JP5605606B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking support device, and more particularly, a parking support that displays a captured image obtained by capturing the rear of the vehicle body when the vehicle is moving backward on a monitor in the vehicle and displays information for assisting parking on the captured image. More specifically, the present invention relates to a technique for notifying an obstacle.

  As a parking assistance device configured as described above, Patent Document 1 discloses a rear image captured by a camera unit when a vehicle (vehicle body) is moved backward and introduced into a parking target position. On the other hand, a point of displaying a progress prediction curve corresponding to the steering angle is described. In Patent Document 1, when an obstacle is detected by an ultrasonic back sonar, an alarm sound is generated to highlight the obstacle, or the color of the progress prediction curve is changed in accordance with the approach of the obstacle. And points such as changing the color of the background image of the progress prediction curve.

  As a parking assistance device configured as described above, Patent Document 2 describes that a vehicle (vehicle body) includes a camera as an imaging device that captures the rear and a plurality of ultrasonic sensors as distance detection devices. Has been. In Patent Document 1, when an obstacle is detected by an ultrasonic sensor, a circular area including the obstacle is displayed on the screen of the display. In this area, the red color is displayed with respect to the distance from the area origin. It is described that a modulated image whose brightness is reduced is superimposed on the captured image.

JP 2000-177512 A Japanese Patent No. 3608527

  As described in Patent Document 1, an image taken behind the vehicle body is displayed on a monitor, and a progress prediction curve is displayed on the monitor. The accuracy of the movement of the vehicle body can be improved.

  When moving the vehicle body to the parking target position while moving the vehicle body backward, care must be taken to avoid the inconvenience of the vehicle body coming into contact with the obstacle. Although there is such a need, when confirming the rear of the vehicle body with a captured image, since the consciousness is too concentrated on the parking position displayed on the monitor and the route on which the vehicle body should travel, for example, it is displayed on the monitor When a bicycle enters the back of the vehicle body from outside the area or a child runs, there is a problem that it takes time to recognize the presence of an obstacle even if these are displayed in the display area of the monitor. there were.

  On the other hand, in patent document 1, when an obstacle is detected, the driver is made aware of the presence of the obstacle by highlighting the obstacle on the monitor or changing the color of the progress prediction curve. Display control is performed. However, such a display only makes it possible to grasp the existence of an obstacle and a distance, and cannot solve the above-described problems.

  Furthermore, in Patent Document 2, a warning can be given by displaying a modulated image in a region where an obstacle exists in order to make the driver recognize the presence of the obstacle, but the above-mentioned problem cannot be solved. Met.

  An object of the present invention is to display a captured image of a camera that captures the rear of the vehicle body on a monitor, and when an obstacle approaches, without impairing the effectiveness of displaying parking assistance information on the monitor, the driver is appropriately The reason is to rationally configure the device to be recognized.

A feature of the present invention is that the vehicle body is provided with a camera that captures the rear of the vehicle body, and obstacle detection means that detects an obstacle on the road surface,
An image processing unit that displays a captured image of the camera on the monitor when the vehicle body moves backward, generates an expected course image that predicts an area in which the vehicle body moves based on a steering angle, and displays the predicted image on the captured image ; ,
When the obstacle detected by the obstacle detection means is moving, the movement locus calculating means for calculating the movement locus of the obstacle ,
The obstacle detected by the obstacle detection means, at the rear side of the vehicle body, determines that there out of the region of the predicted course images, an extension of the moving track, intersect the predicted course image or When it is determined that it intersects with the extension line of the side edge of the predicted course image, an alarm output that displays a warning in an area close to the obstacle in the area of the predicted course image based on the intersection The point is that it has a part.

