JPH10244891A - Parking auxiliary device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give a proper instruction for a driving action and accurately guide a vehicle to a tandem parking point by overwriting a tandem parking feasibility judging line on the photographed images of the side surrounding environment of the vehicle in response to the tandem parking feasible minimum distance set in advance. SOLUTION: The drawing position when a tandem parking feasibility judging line is overlappingly displayed on the image of a front left side camera 2 is calculated based on the positional relation between the front left side camera 2 and a rear left side camera 3, the photographing direction, and a tandem parking feasible minimum distance. An occupant straightly moves a vehicle (advance or reverse) in parallel with a front stopped vehicle until the rear end section of the front stopped vehicle coincides with the tandem parking feasibility judging line while seeing this display screen, and the occupant operates a switch 8 to switch the image of the front left side camera 2 to the image of the rear left side camera 3 at the coincidence point where the vehicle is stopped. After the switch 8 is operated, the image of the rear left side camera 3 is displayed on a display 5, then the tandem parking feasibility judging line is overlappingly displayed on the rear left side image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device for instructing a passenger to perform a parking operation and guiding the driver to a parking point.

[0002]

2. Description of the Related Art A parking assist device is known which calculates and displays a traveling route to a parking point and warns if there is an obstacle in traveling along the traveling route (for example, a parking assist device). And JP-A-62-278777.

[0003]

By the way, when the vehicle is parked in parallel, the driver first turns the steering wheel to the left, turns clockwise (in the CW direction), then returns the steering to neutral and retreats. You have to perform a complicated steering operation, turning the steering to the right, turning counterclockwise (CCW direction), finally returning the steering to neutral again and stopping. In addition, in order to perform parallel parking along the shortest route, it is necessary to turn the steering wheel fully left and right (referred to as full steering in this specification) at an optimum point.

[0004] In the case of parallel parking where such complicated steering operation is required, it is not sufficient to simply display the traveling route to the parking point as in the above-mentioned conventional parking assist device. You may not be able to park or you may have to start over.

[0005] It is an object of the present invention to provide a parking assist device that gives an appropriate instruction to the occupant's driving operation and accurately guides the occupant to a parallel parking point.

[0006]

[Means for Solving the Problems]

(1) The invention according to claim 1, wherein first and second image pickup means arranged before and after the vehicle side to image the surrounding environment of the vehicle side, and display means for displaying an image taken by each image pickup means. And a line drawing unit that overwrites an image of the first imaging unit and an image of the second imaging unit with a line for judging whether parallel parking is possible or not according to a preset minimum parallel parking possible distance. The surrounding environment of the vehicle side before and after the vehicle side is imaged, and the parallel parking possibility determination line corresponding to the preset parallel parking possible minimum distance is overwritten on those images. (2) The parking assist device according to claim 2, when performing parallel parking between the vehicle stopped ahead and the vehicle stopped behind, captures an image of the vehicle stopped forward by the first imaging unit and backwards by the second imaging unit. An image of a stopped vehicle is taken, and a line drawing means overwrites an image of each image pickup means with a parallel parking possibility determination line. (3) The invention according to claim 3 is a side image pickup means for picking up an image of the surrounding environment on the side of the vehicle, a rear image pickup means for picking up an image of the surrounding environment behind the vehicle, and a display means for displaying an image picked up by each image pickup means. And a steering point calculating means for calculating a steering point on the route to the parallel parking point; a line calculating means for calculating a driving operation instruction line for moving the vehicle to the steering point; and a line calculating means. A line drawing means for overwriting the driving operation instruction line on the image of each imaging means. Image the surrounding environment on the side of the vehicle and the surrounding environment behind the vehicle, calculate the steering point on the route to the parallel parking point, and calculate the driving operation instruction line for moving the vehicle to the steering point. The driving operation instruction line is overwritten on the direction image and the vehicle rear image. (4) The parking assist device according to claim 4, wherein the lateral imaging means captures an image of the vehicle stopped ahead, and the line drawing means captures a stop instruction line for moving the vehicle straight to the first steering point. This is to overwrite the image. (5) The parking assist device according to claim 5, further comprising a steering angle detecting means for detecting a steering angle of the vehicle, and when the full steering is detected by the steering angle detecting means at the first steering point, a rearward image is displayed on the display means. An image captured by the means is displayed, and a turn instruction line for turning the vehicle backward and moving to the second steering point by the line drawing means is overwritten on the image of the rear imaging means. (6) In the parking assist device according to claim 6, a plurality of turning instruction lines are drawn by the line drawing means. (7) When the neutral steering angle is detected by the steering angle detecting means at the second steering point, the parking assist device according to claim 7 causes the line drawing means to move the vehicle straight to the third steering point. The stop instruction line is overwritten on the image of the rear imaging means. (8) In the parking assist device according to the eighth aspect, the angle of view of the rear imaging unit is switched from a wide angle to a narrow angle, and the stop instruction line is overwritten on the narrow angle image of the rear imaging unit. (9) In the parking assist device according to claim 9, when reverse full steering is detected by the steering angle detecting means at the third steering point,
The angle of view of the rear imaging means is returned from a narrow angle to a wide angle.

