JP5966961B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that assists a user in parking a host vehicle.

  As a conventional parking assistance device, for example, in the device disclosed in Patent Document 1, an overhead image in which the host vehicle and its surroundings are seen from above is generated and displayed on a display. By using such a parking assist device, the user can easily confirm the situation of the host vehicle and its surroundings, so that the host vehicle can be appropriately moved to the target parking position.

JP 2012-030796 A

  However, in the apparatus disclosed in Patent Document 1, a display for displaying a bird's-eye view image is provided apart from the steering for operating the operation direction of the host vehicle. For this reason, when the user pays attention to the steering operation at the time of parking, it becomes difficult to check the host vehicle and the surrounding situation displayed on the display. On the other hand, when the user focuses on the host vehicle and the surrounding situation displayed on the display, it becomes difficult to operate the steering. Therefore, since the steering operation while confirming the host vehicle displayed on the display and the surrounding situation requires experience such as familiarity and proficiency, it is difficult to say that the operation is intuitive and easy.

  This invention is made | formed in view of such a problem, The objective is to provide the parking assistance apparatus which enables a user to park the own vehicle intuitively and easily.

The present invention is a parking assistance device (1) that assists the user in parking the host vehicle (2). The parking assist device (1) is provided on the host vehicle and displays an image, and is superimposed on the display unit. operation with a member (30), a bird's-eye view seen overhead view image around the vehicle and the vehicle from above (a), the overhead image generating means for generating an image (11, S102, S302), and have contact during parking , parking control means for controlling the speed of the vehicle based on the steering direction and control the displacement of the vehicle based on the displacement of the operating member so that in correspondence with the direction of movement of the vehicle in the operating direction of the operation by the user member (50, 51, S204 , S205 ) and a detection unit (32) for detecting the amount of displacement . The detection unit displays two axes orthogonal to each other on the surface of the display as an X axis and a Y axis. When the direction perpendicular to the surface of the vessel is the Z axis, A plurality of strain detection elements include a displacement amount in the X-axis direction corresponding to the longitudinal direction of the vehicle and a displacement amount in the Y-axis direction corresponding to the lateral direction of the host vehicle, and a displacement amount around the Z-axis direction corresponding to the vertical direction of the host vehicle. The parking control means controls the steering direction of the host vehicle according to the steering angle of the host vehicle calculated based on the displacement amount around the Z-axis direction, and controls the speed of the host vehicle in the X-axis direction. And it controls according to the target value calculated based on the displacement amount of a Y-axis direction, It is characterized by the above-mentioned.

  According to the present invention, on the display on which the own vehicle and the surrounding bird's-eye view image are displayed, the user operates the operation member provided in a superimposed manner at the time of parking, so that the own vehicle moves in a direction corresponding to the operation direction. Move. Therefore, the user can intuitively and easily park the host vehicle while confirming the displayed host vehicle and the surrounding situation.

  In addition, the code | symbol in the parenthesis described in the claim and the means for solving a problem shows the correspondence with the specific means as described in embodiment mentioned later as one aspect of this invention. However, it does not limit the technical scope of the present invention.