According to this configuration, for example, when moving the vehicle body backward to move to the parking target position, from the relative positional relationship between the parking target position included in the captured image of the camera and the predicted course image superimposed on the parking target position. The accuracy of moving the vehicle body to the parking target position can be increased. In addition, when the obstacle detection means detects that the obstacle is approaching the rear of the vehicle body while the vehicle body is moving backward, the obstacle exists outside the area of the expected course image. Even in this case, the warning output unit displays a warning at a location close to the obstacle in the region of the expected course image.
The position of the warning display in the predicted course image is indicated by displaying the warning on the basis of the intersection of the extension of the movement trajectory of the obstacle with the intersection of the predicted path image or the extension line of the side edge of the predicted path image. Can recognize a position that is likely to contact an obstacle.
By displaying the warning in the area of the predicted course image in this way, even if the obstacle is not displayed on the monitor, the driver can see the presence of the obstacle and the obstacle from the warning display. It is possible to grasp the direction, and it is possible to respond such as stopping or reducing the speed.
Therefore, if the image of the camera that captures the back of the vehicle body is displayed on the monitor and the parking assistance information is displayed on the monitor without impairing the effectiveness, the presence of the obstacle is appropriately determined. A device was constructed that allowed the driver to recognize.

  In the present invention, the alarm output unit may increase the brightness of the alarm display or enlarge the area of the alarm display as the moving speed of the obstacle increases.

  According to this, it is possible to grasp the moving speed of the obstacle based on the brightness of the alarm display and the size of the area of the alarm display, and to cope with an early brake operation or a deceleration operation.

  In the present invention, the warning output unit may increase the luminance or saturation of a region closer to the obstacle in the region of the predicted course image as the warning display, and increase the luminance or saturation as the region away from the obstacle. Further, gradation display for reducing the saturation may be performed.

  According to this, it is possible to more accurately grasp the direction in which the obstacle exists from the brightness of the alarm display or the gradation of saturation.

  In the present invention, the predicted course image may be formed in a planar shape corresponding to the width of the vehicle body.

  According to this, even if the monitor has a small display area, it is possible to improve the visibility of the predicted route image, and the alarm display is also surrounded by the predicted route image, and the position of the obstacle can be easily grasped.

  In the present invention, the predicted course image may be formed in a frame shape including a vertical line corresponding to the width of the vehicle body and a horizontal line indicating a position reached when the vehicle body is moved backward by a set distance. .

  According to this, the width of the vehicle body on the predicted course can be recognized from the vertical line, the amount of movement when the vehicle body is moved backward from the horizontal line of the predicted course image can be easily grasped, and the position of the obstacle can also be grasped.

It is a perspective view which shows the structure of a vehicle. It is a perspective view which shows the panel part in a vehicle. It is a top view which shows the outline of a structure of a vehicle. It is a block circuit diagram of a control system. It is a flowchart which shows the outline | summary of parking assistance control. It is a figure which shows the display of the monitor at the time of the setting start of a parking target position. It is a figure which shows the display of the monitor at the time of completion of the setting of a parking target position. It is a figure which shows the display of a monitor when an obstruction approaches. It is a figure which shows the positional relationship of an obstruction and an expected course image. It is a figure which shows the positional relationship of an obstruction and an expected course image. It is a figure which shows the display of a monitor when an obstruction approaches in another embodiment (a). It is a figure which shows the display of a monitor when an obstruction approaches in another embodiment (b). It is a figure which shows the positional relationship of an obstruction and an expected course image in another embodiment (c).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Basic configuration]
In the present embodiment, the vehicle body 30 of the passenger car includes a camera 23 that captures the rear of the vehicle body and the obstacle sensor unit 10 that detects the obstacle X, and the vehicle body 30 is moved backward to be guided to the parking target position F. An ECU 20 that functions as a parking assist device that displays information on the monitor 21 is provided. The ECU 20 displays a warning on the monitor 21 when the bicycle enters the rear position of the vehicle body 30 when the vehicle body 30 moves backward, or when a child runs, so that the driver can detect obstacles X such as bicycles and children. The presence of the vehicle body 30 is recognized at an early stage so as to avoid the inconvenience of the vehicle body 30 coming into contact with the obstacle X. Details of these will be described below.

