JP4426014B2 - Vehicle parking assist device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking support device for a vehicle that supports driving operation for a driver when the vehicle is parked, and more particularly to a parking support device for a vehicle that supports driving operation when the vehicle moves backward and performs parallel parking.
[0002]
[Prior art]
Traditionally, vehicle parking, particularly parallel parking, has been one of the most technically difficult for a normal driver to drive a vehicle. In parallel parking, the vehicle must be moved back into a narrow parking space and the steering operation must be switched back. Moreover, since the vehicle is parked in reverse, the driving operation must be performed in a state where the surrounding area of the parking space is a blind spot from the driver and sufficient information cannot be obtained.
[0003]
Prior art for assisting the driver when performing parallel parking is disclosed in, for example, Japanese Patent Laid-Open No. 7-44799. In this prior art, the parking space is measured once passing through the side of the place where the parallel parking is performed, and the steering operation amount and the information on the measured parking space and the information on the vehicle are measured. The driver is guided to obtain the accelerator operation time or the brake operation time.
[0004]
[Problems to be solved by the invention]
In the prior art of Japanese Patent Laid-Open No. 7-44799, the measurement of the parking space is described in detail, but the driving operation necessary for parking is only described instructing the driver. It is unclear what kind of instruction is given.
[0005]
An object of the present invention is to provide a vehicle parking assistance device capable of assisting a driving operation in an easy-to-understand manner for a vehicle driver when performing parallel parking.
[0006]
[Means for Solving the Problems]
The present invention relates to a vehicle parking assistance device that supports driving operation of parallel parking for a vehicle driver with guidance based on image information.
A camera that captures the rear image of the vehicle;
A steering angle sensor for detecting the steering angle of the vehicle;
A processor to which lighting signals of a vehicle back lamp and a blinker lamp are input;
A course prediction means for predicting the direction of parallel parking and the course of the vehicle based on the steering angle detected by the steering angle sensor and the lighting signals of the back lamp and the blinker lamp, and calculating a progress prediction curve;
A progress curve calculating means for detecting a target parking position based on an image captured by the camera and calculating an ideal progress curve from the current position of the vehicle to the target parking position;
Generating a composite image of a video captured by the camera, a progress prediction curve predicted by the course prediction means, and an ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means Parking assistance means,
The vehicle parking assistance device further comprises display means for displaying the composite image generated by the parking assistance means.
[0007]
According to the present invention, the rear image of the vehicle is captured by the camera, and the steering angle of the vehicle is detected by the steering angle sensor. The course prediction means predicts the course of the vehicle based on the steering angle detected by the steering angle sensor and the lighting signals of the back lamp and the blinker lamp, and calculates a progress prediction curve. The progress curve calculation means detects the target parking position based on the video imaged by the camera, and calculates an ideal progress curve from the current position of the vehicle to the target parking position. The parking assist means generates a composite image of the image captured by the camera, the progress prediction curve predicted by the course prediction means, and the ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means. Generate. Along with the rear image of the vehicle, a progress prediction curve corresponding to the steering angle and the lighting signal of the back lamp and the blinker lamp is displayed, and an ideal progress curve from the current position to the target parking position is displayed as guidance information for the steering operation. Therefore, the driver of the vehicle can easily perform the driving operation for parallel parking if he / she operates the steering so that the progress prediction curve follows the ideal progress curve while looking at the display means.
In addition, parallel parking support is provided on the condition that the vehicle is in reverse and the back lamp and the unloading lamp are lit, so there is no need for a switch operation to start parallel parking support, and parallel parking is performed outside the vehicle. If the operation of turning on the back lamp and the blinker lamp is performed as a cue to start the operation, it is possible to automatically support the parallel parking, and the complexity of the switch operation can be eliminated.
If one of the blinker lamps is lit, the illuminated blinker lamp side can be assisted to add parallel parking guidance information, thereby eliminating complicated switch operations.
[0008]
In the present invention, the parking support means may add a guideline as a line to the position on the progress prediction curve where the steering should be switched back as the steering operation guidance information.
[0009]
According to the present invention, as guide information of the steering operation, since the addition of guidelines position on progression prediction curve should be performed back steering cut as a line, at the point where guidelines consistent with curbs which is a target of the parking space Turn the steering wheel back to complete parking. As a result, the driver can easily perform parallel parking, and can prevent contact with a vehicle parked adjacently.
[0016]
The present invention further includes lane monitoring means for recognizing a lane boundary by monitoring a lane boundary from the video from the camera.