The block diagram of the parking assistance apparatus in 1st embodiment. Explanatory drawing which shows the mounting position and imaging | photography range of the camera in 1st embodiment. The block diagram which shows a mode that the indicator and operation member in 1st embodiment were provided in the vehicle interior. The diagonal view which shows the indicator and operation member in 1st embodiment. The upper block diagram which looked at the indicator and operation member in a first embodiment from the Z direction. The side lineblock diagram which looked at the indicator and operation member in a first embodiment from the Y direction. The flowchart which shows an example of the parking assistance process in parking assistance ECU in 1st embodiment. Explanatory drawing which shows the bird's-eye view image when the parking target position in 1st embodiment is not set. Explanatory drawing which shows the bird's-eye view image in case the parking target position in 1st embodiment is set. The flowchart which shows an example of the parking control process in the vehicle controller in 1st embodiment. The flowchart which shows an example of the parking assistance process in parking assistance ECU in 2nd embodiment. Explanatory drawing which shows the bird's-eye view image on which the instruction image in 2nd embodiment was superimposed. The schematic block diagram of the parking assistance apparatus in the modification 1. FIG. The schematic block diagram which shows the guide part of the shift knob in the modification 2. FIG. Explanatory drawing which shows the bird's-eye view image when the recommendation track F in modification 9 is calculated as a track from the current position of the own vehicle to the parking target position.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. In addition, the overlapping description may be abbreviate | omitted by attaching | subjecting the same code | symbol to the corresponding component in each embodiment. When only a part of the configuration is changed in each embodiment, the configuration of the other embodiment described above can be applied to other portions of the configuration. In addition to the combination of the configurations explicitly described in the description of each embodiment, it is possible to partially combine the configurations of the plurality of embodiments even if they are not explicitly specified unless there is a problem with the combination. .
(First embodiment)
As shown in FIG. 1, the parking assistance device 1 includes a parking assistance ECU 11, cameras 21 to 24, a display 40, a vehicle controller 50, an operation member 30, and an activation switch 60.

  The parking assist ECU 11 is mainly configured by a microcomputer having a memory. Cameras 21 to 24, a display device 40, a vehicle controller 50, and an activation switch 60 are connected to the parking assist ECU 11 via an in-vehicle LAN. Hereinafter, a vehicle equipped with the parking assist device 1 is referred to as a host vehicle 2.

  The vehicle controller 50 is mainly composed of a microcomputer having a memory. A steering controller 51, an accelerator controller 52, a brake controller 53, a vehicle speed sensor 54, a steering angle sensor 55, and an operation member 30 are connected to the vehicle controller 50 via an in-vehicle LAN or an in-vehicle LIN. The vehicle controller 50 controls the operation direction of the host vehicle 2 to correspond to the operation direction of the operation member 30 by the user according to the operation direction given to the operation member 30 when the user operates the operation member 30. Perform parking control processing. In the present embodiment, this parking control process is intended for parking backward. The vehicle controller 50 receives the start signal from the start switch 60 and starts the parking control process. Therefore, the vehicle controller 50 corresponds to a parking control means.

  The steering controller 51 controls an electric motor provided between the steering and the pinion gear in order to control the steering direction of the host vehicle 2. The accelerator controller 52 controls a power engine mounted on the host vehicle 2 in order to control the acceleration of the host vehicle 2. The brake controller 53 controls a brake actuator in order to control braking of the host vehicle 2. The vehicle controller 50 can control the speed and moving direction of the host vehicle 2 by sending commands to the controllers 51, 52, and 53.

  The vehicle speed sensor 54 is a sensor that detects the speed of the host vehicle 2. For example, a wheel speed sensor that detects the rotational speed of each wheel of the host vehicle 2 can be used. The steering angle sensor 55 is a sensor that detects the steering angle of the steering of the host vehicle 2, and for example, a rotational torque sensor that detects rotational torque generated when the user operates the steering can be used. The speed and the steering angle of the host vehicle 2 detected by the sensors 54 and 55 are given to the vehicle controller 50, so that the controller 51, 52 and 53 can control the speed and steering direction of the host vehicle 2. A target value for controlling is calculated.

  As shown in FIG. 2, each of the cameras 21 to 24 is configured by a CMOS camera, a CCD camera, or the like whose imaging range is set to a wide angle by, for example, a wide angle lens. The front camera 21 is provided on a front bumper, a front window, or the like, and photographs the front area S1 of the host vehicle 2. The rear camera 22 is provided in an upper part of the rear window or the like and photographs the rear area S2 of the host vehicle 2. The left camera 23 is provided on a left side mirror or the like and photographs the left region S3. Further, the right camera 24 is provided on a right side mirror or the like and photographs the right region S4 of the host vehicle 2. Images taken by the cameras 21 to 24 are output to the parking assist ECU 11. The images output from the cameras 21 to 24 are combined and generated by the parking assist ECU 11 to be converted into a bird's-eye view image A in which the surroundings of the host vehicle 2 and the host vehicle 2 are viewed from above. Therefore, the parking assistance ECU 11 corresponds to an overhead image generation unit.