  As shown in FIGS. 1 to 3, the vehicle body 30 has a front wheel 31 and a rear wheel 32, and a driving seat 33 and a steering wheel 34 are provided in the room. Meters are provided at the front of the driving seat 33. And a shift lever 36 for shifting gears is disposed on the side of the driver's seat 33.

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

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

  In the present embodiment, a camera 23 is provided at the rear end of the vehicle body 30 as a photographing device for photographing the rear of the vehicle body, and the rear end position of the vehicle body 30 is a relatively wide region extending from the side of the vehicle body 30 to the rear. Is provided with a sonar-type obstacle sensor unit 10 as an obstacle detection means for detecting the position of the obstacle X in FIG.

  The camera 23 is a digital camera having a built-in image sensor such as a CCD (charge coupled device) or CIS (CMOS image sensor), and outputs captured information as moving image information in real time. The camera 23 has a wide-angle lens, and a viewing angle of 120 to 140 degrees is ensured in the horizontal direction. The camera 23 is installed with an included angle of about 30 degrees on the optical axis, and can capture an area up to about 8 m behind the vehicle body 30.

  The obstacle sensor unit 10 includes a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers, so that the obstacle sensor unit 10 can detect the position of the obstacle X with reference to the vehicle body 30 as coordinate information. ing. The obstacle sensor unit 10 may be an infrared sensor that includes an infrared light emitting element and a plurality of light receiving elements, and obtains the distance from the reflection angle to the obstacle X.

  In particular, an obstacle detection unit configured to determine a moving body extracted by optical flow processing from a plurality of frames of a photographed image taken by the camera 23 as an obstacle X may be used. By configuring the obstacle detection means in this way, special hardware such as a distance sensor is not provided, and the obstacle X can be detected by executing software processing, leading to cost reduction.

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

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

  And in the center part of the vehicle body 30, ECU20 which makes | forms the core of the parking assistance apparatus of this invention is arrange | positioned. As shown in FIG. 4, the ECU 20 includes an interface including a sensor input interface 19a and a communication interface 19b so as to input and output information. Furthermore, a microprocessor for processing information obtained through this interface and a digital signal processor (DSP) are provided. The ECU 20 is configured by an electronic circuit having the processor as a core component. Note that the ECU 20 has a storage unit configured by a memory, a register, or the like built in the processor or mounted as a separate component.

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

  As shown in FIG. 4, the ECU 20 functions as an image processing unit, and the ECU 20 acquires a signal acquisition system via the sensor input interface 19a and a signal for accessing information via the communication interface 19b. And the above-described image processing module 8a and sound processing module 8b. Further, the ECU 20 includes an image information acquisition unit 1, a parking target setting unit 2, a vehicle body position information acquisition unit 3, a parking support processing unit 4 (an example of an image processing unit), an obstacle information processing unit 5, An alarm output unit 6 is provided.

  The parking assistance processing unit 4 includes a predicted route image generation unit 4A and a guidance information output unit 4B. The obstacle information processing unit 5 includes position specifying means 5A, movement trajectory calculation means 5B, and movement speed calculation means 5C. The alarm output unit 6 includes display area setting means 6A and display color setting means 6B.

  The image information acquisition unit 1, the parking target setting unit 2, the vehicle body position information acquisition unit 3, the parking support processing unit 4, the obstacle information processing unit 5, and the alarm output unit 6 are each configured by software. For example, it may be configured by a combination of software and hardware, or may be configured only by hardware.

  The image information acquisition unit 1 acquires a captured image (image information) captured by the camera 23, and generates a mirror-inverted image in which the left and right are switched from the captured image. The mirror reversal generated in this way is displayed on the monitor 21 by the image processing module 8a, and the driver can obtain information from the captured image displayed on the monitor 21 with the same feeling as when checking the rear of the vehicle body with the rearview mirror. Can be grasped.