[0017]
According to the present invention, the camera for monitoring the rear is used to recognize the boundary of the lane and to monitor whether the vehicle departs from the lane. Therefore, the rear monitoring camera for parking assistance and the lane departure monitoring camera are used. The cost can be reduced as compared with the case where the camera is mounted separately.
[0018]
In the present invention, the parking assist means can move the vehicle backward and move to a target parking position detected by the progress curve calculating means within a steerable steering angle range, and the lane monitoring means. It is determined whether or not to depart from the lane monitored by the vehicle, and parking assistance is performed based on the determination result.
[0019]
According to the present invention, it is determined whether or not the vehicle can move backward and move to the target parking position within the operable steering angle range and does not deviate from the lane recognized by the lane monitoring means. Since parking assistance is performed, it is possible to easily perform parallel parking by retracting the vehicle without departing from the lane.
In addition, the present invention provides a vehicle parking support apparatus that supports driving operation of parallel parking for a driver of a vehicle by guidance based on image information.
A course prediction means for predicting a direction of parallel parking and a course of the vehicle based on a steering angle of the vehicle and a lighting signal of a back lamp and a blinker lamp of the vehicle, and calculating a progress prediction curve;
A progress curve calculating means for detecting a target parking position based on a rear image of the vehicle imaged by the camera and calculating an ideal progress curve from the current position of the vehicle to the target parking position;
A composite image of a rear image captured by the camera, a progress prediction curve predicted by the course prediction means, and an ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means. Parking assist means to generate,
The vehicle parking assistance device further comprises display means for displaying the composite image generated by the parking assistance means.
According to the present invention, the course prediction means predicts the direction of parallel parking and the course of the vehicle based on the steering angle of the vehicle and the lighting signals of the back lamp and the blinker lamp of the vehicle, and calculates a progress prediction curve. To do. The progress curve calculation means detects the target parking position based on the rear image captured by the camera, and calculates an ideal progress curve from the current position of the vehicle to the target parking position. The parking support means is a composite image of the rear image captured by the camera, the progress prediction curve predicted by the course prediction means, and the ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means. Is generated. Along with the rear image of the vehicle, a progress prediction curve corresponding to the steering angle and lighting signals of the back lamp and the blinker lamp is displayed, and an ideal progress curve from the current position to the target parking position is displayed as guidance information for steering operation. Therefore, the driver of the vehicle can easily perform the driving operation for parallel parking if he / she operates the steering so that the progress prediction curve follows the ideal progress curve while looking at the display means.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows the appearance of a vehicle 1 that is a target of driving assistance for parallel parking in each embodiment of the present invention. When the vehicle 1 travels in a travel lane or the like separated by the white line 3 of the road 2 and tries to park by retreating to the shoulder side from the travel lane, image information for supporting parallel parking is displayed on the information display 4. Is done. The image information includes a progress prediction curve 5 calculated by predicting the course of the vehicle 1. The progress prediction curve 5 is based on a steering angle that is an operation angle of a steering 7 that steers the vehicle 1 by a parking assist ECU 6 that is an electronic control unit (hereinafter abbreviated as “ECU”) that supports driving in parallel parking. Is calculated. The parking assist ECU 6 supports the parallel parking to the left when the shift lever 8 of the transmission is operated to, for example, the reverse position and the left blinker lamp 9L of the left and right blinker lamps 9L and 9R is lit. To start.
[0021]
When the vehicle 1 moves backward and tries to park, the driver behind the vehicle 1 cannot visually see the rear of the vehicle 1 because it is a blind spot, so the camera unit 10 is mounted above the rear of the vehicle 1. Then, the rear image is captured by the visual field 10a. The camera unit 10 derives an NTSC video signal, for example, and the parking assist ECU 6 displays the rear video on the display screen of the information display 4 so as to overlap the progress prediction curve 5.
[0022]
FIG. 2 shows a basic configuration for driving support when the vehicle 1 of FIG. 1 is about to start parallel parking. A video signal from the camera unit 10 is input to the parking assist ECU 6 by the NTSC method. Further, the steering angle of the steering 7 is detected by a steering angle sensor 11. The steering angle sensor 11 derives a pulse signal as an angular displacement signal for each angular displacement of the steering 7 at a constant angle. When the shift lever 8 is operated so that the transmission of the vehicle 1 is put in the position of the reverse back gear, a back lamp for controlling the switch for turning on the back lamp (hereinafter abbreviated as “SW”) to ON. The SW signal 12 is derived and input to the parking assist ECU 6. Lighting signals for the blinker lamps 9L and 9R are also input to the parking assist ECU 6. On the information display 4, an image of the parking space 13 is displayed, and a curb 14 of the road 2 is also displayed. The parking space 13 is set between other vehicles 15 and 16 before and after, for example.
