JP7015110B2 - Parking support device - Google Patents

Description

The present invention relates to a parking support device, and more particularly to a parking support device that supports parking in a parking space based on parking support information.

An example of this type of device is disclosed in Patent Document 1. According to this document, when the parking target position information is set, the parking route from the current position of the vehicle to the parking target position information is calculated. A camera image representing the outside and rear of the vehicle is displayed on the display means, and the calculated parking route is superimposed on the camera image. The vehicle is guided according to the calculated parking route.

Japanese Unexamined Patent Publication No. 2005-41373

However, in order to support parking, accurate setting of the parking target position is a prerequisite, and in the background technology, complicated key operations are required when setting the parking target position.

Therefore, a main object of the present invention is to provide a parking support device capable of reducing complicated operations for parking support.

The parking support device of the present invention is a parking support device mounted on the own vehicle and supporting parking in a parking space based on parking support information when a parking start instruction is received, and parking is performed so as to satisfy a predetermined condition. Search means to search for dedicated markers arranged on the left and right of the entrance of the space, detection means to detect the relative position between the parking space and the own vehicle based on the search result of the search means when the learning start instruction is received, learning start instruction A learning means for learning the movement of the own vehicle from to the learning completion instruction and the direction and position of the own vehicle at the time when the learning start instruction is given , and the relative position detected by the detection means and the movement and learning learned by the learning means. It is equipped with a storage means that stores the orientation and position of the own vehicle at the time when the start instruction is given as parking support information, and the orientation and position of the own vehicle at the time when the parking start instruction is received is the own vehicle at the time when the learning start instruction is given. If the orientation and position do not substantially match , the straight line connecting the left and right dedicated markers searched by the search means is set as the Y axis, and the straight line orthogonal to the Y axis with the dedicated marker as the origin is set as the X axis, and the learning start instruction is instructed. Set the left reference coordinate and the right reference coordinate for the own vehicle at the time, set the left current coordinate and the right current coordinate for the own vehicle at the time when the parking start instruction is received, and set the left reference coordinate and the left current coordinate in each axis direction. The absolute difference between the two is the variables ΔXL and ΔYL, and the absolute difference between the right reference coordinate and the right current coordinate in each axis direction is the variables ΔXR and ΔYR. However, after turning and moving the own vehicle so that the variable ΔYL substantially matches the variable ΔYR and substantially matching the direction of the own vehicle at the time when the learning start instruction is instructed, the driver does not rely on the driving operation. The vehicle is meandered so that the absolute difference in the X-axis direction decreases, and the vehicle is moved in the front-rear direction so that the absolute difference in the Y-axis direction decreases without relying on the driver's driving operation. The vehicle is moved so as to substantially match the position of the own vehicle at the time when the learning start instruction is instructed, and the direction and position of the own vehicle at the time when the learning start instruction is instructed, and then stored in the storage means. The vehicle is moved according to the learning data constituting the parking support information and parked in the parking space.

The dedicated marker is arranged in the parking space so as to satisfy the predetermined conditions. When the learning start instruction is received, the relative position between the parking space and the own vehicle is detected using the dedicated marker as a clue. The parking support information has the relative position detected in this way as a component, and is used for parking support when a parking start instruction is received.

By detecting the relative position between the parking space and the own vehicle using a dedicated marker arranged in the parking space so as to satisfy a predetermined condition, it is possible to reduce complicated operations for parking support.

The above-mentioned object, other object, feature and advantage of the present invention will be further clarified from the detailed description of the following examples with reference to the drawings.

It is a schematic diagram which shows an example of the field of view of the camera mounted on the own vehicle. It is a block diagram which shows an example of an in-vehicle system. It is a schematic diagram which shows an example of the positional relationship between a parking space, a dedicated marker, and the own vehicle. It is a schematic diagram which shows an example of the arrangement of an image and a button displayed on a display monitor. It is a perspective view which shows an example of the exclusive marker arranged in a parking space. It is a schematic diagram which shows a part of the operation of a parking support ECU. It is a schematic diagram which shows the other part of the operation of a parking support ECU. It is a schematic diagram which shows the other part of the operation of a parking support ECU. It is a flow figure which shows a part of the operation of a parking support ECU. It is a flow figure which shows the other part of the operation of a parking support ECU. It is a flow diagram which shows the other part of the operation of a parking support ECU.

With reference to FIG. 1, the in-vehicle system 10 of this embodiment has a camera 12F mounted on the front portion of the own vehicle 100, a camera 12B mounted on the rear portion of the own vehicle 100, and a lower portion of the left door mirror ML. The mounted camera 12L and the camera 12R mounted under the right door mirror MR are included.