  The parking target setting unit 2 sets the parking target position F from the stop position based on an artificial operation when the vehicle body 30 is parked based on the captured image acquired by the image information acquisition unit 1. In this process, as shown in FIGS. 6 and 7, a place (area) having a predetermined positional relationship with the stop position of the vehicle body 30 is set as the parking target position F. In this embodiment, an area sandwiched between two lane markings W (parking lane lines) marked on the road surface as the parking target position F is set.

  When the parking assistance processing unit 4 moves the vehicle body 30 backward from the stop position to the parking target position F and directly guides it, the predicted course image generation unit 4A performs the expected course image Y (parking) shown in FIGS. Support information), and the predicted course image Y is superimposed on the captured image displayed on the monitor 21 by the image processing module 8a. Further, the guidance information output means 4B generates guidance information from information on the current position of the vehicle body 30, the current posture, and the parking target position F, and displays it on the monitor 21 as character information, or outputs it by voice from the speaker 22. To do.

  The expected course image Y represents a path along which the vehicle body 30 moves when the vehicle travels backward with the current steering amount, and is displayed on the monitor 21 with a perspective corresponding to the captured image displayed on the monitor 21. It is generated on the same virtual plane as the road surface. Specifically, as shown in FIG. 9, a pair of side ends where the predicted course image generation unit 4 </ b> A is arranged at an interval that matches the width of the vehicle body 30 based on the steering amount (steering angle) acquired from the steering sensor 24. The image is generated as a planar image having the edge Ya and the rear end edge Yb at which the rear end position of the vehicle body 30 reaches when the vehicle body 30 moves backward by a set distance (about 5 M [meter]). Then, by projecting and transforming this plane image onto a virtual plane at the same level as the road surface, as shown in FIG. 8, an expected path image Y that is translucent and colored in a hue different from the road surface is generated.

  The predicted course image Y is displayed on the monitor 21 in synchronization with the timing at which the camera 23 outputs a frame of the captured image (for example, 30 frames per second). Along with the movement, it is displayed in a form that moves integrally with the vehicle body 30 with the road surface of the captured image displayed on the monitor 21 as the background. Therefore, when the steering operation is performed, the predicted course image Y displayed on the monitor 21 is such that the pair of side edges Ya are curved and the rear edge Yb is inclined along the movement path of the vehicle body 30. .

  When the obstacle information processing unit 5 determines that the obstacle X exists from the information from the obstacle sensor unit 10, the position specifying unit 5A specifies the position of the obstacle X, and the obstacle X When moving, the movement trajectory calculation means 5B calculates the movement trajectory L, and the movement speed calculation means 5C calculates the movement speed.

  If the warning output unit 6 determines from the information from the obstacle information processing unit 5 that the obstacle X has approached the predicted route image Y in a situation where the predicted route image Y is displayed on the monitor 21, The output unit 6 displays a warning in an area in the direction where the obstacle X exists in the predicted course image Y.

  Specifically, the alarm output unit 6 acquires the movement locus L (see FIGS. 8 and 9) of the obstacle X calculated by the movement locus calculation means 5B of the obstacle information processing unit 5. Next, when this movement trajectory L intersects with the expected course image Y or when it passes through the vicinity of the expected course image Y, the display area setting means 6A displays an alarm for displaying an alarm in the area of the expected course image Y. Region Q is set. Then, the display color setting means 6B colors the alarm display area Q translucently with a hue different from the expected course image Y.

  In particular, the alarm output unit 6 determines that the obstacle X calculated by the moving speed calculation unit 5C of the obstacle information processing unit 5 is shorter as the relative distance between the obstacle X acquired by the position specifying unit 5A and the predicted course image Y is shorter. The display area of the alarm display area Q described above is set wider as the moving speed of is higher. Note that when the moving speed is calculated by the moving speed calculating means 5C, the relative speed between the obstacle X and the vehicle body 30 is calculated, but the actual speed of the obstacle X is reflected by reflecting the moving speed of the vehicle body 30. The processing mode may be set so as to calculate the movement speed (ground movement speed).

