WO2011135671A1 - Parking support device - Google Patents
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- WO2011135671A1 WO2011135671A1 PCT/JP2010/057471 JP2010057471W WO2011135671A1 WO 2011135671 A1 WO2011135671 A1 WO 2011135671A1 JP 2010057471 W JP2010057471 W JP 2010057471W WO 2011135671 A1 WO2011135671 A1 WO 2011135671A1
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- parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Definitions
- the present invention relates to a parking assistance device, and more particularly to a parking assistance device that displays an image behind the host vehicle.
- Patent Literature 1 discloses a parking assistance device that detects parking frames around the host vehicle. Based on the relative position of the parking frame with respect to the host vehicle, the device of Patent Literature 1 determines whether or not the parking frame can be parked when traveling according to a driving operation pattern set in advance from the current position. The device of Patent Literature 1 obtains a driving operation to be performed first from the current position as a driving operation necessary for parking the parking frame among the driving operation patterns determined to be parkable in the parking frame. The device of Patent Literature 1 displays information on whether or not parking is possible in the parking frame and information on the driving operation to be performed first among the driving operations necessary for parking the parking frame together with the parking frame.
- the apparatus stops the host vehicle in front of the parking frame in order to recognize the parking frame with high accuracy, and recognizes the parking frame. Therefore, it is necessary to take an action of stopping once near the parking frame, which may be significantly different from the normal parking procedure of the driver. In particular, for drivers other than beginners, such behavior is felt as useless movement. Therefore, there is a possibility that the driver of the own vehicle and the drivers of other vehicles around the own vehicle may feel uncomfortable. Moreover, there is a possibility that other vehicles in the vicinity of the parking frame may be blocked. Moreover, the calculation load of the apparatus may increase due to the above information processing.
- an object of the present invention is to provide a parking assistance device that allows a driver to more easily obtain a reference for parking in a parking frame while retreating the host vehicle.
- the present invention includes a display unit that displays an image behind the host vehicle, and the display unit displays the entire range that can be reached when the host vehicle moves backward while maintaining the rudder angle within a predetermined range. It is a parking assistance device which is displayed on the video.
- the display unit that displays the image behind the host vehicle displays the entire range that can be reached when the host vehicle moves backward while maintaining the rudder angle within a predetermined range. Overlapping display. For this reason, the driver can more easily obtain a reference for parking the vehicle in the parking frame while retreating the host vehicle.
- the display unit can start displaying the reachable range according to the traveling state of the host vehicle.
- the display unit can start displaying the reachable range when the steering angle of the host vehicle is greater than or equal to the threshold value.
- the display unit starts displaying the reachable range when the rudder angle of the host vehicle, which is often in parking, is larger than the threshold value. For this reason, the display for parking assistance can be reliably started at the time of parking.
- the display unit can start displaying any of the reachable ranges when the vehicle speed of the host vehicle is equal to or lower than the threshold value.
- the display unit starts displaying the reachable range when the vehicle speed of the host vehicle, which is often in parking, is slow below a threshold value. For this reason, the display for parking assistance can be reliably started at the time of parking.
- the parking assistance apparatus of the present invention it is possible to more easily obtain a reference for the driver to park the vehicle in the parking frame while retreating the host vehicle.
- the parking assist device 10 of the present embodiment includes a support switch 11, a steering angle sensor 12, a yaw rate sensor 14, a vehicle speed sensor 16, a rear camera 18, a drawing device 20, and a display 22.
- the support switch 11 is a switch for displaying an image behind the host vehicle captured by the rear camera 18 on the display 22 by the operation of the driver.
- the support switch 11 is configured so that the entire range that can be reached by the driver's operation when the host vehicle moves backward while maintaining the rudder angle within a predetermined range is displayed on the rear side of the display 22 by a guide line or the like. It is a switch for superimposing and displaying on the video.
- the support switch 12 can display only an image behind the host vehicle by a driver's operation. Further, the support switch may be configured to designate a rudder angle within a predetermined range within a range of the maximum rudder angle of the host vehicle by an operation of the driver.
