KR100552337B1 - Parking support device - Google Patents

Abstract

Providing a parking assist device to identify the space required to move the vehicle when parked.

A parking assist device which displays an image captured by the imaging means 2 mounted on a vehicle on the display means 11a in a vehicle and supports the vehicle during parking. Overlapping means which is drawn parallel to the front-rear direction of the vehicle at a distance apart from each other so that the lateral space line 108a indicating the lateral space required for moving the vehicle at the time of parking is displayed on the display means 11a by being superimposed on the captured image ( 12), the driver's judgment at the time of parking can be facilitated, and the operator's operation burden can be reduced.

Cameras, microcomputers, superposition means, EEPROMs, marker lines, predicted path trajectories, steering angle sensors, vehicle extension lines.

Description

Parking Assist Device {PARKING SUPPORT DEVICE}

1 is a block diagram showing a first embodiment of a parking assisting device according to the present invention.

2 (a) and 2 (b) are diagrams illustrating the installation position of the camera in the parking assisting device of FIG. 1.

3 is a flowchart illustrating an operation of the parking assisting device of FIG. 1.

4 is a view illustrating a specific parking assist operation in the parallel parking mode.

5 is a view illustrating a specific parking assist operation in the parallel parking mode.

Fig. 6 shows an example of the screen of the monitor at position A in the parallel parking mode.

7 (a) and 7 (b) show one example of the screen of the monitor at position B in the parallel parking mode.

8 is a view illustrating an image of parking assist in a row parking mode.

9 is a view for explaining a specific parking assist operation in the row parking mode.

FIG. 10 is a view for explaining a specific parking assist operation in the row parking mode. FIG.

FIG. 11 is a view for explaining a specific parking assist operation in the row parking mode. FIG.

12 is a diagram illustrating an example of a screen of the monitor at position A in the column parking mode.

FIG. 13 is a diagram illustrating an example of a screen of the monitor before the retraction operation at the position B in the column parking mode. FIG.

14A and 14B are diagrams showing an example of the screen of the monitor after the retraction operation at the position B in the column parking mode.

15 is a diagram illustrating an example of a screen of the monitor at position C in the column parking mode.

It is a figure explaining the installation position of the camera in 2nd Embodiment of the parking assisting apparatus by this invention.

17 is a diagram illustrating a specific parking assist operation in the parallel parking mode.

18 is a diagram illustrating a specific parking assist operation in the parallel parking mode.

19 shows an example of the screen of the monitor at position A in the parallel parking mode.

20 is a view for explaining a modification of the specific parking assist operation in the parallel parking mode.

FIG. 21 is a view for explaining a specific parking assist operation in the row parking mode. FIG.

FIG. 22 is a view for explaining a specific parking assist operation in the row parking mode. FIG.

It is a figure explaining the modification of 2nd Embodiment.

24 is a view for explaining another embodiment of the present invention.

25 is a view for explaining another embodiment of the present invention.

(Explanation of the sign)

2: camera (imaging) 3: microcomputer

4: Reverse detection sensor 5: Steering angle sensor (steering angle detection means).

6: odometer sensor 7: yaw rate sensor

8: Parallel parking start switch 9: Row parking start switch

10: Parking area select switch

11: indicator 11a: monitor (display means)

11b: speaker

12: On Screen Display Controller (OSDC) (nesting means)

13: memory (memory) 14: EEPR0M

101: predicted trail of the rear wheel 102: vehicle width extension line

104: standard parking position 108a, 108b: side space line

110: estimated course of the maximum turn

112: before and after marker line 113: vehicle front extension line

The present invention relates to a parking assist device.

In recent years, the back monitor apparatus for vehicle rear confirmation is becoming popular. A feature of this back monitor device is that the driver of the vehicle can easily check rearward (surrounding) by monitoring the blind spot of the rearview mirror with a video camera. This is effective when the periphery becomes square.

In addition, in the back monitor device, not only the image is shown to the driver, but also disclosed in Japanese Unexamined Patent Publication No. 64-14700 (Patent Document 1), the predicted course trajectory of the rear wheel according to the steering angle at the time of vehicle retraction is shown. In some cases, the driver's operability may be improved by superimposing the image on the rear or rear clock of the monitor.

Since the predicted course trajectory display of the rear wheel disclosed in the above-mentioned prior art can know at a glance the direction of travel and the vehicle width of the subject vehicle, the driver can easily carry out rearward driving during parking. By the way, at the time of rotational running, if the vehicle rotates rearward, for example clockwise, the front wheel which is outward with respect to the rotation turns large unlike the course of the outer rear wheel. For this reason, if the driver watches only the inside of the predicted course trajectory of the rear wheel and is devoted to driving operation, the vehicle front body part or the like that is larger than the rear wheel may contact the obstacle.

Therefore, there is a technique disclosed in Japanese Unexamined Patent Application Publication No. 2000-339598 (Patent Document 2), which is proposed by the applicant first. This technique calculates the predicted course trajectories of the minimum turning portion (e.g., rear wheel) and the maximum turning portion (e.g., the front end of the vehicle) of the vehicle when the vehicle is moved forward or backward. The images are superimposed and displayed at the same time. This makes it possible to know the predicted course direction and the vehicle width of the vehicle, and furthermore, the front or rear confirmation range becomes clearer, and thus there is an advantage that the driver's forward or rearward confirmation and operability are easy.

(Patent Document 1)

Japanese Patent Application Laid-Open No. 64-14700

(Patent Document 2)

Japanese Patent Application Laid-Open No. 2000-339598

However, all of the above-described techniques assist the driver's steering when moving the vehicle forward or retracting when driving in parallel or parallel parking. However, the initial position of starting the parallel parking or parallel parking before starting or retracting is correctly determined. Couldn't let the driver know.

Accordingly, an object of the present invention is to provide a parking assisting device capable of identifying a space required for moving a vehicle when parked in view of the above-described conventional problems.

The invention according to claim 1, which is made to solve the above-mentioned problems, is a parking assisting device for assisting during parking of a vehicle by displaying an image captured by a vehicle-mounted imaging means on a display means within a vehicle. A storage means for drawing in parallel with the front-rear direction of the vehicle on the side of the vehicle at a predetermined distance away from the vehicle, and storing in advance a side space line indicating the side space required for moving the vehicle during parking; And a superimposing means for superimposing the captured image on the display means.

According to the invention of claim 1, a parking assisting device which displays an imaging image around a vehicle picked up by an imaging means mounted on a vehicle on a display means in a vehicle, and supports the vehicle during parking. Storage means which are drawn parallel to the front-rear direction of the vehicle at a predetermined distance from the vehicle, and store in advance a lateral space line indicating a lateral space required for moving the vehicle during parking, and the display means by superimposing the lateral space line on the image pickup image; Since it is provided with the superimposition means to make it display in, the driver's judgment at the time of parking can be made easy and the operation burden of a driver can be reduced.