  When the vehicle body 30 is moved backward to the parking target position F from such a control configuration, the captured image of the camera 23 and the expected course image Y are displayed on the monitor 21. Parking is realized by moving the vehicle body 30 backward in this state and performing a steering operation so that the expected course image Y enters the parking target position F.

  Further, when the vehicle body 30 is moved backward to move the vehicle body 30 to the parking target position F, the driver's line of sight concentrates on the portion of the predicted course image Y of the monitor 21. For this reason, when a bicycle enters behind the vehicle body 30 or when a child runs, it often takes time for the driver to recognize even if these are displayed on the periphery of the monitor 21.

  In order to eliminate such inconvenience, in the parking assistance device of the present invention, when grasping the situation where the obstacle X approaches the rear of the vehicle body 30, the warning display area Q is set in the predicted course image Y, By performing warning display on this warning display area Q, the driver can recognize the approach of the obstacle X at an early stage, and can respond such as stopping or reducing the speed.

  The alarm display area Q has a high degree of danger when the relative distance between the obstacle X and the predicted course image Y is short, and when the speed at which the obstacle X approaches the predicted course image Y is high. Is determined. Then, when the danger level is high, a warning display area Q having a large area is set, and the warning display area Q is colored with a color different from the expected course image Y. The higher the danger level, the higher the brightness or saturation (brightness and saturation). And the control mode will be described below.

[Control form]
The outline of this control is shown in the flowchart of FIG. 5, and the image displayed on the monitor 21 and the positional relationship of the vehicle body 30 in this parking assistance control are shown in FIGS.

  That is, when the vehicle body 30 is stopped at a position near the parking space and the driver sets the shift lever 36 to the reverse position (reverse), the parking assist control is started using this operation as a trigger. At the start, the captured image of the camera 23 is displayed on the monitor 21 as shown in FIG. 6, and the predicted course image Y and a pair of frame-like attention areas V are superimposed on the captured image. . Further, a message “Please set parking target position” is displayed on this screen as text information (a message may be output by voice) (# 01 step).

  In this initial display, the image information acquisition unit 1 acquires a captured image of the camera 23, and a mirror-inverted image in which left and right are switched from the captured image is generated and displayed on the monitor 21. The predicted route image Y is generated by the predicted route image generation means 4A, and the parking target setting unit 2 generates a pair of attention areas V having a frame shape, and these are superimposed on the monitor 21. The predicted course image Y and the attention area V are converted into an image having a perspective corresponding to the photographed image on the same virtual plane as the road surface displayed on the monitor 21, and an image reflecting the distortion of the camera 23. Is generated as

  In this initial display, when the steering wheel 34 is operated, the parking target setting unit 2 moves the attention area V on the virtual plane by a corresponding distance in a direction corresponding to the operation amount. When setting the parking target position F, the driver operates the steering wheel 34 to move the attention area V to a position overlapping the lane marking W (white line on the road surface) as shown in FIG. It becomes possible. When such a positional relationship is reached, a rectangular parking target position F and a confirmation button 41 are displayed on the monitor 21 in an area sandwiched between the lane markings W.

  When the parking target position F is the parking position intended by the driver in this display state, the area displayed on the monitor 21 is stored as the parking target position F by the driver operating the confirmation button 41. Then, the pair of attention areas V are deleted, and the setting of the parking target position F is completed (Step # 02).

  When the parking target position F is set in this way, the parking target setting unit 2 uses the two-dimensional coordinates of the parking target position F displayed on the monitor 21, the position of the stopped vehicle body 30, and the posture of the vehicle body 30. Obtained as system information and stored in a storage (not shown) of the ECU 20.

