JP4670460B2 - Parking support method and parking support device - Google Patents

Description

  The present invention relates to a parking assistance method and a parking assistance device.

2. Description of the Related Art Conventionally, as a device for assisting driving operation when parking a car, a device attached to the rear end of a vehicle is used to image a peripheral field of view and display the imaged data on a display disposed in a vehicle interior. Is known (see, for example, Patent Document 1). Such a rear camera is mounted substantially at the center of the rear end of the vehicle, and its optical axis is fixed in a state where it is inclined downward by a predetermined angle. And this rear camera can image several meters behind from the rear end of the vehicle.
JP 2000-280823 A

  However, when the vehicle starts to enter the parking frame while back on the parking frame, even if the white line indicating the parking frame or the wheel stopper is displayed on the display, the vehicle does not stop or stop the parking frame. As you approach the point, the white line and the wheel stopper will move out of the camera's field of view. For this reason, when the vehicle enters the parking frame, it is difficult for the driver to grasp the relative position and the shift amount between the position of the vehicle and the parking frame. As a result, there is a possibility that the impact due to the contact between the tire and the wheel stop increases, or the vehicle protrudes from the parking frame.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a parking support method and a parking support device that can guide a vehicle even after the vehicle enters the parking target area. It is in.

In order to solve the above problems, the invention according to claim 1 is a parking system that supports a parking operation using a position specifying unit that specifies the position of a vehicle, a display unit that displays image data, and a control unit. In the support method, the control unit acquires image data obtained by imaging the periphery of the vehicle from an imaging device provided in the vehicle every time the vehicle moves an image update distance, and the acquired image data Is stored in the image data storage means as past image data in association with the imaging point, and every time the vehicle moves an image update distance, imaging is performed at the imaging point behind the current position of the vehicle in the traveling direction. viewpoint conversion and reading step wherein the past image data from the image data storage unit that, the read out the past image data, the imaging point of view of the imaging device at the current position of the vehicle That step and, every time the vehicle moves an image update distance, current and synthetic regions in the current image data captured by position, to each other continuously and synthesis region in the previous image data viewpoint conversion synthesis of the vehicle and generating an image synthesis data, possess a step of displaying the image synthesis data on the display means, in the step of generating the image synthesis data, the more the number of past image data is large read out, The gist of the present invention is to generate the image composition data by reducing the composition area in the current image data .

According to a second aspect of the present invention, image data obtained by imaging the periphery of the vehicle from position specifying means for specifying the position of the vehicle and an image pickup device provided in the vehicle is moved each time the vehicle moves an image update distance. The image data acquisition means for acquiring the image data, the image data storage means for storing the acquired image data as past image data in association with the imaging point, the display means for displaying the image data, and the vehicle updating the image update distance. each moving, current and behind the reading image data reading means said past image data imaged by the imaging point in the traveling direction than a position of the vehicle, the read out past image data, at the current position of the vehicle conversion means for viewpoint conversion on image pickup viewpoint of the image pickup device, every time the vehicle moves an image update distance, current image data captured by the current position of the vehicle And synthetic regions in an image synthesizing means for generating a synthesized to the image synthesizing data to each other continuously and synthesis region in the previous image data viewpoint conversion, display control means for displaying the image synthesized data to said display means The image synthesizing means generates the image synthesized data by reducing the synthesis area in the current image data as the number of the read past image data is larger .
According to a third aspect of the present invention, in the parking assist device according to the second aspect, the image data reading means, when the number of past image data stored in the image data storage means exceeds a predetermined number, The gist is to read the predetermined number of past image data sequentially from the past image data captured at an imaging point close to the current position of the vehicle.
According to a fourth aspect of the present invention, in the parking assist apparatus according to the second or third aspect, the image data further comprises a receiving unit that receives a synthesis start signal for causing the display unit to display the image synthesized data. The obtaining means obtains the image data every time the vehicle moves an image update distance from the initial position, with the position of the vehicle when the receiving means receives the synthesis start signal as an initial position. To do.

Invention according to claim 5, in the parking assist apparatus according to any one of claims 2-4, combining region before Symbol past image data is lower corresponding to the region of the vehicle current position, the combining region in the current image data is summarized in that a region corresponding to short-distance range of the vehicle.

A sixth aspect of the present invention is the parking support apparatus according to any one of the second to fifth aspects, wherein a vehicle position index indicating a current position of the vehicle is displayed in an overlapping manner on the image composite data. The gist is that a display means is further provided.

  A seventh aspect of the present invention is the parking assist device according to any one of the second to sixth aspects, further comprising an aberration correction unit that corrects distortion aberration of the image data acquired from the imaging device. Is the gist.

  According to an eighth aspect of the present invention, in the parking assist device according to any one of the second to seventh aspects, the image data acquisition means includes the imaging device provided at the rear end of the vehicle, and The gist is to acquire image data obtained by imaging the rear of the vehicle.

According to the first aspect of the present invention, the image data generated by the imaging device at each imaging point is stored in the image data storage unit in association with the imaging point. Further, in the traveling direction reads past image data captured by the rear of the imaging point, the read historical image data, and converts points viewed in the imaging viewpoint of the image capturing apparatus definitive the current position of the vehicle, and combining region of the current image data, The image synthesis data synthesized with the synthesis area of the past image data is displayed on the display means. For this reason, even if most of the parking target area is not included in the field of view of the imaging device due to the movement of the vehicle, the parking target area below the vehicle body can be displayed by displaying the synthesized area of the accumulated past image data. Therefore, the driver can park the vehicle so as not to deviate from the parking target area. Further, since the conversion of the past image data to the imaging point of view of the imaging apparatus definitive the current position of the vehicle, when it is displayed together with the synthesis area of the current image data synthesis area of the past image data, the image can be easily viewed.

According to the second to fourth aspects of the present invention, the parking assist device includes a position specifying unit, an image data acquiring unit that acquires image data at each imaging point, and a past image that associates the image data with the imaging point. Image data storage means for storing data. Further, the image data reading means for reading the past image data captured by the rear of the imaging point in the traveling direction, and converting means for viewpoint conversion on image pickup viewpoint of the image capturing apparatus historical image data at the current position of the vehicle, the synthesis of the current image data and display control means for displaying an image synthesis data obtained by synthesizing the region and combining region of the past image data to the display unit. For this reason, even if most of the parking target area is not included in the field of view of the imaging device due to the movement of the vehicle, the parking target area corresponding to the lower part of the vehicle body is displayed by displaying the synthesized area of the accumulated past image data on the display means. Can be displayed. Therefore, the driver can park the vehicle so as not to deviate from the parking target area. Further, since the conversion of the past image data to the imaging point of view of the imaging apparatus definitive the current position of the vehicle, when it is displayed together with the synthesis area of the current image data synthesis area of the past image data, the image can be easily viewed.