According to the invention of claim 2, which is made in order to solve the above problems, the predetermined interval is set to be larger than the distance between the vehicle and the tangent line when the tangent line of the anticipated course trajectory of the maximum turning portion of the vehicle is parallel to the lateral space line. The parking assisting device according to claim 1 is characterized by the above-mentioned.

According to the invention of claim 2, the predetermined interval is set to be larger than the distance between the vehicle and the tangential line when the tangent of the anticipated course trajectory of the maximum turning portion of the vehicle is parallel to the lateral space line, so that the vehicle is moved safely during parking. You can.

The invention according to claim 3, which is made to solve the above problems, is in the parking assisting device according to claim 1 or 2, wherein the maximum turning portion is an angle of the front end of the vehicle.

According to the invention of claim 3, since the maximum turning portion is an angle at the front end of the vehicle, safety can be ensured when steering the steering during parking.

The invention according to claim 4, which is made in order to solve the above-mentioned problems, is characterized in that the superimposing means superimposes an expected path trajectory of the lateral space line and the rear wheel of the vehicle in the display means so as to be displayed on the display means in the parallel parking mode. The parking assisting device according to any one of claims 1 to 3, characterized in that.

According to the invention of claim 4, the superimposing means superimposes the lateral space line and the predicted path trajectory of the rear wheel of the vehicle in the image pickup image so that the display means is displayed on the display means so that the vehicle is steered in parallel parking. When retreating, safety can be confirmed.

According to the invention of claim 5, which is made in order to solve the above-mentioned problems, in the superimposition means, the superimposition means superimposes an expected course trajectory of the maximum turning portion of the vehicle after the steering of the lateral space line and the steering wheel in the parking mode. The parking assisting device according to any one of claims 1 to 3, which is displayed on means.

According to the invention of claim 5, the superimposing means superimposes the lateral space line and the predicted path trajectory of the maximum turning portion of the vehicle after the steering of the steering in the image pickup image so that the display means is displayed on the display means in the vertical parking mode. Safety can be checked when steering the steering wheel to retract the vehicle.

According to the sixth aspect of the present invention, in order to solve the above-mentioned problems, the superimposing means superimposes the lateral space line and the front and rear marker lines orthogonal to the lateral space line so as to be displayed on the display means. The parking assisting device according to any one of claims 1 to 3.

According to the invention of claim 6, the superimposing means superimposes the lateral space line and the front and rear marker lines orthogonal to the lateral space line so that the display means is displayed on the display means, so that the vehicle is moved by steering the steering during parallel or vertical parking. When you make it, you can check the safety.

The invention according to claim 7, which is made in order to solve the above problems, is characterized in that the front and rear marker lines are a vehicle front end extension line extending from the front end of the own vehicle.

According to the invention of claim 7, since the front and rear marker lines are the vehicle front end extension lines extending from the front end of the own vehicle, the effect that the protruding length of the own vehicle at the intersection and the like can be known in addition to the effect of parking assistance can be expected.

Embodiment of the Invention

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described based on drawing. In summary, the parking assisting apparatus according to the present invention is mounted on a vehicle, and the space required for moving the vehicle for parallel parking or parallel parking is displayed on the image by a side space line or the like, whereby the vehicle is used in a surrounding vehicle or the like. It is possible to easily confirm that no contact is made, thereby reducing the burden on the driver.

(1st embodiment)

First, the first embodiment of the present invention will be described with reference to FIGS. 1 to 15. 1 is a block diagram showing a first embodiment of a parking assisting apparatus according to the present invention. In the figure, the parking assisting device includes a camera 2 as an imaging means, a microcomputer (hereinafter referred to as a microcomputer) 3, a reverse detection sensor 4, a steering angle sensor 5 as a steering angle detection means, and a running Sensor 6, yaw rate sensor 7, parallel parking start switch 8, column parking start switch 9, parking area selection switch 10, indicator 11, on-screen display controller as superimposing means ( (Hereinafter referred to as OSDC) 12, a memory 13 as a storage means, and an EEPR0M 14.

As shown in Figs. 2A and 2B, the camera 2 is attached to the rear of the subject vehicle 100, and has a horizontal viewing angle capable of visually recognizing a desired parking space in parallel parking or row parking. 120 degrees), and outputs the captured image of the rear of a vehicle to the OSDC 12. FIG. The indicating unit 11 has a monitor 11a as display means and a speaker 11b.

The microcomputer 3 is attached to a reverse detection sensor 4 which is attached to the gear mechanism and outputs the reverse signal S1 of H level when the gear enters the reverse, and is attached to the steering mechanism of the vehicle, and steering is performed at a unit angle. A steering angle sensor 5 for outputting a pulse signal S2 each time it rotates, a traveling sensor 6 attached to a transmission mechanism of the vehicle, and outputting a pulse signal S3 each time the vehicle travels a unit distance; The yaw rate sensor 7 which detects the yaw rate occurring around the center of the vehicle and outputs the yaw rate detection signal S4, the parallel parking start switch 8 which instructs the parallel parking mode, and the parallel parking mode A row parking start switch 9 for indicating a parking area, a parking area selection switch 10 for giving an instruction for selecting a parking area, a speaker 11b for outputting a voice message, an OSDC 12, and an ignition switch off Steering steering angle Billion to EEPR0M (14) is connected. The navigation device 15 is also connected to the microcomputer 3.

The microcomputer 3 includes a CPU 3a operating according to a control program, a R0M 3b in which vehicle information such as a control program of the CPU 3a, a minimum rotation radius Rmin of the vehicle, and a shape of the vehicle is stored in advance. ) And a count area for counting the pulse signals S2 and S3 output from the steering angle sensor 5 and the travel sensor 6 are formed. It has a RAM 3c to hold.

The OSDC 12 is connected to a camera 2, a memory 13, and a monitor 11a so as to superimpose a pattern image (described later) read from the memory 13 on an image captured by the camera 2 ( The superimposed) image signal is output to the monitor 11a.

The memory 13 is composed of R0M and the like, and contains text messages used in parallel and parallel parking modes, predicted trajectory pattern data corresponding to steering steering angle, and lateral space line pattern data in advance.

The lateral space line in the lateral space line pattern data is a lateral space required for moving the vehicle during parking by drawing a predetermined length in parallel with the front and rear direction of the vehicle at a side of the vehicle separated by a predetermined distance from the vehicle. Is a line representing.