The camera 12F repeatedly outputs image data representing the visual field VF in front of the own vehicle 100, and the camera 12B repeatedly outputs image data representing the visual field VB behind the own vehicle 100. Similarly, the camera 12L repeatedly outputs image data representing the lower left visual field VL of the own vehicle 100, and the camera 12R repeatedly outputs image data representing the lower right visual field VR of the own vehicle 100. All of the output image data are given to the parking support ECU (parking support device) 14 shown in FIG.

The parking support ECU 14 creates bird's-eye view image data showing a bird's-eye view of the surroundings of the own vehicle 100 based on the image data given from each of the cameras 12F, 12B, 12L, and 12R, and further creates a bird's-eye view of the own vehicle 100. Create vehicle image data that schematically represents. The created bird's-eye view image data and vehicle image data are given to the display monitor 16.

The engine ECU 20, CVT_ECU 22, steering angle sensor 24, brake ECU 26, EPS_ECU 28, and the like are additionally connected to the parking support ECU 14. The operating state or movement of the own vehicle 100 is determined based on the output of these devices.

The display monitor 16 displays the bird's-eye view image BV1 based on the bird's-eye view image data given by the parking support ECU 14 on the slightly left side of the center of the monitor screen, and displays the vehicle image MC1 based on the vehicle image data given by the parking support ECU 14 as the bird's-eye view image BV1. Multiple display in the center of. The display monitor 16 also displays a "parking support" button, a "parking start" button, a "learning start" button, a "learning complete" button, a "save" button, and a "discard" button vertically side by side on the right side of the monitor screen. ..

Therefore, when the own vehicle 100 stops in front of the parking space PS1 as shown in FIG. 3, the bird's-eye view image BV1, the vehicle image MC1, the "parking support" button, the "parking start" button, the "learning start" button, and "learning" The "Finish" button, "Save" button, and "Discard" button are displayed on the monitor screen as shown in FIG.

A touch sensor (not shown) is arranged on the back side of the monitor screen. The touch sensor detects the touch operation to the "parking support" button, "parking start" button, "learning start" button, "learning complete" button, "save" button or "discard" button, and parks the detection result. It is given to the ECU 14.

The dedicated markers MK1 and MK2 shown in FIG. 5 are arranged at the entrance to the parking space PS1. More specifically, the dedicated marker MK1 is arranged on the left front side of the own vehicle 100, and the dedicated marker MK2 is arranged on the right front side of the own vehicle 100, based on the state in which the own vehicle 100 is facing forward and parked in the parking space PS1. ..

The parking support ECU 14 repeatedly executes the process according to the flow charts shown in FIGS. 9 to 11 in response to the touch operation of the "parking support" button in order to support the parking of the own vehicle 100 in the parking space PS1. The control program corresponding to these flow diagrams is stored in the memory 14 m.

With reference to FIG. 9, the bird's-eye view image BV1 is displayed on the monitor screen in step S1, and the dedicated markers MK1 and MK2 are searched based on the displayed bird's-eye view image BV1 in step S3. In step S5, it is determined whether or not both the dedicated markers MK1 and MK2 are detected based on the search result of step S3. If the determination result is NO, the process proceeds to step S7, and the speaker 18 is used to notify the driver of the error. The parking support process this time ends after the error notification.

If the determination result in step S5 is YES, the process proceeds to step S9, and the coordinate axes are defined with the detected dedicated markers MK1 and MK2 as the base points. Specifically, the straight line connecting the dedicated marker MK1 and the dedicated marker MK2 is defined as the Y axis, and the straight line orthogonal to the Y axis with the dedicated marker MK1 as the origin is defined as the X axis. As a result, the X-axis and the Y-axis are arranged as shown in FIG.

In step S11, it is determined whether or not the "learning start" button is touched, and in step S13, it is determined whether or not the "parking start" button is touched. If the discrimination result of step S11 and the discrimination result of step S13 are both NO, the process returns to step S11. If the discrimination result of step S11 is YES, the process proceeds to step S19 shown in FIG. If there is, the process proceeds to step S15.

In step S15, it is determined whether or not the parking support information is stored in the memory 14 m. If the determination result is NO, the process proceeds to step S17, and the speaker 18 is used to notify the driver of the error. The parking support process this time ends after the error notification. If the determination result in step S15 is YES, the process proceeds to step S33 shown in FIG.