[0007]

【The invention's effect】

(1) According to the first aspect of the invention, the surrounding environment around the vehicle before and after the side of the vehicle is imaged, and the parallel parking feasibility determination line corresponding to the preset minimum parallel parking possible distance is overwritten on those images. Therefore, the possibility of parallel parking can be easily and accurately determined. (2) According to the second aspect of the invention, when parallel parking is performed between a stopped vehicle ahead and a stopped vehicle behind, an image of the stopped vehicle is taken together with the image of the stopped vehicle, and the captured images thereof are taken. Is overwritten with the parallel parking possibility determination line, the same effect as in claim 1 can be obtained. (3) According to the invention of claim 3, the surrounding environment on the side of the vehicle and the surrounding environment behind the vehicle are imaged, the steering point on the route to the parallel parking point is calculated, and the vehicle is moved to the steering point. The driver's operation instruction line is calculated and the driver's operation instruction line is overwritten on the image on the side of the vehicle and the image on the rear of the vehicle. It can be easily and accurately guided to a parallel parking point. (4) According to the invention of claim 4, the stop instruction line for imaging the vehicle stopped ahead and moving the vehicle straight to the first steering point is overwritten on the image of the vehicle stopped ahead. The passenger can be easily and accurately guided to the first steering point. (5) According to the invention of claim 5, when full steering is detected at the first steering point, a turning instruction line for turning the vehicle backward and moving to the second steering point is a captured image of the rear of the vehicle. , It is possible to easily and accurately guide the occupant to the second steering point. (6) According to the invention of claim 6, since a plurality of turn instruction lines are drawn, it is easy to confirm the parallel state of the turn instruction line and the road curb line, and the occupant can easily reach the second steering point. And accurately. (7) According to the invention of claim 7, when a neutral steering angle is detected at the second steering point, a stop instruction line for moving the vehicle straight and moving to the third steering point is displayed on the image behind the vehicle. Since the overwriting is performed, the occupant can be easily guided to the third steering point. (8) In the parking assist device according to claim 8, the angle of view of the rear imaging unit is switched from a wide angle to a narrow angle, and the stop instruction line is overwritten on the narrow angle image of the rear imaging unit. An occupant can be accurately guided. (9) According to the ninth aspect of the present invention, when the reverse full steering is detected at the third steering point, the imaging angle of view behind the vehicle is returned from the narrow angle to the wide angle. The driver can safely and easily be guided to a parallel parking point while confirming a wide range of the surrounding environment.

[0008]

FIG. 1 is a diagram showing a configuration of an embodiment of the present invention. The parking assist device according to one embodiment includes a steering angle sensor 1, a front left camera 2, a rear left camera 3, a rear camera 4, a display 5, a graphic controller 6, a control unit 7, and an operation switch 8. ing. The steering angle sensor 1 detects a steering angle of the steering. The camera 2 is installed at the front left side of the vehicle and captures an image of the surrounding environment on the front left side of the vehicle. Camera 3
Is installed at the rear left of the vehicle, and captures an image of the surrounding environment on the left side of the rear of the vehicle. Further, the camera 4 is installed at a rear portion of the vehicle, and captures an image of a surrounding environment behind the vehicle. The graphic controller 6 displays the surrounding environment captured by the cameras 2 to 4 on the display 5 and overwrites various lines described later on the surrounding environment image. The control unit 7 calculates a line for judging whether parallel parking is possible or not and a line for giving a driving operation instruction at a point to be steered on a parallel parking route, and a steering angle sensor 1 and an operation switch 8. The images of the cameras 2 to 4 are switched on the basis of the signal from the camera, and various lines are overwritten on the images of the cameras 2 to 4.

