WO2010100791A1

WO2010100791A1 - Parking assist apparatus

Info

Publication number: WO2010100791A1
Application number: PCT/JP2009/068758
Authority: WO
Inventors: 富雄木村; 和典嶋▲崎▼; 豊中島; 孝治比嘉
Original assignee: 株式会社豊田自動織機
Priority date: 2009-03-06
Filing date: 2009-11-02
Publication date: 2010-09-10
Also published as: JP2010208358A

Abstract

The presence of an obstacle (20) reduces the width of a space where a vehicle (7) can park, and a side monitor camera (11) detects obstacle information such as the position, size, or the like, of the obstacle (20). The obstacle information detected by the side monitor camera (11) is transmitted to a means (14) for acquiring obstacle information. Based on the obstacle information thus acquired by the means (14) for acquiring obstacle information and parking block information stored in a means (15) for storing parking block information, a means (5) for changing the movement track changes the second movement track (L₂) of a reference parking sequence (L), stored in a means (4) for storing a parking track, to a changed second movement track (L₂’) so that the vehicle (7) can advance into the space between one sidewall (SW) and the obstacle (20).

Description

Parking assistance device

This invention relates to a parking assistance device.

The conventional parking assistance device described in Patent Document 1 is a reference parking that includes a forward travel portion from a target initial stop position to a post-forward stop position and a reverse travel portion from the post-advance stop position to the target parking position. Parking assistance is provided based on the sequence. If it is expected that the vehicle will collide with an obstacle when following the path of the reference parking sequence, the parking area can be avoided while avoiding the obstacle by changing the movement distance of some of the movement patterns that make up the reference parking sequence. A movement route capable of guiding the vehicle is generated in the center of the vehicle. This parking assist apparatus has a drawback that processing information increases because an obstacle is detected by photographing the obstacle with a camera and processing the captured image. In order to solve this drawback, Patent Document 2 discloses a parking assistance device that reduces the amount of processing information by guiding a vehicle to a parking section based on a mark provided in a parking lot.

Japanese Patent Laid-Open No. 2001-18821 JP 2008-174000 A

However, the parking assistance devices of

Patent Documents

1 and 2 have a problem that parking is not possible when there are obstacles in the parking area.

The present invention has been made to solve such problems, and an object of the present invention is to provide a parking assist device capable of parking even if there is an obstacle in the parking area.

The parking assistance device according to the present invention is a parking assistance device having a reference parking sequence composed of one or more predetermined movement types, and has a predetermined shape mark having a predetermined positional relationship with respect to the parking section. And an in-vehicle camera mounted on the vehicle that images the mark, a relative position specifying unit that specifies a relative positional relationship between the vehicle and the parking section from an image of the mark imaged by the in-vehicle camera, Parking area information storage means for storing parking area information including the size and shape of the parking area, and an obstacle for detecting an obstacle in the parking area and acquiring obstacle information including the position and size of the obstacle An object detection means, and changes at least one of the one or more movement types based on the obstacle information and the parking section information. Based on the obstacle information and the parking section information, at least one of the movement types is changed so as to recognize a parking space in the parking section and park the vehicle in the space.
The “movement type” refers to six types of straight forward (= straight forward), straight reverse, right turn forward, left turn forward, right turn backward, and left turn backward. Further, “one or more predetermined movement types” does not relate to elements (movement distance or turning radius) in each movement type. That is, the correction parking sequence does not necessarily have the same movement distance and turning radius of each movement type that the reference parking sequence has, and even the same movement type as the movement type that the reference parking sequence has. If so, the movement distance and turning radius of each movement type may be different from the movement distance and turning radius of each movement type included in the reference parking sequence.

According to the present invention, at least the movement type so as to recognize a parking space in the parking area based on the obstacle information and the parking area information for the obstacle in the parking area and park the vehicle in the space. Since one is changed, parking is possible even if there is an obstacle in the parking area.

