JP5790306B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance apparatus and method for assisting parking by presenting a video around a host vehicle to a driver.

  With respect to this type of device, there is known a device that displays information indicating a selectable parking mode on a display for a navigation device, and a driver selects a parking mode while viewing the information (Patent Document 1).

JP 2008-201363 A

  However, in the conventional device, when using the parking support function, it is required to perform an input operation while looking at information displayed on the display for the navigation device. Although it was running, there was a problem that a load was applied to the driver. On the other hand, when using the parking support function, there is a request to input information necessary for parking support before stopping.

  The problem to be solved by the present invention is to provide a parking assistance device and a parking assistance method for reducing the driver's viewpoint movement during an input operation when using the parking assistance function.

  When assisting parking of a vehicle, the present invention displays input assistance information for parking assistance on a first display provided near the steering of the vehicle when the vehicle speed becomes less than a first predetermined value. When the vehicle speed is less than the second predetermined value, which is lower than the first predetermined value, the parking assistance input auxiliary information is displayed on the second display provided at a position farther from the steering than the first display. This solves the above problem.

According to the present invention, when the vehicle speed is less than the first predetermined value, the parking assistance input auxiliary information is displayed on the display near the driver's line of sight, and the vehicle speed is lower than the first predetermined value. If the value is less than the value, the input assistance information for parking assistance is displayed on the display relatively far from the driver's line of sight, so when using the parking assistance function, the driver's vehicle speed is relatively high. The viewpoint movement can be reduced. As a result, it is possible to ensure the operability when using the parking support function while satisfying the request to input information necessary for parking support before stopping.

It is a block diagram which shows the structure of the parking assistance system which concerns on embodiment to which this invention is applied. It is a figure which shows the display of the parking assistance system which concerns on this embodiment. It is a flowchart which shows the procedure of the parking assistance process by the parking assistance system which concerns on embodiment to which this invention is applied. It is a figure for demonstrating the display aspect of the input auxiliary information in the parking assistance system which concerns on embodiment to which this invention is applied.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the parking assistance apparatus according to the present invention is guided to the parking target space set by the driver in the selected parking mode (left-right parallel parking, left-right parallel parking, left-right diagonal parking). A case where the present invention is applied to a parking assistance system will be described as an example.

  FIG. 1 is a diagram illustrating a block configuration of a parking assistance system 1000 including a parking assistance device 100 according to the present embodiment.

  As shown in FIG. 1, a parking assistance system 1000 according to the present embodiment includes a camera 1a to 1d, an image processing device 2, a parking assistance device 100, a vehicle controller 200, a vehicle drive system 400, and a steering 500. Meter display 600 and navigation display 700.

  FIG. 2 is a diagram illustrating an arrangement example of the steering 500, the meter display 600, and the navigation display 700. As shown in FIG. 2, the meter display 600 is provided in the cluster lid in front of the driver's seat that is connected to the steering column of the steering 500 and is close to the line of sight of the driver looking forward, and therefore presents information in the driver's field of view. be able to. The navigation display 700 is a central portion of the instrument panel (an intermediate portion between the driver's seat and the passenger seat), and is installed at a position farther away from the steering column than the meter display 600 described above. Although relatively distant from the driver's line of sight, the display surface of the screen is larger than the meter display 600.

  As shown in FIG. 1, the control device 10 of the parking assistance device 100 of the present embodiment assists in setting the first input auxiliary information for assisting the selection of the parking mode and the parking pace for parking the vehicle. The ROM (Read Only Memory) 12 in which a program for guiding the host vehicle to the set parking target space is stored, and this ROM 12 is displayed by switching the second input auxiliary information to different displays 600 and 700. The CPU (Central Processing Unit) 11 as an operation circuit that functions as the parking assist device 100 and the RAM (Random Access Memory) 13 that functions as an accessible storage device are provided. ing.

