker indicating the direction to the vehicle travels JP fairness No. 2-36417 (Patent Document 1).

JP-A-2-36417

  Parallel parking is basically performed as described above, and finally parking is performed as shown in FIG. 13 (c). However, since the host vehicle can depart smoothly thereafter, the vehicle in front also moves backward. Therefore, it is preferable that a predetermined distance f is present between the vehicle and the obstacle such as the vehicle ahead, and the vehicle behind the vehicle 3 can be started smoothly. It is preferable that the predetermined interval b exists so that the vehicle can move backward.

  On the other hand, in the technique described in the patent document, although it is possible to guide to the position where parallel parking is performed, the distance f between the front vehicle 2 and the distance b with the rear vehicle are appropriately set as described above. It cannot be maintained. Further, for example, even if the rear camera that captures the rear image is viewed on the monitor, the actual sense of distance cannot be grasped, and it is necessary to get off the vehicle once and actually see it.

  Furthermore, the distance from the vehicle ahead can be almost grasped by the driver's eyes, but the distance required when actually departing from parallel parking can be accurately grasped for those who are not accustomed to parallel parking. Can not. In particular, when the driver is a small person, the position of the eyes is lowered, and there is a tendency that the distance from the preceding vehicle cannot be accurately grasped. Therefore, it is necessary to provide guidance that allows the driver to reliably determine whether or not the above-mentioned interval is appropriate during parallel parking, and it is also appropriate without relying on the judgment of the driver as much as possible. Development of a device capable of providing simple guidance is desired.

  Therefore, according to the present invention, when performing parallel parking, the rear vehicle can finally start smoothly regardless of the existence of the own vehicle, and when the own vehicle departs, there are obstacles such as the front vehicle. The main purpose of the present invention is to provide a parallel parking guide apparatus capable of performing parallel parking guidance that can maintain the distance between the front and rear of the host vehicle appropriately and easily so that the vehicle can start smoothly.

  In order to solve the above-described problem, a parallel parking guide apparatus according to the present invention exists at the rear when a rear camera that captures the rear of the vehicle, a monitor that displays a captured image of the rear camera, and the host vehicle performs parallel parking. A parallel parking rear guidance mark display processing unit for displaying a parallel parking rear guidance mark at a monitor position corresponding to an interval at which the vehicle can depart from the parallel parking position using the distance between the vehicle and the host vehicle. It is characterized by having.

  Another parallel parking guide device according to the present invention is the above parallel parking guide device, further comprising a rear vehicle type recognition unit for recognizing a vehicle type of a vehicle present behind from a photographed image of the rear camera, and the parallel parking rear guide mark. The display processing unit determines the display position of the parallel parking rear guidance mark according to the vehicle data of the vehicle type corresponding to the vehicle type of the rear vehicle recognized by the rear vehicle vehicle type recognition unit.

  Another parallel parking guide device according to the present invention is the parallel parking guide device, wherein the parallel parking rear guide mark display processing unit is configured so that most of ordinary vehicles are connected in parallel using a distance between the vehicle and the own vehicle. A parallel parking rear guide mark is displayed at a monitor position corresponding to an interval at which the vehicle can depart from the parking position.

  Another parallel parking guide device according to the present invention includes a rear vehicle number recognition unit that recognizes the number of a vehicle that exists behind from a photographed image of the rear camera in the parallel parking guide device, and the rear vehicle number recognition unit. A rear vehicle number storage unit that stores the number of the recognized rear vehicle and a parallel parking rear vehicle number reading output unit that reads and outputs the number stored in the rear vehicle number storage unit.

  Since the present invention is configured as described above, when performing parallel parking, the rear vehicle can finally start smoothly regardless of the presence of the host vehicle, and when the host vehicle departs, The front-rear distance of the host vehicle can be maintained appropriately and easily so that the vehicle can be started smoothly even if an obstacle is present.

It is a functional block diagram of the Example of this invention. In the Example of this invention, it is an operation | movement flowchart which shows the operation | movement of the whole parallel parking guidance process. In the same Example, it is an operation | movement flowchart which performs the space | interval ensuring process with a front obstruction by a front camera picked-up image. In the Example, it is an operation | movement flowchart which performs the confirmation process at the time of departure of both parallel parking parking. In the same Example, it is an operation | movement flowchart which performs the automatic recognition process of whether the vehicle of the front or back differs at the time of parallel parking and the present. In the same Example, it is an operation | movement flowchart which shows the other operation | movement of the confirmation process at the time of departure of the vehicle in parallel parking. It is a figure which shows the basic form of the departure mode from parallel parking. It is a figure which shows the relationship between the various distances required for the various data of the vehicle in the departure mode from parallel parking, and escape from a parking space. It is the figure which shows the relationship between the parallel parking back guidance mark displayed on a monitor, the back vehicle displayed on a monitor, its explanatory drawing, and explanatory drawing which recognizes the number of a back vehicle. It is the figure which shows the relationship between the parallel parking front guidance mark displayed on a monitor, the front vehicle displayed on a monitor, its explanatory drawing, and explanatory drawing which recognizes the number of a back vehicle. It is a figure which shows the example of a display of a parallel parking back guidance auxiliary mark and a parallel parking front guidance auxiliary mark. It is a figure which shows the aspect of a vehicle recognition process. It is a figure which shows the basic form of parallel parking.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram in which the present invention can be implemented in various modes. In the illustrated example, the vehicle 1 is parked in parallel between a front vehicle 2 and a rear vehicle 3. In this example, a front camera 4 that is a camera for photographing the front and a rear camera 5 that is a camera for photographing the rear are attached to the host vehicle 1. The image photographed by the front camera 4 is input to the front obstacle detection unit 6 to detect when an obstacle such as another vehicle is present in front of the host vehicle. The front obstacle detection unit 6 performs detection so that the host vehicle can depart from the parallel parking state without touching the obstacle. The main purpose is to detect obstacles.