  Even in the initial display, the expected course image Y is displayed on the monitor 21, but this expected course image Y is continuously displayed after the parking target position F is set (step # 03).

  As described above, the predicted course image Y includes the pair of side edge Yas arranged at intervals corresponding to the width of the vehicle body 30, and the vehicle body 30 when the vehicle body 30 moves backward by a set distance (about 5M [meter]). Is generated as a planar image having a rear end edge Yb at which the rear end position reaches, and is displayed on the monitor 21. In this state, the driver can move the vehicle body 30 backward to move to the parking target position F.

  When the obstacle sensor unit 10 detects the obstacle X at the position shown in FIGS. 8 and 9, for example, in the situation where the predicted course image Y is displayed, the position of the obstacle information processing unit 5 is detected. The specifying unit 5A acquires position information of the obstacle X (coordinate information based on the vehicle body 30). Further, the movement trajectory calculation means 5B calculates the movement trajectory L of the obstacle X, and the movement speed calculation means 5C calculates the movement speed. Through these processes, the current position, moving direction, moving speed, and moving locus L of the obstacle X are acquired (steps # 04 and # 05).

  When it is determined from the information acquired in this way that the movement locus L of the obstacle X moves in the direction of the expected course image Y and the movement locus L intersects the expected course image Y, the movement locus L and Find the intersection point P where the expected course image Y intersects. Then, an alarm display area Q is set in the area of the predicted course image Y with reference to the intersection P (steps # 06 and # 07).

  The obstacle X is assumed to move like a bicycle or a running child. The display area setting means 6A of the alarm output unit 6 obtains an intersection point P where the movement locus L and the side edge Ya of the predicted course image Y intersect on the virtual plane, and a radius r that is directly proportional to the risk around the intersection point P. The area of the virtual plane in which the predicted course image Y exists is set as the warning display area Q.

  The higher the degree of danger with respect to the warning display area Q, the higher the luminance at the position of the intersection P, and the semi-transparent coloring with a gradation that decreases the luminance as the distance from the intersection P increases. The alarm display area Q is displayed on the monitor (steps # 08 and # 09).

  When performing gradation display, the saturation at the position of the intersection P may be set high, and the saturation may be lowered as the distance from the intersection P increases. In addition, when performing gradation display, the luminance and saturation at the position of the intersection P may be set high, and the luminance and saturation may be decreased as the distance from the intersection P increases. In particular, in the present invention, the control mode may be set so as to perform control for blinking the display of the alarm display area Q when the degree of danger is high.

  In particular, in this control, the display form after the obstacle X enters the area of the expected course image Y is not shown, but the same display is also provided when the obstacle X enters the area of the expected course image Y. May be performed. As an example, a circular alarm display area Q having a set radius around the position where the obstacle X exists in the area of the predicted course image Y is set, and the center position of the alarm display area Q (the obstacle X of the obstacle X The brightness and saturation of the position) may be maximized, and translucent coloring may be performed with a gradation that decreases the brightness and saturation as the distance from the center position increases.

  The degree of danger is set according to a rule that increases as the relative distance between the obstacle X and the side edge Ya of the predicted course image Y is shorter, and the movement speed of the obstacle X is higher. That is, when the degree of risk is high, the display area setting unit 6A assumes a display circle with a radius r centering on the intersection P on the virtual plane, and displays an alarm display for an area where the display circle and the expected course image Y overlap. Set to region Q.

  When the degree of danger is high, the display color setting means 6B sets the luminance of the display color high, sets this luminance to the luminance at the position of the intersection P, and displays a gradation display in which the luminance decreases from the intersection P toward the outer periphery. Do. By performing such display, it can be recognized that there is a high possibility of contact with the obstacle X at a position where the luminance is highest. The display color setting means 6B sets the display color of the alarm display area Q with a hue different from the display color of the expected course image Y. It should be noted that the display color may be translucent and non-transparent.