  As shown in FIG. 3, the display 40 includes a display panel such as a liquid crystal display or an organic EL display, and is provided on an instrument panel or the like. The display 40 displays the overhead image A generated by the parking assist ECU 11 on the screen. Therefore, every time the overhead view image A is updated by the parking assistance ECU 11, the display of the image A by the display 40 is also updated. Here, the bird's-eye view image A is displayed on the display unit 40 by aligning a portion B representing the host vehicle 2 (hereinafter referred to as host vehicle image B) with the center of the screen and in the longitudinal direction of the host vehicle 2 and the host vehicle image B. Are displayed.

  As shown in FIGS. 3 and 4, the operation member 30 is provided in alignment with the vehicle image B in the overhead view image A displayed on the display 40. As shown in FIGS. 5 and 6, the operation member 30 includes a grip portion 31, a movable shaft portion 34, a detection portion 32, and a drag portion 33.

  The movable shaft part 34 penetrates the area | region which displays the own vehicle image B in the indicator 40 to an up-down direction. The grip portion 31 is provided above the display 40 so as to overlap the display position of the vehicle image B.

  The grip portion 31 is a location where the user directly rotates like a steering, and imitates the vehicle shape of the host vehicle 2. The grip portion 31 is fixed to the upper end of the movable shaft portion 34, thereby transmitting an operation force given by a user operation to the detection portion 32 via the shaft portion 34.

  The detection unit 32 has two axes orthogonal to each other on the surface of the display 40, the X axis and the Y axis, and the direction perpendicular to the surface of the display 40 is the Z axis. A plurality of strain detection elements are provided so as to be able to detect the force and the force generated due to the moment around the Z-axis direction. Each strain detection element can detect the displacement amount of the operation member 30 with three degrees of freedom by detecting the displacement amount when the operation force is applied to the grip portion 31. By outputting the displacement amounts in the X-axis direction and the Y-axis direction from the detection unit 32, the vehicle controller 50 sets the target value of the speed used when the power engine and the brake actuator are controlled by the accelerator controller 52 and the brake controller 53. decide. Further, when the displacement amount around the Z-axis direction is output from the detection unit 32, the vehicle controller 50 determines the steering angle of the steering for controlling the steering direction of the host vehicle 2. In the present embodiment, the X-axis direction corresponds to the front-rear direction of the host vehicle 2, the Y-axis direction corresponds to the left-right direction of the host vehicle 2, and the Z-axis direction corresponds to the vertical direction of the host vehicle 2. ing.

  The drag part 33 has a core and a coil made of a magnetic material. The drag unit 33 is controlled by a command from the vehicle controller 50 to generate a reaction force that resists the operation force applied to the grip unit 31 by the user.

  The start switch 60 is provided in the grip portion 31 of the operation member 30, and generates a start signal for starting the parking support process and the parking control process in response to an operation such as pressing by the user, and the parking support ECU 11 and the vehicle controller 50, respectively. Send to.

  Next, the flow of the parking assistance process performed by the parking assistance apparatus 1 is demonstrated in detail based on the flowchart shown in FIG. The parking support process is started when a start signal is output by a user operation of the start switch 60 and the parking support ECU 11 detects the start signal.

  First, in step S101, captured images are output from each of the front camera 21, the rear camera 22, the left camera 23, and the right camera 24.

  Next, in step S102, a bird's-eye view image A in which the host vehicle 2 and the periphery of the host vehicle 2 are viewed from above is generated by performing a composition process of the images shot in step S101. At this time, together with the bird's-eye view image A, information related to the position of the host vehicle image B in the bird's-eye view image A and information representing the front-rear direction of the host vehicle 2 are temporarily stored in the memory of the parking assistance ECU 11.

