JP5471141B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention detects a target parking position where the vehicle is parked from an area around the own vehicle, draws a frame image indicating the target parking position on the image around the own vehicle, and superimposes the frame image. The present invention relates to a parking support apparatus and a parking support method that allow a driver to recognize a target parking position.

  Conventionally, as a parking assistance device that assists a driver's driving operation when parking a vehicle, for example, a space serving as a target parking position where the vehicle is parked using a distance measuring sensor or the like is detected, and the corresponding image on the image captured by the camera There is known a technique in which a driver recognizes a target parking position by drawing and displaying a frame image indicating the target parking position at the position (see, for example, Patent Document 1).

JP 2003-81041 A

  However, in the conventional parking assistance device having the function of automatically detecting the target parking position, including the parking assistance device described in Patent Document 1, the target in which the position of the frame image drawn on the image is automatically detected. There is a problem that it is difficult for the driver to know whether or not the vehicle is at the parking position, that is, whether or not the target parking position is properly detected, which causes anxiety about the operation.

  The present invention was devised in view of the above-described problems of the prior art, and provides a parking support device and a parking support method that allow a driver to easily grasp whether a target parking position has been properly detected. It is intended to provide.

  The present invention determines whether or not the target parking position for parking the vehicle from the area around the vehicle can be detected, and changes the drawing method of the frame image indicating the target parking position according to the determination result. Solve the problem.

  According to the present invention, since the frame image is drawn by different drawing methods depending on whether the target parking position can be detected or not, the driver of the own vehicle can check the drawing of the frame image to check the target parking position. It is possible to easily grasp whether the parking position is properly detected.

It is a block diagram which shows schematic structure of the parking assistance apparatus to which this invention is applied. It is a figure explaining the attachment position of four vehicle-mounted cameras, and the area | region which each vehicle-mounted camera image | photographs. It is a block diagram which shows the function structure of the control unit with which a parking assistance apparatus is provided. It is a figure explaining the outline | summary of the process which produces | generates a bird's-eye view image. It is a flowchart which shows the outline | summary of the process by a control unit. It is a figure explaining an example of the frame image drawing method at the time of succeeding in detection of a target parking position, and after drawing the image picture which shows the detection process of a target parking position, the frame image which shows the detected target parking position It is explanatory drawing of the example to draw. It is a figure explaining an example of the frame image drawing method at the time of failing in detection of a target parking position. It is a figure explaining an example of the frame image drawing method when a plurality of target parking positions are detected. It is a figure explaining the other example of the frame image drawing method when the detection of a target parking position is successful, and after drawing the image image which narrows down a target parking position, the frame image which shows the detected target parking position is drawn It is explanatory drawing of the example to do. It is a figure explaining the other example of the frame image drawing method at the time of succeeding in detection of a target parking position, when a default frame image is drawn in a default position beforehand and this target parking position is detected, It is explanatory drawing of the example which draws the frame image which shows the target parking position detected by stopping drawing of a default frame image.

  Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

  The present invention automatically detects a target parking position where the host vehicle is parked, draws a frame image indicating the target parking position on an image around the host vehicle, and superimposes the frame image to display the automatically detected target parking position. A parking assistance device configured to be recognized by a car driver is an application target. And especially in the parking assistance device to which the present invention is applied, there is a feature in that the drawing method of the frame image is changed according to the detection result of the target parking position, for example, when the target parking position is detected Draws an image showing the detection process of the target parking position, then draws a frame image showing the target parking position. If the target parking position cannot be detected, a default predetermined for the vehicle position is set. The default frame image is drawn at the position, and an icon or the like that prompts the driver to adjust the position of the default frame image on the image is drawn. Hereinafter, an example will be described in which a bird's-eye view image in which the surroundings of the own vehicle is viewed from above is generated, a frame image is drawn on the bird's-eye view image, and is superimposed and displayed.

[Constitution]
FIG. 1 is a block diagram illustrating a schematic configuration of the parking assist device according to the present embodiment. The parking assist device of the present embodiment includes four in-vehicle cameras, a front camera 1, a rear camera 2, a right side camera 3, and a left side camera 4, mounted on the own vehicle, and a display 5 installed in the vehicle interior of the own vehicle. And an operation input device 6 that receives an operation input from the driver of the vehicle is connected to the control unit 10.