The predicted locus pattern is stored in two types, one for the parallel parking mode and one for the column parking mode. The predicted trajectory pattern for the parallel parking mode is, for example, that the vehicle width extension line indicating the predicted trajectory trajectory and the vehicle width of the rear wheel of the vehicle has a maximum angle (for example, 2 °) at a predetermined angle (for example, 2 °) of the steering steering angle. Up to ± 35 °) are stored in multiple sheets corresponding to each steering steering angle.

In addition, the predicted trajectory pattern for the row parking mode includes a predicted course trajectory and a predicted course trajectory of the rear wheel of the vehicle by a combination of an arbitrary angle steering in one direction of steering, an inversion adjustment point, and a maximum angle steering in the other direction of steering. The first predicted trajectory pattern which combines the standard parking position indicating the stationary position and size of the vehicle at the end point of the vehicle, and the shoulder side (or curbside) parking position prediction of the cliff when the vehicle is steered at the inversion control point position. And a second predicted locus pattern formed of lines, and a third predicted locus pattern made of the predicted path traces of the maximum turning portion of the vehicle at the time of steering at the maximum angle during steering in the other direction.

Next, the operation in the parallel parking mode of the parking assisting device having the above-described configuration will be described with reference to a flowchart of the processing of the CPU 3a shown in FIG. 3.

Normally, the CPU 3a causes the navigation device 15 to perform a navigation function, and uses the monitor 11a and the speaker 11b to display the route guidance from the starting point to the destination or the current position of the vehicle. Voice guidance or.

Thus, first, by pressing the parallel parking start switch 8, the parking assisting process is started, and the initialization process is performed (step S1). Next, it is determined whether the ignition switch is off (step S2).

If the ignition switch is turned off (Y in step S1), the steering steering angle at that time is stored in the EEPR0M 14 by the pulse signal S2 from the steering angle sensor 5 (step S3). The steering steering angle stored in the EEPR0M 14 is read at the ignition switch on, and the state of the steering is confirmed. Subsequent to step S3, an end process is performed (step S4), and then the parking assist process ends.

On the other hand, if the ignition switch is not turned off (N in step S2), it is determined whether there is a reverse signal (pulse signal S1) from the reverse detection sensor 4 (in other words, whether the gear is put in reverse) or not. (Step S5), if not, it returns to Step S2.

If there is a reverse signal (pulse signal S1) (Y in step S5), the navigation function is stopped accordingly, and the screen of the monitor 11a is switched from the navigation image to the display of the camera image from the camera 2 ( Step S6). Subsequently, the steering steering angle is read by the pulse signal S2 from the steering angle sensor 5 (step S7), and then, for the parallel parking mode corresponding to the read steering steering angle with reference to the memory 13. The expected locus pattern is read from the memory 13 (step S8).

Subsequently, the predicted locus pattern read from the memory 13 is superimposed on the camera image from the camera 2 in the OSDC 12 and drawn on the screen of the monitor 11a (step S9).

Subsequently, it is determined whether there is a reverse signal (pulse signal S1) from the reverse detection sensor 4 (in other words, whether or not the gear is put in reverse) (step S10), and if so, the flow returns to step S5.

On the other hand, if there is no reverse signal (pulse signal S1) (N in step S10), it means that the reverse is canceled. Therefore, the screen of the monitor 11a is erased (step S11), and then the process returns to step S2.

Next, the specific example of the operation | movement in parallel parking mode is explained in full detail. 4 and 5 are views for explaining a specific parking assist operation in the parallel parking mode, and will be described below with reference to these drawings.

Normally, the CPU 3a causes the navigation device 15 to perform a navigation function, and uses the monitor 11a and the speaker 11b to display the route guidance from the starting point to the destination or the current position of the vehicle. Voice guidance or.

Therefore, as shown in FIG. 4, first, the host vehicle 100 is stopped at position A. FIG. This is a parking frame where the driver advances a few meters past the parking space P scheduled to be parked, at an appropriate distance from the parking vehicle 201 in front of the parking space P, or shown in dashed lines in FIG. 4. When the line is drawn on the ground, it is performed by stopping the own vehicle 100 at an appropriate interval (for example, about 2 meters) from the parking frame in front of the parking space P to be parked.

After stopping at the position A in this manner, the process then shifts to the parallel parking mode. This is done by the driver pressing the parallel parking start switch 8 after putting the gear in reverse. When the parallel parking start switch 8 is pressed again, the parallel parking mode is cancelled.

When the parallel parking start switch 8 is pressed, in response to the input of the parallel parking start signal from the parallel parking start switch 8, the CPU 3a stops the navigation function and moves the screen of the monitor 11a to the navigation screen. For the parallel parking mode, which is composed of pattern data of the lateral space lines 108a and 108b previously stored in the memory 3 and the predicted path trajectory 101 of the rear wheel, while switching from the camera 2 to the captured image from the camera 2. The predicted locus pattern is read out, superimposed on the captured image by the OSDC 12, and displayed on the screen of the monitor 11a.

The lateral space lines 108a and 108b are drawn to be parallel to the front-back direction of the own vehicle 100 at a distance away from the own vehicle 100. In FIG. 4, the lateral space line 108a assumes parallel parking to the parking space P on the left side of the own vehicle 100. The predicted path trajectory 101 of the inner rear wheel at the full steering angle is adjacent to the neighboring space line 108a. The distance D1 from the subject vehicle 100 required at least is shown so as not to interfere with the parking frame, so that the heating line of the parking frame is separated from the side space line 108a.

The side space line 108b on the side opposite to the parking side indicates the distance D2 required to swing outward and widen when the maximum swing portion of the vehicle 100, that is, the angle outside the front end, moves, and FIG. 4. In consideration of a display error and the like, the magnetic vehicle when the maximum turning portion at the full steering angle, that is, the tangent to the predicted path trajectory 109 of the angle outside the front end becomes parallel to the lateral space line 108b ( From the space | interval of 100) and a tangential line, it draws in the space which is separated by turning clearance space d1.

When the lateral space lines 108a and 108b are set at the same left and right distances, the side space lines 108a and 108b can be displayed on the monitor 11a before determining which parking space to the left and right. In the example of FIG. 4, D1 = D2 = 1.8m is set.

The pattern data of the lateral space lines 108a and 108b for the parallel parking mode set as described above is stored in the memory 13 in advance.