According to the invention of claim 5, since the image data of the distance from vehicles is removed, it is possible to generate an image synthesis data captured viewpoint facing downwards in a pseudo manner. Therefore, when the vehicle enters the parking target area, the imaging viewpoint is artificially turned downward, thereby omitting display of an unnecessary range and displaying an image concentrated on the parking target area on the display means. Can do.

According to the invention described in claim 6 , the parking assist device further includes vehicle position display means for displaying the current position of the vehicle superimposed on the image composition data . For this reason, since the driver | operator can grasp | ascertain the deviation | shift amount of the position of a vehicle and a parking target area | region, it can park a vehicle in a parking target area | region.

  According to the seventh aspect of the present invention, the parking assist device includes the aberration correction means for correcting the distortion generated in the image data acquired from the imaging device. For this reason, when each image data is displayed on the display means, the continuity of the synthesized image can be improved, so that the user can be prevented from feeling uncomfortable.

  According to the invention described in claim 8, the image data acquisition means acquires image data obtained by imaging the rear of the vehicle from the imaging device provided at the rear end of the vehicle. For this reason, when the vehicle backs toward the parking target area, a composite image can be generated using image data obtained by imaging the rear of the vehicle, so that support can be provided when a driving operation is difficult.

(First embodiment)
Hereinafter, a first embodiment in which the parking assist device of the present invention is embodied in a navigation device mounted on an automobile and performing route guidance will be described with reference to FIGS. FIG. 1 is a block diagram illustrating the configuration of the navigation device 1.

As shown in FIG. 1, the navigation device 1 includes a control device 2 as a control means. The control device 2 includes a control unit 3 that performs main control, a RAM 4 as an image data storage unit, and a ROM 5. The control unit 3 performs various processes according to various programs such as a route guidance program, an image data storage program, a composite data output program, and a parking guidance program stored in the ROM 5. The controller 3 constitutes image data acquisition means, position specifying means, image data reading means, image composition means, display control means, vehicle position display means, aberration correction means, and conversion means described in the claims. .

  The ROM 5 stores contour drawing data 5a. The contour drawing data 5 a is data for displaying the contour of the vehicle C on the display 12. The contour drawing data 5a is set according to the size of the vehicle C, and when the vehicle C is a small vehicle, the contour of the size of the small vehicle according to the screen is drawn.

  Moreover, the control apparatus 2 is provided with the own vehicle position detection part 7 which comprises the GPS receiving part 6 and a position specific means. The GPS receiver 6 receives radio waves from GPS satellites. Based on the detection data received from the GPS receiving unit 6, the own vehicle position detection unit 7 periodically calculates positioning data such as latitude, longitude, altitude indicating the absolute position of the own vehicle position.

  Further, the control device 2 includes an I / F unit 8. The control unit 3 acquires the speed and relative orientation of the vehicle C from the vehicle speed sensor 20 and the gyro sensor 21 disposed in the vehicle C (see FIG. 3) via the I / F unit 8 and automatically acquires them. It transmits to the vehicle position detection part 7. The own vehicle position detection unit 7 calculates the own vehicle position by autonomous navigation based on the vehicle speed and the relative direction based on the reference own vehicle position calculated from the positioning data by the GPS receiving unit 6. At this time, as shown in FIG. 3, the vehicle position detection unit 7 sets the center point 25 of the axle Cb of the rear wheel Ca of the vehicle C as coordinates on an XY coordinate system for vehicles (hereinafter referred to as a vehicle coordinate system). Calculate as a point. And while acquiring positioning data from GPS receiving part 6 sequentially, the own vehicle position by autonomous navigation is corrected and the own vehicle position is determined. The vehicle coordinate system is a coordinate system for indicating the position of the vehicle C on the horizontal plane (road surface).

  As shown in FIG. 1, the control device 2 includes a map data storage unit 9. The map data storage unit 9 stores route data 9a and map drawing data 9b as map data. The route data 9a stores node data indicating nodes indicating intersections and turning points of roads, link data indicating links connecting the nodes, and the like. The control unit 3 performs route guidance processing to a destination. When performing the above, the route is searched according to the route data 9a and the route guidance program stored in the ROM 5. In addition, the control unit 3 collates the coordinates of the vehicle position calculated as described above, the travel locus, and the route data 9a, positions the vehicle position coordinates on an appropriate road, and further determines the vehicle position data. to correct. The map drawing data 9b is data for displaying a map from a wide range to a narrow range, and is associated with the route data 9a.

  In addition, the control device 2 includes an imaging data acquisition unit 10 that constitutes an image data acquisition unit. The imaging data acquisition unit 10 periodically acquires imaging data from a rear camera 22 as an imaging device provided in the vehicle C. The imaging data is digital data that has been analog / digital converted by the rear camera 22, and the imaging data acquisition unit 10 transmits it to the control unit 3 as image data G that can be subjected to image processing such as various corrections and synthesis. When acquiring the image data G, the control unit 3 temporarily stores the image data G in the RAM 4 in association with the vehicle position at that time.

  As shown in FIG. 2, the rear camera 22 is attached to the approximate center of the rear end of the vehicle C, such as a back door of the vehicle C, with the optical axis A facing downward. The rear camera 22 includes an optical mechanism including a wide-angle lens, a mirror, and the like, and a CCD image sensor (none of which is shown). The wide-angle lens has a rear visual field of 140 degrees on the left and right, for example, and the rear camera 22 can image an imaging range F1 (peripheral field of view) about 3 m rearward including the rear end of the vehicle C. In addition, since the rear camera 22 uses a wide-angle lens, when the image data G is displayed on the display 12 of the navigation device 1, so-called distortion occurs in which an image around the screen is shrunk.

Furthermore, as shown in FIG. 1, the control device 2 is connected to a steering sensor 23 and a shift sensor 24 provided in the vehicle C via the I / F unit 8. The control unit 3 acquires a steering angle detection signal and a shift position signal from the steering sensor 23 and the shift sensor 24. Then, the control unit 3 determines whether or not the shift position of the transmission is in the reverse state based on the shift position signal. When the shift position is reverse and an image behind the vehicle C is simply displayed, the control unit 3 or the like captures the image shown in FIG. 4 based on the steering angle detection signal in accordance with the parking guidance program stored in the ROM 5. A screen 33 is displayed on the display 12. On the imaging screen 33, the background of the vehicle C is displayed, and an expected trajectory line 31 and a vehicle width extension line 32 are overlaid on the background by a known method. The expected trajectory line 31 indicates a travel trajectory according to the steering angle and the vehicle width of the vehicle C. The vehicle width extension line 32 is an index obtained by extending the vehicle width of the vehicle C rearward. Therefore, the driver steers the vehicle according to the amount of deviation between the predicted trajectory line 31 and the vehicle width extension line 32 when parking.