  In particular, as shown in FIG. 10, even when the movement locus L does not intersect with the side edge Ya of the expected course image Y, the intersection P with the extension line Ya ′ of the side edge Ya is obtained on the virtual plane, and the intersection P An alarm display area Q is set on a virtual plane centering on. Then, display according to the degree of danger is performed on the warning display area Q. Even when such a display is performed, the radius r of the display circle is set larger (enlarged) as the degree of risk described above is higher, and an area where the display circle and the expected course image Y overlap is set as the alarm display area Q. The Further, gradation display is performed such that the higher the degree of risk, the higher the brightness of the intersection P (the part of the intersection P is not displayed).

  By setting the warning display area Q in this way and performing gradation display, the warning display area Q is formed on the side where the obstacle X exists (either left or right) in the width direction of the expected course image Y. Thus, the driver can grasp the direction in which the obstacle X exists, and the possibility that the obstacle X contacts the vehicle body 30 can be recognized from the area and brightness of the warning display region Q.

  Note that the alarm display area Q does not need to be set based on the display circle. For example, it is assumed that an ellipse having the long axis coincident with the movement locus L or a rhombus having one diagonal line coincident with the movement locus L. An area where ellipses or rhombuses overlap may be set as the alarm display area Q. The alarm display area Q may be set to a rectangle or an arbitrary shape.

  Thus, when the vehicle body 30 is moved backward in a situation where the parking target position F and the expected course image Y are displayed on the monitor 21, the guidance information output means 4B outputs guidance information (step # 010). ).

  Specifically, when steering operation is required based on the relative positional relationship between the vehicle body 30 and the parking target position F and the steering amount (steering angle), the guidance information output unit 4B The direction of the image is output to the monitor 21 as well as the image information and the character information, and at the same time is output from the speaker 22 by sound. Further, when the predicted course image Y passes through a position overlapping the lane marking W, the guidance information output means 4B determines that parking is impossible, and image information and character information indicating that parking is impossible are monitored. 21 and output from the speaker 22 by voice.

  Unless the information indicating that parking is impossible is output, the parking is completed by moving the vehicle body 30 to the parking target position F. For example, the parking assist control is ended by operating the shift lever 36 to the parking position (# 011). Step).

  When the information indicating that parking is impossible is output, the driver temporarily stops the backward movement of the vehicle body 30, advances the vehicle body 30, changes the posture of the vehicle body 30, and then sets the parking target position F. By doing so, the parking support control is performed again.

  As described above, in the present invention, when the vehicle body 30 is moved backward to move to the parking target position F, the parking target position F included in the captured image of the camera 23 and the predicted course image Y superimposed on the target image are displayed. Steering operation can be easily performed from the relative positional relationship. When the obstacle sensor unit 10 detects that the obstacle X is approaching the rear of the vehicle body 30 when the vehicle body 30 is being moved backward, the obstacle X is not displayed on the monitor 21. If it is determined that the obstacle X is moving in the direction approaching the predicted course image Y, the alarm output unit 6 is located near the obstacle X in the region of the predicted course image Y. The alarm display area Q is set to, and alarm display is performed.

  The alarm display is performed based on the degree of danger determined from the positional relationship between the vehicle body 30 and the obstacle X and the moving speed of the obstacle X. The higher the degree of danger, the wider the area of the alarm display region Q is set. And the brightness is set high. This warning display makes it possible to recognize the approach of the obstacle X and the degree of danger at the same time, even when the driver is gazing at the expected course image Y for parking, so that braking and deceleration operations can be performed at an early stage. It is possible to face each other.

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

(A) As shown in FIG. 11, a vertical line 51 corresponding to the width of the vehicle body 30 in the predicted course image Y, and a plurality of horizontal lines 52 indicating positions reached when the vehicle body 30 is moved backward by a set distance. You may set the control form of 4 A of estimated course image generation means so that it may form in the provided frame shape. When the obstacle information processing unit 5 determines the approach of the obstacle X, the obstacle information processing unit 5 forms an alarm display area Q in the area of the predicted course image Y by the same processing as in the embodiment, and according to the risk level. An alarm display may be performed so that a predetermined hue is a predetermined gradation in terms of area and luminance.