Fig. 6 shows an example displayed on the screen of the monitor 11a provided in the vicinity of the driver's seat of the own vehicle 100 by superimposing a trajectory trajectory of the lateral space line and the rear wheels on the rear captured image by the camera 2. do. In FIG. 6, the anticipated path trajectory 101 of the side space line 108a and the inner rear wheel corresponding to the parking edge P to be parked, the side space line 108b displayed on the opposite side of the parking edge to be parked, and The predicted path trajectory 101 'of the inner rear wheels is indicated. The predicted path trajectory 101 'of the lateral space line 108b and the inner rear wheels is used for parallel parking in the parking space on the right side of the own vehicle 100.

The driver looks at the lateral space line 108a on the screen of the monitor 11a, so that the lateral space of a predetermined distance (1.8 m in this example) is next to the parking vehicle 201 on the parking space P side to be parked. It is possible to check whether the vehicle is empty and stopped, and whether the side space on the opposite side necessary for turning for parallel parking is empty.

As described above, if it is possible to confirm whether the spaces on both sides of the own vehicle 100 are empty as necessary for turning for parallel parking, the driver next checks the inner rear wheels displayed at the same time as the side spaces 108a. While looking at the predicted course trajectory 101, the vehicle 100 is immediately retracted, and as shown in FIG. 5, the intersection of the predicted course trajectory 101 of the lateral space 108a and the inner rear wheels is parallel-parked. It is in a position visible behind the parking vehicle 201 (or the parking rim of the parked parking), which is concerned about whether or not to contact it at the time, or the predicted path trajectory 101 of the inner rear wheel is angled at the front end of the parking vehicle 201. (Or the parking frame where the vehicle is parked) is checked to be at position B behind the vehicle, and the vehicle 100 is stopped.

Subsequently, the driver steers the steering wheel at a predetermined angle and moves the vehicle back toward the parking space P. FIG.

As described above, when the driver steers the steering wheel at a predetermined angle, the predicted path trajectories 101 and 101 'of the lateral space lines 108a and 108b and the inner rear wheel, which are displayed as shown in FIG. 11a) is deleted from the screen and at the same time, the predicted locus pattern for the parallel parking mode having the vehicle width extension line 102 and the predicted course trajectory 101 of both rear wheels is read out from the memory 3 according to the steering steering angle at the time of steering. It is displayed on the screen of the monitor 11a.

Fig. 7 shows an example of the screen of the monitor 11a in the parallel parking mode at this stage, and the predicted course trajectory 101 and the vehicle width extension line 102 of the predicted trajectory pattern when parallel parking is displayed. . FIG. 7A illustrates a case in which the subject vehicle 100 is retracted while maintaining a predetermined steering steering angle other than the zero steering angle. FIG. 7B is different from the case of FIG. 7A. The case where the steering vehicle other than the zero steering angle is maintained and the vehicle 100 is retracted is shown.

As can be seen from Figs. 7 (a) and 7 (b), when the steering steering angle is changed, the parallel parking mode has a predicted course trajectory 101 whose curved state is different according to the steering steering angle after the change. Since the predicted locus pattern is read from the memory 13 and displayed on the screen of the monitor 11a, the driver looks at the screen of the monitor 11a to free an empty parking space (for example, parking space P or parking). The vehicle can be easily parked in parallel by steering the steering so that the predicted course trajectory 101 fits correctly on the empty parking frame immediately before the space P and retreating the subject vehicle 100.

In the case of retreating with the steering at the full steering angle, the vehicle is parked in the parking space P. FIG. At this time, the intersection X between the predicted course trajectory 101 of the inner rear wheel and the hot wire on the side of the own vehicle 100 of the parking space P is adjacent to the hot wire and the parking vehicle 201 parked. After stopping the vehicle 100 at position B so as to coincide with the intersection of the parking frame and the dividing line of the parking space P, and retreating at the full steering angle, the vehicle 100 is parked. The parking clearance space d2 can be parked in the parking space P suitably from the parking edge which exists.

Next, the specific example of the operation | movement in the row parking mode started by operating the column parking start switch 9 is explained in full detail.

In the row parking mode, as shown in the row parking assist image diagram in FIG. 8, when the own vehicle 100 intends to park in the empty parking space P, the own vehicle 100 is usually parked. Rotation radius from the first rotation center d1 of the subject vehicle 100 from the stop position passing through the space P, from the point of time c1 by the maximum angle steering in one direction of steering to the inversion control point c2. End point c3 from the first turning path L1 defined by Rmin (where Rmin = minimum rotation radius) and the turning angle θ1 and the inverted control point c2 due to the maximum angle steering in the other direction of the steering. The second turning path L2 opposite to the turning direction of the first turning path L1 defined by the turning radius Rmin and the turning angle θ2 (= θ1) from the second center of rotation d2 leading to It is parked in the parking space P along the traveling route which consists of.

In addition, the above-mentioned traveling route may be a traveling route by a combination of arbitrary angle steering other than the maximum angle in one direction of steering, the inversion control point, and the maximum angle steering in the other direction of the steering. The following describes a case in which the own vehicle 100 is parked in the parking space P along a driving route by a combination of a 15 degree steering in one direction of steering, a steering control point and a maximum angle steering in the other direction of the steering. do.

9 to 11 are views for explaining a specific parking assist operation in the row parking mode, and will be described below with reference to these drawings.

Normally, the CPU 3a causes the navigation device 15 to perform a navigation function, and uses the monitor 11a and the speaker 11b to display the route guidance from the starting point to the destination or the current position of the vehicle. Voice guidance or.

Therefore, as shown in FIG. 9, first, the host vehicle 100 is stopped at the position A. FIG. This is because the driver has a suitable distance (for example, about 1 meter) from the vehicle 201 parked in front of the parking space P to be parked, or is shown as a dotted line in FIG. 9, for example. When the parking rim line is drawn on the ground, it is performed by stopping the own vehicle 100 at an appropriate interval from the parking rim line in front of the parking space P to be parked.

After stopping at the position A in this manner, the process shifts to the serial parking mode. This is done by the driver pressing the columnar parking start switch 9 after the gear is put in reverse. When the column parking start switch 9 is pressed again, the column parking mode is cancelled.

When the row parking start switch 9 is pressed, in response to the input of the row parking start signal from the row parking start switch 9, the CPU 3a stops the navigation function and moves the screen of the monitor 11a from the navigation screen. When switching to the camera image from the camera 2 and simultaneously controlling the pattern data of the lateral space lines 108a and 108b stored in the memory 3 and the third expected trajectory pattern, that is, the steering in the other direction The predicted course trajectory path 110 of the maximum turning portion of the vehicle at the time of maximum angle steering is read out, superimposed on the captured image by the OSDC 12, and displayed on the screen of the monitor 11a.