It is a top view of the vehicle incorporating the parking assistance apparatus which concerns on Embodiment 1 of this invention, and the parking area where the said vehicle parks. 3 is a plan view showing a mark used in Embodiment 1. FIG. 1 is a schematic configuration diagram of a parking assist device according to Embodiment 1. FIG. It is a top view of a vehicle and a parking section for demonstrating the reference | standard parking sequence memorize | stored in the parking locus storage means of the parking assistance apparatus which concerns on Embodiment 1. FIG. It is a figure showing the relationship between the steering angle of a vehicle, and a moving distance in case a vehicle drive | works from a target initial stop position to a target parking position along a reference | standard parking sequence. In Embodiment 1, it is a top view of a vehicle and a parking area for demonstrating the movement locus | trajectory which a vehicle drive | works from a target initial stop position to a target parking position. In Embodiment 1, it is a figure showing the relationship between the steering angle of a vehicle, and a moving distance in case a vehicle drive | works from a target initial stop position to a target parking position. In Embodiment 1, it is a figure showing the modification of the relationship between the steering angle and moving distance of a vehicle when a vehicle drive | works from a target initial stop position to a target parking position. In Embodiment 1, it is a figure showing another modification of the relationship between the steering angle and moving distance of a vehicle when a vehicle drive | works from a target initial stop position to a target parking position. It is a structure schematic diagram of the modification of the parking assistance apparatus which concerns on Embodiment 1. FIG. It is a structure schematic diagram of the parking assistance apparatus which concerns on Embodiment 2. FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 shows a plan view of a vehicle incorporating a parking assist device according to Embodiment 1 of the present invention and a parking section where the vehicle is parked. The parking section S has a rectangular shape that is surrounded on three sides by two side walls SW and SW and a rear wall BW that are arranged in parallel to each other at an interval. A mark M having a predetermined positional relationship with respect to the parking section S is installed on a predetermined place, for example, a floor surface of the parking section S. In the parking section S, an obstacle 20 exists at a position biased to one side wall SW. The width W ′ of the space where the vehicle 7 can be parked by the obstacle 20 is narrower than the width W of the parking section S. A side monitor camera 11 built in the door mirror 8 is mounted on the vehicle 7.

Suppose that the predetermined positional relationship of the mark M with respect to the parking section S is known in advance. As the mark M, for example, as shown in FIG. 2, a figure having a square outer shape in which four right isosceles triangles are in contact with each other can be used. Adjacent right-angled isosceles triangles are painted in different colors, and this mark M has five characteristic points C1 to C5 that are intersections of a plurality of sides.

As shown in FIG. 3, the side monitor camera 11 is connected to the input unit K. Connected to the input unit K is an image processing means 1 that extracts the feature point of the mark M from the image of the mark M photographed by the side monitor camera 11 and recognizes the two-dimensional coordinates of the feature point on the image. The image processing means 1 is connected to a position parameter calculating means 2 for calculating a position parameter with respect to the side monitor camera 11 with the mark M as a reference, and the position parameter calculating means 2 includes the vehicle 7 and the parking section S. A relative position specifying means 3 for specifying the relative positional relationship is connected. Furthermore, a parking locus storage means 4 for storing a reference parking sequence L (see FIG. 4) consisting of a predetermined movement locus for guiding the vehicle 7 to the parking section S is connected to the relative position specifying means 3. A steering device 6 that outputs driving operation guidance information to the driver of the vehicle 7 is connected to the parking locus storage means 4.

The side monitor camera 11 is also an obstacle detection means for detecting the obstacle 20. The side monitor camera 11 is connected to obstacle information acquisition means 14 for acquiring obstacle information such as the position and size of the obstacle 20 detected by the side monitor camera 11. The obstacle information acquisition means 14 is connected to a parking area information storage means 15 for storing parking area information including the size and shape of the parking area S. The parking section information storage means 15 is built in the navigation system of the vehicle 7, for example. In the parking area information storage unit 15, based on the obstacle information acquired by the obstacle information acquisition unit 14 and the parking area information stored in the parking area information storage unit 15, The movement locus changing means 5 for changing at least one of the above is connected.