Referring to FIG. 2, a procedure for parallel parking according to an embodiment will be described. Now, it is determined that parallel parking is possible in the space between the stopped vehicle 1 and the stopped vehicle 2, and the own vehicle is stopped.
And stop at a distance of L0 in parallel. From that point, the vehicle goes straight (forward or backward) to the first steering point A1B1C1D1 while keeping the steering neutral, stops at the first steering point A1B1C1D1, and turns the steering wheel to the left. And keep the steering as it is clockwise (CW)
At the second steering point A2B2
Stop at C2D2 and return steering to neutral. The steering is kept as it is, and the vehicle is moved backward by a predetermined distance n, and the third steering point A3B3C
Stop at 3D3 and steer the steering to the right. Further, the vehicle is maintained as it is, turns backward in a counterclockwise direction (CCW) by a predetermined turning angle θ, and stops at the parallel parking point A4B4C4D4.

In contrast to the above-described driving operation during parallel parking, in the present embodiment, the driving operation during parallel parking is performed by overwriting the determination screen and the instruction line on the imaging screens of the side cameras 2 and 3 and the rear camera 4. To assist.

First, a stopped vehicle capable of parallel parking and road environmental conditions will be considered with reference to FIGS. FIG. 3 shows the positional relationship between the turning center and the vehicle when the vehicle is fully steered right and when the vehicle is fully steered left. Or indicates the turning center at the time of full right steering, and Or indicates the turning center at the time of left full steering. R1 is the distance from Or to the front left end of the vehicle, R2 is the distance from Or to the right side of the rear axle, R3 is the distance from Or to the rear left end of the vehicle, R4 is O
l to the right front end of the vehicle, R5 is the distance from Ol to the left side of the rear axle, R6 is the distance from Ol to the right rear end of the vehicle, L1 is the length from the front end of the vehicle to the rear axle, L2 is the rear over Hang.

[0012] Regarding the inter-vehicle distance FG between the stopped vehicle 1 and the stopped vehicle 2, when turning counterclockwise with full right steering, the left front end (B3 → B4) of the own vehicle is shifted to the right rear end of the front stopped vehicle 1. A condition that does not interfere with the portion F and that the rear end C4D4 does not interfere with the front end of the rear stopped vehicle 2 must be satisfied.

When the parallel parking is completed, the distance OF from the right side O of the rear axle to the right rear end F of the vehicle 1 stopped forward is:

[Formula 1] OF ≧ sqrt {(R1 + f1) ² −R2 ² } where f1 is a preset margin, and Or3 to F =
R1 + f1. The distance OG from the right rear axle O to the right front end G of the rear stopped vehicle 2 when the parallel parking is completed is

OG ≧ L2 + f2 where sqrt is a square root and f2 is a preset margin. The following formulas 1 and 2 are added to obtain the inter-vehicle distance FG between the stopped vehicle 1 and the stopped vehicle 2.

FG ≧ sqrt {(R1 + f1) ² −R2 ² } +
L2 + f2｝ Assuming that the minimum inter-vehicle distance for parallel parking is b, from Equation 3,

B = sqrt {(R1 + f1) ² −R2 ² } + L
2 + f2

The depth e of the parallel parking space is such that, when turning counterclockwise with full right steering, the left rear end of the vehicle (C3 →
C4) must satisfy the condition that does not interfere with the curb at the road edge.

E ≧ R3 + f5-R2 where f5 is a margin.