  The four in-vehicle cameras including the front camera 1, the rear camera 2, the right side camera 3, and the left side camera 4 are, for example, wide-angle CCD cameras or CMOS cameras having an angle of view of about 180 degrees. It is attached at a suitable location around the vehicle so that images of all areas surrounding the vehicle can be photographed at -4. Specifically, as shown in FIG. 2, for example, the front camera 1 is installed on a front grill of the own vehicle and shoots an image of a region A1 ahead of the own vehicle in a direction looking down obliquely with respect to the ground. The rear camera 2 is installed in a roof spoiler or the like of the own vehicle and shoots an image of the area A2 behind the own vehicle in a direction looking down obliquely with respect to the ground. The right side camera 3 is installed on a right side mirror of the host vehicle and shoots an image of the area A3 on the right side of the host vehicle in a direction looking down obliquely with respect to the ground. Further, the left side camera 4 is installed on a left side mirror of the own vehicle and shoots an image of a region A4 on the left side of the own vehicle in a direction looking down obliquely with respect to the ground. Signals of images taken by these four in-vehicle cameras 1 to 4 are sent to the control unit 10 as needed.

  The display 5 displays a display image generated by the control unit 10, and for example, a liquid crystal display is used. This display 5 is installed at a position that is easy to see for the driver of the host vehicle, such as a center console in the cabin of the host vehicle, and for parking assistance generated by the control unit 10 based on an image signal from the control unit 10. The image of is displayed.

  The operation input device 6 receives an operation input by the driver of the own vehicle, and various operation buttons, a joystick, etc. are used, for example. Further, a touch panel may be provided on the display screen of the display 5, and this touch panel may be used as the operation input device 6. The operation input by the driver of the own vehicle using the operation input device 6 is sent to the control unit 10.

  The control unit 10 is configured to include an information processing device such as a microcomputer in which a program for processing an image is stored, and the captured image of the in-vehicle cameras 1 to 4 is executed by executing the program with an arithmetic device such as a CPU. Is used to generate an image to be displayed on the display 5. As shown in FIG. 3, when the control unit 10 functionally grasps the configuration, the control unit 10 includes an image input unit 11, an overhead image generation unit 12, a target parking position detection unit 13, and a detection result determination unit 14. The drawing unit 15 and the image output unit 16 are provided.

  The image input unit 11 inputs images captured by four vehicle-mounted cameras, that is, the front camera 1, the rear camera 2, the right side camera 3, and the left side camera 4.

  The bird's-eye view image generation unit 12 uses the captured images of the in-vehicle cameras 1 to 4 input by the image input unit 11 to generate a bird's-eye view image looking down from the virtual viewpoint above the vehicle. FIG. 4 is a diagram for explaining the outline of the processing for generating the overhead image. The image 100 in FIG. 4 is an overhead image generated by the overhead image generation unit 12, the image 101 is a captured image of the front camera 1, and the image Reference numeral 102 denotes a captured image of the rear camera 2, an image 103 is a captured image of the right side camera 3, and an image 104 is a captured image of the left side camera 4. In the example of FIG. 4, in order to illustrate the state of overhead image generation in an easy-to-understand manner, each on-vehicle camera 1 to 4 captures an image including a reference line drawn on the ground around the vehicle. ing.

  The bird's-eye view image generation unit 12 performs a coordinate conversion process on the captured image 101 of the front camera 1 according to a known viewpoint conversion algorithm so that the area ahead of the host vehicle (the area A1 in FIG. 2) is located above the host vehicle. An image 100a looking down from the virtual viewpoint is generated. Further, the bird's-eye view image generation unit 12 performs a similar coordinate conversion process on the captured image 102 of the rear camera 2 so that the area behind the own vehicle (area A2 in FIG. 2) is viewed from the virtual viewpoint above the own vehicle. A look-down image 100b is generated. Further, the bird's-eye view image generation unit 12 performs the same coordinate conversion processing on the captured image 103 of the right side camera 3 and the captured image 104 of the left side camera 4, and thereby the area on the right side of the vehicle (in FIG. 2). An image 100c in which the area A3) is looked down from the virtual viewpoint above the own vehicle, and an image 100d in which the area on the left side of the own vehicle (area A4 in FIG. 2) is looked down from the virtual viewpoint is generated. And the bird's-eye view image production | generation part 12 connects these images 100a-100d, and produces | generates the bird's-eye view image 100 which looked down the surroundings of the own vehicle from the virtual viewpoint above the own vehicle. The center of the bird's-eye view image 100 is the current position of the own vehicle, and a vehicle object 105 representing the own vehicle is arranged here.