The control device 10 of the parking assistance device 100 includes a parking assistance control unit . The parking assistance control unit includes shift range information from the AT / CVT control unit (vehicle controller 200), wheel speed information from the ABS control unit (vehicle controller 200), and steering angle from the steering angle sensor control unit (vehicle controller 200). Information, instruction information related to automatic steering to the EPS control unit (vehicle controller 200), instructions to the meter control unit (vehicle controller 200), etc. based on engine speed information from the ECM (vehicle controller 200), etc. Calculate and output information. The content and method of parking assistance are not particularly limited, and a method known at the time of filing can be appropriately applied.

  The drive system 400 is a vehicle drive mechanism group for carrying out parking assistance, and is driven based on a control command signal acquired from the parking assistance device 100 to guide the host vehicle to the parking target space. For example, the EPS motor included in the drive system 400 drives the power steering mechanism included in the steering 500 based on the control command signal acquired from the parking assist device 100 to guide the host vehicle to the parking target space.

  The parking assistance device 10 of the present embodiment is connected by a CAN (Controller Area Network) or other vehicle-mounted LAN so that information can be exchanged with each configuration of the parking support system 1000 shown in FIG. 1 and other vehicle-mounted devices. ing.

The control device 10 of the parking assistance device 100 according to the present embodiment includes software for realizing a display control function, a parking mode selection function, a parking target space setting function, and a vehicle guidance function, and the hardware described above. Each function is executed in cooperation .

  Hereinafter, the parking assistance process which the parking assistance system 1000 implement | achieves is demonstrated based on FIG.3 and FIG.4.

  FIG. 3 is a flowchart showing a control procedure of the parking assistance system 1000 according to this embodiment of the present invention. As shown in FIG. 3, the parking support process of the present embodiment includes a first stage process related to the start process, a second stage process related to the parking mode selection process, and a third stage process related to the parking target space setting process. And a fourth stage process relating to the vehicle guidance process. FIG. 4 is a diagram showing an example of auxiliary input information displayed on the displays 600 and 700 in the processing at each stage shown in FIG.

  In the first stage related to activation, the control device 10 of the parking assistance device 100 according to the present embodiment activates the parking assistance device 100 when the ON signal is input to an IPA (Intelligent Parking Assist System) activation switch, and provides parking assistance. Start processing. The mode of the IPA start switch is not particularly limited, and the IPA start switch of the present embodiment can be obtained by assigning an IPA start function to various switches provided around the steering 500.

Then, it progresses to step 1 of the 2nd step, and it is judged whether the speed of a vehicle is less than 10 km / h (1st predetermined value). If the vehicle speed is 10 km / h (first predetermined value) or more, the process proceeds to step 10, and if the vehicle speed is less than 10 km / h, the process proceeds to step 11. Although not particularly limited, the first predetermined value is set to a value less than 10 Km / h and 5 Km / h or more .

In step 10, the control unit 10, when the speed of the vehicle is 10Km / h or higher is grayed out the parking mode selection screen presented to the meter display 600 (see FIG. 2), the parking mode driver selection input The acceptance of is prohibited. “Gray out the parking mode selection screen (or parking target space setting screen)” in this embodiment means that the selected portion of the screen that accepts input is displayed in a color (for example, gray) different from other portions and cannot be input. It means making it into a state. When the parking mode selection screen (or the parking target space setting screen) is grayed out, the parking assistance device 100 does not operate temporarily even if it is input. Gray out the screen to inform the driver that input is prohibited . Thereby, the process which receives the input of a parking assistance process can be performed only when the own vehicle is moving at a speed lower than the first predetermined value.

  On the other hand, in step 11, the control device 10 displays a parking mode selection screen in the vicinity of the steering 500 that the driver holds in the operation of the vehicle, specifically, the meter display 600 (see FIG. 2). The parking mode selection screen is information (first input auxiliary information) for assisting the selection of the parking mode, and is one aspect of input assistance information for parking assistance.