The side space lines 108a and 108b in the parallel parking mode are drawn to be parallel to the front and rear directions of the vehicle 100 at a distance away from the vehicle 100 in the same manner as the side space lines in the parallel parking mode. In FIG. 9, the side space line 108a assumes a column parking to the parking space P on the left side of the own vehicle 100, and is drawn at a distance D3.

The side space line 108b on the opposite side to the parking side indicates the distance D4 required to turn wider to the outside when the maximum turning portion of the vehicle 100, that is, the angle outside the front end, moves, and in FIG. Considering the display error and the like, for example, the maximum turning portion when the steering steering angle is 15 degrees, that is, the tangent to the predicted path trajectory 109 of the angle outside the front end is parallel to the lateral space line 108b. At a distance between the host vehicle 100 and the tangential line at the time, it is drawn at a distance apart from the turning clearance space d3.

When the lateral space lines 108a and 108b are set at the same left and right distances, the side space lines 108a and 108b can be displayed on the monitor 11a before deciding which side of the parking space to park. In the example of FIG. 9, D3 = D4 = 1m is set.

The pattern data of the side space lines 108a and 108b for the column parking mode set as described above is stored in the memory 13 in advance.

In addition, the anticipated path trajectory 110 of the maximum turning portion of the vehicle at the time of the maximum angle steering at the time of steering in the other direction of the steering is the reverse control point due to the maximum angle steering in the other direction of the steering in FIG. a second opposite to the turning direction of the first turning path L1 defined by the turning radius Rmin and the turning angle θ2 (= θ1) from the second rotation center d2 from c2 to the end point c3. When the subject vehicle 100 is traveling on the two turning paths L2, an expected path in which the angle outside the front end of the subject vehicle 100 (that is, the angle on the left side of the front end in the example of FIG. 9) becomes the maximum turning part. It's a trajectory.

Fig. 12 shows an example in which the predicted path trajectory of the maximum turning portion of the vehicle at the maximum angle steering at the time of steering in the other direction of the steering is superimposed on the captured image and displayed on the screen of the monitor 11a. do. In FIG. 12, the anticipated path trajectory 110 of the side space line 108a and the maximum turning part corresponding to the parking frame P to be parked, the side space line 108b displayed on the opposite side of the parking frame to be parked, and The anticipated course trajectory 110 'of the maximum turning portion is displayed. The lateral space line 108b and the anticipated path trajectory 110 'of the maximum turning portion are used when the vehicle is parked in the parking space on the right side of the own vehicle 100.

The driver sees the lateral space line 108a on the screen of the monitor 11a, so that the driver is on the side of the front parking vehicle 201 at the parking space P side where the vehicle is to be parked, a predetermined distance (1 m in this example). It is possible to check whether the space is empty and stopped and whether the side space on the opposite side necessary for turning for column parking is empty.

As described above, if it is possible to confirm that the spaces on both sides of the subject vehicle 100 are empty as necessary for turning for row parking, the driver next turns to the maximum turning displayed simultaneously with the side space 108a. While looking at the negative anticipated course trajectory 110, the vehicle 100 is retracted straightly, and as shown in FIG. 10, the intersection of the lateral space 108a and the anticipated course trajectory 110 of the maximum turning portion is parallel parking. The vehicle is in a position visible to the rear of the parking vehicle 201 (or the parked parking frame thereof) which is worried about contacting at the time, or the anticipated path trajectory 110 of the maximum turning portion is the rear end of the front parking vehicle 201. It is confirmed that the position B is seen to be rearward from the angle (or the parking edge of the parking), and the vehicle 100 is stopped.

This stop position is a position (that is, a position corresponding to the time point c1 in FIG. 8) suitable for starting the retraction operation described later for the column parking.

Next, the left and right sides of the vehicle are determined. This is performed based on the detection of the pulse signal S2 of the steering angle sensor 5 generated by the driver turning the steering to the side where the driver wants to park (the first steering operation). For example, if you want to park in the parking space on the left side of the vehicle, the driver steers the steering to the left. At this time, when the driver steered the steering angle 15 degrees to the left side, the lateral space line displayed as shown in FIG. 12 in accordance with the pulse signal S2 corresponding to the left 15 degree steering from the steering angle sensor 5. 108a and 108b and the anticipated path trajectories 110 and 110 'of the maximum turning portion are deleted from the screen and correspond to the parking space on the left side according to the pulse signal S2 output from the steering angle sensor 5. The first predicted locus pattern data for the parking mode is read from the memory 13 and displayed on the screen of the monitor 11a.

Similarly, when it is desired to park in the parking space on the right side of the vehicle, the driver steers the steering to the right. At this time, when the driver steered the steering angle 15 degrees to the right, the lateral space line (shown as shown in FIG. 12) in accordance with the pulse signal S2 corresponding to the left 15 degree steering from the steering angle sensor 5. 108a and 108b and the anticipated path trajectories 110 and 110 'of the maximum turning portion are deleted from the screen and in parallel with the parking space on the right side in accordance with the pulse signal S2 output from the steering angle sensor 5. The first predicted locus pattern data for the mode is read out from the memory 13 and displayed on the screen of the monitor 11a.

FIG. 13 is for the parallel parking mode in the case where the vehicle 100 is parked in the parking space P on the left side displayed on the screen of the monitor 11a when the vehicle 100 is stopped at the position B of FIG. The predicted course trajectory 101 and the parking standard position 104 of the first predicted trajectory pattern are shown. FIG. 13 shows a case where the own vehicle 100 can park well in the parking space P. As shown in FIG.

On the other hand, when the own vehicle 100 is considerably out of the parking space P by observation of the screen of the monitor 11a, the driver cancels the row parking mode, and the driver of the row parking mode has been Expected course trajectory 101 and parking standard of the first predicted trajectory pattern for the column parking mode in the case of carrying out steering again and again in the parking space P on the left side displayed on the screen of the monitor 11a again. By observing the position 104, it is confirmed that the own vehicle 100 is almost entering the parking space P. FIG.

Next, the vehicle 100 is started to retreat. At this time, the text message stored in advance is read from the memory 13, and is superimposed on the camera image and displayed on the screen of the monitor 11a.

Next, when the vehicle is retracted from the position B while the steering is held at 15 degrees of steering angle, the predicted course trajectory 101 and parking shown in FIG. 13 in accordance with the pulse signal S3 output from the travel sensor 6. The standard position 104 is deleted from the screen of the monitor 11a, and instead, the second predicted locus pattern data for column parking corresponding to the parking space on the left side is read from the memory 13, and the screen of the monitor 11a is displayed. Is displayed.