  The target parking position detection unit 13 performs image processing such as straight line detection processing on the bird's-eye view image generated by the bird's-eye view image generation unit 12 to detect a target parking position where the host vehicle can be parked. The detection target is a parking frame line drawn with paint on an asphalt road surface or a concrete road surface found in a supermarket or an apartment parking lot. In addition, as an image which performs an image process in order to detect a target parking position, it is also possible to use not only the bird's-eye view image generated by the bird's-eye view image generation unit 12 but also images captured by the in-vehicle cameras 1 to 4. . In addition, when a sensor for detecting an obstacle around the vehicle such as an ultrasonic sonar, a laser radar device, or a millimeter wave radar device is attached to the own vehicle, sensor information from the obstacle detection sensor is used. The target parking position may be detected.

  The detection result determination unit 14 determines whether the target parking position is detected by the target parking position detection unit 13, that is, whether a target parking position where the host vehicle can be parked around the host vehicle has been detected.

  The drawing unit 15 draws a frame image indicating the target parking position on the overhead view image generated by the overhead view image generation unit 12. In particular, the drawing unit 15 changes the drawing method of the frame image indicating the target parking position in accordance with the determination result by the detection result determining unit 14. For example, when the target parking position is detected, the target unit After drawing an image showing the parking position detection process, draw a frame image showing the target parking position, and if the target parking position cannot be detected, the default position predetermined for the vehicle position is set. A default frame image is drawn, and an icon or the like that prompts the driver to adjust the position of the default frame image on the overhead image is drawn. A specific example of a method for drawing a frame image according to the determination result by the detection result determination unit 14 will be described later in detail.

  The image output unit 16 outputs the image signal of the bird's-eye view image drawn by the drawing unit 15 such as a frame image to the display 5 while being updated as needed. Thereby, on the overhead image as shown in FIG. 4, the display 5 displays an image image indicating the detection process of the target parking position, a frame image indicating the target parking position, a default frame image, or a default frame image. An image on which an icon or the like for prompting the position adjustment is superimposed is displayed.

[Outline of processing by the control unit]
Next, an outline of processing by the control unit 10 of the parking assistance apparatus of the present embodiment will be described with reference to the flowchart of FIG. The series of processes shown in the flowchart of FIG. 5 is started when the driver of the own vehicle inputs using the operation input device 6 to instruct the activation of the parking assistance apparatus.

  First, in step S1, the control unit 10 inputs images of the surroundings of the vehicle taken by the four on-vehicle cameras of the front camera 1, the rear camera 2, the right side camera 3, and the left side camera 4 mounted on the vehicle. To do.

  Next, in step S2, the control unit 10 uses the captured images of the four in-vehicle cameras 1 to 4 input in step S1 to generate an overhead image in which the surroundings of the vehicle are looked down from a virtual viewpoint above the vehicle.

  Next, in step S3, the control unit 10 performs image processing such as straight line detection processing on the overhead image generated in step S2, and becomes a target position that is a target position for parking the vehicle from the area around the vehicle. A process for detecting the parking position is performed.

  Next, in step S4, the control unit 10 determines whether the target parking position has been detected from the area around the host vehicle as a result of the target parking position detection process performed in step S3, and the target parking position is detected. If it is possible, the process proceeds to step S5. If the target parking position cannot be detected, the process proceeds to step S9.