[0023]
FIG. 3 shows a schematic electrical configuration of the parking assist ECU 6 of FIG. The overall control of the parking assist ECU 6 is performed by a digital signal processor (hereinafter abbreviated as “DSP”) 20. The DSP 20 performs control and signal processing via the bus 21. An NTSC video signal is input from the camera unit 10, amplified by an amplifier + filter circuit 22, a video component is extracted, and an analog-digital conversion (hereinafter abbreviated as “ADC”) circuit 23 converts the analog signal into a digital signal. Is converted to The video component converted into the digital signal is stored in the field buffer circuit 24. From the amplifier + filter circuit 22, the video signal is also input to the synchronization separation circuit 25, and the synchronization components for horizontal synchronization and vertical synchronization are separated and input to the DSP 20. An angular displacement detection signal indicating the steering angle displacement from the steering angle sensor 11 and a center position signal indicating that the steering 7 is at the center position are input to the DSP 20 via the buffer circuit 26. A back lamp SW signal and a blinker lamp lighting signal are also input via the buffer circuit 26. The DSP 20 operates in accordance with a program set in advance in a program memory 27 connected via the bus 21, and data necessary for this program operation is read from the data memory 28 or written into the data memory 28. be able to. The DSP 20 can recognize the white line 3 in FIG. 1 according to the input video signal, can recognize a curb on the road 2, and can recognize another parked vehicle. Further, according to the recognition result, it is possible to calculate an ideal travel curve necessary for the vehicle 1 to move from the current parking position to the target parking position.
[0024]
The DSP 20 is generated so as to be superimposed on the video from the parallel parking support image camera 20, and is stored in the field buffer circuits 31 and 32 whose output can be switched by the SW circuit 30. The output from the field buffer circuits 31 and 32 selected by the SW circuit 30 is output as a video output from the digital / analog conversion (hereinafter abbreviated as “DAC”) circuit 33 to the information display 4 via the filter + amplifier circuit 34. Given. Electric power for operation is supplied from the power source 35 to the parking assist ECU 6, a reset signal is supplied from the reset circuit 36, and a clock signal that is the basis of operation timing from the CLK + frequency dividing circuit 34 and its frequency-divided signal Is supplied.
[0025]
FIG. 4 shows an outline of image display on the information display 4 performed as an embodiment of the present invention. An image of the parking space 13 captured by the camera unit 10 is displayed on the information display 4. There are other vehicles 15 and 16 before and after the parking space 13. A progress prediction curve 5 calculated based on the current steering angle is displayed from the rear end of the vehicle 1 toward the parking space 13. In order for the vehicle 1 to properly park in the parking space 13, the steering 7 must be switched back during the reverse. The parking assist ECU 6 determines an appropriate position on the progress prediction curve 5 as a timing determining means for performing the switchback operation of the steering wheel 7, and displays a hatched guideline 40 at the position. The guideline 40 is displayed at a position that changes as the vehicle 1 moves backward within a range in which parking is possible at the target parking position 45 in the parking space 13 by the operation of the steering wheel 7. The driver of the vehicle 1 can complete the parking if the guideline 40 switches back the steering wheel 7 at a position where the guideline 40 matches the curb 14 that is the target of the parking space 13. When there is a possibility that the progress prediction curve 5 may come into contact with other vehicles 15 and 16 before the parking is completed, the reverse operation for parallel parking is stopped, the vehicle 1 is moved forward, and if possible, the posture of the vehicle 1 Try to park in parallel again.
[0026]
FIG. 5 shows a control procedure in the embodiment of FIG. The procedure starts from step a1, and in step a2, it is determined whether or not a predetermined parallel parking assist condition is satisfied. For example, if the back lamp SW signal 12 is ON and one of the turn signal lamp 9L or the turn signal lamp 9R is ON, it is determined that the parallel parking assist condition is satisfied. In addition, when both the blinker lamps 9L and 9R are lit as the hazard lamps, it can be determined that the vehicle is parked in the left direction which is a normal parallel parking direction. When it is determined that the condition is satisfied, the parallel parking direction is determined in step a3. Next, in step a4, the target parking position 45 is detected from the image captured by the camera 10. In step a5, the steering angle, which is the steering angle of the steering 7 of the vehicle 1, is detected based on the angular displacement detection signal from the steering angle sensor 11. In step a6, the progress prediction curve 5 is calculated based on the steering angle. In step a7, it is determined whether or not movement from the current position of the vehicle 1 to the target parking position 45 is possible by a steering operation. When it is determined that it is possible, in step a8, the timing for performing the steering switchback is determined. When the timing for switching back is determined, the position of the guideline 40 indicating the timing for switching back on the progress prediction curve 5 is determined and added to the image. In step a10, as in step a2, it is determined whether the parallel parking assist condition is satisfied. If the parallel parking assist condition is satisfied, the process returns to step a5, and the parking assist is continued in the same manner.