  Subsequently, in step S103, the current steering angle of the steering is obtained from the steering angle sensor 55 through the vehicle controller 50, thereby calculating the predicted trajectory C of the movement path of the host vehicle 2 based on the steering angle. The predicted trajectory C obtained by such calculation is temporarily stored in the memory of the parking assistance ECU 11. Thereafter, the process proceeds to step S104 so that the image representing the predicted trajectory C calculated in step S103 is superimposed on the overhead image A.

  Furthermore, in step S105, it is determined whether the parking target position where the own vehicle 2 is parked is set by the user. Here, the setting of the parking target position may be set by the user using the touch panel display 40 or the like. Alternatively, the parking target position may be set by a parking position recognition unit that automatically recognizes a suitable position for parking from the overhead image A using a known algorithm. Alternatively, the parking target position may be set by a combination thereof.

  If the parking target position is set at the time of determination in step S105, the parking target position is temporarily stored in the memory of the parking assist ECU 11, and the process proceeds to step S106. In step S106, an image of the parking target frame D representing the parking target position is superimposed on the overhead image A.

  Subsequently, in step S107, a recommended parking start position, which is a position where parking can be preferably started, is calculated based on the current position of the host vehicle 2 and the parking target position. At this time, the recommended parking start position is temporarily stored in the memory of the parking assist ECU 11.

  Furthermore, in step S108, the image of the parking start frame E representing the recommended parking start position calculated in step S106 is superimposed on the overhead image A with a size similar to that of the vehicle image B, for example.

  Further, in step S109, a recommended trajectory F recommended for the host vehicle 2 as a trajectory toward the parking target position is calculated based on the recommended parking start position and the parking target position. At this time, the recommended trajectory F is temporarily stored in the memory of the parking assist ECU 11.

  In step S110, the image representing the recommended trajectory F calculated in step S109 is superimposed on the overhead image A. Here, since the recommended parking start position is calculated in step S107, the recommended trajectory F is drawn as a trajectory from the parking start frame E to the parking target frame D.

  Thereafter, in step S111, the overhead image A generated as described above is displayed on the display 40. Accordingly, under the setting of the parking target position, as shown in FIG. 8, the predicted trajectory C, the parking target frame D, the parking start frame E, and the recommended trajectory F obtained up to step S111 are superimposed and drawn. The overhead image A thus formed is displayed on the display 40.

  The case where the parking target position is set at the time of determination in step S105 has been described above. On the other hand, if the parking target position is not set at the time of determination in step S105, steps S106 to S110 are skipped and the process proceeds to step S111. Thereby, the bird's-eye view image A generated in step S102 is displayed on the display 40 in a state where only the image representing the predicted trajectory C calculated in step S103 is superimposed, as shown in FIG.

  Now, regardless of the setting of the parking target position, the process proceeds to step S112 while maintaining the display state in step S111. In step S112, it is determined whether or not an end event has occurred. If an end event has occurred, the parking support process is ended. When the end event has not occurred, the parking support process is returned and the process proceeds again to step S101. Here, for example, the end event may be an event in which a system end switch is provided on the operation member 30 and the system end switch is operated. Alternatively, the end event may be an event in which the vehicle controller 50 detects an intervention signal that intervenes in control processing of the steering controller 51, the brake controller 53, and the like when the user manually operates the steering, the brake, and the like. Alternatively, the end event may be an event in which an obstacle outside the host vehicle 2 is detected and the host vehicle 2 is automatically stopped.

  Next, the flow of the parking control process executed by the vehicle controller 50 will be described in detail based on the flowchart shown in FIG. The parking control process is started when a start signal is output by a user operation of the start switch 60 and the vehicle controller 50 detects the start signal.

  First, in step S201, the detection unit 32 detects the displacement amount of the strain detection element in the X-axis and Y-axis directions of the operation member 30 and the displacement amount of the strain detection element caused by the moment around the Z-axis direction.

  Next, in step S202, the steering angle of the steering is calculated based on the displacement amount of the strain detection element around the Z-axis direction of the operation member 30 detected in step S201.

  Subsequently, in step S203, when the power engine and the brake actuator are controlled by the accelerator controller 52 and the brake controller 53 based on the displacement amount of the strain detecting element in the X-axis and Y-axis directions of the operation member 30 detected in step S201. The target value of the speed to be used is calculated.