  When the detection of the target parking position is successful and the process proceeds to step S5, the control unit 10 draws an image image showing the detection process of the target parking position on the overhead image generated in step S2 in step S5. In step S <b> 6, the image data of the bird's-eye view image on which the image image indicating the detection process of the target parking position is drawn is output to the display 5. Thereby, the overhead image on which the image image which shows the detection process of a target parking position was superimposed on the display 5 is displayed.

  Next, in step S7, the control unit 10 draws a frame image indicating the target parking position detected in step S3 on the overhead view image generated in step S2. In step S <b> 8, the image data of the overhead image on which the frame image is drawn is output to the display 5. Thereby, the bird's-eye view image on which the frame image indicating the target parking position is superimposed is displayed on the display 5.

  On the other hand, when the detection of the target parking position fails and the process proceeds to step S9, the control unit 10 draws a default frame image at a predetermined default position on the overhead image generated in step S2 in step S9. Then, an icon or the like for prompting the position adjustment of the default frame image is drawn. In step S <b> 10, the image data of the bird's-eye view image on which a default frame image and an icon for adjusting the position thereof are drawn is output to the display 5. As a result, the display 5 displays a bird's-eye view image on which a default frame image and an icon for urging position adjustment are superimposed.

[Specific example of frame image drawing method according to determination result of target parking position detection]
Next, a frame image drawing method according to the determination result of whether or not the target parking position has been detected while assuming that the vehicle performs parking in a garage in a scene where a parking frame line exists on the left side of the vehicle A specific example will be described.

<Frame image drawing method when the target parking position is successfully detected>
FIG. 6 is a diagram for explaining an example of a frame image drawing method when the target parking position is successfully detected. After drawing an image image showing a detection process of the target parking position, the detected target parking position is displayed. It is explanatory drawing of the example which draws the frame image shown. 6A is an example of an image that is first displayed on the display 5 when the target parking position is detected, and FIG. 6B is a diagram after the image of FIG. 6A is displayed. It is an example of an image displayed on the display 5.

  The image displayed on the display 5 is based on the bird's-eye view image 100, and a vehicle object 105 representing the own vehicle is displayed in the center thereof. A parking frame line 106 is displayed on the left side.

  When it is determined that the target parking position has been successfully detected, the control unit 10 first detects each candidate detected in the actual image processing as an image image showing the detection process of the target parking position, as shown in FIG. For example, an image image representing the parking frame line candidate 107, the parking frame end point candidate 108, the parking frame center line candidate 109, and the like is drawn on the overhead image 100, and the overhead image 100 on which the image image is superimposed is displayed. 5 is displayed for a few seconds. Here, when each of the above candidates is detected from the overhead image 100 a plurality of times in order to perform stable detection in image processing, the results may be drawn in time series.

  The control unit 10 superimposes each candidate image image detected by the actual image processing as described above, that is, an image image indicating the detection process of the target parking position on the overhead image 100 and displays it on the display 5 for several seconds. After that, as shown in FIG. 6B, the frame image 110 indicating the target parking position obtained by the detection is drawn at the target parking position on the overhead image 100 with a drawing color different from the image images of the above candidates. Then, the overhead image 100 on which the frame image 110 is superimposed is displayed on the display 5. At this time, for example, a message 111 “Parking frame detected” may be displayed on the display 5 together. The frame image 110 indicating the target parking position may have a form in which only the outline of a square frame as shown in FIG. 6B is drawn, or may have a form in which the inside of the frame is filled. . Further, the vehicle object may be drawn as the frame graphic 110.

  As described above, when the target parking position is successfully detected, the target parking position obtained by the detection after the image image showing the detection process of the target parking position is drawn on the overhead image 100 and displayed on the display 5. Is drawn on the overhead image 100 and displayed on the display 5, the target parking position has already been detected by the parking support device, and the position of the frame image 110 displayed on the display 5 is It is possible to make the driver accurately recognize that the target parking position is detected by the parking assistance device.

<Frame image drawing method when detection of target parking position fails>
FIG. 7 is a diagram illustrating an example of a frame image drawing method when detection of the target parking position fails. Also in this case, the image displayed on the display 5 is based on the bird's-eye view image 100, a vehicle object 105 representing the own vehicle is displayed at the center, and a parking frame line 106 is displayed on the left side.