[0027]
In step a7, whether or not parking is possible is determined by taking the position data of the parking space 13 of the vehicle 1 at the start of parking, comparing with the data of the guideline 40 in the parallel state of the vehicle 1 held in advance, and the vehicle Judged from the minimum turning radius of 1. When it is determined in step a7 that parking is not possible, guidance that cannot be parked is provided on the information display 4 in step a11. When it is determined in step a2 or step a10 that the parallel parking assist condition is not satisfied, or after the parking impossibility guidance is provided in step a11, the operation is terminated in step a12.
[0028]
FIG. 6 shows an image of parallel parking assistance in another embodiment of the present invention. In this embodiment, the same reference numerals are given to portions corresponding to the embodiment shown in FIG. The parking space 13 is set between the other vehicles 15 and 16, and the target parking position 45 is detected. The progress prediction curve 5 is displayed based on the steering angle of the current steering 7, and the ideal progress curve 46 from the current vehicle position to the target parking position 45 is displayed. The driver of the vehicle 1 can easily park at the target parking position 45 by operating the steering 7 so that the progress prediction curve 5 follows the ideal progress curve 46 and moving the vehicle 1 backward.
[0029]
FIG. 7 shows a control procedure in the embodiment of FIG. Each step from step b1 to step b6 is equivalent to each step from step a1 to step a6 in FIG. In step b7, an ideal progress curve 46 for moving from the current position of the vehicle 1 to the target parking position 45 detected in step b4 is generated. The ideal progress curve 46 is generated based on the current position of the vehicle 1 at the start of parking, the position data of the target parking position 45 in the parking space 13, and based on the minimum turning radius and the reverse speed of the vehicle 1. In step b8, it is determined whether or not the generation of the ideal progress curve 46 has been completed. When it is determined that the vehicle has been completed, parking assistance is performed by superimposing the progress prediction curve 5 calculated in step b6 and the ideal progress curve 46 generated in step b7 on the rear image from the camera unit 10 in step b9. Are generated and displayed on the information display 4. In step b10, as in step b2, it is determined whether the parallel parking assist condition is satisfied. When it is determined that it is established, the process returns to step b5. Thereafter, the steps from step b5 to step b10 are repeated.
[0030]
Even if the steering 7 is not operated according to the ideal travel curve 46, the ideal travel curve 46 corresponding to the steering angle at that time is displayed and the vehicle can be parked at the target parking position 45 within a certain range. . If it is determined in step b8 that the generation of the ideal travel curve 46 has not been completed, guidance that disables parking is provided in step b11. When it is determined in step b2 or step b10 that the parallel parking assist condition is not satisfied, or when the process of step b11 is terminated, the parking assist operation is terminated in step b12.
[0031]
In each of the embodiments described above, the camera unit 10 is used to capture a rear image for parallel parking, but the white line 3 is always recognized during normal driving, and lane departures are monitored. It can also be used as a lane departure monitor. By using the rear monitoring camera for supporting parallel parking and the lane departure monitoring camera together in the camera unit 10, the number of in-vehicle cameras can be reduced, and the cost can be reduced.
[0032]
【The invention's effect】
As described above, according to the present invention, when the vehicle moves backward and performs parallel parking, the progress prediction curve based on the steering angle and the lighting signal of the back lamp and the blinker lamp is displayed superimposed on the rear image of the vehicle, Furthermore, since an ideal travel curve to the target parking position is added, the driver of the vehicle can easily perform parallel parking by performing a steering operation according to the guidance information.
In addition, as an operation for starting support for parallel parking, simply performing an operation required for driving operation automatically starts support, so that the complexity of switch operation during parallel parking can be eliminated.
In addition, it determines whether the direction of parallel parking is the left side or the right side of the vehicle according to the combination of the lighting state of the hazard lamp and / or the blinker lamp, so the parallel parking in the appropriate direction automatically. Can be supported.