  The front alcoholic substance detecting unit 6 includes a front vehicle number recognizing unit 7 and detects from the photographed image of the front camera 4 that a front vehicle as another vehicle exists ahead of the host vehicle when parallel parking is performed. In this case, for example, as shown in FIG. 10D, the number of the vehicle ahead is recognized by recognizing the letters and numbers on the license plate of the vehicle. In the example of FIG. 10D, the vehicle number is indicated as ABC.

  The recognition result by the forward vehicle number recognition unit 7 is stored in the forward vehicle number storage unit 8, and then the vehicle is parked in parallel and parked, and when the vehicle departs, the function of the present invention maintains a predetermined distance from the vehicle ahead. In order to prevent the vehicle 2 from becoming a predetermined distance when the front vehicle 2 is changed to another vehicle after the vehicle has been parked in the vehicle, and the vehicle is not noticed and does not come into contact with the vehicle ahead. The license plate is recognized and stored.

  As shown in FIGS. 10A to 10C, for example, the front parking image front guide mark display processing unit 10 in the front captured image displays a captured image of the front camera 4 that captures the front of the host vehicle 1. In addition, a process of displaying the parallel parking front guidance mark MF that is a guide for the distance from an obstacle such as a preceding vehicle is performed.

  Therefore, in the example shown in FIG. 1, data on the minimum turning radius of the host vehicle equipped with the host vehicle data storage unit 11 in the front parking image front column parking front guide mark display processing unit 10 and equipped with the column parking guide device according to the present invention. The example which inputs separately vehicle data, such as these, and memorize | stores here is shown. The parallel parking front guidance mark display unit 12 displays the parallel parking front guidance mark MF as shown in FIGS. 10A to 10C using the data stored in the host vehicle data storage unit 11. . In this case, for example, as shown in FIG. 8, in order for the own vehicle 1 in parallel parking to get out of the parking area with the minimum forward movement, the steering wheel which is the front wheel is steered at the maximum speed from the parked state. When moving forward, the vehicle moves forward while rotating at a minimum turning radius R preset in the vehicle. This is a state in which, in the parallel parking basic form shown in FIG. 13, the movement mode of the vehicle shown as the second reverse mode by the parallel parking minimum rotation radius R in FIG.

  As shown in the explanatory view in which the vehicle parked in parallel in FIG. 8 comes out of the parking area, when the vehicle rotates at the minimum turning radius, the vehicle is prevented from coming into contact with the vehicle in front. It is necessary to make sure that no object exists in the trajectory of the front edge P. The trajectory of the front edge P at this time is the minimum rotation front edge arc K that is the trajectory of the front end rotation radius r centered on the point O that is the center of the minimum rotation radius R. If the vehicle body data is present, the minimum rotation front edge arc K can be obtained.

  At that time, the minimum rotation front edge arc K can be obtained almost accurately from the data of the wheel base L1, the full width W1, the front end protrusion length L3, and the minimum rotation radius R existing as the vehicle body data. The escape safety space S4, which is the distance from the rear edge Q, which is the point that becomes the most obstacle at 2, is set as the required front inter-vehicle distance S1 so as to be a predetermined safety distance such as 30 cm, for example. When the escape safety space S4 is not taken into consideration, the absolute required inter-vehicle distance S2 is obtained as illustrated. Further, after the vehicle position in the state where the escape safety space S4 is formed, the vehicle can be easily moved by a driving operation as shown by a double line arrow in FIG.

  In FIG. 8, when the front edge P is located at the initial rotation angle θ1 with respect to the reference line S that is the axis of the rear wheel, it is shown as an escape initial rotation angle θ2 for escaping this parallel parking area. The difference between the necessary front inter-vehicle distance S1 and the absolute necessary inter-vehicle distance S2 is shown as a margin inter-vehicle distance S3, and the length between the rear wheel and the rear end of the vehicle body is shown as a rear end protruding length L4. A certain tread is shown as W2, and various calculations can be performed as necessary by using these vehicle body data and setting data as necessary.

  In the front parking image front guide mark display processing unit 10 in FIG. 1, the parallel parking front guide mark display unit 12 uses the various data stored in the host vehicle data storage unit 11 to perform parallel parking. 10 (a) to 10 (c) are calculated at a position in the monitor corresponding to the necessary front inter-vehicle distance S1 at that time, by calculating a distance considering an arbitrary safety space with an obstacle such as the forward vehicle 2 when A parallel parking front guide mark MF as shown in FIG.