  In step S204, the steering controller 51 is instructed to control the steering direction of the host vehicle 2 in accordance with the steering angle calculated in step S202. At this time, the steering direction of the host vehicle 2 is controlled so that the rotation angle of the operation member 30 in the Z-axis direction corresponds to the turning angle of the host vehicle 2. Thereby, the moving direction of the own vehicle 2 corresponds to the operating direction of the operating member 30 by the user.

  Further, in step S205, based on the target speed value calculated in step S203, the accelerator controller 52 is instructed to control the power engine, and the brake controller 53 is instructed to control the brake actuator. Thereby, the speed of the own vehicle 2 can be controlled by controlling acceleration and braking of the own vehicle 2. Specifically, in step S205, first, the current value of the speed of the host vehicle 2 detected by the vehicle speed sensor 54 is compared with the target speed value calculated in step S203. As a result, when the target speed value is larger than the current speed value of the host vehicle 2, the command signal is transmitted to the accelerator controller 52 and the brake controller 53 to increase the speed of the host vehicle 2. On the other hand, when the target speed value is smaller than the current speed value of the host vehicle 2, the command signal is transmitted to the accelerator controller 52 and the brake controller 53 to reduce the speed of the host vehicle 2.

  Thereafter, in step S206, the current overhead image A and the recommended trajectory F are read from the memory of the parking assistance ECU 11, and it is determined whether or not the recommended trajectory F is superimposed on the host vehicle image B in the overhead image A. If the recommended track F is superimposed on the host vehicle image B, the process proceeds to step S207.

  In step S207, it is determined whether or not the vehicle image B deviates from the recommended track F. If the vehicle image B deviates from the recommended track F, the process proceeds to step S208, and the reaction force 33 is controlled to generate a reaction force in the direction opposite to the operation force applied to the grip portion 31. As a result, the user recognizes the reaction force against the operation force.

  On the other hand, if the recommended trajectory F is not superimposed on the vehicle image B in step S206, steps S207 and S208 are skipped and the process proceeds to step S209. If it is determined in step S207 that the vehicle image B does not deviate from the recommended track F, steps S207 and S208 are skipped and the process proceeds to step S209. In addition, it progresses to step S209 also after completion | finish of step S208.

  In step S209, it is determined whether or not an end event has occurred. If an end event has occurred, the parking control process ends. If the end event has not occurred, the parking control process is returned and the process proceeds to step S201 again. Here, as the end event, the same event as in the case of the parking support process described above is applied.

  In the first embodiment described above, the user operates the operation member 30 provided in an overlapping manner on the indicator 40 on which the own vehicle 2 and the surrounding bird's-eye view image A are displayed, so that the operation direction of the user is operated. The own vehicle 2 moves in the direction corresponding to. Therefore, the user can park the host vehicle 2 intuitively and easily while confirming the displayed host vehicle 2 and the surrounding situation.

  In the first embodiment, the user is recommended that the parking target frame D representing the parking target position of the host vehicle 2 and the recommended trajectory F of the host vehicle 2 heading for the parking target position are superimposed on the overhead image A. While confirming the track F, the operation member 30 can be operated along the recommended track F. According to this, it becomes possible to improve the ease of parking.

  Furthermore, in the first embodiment, when the host vehicle 2 deviates from the recommended track, the user can intuitively recognize the deviated situation by the reaction force against the operation force to the operation member 30. According to this, it is possible to support the operation of causing the host vehicle 2 to follow the recommended track and to increase the ease of parking.

  In addition, in the first embodiment, since the speed of the host vehicle is controlled according to the amount of displacement of the operation member 30, the user can easily adjust the operation force of the operation member 30 with the host vehicle. 2 movement speed can be adjusted. According to this, it becomes possible to improve the ease of parking.

