WO2017154787A1 - Système d'affichage de zone de stationnement et système de stationnement automatique faisant appel à celui-ci - Google Patents

Système d'affichage de zone de stationnement et système de stationnement automatique faisant appel à celui-ci Download PDF

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Publication number
WO2017154787A1
WO2017154787A1 PCT/JP2017/008560 JP2017008560W WO2017154787A1 WO 2017154787 A1 WO2017154787 A1 WO 2017154787A1 JP 2017008560 W JP2017008560 W JP 2017008560W WO 2017154787 A1 WO2017154787 A1 WO 2017154787A1
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WIPO (PCT)
Prior art keywords
vehicle
parking area
parking
unit
parallel projection
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PCT/JP2017/008560
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English (en)
Japanese (ja)
Inventor
飯尾　聡
塘中　哲也
裕介 木内
泰郎 藤島
ケビン ウォルターズ
Original Assignee
三菱重工業株式会社
三菱自動車工業株式会社
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Publication of WO2017154787A1 publication Critical patent/WO2017154787A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles

Definitions

  • the present invention relates to a parking area display system that displays a parking area where a vehicle can be parked, and an automatic parking system using the parking area display system.
  • a parking lot frame detected by image processing of the image is superimposed on an image captured by a rear camera, and a driver confirms or changes the display position of the parking lot frame.
  • the parked parking lot is parked by automatic driving.
  • the present invention has been made in view of the above problems, and an object thereof is to provide a parking area display system in which a driver can easily check a parking area and an automatic parking system using the parking area display system.
  • the parking area display system for solving the above-mentioned problems is A first photographing means for photographing an image of the side of the vehicle while traveling in front of a parking section on the side of the vehicle; A distance measuring means for measuring a distance between the vehicle and the object on the side of the vehicle along a horizontal direction; Based on the amount of movement and the direction of movement of the vehicle while traveling, a vehicle position calculation unit that calculates the vehicle position; A parallel projection image creating unit that creates a parallel projection image based on the plurality of images photographed by the first photographing unit; A parking area detection unit that detects an area larger than the vehicle length and width of the vehicle as a parking area based on the distance in the horizontal direction measured by the distance measuring unit; Based on the vehicle position calculated by the vehicle position calculation unit, the parking area detected by the parking area detection unit is superimposed on the parallel projection image created by the parallel projection image creation unit.
  • a parking area display system for solving the above-mentioned problems is as follows.
  • the distance measuring means further measures the distance to the object on the side of the vehicle along the vertical direction
  • the parking area detecting unit detects an area larger than the vehicle length, width, and height of the vehicle as a parking area based on the distance in the horizontal direction and the vertical direction measured by the distance measuring unit. .
  • a parking area display system for solving the above-mentioned problems is as follows.
  • the parallel projection image creation unit cuts out a central area of each of the plurality of images photographed by the first photographing unit, and sets each central area to the own vehicle position calculated by the own vehicle position calculation unit.
  • the parallel projection image is generated by superimposing while shifting to a corresponding position.
  • a parking area display system for solving the above-mentioned problems is as follows.
  • a second photographing means for photographing an image in front of the vehicle during the traveling;
  • a bird's-eye image creation unit that creates a driver-view bird's-eye image by combining the parallel projection image created by the parallel projection image creation unit and the current image taken by the second photographing unit;
  • the parking area display unit superimposes and displays the parking area detected by the parking area detection unit on the bird's eye image created by the bird's eye image creation unit.
  • a parking area display system for solving the above-mentioned problems is as follows.
  • a first range indicating the size when the door of the vehicle is closed and a second range indicating the size when the door is opened are displayed in the parking area, and output to the display means,
  • the position of the 1st range and the 2nd range can be corrected, and it has further a parking position correction part which makes the position of the 1st range and the 2nd range at the time of confirmation the parking position.
  • An automatic parking system for solving the above-described problems is as follows.
  • the parking area display system according to the fifth invention; And at least an actuator for steering the vehicle,
  • the parking position is confirmed by the parking area display system, the steering is steered by the actuator, and the vehicle is guided to the parking position at the time of confirmation.
  • the detected parking area is superimposed and displayed on the parallel projection image created based on the plurality of images, in the parallel projection image that is not behind the obstacles such as other parked vehicles.
  • the parking area is displayed, and it becomes easy to visually confirm the parking area.