  The display position of the parallel parking front guide mark MF at this time is specific to the vehicle on which the parallel parking guide device is mounted. Therefore, when this parallel parking guide device is installed in a vehicle factory, the vehicle data storage is performed. The part 11 is not particularly required, and the parallel parking front guidance mark display part 12 may always be displayed at a predetermined position in the monitor based on separately calculated data.

On the other hand, in the case of a product in which this parallel parking guide device is separately attached to various vehicles, data corresponding to the vehicle to be attached is input to the own vehicle data storage unit 11 and stored therein, whereby a parallel parking forward guidance mark display unit is stored. 13 performs the above calculation, displays a parallel parking front guidance mark MF, and stores this data thereafter, especially for display until the vehicle to which the parallel parking guide device is attached is changed. The mark can be displayed at the same position without any problem.

  In the example of FIG. 1, an example in which a parallel parking forward guidance auxiliary mark display unit 13 is provided in the parallel parking forward guidance mark display processing unit 10 in the front captured image is shown, and the minimum turning radius of the host vehicle as described above is shown. In addition to the parallel parking front guidance mark MF that can be mainly calculated, some margin corresponding to a position further away from the host vehicle as shown in FIG. The example which displays a parallel parking front guidance assistance mark in the position with is shown.

This auxiliary mark is that it is unnatural to perform strict parallel parking as described above, because it is determined that there are relatively few vehicles parked in parallel parking and the driver has sufficient space for parallel parking. When you feel it, the position of this parallel parking front guidance auxiliary mark MF 'is used as a guide, and when an obstacle such as a forward vehicle exists at the position of this mark, it is not so far away from the front obstacle, and it is almost an appropriate parking position. So that it can be easily understood.

  As described above, for example, the parallel parking front guidance mark MF as shown in FIGS. 10A to 10C is being monitored by the parallel parking front guidance mark display unit 12 in the parallel parking front guidance mark display processing unit 10 in the front photographed image. In this case, the driver determines that the distance from the front vehicle 2 is too wide at the position of the front vehicle 2 displayed as shown in FIG. Thereafter, as shown in FIG. 5B, when the lower end portion of the image of the front vehicle 2 corresponding to the rear end position of the front vehicle 2 substantially overlaps the parallel parking front guide mark MF, the driver is determined to be in an appropriate position. Is determined, and this is the parking position.

  On the other hand, as shown in FIG. 10C, when the front vehicle 2 is positioned in front of the parallel parking front guide mark MF, that is, the lower end portion of the image of the front vehicle 2 corresponding to the rear end position of the front vehicle 2 is When the vehicle is approaching inward from the parallel parking front guide mark MF, the driver determines that it is extremely difficult to escape from the parking position if the vehicle cannot move backward. As shown in b), the vehicle moves backward until a part of the forward vehicle 2 overlaps the parallel parking forward guide mark MF.

  When displaying the parallel parking front guidance auxiliary mark MF ′ as shown in FIG. 11B on the parallel parking front guidance auxiliary mark display unit 13 of FIG. 1, this parallel parking forward guidance is substantially the same as the mode shown in FIG. Using the auxiliary mark MF ′, the driver can perform parallel parking at an appropriate position not far from the preceding vehicle 2 at an interval from the preceding vehicle 2 with a sufficient margin.

  In the example shown in FIG. 1, the display of the parallel parking front guide mark MF as described above is automatically performed except that the driver determines the distance from the preceding vehicle while looking at the monitor and moves the vehicle forward or backward. In order to detect that the front obstacle enters the parallel parking front guide mark so that a warning that the distance to the preceding vehicle is too narrow can be output to the front obstacle parallel parking front guide mark intrusion detection A processing unit 14 is provided. That is, the front obstacle parallel parking forward guidance mark entry detection processing unit 14 of FIG. 1 includes a front obstacle parallel parking forward guidance mark entry amount detection unit 15, for example, as shown in FIG. The lower end portion of the image of the forward vehicle corresponding to the rear end position of 2 is recognized, and the amount TF that this portion enters closer to the front side than the parallel parking front guide mark MF is measured.

  Further, in the forward obstacle parallel parking forward guidance auxiliary mark entry detection unit 16 in FIG. 1, the vehicle 1 in front of the forward obstacle parallel parking forward guidance auxiliary mark MF ′ as shown in FIG. Measures the amount of entry when. When it is detected that the vehicle has entered more than a predetermined distance by measuring the amount of entry, the front obstacle proximity warning unit 17 outputs a warning to the driver with a warning display, a warning sound or a buzzer. In the case of the warning, a driver or the like selects in advance whether to use the parallel parking front guidance mark MF or the parallel parking front guidance auxiliary mark MF ′, and outputs a warning by detecting either of them. To.

  As will be described later, according to the present invention, the rear camera 5 can be parked at an appropriate distance from the rear vehicle so that the rear vehicle can start easily. Even when the other vehicle stops, the operation using the front camera 4 can be performed because it is possible to perform a driving operation to exit the parallel parking area after reversing using an appropriate rear space. Is a subordinate process to the process to be described later using the rear camera 5, and may not be necessary in terms of cost.