  Although the aspect of the parking mode selection screen is not particularly limited, the control device 10 of the present embodiment, like the parking mode selection screen M1 shown in FIG. 4, displays a vehicle icon indicating the direction of the host vehicle and each parking mode (left Parallel, left diagonal, left column, right parallel, right diagonal, right column) are displayed on the meter display 600 side by side. The parking mode selection screen M1 is a display example when the “left diagonal” parking mode is selected. Further, as in the parking mode selection screen M2 shown in FIG. 4, the control device 10 according to the present embodiment includes a vehicle icon indicating the direction of the host vehicle and each parking mode (left parallel, left diagonal, left vertical, right parallel). In addition, the positional relationship between the vehicle and the parking pace in the right diagonal, right column) can be presented on the meter display 600 as a diagram. The parking mode selection screen M2 shown in FIG. 4 is a display example when the “left parallel” parking mode is selected.

In step 12, the control device 10 presents a parking mode selection screen indicating a preset default parking mode on the meter display 600 as an initial screen. When the default parking mode is “left diagonal”, the parking mode selection screen M1 shown in FIG. 4 is presented on the meter display 600 as a parking mode selection screen indicating the default parking mode . Of course, when the default parking mode is “left parallel”, the parking mode selection screen M2 shown in FIG. 4 is presented on the meter display 600 as a parking mode selection screen indicating the default parking mode. The method for determining the default parking mode is not particularly limited, and a parking mode that is statistically frequently used (selected frequency) in the vehicle sales area may be set in advance as the default parking mode, or selected last time. The parking mode may be set as the default parking mode to be selected this time, or the parking mode with the highest selection frequency may be obtained from the past driver selection history and set as the default parking mode.

In this way, since the parking mode can be selected when the vehicle is searching for the parking target space and moving at a low speed, the time required for parking can be shortened. Further, by displaying the parking mode selection screen M1 on the meter display 600 that is closer to the line of sight of the driver looking forward, the distance of the viewpoint movement of the driver can be reduced. Thereby, even if the parking mode selection screen M1 is presented when the vehicle is moving at a low speed, the vehicle operation of the driver is not hindered, and a load on the driver can be prevented. As a result, the parking assistance apparatus 100 of this embodiment can ask the driver to select a parking mode while ensuring operability when using the parking assistance function .

  In subsequent step 13, control device 10 determines whether or not the parking mode selection switch has been operated. When the selection switch is not operated, it is determined that the driver has selected the default parking mode indicated by the parking mode selection screen presented as the initial screen, and the process proceeds to step 15. On the other hand, if the selection switch is not operated, it is determined that the driver desires to select a parking mode other than the default parking mode indicated by the parking mode selection screen presented as the initial screen. After accepting, go to step 15.

The selection input of the parking mode is performed based on an operation of a steering switch (for example, an audio switch provided in the steering 500, an inter-vehicle distance control switch, and so on). For example, each time the audio switch is pressed in a predetermined direction, the selected parking mode changes, and it is determined that the selection of the parking mode is completed by a determination operation such as double-clicking the audio switch or pressing in another predetermined direction. To do.

  The display mode of the parking mode selection screen is not particularly limited. However, when the parking pattern is indicated by text as in the parking mode selection screen M1 of FIG. 4, the display position of the listed parking mode (character string). May be sequentially moved up and down, or a list of parking modes may be displayed in an endless state. In addition, when the parking pattern is shown in a diagram like the parking mode selection screen M2 in FIG. 4, other than the parking mode selection screen M2 including a diagram showing left parallel parking according to the operation of the steering switch, It is also possible to switch to a parking mode selection screen including a diagram showing the parking mode, and to indicate the currently selected parking mode to the driver.