- the rudder angle sensor 12 is a sensor that detects a rudder angle that is an angle of the front tire with respect to the front-rear direction of the host vehicle.
- the yaw rate sensor 14 is a sensor that detects the yaw rate of the host vehicle using a gyro sensor or the like.
- the vehicle speed sensor 16 is a sensor that detects the vehicle speed of the host vehicle by detecting the rotational speed of the wheels of the host vehicle.
- the rear camera 18 is a camera that captures an image behind the host vehicle.
- the rear camera 18 can include a wide-angle lens having a diagonal field angle of 68 degrees or more.
- the drawing device 20 arrives when the host vehicle moves backward while maintaining the steering angle within a predetermined range based on signals from the support switch 11, the steering angle sensor 12, the yaw rate sensor 14, and the vehicle speed sensor 16. It is a device for drawing the entire possible range by superimposing it on the video behind the host vehicle on the display 22 using a guide line or the like.
- the display 22 displays an image of the rear of the host vehicle captured by the rear camera 18. In addition, the display 22 displays the entire range that can be reached when the host vehicle retreats while maintaining the steering angle within a predetermined range on the video behind the host vehicle using a guide line or the like.
- the display 22 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
- the operation of the parking support apparatus of this embodiment will be described.
- FIG. 3 it is assumed that the host vehicle VM is traveling toward the parking frame P.
- Next to the parking frame P there is another vehicle VO.
- the drawing apparatus 20 displays a video and a guide line behind the host vehicle VM on the display 22 (S13). ).
- the steering angle sensor 12 detects that the steering angle of the host vehicle is equal to or greater than a predetermined threshold, and the vehicle speed sensor 16 determines the vehicle speed of the host vehicle.
- the drawing apparatus 20 displays an image and a guide line behind the host vehicle VM on the display 22 (S13).
- the steering angle threshold in this case is, for example, 5 degrees, 20 degrees, or 40 degrees so as to match the state of the host vehicle VM indicated by the end of the arrow in FIG. 3 or the state of the host vehicle VM illustrated in FIG. can do.
- the threshold value of the vehicle speed in this case can be set to 5 km / h, for example.
- the display start condition of the display 22 may be that the yaw rate detected by the yaw rate sensor 14 is equal to or greater than a predetermined threshold.
- the display condition of the display 22 may be that the shift position of the transmission of the host vehicle is “R” on the reverse side.
- a display condition of the display 22 may be that a predetermined illumination such as a hazard lamp of the host vehicle is turned on.
- an image as shown in FIG. 5 is displayed on the display 22.
- the display 22 displays the parking frame P and the other vehicle VO.
- the entire range that can be reached when the host vehicle moves backward while maintaining the steering angle of the steering angle within a predetermined range is displayed by the guide line L, superimposed on the image behind the host vehicle VM.
- the entire reachable range and other parts may be displayed by shading or color coding.
- the range that the host vehicle can reach is calculated in advance as a range that can be reached when the host vehicle moves backward by a steering angle within a predetermined range, and the range is an image viewed from the viewpoint of the rear camera 18. It can be obtained by coordinate transformation.
- the drawing device 20 that displays the video behind the host vehicle VM on the display 22 is all reachable when the host vehicle VM moves backward while maintaining the steering angle within a predetermined range.
- the range is displayed so as to overlap the video behind the host vehicle VM.
- the driver can more easily obtain a reference for parking the parking frame P while retreating the host vehicle VM. That is, the driver moves the host vehicle VM with respect to the parking frame P while viewing the rear image displayed on the display 22 and the range in which the host vehicle VM can be reached by retreating, so that the parking frame is naturally
- the host vehicle VM can be moved to a position where the host vehicle VM can be moved backward in P.