  • the distance to the vehicle side is measured along the horizontal direction, and based on the measured distance in the horizontal direction, an area larger than the vehicle length and width of the vehicle is detected as a parking area. Even if the white line of the frame is dirty or the white line is cut, the parking area can be detected.
  • the distance to the object on the side of the vehicle is measured along the horizontal direction and the vertical direction, and based on the measured distance in the horizontal direction and the vertical direction, the vehicle length, width, and Since the area larger than the height is detected as the parking area, the parking area can be detected even if the white line of the parking partition frame is dirty or the white line is broken, and the detected parking area is high. Since direction information is also included, it is easy to visually confirm the size (width and height) of the parking area.
  • the central regions of the plurality of captured images are each cut out, and the parallel projection images are created by superimposing each central region while shifting to the position corresponding to the vehicle position. Further, the parallel projection image becomes an image that is not behind an obstacle such as another parked vehicle, and the parking area can be easily visually confirmed.
  • the bird's-eye view image of the driver viewpoint is created by combining the created parallel projection image and the current image capturing the front of the vehicle, and the detected parking area is superimposed on the bird's-eye view image. Therefore, it is easier to check the surrounding environment than a conventional around view monitor.
  • the conventional around view monitor displays an image obtained by projecting a camera image on a virtual road surface, a three-dimensional image is displayed as stretched. For example, the image of the conventional around view monitor shown in FIG. 15 is displayed as if the front portion of the vehicle is extended.
  • the created bird's-eye view image is an image from the driver's viewpoint, it is easy to visually confirm the parking area.
  • the parking position can be corrected by displaying the first range indicating the size when the door of the vehicle is closed and the second range indicating the size when the door is opened in the parking area. Therefore, it is possible to adjust the parking position to a desired position with an appropriate space between adjacent obstacles (such as other parked vehicles) while confirming the position where the driver can park.
  • the parking position is confirmed using the parking area display system according to the fifth aspect, an appropriate distance between adjacent obstacles (such as other parked vehicles).
  • the vehicle can be guided and parked at a parking position with a gap.
  • FIG. 1 It is a block diagram which shows an example (Example 1) of embodiment of the automatic parking system which concerns on this invention. It is a flowchart explaining the procedure which the automatic parking system shown in FIG. 1 implements. It is a figure explaining the operation
  • FIG. 1 it is a figure which shows the screen of the parking position confirmation displayed on a touch panel.
  • FIG. 2 shows another example (Example 2) of embodiment of the automatic parking system which concerns on this invention.
  • FIG. 9 shows the procedure which the automatic parking system shown in FIG. 9 implements.
  • FIG. 10 is a diagram showing a parking position confirmation screen displayed on the touch panel in the automatic parking system shown in FIG. 9.
  • Embodiments of a parking area display system and an automatic parking system using the parking area display system according to the present invention will be described with reference to FIGS.
  • the parking area display system according to the present invention and the automatic parking system using the parking area display system are collectively referred to as an automatic parking system.
  • FIG. 1 is a block diagram illustrating an automatic parking system according to the present embodiment
  • FIG. 2 is a flowchart illustrating a procedure performed by the automatic parking system illustrated in FIG. 1.
  • the automatic parking system of the present embodiment includes a start / end switch 11, a vehicle position sensor 12, a side camera 13 ⁇ / b> A, a distance measurement sensor 14, a touch panel 15, and a steering actuator 16. , An accelerator actuator 17, a brake actuator 18, and a control device 20A.
  • the start / end switch 11 is a switch for operating the start or end of the automatic parking system of the present embodiment.
  • parking area and parking position display which will be described later, and automatic parking start.
  • the driver turns off the start / end switch 11, the parking area, parking position display and automatic parking are started. Ends.
  • an operation button instead of the start / end switch 11 may be displayed on a touch panel described later, and the start or end of the system may be operated by the driver touching the displayed operation button.
  • the own vehicle position sensor 12 detects the own vehicle position.
  • a wheel speed sensor or a steering angle sensor is used.
  • the wheel speed sensor is attached to the rear wheel, for example, and detects the angular speed of the rear wheel
  • the steering angle sensor is attached to, for example, a steering column, and detects the steering angle of the steering wheel.
  • the movement amount and the movement direction can be calculated based on the steering angle
  • the vehicle position can be calculated based on the movement amount and the movement direction. It should be noted that other sensors may be used instead of the wheel speed sensor and the steering angle sensor as long as the vehicle position can be detected.