When the selection of the parking mode is completed, the process proceeds to Step 16 in the third stage. In step 16, the control device 10 of the parking assistance device 100 according to the present embodiment determines whether the vehicle speed of the vehicle is less than 3 km / h defined as the second predetermined value that is lower than the first predetermined value. If the vehicle speed is less than 3 km / h, the process proceeds to step 17, and if the vehicle speed is 3 km / h or more, the process proceeds to step 18. The second predetermined value is set to a value less than 5 km / h .

In step 18, the control device 10 presents the parking target space setting screen that is grayed out on the navigation display 700 (see FIG. 2). The parking target space setting screen in the present embodiment is information (second input auxiliary information) for assisting in setting a parking target space for parking the host vehicle, and is one aspect of input auxiliary information for parking assistance. . On the other hand, if the vehicle speed is 3 km / h or higher , the parking target space setting screen is grayed out to inform the driver that the driver's acceptance of the parking mode selection input is prohibited.

In step 17, the control device 10 presents the parking target space setting screen on the navigation display 700 provided at a position farther from the steering 500 than the meter display 600, as shown in FIG. 2. As shown in FIG. 2, the distance from the steering column of the steering 500 to the meter display 600 that the driver grips when operating the vehicle is shorter than the distance from the steering column to the navigation display 700. Further, as shown in FIG. 2, the display screen of the navigation display 700 is larger than the display screen of the meter display 600 (the area is wide).

  That is, when the vehicle speed of the host vehicle is less than the first predetermined value, the control device 10 displays the parking mode selection screen on the meter display 600 close to the driver's line of sight confirming the front, and the vehicle speed of the host vehicle is the first. 2 If it is less than the predetermined value, the display switching is controlled so that the parking target space setting screen is displayed on the navigation display 700 that is farther from the driver's line of sight than the meter display 600 but has a larger display area.

  FIG. 4 shows an example of the parking target space setting screen E1. As shown in FIG. 4, the parking assistance device 100 of the present embodiment includes an overhead view image around the own vehicle based on the captured images of the cameras 1 a to 1 d mounted on the own vehicle, a parking pace around the own vehicle, and the own vehicle. The navigation target 700 is presented with a parking target space setting screen E1 including a setting frame indicating a parking pace at a predetermined position and a monitoring video C1 around the host vehicle. In the example of FIG. 4, the parking target space setting screen E1 is arranged on the left side of the navigation display 700, and the monitoring video C1 around the host vehicle is arranged on the right side thereof.

  Although not particularly limited, the cameras 1a to 1d of the present embodiment are respectively disposed at the front grille portion of the vehicle, in the vicinity of the rear bumper, and below the left and right door mirrors. Wide-angle cameras with a wide viewing angle are used as the cameras 1a to 1d. The image processing device 2 performs viewpoint conversion of the captured images of the cameras 1a to 1d, and generates an overhead image viewed from a predetermined virtual viewpoint over the vehicle. The image processing performed by the image processing apparatus 2 is a method known at the time of filing, such as “Masayasu Suzuki, Satoshi Chino, Teruhisa Takano, Development of a bird's-eye view system, Preprint of the Society of Automotive Engineers of Japan, 116-07 2007-10), 17-22. "Etc. may be used.

  In step 19, it is determined whether or not the operation of the setting switch for the parking target space is confirmed. The parking target space can be set even when the desired parking target space is set by touching the finger with the finger of the image displayed on the navigation display 700 by using the input function of the touch-panel navigation display 700. Alternatively, it may be set by superimposing a setting frame indicating a parking pace at a predetermined position with respect to the host vehicle (a bowl-shaped mark superimposed on the central parking pace) on a desired parking target space. If the steering switch corresponding to the decision signal is operated after the setting operation, the setting of the parking target space is confirmed and the process proceeds to the fourth stage.