- the drawing device 20 starts displaying a reachable range according to the traveling state of the host vehicle VM. For this reason, the driver
- FIG. in other words, according to the present embodiment, when the rudder angle of the host vehicle VM, which is in a large state at the time of parking, is larger than the threshold value and the vehicle speed of the host vehicle VM is as low as the threshold value or less, the drawing device 20 Start displaying. For this reason, the display for parking assistance can be reliably started at the time of parking.
- the parking assistance apparatus of the present invention it is possible to more easily obtain a reference for the driver to park the vehicle in the parking frame while retreating the host vehicle.
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Abstract
Disclosed is a parking support device provided with a plotting device (20) which displays on a display (22) an image rearward of a vehicle-under-consideration (VM). This plotting device (20) operates in such a way that the entire range which can be reached when the vehicle-under-consideration (VM) is backed up by maintaining a steering angle within a predetermined range, is displayed on top of the image rearward of the vehicle-under-consideration (VM). Due to the above, a driver can more easily obtain a reference position for parking the vehicle-under-consideration (VM) in a parking slot (P) while backing up the vehicle-under-consideration (VM). That is to say, the driver moves the vehicle-under-consideration (VM) toward a parking slot (P) while looking at the rear image and the entire range which the vehicle-under-consideration (VM) can reach by being backed up, said rear image and said entire range being displayed on the display (22), and thereby the driver can move the vehicle-under-consideration (VM) to a position wherefrom the vehicle-under-consideration (VM) can be backed up into the parking slot (P) in a natural manner.
Description
本発明は、駐車支援装置に関し、特に自車両後方の映像を表示する駐車支援装置に関する。
The present invention relates to a parking assistance device, and more particularly to a parking assistance device that displays an image behind the host vehicle.
自車両後方の映像を表示することにより、車両を駐車枠に駐車させる際に運転者の運転を支援する装置が提案されている。例えば、特許文献１には、自車両周辺の駐車枠を検出する駐車支援装置が開示されている。特許文献１の装置は、自車両に対する駐車枠の相対位置に基づいて、現在位置から予め設定した運転操作パターンに従って走行した場合に駐車枠に駐車できるか否かを判定する。特許文献１の装置は、当該駐車枠に駐車可能であると判定した運転操作パターンのうち、現在位置から最初に行うべき運転操作を、駐車枠に駐車させるために必要な運転操作として求める。特許文献１の装置は、駐車枠に駐車可能か否かの情報と、当該駐車枠に駐車させるために必要な運転操作のうち最初に行うべき運転操作に関する情報とを駐車枠と共に表示する。
There has been proposed a device that supports the driving of the driver when the vehicle is parked in the parking frame by displaying an image behind the host vehicle. For example, Patent Literature 1 discloses a parking assistance device that detects parking frames around the host vehicle. Based on the relative position of the parking frame with respect to the host vehicle, the device of Patent Literature 1 determines whether or not the parking frame can be parked when traveling according to a driving operation pattern set in advance from the current position. The device of Patent Literature 1 obtains a driving operation to be performed first from the current position as a driving operation necessary for parking the parking frame among the driving operation patterns determined to be parkable in the parking frame. The device of Patent Literature 1 displays information on whether or not parking is possible in the parking frame and information on the driving operation to be performed first among the driving operations necessary for parking the parking frame together with the parking frame.
ところで、上記の技術では、複数の駐車可能な駐車枠に対して駐車可能性を示すとともに、複数の駐車方法を提供しているが、運転者がより理解し易く、簡単に駐車を行うためには改善の余地がある。すなわち、上記の技術では、装置が駐車枠を精度良く認識するために駐車枠の前で自車両を停止させて、駐車枠を認識する。そのため、駐車枠近くで一度停車するといった行動が必要となり、運転者の通常の駐車の手順と大きく異なることがある。特に、初心者以外の運転者にとっては、このような行動は無駄な動きに感じられる。そのため、自車両の運転者や自車両周囲の他車両の運転者に違和感を与えてしまう可能性がある。また、駐車枠付近の他車両の通行を妨げる可能性もある。また上記の情報処理のために装置の演算負荷が大きくなる可能性もある。
By the way, in said technique, while showing the possibility of parking with respect to the parking frame which can be parked, and providing the several parking method, in order for a driver to understand more easily and to park easily There is room for improvement. That is, in the above technique, the apparatus stops the host vehicle in front of the parking frame in order to recognize the parking frame with high accuracy, and recognizes the parking frame. Therefore, it is necessary to take an action of stopping once near the parking frame, which may be significantly different from the normal parking procedure of the driver. In particular, for drivers other than beginners, such behavior is felt as useless movement. Therefore, there is a possibility that the driver of the own vehicle and the drivers of other vehicles around the own vehicle may feel uncomfortable. Moreover, there is a possibility that other vehicles in the vicinity of the parking frame may be blocked. Moreover, the calculation load of the apparatus may increase due to the above information processing.