  Further, the navigation device 1 includes the display 12 as the display means described above. The display 12 is a touch panel, and when the shift position of the transmission of the vehicle C is reversed, the display 12 outputs image data G obtained by imaging the rear of the vehicle C and image composite data transmitted from the control unit 3. Further, when the shift position of the transmission is not reverse, the display 12 outputs the map drawing data 9b transmitted from the control unit 3 and the map screen 12a around the vehicle position (see FIG. 1). Is displayed along with the vehicle position mark.

  The input signal acquisition unit 13 included in the control device 2 acquires an input signal input by operating the touch panel of the display 12 and an input signal input by pressing the operation button 14 provided on the navigation device 1. To the control unit 3. In the operation button 14, an image switching button 14a is provided.

  For example, as shown in FIG. 3, the image switching button 14 a is displayed when the parking target area R protrudes from the screen of the display 12 when the vehicle C is parked in the parking target area R. It is operated by the driver. When the image switching button 14a is operated, a synthesis start signal is generated by the input signal acquisition unit 13, and the control unit 3 starts synthesis and output processing of each image data G. The image switching button 14a may be displayed on the display 12 instead of being disposed on the casing of the navigation device 1.

The navigation device 1 includes a speaker 15. The speaker 15 outputs various guidance voices and guidance sounds based on the voice output signal transmitted from the control unit 3.
The control device 2 also includes an image processing unit 11 that constitutes an image composition unit, a vehicle position display unit, an aberration correction unit, and a conversion unit. The image processing unit 11 receives each image data G from the control unit 3 and corrects distortion aberration caused by the wide-angle lens that has occurred in each image data G. Further, the image processing unit 11 newly acquires the image data G1 newly acquired at the current position of the vehicle C (hereinafter referred to as the current point) and the image data G in the past in accordance with the image composition command received from the control unit 3. The captured past image data G2 is synthesized. The past image data G2 to be combined with the current image data G1 is generated at a point separated from the current point by a predetermined distance (image update distance) in the vehicle coordinate system.

As schematically shown in FIG. 5, the image processing unit 11 superimposes the current image data G1 on the past image data G2 so that the current image data G1 is on the display side. At this time, the image processing unit 11 combines the image data G1 and the past image data G2 so that the combined regions G1a and G2a in which the continuous regions are respectively captured are continuous. In the image composition data GA generated by this, the images of the composition area G1a (first composition area) of the current image data G1 and the composition area G2a (second composition area) of the past image data G2 are substantially continuous. It becomes a state.

  Further, as schematically shown in FIG. 6, the image processing unit 11 and the control unit 3 combine the image data G1 in an xy coordinate system (hereinafter referred to as a screen coordinate system) indicating pixel coordinates of the imaging screen of the display 12. The area G1a and the composite area G2a of the past image data G2 are output to the display 12 so as to be included in the display area 12b. At this time, the non-display area G1b of the image data G1 is not included in the display area 12b. Further, the non-display area G2b (see FIG. 5) of the past image data G2 is hidden by the synthesis area G1a of the current image data G1 and is not displayed. At this time, the image processing unit 11 reduces or enlarges one or both of the image data G1 and the past image data G2 as necessary in order to include the combined regions G1a and G2a in the display region 12b.

  Next, the processing procedure of this embodiment is demonstrated according to FIG.7 and FIG.8. FIG. 7 shows the procedure of the image data storing process, and FIG. 8 shows the procedure of the image composite data output process. The control device 2 performs the image data storage process and the image composite data output process in parallel.

  The image data saving process shown in FIG. 7 is a process performed by the control device 2 according to the image data saving program stored in the ROM 5. First, the control unit 3 determines whether or not the shift position of the transmission is reverse (step S1-1). Specifically, the control unit 3 makes a determination by acquiring a shift position signal from the shift sensor 24 via the I / F unit 8.

  If the shift position is not reverse (NO in step S1-1), the determination process in step S1-1 is repeated. When it is determined that the shift position is reverse (YES in step S1-1), the control unit 3 acquires the vehicle position from the vehicle position detection unit 7 (step S1-2). And the control part 3 acquires the image data G from the imaging data acquisition part 10, whenever the vehicle C moves only the predetermined distance based on the acquired own vehicle position (step S1-3). The predetermined distance is, for example, several tens to several hundreds mm, and is set to about 0.5 m in this embodiment.

  Then, the vehicle position acquired in step S1-2 and the acquired image data G are associated with each other and stored in the RAM 4 (step S1-4). Further, the control unit 3 determines whether or not there is an end trigger (step S1-5). If there is a preset end trigger (YES in step S1-5), the image data storage process ends. Specifically, the process ends when a shift position signal indicating parking or driving or an ignition module off signal from a vehicle ECU (not shown) is received via the I / F unit 8. Alternatively, when the input operation signal of the image switching button 14a is received via the input signal acquisition unit 13, the process is terminated. If there is no end trigger (NO in step S1-5), the process returns to step S1-2 and the above-described processing is repeated.

  Such processing of step S1-2 to step S1-5 is repeatedly performed for each predetermined distance described above. For this reason, when the vehicle C travels backward, the RAM 4 accumulates each image data G (image data G1, past image data G2) obtained by imaging areas that are continuous with each other.

  Next, the image synthesis data output process will be described with reference to FIG. This image data output process is a process performed by the control device 2 in accordance with the composite data output program stored in the ROM 5.

First, similarly to the image data storage process, the control unit 3 determines whether or not the shift position is reverse (step S2-1). If the shift position is reverse (YES in step S2-1), the control unit 3 determines whether to start image composition (step S2-2). That is, for example, when the driver operates the image switching button 14a at the position of the vehicle C shown in FIG. 3, the control unit 3 receives the synthesis start signal and determines to start image synthesis (step S2- YES in 2). And the control part 3 makes the coordinate (vehicle position of FIG. 3) of the vehicle C at the time of receiving a synthetic | combination start signal the initial position P1 as an imaging point shown in FIG. At this time, the rear camera 22 images the imaging range F1 behind the vehicle C from the camera viewpoint V1 (imaging viewpoint).

  When it is determined that image composition is not performed (NO in step S2-2), the control unit 3 acquires the latest image data G1 from the RAM 4, and superimposes the predicted locus line 31 and the vehicle width extension line 32, An imaging screen 33 displaying a rear image as shown in FIG. 4 is displayed on the display 12. In this case, the control unit 3 sequentially acquires the image data G and waits for reception of a signal for starting image composition while updating the imaging screen 33.

  If it is determined that image composition is to be started (YES in step S2-2), the control unit 3 acquires the vehicle position data from the vehicle position detection unit 7 (step S2-3). And the control part 3 calculates the movement distance from the initial position P1 based on the coordinate of the own vehicle position and the initial position P1, and judges whether the movement distance became more than the image update distance D1. (Step S2-4). The image update distance D1 is a timing for outputting (or updating) the composite screen 40 on the display 12 by outputting image composite data GA including the past image data G2 stored in the RAM 4 and the newly acquired image data G1. In this embodiment, it is set to about 0.5 m.