Note that the reference parking sequence L stored in the parking locus storage means 4 starts from the target initial stop position A and passes through the stop position B after the forward movement as shown in FIG. This is a trajectory followed by the vehicle 7 before reaching the parking position C. That is, the reference parking sequence L is the first movement trajectory L ₁ that moves forward while turning from the target initial stop position A and reaches the stop position B after advance, and the target parking that moves backward from the stop position B after advance and moves backward. It consists of a second movement locus L ₂ that reaches position C. As shown in FIG. 5, while the vehicle 7 travels along the first movement locus L ₁ , the vehicle 7 moves forward while increasing the steering angle in a direction away from the target parking position C (rightward), When a certain steering angle is reached, the vehicle advances while maintaining the steering angle, and then advances while decreasing the steering angle away from the target parking position C. When the steering angle reaches 0, the vehicle advances with the steering angle 0. To reach stop position B after forward movement. While the vehicle 7 travels along the second movement locus L ₂ , the vehicle 7 moves backward while increasing the steering angle in a direction approaching the target parking position C (leftward). When the vehicle 7 reaches a certain steering angle, the steering is performed. The vehicle moves backward while maintaining the angle, and then moves backward while decreasing the steering angle toward the target parking position C. When the steering angle reaches 0, the vehicle moves backward with the steering angle 0 and reaches the target parking position C. .

Next, the operation of the parking assistance apparatus according to Embodiment 1 will be described.
As shown in FIG. 6, first, the vehicle 7 stops at the target initial stop position A. Whether or not the vehicle 7 is stopped at the target initial stop position A is determined based on the image of the mark M taken by the side monitor camera 11.

An image of the mark M photographed by the side monitor camera 11 is input to the image processing means 1 via the input unit K, and the image processing means 1 performs five characteristic points C1 to C1 of the mark M from the photographed image of the mark M. C5 is extracted, and the two-dimensional coordinates of these feature points C1 to C5 on the image are recognized and acquired. Next, based on the two-dimensional coordinates of the feature points C1 to C5 recognized by the image processing unit 1, the position parameter calculation unit 2 uses the three-dimensional coordinates (x, y) of the side monitor camera 11 with the mark M as a reference. , Z), a tilt angle (down angle), a pan angle (direction angle), and a swing angle (rotation angle), a position parameter is calculated.

Here, a position parameter calculation method by the position parameter calculation means 2 will be described.
First, a road surface coordinate system is assumed in which a point on the ground surface perpendicular to the road surface from the center of the rear axle of the vehicle 7 is set as an origin O, and the x-axis and y-axis are set in the horizontal direction and the z-axis is set in the vertical direction. Assume an image coordinate system in which an X axis and a Y axis are set on an image photographed by the side monitor camera 11.
The coordinate values Xm and Ym (m = 1 to 5) of the feature points C1 to C5 of the mark M in the image coordinate system are six positional parameters, that is, the coordinate value xm of the feature points C1 to C5 of the mark M in the road surface coordinate system. From ym and zm and the angle parameter Kn (n = 1 to 3) of the tilt angle, pan angle, and swing angle described above, using the functions F and G,
Xm = F (xm, ym, zm, Kn) + DXm
Ym = G (xm, ym, zm, Kn) + DYm
It is represented by Here, DXm and DYm are the X and Y coordinates of the feature points C1 to C5 calculated using the functions F and G and the coordinate values Xm and Ym of the feature points C1 to C5 recognized by the image processing means 1. Deviation.

In other words, a total of ten relational expressions are created for the six position parameters (xm, ym, zm, Kn) by representing the X coordinates and Y coordinates of the five feature points C1 to C5, respectively.
Therefore, the sum of squares of the deviations DXm and DYm S = Σ (DXm ² + DYm ² )
Position parameters (xm, ym, zm, Kn) that minimize the value are obtained. That is, an optimization problem that minimizes S is solved. Known optimization methods such as simplex method, steepest descent method, Newton method, and quasi-Newton method can be used.

Since the positional parameters are determined by creating a relational expression having more than the number “6” of the positional parameters (xm, ym, zm, Kn) to be calculated, the positional parameters (xm, ym, zm, Kn) can be obtained.
In the first embodiment, ten relational expressions are created with five feature points C1 to C5 for six positional parameters (xm, ym, zm, Kn), but the number of relational expressions will be calculated. It is sufficient that the number of positional parameters (xm, ym, zm, Kn) is larger than the number of positional parameters (xm, ym, zm, Kn). ) Can be calculated.

The relative position specifying means 3 specifies the relative positional relationship between the vehicle 7 and the parking section S using the position parameter of the side monitor camera 11 calculated in this way. That is, the relative positional relationship between the side monitor camera 11 and the parking section S is based on the position parameter calculated by the position parameter calculating means 2 and the predetermined positional relationship of the mark M with respect to the parking section S that is grasped in advance. Since the predetermined positional relationship of the side monitor camera 11 with respect to the vehicle 7 is identified in advance, the relative positional relationship between the vehicle 7 and the parking section S is further specified. As a result, it is recognized whether or not the vehicle 7 is stopped at the target initial stop position A, or in which direction and how far the vehicle 7 is stopped.