  The rear camera 5 shown in FIG. 1 also performs a process similar to various processes using the image taken by the front camera 4 for the rear image of the host vehicle. Various processes using the images taken by the front camera are particularly useful for allowing the host vehicle to depart from the parallel parking effortlessly. The main difference is that the main purpose is processing.

  That is, the captured image rear obstacle detection unit 21 for inputting the captured image of the rear camera 5 includes a rear vehicle type recognition unit 22 and is spaced from the rear vehicle 3 at the final stage of parallel parking as shown in FIG. When moving to adjust b, the image of the wide-angle shooting area in the image taken by the rear camera is used to recognize the overall shape of the rear vehicle or the yellow license plate, for example, as shown in FIG. Recognize the vehicle type. By recognizing such vehicle types, various vehicle data such as the average minimum turning radius for each vehicle type is used, and the distance between the vehicles that can be departed from the parallel parking can be maintained without difficulty. Try to park.

  In the example of the vehicle type recognition mode shown in FIG. 12, in FIG. 12 (a), it is recognized whether or not the color of the license plate is particularly yellow, and when it is yellow, it is determined that the vehicle is a light vehicle. In FIG. 5B, the vehicle shape of the first shape is recognized as a sedan because the vehicle outer shape is horizontally long. In FIG. 5C, the second shape is obtained because the vehicle outer shape is close to a square. It is recognized that this vehicle type is an SUV vehicle.

  Further, in the same figure (d), since the outer shape of the vehicle is a vertically long rectangle, it is recognized that this third shape vehicle type is a minivan type vehicle type. Further, in FIG. 4E, the vehicle has a square or vertically long rectangle, and recognizes that the vehicle body is particularly large with respect to the distance from the host vehicle. Recognize that the shape is a bus. In FIG. 8 (f), it is recognized that the outer shape of the vehicle is almost a square to a vertically-long rectangle, and that there is no destination display portion even though it is a large body, and this fifth shape is recognized as a truck. The

  The rear obstacle detection unit 21 includes a rear vehicle number recognition unit 23, and recognizes the number from the image portion of the number plate of the rear vehicle 3 in the same manner as the front vehicle number recognition unit 7. The recognition result is stored in the rear vehicle number storage unit 24. In the rearward shot image parallel parking rear guide mark display processing unit 25, various types including a minimum turning radius according to the vehicle type recognized in the vehicle type data storage unit 26 as shown in FIG. Vehicle data such as the length and width of the vehicle is stored.

  The data stored at this time is stored for each vehicle type with respect to various types of data that are substantially the same as the vehicle data stored in the host vehicle data storage unit 11. Regarding the data for each vehicle type, for example, the minimum turning radius R is obtained by obtaining an average value in advance using vehicle data included in each vehicle type produced for several years, and the data is converted into the minimum turning radius for each vehicle type. The data is input and stored in the storage unit. In the example of FIG. 12, it is shown that there is data of R = a to f as the minimum turning radius R, for example, according to the vehicle types (a) to (f) in the same figure.

  In the rear-captured image parallel parking rear guidance mark display processing unit 25, the vehicle-specific vertical parking rear guidance mark display unit 27, for example, as shown in FIG. Processing for displaying such a parallel parking rear guidance mark MB is performed. In the process, the parallel parking front guide mark MF is a guide mark that allows the host vehicle to easily depart from the parallel parking state by simply moving forward without once moving backward. First, the parallel parking rear guidance mark MB is different in that the rear vehicle can easily depart from the parallel parking.

  Therefore, the vehicle type parallel parking rear guidance mark display unit 27 recognizes the vehicle type of the rear vehicle as described above, and reads various vehicle data including the minimum turning radius data corresponding to the vehicle type from the vehicle type data storage unit 26. The distance for the rear vehicle to easily depart from the parallel parking is calculated, and the parallel parking rear guidance mark MB is displayed in the monitor at a position corresponding to the distance. The distance is the same as that of the parallel parking front guidance mark display unit 12, and the parallel parking rear guidance mark MB can be displayed at an appropriate position according to the vehicle type of the rear vehicle by the same calculation method as in FIG. .

  In the example shown in FIG. 1, the vertical parking backward guidance mark display processing unit 25 in the rear shot image includes a parallel parking backward guidance auxiliary mark display unit 28, and like the vertical parking forward guidance auxiliary mark display unit 13, FIG. A parallel parking rear guidance assist mark MB ′ is displayed at a position farther from the host vehicle than the parallel parking rear guidance mark MB as shown in FIG. This display is displayed for the same purpose as that of the parallel parking front guidance assist mark display unit 13 and is selected and displayed when the number of vehicles in the parking area is relatively small. Park the vehicle so that a natural inter-vehicle distance from the vehicle is obtained. Therefore, when displaying this auxiliary mark, it may be set at a predetermined distance regardless of the vehicle type of the rear vehicle.