そこで、本発明は、運転者が自車両を後退させつつ駐車枠に駐車させるための基準をさらに容易に得ることが可能な駐車支援装置を提供することを目的とする。
Therefore, an object of the present invention is to provide a parking assistance device that allows a driver to more easily obtain a reference for parking in a parking frame while retreating the host vehicle.
本発明は、自車両後方の映像を表示する表示ユニットを備え、表示ユニットは、自車両が所定範囲内の舵角について舵角を維持しつつ後退した場合に到達可能な全範囲を自車両後方の映像に重ねて表示する駐車支援装置である。
The present invention includes a display unit that displays an image behind the host vehicle, and the display unit displays the entire range that can be reached when the host vehicle moves backward while maintaining the rudder angle within a predetermined range. It is a parking assistance device which is displayed on the video.
この構成によれば、自車両後方の映像を表示する表示ユニットは、自車両が所定範囲内の舵角について舵角を維持しつつ後退した場合に到達可能な全範囲を自車両後方の映像に重ねて表示する。このため、運転者は自車両を後退させつつ駐車枠に駐車させるための基準をさらに容易に得ることができる。
According to this configuration, the display unit that displays the image behind the host vehicle displays the entire range that can be reached when the host vehicle moves backward while maintaining the rudder angle within a predetermined range. Overlapping display. For this reason, the driver can more easily obtain a reference for parking the vehicle in the parking frame while retreating the host vehicle.
この場合、表示ユニットは、自車両の走行状態に応じて到達可能な範囲の表示を開始するものとできる。
In this case, the display unit can start displaying the reachable range according to the traveling state of the host vehicle.
この構成によれば、自車両の走行状態に応じて到達可能な範囲の表示を開始する。このため、運転者が表示ユニットに駐車支援のための表示を開始させるための操作が不要となる。
According to this configuration, display of a reachable range is started according to the traveling state of the host vehicle. For this reason, the driver | operator does not need operation for starting the display for parking assistance to a display unit.
また、表示ユニットは、自車両の舵角が閾値以上であるときに、到達可能な範囲の表示を開始するものとできる。
Also, the display unit can start displaying the reachable range when the steering angle of the host vehicle is greater than or equal to the threshold value.
この構成によれば、駐車時に多い状態である自車両の舵角が閾値以上と大きいときに、表示ユニットは、到達可能な範囲の表示を開始する。このため、駐車時に確実に駐車支援のための表示を開始することができる。
According to this configuration, the display unit starts displaying the reachable range when the rudder angle of the host vehicle, which is often in parking, is larger than the threshold value. For this reason, the display for parking assistance can be reliably started at the time of parking.
また、表示ユニットは、自車両の車速が閾値以下であるときに、到達可能な範囲のいずれかの表示を開始するものとできる。
Also, the display unit can start displaying any of the reachable ranges when the vehicle speed of the host vehicle is equal to or lower than the threshold value.
この構成によれば、駐車時に多い状態である自車両の車速が閾値以下と遅いときに、表示ユニットは、到達可能な範囲の表示を開始する。このため、駐車時に確実に駐車支援のための表示を開始することができる。
According to this configuration, the display unit starts displaying the reachable range when the vehicle speed of the host vehicle, which is often in parking, is slow below a threshold value. For this reason, the display for parking assistance can be reliably started at the time of parking.