Next, from the first steering point A1B1C1D1 to the second
The turning angle θ to the steering point A2B2C2D2 and the retreat distance n from the second steering point A2B2C2D2 to the third steering point A3B3C3D3 are determined. When the vehicle retreats straight with the steering neutral, it must satisfy a condition that the left rear end (C2 → C3) of the vehicle does not interfere with the right rear end F of the vehicle 1 stopped ahead. That is, the line segment Or3F is changed to the line segment Or3Ol2.
The length of the upwardly projected line segment must be greater than (R2 + W). here,

## EQU6 ## If the angle between Or3F and Or3O is α, Or3F = R1 + f1

[Formula 7] From cos α = Or3O / Or3F,

Α = acos {R2 / (R1 + f1)}

When the host vehicle retreats on the side of the right rear end F of the stopped vehicle 1 by f3 (a predetermined margin width),

Or3Fcos (α−θ) − (R2 + W) = f3 By Expressions 6 and 9,

Cos (α−θ) = (R2 + W + f3) /
(R1 + f1) From equation 10,

[Equation 11] θ = α-acos ｛(R2 + W + f3) /
(R1 + f1)｝ The retreat distance n is based on the length of Ol3H.

R5 + W + Lo = (R2 + W + R5) (Lo
−cos θ) + nsin θ + R5 n

## EQU13 ## n = ｛W + Lo- (R2 + W + R5) (Lo
−cos θ)｝ / sin θ

Finally, a condition for a road width that allows parallel parking is determined. The road width must satisfy the condition that the right front end (A1 → A2) does not run off the road when the vehicle turns backward clockwise with full left steering. Road width V, line segment O
Assuming that the angle between l1A1 and the Y axis is γ,

Γ = acos {(R5 + W) / R4}

When θ ≧ γ, V ≧ R4 + f4 + Lo−R2

When θ <γ, V ≧ R4 · cos (γ−θ) +
f4 + Lo-R2 Note that f4 is a preset margin.

The conditions of the stopped vehicles capable of parallel parking and the conditions of the road environment are summarized as follows: (1) The depth of the measured parallel parking space satisfies Equation 5. (2) The distance between vehicles in the measured parallel parking space is expressed by Equation 4.
To meet. (3) The turning angle θ and the retreat distance n obtained from Expressions 11 and 13 satisfy Expression 15 or Expression 16. It is assumed that parallel parking is possible if these conditions are satisfied.

The depth e of the parallel parking space in equation 5
If it is visually confirmed that the size of the vehicle stopped before and after is the same as or larger than the own vehicle, it may be determined that Formula 5 is satisfied without performing distance measurement. .

Regarding the road width V, if the vehicle interval Lo and the turning angle θ with respect to the stopped vehicle are made small, it may be determined that the above condition is satisfied for a general road width without distance measurement. In addition, the width of the road that can be parked is determined by obtaining the statistics of the road width through a preliminary investigation, and the turning angle θ and the vehicle interval Lo that satisfy the parking conditions are determined so that the vehicle interval is less than or equal to Lo at the time of the initial guidance. You may be asked to stop. Specifically, as shown by the broken line in FIG.
At the time of the initial guidance, the side spacing instruction line may be superimposed and drawn on the imaging screen and guided to a position where the stopped vehicle comes to the front side of the line.

In addition, the depth e of the parallel parking space in Equation 5
The distance may be measured directly by providing a laser radar or an ultrasonic distance measuring device, or the captured image may be processed and detected.

Next, a first steering point A1B1C1D1 at which the vehicle starts turning clockwise with full left steering is determined. When the right rear end F of the stopped vehicle 1 is taken as the reference point (origin), the coordinates of the left outside point of the rear axle at the point turning clockwise with full left steering are P (Px, Py).

Px = １７f3-R5 (Lo-cos θ) -L
o · cosθ｝ / sinθ

## EQU18 ## It is given by Py = Lo. Attachment point Q (Q
x, Qy) is located m away from point P,

Qx = Px + m = ｛f3-R5 (Lo-co
sθ) -Lo · cosθ｝ / sinθ + m

## EQU20 ## Qy = Lo.

In the equations (19) and (20), when the distance Lo between the vehicle 1 stopped ahead and the host vehicle is changed, the position of the camera with respect to the right rear end F of the vehicle 1 stopped ahead is shown in FIG.
Move on a straight line as shown in. That is, since the reference point is the right rear end F of the vehicle 1 stopped forward, the vector up to the rear side camera 3 of the own vehicle is (+ Qx, + Qy), and the rear side camera 3 changes due to the change in the vehicle interval Lo. It will move on a straight line.