  In addition to the above purpose, the parallel parking rear guidance auxiliary mark MF ′ changes the display position in the monitor according to the average value of the vehicle data such as the minimum turning radius for each vehicle type as described above. On the other hand, without using such a value for each vehicle type, the maximum value that is applicable to most vehicles is set for vehicles and vehicle types that are currently produced and generally used. A parallel parking rear guidance assist mark may be displayed at a position where the vehicle with the maximum value can depart from the parallel parking. In that case, the parallel parking rear guidance mark MF ′ is displayed instead of the parallel parking rear guidance mark MF, or the parallel parking rear guidance mark MF set at the maximum position is displayed. Can be implemented.

  FIG. 9 shows an example of using the parallel parking rear guide mark displayed on the monitor. In FIG. 9 (a), it can be seen that the space between the rear vehicle 3 is too wide and the driver retreats by seeing this. When the lower end portion of the rear vehicle image corresponding to the front end position of the rear vehicle 3 partly overlaps the parallel parking rear guide mark MB as shown in FIG. Further, as shown in FIG. 5C, when the lower end portion of the image of the rear vehicle 3 exists in a portion below the parallel parking rear guide mark MB, that is, the vehicle enters the front side of the parallel parking rear guide mark MF. The driver advances the vehicle to a position where the image shown in FIG.

  By displaying the parallel parking rear guide mark display processing unit 25 in the rear shot image, the parallel parking rear guide mark is displayed, so that the driver can move forward and backward at the final stage of parallel parking using this mark as a guide. In the example shown in FIG. 1, it is possible to warn that the inter-vehicle distance from the rear vehicle is not appropriate. Is shown.

  That is, in the example of FIG. 1, the vehicle includes a rear vehicle parallel parking rear guide mark entry detection processing unit 29 that detects that a rear vehicle has entered the parallel parking rear guide mark, and the front obstacle vertical parking front guide mark. The same process as the ingress detection processing unit 14 is performed. The rear vehicle tandem parking rear guidance mark entry detection processing unit 29 includes a rear vehicle tandem parking rear guidance mark entry amount detection unit 30, and the front obstacle parallel parking front guidance mark entry amount detection unit 15 is provided. The same processing is performed.

  The rear vehicle parallel parking rear guidance auxiliary mark entry detection unit 31 performs the same processing as the front obstacle parallel parking forward guidance auxiliary mark entry detection unit 16. The rear vehicle proximity warning unit 32 performs the same processing as that of the front obstacle proximity warning unit 17. For example, as shown in FIG. When it exists below TB by a predetermined amount or more below mark MB, this is detected and a warning is issued.

  In the parallel parking vehicle departure confirmation processing unit 35, after performing predetermined parallel parking by the above-described processing, when the vehicle is started from this parallel parking state, the vehicle can actually start smoothly. The process which confirms whether or not is performed. The parallel parking vehicle departure time confirmation processing unit 35 of FIG. 1 includes a vehicle number reading / outputting unit 36 before and after parallel parking, in particular, the data of the front vehicle number storage unit 8 and the data of the rear vehicle number storage unit 24. Read and display the number on the monitor. As a result, the driver captures the image of the front camera 4 at the time of departure from parallel parking and recognizes the number, or the driver visually recognizes the number of the preceding vehicle, thereby performing the predetermined parallel parking with the current front vehicle. It is determined whether or not the vehicle ahead coincides with the vehicle.

  Here, especially when it is judged that the vehicle ahead is different, it is assumed that the function when parked by this parallel parking guide device has been substantially cancelled, and parallel parking is performed with sufficient caution as in the normal state. Driving operation to escape from the area will be performed. In addition, when the vehicle is the same, it can be seen that the host vehicle can escape from the parallel parking area with a margin, so that the vehicle can leave the vehicle without retreating or as needed Can do.

  Also, as described above, when the front vehicle is the same as when parallel parking, it does not matter whether the rear vehicle is the same as when parallel parking. If the rear vehicle is the same as in parallel parking, it is known that there is a sufficient distance from the rear vehicle, so you should go back and perform the departure operation with peace of mind. Can do.

  In the example shown in FIG. 1, the vehicle change warning unit 37 before and after parallel parking is provided, and the number of front and rear vehicles at the time of parallel parking read by the vehicle number reading and outputting unit 36 before and after parallel parking is determined by the image of the current front camera. It is judged whether it matches the recognized front vehicle number, and whether it matches the rear vehicle number recognized by the current rear camera image. A warning output is made to indicate that both vehicles are different from those in parallel parking.

  The parallel parking departure time confirmation processing unit 35 shown in FIG. 1 includes a front obstacle distance detection unit 38 during parallel parking departure. It is determined whether or not an obstacle such as another vehicle exists within a predetermined distance range in front of the vehicle. The predetermined distance at this time may be the same as the display position of the parallel parking rear guide mark MF, but may be set to a distance away from it for safety. In addition, the distance from the front obstacle can be detected from the captured image itself. However, the positional relationship between the obstacle displayed on the monitor and the parallel parking rear guide mark MF is also determined depending on the position on the monitor. Can also be detected.

  The front obstacle proximity warning unit 39 at the time of departure while parallel parking is within the predetermined distance when the distance from the front obstacle detected by the front obstacle interval detection unit 38 at the time of departure while parallel parking is within a predetermined distance, Outputs warning that there is a risk of contact by display on monitor, guidance by voice, beep sound, etc.