Fig. 14A shows a display example of the screen of the monitor 11a after retreating from the position B. Figs. In Fig. 14 (a), the shoulder side parking position prediction line 111 of the second predicted locus pattern is the predicted locus of the vehicle's rear wheel near the parking space P to be parked as the outer predicted locus track. You can see that it is displayed on the screen in an arc shape.

In addition, as shown in the modified example of FIG. 14B, the shoulder parallel tangent of the outside predicted path trajectory described above may be displayed on the screen in a straight line as the shoulder side parking position prediction line 111.

When the driver confirms that the shoulder-side parking position prediction line 111 approaches the shoulder along with the retreat of the vehicle 100 and passes roughly near the shoulder in the parking space P, the driver stops the vehicle 100. Let's do it. This stop position is almost the same as the position C shown in FIG. This position C is a position suitable for performing the second steering operation for the column parking (that is, a position corresponding to the inversion control point c2 shown in Fig. 8).

Next, the vehicle is controlled at the position C. This is done by the driver fully steering the steering in the reverse direction. On the basis of this full steering, the shoulder-side parking position prediction line 111 shown in FIG. 14A corresponds to the pulse signal S2 indicating the maximum angle from the steering angle sensor 5 of the monitor 11a. The predicted locus pattern for parallel parking corresponding to the pulse signal S2 indicating the maximum angle from the steering angle sensor 5 is deleted from the screen instead, and is read from the memory 13 and the predicted path trace 101 And the vehicle width extension line 102 are superimposed on the camera image and displayed on the screen of the monitor 11a.

Fig. 15 shows an example of the screen of the monitor 11a at the position C in the column parking mode, and the predicted course trajectory 101 and the vehicle width extension line 102 toward the parking space to be parked are displayed. .

Next, the driver confirms that the full steering is maintained, and then confirms the display of the screen of the monitor 11a. On the screen of the monitor 11a, retreat is started when the course predicted trajectory 101 hits the parking space P. FIG. At this time, the display of the monitor 11a is superimposed with the display "Please be careful about the surroundings." If the course predicted locus 101 does not fit the parking space P, the steering steering is adjusted to be a steering angle other than full steering, and the course predicted locus 101 is adjusted to the parking space P. FIG. Can be.

Next, as shown in FIG. 11, the vehicle is stopped at position D. FIG. This position D is a position where the vehicle is parallel to the parking space, the driver retreats the vehicle 100 until the vehicle width extension line 102 is parallel to the shoulder, and confirms that the driver is parallel, Return the steering straight and stop the vehicle.

Finally, by releasing the reverse gear, the column parking mode is released.

As described above, according to the first embodiment of the present invention, the space required for moving the vehicle for parallel parking or parallel parking is the lateral space lines 108a, 108b, and the like, and the image behind the vehicle from the camera 2 is used. Since it is superimposed and displayed on the screen of the monitor 11a, it is easy to confirm that the vehicle does not touch the surrounding vehicles or the like, so that the driver's judgment at the time of parking can be easily reduced and the driver's operation burden can be reduced.

(2nd embodiment)

Next, a second embodiment of the present invention will be described with reference to FIGS. 16 to 23. In this second embodiment, the parking assisting device has the same configuration as the block diagram shown in FIG. 1 in the first embodiment, but as shown in FIG. It is attached to the side, and has a horizontal viewing angle (for example, 60 degrees) which can visually identify a desired parking space when parallel parking or column parking is carried out, and outputs the captured image of the vehicle side to the OSDC 12. .

In addition, instead of the side space line pattern data, the memory 13 previously stores pattern data including a side space line and front and rear marker lines orthogonal to the side space line.

Next, a specific example of the operation in the parallel parking mode in the second embodiment of the parking assisting device having the above-described configuration will be described in detail. 17 and 18 are views for explaining a specific parking assist operation in the parallel parking mode, and will be described below with reference to these drawings.

Normally, the CPU 3a causes the navigation device 15 to perform a navigation function, and uses the monitor 11a and the speaker 11b to display the route guidance from the starting point to the destination or the current position of the vehicle. Voice guidance or.

Therefore, as shown in FIG. 17, first, the host vehicle 100 is stopped at position A. FIG. This moves to the parallel parking mode by the driver pressing the parallel parking start switch 8 when the own vehicle 100 is near the parking space P to be parked.

When the parallel parking start switch 8 is pressed, in response to the input of the parallel parking start signal from the parallel parking start switch 8, the CPU 3a causes the navigation function to stop and the screen of the monitor 11a is displayed on the navigation screen. Is switched from the camera 2 to the side image image, and at the same time, the pattern data including the side space line and the front and back marker lines stored in the memory 13 is read out, and the OSDC 12 superimposes the side image image. Then, it displays on the screen of the monitor 11a.

In FIG. 17, a side space line 108a and a front and rear marker line 112 assuming parallel parking to the parking space P on the left side of the own vehicle 100 are shown, which is opposite to the side to be parked (that is, The lateral space lines and the front and back marker lines of the right side) are omitted.

19 shows an example in which the lateral space lines and the front and rear marker lines are superimposed on the side image captured by the camera 2 and displayed on the screen of the monitor 11a provided near the driver's seat of the own vehicle 100. In FIG. 19, the lateral space line 108a and the front and rear marker lines 112 are displayed corresponding to the parking space P of the parking schedule which can be visually confirmed from the side image captured by the camera 2.

By looking at the side space line 108a on the screen of the monitor 11a, the driver has stopped the side space of a predetermined distance next to the parking vehicle 201 on the parking space P side to be parked and stopped. For parallel parking, it is possible to check whether the lateral space on the opposite side necessary for turning is empty. The driver can determine the initial position A for parallel parking in the parking space P to be parked by looking at the position of the front and rear marker lines 112 on the screen of the monitor 11a.

That is, in the screen shown in FIG. 19, the parking border of the neighboring parking space P to be parked, that is, the parking border in which the parking vehicle 201 in front of the vehicle is parked, as viewed from the entrance direction of the own vehicle 100. The lateral space line which is displayed so that the division boundary line Pb of and the front-back marker line 112 displayed so that it may become parallel to the left-right direction of the own vehicle are substantially corresponded on a screen, and it is parallel to the front-back direction of the own vehicle 100. The initial position A can be determined by making it substantially coincide with 108a and the edge line Pa before parking division. The initial position A may be adjusted by the driver moving the own vehicle 100. The position of the lateral space line 108a and the front and rear marker lines 112 is shown as key input means (shown) while viewing the screen of the monitor 11a. May be adjusted by key input or the like to select an optimal position. Of course, after roughly adjusting by the movement of the own vehicle 100, fine adjustment may be performed on the screen by input from a key input means or the like.