  • the side camera 13A continuously captures images on both sides of the vehicle. As will be described later, in order to create a parallel projection image from continuous camera images, the side camera 13A is attached at an angle for photographing the horizontal direction of the side.
  • the side camera 13A may be attached to the nose (front end center) of the vehicle or to both the left and right door mirrors, but may be attached anywhere as long as both sides of the vehicle can be photographed.
  • the distance measuring sensor 14 measures the distance from an object on the side of the vehicle along the horizontal direction. That is, the change in the distance along the horizontal direction that is the traveling direction (vehicle length direction) is measured on the side of the vehicle.
  • an ultrasonic sensor or a radar is used as the distance measurement sensor 14.
  • the distance measurement sensor 14 may be attached to the nose of the vehicle or the left and right door mirrors together with the side camera 13A described above, but may be attached anywhere as long as the vehicle side can be measured.
  • the distance from the object on the side of the vehicle may be measured along the horizontal direction and the vertical direction.
  • the distance measurement sensor 14 for example, an ultrasonic sensor or a radar is used.
  • the ultrasonic sensor or the radar is configured to scan in the vertical direction.
  • the plurality of ultrasonic sensors or radars may be configured to measure different heights.
  • Touch panel 15 displays a parking area and a parking position together with a parallel projection image.
  • touch panel 15 a touch panel of a navigation system can be used.
  • the steering actuator 16 steers the vehicle by operating a steering handle (not shown).
  • the accelerator actuator 17 operates an accelerator (not shown), and the brake actuator 18 operates a brake (not shown).
  • the accelerator actuator 17 and the brake actuator 18 operate acceleration / deceleration and speed of the vehicle. ing.
  • the control device 20A based on the input from the start / end switch 11, the vehicle position sensor 12, the side camera 13A, the distance measurement sensor 14, and the touch panel 15, performs parallel projection images and parking according to the procedure of the flowchart shown in FIG. While displaying the area, the parking position is confirmed, and the steering actuator 16, the accelerator actuator 17 and the brake actuator 18 are automatically controlled based on the confirmed parking position to guide the vehicle to the parking position.
  • an ECU Electronics Control Unit
  • this ECU is a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory). Etc.
  • control device 20A includes a host vehicle position calculation unit 21, a parallel projection image creation unit 22A, a parking area detection unit 23, a parking area display unit 24A, a parking position correction unit 25A, and an automatic parking control unit 26. ing. These configurations will be described later together with the flowchart shown in FIG.
  • the automatic parking system of the present embodiment starts when the driver turns on the start / end switch 11. For example, in a parking lot where parking sections are continuously arranged in parallel (parallel parking type parking lot), when the host vehicle comes to the entrance of the parking section area, the start / end switch 11 may be turned on.
  • Step S1A After the start / end switch 11 is turned on, as shown in FIG. 3, the driver drives the vehicle so as to cross the front of the parking area Pa (parking areas P 1 to P 4 ) on the side of the vehicle, and the vehicle is running Acquire data.
  • reference numeral 10 1 indicates the host vehicle at the initial position
  • reference numeral A 1 indicates data acquisition at the position
  • Reference numeral 10 i indicates a host vehicle at a position after moving from the first position
  • reference numeral A i indicates data acquisition at the position
  • reference numeral 10 n indicates a host vehicle at the last position.
  • reference numeral a n denotes the data acquisition in the position. Note that i is a positive integer of 2 or more and less than n, and n is a positive integer of 3 or more.
  • the camera 13A acquires a horizontal camera image on the side of the vehicle (see FIG. 4 to be described later), and the distance measurement sensor 14 (ultrasonic sensor) measures the distance to an object existing on the side of the host vehicle. (See FIG. 6 described later).
  • the own vehicle position calculation unit 21 calculates the own vehicle position based on the moving amount and moving direction of the own vehicle during travel. Specifically, the amount of movement is calculated based on the detection value of the vehicle position sensor 12, that is, the angular velocity detected by the wheel speed sensor, and the movement is performed based on the steering angle of the steering detected by the steering angle sensor. The direction is calculated, and the vehicle position is calculated based on the movement amount and the movement direction.
  • Step S3A The parallel projection image creation unit 22A creates a parallel projection image from a plurality of continuous camera images photographed by the side camera 13A, and outputs the created parallel projection image to the touch panel 15.