  If the movement distance is less than the image update distance D1 (NO in step S2-4), the vehicle position acquisition (step S2-3) and step S2-4 are performed until the movement distance is equal to or greater than the image update distance D1. Repeat judgment.

  As shown in FIG. 10, when the moving distance from the initial position P1 of the vehicle C is equal to or longer than the image update distance D1 (YES in step S2-4), the vehicle C becomes the image update point S as an imaging point. Assuming that the current position has been reached, image data G1 at the current location is acquired from the RAM 4 (step S2-5). The image update point S is a point set for each image update distance D1 with the initial position P1 as a reference. That is, with the initial position P1 as a start point, for example, a 0.5 m point, a 1 m point, and a 1.5 m point are set as image update points S, respectively. As shown in FIG. 10, at the image update point S, the camera viewpoint V2 of the rear camera 22 is located on the X axis direction side (traveling direction side) with respect to the camera viewpoint V1 shown in FIG. Further, the imaging range F2 of the rear camera 22 includes a range common to the imaging range F1 shown in FIG. 9 and a different range.

  The image data G1 of the current location read at this time displays, for example, an imaging screen 37 as shown in FIG. In the imaging screen 37, the vehicle C shown in FIG. 3 enters the parking target area R, and the white line that partitions the parking target area R displays an image that has moved outside the imaging range F2 of the rear camera 22. In addition, background images of other vehicles behind the vehicle C are displayed.

Further, the control unit 3 searches the past image data G2 associated with the initial position P1 or the previous image update point S, and reads the past image data G2 from the RAM 4 (step S2-6). Specifically, when the vehicle C is at an image update point S that is 0.5 m away from the initial position P1, the image data G associated with the coordinates of the initial position P1 is read as past image data G2. When the vehicle C is at the image update point S 1 m away from the initial position P1, the image data G at the image update point S 0.5 m from the initial position P1 is read as past image data G2. The past image data G2 read at this time is data of the imaging screen 34 as shown in FIG. 11, for example. Since the past image data G2 is generated behind the current position in the traveling direction, the white line that defines the parking target area R is included in the imaging range F1 of the rear camera 22.

  Then, the control unit 3 transmits an image composition command to the image processing unit 11 to correct each image data G (step S2-7). As described above, the image processing unit 11 corrects the distortion aberration of each image data G. Further, the vehicle rear end image BG in which the rear end portion of the vehicle C such as the bumper B (see FIG. 2) is drawn is deleted from the image data G1 and the past image data G2. At this time, since the area where the vehicle rear end image BG is displayed is constant, the vehicle rear end image BG can be easily deleted by setting a data area where the vehicle rear end image BG is displayed in advance.

  The image processing unit 11 combines the corrected image data G (step S2-8). As shown in FIG. 5, the image processing unit 11 superimposes the image data G1 on the past image data G2. At this time, the synthesis region G2a of the past image data G2 corresponds to the imaging range F3 shown in FIG. 10 in the imaging range F1 (see FIG. 9) of the rear camera 22. The imaging range F3 is a range in which images from the camera viewpoint V1 rearward in the traveling direction to the rear end portion of the vehicle C at the current position with respect to the current camera viewpoint V2. That is, the imaging range F3 is below the vehicle body at the current point (image update point S), corresponds to the vicinity of the rear wheel, and includes, for example, a white line below the vehicle body.

  Furthermore, the synthesis area G1a of the image data G1 at the current location corresponds to the imaging range F4 that is the short-distance range of the vehicle C in the imaging range F2 shown in FIG. In the imaging range F4, images of road surfaces and obstacles in a short distance range from the vehicle C (for example, other vehicles behind the vehicle C) are captured. In addition, the imaging range F4 has a far-distance range deleted compared to the original imaging range F2 of the rear camera 22.

  The control unit 3 displays the image composition data GA on the display 12 (step S2-9). As a result, the composite screen 40 shown in FIG. 13 is displayed. In the composition screen 40, a current image 38 based on the current image data G1 and a past image 39 based on the past image data G2 are continuously drawn. The current image 38 is a background behind the vehicle C at the current location. At this time, since the background image of the long-distance range is not displayed, the image is such that the viewpoint (imaging viewpoint) of the rear camera 22 is artificially directed downward. In other words, the image is such that the viewing angle of the rear camera 22 is lowered downward (road surface), and the optical axis A is artificially inclined downward.

  Further, the past image 39 generated from the past image data G2 is an image of an area hidden under the vehicle C at the current position, and is an area that cannot be captured at the camera viewpoint V2 at the current position. In the past image 39, a white line or the like that is actually hidden and not visible because it is below the vehicle body is displayed. Therefore, by displaying the past image 39, it appears that the road surface below the vehicle C is displayed through the vehicle body of the vehicle C.

  Further, the image processing unit 11 draws the vehicle contour line 41 on the past image 39 by using the contour drawing data 5 a stored in the ROM 5. The vehicle outline 41 virtually draws the rear side of the vehicle C according to the vehicle position. The vehicle contour line 41 includes an outer shape display line 41a indicating the outer shape of the vehicle body and a rear wheel display line 41b indicating the rear wheel of the vehicle C. Accordingly, the driver visually recognizes the current position of the vehicle C and the parking target area R displayed in the current image 38 or the past image 39 on the display 12, so that the relative position or deviation from the parking target area R is recognized. Know the amount and the relative distance between the vehicle position and the obstacle.

Furthermore, the control unit 3 determines whether or not there is an end trigger (step S2-10). At this time, as in the image data composition process, it is determined whether or not the image switching button 14a is operated, the shift position is changed from reverse to drive or parking, and the off signal is received from the ignition module. If there is no end trigger (NO in step S2-10), the process returns to step S2-3 and the above-described processing is repeated. Thereby, for example, the composite screen 40 is updated every image update distance D1 such as 0.5 m. If there is an end trigger (YES in step S2-10), the image composite data output process ends.

According to the first embodiment, the following effects can be obtained.
(1) In 1st Embodiment, the control apparatus 2 of the navigation apparatus 1 is the image data G which imaged the imaging range F1 behind the vehicle C from the back camera 22 provided in the vehicle C in each imaging point. I tried to get it. In addition, the control unit 3 of the control device 2 stores the acquired image data G in the RAM 4 in association with the own vehicle position acquired from the own vehicle position detection unit 7. Further, when the vehicle C moves from the reference position (initial position P1 or the image update point S) by the image update distance D1, the past image data G2 in which the coordinates of the reference position are associated. The image synthesis data GA is generated by superimposing the current image data G1. The image composition data GA is displayed on the display 12.

  For this reason, even if the vehicle C moves to a position where most of the parking target region R is not included in the imaging range F1 of the rear camera 22, the accumulated past image data G2 is combined to be below the vehicle C. A parking target area R including a white line or the like can be displayed on the display 12. Therefore, the driver can easily perform the parking operation so as not to deviate from the parking target area R.