本発明の駐車支援装置によれば、運転者が自車両を後退させつつ駐車枠に駐車させるための基準をさらに容易に得ることができる。
According to the parking assistance apparatus of the present invention, it is possible to more easily obtain a reference for the driver to park the vehicle in the parking frame while retreating the host vehicle.
以下、図面を参照して、本発明に係る駐車支援装置の好適な実施形態について詳細に説明する。本実施形態の駐車支援装置１０は、支援スイッチ１１、舵角センサ１２、ヨーレートセンサ１４、車速センサ１６、後方カメラ１８、描画装置２０及びディスプレイ２２を備えている。
Hereinafter, a preferred embodiment of a parking assistance apparatus according to the present invention will be described in detail with reference to the drawings. The parking assist device 10 of the present embodiment includes a support switch 11, a steering angle sensor 12, a yaw rate sensor 14, a vehicle speed sensor 16, a rear camera 18, a drawing device 20, and a display 22.
支援スイッチ１１は、運転者の操作によりディスプレイ２２に後方カメラ１８が撮像した自車両後方の映像を表示するためのスイッチである。また、支援スイッチ１１は、運転者の操作により、自車両が所定範囲内の舵角についてその舵角を維持しつつ後退した場合に到達可能な全範囲を誘導線等によりディスプレイ２２の自車両後方の映像に重畳して表示するためのスイッチである。支援スイッチ１２は、運転者の操作により自車両後方の画像のみを表示することが可能となっている。また、支援スイッチは、運転者の操作により、自車両の最大の舵角の範囲の内で所定範囲内の舵角を指定するようにされていても良い。
The support switch 11 is a switch for displaying an image behind the host vehicle captured by the rear camera 18 on the display 22 by the operation of the driver. In addition, the support switch 11 is configured so that the entire range that can be reached by the driver's operation when the host vehicle moves backward while maintaining the rudder angle within a predetermined range is displayed on the rear side of the display 22 by a guide line or the like. It is a switch for superimposing and displaying on the video. The support switch 12 can display only an image behind the host vehicle by a driver's operation. Further, the support switch may be configured to designate a rudder angle within a predetermined range within a range of the maximum rudder angle of the host vehicle by an operation of the driver.
舵角センサ１２は、自車両の前後方向に対する前輪タイヤの角度である舵角を検出するセンサである。ヨーレートセンサ１４は、自車両のヨーレートをジャイロセンサ等により検出するセンサである。車速センサ１６は、自車両の車輪の回転速度を検出することにより、自車両の車速を検出するセンサである。
The rudder angle sensor 12 is a sensor that detects a rudder angle that is an angle of the front tire with respect to the front-rear direction of the host vehicle. The yaw rate sensor 14 is a sensor that detects the yaw rate of the host vehicle using a gyro sensor or the like. The vehicle speed sensor 16 is a sensor that detects the vehicle speed of the host vehicle by detecting the rotational speed of the wheels of the host vehicle.
後方カメラ１８は、自車両の後方の映像を撮像するカメラである。本実施形態においては、後方カメラ１８は、対角画角６８度以上の広角レンズを備えているものとできる。
The rear camera 18 is a camera that captures an image behind the host vehicle. In the present embodiment, the rear camera 18 can include a wide-angle lens having a diagonal field angle of 68 degrees or more.
描画装置２０は、支援スイッチ１１、舵角センサ１２、ヨーレートセンサ１４及び車速センサ１６からの信号に基づいて、自車両が所定範囲内の舵角についてその舵角を維持しつつ後退した場合に到達可能な全範囲を誘導線等によりディスプレイ２２の自車両後方の映像に重畳して描画するための装置である。
The drawing device 20 arrives when the host vehicle moves backward while maintaining the steering angle within a predetermined range based on signals from the support switch 11, the steering angle sensor 12, the yaw rate sensor 14, and the vehicle speed sensor 16. It is a device for drawing the entire possible range by superimposing it on the video behind the host vehicle on the display 22 using a guide line or the like.