  In addition, when equipped with the vehicle number reading output unit 36 before and after parallel parking, and further, the vehicle change warning unit 37 before and after parallel parking, the front obstacle interval detection unit 38 at the time of departure during parallel parking, and further at the time of departure during parallel parking The obstacle proximity warning unit 39 does not need to be used. Conversely, when the front obstacle interval detection unit 38 at the time of departure in parallel parking and the front obstacle proximity warning unit 39 at the time of departure in parallel parking are provided, before and after parallel parking The vehicle number reading / output unit 36 and the vehicle change warning unit 37 before and after parallel parking may not be provided. However, all of these may be provided, and the use may be switched as necessary, or both may be used simultaneously.

  A parallel parking guide apparatus that implements the present invention as shown in FIG. 1 in various modes can be implemented in various modes by, for example, sequentially operating according to the operation flow shown in FIG. In the example of the parallel parking guide process shown in FIG. 2, when the vehicle is moved backward for the first parallel parking (step S1), the rear camera is activated (step S2), and the parallel parking is performed behind the vehicle by the photographed image. It is determined whether or not there is another vehicle (step S3).

  Here, when it is determined that there is no vehicle parked in parallel in the captured image of the rear camera, it is determined whether or not an operation stage for adjusting the distance between the front and rear vehicles in this parallel parking has been reached. The example shown in FIG. 2 shows an example in which the subsequent parallel parking guidance process is always performed when the vehicle moves backward, but this parallel parking guidance process is started when the driver separately issues a parallel parking guidance instruction. You may set to do.

  That is, as described above, the parallel parking is basically performed as shown in FIGS. 13A to 13C, and finally the operation of the front and rear position adjustment mode is performed as shown in FIG. Is called. Therefore, when the vehicle is moved back and forth with the handle greatly rotated as shown in FIGS. 5A and 5B, the parallel parking operation is performed when the vehicle is moved back and forth with almost no rotation of the handle. It can be determined that the operation stage for adjusting the front-rear vehicle interval has been reached.

  When it is determined in step S11 that the operation stage for adjusting the vehicle interval before and after parallel parking has not yet been reached, that is, as shown in FIGS. When it is, the process returns to step S1 to continue the retreat, and the above operation is repeated. In addition, when it is determined in step S11 that it has reached the stage of adjusting the front-rear vehicle interval, if it is determined that there is no other parallel parked vehicle behind the vehicle at that stage, the parallel parking is actually performed behind the vehicle. At this time, it is assumed that there is no vehicle that adjusts the inter-vehicle distance, and thereafter, the process proceeds to step S9 to perform a process for securing a distance from the front obstacle by the front camera photographed image as shown in FIG.

  When it is determined in step S3 that there is another vehicle parked in parallel behind the vehicle, that is, when it is detected that a vehicle is present in the rear camera image, the vehicle type of the rear vehicle is recognized (step S4). When recognizing this vehicle type, it can be recognized by the method shown in FIG. 12, for example. Next, a parallel parking rear guidance mark corresponding to the vehicle type of the rear vehicle is displayed in the rear camera photographed image (step S5).

  At the time of this operation, corresponding to the vehicle type recognized by the rear vehicle type recognition unit 22 in the vehicle type vertical parking rear guidance mark display unit 27 in the vertical parking rear guide mark display processing unit 25 in the rear shot image of FIG. The vehicle data such as the vehicle type average value of the minimum turning radius recorded in the vehicle type data storage unit 26 is read, and the parallel parking rear guide mark is set, for example, in consideration of an appropriate margin distance S3 as shown in FIG. As shown in FIGS. 9 (a) to 9 (c), it is performed by displaying in the monitor.

  Thereafter, it is determined whether or not the rear vehicle overlaps with the parallel parking rear guide mark (step S6). For example, as shown in FIG. 9A, the parallel parking rear guide mark MB and the image of the rear vehicle 2 still overlap. If not, the vehicle is further moved backward (step S12). By repeating this operation, or when it is determined from the beginning that the rear vehicle overlaps the parallel parking rear guide mark, the process proceeds to step S7, and it is determined whether or not the amount of overlap is greater than or equal to a predetermined value.

  Here, for example, as shown in FIG. 9 (c), the lower end position in the rear vehicle image overlaps with the parallel parking rear guide mark MB, and the amount of the rear vehicle approaching the host vehicle, that is, the rear vehicle is behind the parallel parking. When the driver determines that the amount of entry TB that has entered inward of the guide mark MB is greater than or equal to a predetermined amount, the vehicle is advanced (step S13). For example, as shown in FIG. And a position that overlaps appropriately. Even in this process, considering that the process proceeds too much and the state again becomes as shown in FIG. 5A, the process returns to step S6 and the above operation is repeated.

  In the above example, as shown in FIG. 9, an example in which the driver moves the vehicle back and forth while checking the positional relationship between the mark and the rear vehicle while the parallel parking rear guide mark MB is displayed. However, when the rear vehicle parallel parking rear guide mark entry detection processing unit 29 for detecting that the rear vehicle has entered the parallel parking rear guide mark as shown in FIG. 1 is provided, as shown in FIG. When the amount of entry TB TB is measured and it is detected that the amount is greater than or equal to a predetermined amount, a warning may be output from the rear vehicle proximity warning unit 32 by display on the monitor or voice.