  (2) In the first embodiment, only the composite area G1a that is the short distance range of the vehicle C in the image data G1 at the current point is output to the display area 12b of the display 12. That is, the upper region, which is the long distance range of the vehicle C, is not displayed in the image data G1. Then, the synthesized area G1a is synthesized with the synthesized area G2a of the past image data G2, thereby generating the image synthesized data GA such that the viewpoint of the rear camera 22 faces downward. Therefore, when the vehicle C enters the parking target area R, unnecessary data such as a distant background image is not displayed on the display 12 in the image data G. Therefore, the composite screen 40 concentrated on the parking target area R is displayed. It can be displayed on the display 12.

  (3) In 1st Embodiment, the control part 3 and the image process part 11 were made to display the vehicle outline 41 according to the own vehicle position of the present location on the synthetic | combination screen 40. FIG. For this reason, since it becomes easy to grasp | ascertain the relative position of the vehicle C and the parking target area | region R, it can park so that the vehicle C may not protrude from the parking target area | region R. FIG.

  (4) In the first embodiment, the image processing unit 11 corrects the distortion aberration of each image data G. For this reason, when the image data G are combined and displayed on the display 12, the continuity of the images can be improved, and the user can be prevented from feeling uncomfortable.

  (5) In the first embodiment, the control unit 3 and the image processing unit 11 generate the image composite data GA by arranging the image data G1 and the past image data G2 in a partially overlapped state in parallel. did. Therefore, since the synthesis screen 40 is synthesized from the two image data G, the synthesis process can be performed relatively easily.

  (6) In the first embodiment, since the parking assistance device is embodied in the navigation device 1 including the own vehicle position detection unit 7, the image data G is synthesized using a highly accurate own vehicle position detection function. It can be performed. For this reason, the continuity of the image in the composite screen 40 can be improved.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIG. 8 and FIGS. 14 to 25. Since the second embodiment has a configuration in which the image synthesis data output process of the first embodiment is only changed, only the procedure of each process will be described, and the other description will be omitted. In the second embodiment, in the image data storage process (steps S1-1 to S1-5) of the first embodiment, the moving distance (predetermined distance) of the vehicle C that is the timing for acquiring the image data G is as follows. The distance is shorter than that of the first embodiment (for example, 0.15 m).

  In the image composition data output process shown in FIG. 8, as in the first embodiment, the control unit 3 determines whether or not to start image composition when the shift position is reverse (YES in step S2-1). Judgment is made (step S2-2).

  For example, when a synthesis start signal is received at the position of vehicle C shown in FIG. 14 (YES in step S2-2), control unit 3 sets the vehicle position at this time to initial position P1. The image data G generated at the initial position P1 displays an imaging screen 43 as shown in FIG. 19, for example. On the imaging screen 43, a road surface 44, a white line 45 that partitions the parking target area R, a background 46 on which an obstacle is displayed, a vehicle rear end image BG that is an image of the bumper B, and the like are drawn. Note that, as shown in FIG. 14, the viewpoint of the rear camera 22 at the initial position P1 is a camera viewpoint V1, and the imaging range of the rear camera 22 is an imaging range F1.

  Subsequently, the control unit 3 acquires the own vehicle position (step S2-3), and determines whether or not the movement amount from the initial position P1 has reached the image update distance D1 (step S2-4). In the second embodiment, the image update distance D1 is set to a shorter distance (for example, 0.15 m) than in the first embodiment.

  As illustrated in FIG. 15, when it is determined that the vehicle C has traveled back in the X-axis direction from the initial position P1 by the image update distance D1 (YES in step S2-4), the control unit 3 determines the first imaging point. It is assumed that the image update point S1 has been reached. Then, the image data GS1 associated with the current vehicle position (first image update point S1) is acquired from the RAM 4 (step S2-5). The image data GS1 acquired at this time displays, for example, an imaging screen 47 as shown in FIG. At this time, as shown in FIG. 15, the camera viewpoint V2 of the rear camera 22 is on the X axis direction side with respect to the camera viewpoint V1 of the initial position P1, and therefore, on the imaging screen 47, at the initial position P1 shown in FIG. Compared to the imaging screen 43, a part of the parking target area R has moved out of the screen.

  Further, the control unit 3 reads image data GF as past image data associated with the initial position P1 from the RAM 4 (step S2-6). Then, in order to synthesize and display the image data GF and GS1 as one screen, the image data GF and GS1 are transmitted to the image processing unit 11 to correct the image data GF and GS1 (step S2-7).

  In step S2-7, the image processing unit 11 corrects the distortion aberration of the image data GF and GS1 and deletes the vehicle rear end image BG. Further, the image processing unit 11 performs coordinate conversion (viewpoint conversion) and generation of composition image data for the image data GF generated at the initial position P1.

  In the coordinate conversion, as schematically shown in FIG. 17, the pixel coordinates 35a in the imaging screen 22a of the vehicle position A are displayed on the screen according to the movement distance and the movement direction from the vehicle position A to the vehicle position B. The pixel coordinate 35b in the imaging screen 22a of the vehicle position B may be converted by translation or rotation in the coordinate system. The imaging screen 22a and the display area 12b of the display 12 are positioned on the same coordinate system.

  Alternatively, in coordinate conversion, a relational expression established between a screen coordinate system indicating the pixel position of the imaging screen 22a of the rear camera 22 and a vehicle coordinate system indicating the vehicle position of the vehicle C is expressed as an optical axis of the rear camera 22. Obtained based on the angle A, the imaging range F1, and the like. Then, taking the coordinates of the vehicle position (vehicle position A in the figure) of the initial position P1 into consideration, the pixel coordinates 35a on the imaging screen 22a are coordinate points of the vehicle coordinate system based on the relational expression obtained in advance. 36 may be converted. Further, the image processing unit 11 converts the coordinate point 36 of the vehicle system coordinate into the pixel coordinate 35b in the imaging screen 22a of the first image update point S1 (vehicle position B in the figure) based on the relational expression. To do. Accordingly, the image data GF at the initial position P1 is converted to the camera viewpoint V2 (imaging viewpoint) corresponding to the current position (first image update position S1), so that the image data GF is captured from the current camera viewpoint V2. Data can be like. Here, the image data GS1 at the current point (first image update point S1) is displayed as an actual image, and therefore, coordinate conversion is not performed.