  In addition, in the first embodiment, the user confirms not only the own vehicle 2 displayed in the bird's-eye view image A but also the operation member 30 imitating the vehicle shape whose front-rear direction coincides with the own vehicle 2. The operation member 30 can be intuitively operated as if it were the host vehicle 2. According to this, it becomes possible to improve the ease of parking.

In addition, in the first embodiment, after starting the parking control process according to the operation of the activation switch 60, the user immediately operates the operation member 30 provided with the switch 60 to move the host vehicle 2. Can start. According to this, it becomes possible to improve the ease of parking by smoothing from the start of the parking control process to the start of the own vehicle movement.
(Second embodiment)
As shown in FIG. 11, in the parking support process by the parking support ECU 11 of the second embodiment, in addition to executing steps S301 to S312 corresponding to steps S101 to S112 of the first embodiment, step S313 is further performed. , S314 is executed.

  Step S313 is executed after step S310, and the position of the host vehicle image B in the overhead view image A and the front-rear direction of the host vehicle 2 are read from the memory of the parking assistance ECU 11. At the same time, in step S313, an instruction direction for instructing the operation direction of the operation member 30 is calculated so that the host vehicle 2 follows the recommended track F calculated in S309.

  In step S314 following step S313, an instruction image G for indicating the calculated instruction direction to the user is superimposed on the overhead image A. As the instruction image G, it is only necessary that the user can recognize the operation direction of the operation member 30. For example, a graphic such as an arrow, a character indicating the direction, or a combination of the graphic and the character can be used.

  Then, by proceeding to step S311 after step S314, the overhead image A is displayed on the display 40. Thus, when the parking target position is set, as shown in FIG. 12, the bird's-eye view is formed by superimposing the predicted trajectory C, the parking target frame D, the parking start frame E, the recommended trajectory F, and the instruction image G. Image A will be displayed. On the other hand, when the parking target position is not set, the bird's-eye view image A is displayed on the display device 40 in a state where only the predicted trajectory C and the instruction image G are superimposed, although not shown.

In the second embodiment described above, the user operates the operation member 30 according to the instruction image G superimposed on the overhead image A so as to indicate the operation direction, so that the vehicle 2 is moved with respect to the recommended track F. It can be made to follow easily. According to this, it becomes possible to improve the ease of parking.
(Other embodiments)
As mentioned above, although several embodiment of this invention was described, this invention is not limited to these embodiment, In the range which does not deviate from the summary, it can apply to various embodiment.

  Specifically, in Modification 1, as shown in FIG. 13, an obstacle sensor 70 may be connected to the parking assistance ECU 11 via an in-vehicle LAN, an in-vehicle LIN, or the like. Here, the obstacle sensor 70 may be any sensor that can transmit a survey wave and receive a reflected wave reflected by the obstacle, whether using a sound wave or a light wave. Any of those using radio waves may be used. In the first modification, warning means may be further provided to warn the user when the obstacle sensor 70 detects an obstacle that overlaps the predicted trajectory C or the recommended trajectory F. Here, the warning means may be a display-type warning means for superimposing an image such as a character or a graphic for urging the warning on the overhead image A and displaying it on the overhead image A, or the drag unit 33 may increase the operating force. It may be a mechanical warning means that generates a counter reaction force and prompts a warning. According to this, the user can intuitively recognize that an obstacle is present in the predicted trajectory C or the recommended trajectory F by a warning display in the overhead image A or by a drag received through the grip portion 31. .

  In the second modification, as shown in FIG. 14, when a system activation position 81 is provided at one of the positions of the shift knob 80 that operates the gear of the host vehicle 2 and the shift knob is guided to the system activation position 81. A start signal for starting the parking support process and the parking control process may be generated.

  In the third modification, based on the current position of the host vehicle 2 that can be acquired from a satellite line such as GPS, a peripheral photograph stored in a database inside or outside the host vehicle 2 is read out, and is used when the overhead image A is generated. You may use as each image of the front, back, right side, and left side to be used.

  In the modified example 4, the shape of the operation member 30 may be, for example, a semi-disc shape as long as an operation force can be applied.