In addition, there is a limit to the range that can be adjusted on the screen. When the display on the screen is adjusted by a key input means or the like, the predicted locus pattern reaching the parking space P changes, so that a separate predicted locus pattern according to the adjustment is stored in the memory ( It is necessary to read from 13).

As described above, when the initial position A of the vehicle 100 is determined, the CPU 3a monitors the lateral space line 108a and the front and rear marker lines 112 based on the determination of the initial position A ( The estimated trajectory pattern corresponding to the initial position A is read out from the memory 13, and the parking operation guide is performed based on the predicted trace pattern read out from the screen of 11a). This parking operation guide is performed by reading out the text message previously stored in the memory 13, and displaying it on the screen of the monitor 11a.

As shown in FIG. 18, the driver has a direction to park the subject vehicle 100 from the initial position A stopped in accordance with the lateral space line 108a and the front and rear marker lines 112 based on the parking operation guide. Steering in the opposite direction, the vehicle 100 is advanced by a predetermined distance by maintaining a predetermined steering steering angle based on the expected trajectory pattern and moved to the position B. FIG. At this time, the CPU 3a detects the direction change from the pulse signal S2 from the steering angle sensor 5 and the pulse signal S3 from the traveling sensor 6 (or the azimuth sensor not shown). The signal shown in the figure) is detected to detect that the predetermined distance has been advanced.

The driver, according to the parking motion guide, stops his vehicle 100 at position B, continues to put the gear in reverse, then steers the steering to a predetermined steering steering angle in the opposite direction and maintains the steering steering angle. The vehicle 100 is then retracted toward the parking space P. FIG. Subsequently, the driver returns the steering to the straight position at the place where the own vehicle 100 becomes parallel to the parking space P (position C in FIG. 18), and further retreats the own vehicle 100. To stop at the end of the parking space P, and the parallel parking start switch 8 is pressed to cancel the parallel parking mode.

In addition, in the operation | movement after position B, in addition to the camera 2 which image | photographs the side, when the camera which image | photographs the rear side is also attached, since the parking space P starts to reflect on a back image, the monitor 11a is carried out. The screen of the image is switched from the image captured by the side camera 2 to the image captured by the rear camera, and the superimposed display for the guide is shown on the image, such as a vehicle width extension line indicating the predicted course trajectory and the vehicle width of the rear wheel according to the steering steering angle. Also good.

In addition, as shown in FIG. 20, the front-and-back marker line 112 is not a division boundary line Pb, but the parking frame immediately before the parking space P to which parking is desired, ie, the parking vehicle 202 parks. The initial position A may be determined so as to substantially match the partition boundary Pc with the parking frame being made on the screen.

Next, the specific example of the operation | movement in the row parking mode in 2nd Embodiment of the parking assisting apparatus of the above-mentioned structure is explained in full detail. 21 and 22 are views for explaining a specific parking assist operation in the row parking mode, and will be described below with reference to these drawings.

Normally, the CPU 3a causes the navigation device 15 to perform a navigation function, and uses the monitor 11a and the speaker 11b to display the route guidance from the starting point to the destination or the current position of the vehicle. Voice guidance or something.

Therefore, as shown in FIG. 21, first, the host vehicle 100 is stopped at position A. FIG. When the host vehicle 100 is in the vicinity of the parking space P to be parked, the driver presses the row parking start switch 9 to enter the row parking mode.

When the parallel parking start switch 9 is pressed, in response to the input of the parallel parking start signal from the column parking start switch 8, the CPU 3a stops the navigation function and moves the screen of the monitor 11a from the navigation screen. While switching to the side image from the camera 2, the pattern data including the lateral space lines and the front and back marker lines stored in the memory 13 are read in advance, and the OSDC 12 superimposes the side image. To be displayed on the screen of the monitor 11a.

By looking at the side space line 108a on the screen of the monitor 11a, the driver has stopped the side space of a predetermined distance next to the parking vehicle 201 on the parking space P side to be parked and stopped. In addition, it is possible to check whether the side space on the opposite side necessary for turning for parallel parking is empty. The driver can determine the initial position A for parallel parking in the parking space P to be parked by looking at the position of the front and rear marker lines 112 on the screen of the monitor 11a.

That is, as shown in FIG. 21, the intersection of the side space line 108 and the front-back marker line 112 in the right rear end of the parking vehicle 201 parked in front of the parking space P to which parking is desired. The initial position A can be determined on the screen of the monitor 11a so that this almost coincides. (In addition, when the parking partition line is missing, the lateral space line 108 and the front and rear marker lines are located at the intersection of the partition boundary line between the parking frame where the parking vehicle 201 is parked and the parking space P and the edge before the division. The initial position A can be determined on the screen of the monitor 11a so that the intersection point of 112 is almost the same.) This initial position A may be adjusted by the driver moving the own vehicle 100, and the monitor 11a While viewing the screen, the positions of the lateral space line 108a and the front and rear marker lines 112 may be adjusted by key input from a key input means (not shown) or the like to select an appropriate position. Of course, after roughly adjusting by the movement of the own vehicle 100, fine adjustment may be performed on the screen by input from a key input means or the like.

In addition, there is a limit to the range that can be adjusted on the screen. When the display on the screen is adjusted by a key input means or the like, the predicted trajectory pattern reaching the parking space P changes, so that another predicted trajectory pattern according to the adjustment is stored in the memory (13). Must be read from

As described above, when the initial position A of the subject vehicle 100 is determined, the CPU 3a monitors the lateral space line 108a and the front and rear marker lines 112 based on the determination of the initial position A ( It deletes from the screen of 11a), reads the expected locus pattern corresponding to the initial position A from the memory 13, and performs a parking operation guide based on the read out expected locus pattern. The parking operation guide is performed by reading a text message stored in the memory 13 in advance and displaying it on the screen of the monitor 11a.

As shown in FIG. 22, the driver has the direction to park the own vehicle 100 from the initial position A which stopped according to the side space line 108a and the front-back marker line 112 based on a parking | movement operation guide. Steering in the opposite direction, the vehicle 100 is advanced by a predetermined distance by maintaining a predetermined steering steering angle based on the expected trajectory pattern, and moved to the position B. FIG. Also in this forward movement, compared with the first embodiment, it is not necessary to advance much distance from the parking space P, and by advancing at an angle, the start of the parking operation can be appealed to the driver of another vehicle. At this time, the CPU 3a shows the pulse signal S2 from the steering angle sensor 5 and the pulse signal S3 from the traveling sensor 6 (or the azimuth change from the azimuth sensor not shown). Signal) to detect and advance a predetermined distance.