  Next, the image processing unit 11 combines the corrected image data GF and GS1 (step S2-8). Specifically, as schematically shown in FIG. 18, the image processing unit 11 superimposes the current image data GS1 at the first image update point S1 on the image data GF at the initial position P1, Composite data GA is generated. At this time, a predetermined composite area Zb (second composite area) in the current image data GS1 and a predetermined composite area Za (first composite area) of the image data GF at the initial position P1 are continuous. Repeat as you do. The composite areas Za and Zb respectively secure data areas in which images are continuous with each other when the vehicle C moves by the image update distance D1. The composition area Zb of the current image data GS1 is larger than the composition area Za of the image data GF at the initial position P1, and the ratio occupied by the current image is large. Further, as shown in FIG. 15A, the synthesis region Zb of the current image data GS1 is an imaging range F6 in which a short range is imaged from the vehicle C in the imaging range at the first image update point S1. Equivalent to. Therefore, since only the data range of the short distance range of the vehicle C is displayed, the data is such that the viewpoint is pseudo-pointed downward.

  Further, as shown in FIG. 15A, the synthesis area Za of the image data GF at the initial position P1 corresponds to the imaging range F5 of the rear camera 22. This imaging range F5 is a range corresponding to the parking target region R hidden under the vehicle body at the first image update point S1.

  Furthermore, the control unit 3 displays the image composition data GA synthesized as shown in FIG. 15B on the display 12 (step S2-9). As a result, as shown in FIG. 21, a composite screen 48 that outputs and displays the image composite data GA is displayed on the display 12. The composite screen 48 is generated by arranging the past image 48a based on the image data GF at the initial position P1 in the lower part and the current image 48b based on the current image data GS1 of the first image update point S1 in the upper part. . Since the past image 48a corresponds to an area below the vehicle body at the first image update point S1, it seems that the road surface is displayed through the vehicle body. Further, as described above, the composite screen 48 looks like a screen in which the optical axis of the rear camera 22 is inclined downward.

  In step S2-7, only the past image data GF is coordinate-transformed, so the image of the image data GS1 at the current position (first image update point S1) does not change the camera viewpoint V1. Therefore, since the image based on the current image data GS1 is an image viewed from the actual camera viewpoint V1, accurate information can be obtained.

  In addition, the image processing unit 11 displays a vehicle outline 49 indicating the position of the vehicle at the first image update point S1 in an overlapping manner on the image composition data GA. And the control part 3 judges the presence or absence of an end trigger (step S2-10), and when there is no end trigger (in step S2-10, NO), it returns to step S2-3.

  When there is no end trigger, the control unit 3 performs own vehicle position acquisition (step S2-3), and whether or not the movement amount of the vehicle C from the first image update point S1 is equal to or greater than the image update distance D1. That is, it is determined whether or not the second image update point S2 as the imaging point has been reached (step S2-4).

  As shown in FIG. 16A, when the vehicle C reaches the second image update point S2 (YES in step S2-4), the image data at the current point (second image update point S2). Acquisition of GS2 (step S2-5) and reading of the image data GS1 and GF stored in the RAM 4 are performed (step S2-6). That is, each point (for example, the initial position P1 and the first image update point S1) that is separated from the second image update point S2 by the image update distance D1 in the anti-X-axis direction (counter travel direction) is associated. Image data G is read.

  Then, as described above, the read image data GS1 and GF and the current image data GS2 are corrected (step S2-6). That is, the image processing unit 11 corrects the distortion of the read image data GS1 and GF, and converts the coordinates into the imaging screen 22a at the camera viewpoint V3 (see FIG. 15) at the second image update point S2. Then, the vehicle rear end image BG is deleted. Accordingly, the past image data GS1 and GF are converted into viewpoints of the camera viewpoint V3 corresponding to the current location of the vehicle C (second image update location S2). Further, the distortion aberration correction and the vehicle rear end image BG are also performed on the image data G1 acquired at the current point.

  Then, as schematically illustrated in FIG. 22, the image processing unit 11 includes the synthesis area Zb of the current image data GS2, the synthesis area Za of the image data GS1 of the first image update point S1, and the initial position P1. The image synthesis data GB is generated by overlapping the image data GF with the synthesis area Za so as to be continuous with each other. (Step S2-8). That is, as schematically shown in FIG. 16B, the composite region Zb of the second image update point S2 is at the top, the composite region Za at the first image update point S1 is at the center, and the initial position The synthesis region Za in P1 is arranged at the bottom and is overlapped. In the synthesis area Zb of the current image data GS2, a data area larger than the other synthesis areas Za is secured.

  Then, the control unit 3 outputs the image composite data GB to the display 12 and displays a composite screen 50 as shown in FIG. 23 on the display 12 (step S2-9). The composite screen 50 is initially displayed with the image 50c of the composite region Zb of the image data GS2 at the second image update point S2 at the top and the image 50b of the image data GS1 at the first image update point S1 at the center. The image 50a of the image data GF at the position P1 is generated at the bottom.

  In addition, the image processing unit 11 displays a vehicle outline 49 indicating the position of the vehicle at the second image update point S2 in an overlapping manner on the image composition data GB. The images 50a and 50b are regions hidden under the vehicle body. Further, the composite screen 50 is a screen in which the viewpoint of the rear camera 22 is artificially turned downward. Moreover, since the ratio of the image 50c at the current point is smaller than the image composition data GA generated at the first image update point S1, the image in the far range is deleted, and the optical axis is more The screen is inclined to the vehicle C side.

And the control part 3 judges the presence or absence of an end trigger (step S2-10), and when there is no end trigger (in step S2-10, NO), it returns to step S2-3.
In this way, when step S2-3 to step S2-10 are repeated for the fourth time in the absence of the end trigger, as shown in FIG. 24 (a), the vehicle C starts from the initial position P1. Is located at a fourth image update point S4 as an imaging point, which is four times the image update distance D1. At this time, the current image data GS4 and the four pieces of image data GF and GS1 to GS3 are read from the RAM 4 and corrected (steps S2-6 and S2-7). As a result, the past image data GF, GS1 to GS3 are converted into the viewpoint of the camera viewpoint V5 corresponding to the current position of the vehicle C.

Then, as shown in FIG. 24B, the image processing unit 11 superimposes the current image data GS4 and the image data GF, GS1 to GS3 in the same manner as described above. The synthesis area Za of the image data GF, GS1 to GS3 is almost the same data area. The synthesis area Zb of the current image data GS4 is a data area larger than the synthesis area Za of the past image data GF, GS1 to GS3.

Further, the synthesis region Za of the image data GF, GS1 to GS3 generated in the past is shown in FIG.
As shown in a), the imaging range F5 based on the composite region Za at the initial position P1, and the imaging ranges F7, F10, and F11 based on the composite region Za of the first to third image update points S1 to S3 as imaging points. Each corresponds. These imaging ranges F5, F7, F10, and F11 are regions corresponding to the rear wheel portion of the vehicle C at the fourth image update point S4.