  When it is determined that the detection of the target parking position has failed, the control unit 10, as shown in FIG. 7, has a predetermined attitude at a predetermined default position with respect to the own vehicle position on the overhead image 100. Then, the default frame image 120 is drawn. Note that the drawing color of the default frame image 120 is preferably different from the drawing color of the frame image 110 drawn when the target parking position is detected. In addition to the default frame image 12, an icon for prompting the position adjustment of the default frame image 120, for example, an icon 121 indicating that the default frame image 120 can be moved forward, backward, left and right, or the default frame image 120 can be rotated. An icon 122 or the like indicating the presence is drawn. Then, the overhead image 100 on which the default frame image 120 and the icons 121 and 122 for prompting the position adjustment are superimposed is displayed on the display 5. At this time, for example, a message 123 “Please finely adjust the parking frame” may be displayed on the display 5 together. Note that the default frame image 120 may have a form in which only the outline of a square frame as shown in FIG. 7 is drawn, or may have a form in which the inside of the frame is filled. Further, the vehicle object may be drawn as the default frame graphic 120.

  As described above, when the detection of the target parking position fails, the icons 121 and 122 that prompt the position adjustment of the default frame image 120 are drawn on the overhead image 100 and displayed on the display 5 together with the default frame image 120. By adjusting the position of the default frame image 120 displayed on the display 5 without the target parking position being detected yet, the driver accurately recognizes that the driver should set the target parking position. Can be made.

<Frame image drawing method when multiple target parking positions are detected>
FIG. 8 is a diagram for explaining an example of a frame image drawing method when a plurality of target parking positions are detected. FIG. 8A shows an example of an image that is first displayed on the display 5 when a plurality of target parking positions are detected. FIG. 8B shows an image of FIG. 8A. It is an example of an image displayed on the display 5 later. Also in this case, the image displayed on the display 5 is based on the bird's-eye view image 100, a vehicle object 105 representing the own vehicle is displayed at the center, and a parking frame line 106 is displayed on the left side.

  When a plurality of target parking positions are detected, the control unit 10 first, as shown in FIG. 8 (a), as an image image showing the detection process of the target parking position, for example, as in the example of FIG. 6 (a), An image such as the parking frame line candidate 107, the parking frame end point candidate 108, and the parking frame center line candidate 109 detected by the image processing is drawn on the overhead image 100, and the overhead image 100 on which the image image is superimposed. Is displayed on the display 5 for several seconds.

  Thereafter, as shown in FIG. 8B, the control unit 10 includes a frame image 110 indicating a recommended target parking position among the plurality of target parking positions obtained by detection, and other detected target positions. Frame images 112 and 113 indicating the above are drawn at respective positions on the overhead image 100. At this time, since the frame images 112 and 113 are not currently recommended target parking positions, the frame images 112 and 113 are drawn in a different drawing color from the frame image 110 indicating the recommended target parking position, and are surrounded by a broken line or the like. It is desirable to draw as a frame. In addition, for example, icons 114 and 115 that prompt the user to select a target parking position such as an arrow are drawn in association with the same color as the drawing colors of the frame images 112 and 113. Then, the bird's-eye view image 100 on which the frame image 110 and the frame images 112 and 113 and icons 114 and 115 such as arrows are superimposed is displayed on the display 5. At this time, for example, a message 111 “A parking frame has been detected” or a message “Please select a parking frame” may be displayed on the display 5 together.

  As described above, when a plurality of target parking positions are detected, an image image indicating the target parking position detection process is drawn on the bird's-eye view image 100 and displayed on the display 5, and then the recommended target parking position is indicated. By drawing the frame image 110 and other detected frame images 112 and 113 indicating the target parking position, icons 114 and 115 for urging selection of the target parking position on the overhead image 100 and displaying them on the display 5, A plurality of target parking positions are detected by the parking assistance device, and the position of the frame image 110 displayed on the display 5 is the target parking position recommended by the parking assistance device. Further, the frame image 112, It is possible to make the driver accurately recognize that the target parking position can be set at the position 113.