ディスプレイ２２は、後方カメラ１８により撮像された自車両後方の映像を表示する。また、ディスプレイ２２は、自車両が所定範囲内の舵角についてその舵角を維持しつつ後退した場合に到達可能な全範囲を誘導線等により自車両後方の映像に重畳して表示する。ディスプレイ２２は、駐車支援用として独立した液晶ディスプレイ等とできる。あるいはディスプレイ２２は、ナビゲーションシステム用のディスプレイと兼用としても良い。
The display 22 displays an image of the rear of the host vehicle captured by the rear camera 18. In addition, the display 22 displays the entire range that can be reached when the host vehicle retreats while maintaining the steering angle within a predetermined range on the video behind the host vehicle using a guide line or the like. The display 22 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
以下、本実施形態の駐車支援装置の動作について説明する。図３に示すように、自車両ＶＭが駐車枠Ｐに向けて走行しているものとする。駐車枠Ｐの隣には、他車両ＶＯも存在する。図２に示すように、支援スイッチ１１が運転者の操作によりＯＮとなった場合は（Ｓ１１）、描画装置２０は、ディスプレイ２２に自車両ＶＭの後方の映像と誘導線とを表示する（Ｓ１３）。
Hereinafter, the operation of the parking support apparatus of this embodiment will be described. As shown in FIG. 3, it is assumed that the host vehicle VM is traveling toward the parking frame P. Next to the parking frame P, there is another vehicle VO. As shown in FIG. 2, when the support switch 11 is turned on by the driver's operation (S11), the drawing apparatus 20 displays a video and a guide line behind the host vehicle VM on the display 22 (S13). ).
また、運転者により支援スイッチ１１が操作されなかったとしても（Ｓ１１）、舵角センサ１２により自車両の舵角が所定の閾値以上であることが検出され、車速センサ１６により自車両の車速が所定の閾値以下であることが検出されたときは（Ｓ１２）、描画装置２０は、ディスプレイ２２に自車両ＶＭの後方の映像と誘導線とを表示する（Ｓ１３）。
Even if the driver does not operate the support switch 11 (S11), the steering angle sensor 12 detects that the steering angle of the host vehicle is equal to or greater than a predetermined threshold, and the vehicle speed sensor 16 determines the vehicle speed of the host vehicle. When it is detected that the value is equal to or less than the predetermined threshold value (S12), the drawing apparatus 20 displays an image and a guide line behind the host vehicle VM on the display 22 (S13).
この場合の舵角の閾値は、図３の矢印の終端で示す自車両ＶＭの状態や、図４に示す自車両ＶＭの状態に合致するように、例えば、５度、２０度あるいは４０度とすることができる。また、この場合の車速の閾値は、例えば５ｋｍ／ｈとすることができる。舵角の替わりに、ヨーレートセンサ１４で検出されたヨーレートが所定の閾値以上であることを、ディスプレイ２２の表示の開始の条件としても良い。あるいは、自車両のトランスミッションのシフト位置が後退側の「Ｒ」になっていることを、ディスプレイ２２の表示の条件としても良い。あるいは、自車両のハザードランプ等の所定の照明が点灯されたことを、ディスプレイ２２の表示の条件としても良い。
The steering angle threshold in this case is, for example, 5 degrees, 20 degrees, or 40 degrees so as to match the state of the host vehicle VM indicated by the end of the arrow in FIG. 3 or the state of the host vehicle VM illustrated in FIG. can do. Moreover, the threshold value of the vehicle speed in this case can be set to 5 km / h, for example. Instead of the steering angle, the display start condition of the display 22 may be that the yaw rate detected by the yaw rate sensor 14 is equal to or greater than a predetermined threshold. Alternatively, the display condition of the display 22 may be that the shift position of the transmission of the host vehicle is “R” on the reverse side. Alternatively, a display condition of the display 22 may be that a predetermined illumination such as a hazard lamp of the host vehicle is turned on.