  • the side camera 13A has a plurality of continuous camera images G 1 ,..., G i ,. Gn will be taken. Then, the central regions of a plurality of continuous camera images G 1 ,..., G i ,..., G n shown in FIG.
  • a parallel projection image G pp shown in FIG. 5 is created and output to the touch panel 15 by sequentially superposing and synthesizing while shifting to a position corresponding to the vehicle position.
  • the camera image G 1 shown in FIG. 4 ..., G i, ... , G n , the data acquisition A 1 shown in FIG. 3, ..., A i, ..., correspond to a A n.
  • the camera image G i in FIG. 4 shows a cut-out portion of the central area in the cutout amount du (dotted line), in Figure 5, a portion (dotted line) corresponding to the cut-out portion Show.
  • Step S4 The parking area detection unit 23 determines whether a parking area where the host vehicle can be parked is detected based on a distance from an object existing on the side of the host vehicle measured by the distance measurement sensor 14 (ultrasonic sensor). If the parking area is not detected, the process returns to step S1A. If the parking area is detected, the process proceeds to step S5A.
  • the distance measurement sensor 14 measures the distance along the horizontal direction, an area larger than the vehicle length and width of the host vehicle is detected as a parking area, and the distance measurement sensor 14 follows the horizontal direction and the vertical direction. When measuring the distance, an area larger than the vehicle length, width and height of the host vehicle may be detected as a parking area.
  • FIG. 6 shows a parallel projection image G pp (see FIG. 5) created by the parallel projection image creation unit 22A in order to show the correspondence with the graph in the upper part of FIG.
  • the distance measured by the distance measuring sensor 14 (ultrasonic sensor) reflects the parking situation shown in FIG. 3, and the distance corresponding to the parking section P 3 is the parking section P 1.
  • P 2 and P 4 are larger than the length of one vehicle compared to the distance of the portion corresponding to P 4 .
  • the distance of the part corresponding to the parking section P 2 is larger than the distance of the part corresponding to the parking sections P 1 and P 4 by the amount parked by the parked vehicle.
  • the graph shown in the upper part of FIG. 6 is data when the distance is measured along the horizontal direction of the height position where the distance measurement sensor 14 is located. Specifically, measurement data of a two-dimensional plane obtained by measuring the distance in the horizontal direction (vehicle width direction) perpendicular to the traveling direction along the horizontal direction that is the traveling direction (vehicle length direction) of the host vehicle. Yes. Therefore, in the horizontal direction on the side of the host vehicle, an area on a two-dimensional plane that can be parked can be detected. Therefore, when a region on a two-dimensional plane that is larger than the vehicle length and width of the host vehicle is detected, this region is detected as the parking region Pt.
  • the parking area Pt is not detected.
  • the distance measuring sensor 14 measures the distance along the horizontal direction and the vertical direction
  • a plurality of data similar to the graph shown in the upper part of FIG. 6 are measured according to the height position. That is, measurement data in a three-dimensional space in which the distance in the horizontal direction (vehicle width direction) perpendicular to the traveling direction is measured at a plurality of height positions along the horizontal direction that is the traveling direction (vehicle length direction) of the host vehicle. It has become. Therefore, in the horizontal direction and the vertical direction on the side of the host vehicle, it is possible to detect an area in the three-dimensional space that is a parking area where parking is possible. Accordingly, when a region in the three-dimensional space that is larger than the vehicle length, width, and height of the host vehicle is detected, this region is detected as the parking region Pt.
  • the parking region Pt Not detected even if the region where the measured distance is longer than the vehicle length continues over the vehicle width, if the region is less than the vehicle height in the vertical direction (height direction), the parking region Pt Not detected. Moreover, even if the area where the measurement distance is longer than the vehicle length of the host vehicle continues over the vehicle height in the vertical direction (height direction), if the area is less than the vehicle width, the parking area Pt Not detected.
  • the width of the parking area Pt is set based on the vehicle width of the host vehicle.
  • What is necessary is just to set the width
  • step S1A the process returns to step S1A, the host vehicle is driven until the parking area Pt is detected, and the above-described steps S1A to S4 are repeated.