  Further, the synthesis area Zb of the current image data G1 corresponds to the imaging range F12 as shown in FIG. The imaging range F12 is a data area having a data area that is smaller than the synthesis area Zb shown in FIGS. 15B and 16B and that is at least assured for the current image data GS4. Therefore, as steps S2-3 to S2-10 are repeated up to the fourth time, the size of the synthesis region Zb of the current image data G gradually decreases, and thus the rear camera 22 of the rear camera 22 is displayed on the screen of the display 12. It seems that the viewpoint gradually moves downward in a pseudo manner.

  Furthermore, when the processing of step S2-3 to step S2-10 is repeated for the fifth time, as shown in FIG. 25A, the vehicle C is located at the fifth image update point S5 as the imaging point. . Further, the control unit 3 reads the four image data GS1 to GS4 associated with the first to fourth image update points S1 to S4 from the RAM 4, and does not read the image data GF at the initial position P1. Then, the image processing unit 11 corrects the image data GS1 to GS4 and the newly acquired image data GS5 at the current location (step S2-7), and the past image data GS1 to GS4 are converted to the vehicle C. The viewpoint is converted to the viewpoint V6 corresponding to the current location, and image synthesis data GD as schematically shown in FIG. 25B is generated (step S2-8). That is, the image processing unit 11 uses the four image data G read from the RAM 4 and the image data G at the current location when combining the image data G.

  The image composition data GD is generated by superimposing the image data GS1 to GS5 so that the composition region Za of the other image data GS1 to GS4 is continuous with the composition region Zb of the current image data GS5 at the top. Yes.

  As described above, until it is determined that there is an end trigger, the control unit 3 and the image processing unit 11 use the image data G from the newest one among the image data G stored in the RAM 4. Then, the image synthesis data GA to GD are generated and output and displayed on the display 12.

If control unit 3 determines that there is an end trigger (YES in step S2-10), control unit 3 ends the combined data output process.
According to the second embodiment, in addition to the effects of the first embodiment, the following effects can be obtained.

(6) In the second embodiment, when the vehicle C reaches the image update points S1 to S5, the control unit 3 and the image processing unit 11 of the navigation device 1 acquire the image data G at that point. did. In addition, the past image data G associated with the initial position P1 or the image update points S1 to S4 is read up to a maximum of four from the side closer to the current point. In addition, the image processing unit 11 displays the composite area Zb of the image data G acquired at the current location and the composite areas Za of the read image data along the traveling direction of the vehicle C in the screen. It was made to synthesize | combine so that it might continue in order. For this reason, the image composition data GA to GD are composed of two to a maximum of five image data G, so that the image update distance can be shortened. Further, the composite screens 48 and 50 can be updated at a relatively short time interval.

  (7) In the second embodiment, the past image data GS1 to GS4 read from the RAM 4 are converted into coordinates in the imaging screen 22a of the camera viewpoint at the current location. For this reason, image data generated by imaging from different camera viewpoints can be converted as image data G captured from the camera viewpoint of the current location. Can be better. For this reason, it does not give the driver a sense of incongruity.

In addition, you may change each said embodiment as follows.
In each of the above embodiments, only the case where the vehicle C is parked in parallel has been described. However, when parallel parking is performed, the image data G at the current position and the past image data G may be displayed on the display 12.

  In the first embodiment, correction of distortion aberration may be omitted in step S2-7. If it does in this way, since processing can be simplified, the load of control device 2 can be reduced.

In the second embodiment, the image composition data is generated from the maximum of five image data G, but it is sufficient that the number is three or more.
In the coordinate conversion process of the second embodiment, image data obtained by converting the camera viewpoint may be created using other known methods.

  -In 2nd Embodiment, you may abbreviate | omit the viewpoint conversion process which makes a camera viewpoint the same. Further, the correction of distortion aberration of the image data G may be omitted. If it does in this way, since processing can be simplified, the load of control device 2 can be reduced.

In each of the above embodiments, the vehicle position is the center point 25 of the rear axle, but may be a specific position of another vehicle C.
In each of the above embodiments, the moving distance of the vehicle C that is the timing for acquiring the image data G (
The predetermined distance) and the image update distance D1 are the same distance, but may be different distances. At this time, the predetermined distance when acquiring the image data G is a distance shorter than the image update distance D1.

In each of the above embodiments, the image update distance D1 is set to 0.15 m and 0.5 m, respectively, but may be set to a shorter distance.
In each of the above embodiments, the control unit 3 acquires the image data G every predetermined distance and stores it in the RAM 4. However, for example, the control unit 3 acquires the image data G every several tens of milliseconds, It may be stored in the RAM 4 in association with the position of the vehicle C.

In the first embodiment, the control unit 3 and the image processing unit 11 may convert the past image data G2 into a camera viewpoint at the current position of the vehicle C. In each of the above embodiments, the past image data G may be converted to a viewpoint that is above the camera viewpoint at the current location. More specifically, when the rear camera 22 is a vehicle mounted at a position offset in the horizontal direction from the center axis of the vehicle body or a vehicle with a large vehicle body, the past image data G is used as the current camera viewpoint. Even if coordinate conversion (viewpoint conversion) is performed, the entire region including the rear wheels of the vehicle may not be displayed on the display 12. For this reason, as shown in FIG. 26, when the vehicle C1 moves backward in the X arrow direction, the imaging range E1 is imaged at the camera viewpoint V1 (imaging viewpoint) behind the current direction from the current position (X arrow direction). As shown in FIG. 27, the past image data G is converted into a viewpoint V1a (imaging viewpoint) vertically above the current camera viewpoint V2. The viewpoint V1a has the same coordinates as the coordinates in the horizontal direction (X-axis direction and Y-axis direction) of the current camera viewpoint V2, but only the coordinates in the vertical direction are above the camera viewpoint V2. The vertical height of the viewpoint V1a is such that at least a region corresponding to each rear wheel of the vehicle C1 is accommodated in the screen of the display 12. At this time, an interval may be provided between the imaging range E2 based on the camera viewpoint V2 at the current location and the imaging range E1 based on the camera viewpoint V1 at the past location. As a result, as shown in FIG. 28, a composite screen 62 on which the past image 60 based on the past image data G and the current image 61 based on the current image data G are displayed is displayed on the display 12. The past image 60 is an image of an area that accommodates each rear wheel of the vehicle C1, and displays a vehicle outline 63 that indicates the outline of the vehicle body. The vehicle outline 63 has a rear wheel drawing line 64 for drawing each rear wheel. The current image 61 is an image corresponding to the imaging range E2 shown in FIGS. A guidance display unit 65 is displayed between the current image 61 and the past image 60. As described above, when the viewpoint of the past image data G is converted to the viewpoint V1a above the current camera viewpoint V2, the rear of the vehicle C1 at the current position regardless of the vehicle type or the mounting position of the rear camera 22. A desired area such as an area corresponding to a ring portion can be displayed on the screen of the display 12.

  In each of the above embodiments, the control unit 3 and the image processing unit 11 generate image composite data using the image data G at the current location and the past image data G. In addition to this, a part of the image data G at the current point and a part of the image data G at the point behind the current point by a predetermined distance may be displayed side by side on the display 12. If it does in this way, the load of the control apparatus 2 by a synthetic | combination process can be reduced.