  When it is determined in step S7 that the amount overlapped is not equal to or greater than the predetermined amount, it is determined that the overlap is an appropriate amount, and then the number of the rear vehicle is recognized and stored (step S8). Thereafter, in the example of FIG. 2, the distance from the front obstacle by the front camera photographed image as shown in FIG. 3 is performed, and finally the number of the preceding vehicle is stored in step S26 of FIG. The power supply of the vehicle is turned off (step S10), and the series of processing ends.

  In the example shown in FIG. 2, first, a process for ensuring an appropriate distance from the rear vehicle is performed based on the image captured by the rear camera. However, the present invention can be implemented in such a manner that the process of ensuring the distance from the front obstacle is first performed based on the image captured by the front camera.

  In step S9 in FIG. 2, the process for securing the space between the front obstacle and the front obstacle is as shown in FIG. 3. First, the front camera is actuated (step S21). Is displayed (step S22). When displaying the parallel parking forward guidance mark, the parallel parking forward guidance mark display unit 12 shown in FIG. 1 is displayed at the position obtained by using the vehicle data such as the minimum turning radius data of the host vehicle. ) To (c).

  Next, it is determined whether or not the front obstacle image overlaps the parallel parking front guidance mark (step S23). Here, for example, as shown in FIG. 10A, when it is determined that the front vehicle 2 does not overlap the parallel parking front guide mark MF, the driver moves the vehicle forward (step S27), and returns to step S23 again to perform the operation. repeat. In the process, as shown in FIG. 10B or FIG. 10C, an image of the vehicle ahead or an image of various obstacles overlaps with the parallel parking front guide mark MF.

  At that time, it is determined in step S23 that the front obstacle image overlaps the parallel parking front guide mark, and then it is determined whether or not the amount of overlap is greater than or equal to a predetermined amount (step S24). This determination is made when the driver views the screen as shown in FIG. 10B or 10C, for example, and determines that the amount TF overlapped as shown in FIG. (Step S28), considering the excessive backward movement at that time, the process returns to step S23 again, and the above operation is repeated.

  Thereafter, when it is determined that the overlapping amount is not within a predetermined value but within a predetermined value as shown in FIG. 10B, it is determined whether or not the obstacle ahead of the vehicle is another vehicle in parallel parking (step S25). In other words, what should be monitored by the front camera is to prevent the vehicle from starting smoothly due to obstacles ahead when it departs from parallel parking. Since it may be an object such as a bag, it is determined here whether the obstacle ahead of the vehicle is another vehicle parked in parallel, and if it is a vehicle, the number of the vehicle ahead is recognized and stored (step S26). . In the example of FIG. 10, as shown in FIG. 10E, the number is recognized as “DEF” and stored.

  Thereafter, in step S25, when it is determined that the obstacle in front of the vehicle is not a vehicle, for example, a curb or a fence, the process proceeds to step S29. In step S10 in FIG. 2, the vehicle is turned off and a series of parallel parking is performed. The guidance process ends.

  After performing a series of parallel parking guides as described above and performing parallel parking, the vehicle is stored in the processing of FIGS. 2 and 3 by the operation flow shown in FIG. When the numbers of the rear vehicle and the vehicle ahead are stored, this data is used to perform confirmation processing at departure. In the first aspect of the confirmation process at the time of departure of the parallel parked vehicle shown in FIG. 4 for performing the process, the vehicle is first turned on for departure (step S41), and then in the illustrated example, the parallel parking is performed. A guidance confirmation output request is made (step S42).

  That is, in the illustrated example, the driver performs the subsequent processing by making a confirmation output request in step S42, but the series of parallel parking guidance processing even when the driver does not make such an output request. When the vehicle number is stored, or when the vehicle number is stored as described above during the guidance process, the subsequent confirmation process may be automatically performed.

  After that, the numbers of the front and rear vehicles at the time of parallel parking are read and output. In the example shown in FIG. 4, next, a confirmation process is performed to determine whether the vehicle at the time of parallel parking is different from the current vehicle and the vehicle ahead or behind. In the confirmation process at this time, for example, in step S43, the driver sees the numbers of the front and rear vehicles at the time of parallel parking displayed on the monitor, and whether the current front and rear vehicle numbers match. If the number is different and the number is different, the process of step S44 can be performed by driving with sufficient attention to the driving at the departure.

  In addition, when such a confirmation process is not performed only by the driver but is automatically confirmed, for example, as shown in FIG. Automatic confirmation processing may be performed. In the automatic confirmation process shown in FIG. 5, first the rear camera and the front camera are activated (step S51), and then the current rear and front vehicle numbers are recognized (step S52).

  Thereafter, it is determined whether or not the vehicle number at the time of parallel parking read and output in step S43 of FIG. 4 is different from the current vehicle number (step S53). If it is determined that the number of any vehicle is different, a warning is output indicating that the front or rear vehicle is different between the time of parallel parking and the current time (step S54). When it is determined that the number of the vehicle is the same at the time of parking and the current time, the process proceeds to step S55, and this series of processes is terminated. With this process, when the vehicle departs from the series of parallel parking guidance processes shown in FIGS. 2 and 3, the confirmation can be automatically made without depending on the driver.