図４に示すように自車両ＶＭが低速で大きな操舵角で前進すると、図５に示すような映像がディスプレイ２２に表示される。図５に示すように、ディスプレイ２２には、自車両ＶＭの後方の映像が表示される。ディスプレイ２２には、駐車枠Ｐと他車両ＶＯとが表示される。ディスプレイ２２には、自車両ＶＭの後方の映像に重畳して、自車両が所定範囲内の舵角についてその舵角を維持しつつ後退した場合に到達可能な全範囲が誘導線Ｌにより表示される。この場合、到達可能な全範囲と他の部分とを陰影や色分けにより表示しても良い。このような自車両が到達可能な範囲は、所定範囲内の舵角により自車両が後退したときに到達可能な範囲を予め算出しておき、当該範囲を後方カメラ１８の視点から視た画像として座標変換することにより求めることができる。
As shown in FIG. 4, when the host vehicle VM moves forward at a low speed and a large steering angle, an image as shown in FIG. As shown in FIG. 5, an image behind the host vehicle VM is displayed on the display 22. The display 22 displays the parking frame P and the other vehicle VO. On the display 22, the entire range that can be reached when the host vehicle moves backward while maintaining the steering angle of the steering angle within a predetermined range is displayed by the guide line L, superimposed on the image behind the host vehicle VM. The In this case, the entire reachable range and other parts may be displayed by shading or color coding. The range that the host vehicle can reach is calculated in advance as a range that can be reached when the host vehicle moves backward by a steering angle within a predetermined range, and the range is an image viewed from the viewpoint of the rear camera 18. It can be obtained by coordinate transformation.
本実施形態によれば、自車両ＶＭの後方の映像をディスプレイ２２に表示する描画装置２０は、自車両ＶＭが所定範囲内の舵角について舵角を維持しつつ後退した場合に到達可能な全範囲を自車両ＶＭの後方の映像に重ねて表示する。このため、運転者は自車両ＶＭを後退させつつ駐車枠Ｐに駐車させるための基準をさらに容易に得ることができる。すなわち、運転者は、ディスプレイ２２に表示された後方の映像と自車両ＶＭが後退により到達可能な範囲とを視ながら、駐車枠Ｐに対して自車両ＶＭを移動させることにより、自然に駐車枠Ｐの中に自車両ＶＭを後退させることが可能な位置に自車両ＶＭを移動させることができる。
According to the present embodiment, the drawing device 20 that displays the video behind the host vehicle VM on the display 22 is all reachable when the host vehicle VM moves backward while maintaining the steering angle within a predetermined range. The range is displayed so as to overlap the video behind the host vehicle VM. For this reason, the driver can more easily obtain a reference for parking the parking frame P while retreating the host vehicle VM. That is, the driver moves the host vehicle VM with respect to the parking frame P while viewing the rear image displayed on the display 22 and the range in which the host vehicle VM can be reached by retreating, so that the parking frame is naturally The host vehicle VM can be moved to a position where the host vehicle VM can be moved backward in P.
また、本実施形態では、駐車枠Ｐを認識する必要がないため、自車両ＶＭが駐車枠近くで長い時間停車する必要が無く、他車両ＶＯ等の通行の妨げとなることを防止することができる。さらに、本実施形態では、駐車枠Ｐを認識する必要が無いため、情報処理のための装置の演算負荷は小さいものとできる。
Moreover, in this embodiment, since it is not necessary to recognize the parking frame P, it is not necessary for the own vehicle VM to stop for a long time near the parking frame, and it is possible to prevent the other vehicle VO or the like from being obstructed. it can. Furthermore, in this embodiment, since it is not necessary to recognize the parking frame P, the calculation load of the apparatus for information processing can be made small.