<Another example of the frame image drawing method when the target parking position is successfully detected>
FIG. 9 is a diagram for explaining another example of the frame image drawing method when the target parking position is successfully detected, and shows the detected target parking position after drawing an image image for narrowing down the target parking position. It is explanatory drawing of the example which draws a frame image. Note that FIG. 9A is an example of an image that is first displayed on the display 5 when the target parking position is detected, and FIG. 9B is a diagram after the image of FIG. 9A is displayed. It is an example of an image displayed on the display 5. Also in this case, the image displayed on the display 5 is based on the bird's-eye view image 100, a vehicle object 105 representing the own vehicle is displayed at the center, and a parking frame line 106 is displayed on the left side.

  In the case of this example, when the control unit 10 determines that the target parking position has been successfully detected, first, as shown in FIG. 9A, an image image 116 indicating that the target parking position is being searched is displayed as an overhead image. For example, the image 116 is drawn on 100 and contracted over the course of several seconds so as to be the same position and the same size as the parking frame line detected as the target parking position candidate. Then, the overhead image 100 on which the image image 116 of the image for narrowing down the target parking position is superimposed is displayed on the display 5.

  The control unit 10 superimposes the image image 116 for narrowing the target parking position as described above on the overhead image 100 and displays it on the display 5, and then, as shown in FIG. 9B, the target obtained by the detection. A frame image 110 indicating the parking position is drawn at a target parking position on the overhead image 100 with a drawing color different from that of the image image 116, and the overhead image 100 on which the frame image 110 is superimposed is displayed on the display 5. At this time, for example, a message 111 “parking frame detected” may be displayed on the display 5 together.

  As described above, when the target parking position is successfully detected, the image image 116 of the image for narrowing down the target parking position is drawn on the overhead image 100 and displayed on the display 5, and then the target parking position obtained by the detection is displayed. Even if the frame image 110 shown is drawn on the bird's-eye view image 100 and displayed on the display 5, the target parking position is detected by the parking support device, and the position of the frame image 110 displayed on the display 5 is The driver can accurately recognize that the target parking position is detected by the parking assistance device.

<Another example of the frame image drawing method when the target parking position is successfully detected>
FIG. 10 is a diagram for explaining another example of the frame image drawing method when the target parking position is successfully detected. A default frame image is drawn in advance at the default position, and the target parking position is detected. It is explanatory drawing of the example which draws the frame image which shows the target parking position detected by stopping drawing of this default frame image. FIG. 10A is an example of an image displayed on the display 5 before the target parking position is detected. FIG. 10B shows the display 5 when the target parking position is detected. It is an example of an image displayed on the screen. Also in this case, the image displayed on the display 5 is based on the bird's-eye view image 100, a vehicle object 105 representing the own vehicle is displayed at the center, and a parking frame line 106 is displayed on the left side.

  In the case of this example, the control unit 10 is a default position predetermined with respect to the vehicle position on the bird's-eye view image 100, as shown in FIG. 10 (a), before the target parking position is detected. A default frame image 120 is drawn on the display 5 and an overhead image 100 on which the default frame image 120 is superimposed is displayed on the display 5.

  Thereafter, when the target parking position is detected by image processing or the like on the bird's-eye view image 100, the control unit 10 stops drawing the default frame image 120 as shown in FIG. A frame image 110 indicating the target parking position is drawn at a target parking position on the overhead image 100 with a drawing color different from that of the default frame image 120, and the overhead image 100 on which the frame image 110 is superimposed is displayed on the display 5. At this time, the frame image 110 indicating the target parking position may be drawn, for example, in such a manner that it moves from the position of the default frame image 120 on the overhead image 100 to the detected target parking position over several seconds. Good. At this time, for example, a message 111 “parking frame detected” may be displayed on the display 5 together.

  As described above, when the target parking position is successfully detected, the drawing of the default frame image 120 drawn in advance at the default position on the overhead image 100 is stopped, and the frame indicating the target parking position obtained by the detection is displayed. Even if the image 110 is drawn on the overhead image 100 and displayed on the display 5, the target parking position is detected by the parking support device, or the position of the frame image 110 displayed on the display 5 is parked. It is possible to make the driver accurately recognize that the target parking position is detected by the support device.