  • Step S5A Parking area display unit 24A, when the parking area Pt are detected, as shown in FIG. 7, and displayed superimposed the parking area Pt on parallel projection image G pp, and output to the touch panel 15
  • the touch panel 15 displays the output screen. Since both the parallel projection image Gpp and the parking area Pt have a corresponding relationship with the own vehicle position calculated by the own vehicle position calculation unit 21, the parking area Pt is at an accurate position on the parallel projection image Gpp. Can be displayed.
  • the distance measurement sensor 14 ultrasonic sensor
  • detects the width (or width and height) of the parking area Pt it includes the width (or width and height) of the parking area Pt in parallel. It can be displayed on the projection image Gpp .
  • Step S6A The parking position correction unit 25A uses the screen shown in FIG. 8 to allow the touch panel 15 to correct the parking position and to confirm the final parking position.
  • the screen shown in FIG. 8 includes the screen shown in FIG. 7 and further displays a function for correcting and confirming the parking position.
  • a message “Please check the parking position.” Is displayed, and the parking area Pt (see double line) displayed on the parallel projection image Gpp is displayed.
  • a first range Ta (see dotted line) indicating the size (vehicle width and height) when the vehicle door is closed, and the size when the vehicle door is released
  • a second range Tb (see solid line) indicating the height (width and vehicle height) is displayed.
  • the parking area Pt, the first range Ta, and the second range Tb are displayed in different colors so that they are easily visible. For example, the parking area Pt is green, the first range Ta is blue, and the second range Tb. Is displayed in red.
  • the above-described first range Ta and second range Tb are displayed together with the image of the vehicle itself.
  • the left arrow displayed below the image of the host vehicle itself each time the driver touches the left arrow once, the first range Ta and the second range Tb described above are left in the frame of the parking area Pt. By moving by a predetermined amount, the set parking position is moved to the left by a predetermined distance.
  • the first range Ta and the second range Tb described above are set to move to the right by a predetermined amount within the frame of the parking area Pt.
  • the parking position is moved to the right by a predetermined distance.
  • the parking position is corrected by such an operation.
  • the driver pointing arrow when the driver pointing arrow is displayed on the vehicle's own image touches, within the frame of the parking area Pt on parallel projection image G pp, the vehicle's own image is displayed, the left arrow and the aforementioned When the driver touches the right arrow, the parking position can be changed together with the image of the vehicle itself.
  • the confirmation is completed when the driver touches the “OK” button displayed at the lower right of the screen. That is, the positions of the first range Ta and the second range Tb at the time of confirmation are final parking positions.
  • the automatic parking control unit 26 uses the steering actuator 16 to automatically control the steering handle of the host vehicle to steer the host vehicle so as to guide the host vehicle to the parking position confirmed by the above-described procedure.
  • the accelerator and brake are automatically controlled using the accelerator actuator 17 and the brake actuator 18 to operate acceleration / deceleration and speed of the host vehicle.
  • steps S7 to S8 the steering wheel, accelerator and brake are automatically controlled to automatically park the host vehicle.
  • the steering wheel is automatically controlled, and the accelerator and brake are operated by the driver. You may make it perform the parking assistance of a vehicle. That is, it is good also as an automatic parking assistance system.
  • the parallel projection image G pp created from the acquired camera image during running it is possible to target parking partition not in the shadow of the adjacent parked vehicle, to improve the visibility. Further, on the parallel projection image G pp created, not only the parking area Pt, since displaying a first range Ta and the second range Tb when door release when the door closed, when the parking to the parking area Pt This makes it easy to check and correct the parking position. As a result, the parking position can be easily corrected to a position desired by the driver, for example, to the center in the frame of the parking area Pt or to the left or right side. In addition, when the parking area Pt includes not only the width but also information in the height direction, for example, when parking a tall vehicle, the size (width and height) of the parking area Pt. Can be confirmed visually.
  • FIG. 9 is a block diagram illustrating the automatic parking system according to the present embodiment
  • FIG. 10 is a flowchart illustrating a procedure performed by the automatic parking system illustrated in FIG. 9.
  • the automatic parking system of the present embodiment basically has a configuration substantially the same as that of the automatic parking system of the first embodiment shown in FIG. 1, and the procedure performed by the automatic parking system of the present embodiment is also described. Basically, the procedure is substantially the same as the procedure performed by the automatic parking system of the first embodiment shown in FIG.
  • the automatic parking system of the present embodiment shown in FIG. 9 differs from the automatic parking system of the first embodiment shown in FIG. 1 in addition to the side camera 13A, the front camera 13B (second photographing means).