  In particular, when an alarm display is performed, an opaque display may be used, but a display with a sense of transparency may be used.

(B) As described above, as a modified example of the display of the warning on the predicted course image Y formed in a frame shape, the warning is displayed only on the vertical line 51 and the horizontal line 52 as shown in FIG. An area Q may be formed, and an alarm display may be performed on the alarm display area Q.

(C) As shown in FIG. 13, when setting the alarm display area Q, the display circle centered on the radius d with the obstacle X as the center in the display area of the expected course image Y without obtaining the intersection. And an area where the display circle and the expected course image Y overlap is set as the warning display area Q. A gradation display is performed with the position (side edge Ya) near the obstacle X in the alarm display area Q as a reference point S.

  By performing such display, it is possible to easily grasp the region closest to the obstacle X in the predicted course image Y.

(D) When setting the alarm display area Q, a virtual line connecting the center position of the obstacle X and a specific position of the vehicle body 30 such as the center position of the rear end of the vehicle body 30 is assumed, and this virtual line is predicted. An intersection position with the course image Y is obtained, and an area where the expected course image Y overlaps with an area such as a circle around the intersection position is set as the warning display area Q. By forming the warning display area Q in this way, the relative positional relationship between the obstacle X and the vehicle body 30 can be grasped.

(E) As a parking assistance device, the parking assistance information may not be output, and control for simply displaying only the predicted course image Y may be performed. In other words, the parking assistance device displays the expected course image Y without setting the parking target position. On the contrary, after the parking target position F is set, the parking assistance control system may be configured so that automatic steering can be performed when the vehicle body moves backward as the parking assistance device.

  The present invention can be used for all vehicles equipped with a camera at the rear of the vehicle body.

4 Image processing unit (parking support processing unit)
6 Alarm output unit 10 Obstacle detection means (obstacle sensor unit)
23 Camera 30 Car body 51 Vertical line 52 Horizontal line F Parking target position L Movement locus P Intersection Y Expected course image X Obstacle

Claims (5)

The vehicle body is provided with a camera for photographing the rear of the vehicle body and obstacle detection means for detecting an obstacle on the road surface,
An image processing unit that displays a captured image of the camera on the monitor when the vehicle body moves backward, generates an expected course image that predicts an area in which the vehicle body moves based on a steering angle, and displays the predicted image on the captured image ; ,
When the obstacle detected by the obstacle detection means is moving, the movement locus calculating means for calculating the movement locus of the obstacle ,
The obstacle detected by the obstacle detection means, at the rear side of the vehicle body, determines that there out of the region of the predicted course images, an extension of the moving track, intersect the predicted course image or When it is determined that it intersects with the extension line of the side edge of the predicted course image, an alarm output that displays a warning in an area close to the obstacle in the area of the predicted course image based on the intersection Parking assistance device comprising a unit. The alarm output unit, as the moving speed of the obstacle is at a high speed, increasing the brightness of the alarm display, or the parking assist apparatus according to claim 1, wherein enlarging the area of the alarm display. The warning output unit performs gradation display, in which the brightness or saturation is increased in a region closer to the obstacle, and the luminance or saturation is decreased in a region away from the obstacle, as the warning display. The parking assistance apparatus according to 1 or 2 . The parking assistance device according to any one of claims 1 to 3 , wherein the predicted course image is formed in a planar shape corresponding to a width of the vehicle body. The predicted course image, a vertical line corresponding to the width of the vehicle body, claim is formed in a frame shape that includes a horizontal line indicating the position reached upon by backward of the vehicle body a set distance 1-3 The parking assistance device according to any one of the above.