  In step 21 of the fourth stage, the parking support device 100 determines specific contents of the parking mode of the own vehicle based on the selection information of the parking mode and the setting information of the parking target space, and determines the parking route and the own vehicle. A parking parameter for guiding to the parking space is calculated. The parking assistance control unit included in the parking assistance device 100 calculates a parking route based on the positional relationship between the position of the host vehicle and the position of the parking target space. As for this parking route, one type of route corresponding to each of parallel parking, parallel parking, and oblique parking is stored in the ROM 12 one by one, the route corresponding to the selected parking mode is read, and the vehicle's vehicle at the start of the parking assistance process is read. A parking route is calculated based on the positional relationship between the position and the position of the parking target space. Although it does not specifically limit, the parking assistance control unit calculates the curve from the return position to the parking target space as the parking route.

In step 22, when the vehicle stops (vehicle speed = 0 km / h) and the start instruction from the driver is acquired, the parking support apparatus 100 proceeds to step 23 and executes parking support control. The parking assistance apparatus 100 guides the host vehicle to the parking target space based on the calculated parking route. When the vehicle is guided, a guidance screen A1 and a monitoring image C1 shown in FIG. 4 are displayed on the navigation display 700 .

  The parking assistance apparatus 100 according to the present embodiment controls the steering of the steering 500 so that the host vehicle moves along the parking path. The parking assist device 100 feeds back the output values of the steering angle sensor 510 and the steering direction sensor 520 of the steering 500 so that the movement locus of the host vehicle coincides with the calculated parking route, and the driving system of the vehicle such as an EPS motor. The command signal to 400 is calculated, and this command signal is sent to the drive system 400 or the vehicle controller 200 that controls the drive system 400. Of course, the calculated parking route is displayed on the navigation display 700, and the steering amount of the steering 500, the steering 500 turning timing, and the operation timing of the brake or accelerator are set to the driver so that the movement locus of the host vehicle coincides with the parking route. Parking assistance can also be provided by instructing.

  When the host vehicle parks in the parking target space, the parking support process by the parking support apparatus 100 according to the present embodiment ends.

  The parking assistance device 10 of the present embodiment configured and operating as described above has the following effects.

According to the parking assistance device 10 of the present embodiment of the present invention, the input for parking assistance is performed when the vehicle speed is less than the first predetermined value and when the vehicle speed is less than the second predetermined value that is lower than the first predetermined value. When the display for displaying auxiliary information is switched and the vehicle speed is lower than the first predetermined value and higher than the second predetermined value, the input auxiliary information for parking assistance is displayed on the meter display 600 at a position close to the driver's line of sight. Is less than the second predetermined value, which is lower than the first predetermined value, the parking assistance function is used because the input assistance information for parking assistance is displayed on the navigation display 700 at a position relatively far from the driver's line of sight. In this case, the distance of the viewpoint movement of the driver when the vehicle speed is relatively high can be reduced. As a result, it is possible to ensure the operability when using the parking support function while satisfying the request to set the parking mode before stopping. The parking assistance method of the present invention also achieves the same effect by the same operation.

  When the vehicle speed is less than the first predetermined value and greater than or equal to the second predetermined value, the parking mode selection for assisting the selection of the parking mode on the meter display 600 (first display) located near the driver's line of sight Since the screens M1 and M2 (first input auxiliary information) are displayed, the parking mode at the time of parking assistance can be selected when the vehicle is moving at low speed looking for the parking target space, and the time required for parking can be selected. It can be shortened. Further, by displaying the parking mode selection screens M1, M2 (first input auxiliary information) on the meter display 600, the viewpoint movement of the driver can be reduced, that is, when the vehicle is moving at a relatively high vehicle speed during parking. Even if it exists, parking mode selection screen M1, M2 (1st input auxiliary information) can be shown so that a driver | operator's vehicle operation may not be prevented. As a result, the parking assistance apparatus 100 of the present embodiment can ask the driver to select a parking mode so as not to interfere with the vehicle operation.