That is, Equations (19) and (20) show the positional relationship between the right rear end F of the front stopped vehicle 1 and the mounting point Q of the rear side camera 3, and the front stopped vehicle captured by the rear side camera 3 1 based on the position on the display 5
It is possible to know the steering point A1B1C1D1.

It should be noted that the second steering point A2B2C2D2 is a point which is turned back from the first steering point A1B1C1D1 by the turning angle θ, and the third steering point A3B3C3D3 is the second steering point A2.
This is a point where the vehicle has receded straight from B2C2D2 by a distance n. In this embodiment, the vehicle is fully steered to the left at the first steering point A1B1C1D1 and turns backward in the CW direction.
2B2C2D2 Neutral steer, retreat straight by distance n, and steer to the right at third steering point A3B3C3D3 to CCW
Turn backward in the direction and stop at the parallel parking point A4B4C4D4.

FIGS. 5 and 6 are flowcharts showing the parallel parking assist processing. The operation of the embodiment will be described with reference to these flowcharts. As shown in FIG. 7, when performing parallel parking between the front stopped vehicle 1 and the rear stopped vehicle 2, the occupant stops the vehicle in parallel with the stopped vehicles 1 and 2, stops the vehicle with the steering neutral, and then stops. The parallel parking assistance is started by operating the switch 8. When the start operation of the parallel parking assistance is performed by the switch 8, the control unit 7 starts the processing shown in FIGS. In step 1, the image of the front left camera 2 is displayed on the display 5, and in subsequent step 2, the parallel parking determination line is superimposed on the front left image and displayed.

FIG. 8 shows a display screen in which the image of the left front camera 2 is superimposed and displayed with the parallel parking availability judgment line. The drawing position of the parallel parking possibility determination line is calculated based on the positional relationship between the front left side camera 2 and the rear left side camera 3, the imaging direction (camera direction), and the minimum parallel parking possible distance b in Expression 4. While watching the display screen, the occupant advances the vehicle straight ahead (forward or backward) in parallel with the vehicle 1 stopping ahead until the rear end of the vehicle 1 stopping ahead coincides with the parallel parking possibility determination line, and stops at the point where the vehicle coincides. . At this point, the occupant operates the switch 8 to switch to the image of the rear left camera 3.

When a switch operation for image switching is performed in step 3, the process proceeds to step 4, where the image of the rear left camera 3 is displayed on the display 5. Next step 5
Then, a parallel parking availability determination line is superimposed on the rear left image.

FIG. 9 shows a display screen in which an image of the rear left camera 3 is superimposed and displayed with a parallel parking availability judgment line. The drawing position of the parallel parking possibility determination line is calculated based on the positional relationship between the front left camera 2 and the rear left camera 3, the imaging direction (the direction of the camera), and the minimum parallel parking possible distance b in Expression 4, and FIG. The interval between the parallel parking feasibility determination line superimposed on the left front side image shown in FIG. 9 and the parallel parking feasibility determination line superimposed on the rear left side image shown in FIG. The occupant looks at the rear left side screen shown in FIG. 9, and if the front end of the rear stopped vehicle 2 is behind the parallel parking availability determination line (left side in the figure), the inter-vehicle distance between the stopped vehicle 1 and the stopped vehicle 2 Is determined to be greater than or equal to the minimum distance b that allows parallel parking. When parallel parking is possible, the switch 8 is operated to switch to the turning assist screen.

When a switch operation for switching to the turning assist screen is performed in step 6, the process proceeds to step 7, and FIG.
As shown by 0, a left full steering instruction line is superimposed on the image of the rear left camera 3 and displayed. As described above, the left full steering instruction line is a straight line given by (+ Qx, + Qy) based on the right rear end F of the vehicle 1 stopped ahead, and is drawn on the screen of the rear left camera 3. The position is obtained by Expressions 19 and 20.