  • the control device 20B instead of the parallel projection screen creation unit 22A, the control device 20B has a bird's-eye view image creation unit 22B.
  • the procedure executed by the automatic parking system of the present embodiment shown in FIG. 10 is different from the procedure executed by the automatic parking system of the first embodiment shown in FIG. 2 in that step S3B is used instead of step S3A. is there.
  • the parking area display unit 24B and the parking position correction unit 25B are partially different in contents, and the contents of steps S1B, S5B, and S6B are also partially different. Come.
  • the automatic parking system of the present embodiment also starts when the driver turns on the start / end switch 11 as in the first embodiment.
  • Step S1B data acquisition is performed during traveling in substantially the same manner as in the first embodiment.
  • the wheel speed sensor acquires the angular velocity
  • the steering angle sensor acquires the steering angle
  • the side camera 13A acquires the horizontal camera image of the vehicle side
  • the distance the measurement sensor 14 (ultrasonic sensor) measures the distance from an object existing on the side of the host vehicle, in the present embodiment, the front camera 13B further acquires a camera image in front of the vehicle.
  • the front camera 13B captures the front of the vehicle during traveling, and, as will be described later, in order to create a bird's-eye view image from the camera image of the front camera 13B, the front camera 13B is attached at an angle for capturing the front. Yes.
  • the front camera 13B is attached to the nose of the vehicle, but may be attached anywhere as long as the front of the vehicle can be photographed.
  • Step S2 Similar to the first embodiment, the host vehicle position calculation unit 21 calculates the host vehicle position based on the amount of movement and the direction of movement of the host vehicle.
  • Step S3B The bird's-eye image creation unit 22B creates a bird's-eye view image of the driver viewpoint by combining the parallel projection image by the side camera 13A and the current camera image by the front camera 13B by the following procedure.
  • virtual planes F 1 to F 5 perpendicular to the road surface S are set in the top view of the real space shown in FIG. Specifically, the center of the front end of the host vehicle 10 is the assumed position C of the driver, and the virtual planes F 1 and F 2 along the vehicle length direction are located at a position 2 m away from the assumed position C on the left side.
  • the vehicle travels about 1 m away from the parking area, and the side camera 13A that captures the left and right sides is at the nose position of the vehicle 10 having a vehicle width of about 2 m. Reflects that it is installed.
  • the side camera 13A is attached to the left and right door mirror positions, the virtual planes F 1 and F 2 are about 1 m from the left side camera 13A to the left side, and the virtual planes F 4 and F 5 are the right side. It is preferable that the distance is about 1 m on the right side from the direction camera 13A.
  • the virtual planes F 1 and F 5 are on the vehicle rear side from the position of the assumed position C in the vehicle length direction, and the virtual planes F 2 and F 4 are on the vehicle front side from the position of the assumed position C in the vehicle length direction. It is said.
  • the assumed position C is the camera position of the front camera 13B.
  • the virtual planes F 1 and F 5 are parallel from a plurality of continuous camera images photographed by the side camera 13A, as in the parallel projection image creation unit 22A described in the first embodiment.
  • a projection image is created, and the created parallel projection image is projected onto virtual planes F 1 and F 5 .
  • the bird's-eye image creation unit 22B, with respect to the virtual plane F 2 ⁇ F 4, by projecting the current camera image is captured by the front camera 13B (real-time image) to the virtual plane F 2 ⁇ F 4 Yes.
  • the bird's-eye image creation unit 22B looks from the assumed position C close to the driver viewpoint based on the virtual planes F 1 and F 5 onto which the parallel projection images are projected and the virtual planes F 2 to F 4 onto which the real-time images are projected. A bird's-eye view image is created and the created bird's-eye view image is output to the touch panel 15 (see FIG. 12).
  • Step S4 the parking area detection unit 23 determines whether the parking area Pt has been detected based on the distance measured by the distance measurement sensor 14 (ultrasonic sensor), and detects the parking area Pt. If not, the process returns to step S1B. If the parking area Pt is detected, the process proceeds to step S5B.
  • the distance measurement sensor 14 ultrasonic sensor
  • Step S5B When the parking area Pt is detected, the parking area display unit 24B superimposes and displays the parking area Pt on the bird's eye image as shown in FIG. At this time, the parking area display unit 24B displays the traveling direction M of the host vehicle 10 on the screen and the route R to the detected parking area Pt while the host vehicle 10 is moving forward.