  The rear camera 22 may be attached to the front of the vehicle C instead of the rear. Also in this case, since the area below the vehicle body can be displayed using the image data G generated by this camera, it is possible to make it easier to visually recognize an obstacle that is difficult to see in front of the vehicle C.

  In the above embodiment, the parking assistance device is embodied as the navigation device 1 that performs route guidance, but may be a device that omits route guidance. In this case, the map data storage unit 9 is omitted.

The block diagram explaining the structure of the navigation apparatus of this embodiment. Explanatory drawing explaining the rear camera arrange | positioned at the vehicle. Explanatory drawing explaining the position of the vehicle at the time of performing the process of this embodiment. Explanatory drawing of the screen displayed on the display of the navigation apparatus. The schematic diagram explaining the synthesis | combination of image data. The schematic diagram explaining the synthesis | combination of image data. Explanatory drawing of the process sequence of this embodiment. Explanatory drawing of the process sequence of this embodiment. Explanatory drawing of the imaging range of a rear camera in an initial position. Explanatory drawing of the imaging range of a rear camera in an image update position. Explanatory drawing of the image data produced | generated by the initial position. Explanatory drawing of the image data produced | generated at an image update position. Explanatory drawing of a composite screen. Explanatory drawing of the imaging range in the initial position of 2nd Embodiment. (A) is an imaging range at the first image update position, and (b) is an explanatory diagram of image synthesis data. (A) is an imaging range at the second image update position, and (b) is an explanatory diagram of image synthesis data. Explanatory drawing of the coordinate transformation process of image data. The schematic diagram explaining the synthesis | combination of the image data of 2nd Embodiment. Explanatory drawing of the image data produced | generated in an initial position. Explanatory drawing of the image data produced | generated by the 1st image update position. Explanatory drawing of the synthetic | combination screen displayed in a 1st image update position. The schematic diagram explaining the synthesis | combination of the image data in the 2nd image update position. Explanatory drawing of the synthetic | combination screen displayed in a 2nd image update position. (A) is the imaging range in the 4th image update position, (b) is explanatory drawing of image synthetic data. (A) is the imaging range in the 5th image update position, (b) is explanatory drawing of image synthetic data. Explanatory drawing of the display range of past image data and present image data. Explanatory drawing of the viewpoint conversion of past image data. Explanatory drawing of the screen which displayed the past image data and the present image data.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus as parking assistance apparatus, 2 ... Control apparatus as control means, 3 ... Image data acquisition means, position specification means, image data reading means, image composition means, display control means, vehicle position display means, aberration correction A control unit as an image conversion unit, 4... A RAM as an image data storage unit, 7... A vehicle position detection unit constituting a position specifying unit, 10... An imaging data acquisition unit constituting an image data acquisition unit, 11. Image data reading means, image composition means, vehicle position display means, aberration correction means, and image processing section constituting image conversion means, 12 ... display as display means, 22 ... rear camera as imaging device, 33, 34, 37 , 43, 47 ... Imaging screen, A ... Optical axis, C, C1 ... Vehicle, GA-GD ... Image composition data, F1-F13 ... Imaging range as peripheral field of view, G GF, GS1 to GS5... Image data, G2... Past image data, P1... Initial position as an imaging point, R... Zb: a synthesis area as a first synthesis area, Za: a synthesis area as a second synthesis area.

Claims (8)

A parking support method for supporting a parking operation using a position specifying means for specifying a position of a vehicle, a display means for displaying image data, and a control means,
The control means is
Image data obtained by imaging the periphery of the vehicle is acquired from the imaging device provided in the vehicle every time the vehicle moves an image update distance, and the acquired image data is associated with the imaging point as past image data. Storing in the image data storage means;
Each time the vehicle moves an image update distance, reading the past image data captured at the imaging point behind the current position of the vehicle in the traveling direction from the image data storage means;
The read-out past image data, a step of viewpoint conversion on image pickup viewpoint of the image pickup apparatus at the current position of the vehicle,
Every time the vehicle moves an image update distance, current and synthetic regions in the current image data captured by position, viewpoint conversion was said and synthesis in past image data area synthesized as continuous to each other image synthesis of the vehicle Generating data; and
Possess a step of displaying the image synthesis data on the display means,
The parking assist method , wherein in the step of generating the image composite data, the image composite data is generated by reducing the composite area in the current image data as the number of the read past image data increases . Position specifying means for specifying the position of the vehicle;
Image data acquisition means for acquiring image data obtained by imaging the periphery of the vehicle every time the vehicle moves an image update distance from an imaging device provided in the vehicle;
Image data storage means for storing the acquired image data as past image data in association with the imaging point;
Display means for displaying the image data;
Image data reading means for reading the past image data captured at the imaging point behind the current position of the vehicle every time the vehicle moves an image update distance ;
The read-out past image data, converting means for viewpoint conversion on image pickup viewpoint of the image pickup apparatus at the current position of the vehicle,
Every time the vehicle moves an image update distance, current and synthetic regions in the current image data captured by position, viewpoint conversion was said and synthesis in past image data area synthesized as continuous to each other image synthesis of the vehicle Image composition means for generating data;
Display control means for displaying the image composite data on the display means ,
The parking assist device , wherein the image composition means generates the image composition data by reducing the composition area in the current image data as the number of the read past image data is larger .   In the parking assistance device according to claim 2,
  When the number of past image data stored in the image data storage unit exceeds a predetermined number, the image data reading unit sequentially starts from the past image data captured at an imaging point close to the current position of the vehicle. A parking assistance device, wherein a predetermined number of past image data is read.   In the parking assistance device according to claim 2 or 3,
  Receiving means for receiving a synthesis start signal for causing the display means to display the image synthesis data;
  The image data acquisition means acquires the image data every time the vehicle moves an image update distance from the initial position, with the position of the vehicle when the reception means receives the synthesis start signal as an initial position. A parking assistance device characterized by the above. In the parking assistance device according to any one of claims 2 to 4 ,
Combining region before Symbol past image data is lower corresponding to the region of the vehicle current position, the combining region of the current image data, the parking assist device which is a region corresponding to short-distance range of the vehicle. In the parking assistance device according to any one of claims 2 to 5 ,
A parking assistance device, further comprising vehicle position display means for displaying a vehicle position index indicating the current position of the vehicle in an overlapping manner with the image composite data . In the parking assistance device according to any one of claims 2 to 6,
A parking assist device, further comprising an aberration correction unit that corrects distortion aberration of the image data acquired from the imaging device. In the parking assistance device according to any one of claims 2 to 7,
The parking support device, wherein the image data acquisition means acquires image data obtained by imaging the rear of the vehicle from the imaging device provided at a rear end portion of the vehicle.

Images