As described with reference to FIG. 4, the left outside point P (Px, Py) of the rear axle with respect to the right rear end F of the stopped vehicle 1 moves on an oblique straight line according to the size of the vehicle interval Lo. Accordingly, the attachment point Q (Qx, Qy) of the left camera 3 also moves on the oblique straight line. Therefore, it is sufficient to guide the camera 3 to stop where the attachment point Q comes on the straight line, and the full left steering instruction line shown in FIG. 10 is the straight line. Stopped vehicle 1 on this left full steering instruction line
If the vehicle is stopped so that the right rear end F is located, the position Qy in the Y-axis direction according to the position (Qx) of the vehicle interval Lo is determined, and it is not necessary to measure Lo in advance by Expression 20. .

The occupant goes straight (forward or backward) while viewing the rear left screen shown in FIG. 10, and the first steering point A where the right rear end F of the vehicle 1 stopped ahead overlaps the full left steering instruction line.
Stop at 1B1C1D1. At this point, the occupant steers full left and keeps steering.

After confirming the full left steering state by the steering angle sensor 1 in step 8, the process proceeds to step 9, where the wide-angle image of the rear camera 4 is displayed on the display 5. Further, in step 10, a turning instruction line of the turning angle θ is superimposed on the rear wide-angle image.

FIG. 11 shows a display screen in which a turning instruction line is superimposed and displayed on the wide-angle image of the rear camera 4 when the turning backward is started by full left steering. This turning instruction line is given by Equation 1.
This is a line corresponding to the turning angle θ obtained in step 1, and is drawn at a predetermined interval to make it easy to check the parallel state with the curb line of the road. The occupant starts turning and retreating while looking at the display screen while turning left. Then, as shown in FIG. 12, when the curb line of the road is parallel to the turning instruction line, the turning retreat is finished and the vehicle is stopped. This point is the second steering point A2B2C2D2, at which point the occupant returns the steering to neutral.

In step 11, the operation angle sensor 1
When the neutral state of the steering is confirmed, the process proceeds to step 12, where the focal length of the rear camera 4 is increased to switch to the narrow-angle image.

Next, in step 13, a stop instruction line for retreating and stopping by the distance n is superimposed on the display screen. Actually, since the distance Lo between the vehicles is not measured, the reverse distance n cannot be obtained. However, as is apparent from FIG.
Since the position only retreated is the position A3B3C3D3, a stop instruction line may be set at this position so that the vehicle turns backward with full right steering and the left rear end of the vehicle does not interfere with the curb.

FIG. 13 shows the relationship between the wide-angle image of the camera and the road surface, and FIG. 14 shows the relationship between the narrow-angle image of the camera and the road surface. If the focal length of the camera is shortened and the angle is widened, the surrounding environment can be imaged over a wide range.
Since the imaging area of the road surface per pixel increases, the distance accuracy decreases. Conversely, if the focal length of the camera is increased and the angle is reduced, only the surrounding environment in a narrow range can be imaged.
Since the imaging area of the road surface per pixel of the CD imaging element is reduced, the distance accuracy is improved. Therefore, when the vehicle moves backward, the image of the rear camera is switched from a wide angle to a narrow angle so that the backward distance n can be accurately recognized.

FIG. 15 is a view showing a display screen in which a turning instruction line and a stop instruction line are superimposed and displayed on the narrow-angle image of the rear camera at the start of rectilinear retreat. FIG. 16 shows a display screen in which a turning instruction line and a stop instruction line are superimposed and displayed on the narrow-angle image of the rear camera at the end of rectilinear retreat. This stop instruction line is the second steering point A2B2C2 obtained by equation (13).
This is a line for retreating straight from the point D2 to the third steering point A3B3C3D3 by a distance n. The distance between the stop instruction line and the curb line of the road is drawn so as to correspond to the retreat distance n. The occupant retreats while maintaining neutral steering while watching the display screen, and stops when the curb line at the road end overlaps the stop instruction line as shown in FIG. This point is the third steering point A3B3C3D3. At this point, the occupant turns to the right and keeps steering.

When it is confirmed in step 14 that the steering angle sensor 1 has turned the vehicle to the right, the process proceeds to step 15, where the rear camera 4 is returned to the wide-angle image and displayed on the display 5. The occupant turns and retreats while watching the wide-angle image behind the vehicle displayed on the display 5 while turning the vehicle fully to the right, and the parallel parking point A where the own vehicle is substantially aligned with the stopped vehicle 1 and the stopped vehicle 2.
Stop at 4B4C4D4 and return the steering to neutral. When the switch 8 for ending the parking assistance is operated in step 16, the processing is ended.