In step S19, the coordinates of the camera 12L are detected on the XY plane, and the detected coordinates are set as the left reference coordinates (XLs, YLs). In step S19, the coordinates of the camera 12R are also detected on the XY plane, and the detected coordinates are set as the right reference coordinates (XRs, YRs) (see FIG. 6 for both).

In step S21, the outputs of the engine ECU 20, CVT_ECU 22, steering angle sensor 24, brake ECU 26, and EPS_ECU 28, that is, the movement of the own vehicle 100 are acquired as learning data. In step S23, it is determined whether or not the "learning completed" button is touched, and if the determination result is NO, the process returns to step S21, while if the determination result is YES, the process proceeds to step S25.

In step S25, it is determined whether or not the "save" button is touched, and in step S27, it is determined whether or not the "discard" button is touched. If both the discrimination result of step S25 and the discrimination result of step S27 are NO, the process returns to step S25, if the discrimination result of step S25 is YES, the process proceeds to step S29, and if the discrimination result of step S27 is YES, the step is taken. Proceed to S31.

In step S29, the left side reference coordinates (XLs, YLs) and the right side reference coordinates (XRs, YRs) set in step S19 and the learning data acquired in step S21 are stored in the memory 14m as parking support information. In step S31, the left side reference coordinates (XLs, YLs) and the right side reference coordinates (XRs, YRs) set in step S19 and the learning data acquired in step S21 are discarded. The parking support process this time ends after the process of step S29 or S31.

In step S33, the coordinates of the camera 12L are detected on the XY plane, and the detected coordinates are set as the left current coordinates (XLc, YLc). In step S33, the coordinates of the camera 12R are also detected on the XY plane, and the detected coordinates are set as the right current coordinates (XRc, YRc) (see FIGS. 7 or 8 for both).

In step S35, the absolute difference value | XLs-XLc |, | YLs-YLc | between the left reference coordinates (XLs, YLs) and the left current coordinates (XLc, YLc) is calculated, and the calculated absolute difference | XLs-XLc. |, | YLs-YLc | are set in the variables ΔXL and ΔYL, respectively.

In step S35, the difference absolute value | XRs-XRc |, | YRs-YRc | between the right reference coordinates (XRs, YRs) and the right current coordinates (XRc, YRc) is calculated, and the calculated difference absolute value | XRs- Set XRc | and | YRs-YRc | to the variables ΔXR and ΔYR, respectively.

In step S37, it is determined whether or not the logical product condition that the variable ΔXL substantially matches the variable ΔXR and the variable ΔYL substantially matches the variable ΔYR is satisfied. This corresponds to a process of determining whether or not the current orientation of the own vehicle 100 substantially matches the orientation of the own vehicle 100 at the time when the "learning start" button is touched.

If the determination result is NO, it is considered that the current orientation of the own vehicle 100 is tilted with respect to the orientation of the own vehicle 100 at the time when the "learning start" button is touched (see FIG. 7), and the process proceeds to step S39. .. In step S39, the own vehicle 100 is turned and moved so that the variable ΔXL substantially matches the variable ΔXR and the variable ΔYL substantially matches the variable ΔYR without relying on the driving operation of the driver. When the turning movement is completed, the process returns to step S33.

If the determination result in step S37 is YES, it is determined in step S41 whether or not the variable ΔXL exceeds the threshold value THx, and whether or not the variable ΔYL exceeds the threshold value THy is determined in step S43.

If the determination result in step S41 is YES, it is considered that the current position of the own vehicle 100 is deviated from the position of the own vehicle 100 at the time when the "learning start" button is touched in the X-axis direction, and step S45. Proceed to. In step S45, the own vehicle 100 meanders and moves so that the variable ΔX decreases without relying on the driving operation of the driver (see FIG. 8). When the movement is completed, the process returns to step S33.

On the other hand, if the determination result in step S43 is YES, it is considered that the current position of the own vehicle 100 is deviated from the position of the own vehicle 100 at the time when the "learning start" button is touched in the Y-axis direction. The process proceeds to step S47. In step S47, the own vehicle 100 is moved in the front-rear direction so that the variable ΔY decreases without relying on the driving operation of the driver (see FIG. 8). When the movement is completed, the process returns to step S33.

If both the discrimination result in step S41 and the discrimination result in step S43 are NO, it is considered that the current position of the own vehicle 100 substantially coincides with the position of the own vehicle 100 when the "learning start" button is touched. The process proceeds to step S49. In step S49, the own vehicle 100 is moved according to the learning data constituting the parking support information stored in the memory 14 m. The own vehicle 100 is parked in the parking space PS1 without relying on the driving operation of the driver. When parking is completed, the parking support process this time is completed.