また、描画装置２０は、自車両ＶＭの走行状態に応じて到達可能な範囲の表示を開始する。このため、運転者が描画装置２０に駐車支援のための表示を開始させるための操作が不要となる。つまり、本実施形態によれば、駐車時に多い状態である自車両ＶＭの舵角が閾値以上と大きく、自車両ＶＭの車速が閾値以下と遅いときに、描画装置２０は、到達可能な範囲の表示を開始する。このため、駐車時に確実に駐車支援のための表示を開始することができる。
Further, the drawing device 20 starts displaying a reachable range according to the traveling state of the host vehicle VM. For this reason, the driver | operator does not need operation for starting the display for parking assistance to the drawing apparatus 20. FIG. In other words, according to the present embodiment, when the rudder angle of the host vehicle VM, which is in a large state at the time of parking, is larger than the threshold value and the vehicle speed of the host vehicle VM is as low as the threshold value or less, the drawing device 20 Start displaying. For this reason, the display for parking assistance can be reliably started at the time of parking.
以上、本発明の好適な実施形態について説明したが、本発明は上記実施形態に限定されるものではない。
The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.
本発明の駐車支援装置によれば、運転者が自車両を後退させつつ駐車枠に駐車させるための基準をさらに容易に得ることができる。
According to the parking assistance apparatus of the present invention, it is possible to more easily obtain a reference for the driver to park the vehicle in the parking frame while retreating the host vehicle.
１０ 駐車支援装置
１１ 支援スイッチ
１２ 舵角センサ
１４ ヨーレートセンサ
１６ 車速センサ
１８ 後方カメラ
２０ 描画装置
２２ ディスプレイ DESCRIPTION OFSYMBOLS 10 Parking assistance apparatus 11 Support switch 12 Rudder angle sensor 14 Yaw rate sensor 16 Vehicle speed sensor 18 Rear camera 20 Drawing apparatus 22 Display
１１ 支援スイッチ
１２ 舵角センサ
１４ ヨーレートセンサ
１６ 車速センサ
１８ 後方カメラ
２０ 描画装置
２２ ディスプレイ DESCRIPTION OF
Claims (4)
- 自車両後方の映像を表示する表示ユニットを備え、
前記表示ユニットは、前記自車両が所定範囲内の舵角について前記舵角を維持しつつ後退した場合に到達可能な全範囲を前記自車両後方の映像に重ねて表示する、駐車支援装置。 It has a display unit that displays the video behind the vehicle
The said display unit is a parking assistance apparatus which superimposes and displays on the image | video behind the said own vehicle the range which can be reached when the said own vehicle reverse | retreats about the rudder angle within a predetermined range, maintaining the said rudder angle. - 前記表示ユニットは、前記自車両の走行状態に応じて前記到達可能な範囲の表示を開始する、請求項１に記載の駐車支援装置。 The parking support device according to claim 1, wherein the display unit starts displaying the reachable range according to a traveling state of the host vehicle.
- 前記表示ユニットは、前記自車両の舵角が閾値以上であるときに、前記到達可能な範囲の表示を開始する、請求項２に記載の駐車支援装置。 The parking support device according to claim 2, wherein the display unit starts displaying the reachable range when a steering angle of the host vehicle is equal to or greater than a threshold value.
- 前記表示ユニットは、前記自車両の車速が閾値以下であるときに、前記到達可能な範囲の表示を開始する、請求項２又は３に記載の駐車支援装置。 The parking support device according to claim 2 or 3, wherein the display unit starts displaying the reachable range when the vehicle speed of the host vehicle is equal to or less than a threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2010/057471 WO2011135671A1 (en) | 2010-04-27 | 2010-04-27 | Parking support device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2010/057471 WO2011135671A1 (en) | 2010-04-27 | 2010-04-27 | Parking support device |
Publications (1)
| Publication Number | Publication Date |
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| WO2011135671A1 true WO2011135671A1 (en) | 2011-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP2010/057471 WO2011135671A1 (en) | 2010-04-27 | 2010-04-27 | Parking support device |
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| WO (1) | WO2011135671A1 (en) |
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