As described above, when parallel parking is performed between a vehicle that is stopping ahead and a vehicle that is stopping behind, an image of the vehicle that is stopping forward and an image of the vehicle that is stopping rearward are captured. Since the parallel parking availability determination line according to the distance is overwritten, the availability of parallel parking can be easily and accurately determined. In addition, the surrounding environment of the side of the vehicle and the surrounding environment behind the vehicle are imaged, and the steering point on the route to the parallel parking point is calculated, and the driving operation instruction line for moving the vehicle to the steering point is calculated, Since the driving operation instruction line is overwritten on the vehicle side image and the vehicle rear image, it is possible to give an appropriate instruction for the occupant's parallel parking operation,
It is possible to easily and accurately guide to the parallel parking point along the shortest route. First, an image of a vehicle stopped ahead is taken, and a stop instruction line for moving the vehicle straight to the first steering point is overwritten on a captured image of the vehicle stopped ahead, so that the occupant can easily reach the first steering point. And it can guide correctly. Next, when full steering is detected at the first steering point, the turning instruction line for turning the vehicle backward and moving to the second steering point is overwritten on the captured image behind the vehicle. An occupant can be easily and accurately guided to two steering points. At this time, since a plurality of turning instruction lines are drawn, the parallel state of the turning instruction line and the road curb line can be easily checked, and the occupant can be easily and accurately guided to the second steering point. . Further, when a neutral steering angle is detected at the second steering point, the imaging angle of view behind the vehicle is switched from a wide angle to a narrow angle, and a stop instruction line for moving the vehicle straight and moving to the third steering point is set. Since the rear narrow-angle image is overwritten, the occupant can be easily and accurately guided to the third steering point. Finally, when the reverse full steering is detected at the third steering point, the imaging angle of view behind the vehicle is returned from the narrow angle to the wide angle, so that the occupant can confirm the surrounding environment in a wide area behind the vehicle. However, it is possible to safely and easily guide to the parallel parking point.

In the structure of the above embodiment, the camera 2 is the first image pickup means, the camera 3 is the second image pickup means and the side image pickup means, the camera 4 is the rear image pickup means, and the display 5 is the display means. The control unit 7 and the graphic controller 6 constitute line drawing means, the control unit 7 constitutes line calculation means, and the steering angle sensor 1 constitutes steering angle detection means.

In the above-described embodiment, an example in which the parallel parking judgment line and the instruction line are superimposed and displayed on the surrounding environment image is shown. Alternatively, the determination line or the instruction line may be drawn directly on the road surface. This makes it easy to see the judgment line and the instruction line even in a dark environment such as at night.

In the above-described embodiment, a right-hand drive vehicle that is parked in parallel on the left side of the road is described as an example. However, the present invention is also applied to a left-hand drive vehicle that is parked in parallel on the right side of the road. be able to. For a left-hand drive vehicle, the camera 2 is installed at the front right side of the vehicle to capture the surrounding environment on the right front side of the vehicle, and the camera 3 is installed at the rear right side of the vehicle. Image surrounding environment.

Further, in the above embodiment, the camera 2
Showed an example of imaging the surrounding environment on the left front side of the vehicle,
If it is only to determine whether parallel parking is possible or not, an image of the surrounding environment on the left side of the front of the vehicle may be taken.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment.

FIG. 2 is a diagram showing a procedure of parallel parking according to one embodiment.

FIG. 3 is a diagram showing a positional relationship between a turning center and a vehicle at the time of full right steering and at the time of full left steering.

FIG. 4 is a diagram showing a change in the position of the rear left camera when the distance between the stopped vehicle and the host vehicle is changed.

FIG. 5 is a flowchart illustrating parallel parking assist processing.

FIG. 6 is a flowchart showing a parallel parking assist process following FIG. 5;

FIG. 7 is a diagram showing a stop point at the time of judging whether parallel parking is possible or not.