[Effects of this embodiment]
As described above in detail with specific examples, according to the parking assistance device of the present embodiment, the target parking position can be detected from the area around the host vehicle by the target parking position detection unit 13 of the control unit 10. Whether the target parking position was detected when the drawing unit 15 rendered the frame image indicating the target parking position on the overhead view image around the host vehicle and displayed it on the display 5. Since the drawing method of the frame image is changed according to the determination result, the driver of the own vehicle checks how the frame image is drawn on the overhead image and displayed on the display 5. By doing this, it is possible to easily grasp whether or not the target parking position has been properly detected by the processing in the parking assistance device.

  In addition, when the target parking position can be detected by the target parking position detection unit 13, the drawing unit 15 draws an image image showing the detection process of the target parking position on the overhead image and displays it on the display 5. The frame image indicating the target parking position obtained by the detection is drawn on the bird's-eye view image and displayed on the display 5, so that the target parking position has already been detected by the parking assistance device, and the frame displayed on the display 5 The driver can accurately recognize that the position of the image is the target parking position detected by the parking assistance device.

  In addition, when the target parking position can be detected by the target parking position detection unit 13, the drawing unit 15 draws an image image of an image for narrowing down the target parking position on the overhead image and displays it on the display 5. Even if the frame image indicating the target parking position obtained by the above is drawn on the bird's-eye view image and displayed on the display 5, the target parking position is detected by the parking support device or is displayed on the display 5. The driver can accurately recognize that the position of the frame image is the target parking position detected by the parking assistance device.

  Further, when the target parking position can be detected by the target parking position detection unit 13, the drawing unit 15 stops drawing the default frame image previously drawn at the default position on the overhead image and is obtained by detection. Even if a frame image indicating the target parking position is drawn on the overhead image and displayed on the display 5, the target parking position is detected by the parking support device, or the frame image displayed on the display 5 is displayed. The driver can accurately recognize that the position is the target parking position detected by the parking assist device.

  In addition, when a plurality of target parking positions are detected by the target parking position detection unit 13, the drawing unit 15 draws an image image showing the detection process of the target parking position on the overhead image and displays it on the display 5. After that, a plurality of frame images indicating a plurality of detected target parking positions and an icon for urging selection of the target parking position are drawn on the overhead image and displayed on the display 5, so that a plurality of targets are displayed by the parking assistance device. The parking position is detected, and the position of one frame image displayed on the display 5 is the target parking position recommended by the parking support device. Furthermore, the target parking position is set to the position of the other frame image. It is possible to make the driver accurately recognize that it is possible to set.

  In addition, when the target parking position cannot be detected by the target parking position detection unit 13, the drawing unit 15 draws an icon for prompting the position adjustment of the default frame image on the overhead image together with the default frame image. By displaying on the display 5, the target parking position has not yet been detected, and by adjusting the position of the default frame image displayed on the display 5, the driver should set the target parking position by himself / herself. It can be recognized accurately.

  Note that the above-described embodiment is an exemplary application example of the present invention, and the technical scope of the present invention is not intended to be limited to the contents disclosed as this embodiment. That is, the technical scope of the present invention is not limited to the specific technical items disclosed in the above-described embodiments, but includes various modifications, changes, alternative techniques, and the like that can be easily derived from this disclosure.

  For example, in the above-described embodiment, after a plurality of target parking positions are detected by the target parking position detection unit 13, after displaying an overhead image on which an image image showing a detection process of the target parking position is displayed on the display 5. The bird's-eye view image in which a plurality of frame images indicating a plurality of detected target parking positions and an icon for urging selection of the target parking position are displayed on the display 5, and the process of detecting the target parking position is shown. A plurality of frames indicating a plurality of detected target parking positions after an overhead image in which an image image for narrowing down the target parking position is drawn or an overhead image in which a default frame image is drawn is displayed on the display 5 instead of the image image The same effect can be obtained even when the overhead image in which the image and the icon for prompting the selection of the target parking position are drawn is displayed on the display 5. Door can be.