When the vehicle 7 stops at the target initial stop position A, the side monitor camera 11 detects the presence or absence of an obstacle 20 in the parking section S that reduces the space in which the vehicle 7 can be parked. In the first embodiment, the width of the space where the vehicle 7 can be parked is narrow due to the presence of the obstacle 20, and the side monitor camera 11 detects obstacle information such as the position and size of the obstacle 20. To do. Obstacle information detected by the side monitor camera 11 is transmitted to the obstacle information acquisition means 14. Based on the obstacle information acquired by the obstacle information acquisition means 14 and the parking area information stored in the parking area information storage means 15, the movement locus changing means 5 is configured to store the reference parking information stored in the parking locus storage means 4. At least one of the first movement locus L ₁ and the second movement locus L ₂ constituting the sequence L is changed. Specifically, after the vehicle 7 travels along the first movement locus L ₁ and reaches the post-forward stop position B, the vehicle 7 contacts the obstacle 20 when traveling along the second movement locus L _2. Therefore, the second movement locus L ₂ is changed to a changed second movement locus L ₂ ′ so that the vehicle 7 can enter the space between the one side wall SW and the obstacle 20.

As shown in FIG. 7, the changed second movement locus L ₂ ′ has a smaller steering angle value than the second movement locus L ₂ . As a result, the vehicle 7 is parked at the parking position C ′ that is shifted to the side wall SW side farther from the obstacle 20 than the target parking position C by the reference parking sequence L, and thus contacts the obstacle 20. The vehicle 7 is parked in the parking section S without. In FIG. 6, if the obstacle 20 is located in the vicinity of the side wall SW opposite, by increasing the value of the steering angle is constant in the second movement track L _2, coming into contact with the obstacle 20 The vehicle 7 parks in the parking section S.

Thus, when the obstacle 20 exists in the parking section S, the space that can be parked in the parking section S is recognized based on the obstacle information about the obstacle in the parking section S and the parking section information. and, since the second movement trajectory L ₂ is changed so as to park the vehicle 7 in the space, it is possible parked there is an obstacle 20 in the parking compartment S.

In the first embodiment, the second movement locus L ₂ is changed to the changed second movement locus L ₂ ′, but is not limited to the changed second movement locus L ₂ ′. As shown in the changed second movement locus L ₂ ″ shown in FIG. 8, the turning angle at the initial stage of the backward movement may be slowly increased, or the changed second movement locus L ₂ ″ ″ shown in FIG. as slowly increase the turning angle of the retracted initial, a turning angle at the time of turning at a constant rotation angle is larger than L _2, the distance of the last backward straight may be the same as L ₂ .

In the first embodiment, the side monitor camera 11 also serves as an obstacle detection means for detecting the obstacle 20, but another camera may be provided as the obstacle detection means. In this embodiment, as shown in FIG. 10, the obstacle camera 21 constituting the obstacle detection means is provided in the vehicle 7, and the obstacle information acquisition means 14 is connected to the obstacle camera 21. The other configuration is the same as the configuration shown in FIG.

Embodiment 2. FIG.
Next, a parking assist apparatus according to Embodiment 2 of the present invention will be described. In the second embodiment, the same reference numerals as those in FIGS. 1 to 10 are the same or similar components, and the detailed description thereof is omitted.
The parking assistance apparatus according to the second embodiment of the present invention is different from the first embodiment in that parking section information is incorporated in the mark M, and the side monitor camera 11 captures the parking section information by photographing the mark M. It is something to get. That is, the parking area information is not stored in advance in the parking area information storage unit 15, but the parking area information acquired by the side monitor camera 11 shooting the mark M is stored in the parking area information storage unit 15. It is what I did.