As can be seen from the above description, the parking support ECU 14 mounted on the own vehicle 100 searches for the dedicated markers MK1 and MK2 arranged in the parking space PS1 when the "parking support" button is touched (S3). Then, when the "learning start" button is touched, the parking support ECU 14 detects the coordinates (XLs, YLs) and (XRs, YRs) indicating the relative positions of the parking space PS1 and the own vehicle 100 based on the search result. (S9, S19), the movement of the own vehicle 100 until the "learning complete" button is touched is acquired as learning data (S21). The parking support ECU 14 then stores the coordinates (XLs, YLs), (XRs, YRs) and learning data as parking support information (S29). Parking in the parking space PS1 is supported based on the parking support information thus obtained.

The dedicated markers MK1 and MK2 are arranged in the parking space PS1 so as to satisfy predetermined conditions. When the "learning start" button is touched, the relative position between the parking space PS1 and the own vehicle 100 is detected using the dedicated markers MK1 and MK2 as clues. The parking support information has the relative position detected in this way as a component, and is used for parking support when the "parking start" button is received.

By detecting the relative position between the parking space PS1 and the own vehicle 100 using the dedicated markers MK1 and MK2 arranged in the parking space PS1 so as to satisfy the predetermined conditions, complicated operations for parking support are reduced. be able to. It can also be used for home parking lots that require complicated and unique parking routes such as full steering and meandering.

In this embodiment, the parking support process is started in response to the touch to the "parking support" button, but a navigation device is added and the own vehicle 100 arrives in front of the parking space PS1. The parking support process may be started when the parking support process is detected. In this case, the notification indicating that the own vehicle 100 has arrived in front of the parking space PS1 is the start command of the parking support process.

Further, in this embodiment, various electronic buttons for detecting the operation by the touch sensor are displayed on the monitor screen. However, various mechanical buttons may be provided, and further, other mechanical buttons may be provided with various buttons.

10 ... In-vehicle system 12F, 12B, 12L, 12R ... Camera 14 ... Parking support ECU
14m ... Memory 16 ... Display monitor

Claims (1)

It is a parking support device that is installed in the own vehicle and supports parking in the parking space based on the parking support information when the parking start instruction is received.
A search means for searching for dedicated markers arranged on the left and right of the entrance of the parking space so as to satisfy a predetermined condition.
A detection means that detects the relative position between the parking space and the own vehicle based on the search result of the search means when the learning start instruction is received.
A learning means for learning the movement of the own vehicle from the learning start instruction to the learning completion instruction and the direction and position of the own vehicle at the time when the learning start instruction is given , and the relative position detected by the detection means and the said. A storage means for storing the movement learned by the learning means and the orientation and position of the own vehicle at the time when the learning start instruction is given as the parking support information is provided.
If the orientation and position of the own vehicle at the time when the parking start instruction is received does not substantially match the orientation and position of the own vehicle at the time when the learning start instruction is given.
The straight line connecting the left and right dedicated markers searched by the search means is defined as the Y axis, and the straight line orthogonal to the Y axis with the dedicated marker as the origin is defined as the X axis.
The left side reference coordinate and the right side reference coordinate are set in the own vehicle at the time when the learning start instruction is instructed, and the left side reference coordinate and the right side reference coordinate are set.
The left side current coordinate and the right side current coordinate are set in the own vehicle at the time when the parking start instruction is received, and the right side current coordinate is set.
The absolute value of the difference between the left side reference coordinate and the left side current coordinate in each axial direction is defined as the variables ΔXL and ΔYL, and the absolute value of the difference between the right side reference coordinate and the right side current coordinate in each axis direction is defined as the variables ΔXR and ΔYR.
The own vehicle is swiveled so that the variable ΔXL substantially matches the variable ΔXR and the variable ΔYL substantially matches the variable ΔYR without relying on the driving operation of the driver, and the learning start instruction is given. After roughly matching the direction of the own vehicle, the own vehicle is meandered so as to reduce the absolute difference value in the X-axis direction without relying on the driving operation of the driver, and further, the driving operation of the driver is relied on. Instead, the own vehicle is moved in the front-rear direction so that the absolute difference value in the Y-axis direction is reduced so as to substantially match the position of the own vehicle at the time when the learning start instruction is instructed.
After moving the own vehicle so as to substantially match the orientation and position of the own vehicle at the time when the learning start instruction is instructed, the own vehicle is moved according to the learning data constituting the parking support information stored in the storage means. A parking support device that moves and parks in the parking space.

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