  In the above-described embodiment, only when the target parking position cannot be detected by the target parking position detection unit 13, an icon that prompts the position adjustment of the frame image is displayed on the display 5. Even when the target parking position is detected by the unit 13 and a frame image indicating the target parking position is drawn on the overhead image and displayed on the display 5, an icon that prompts the position adjustment of the frame image is also displayed on the display 5. You may make it display. In this case, the target parking position detected by the parking assistance device can be finely adjusted to the optimum position based on the driver's judgment.

1-4 In-vehicle camera 5 Display 10 Control unit 13 Target parking position detection unit 14 Detection result determination unit 15 Drawing unit

Claims (7)

Imaging means for capturing an image of the surroundings of the vehicle;
Target parking position detecting means for performing processing for detecting a target parking position for parking the own vehicle from an area around the own vehicle;
Detection result determination means for determining whether the target parking position is detected by the target parking position detection means;
Drawing means for drawing a frame image indicating the target parking position on an image around the own vehicle;
Display means for displaying an image around the vehicle on which the frame image is drawn,
When it is determined that the target parking position is detected , the drawing means is detected after drawing an image image showing a detection process of the target parking position on an image around the host vehicle and displaying the image on the display means. A parking assist device, wherein a frame image indicating the target parking position is drawn on an image around the host vehicle and displayed on the display means . Imaging means for capturing an image of the surroundings of the vehicle;
Target parking position detecting means for performing processing for detecting a target parking position for parking the own vehicle from an area around the own vehicle;
Detection result determination means for determining whether the target parking position is detected by the target parking position detection means;
Drawing means for drawing a frame image indicating the target parking position on an image around the own vehicle;
Display means for displaying an image around the vehicle on which the frame image is drawn,
When the drawing means determines that the target parking position has been detected, the drawing means draws an image of the image for narrowing down the target parking position on the image around the host vehicle and displays the image on the display means, and then detected. parking cars support device you characterized in that the frame image showing the target parking position to draw on the vehicle periphery image to be displayed on the display means. The drawing means draws a default frame image at a predetermined position on the image around the host vehicle before the target parking position is detected and displays the default frame image on the display means, and the target parking position is detected. When it is determined that the vehicle has been drawn, the drawing of the default frame image is stopped, and the frame image indicating the detected target parking position is drawn on the image around the host vehicle and displayed on the display means. The parking assistance device according to claim 1 or 2 . The drawing means determines that the target parking position is detected, and when there are a plurality of detected target parking positions, an image around the own vehicle in which an image image showing a detection process of the target parking position is drawn, or A plurality of detected images after displaying on the display means either an image around the own vehicle in which an image of the target parking position is drawn or an image around the own vehicle in which a default frame image is drawn. any of a plurality of frame image representing the target parking position, according to claim 1 to 3 and an icon to prompt the selection of the target parking position to draw on the vehicle periphery image and wherein the to be displayed on said display means The parking assistance device according to claim 1. When it is determined that the target parking position has not been detected, the drawing means draws a default frame image at a predetermined position on the image around the host vehicle and adjusts the position of the default frame image. parking assist apparatus according to claim 1 or claim 2 the icon drawn on the image of the vehicle surroundings, characterized in that to be displayed on said display means for prompting. This is a parking support method that performs a process of detecting a target parking position for parking the vehicle from an area around the host vehicle, draws a frame image showing the target parking position on the image around the host vehicle, and displays it on a display means. And
A process in which the target parking position is judged whether or not detected,
When it is determined that the target parking position has been detected, a process of drawing an image image showing a detection process of the target parking position on an image around the own vehicle and displaying the image on the display means;
A process of drawing a frame image indicating the detected target parking position on an image around the host vehicle and displaying the frame image on the display means;
Parking assist method characterized by with. This is a parking support method that performs a process of detecting a target parking position for parking the vehicle from an area around the host vehicle, draws a frame image showing the target parking position on the image around the host vehicle, and displays it on a display means. And
  Determining whether the target parking position has been detected;
If it is determined that the target parking position has been detected,
Drawing the image of the image for narrowing down the target parking position on an image around the vehicle and displaying the image on the display means;
  Drawing a frame image indicating the detected target parking position on an image around the host vehicle and displaying the frame image on the display means;
A parking assistance method comprising:

Images