According to the parking motion guide, the driver stops the vehicle 100 at the position B, continues to put the gear in reverse, returns the steering to the straight position and retreats as it is. Subsequently, the driver stops the vehicle 100 again at the position C according to the parking motion guide, and again steers the steering at a predetermined steering steering angle in a direction opposite to the direction in which the vehicle 100 is parked. The steering angle is maintained and the subject vehicle 100 is retracted toward the parking space P. FIG. Next, the driver returns the steering to the straight position at the place where the subject vehicle 100 becomes parallel to the parking space P (position D in FIG. 22), and the subject vehicle with respect to the parking space P. FIG. After adjusting and stopping the position before and after (100), the parallel parking start switch 8 is pushed to cancel the parallel parking mode.

In addition, in the operation | movement after position B, in addition to the camera 2 which image | photographs the side, when the camera which image | photographs the rear side is also attached, since the parking space P starts to reflect on a back image, the monitor 11a is carried out. The screen of the image is switched from the image captured by the side camera 2 to the image captured by the rear camera, and the superimposed display for the guide is shown on the image, such as a vehicle width extension line indicating the predicted course trajectory and the vehicle width of the rear wheel according to the steering steering angle. Also good.

As described above, according to the second embodiment of the present invention, the space required for moving the vehicle for parallel parking or column parking is obtained by the side space lines 108a, 108b, etc., on the captured image of the vehicle side from the camera 2. Since it is superimposed and displayed on the image of the monitor 11a, it can confirm easily that a vehicle does not contact surrounding vehicles, etc., and it becomes easy to judge a driver at the time of parking, and can reduce a driver's operation burden.

As mentioned above, although embodiment of this invention was described, this invention is not limited to this, A various deformation | transformation and an application are possible.

For example, instead of the on-screen display controller 12 and the memory 13, as a superimposition means, a graphic controller capable of calculating and redrawing the driving predicted trajectory every time the steering angle changes may be used.

In addition, in the second embodiment, the initial position A is determined by the lateral space line and the front and rear marker lines. As an alternative to this, the display of the standard parking position 104 used in the column parking mode is used. For example, as shown in FIG. 23 which is an example in the parallel parking mode, the initial position A may be determined so that the display of the standard parking position 104 fits in the parking space P on the screen of the monitor 11a. In this case, the initial position A may also be adjusted by the driver moving the own vehicle 100, and the display position of the standard parking position 104 is adjusted from the key input means (not shown) while viewing the screen of the monitor 11a. It may adjust by key input etc. and may select an appropriate position. Of course, after roughly adjusting by the movement of the own vehicle 100, fine adjustment may be performed on the screen by input from a key input means or the like. (In addition, even in the row parking mode, the initial position A can be determined in the same manner, although not shown.)

In the second embodiment, the parking operation guide is performed by causing a text message to be displayed on the screen of the monitor 11a. However, the parking operation guide is not limited to this, and the speaker 11b may be configured to guide and output a voice message. Moreover, you may use both together.

In addition, as another embodiment of the present invention, when displaying the side image captured by the camera 2 in the second embodiment on the screen of the monitor 11a, the front and rear extension lines of the vehicle extending from the front end of the own vehicle 100 are displayed. By displaying the marker line 112 in superimposed on the screen of the monitor 11a, in addition to the effect of parking assistance, the protruding length of the subject vehicle at the intersection and the like can be expected. For example, as shown in FIG. 24, the driver is a vehicle front extension line 113 which is an imaginary line superimposed on the side image of the camera 2 reflected on the monitor 11a (here, a side space line is abbreviate | omitted. By comparing the roadside structures such as the walls of the buildings 301 and 302, the degree of protruding to the crossroad side of the own vehicle can be checked and safety confirmation can be performed. Further, the distance gauge may be displayed backward from the vehicle front extension line 113 as a starting point. The distance gauge may be displayed in the transverse direction starting from the lateral space line.

Further, as still another embodiment of the present invention, as a camera 2 to obtain a side image, a camera of a type mounted at the center of the front bumper of the vehicle and capable of monitoring left and right sides by one may be used. Moreover, if it is a side camera, it can apply even if it attaches to the vehicle center part or the rear end vicinity.

In addition, as another embodiment of the present invention, as shown in Fig. 25, the rear side camera (or the door camera) for imaging the rear side which is mounted obliquely backward in the vehicle side or the door mirror portion may be similarly applied. Can be.

According to the invention of claim 1, the driver's judgment at the time of parking can be facilitated, and the operation burden of the driver can be reduced.

According to the invention of claim 2, the vehicle can be safely moved during parking.

According to invention of Claim 3, safety can be ensured when steering a steering at the time of parking.                     

According to the invention of claim 4, safety can be confirmed when the vehicle is retracted by steering the steering during parallel parking.

According to the invention of Claim 5, safety can be confirmed when steering a steering | movement in a row parking | rear and retracts a vehicle.

According to the invention of claim 6, safety can be confirmed when the vehicle is moved by steering the steering in parallel or parallel parking.

According to the invention of claim 7, in addition to the effect of parking assistance, it is possible to anticipate the effect of knowing the protruding length of the subject vehicle at the intersection.

Claims (7)

As a parking assisting device which displays the captured image around the vehicle picked up by the image pickup means mounted on the vehicle on the display means in the vehicle, and supports the vehicle during parking. A storage means that is drawn parallel to the front-rear direction of the vehicle at a distance away from the vehicle by a predetermined distance on the side of the vehicle, and stores in advance a lateral space line indicating a lateral space required for moving the vehicle during parking; And a superimposing means for superimposing the image on the display means. The parking assisting apparatus according to claim 1, wherein the predetermined interval is set larger than an interval between the vehicle and the tangential line when the tangent line of the anticipated course trajectory of the maximum turning portion of the vehicle is parallel to the lateral space line. The parking assisting device according to claim 1 or 2, wherein the maximum turning portion is an angle of the front end of the vehicle. The superimposition means according to any one of claims 1 to 2, wherein in the parallel parking mode, the predicted path trajectory of the lateral space line and the rear wheel of the vehicle is superimposed on the captured image to be displayed on the display means. Parking assist device characterized in. The display means according to any one of claims 1 to 2, wherein the superimposing means overlaps the predicted course trajectory of the maximum turning portion of the vehicle after steering of the lateral space line and the steering in the image parking mode in the vertical parking mode. Parking support device, characterized in that to be displayed on. The said superimposing means superimposes the said side space line and the front-back marker line orthogonal to the said side space line, and is displayed on the said display means by superimposing on the said imaging image. Parking assist device. The parking assisting device according to claim 6, wherein the front and rear marker lines are vehicle front end extension lines extending from front end of the own vehicle.

Images