As shown in FIG. 11, the parking area information including the size and shape of the parking area S is incorporated in the mark M. The image processing means 1 extracts the feature point of the mark M from the image of the mark M photographed by the side monitor camera 11, recognizes the two-dimensional coordinates of the feature point on the image, and also installs the parking section incorporated in the mark M Recognize information. Here, the mark M constitutes an assigning unit that provides parking section information, and the side monitor camera 11 configures an acquiring unit that acquires the assigned parking section information. The image processing unit 1 is connected to a position parameter calculation unit 2 and a parking section information storage unit 15. Moreover, the obstacle information acquisition means 14 and the parking area information storage means 15 are each connected to the movement locus changing means 5. Other configurations are the same as those in the first embodiment.

Similarly to the first embodiment, the relative positional relationship between the vehicle 7 and the parking section S is specified from the image of the mark M taken by the side monitor camera 11. Further, the image processing means 1 recognizes the parking area information incorporated in the mark M, and the parking area information storage means 15 stores the parking area information recognized by the image processing means 1. On the other hand, the obstacle information about the obstacle 20 detected by the side monitor camera 11 is transmitted to the obstacle information acquisition unit 14 in the same manner as in the first embodiment. Then, similarly to the first embodiment, based on the obstacle information acquired by the obstacle information acquisition unit 14 and the parking section information stored in the parking section information storage unit 15, the movement trajectory changing unit 5 is The second movement locus L ₂ of the reference parking sequence L stored in the parking locus storage means 4 is changed to a changed second movement locus L ₂ ′.

In this way, even if the parking area information is incorporated in the mark M and the parking area information is acquired from the captured image of the mark M, the parking area information and the obstacle information about the obstacle in the parking area S are obtained. Based on the above, it is possible to obtain the same effect as in the first embodiment by recognizing the parking space in the parking section S.

In the second embodiment, the mark M constitutes the assigning means and the side monitor camera 11 constitutes the obtaining means. However, the present invention is not limited to this form. For example, in a parking lot in a supermarket, parking section information about the parking section S is given as a radio wave from an antenna provided in the supermarket, and this is acquired by the antenna provided in the vehicle 7, and the acquired parking section information is parked. You may make it memorize | store in the division information storage means 15. FIG. In this case, the antenna provided in the supermarket constitutes the providing means, and the antenna provided in the vehicle 7 constitutes the obtaining means.

In the first and second embodiments, the case of parking where the vehicle 7 enters the parking section S while moving backward has been described as an example. However, even in the case of parking entering the parking section S while moving forward, Good. Moreover, although the case where parallel parking is performed is described as an example, the present invention is not limited to parallel parking, and may be parallel parking.

In the parking assistance devices according to the first and second embodiments, the steering device 6 outputs driving operation guidance information to the driver of the vehicle 7, but is not limited thereto. The vehicle 7 may be parked automatically or semi-automatically in the parking section S along the generated parking sequence.

In the parking assistance devices according to the first and second embodiments, the direction of the vehicle 7 at the target parking position C is parallel to the side wall SW of the parking section S. The direction of the vehicle 7 may not be parallel to the side wall SW of the parking section S.

Claims

A parking assistance device having a reference parking sequence consisting of one or more movement types determined in advance,
A mark of a predetermined shape fixed with a predetermined positional relationship with respect to the parking area;
An in-vehicle camera mounted on the vehicle for photographing the mark;
A relative position specifying means for specifying a relative positional relationship between the vehicle and the parking section from the image of the mark photographed by the in-vehicle camera;
Parking space information storage means for storing parking space information including the size and shape of the parking space;
Obstacle detection means for detecting obstacles in the parking area and acquiring obstacle information including the position and size of the obstacles;
A parking assistance device that changes at least one of the one or more movement types based on the obstacle information and the parking section information.
A granting means for granting the parking section information;
Obtaining means for obtaining the parking section information,
The parking assistance apparatus according to claim 1, wherein the acquired parking section information is stored in the parking section information storage unit.
The parking support apparatus according to claim 2, wherein the mark constitutes the assigning means when the parking section information is incorporated into the mark, and the in-vehicle camera constitutes the acquiring means.
The reference parking sequence is:
A first movement trajectory that has a movement type that moves forward while turning in the first turning direction, and that reaches the stop position after advance from the target initial stop position;
It has a movement type that moves backward while turning in a second turning direction that is opposite to the first turning direction, and comprises a second movement locus that reaches the target parking position from the stop position after forward movement,
The obstacle narrows the width of the parking space in the parking area,
The parking assist device according to any one of claims 1 to 3, wherein a steering angle of the second movement locus is changed based on a position of a parking space with a narrow width.