  • the parallel projection image (Formula 2 below) and the display method of the route R when traveling parallel to the parking lot as shown in FIG. 3 will be described.
  • the route R is displayed based on the pinhole camera model.
  • the route R is displayed based on the following formulas 3 and 4 as described below.
  • the current vehicle position is set to position: x (t), y (t), posture: rz (t), and the vehicle position just before is x (t ⁇ 1), y (t ⁇ 1),
  • rz (t-1) be the vehicle position at the start of parallel projection image creation, x (0), y (0), rz (0).
  • du k ⁇ d Equation 1
  • k fp / L
  • the cutout amount (cutout pixel) on the camera image is du [pixel]
  • the correspondence between the parallel projection image I (u, v) and the current camera image I ′ (u ′, v ′) is as follows. Equation 2 is obtained. 4 and 5, the cutout portion (dotted line portion) cut out from the camera image shown in FIG. 4 with the cutout amount du corresponds to the dotted line portion of the parallel projection image shown in FIG.
  • d 0 x (t) ⁇ x (0), (w ⁇ du) / 2 ⁇ u ′ ⁇ (w + du) / 2 (W: number of pixels in u 'direction of camera image)
  • Step S6B In the parking position correction unit 25B, the parking position can be corrected and the final parking position is confirmed on the touch panel 15 using the screen including the bird's-eye view image shown in FIG.
  • Steps S7 to S8 As in the first embodiment, the automatic parking control unit 26 starts automatic parking so as to guide the host vehicle to the confirmed parking position, and after the host vehicle stops at the parking position, the start / end switch described above by the driver. When 11 is turned off, the automatic parking is ended.
  • the bird's-eye view image including the parallel projection image is used, and the image is close to the driver's viewpoint, so that the driver can easily recognize the parking area Pt.
  • an image that allows easy confirmation of the surrounding environment is displayed even when compared with a known around view monitor.
  • the detected parking area Pt is displayed in an easily understandable manner by the driver.
  • the present invention is applicable to all vehicles, for example, passenger cars, construction vehicles, agricultural vehicles, industrial vehicles, and the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Afin de fournir un système d'affichage de zone de stationnement qui permet à un conducteur de confirmer facilement une zone de stationnement, et un système de stationnement automatique faisant appel à celui-ci, l'invention concerne une caméra latérale (13A) pour capturer des images des côtés d'un véhicule en mouvement, un capteur de mesure de distance (14) pour mesurer la distance à des objets présents sur les côtés du véhicule en mouvement, une unité de calcul de position de véhicule (21) pour calculer la position du véhicule sur la base de la quantité de mouvement et de la direction de mouvement détectées par un capteur de position de véhicule (12), une unité de génération d'image de projection parallèle (22A) pour générer une image de projection parallèle sur la base d'une pluralité d'images capturées par la caméra latérale (13A), une unité de détection de zone de stationnement (23) pour détecter une zone de stationnement sur la base de la distance calculée par le capteur de mesure de distance (14), une unité d'affichage de zone de stationnement (24A) pour afficher une zone de stationnement détectée par l'unité de détection de zone de stationnement (23) superposée à l'image de projection parallèle générée par l'unité de génération d'image de projection parallèle (22A), et un écran tactile (15) pour afficher l'image de projection parallèle et la zone de stationnement sorties par l'unité d'affichage de zone de stationnement (24A).
PCT/JP2017/008560 2016-03-07 2017-03-03 Système d'affichage de zone de stationnement et système de stationnement automatique faisant appel à celui-ci WO2017154787A1 (fr)

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JP2016043286A JP2017159687A (ja) 2016-03-07 2016-03-07 駐車領域表示システム及びそれを用いた自動駐車システム
JP2016-043286 2016-03-07

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JP2020107308A (ja) * 2018-12-27 2020-07-09 財團法人工業技術研究院Ｉｎｄｕｓｔｒｉａｌ Ｔｅｃｈｎｏｌｏｇｙ Ｒｅｓｅａｒｃｈ Ｉｎｓｔｉｔｕｔｅ 駐車スポット検出システム
JP2020142690A (ja) * 2019-03-07 2020-09-10 パナソニックＩｐマネジメント株式会社 表示制御装置、駐車支援装置、および表示制御方法

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