[0033]
Further, according to the present invention, the position at which the steering is switched back can be found from the guideline indicated by a line in the progress prediction curve, so that the steering operation is performed based on the relationship between the guideline and the target, and the parallel parking is easily performed. Can do.
[0036]
Further, according to the present invention, since the video of the camera is also used for lane departure monitoring, it is not necessary to mount separate cameras for parking assistance and lane departure monitoring, and the cost is reduced by sharing the camera. be able to.
[0037]
Further, according to the present invention, whether or not parallel parking is possible is determined in advance, and when it is determined that parallel parking is not possible, the posture of the vehicle can be changed or another parking space can be searched.
Further, according to the present invention, when the vehicle moves backward and performs parallel parking, a progress prediction curve based on the steering angle and the lighting signals of the back lamp and the blinker lamp is displayed superimposed on the rear image of the vehicle, and the target parking is further performed. Since the ideal travel curve to the position is added, the vehicle driver can perform the steering operation according to the guidance information, and can easily perform parallel parking.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a basic configuration for performing parallel parking assistance in each embodiment of the present invention.
FIG. 2 is a simplified plan view showing a state where parallel parking is performed with the configuration of FIG. 1;
FIG. 3 is a block diagram showing an electrical configuration of the parking assist ECU 6 in FIG. 1;
FIG. 4 is a diagram showing an image for supporting parallel parking as the first embodiment of the present invention.
FIG. 5 is a flowchart showing a control procedure of the embodiment of FIG. 4;
FIG. 6 is a diagram showing an image of parallel parking support in another embodiment of the present invention.
7 is a flowchart showing a control procedure in the embodiment of FIG.
[Explanation of symbols]
1 Vehicle 2 Road 3 White line 4 Information display 5 Progress prediction curve 6 Parking assist ECU
7 Steering 8 Shift lever 9L, 9R Blinker lamp 10 Camera unit 10a Field of view 11 Steering angle sensor 12 Back lamp SW signal 13 Parking space 15, 16 Other vehicle 20 DSP
27 Program memory 28 Data memory 40 Guideline 45 Target parking position 46 Ideal progress curve

Claims (5)

In the vehicle parking assistance device that supports the driving operation of the parallel parking for the driver of the vehicle by the guidance by the image information,
A camera that captures the rear image of the vehicle;
A steering angle sensor for detecting the steering angle of the vehicle;
A processor to which lighting signals of a vehicle back lamp and a blinker lamp are input;
A course prediction means for predicting the direction of parallel parking and the course of the vehicle based on the steering angle detected by the steering angle sensor and the lighting signals of the back lamp and the blinker lamp, and calculating a progress prediction curve;
A progress curve calculating means for detecting a target parking position based on an image captured by the camera and calculating an ideal progress curve from the current position of the vehicle to the target parking position;
Generating a composite image of a video captured by the camera, a progress prediction curve predicted by the course prediction means, and an ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means Parking assistance means,
A vehicle parking assistance apparatus comprising: display means for displaying a composite image generated by the parking assistance means.   2. The parking assist device for a vehicle according to claim 1, wherein the parking support means adds a guideline as a line to a position on a progress prediction curve where the steering is to be switched back as the steering operation guide information. . The vehicle parking assistance apparatus according to claim 1 or 2 , further comprising lane monitoring means for recognizing a lane boundary by recognizing a lane boundary from the video from the camera. The parking assist means is a lane in which the vehicle can move backward and move to a target parking position detected by the traveling curve calculation means within a steerable steering angle range, and is monitored by the lane monitoring means. 4. The vehicle parking assistance apparatus according to claim 3 , wherein the vehicle parking assistance is performed based on a result of the determination. In the vehicle parking assistance device that supports the driving operation of the parallel parking for the driver of the vehicle by the guidance by the image information,
A course prediction means for predicting a direction of parallel parking and a course of the vehicle based on a steering angle of the vehicle and a lighting signal of a back lamp and a blinker lamp of the vehicle, and calculating a progress prediction curve;
A progress curve calculating means for detecting a target parking position based on a rear image of the vehicle imaged by the camera and calculating an ideal progress curve from the current position of the vehicle to the target parking position;
A composite image of a rear image captured by the camera, a progress prediction curve predicted by the course prediction means, and an ideal progress curve from the current position of the vehicle to the target parking position calculated by the progress curve calculation means. Parking assist means to generate,
A vehicle parking assistance apparatus comprising: display means for displaying a composite image generated by the parking assistance means.

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