FIG. 8 is a diagram showing a display screen in which a parallel parking availability determination line is superimposed and displayed on the image of the left front camera.

FIG. 9 is a diagram showing a display screen in which a parallel parking determination line is superimposed and displayed on the image of the rear left camera.

FIG. 10 is a diagram showing a display screen in which a left full steering instruction line is superimposed on an image of a rear left camera.

FIG. 11 is a diagram showing a display screen in which a turning instruction line is superimposed and displayed on a wide-angle image of a rear camera at the time of starting turning backward with full left steering.

FIG. 12 is a diagram showing a wide-angle image of a rear camera at the end of turning backward in full left steering.

FIG. 13 is a diagram illustrating a relationship between a wide-angle image of a camera and a road surface.

FIG. 14 is a diagram illustrating a relationship between a narrow-angle image of a camera and a road surface.

FIG. 15 is a diagram showing a display screen in which a turning instruction line and a stop instruction line are superimposed and displayed on a narrow-angle image of a rear camera at the start of rectilinear retreat.

FIG. 16 is a diagram showing a display screen in which a turning instruction line and a stop instruction line are superimposed and displayed on a narrow-angle image of the rear camera at the end of rectilinear retreat.

[Description of Signs] 1 Steering angle sensor 2 Left front side camera 3 Rear left side camera 4 Rear camera 5 Display 6 Graphic controller 7 Control unit 8 Switch

Claims (9)

[Claims] 1. A first and a second image pickup means arranged before and after a side of a vehicle for picking up an image of an environment surrounding the side of a vehicle, a display means for displaying an image picked up by each of the image pickup means, A parking assisting device comprising: a line drawing unit that overwrites an image of the first imaging unit and an image of the second imaging unit with a parallel parking availability determination line corresponding to a preset minimum parallel parking possible distance. . 2. The parking assist device according to claim 1, wherein when parallel parking is performed between a vehicle stopped ahead and a vehicle stopped rearward, the first image capturing means captures an image of the vehicle stopped forward and the second vehicle captures an image of the vehicle stopped forward. 2. A parking assist device, wherein an image of a rear-stopped vehicle is imaged by an image capturing means, and a parallel parking availability determination line is overwritten by the line drawing means on an image of each image capturing means. 3. Side image pickup means for picking up an image of the surrounding environment on the side of the vehicle; rear image pickup means for picking up an image of the surrounding environment behind the vehicle; display means for displaying an image picked up by each of the image pickup means; Steering point calculating means for calculating a steering point on a route to a point, line calculating means for calculating a driving operation instruction line for moving a vehicle to the steering point, and driving operation instruction calculated by the line calculating means A parking assist device comprising: a line drawing unit that overwrites a line on an image of each of the imaging units. 4. The parking assist device according to claim 3, wherein the side imaging unit captures an image of the vehicle stopped ahead, and the line drawing unit causes the vehicle to go straight and move to a first steering point. A parking assist device, wherein a line is overwritten on an image of the side image pickup means. 5. The parking assist device according to claim 4, further comprising a steering angle detecting means for detecting a steering angle of the vehicle, wherein a full steering is detected by the steering angle detecting means at the first steering point. Displaying an image captured by the rear imaging means on the display means, and overwriting an image of the rear imaging means with a turn instruction line for turning the vehicle backward and moving to a second steering point by the line drawing means. Parking assist device characterized by performing. 6. The parking assist device according to claim 5, wherein the line drawing means draws a plurality of turning instruction lines. 7. The parking assist device according to claim 5, wherein when the neutral steering angle is detected by the steering angle detecting means at the second steering point, the vehicle is driven straight by the line drawing means. A parking assist device, wherein a stop instruction line for moving the vehicle to a third steering point is overwritten on the image of the rearward imaging means. 8. The parking assist device according to claim 7, wherein the angle of view of the rear imaging unit is switched from a wide angle to a narrow angle, and a stop instruction line is overwritten with a narrow angle image of the rear imaging unit. Parking assist device to do. 9. The parking assist device according to claim 8, wherein when the reverse steering angle is detected by the steering angle detection unit at the third steering point, the angle of view of the rear imaging unit is changed from a narrow angle to a wide angle. Parking assist device characterized by returning to.