  In the modified example 5, the predicted trajectory C does not need to be superimposed and drawn on the overhead image A by omitting steps S103 and S104 or steps S303 and S304 of the parking support process. Further, in Modification 6, the parking target frame D may not be superimposed and drawn on the overhead image A by omitting steps S105 and S106 or steps S305 and S306 of the parking support process. Furthermore, in the modified example 7, it is not necessary to superimpose and draw the parking start frame E on the overhead image A by omitting steps S107 and S108 or steps S307 and S308 of the parking support process.

  In the modified example 8, the recommended trajectory F may not be superimposed on the overhead image A by omitting steps S109 and S110 or steps S309 and S310 of the parking support process. In the modification 9, the recommended trajectory F may be calculated based on the current position of the host vehicle 2 and the parking target position instead of the parking start recommended position in step S109 or step S309 of the parking support process. . According to this, as shown in FIG. 15, the recommended trajectory F is superimposed on the overhead image A as a trajectory between the parking target frame D and the vehicle image B. In the case of this modification 9, steps S107 and S108 or steps S307 and S308 can be omitted.

  In Modification Example 10, by omitting steps S206 to S208 of the parking control process, it is not necessary to generate a reaction force due to the vehicle image B deviating from the recommended track F. In the case of this modification 10, a configuration in which the drag portion 33 is not provided can be employed for the operation member 30.

  DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus, 11 Parking assistance ECU, 2 Own vehicle, 30 Operation member, 40 Indicator, 50 Vehicle controller, 51 Steering controller, 52 Accelerator controller, 53 Brake controller, 60 Start switch, A Overhead image, B Own vehicle image , C predicted trajectory, D parking target frame, E parking start frame, F recommended trajectory, G instruction image.

Claims (6)

A parking assistance device (1) for assisting a user to park his vehicle (2),
A display (40) provided in the host vehicle for displaying an image;
An operation member (30) provided to overlap the display;
An overhead image generation means (11, S102, S302) for generating, as the image, an overhead image (A) in which the own vehicle and the periphery of the own vehicle are viewed from above;
And had us when parked, wherein based on the steering direction by controlling the and the displacement amount of the vehicle based on the displacement amount of the operating member so that in correspondence with the operation direction of the operating member the movement direction by a user of the vehicle Parking control means (50, 51, S204 , S205 ) for controlling the speed of the host vehicle ;
A detection unit (32) for detecting the amount of displacement ,
The detection unit corresponds to the front-rear direction of the host vehicle when two axes perpendicular to the surface of the display unit are an X-axis and a Y-axis, and a direction perpendicular to the surface of the display unit is a Z-axis. The displacement amount in the Y-axis direction corresponding to the X-axis direction and the left-right direction of the host vehicle and the displacement amount around the Z-axis direction corresponding to the vertical direction of the host vehicle are detected by a plurality of strain detection elements. And
The parking control means controls the steering direction of the host vehicle according to a steering angle of the host vehicle calculated based on the displacement amount around the Z-axis direction, and controls the speed of the host vehicle. The parking assist device is controlled according to a target value calculated based on the displacement amount in the X-axis direction and the Y-axis direction .   The overhead image generation means (11, S106, S109, S306, S309) is recommended to the host vehicle as a parking target frame (D) indicating a parking target position for parking the host vehicle and a track toward the parking target position. The parking assist device according to claim 1, wherein a recommended trajectory (F) is superimposed on the overhead image.   The bird's-eye view image generation means (11, S314) superimposes an instruction image (G) for instructing the operation direction so that the host vehicle follows the recommended track on the bird's-eye view image. 2. The parking assistance device according to 2.   The parking assist device according to claim 2 or 3, wherein when the host vehicle deviates from the recommended track, the operation member receives a reaction force against an operation force given by a user. The parking support device according to any one of claims 1 to 4 , wherein the operation member is formed to imitate a vehicle shape whose front-rear direction coincides with the host vehicle in the overhead view image. An activation switch (60) for starting control by the parking control means in response to a user operation,
The activation switch, the parking assist apparatus according to any one of claims 1 to 5, characterized in that provided in the operating member.

Images