  When a parallel parked vehicle is about to depart from the spot, the confirmation process when leaving in consideration of obstacles that exist in front of the vehicle is not limited to the confirmation by the number as described above. 10 (a) to 10 (c) can be carried out by performing the confirmation processing shown in FIG. 6, for example, using the display of the parallel parking front guidance mark MF.

  That is, in the second mode of the departure confirmation process for the parallel parked vehicles shown in FIG. 6, after the vehicle is first turned on (step S61), in the example shown in FIG. Similarly, when the driver makes a parallel parking guidance confirmation output request (step S62), the front camera is activated (step S63). Next, the captured image of the front camera is recognized, and it is determined whether or not there is an obstacle ahead (step S64).

  When it is determined in step S64 that there is an obstacle ahead, it is determined whether or not the front obstacle overlaps with the parallel parking front guide mark by a predetermined amount or more (step S65). Here, as shown in FIG. 10C, for example, an obstacle such as a forward vehicle and a parallel parking front guide mark MF indicating an interval at which the host vehicle can safely escape from the parking area are a predetermined amount or more. When it is detected that the vehicle overlaps, if it leaves the vehicle as it is, it will contact the obstacle and output a warning that it is dangerous. This warning is output by voice or beep sound as necessary, in addition to display on the monitor.

  With this warning output, the driver moves the vehicle backward until the front obstacle does not overlap with the parallel parking forward guidance mark by a predetermined amount or more (step S67), and then when it is determined in step S65 that there is no obstacle ahead, When it is determined in step S65 that the obstacle ahead does not overlap with the parallel parking front guide mark by a predetermined amount or more, the process proceeds to step S68, and this series of confirmation processing ends.

  As described above, the present invention guides parallel parking in the manner shown in FIGS. 2 and 3, and performs processing at the time of departure from the parallel parking position in the manner shown in FIGS. However, it is needless to say that the present invention can be carried out in various modes according to the same purpose as described above.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Front vehicle 3 Rear vehicle 4 Front camera 5 Rear camera 6 Front obstacle detection part 7 Forward vehicle number recognition part 8 Forward vehicle number storage part 10 Front parking image in-line parking front guidance mark display processing part 11 Own vehicle data Storage unit 12 Parallel parking forward guidance mark display unit 13 Parallel parking forward phase assistance mark display unit 14 Front obstacle parallel parking front guidance mark entry detection processing unit 15 Front obstacle parallel parking forward guidance mark entry amount detection unit 16 Front Obstacle tandem parking front guidance auxiliary mark entry detection unit 17 Front obstacle proximity warning unit 21 Rear obstacle detection unit 22 Rear vehicle vehicle type recognition unit 23 Rear vehicle number recognition unit 24 Rear vehicle number storage unit 25 Rearward captured image tandem parking Guidance mark display processing unit 26 Vehicle type data storage unit 27 Vehicle type parallel parking rear guidance mark display unit 28 Parallel parking Rear guidance auxiliary mark display unit 29 Rear vehicle parallel parking rear guidance mark entry detection processing unit 30 Rear vehicle vertical parking rear guidance mark entry amount detection unit 31 Rear vehicle vertical parking rear guidance auxiliary mark entry detection unit 32 Rear vehicle proximity warning Section 35 Parallel parking parked vehicle departure confirmation processing section 36 Parallel parking front and rear vehicle number reading and output section 37 Parallel parking front and rear vehicle change warning section 38 Front parking obstacle departure front obstacle interval detection section 39 Parallel parking and front departure Obstacle proximity warning section

Claims (4)

A rear camera that captures the back of the vehicle,
A monitor for displaying a photographed image of the rear camera;
A parallel parking rear guide mark is displayed at the monitor position corresponding to the interval at which the vehicle existing behind the host vehicle can park from the parallel parking position using the interval between the vehicle and the host vehicle. A parallel parking guide device comprising a parallel parking rear guide mark display processing unit. A rear vehicle vehicle type recognition unit for recognizing a vehicle type of a vehicle existing behind by a photographed image of the rear camera;
The parallel parking rear guidance mark display processing unit determines a display position of the parallel parking rear guidance mark according to vehicle data of the vehicle type corresponding to the vehicle type of the rear vehicle recognized by the rear vehicle vehicle type recognition unit. The parallel parking guide apparatus according to claim 1.   The parallel parking rear guidance mark display processing unit is configured to perform parallel parking at a monitor position corresponding to an interval at which most ordinary vehicles can depart from the parallel parking position using the interval between the vehicle and the host vehicle. 2. The parallel parking guide device according to claim 1, wherein a rear guide mark is displayed. A rear vehicle number recognizing unit for recognizing the number of a vehicle existing behind by a photographed image of the rear camera;
A rear vehicle number storage unit for storing a rear vehicle number recognized by the rear vehicle number recognition unit;
The parallel parking guide apparatus according to claim 1, further comprising a parallel parking rear vehicle number reading / outputting unit that reads and outputs a number stored in the rear vehicle number storage unit.

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