  When the vehicle speed is less than the second predetermined value, a parking target space setting screen for assisting in setting the parking target space of the vehicle on the navigation display 700 (second display) relatively far from the driver's line of sight. (Second input auxiliary information) Since E1 is displayed, the vehicle can find the parking target space and select the menu of the parking target space when the vehicle is moving at a lower speed for stopping. Can be shortened. Further, by displaying the parking target space setting screen (second input auxiliary information) E1 on the navigation display 700 having a screen wider than the meter display 600, while confirming the positional relationship between the vehicle and the parking target space on the screen. Since the parking target space can be set, operability is high and erroneous input can be prevented.

When the vehicle speed is equal to or higher than the first predetermined value, the control device 10 presents the parking mode selection screens M1 and M2 (first input auxiliary information) grayed out on the meter display 600. It is possible to inform the driver that acceptance of the selection input is prohibited, and it is possible to facilitate the input operation.

When the vehicle speed becomes less than the second predetermined value after being less than the first predetermined value and then becomes the second predetermined value or more, the control device 10 displays the parking target space setting screen (second input assist) that is grayed out. since presenting the information) E1 to the navigation display 700, it can tell the driver to accept the setting input of the target parking space of the driver is prohibited, it is possible to achieve the convenience of input operation.

  It should be noted that all the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  In this specification, the parking support system 1000 including the parking support device 100 mounted on a vehicle will be described as an example of the parking support device according to the present invention. However, the present invention is not limited to this. .

  In this specification, the parking assistance device 100 including at least the control device 10 that executes the display control function will be described as one aspect of the parking assistance device having the display control unit according to the present invention, but the invention is not limited thereto. . In addition to the display control function, the control device 10 of the parking assistance device 100 according to the present embodiment can execute a parking mode selection function, a parking target space setting function, and a vehicle guidance function.

1000 ... Parking assistance system 100 ... Parking assistance device 10 ... Control device 11 ... CPU, 12 ... ROM, 13 ... RAM
DESCRIPTION OF SYMBOLS 1a-1d ... Camera 2 ... Image processing apparatus 200 ... Vehicle controller 400 ... Drive system 500 ... Steering 510 ... Steering angle sensor 520 ... Steering direction sensor 600 ... Meter display 700 ... Navigation display

Claims (6)

A parking assistance device that assists in parking a vehicle,
When the speed of the vehicle is less than a first predetermined value, input assistance information for parking assistance is displayed on a first display provided in the vicinity of the steering of the vehicle, and the speed of the vehicle is the first predetermined value. If the second predetermined value lower than the second predetermined value is lower than the first display, the parking assistance input auxiliary information is displayed on a second display provided at a position farther from the steering than the first display. A parking assistance apparatus comprising display control means for switching a display for displaying input auxiliary information.   The display control means has a first input assist for assisting the first display in selecting the parking mode when the vehicle speed is less than the first predetermined value and greater than or equal to the second predetermined value. Information is displayed, The parking assistance apparatus of Claim 1 characterized by the above-mentioned.   When the vehicle speed is less than the second predetermined value, the display control means displays second input auxiliary information for assisting in setting the parking target space of the vehicle on the second display. The parking assistance device according to claim 1 or 2, wherein 4. The display control means according to claim 1, wherein when the speed of the vehicle is equal to or higher than the first predetermined value, the input assistance information for parking assistance that is grayed out is displayed on the first display . The parking assistance device according to one item. The display control means, when the speed of the vehicle becomes less than the second predetermined value through the less than the first predetermined value and then becomes the second predetermined value or more, is grayed out for the parking assistance. The parking assistance device according to any one of claims 1 to 4, wherein input assistance information is displayed on the second display . When assisting vehicle parking,
When the speed of the vehicle is less than a first predetermined value, input assist information for parking assistance is displayed on a first display provided in the vicinity of the steering of the vehicle,
When the vehicle speed becomes less than a second predetermined value lower than the first predetermined value after passing through the speed less than the first predetermined value, the position is separated from the first display with respect to the steering. The parking assistance method which switches the display which displays the said input assistance information so that the input assistance information for parking assistance may be displayed on the 2nd display provided in the.

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