JPH11208420A - Parking guiding device and automatic parking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm a post-parking position before parking guidance of automatic parking is started by superimposingly displaying the image of a vehicle after guidance at the planned parking position on an ambient environmental image with a display means. SOLUTION: A display 3 processes the ambient environment photographed by cameras 1, 2 with a graphic controller 4 and displays an ambient environmental image. The image of a completely guided vehicle is superimposingly displayed at the planned parking position of the vehicle on the ambient environmental image. An occupant is just required to move the vehicle until the projected image of the planned parking position reaches the position to be parked in a parking frame, or the occupant operates a position adjusting knob 6 to move the projected image of the planned parking position while seeing the display image without moving the vehicle. The situation of the vehicle after parking can be confirmed before parking guidance is started.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking guidance device for guiding a vehicle to a parking position and an automatic parking device for automatically moving the vehicle to a parking position.

[0002]

2. Description of the Related Art There is known a parking guidance device which specifies a vehicle position and a parking position by using a sensor, instructs an occupant to perform a driving operation, and guides the vehicle to the parking position (for example, Japanese Patent Application Laid-Open No. Hei 9 (1994)). -35184 gazette).

However, in the above-described conventional parking guidance device, since the parking position is specified by the sensor, it is necessary to park at an arbitrary position within the parking range, such as when the vehicle is to be shifted right or left within the parking range. There is a problem that can not be.

An object of the present invention is to make it possible to confirm the position after parking before starting parking guidance or automatic parking, and to change the parking position to an arbitrary position.

[0005]

According to a first aspect of the present invention, there is provided an image pickup means for picking up an image of the surrounding environment of a vehicle, a display means for displaying an image of the surrounding environment, a parking scheduled position and a route to the parking position. The present invention is applied to a parking guidance device including: a parking route setting unit that performs a movement, a movement amount detection unit that detects a movement amount of the vehicle, and a guidance unit that guides the vehicle to a scheduled parking position along a route based on the movement amount detection value. Then, the display unit superimposes and displays the image of the vehicle after the end of the guidance at the scheduled parking position on the surrounding environment image. (2) The invention according to claim 2 is provided with position changing means for changing the planned parking position, and the display means moves the image of the vehicle after the end of the guidance according to the change in the planned parking position by the position changing means. It was done. (3) According to the invention of claim 3, the parking route setting means resets the route to the planned parking position after the change by the position changing device. (4) According to the invention of claim 4, when the vehicle is moved by the occupant before starting the parking guidance, the parking route setting means does not change the route and the display means displays the surrounding environment according to the moving amount of the vehicle. The image of the vehicle after the end of the guidance on the image is moved. (5) According to a fifth aspect of the present invention, the display unit displays an image of the vehicle after the end of the guidance in consideration of the opening and closing of the door of the vehicle. (6) According to the invention of claim 6, the display means displays a parking feasibility determination line for determining whether or not the parallel parking space can be parked. (7) The invention according to claim 7 is an imaging means for imaging the surrounding environment of the vehicle, a display means for displaying the surrounding environment image, and a parking route for setting a planned parking position and a route therefrom based on the surrounding environment image. Setting means, movement amount detection means for detecting the movement amount of the vehicle, steering control means for controlling the steering of the vehicle, braking / driving control means for controlling driving and braking of the vehicle, steering control means, and braking / driving control means Is applied to an automatic parking device having parking control means for moving a vehicle to a planned parking position along a parking route based on a detected movement amount, and the display means automatically displays the planned parking position on the surrounding environment image. The image of the vehicle after parking is superimposed and displayed. (8) The invention according to claim 8 is provided with position changing means for changing the planned parking position, and the display means moves the image of the vehicle after the automatic parking ends according to the change of the planned parking position by the position changing means. It was made. (9) According to the ninth aspect of the present invention, the route to the expected parking position after the change by the position changing means is reset by the parking route setting means. (10) In the automatic parking device according to the tenth aspect, when the vehicle is moved by the occupant before the automatic parking is started, the parking route setting unit does not change the route, and the display unit displays the vehicle according to the moving amount of the vehicle. The image of the vehicle after the automatic parking on the surrounding environment image is moved. (11) The invention according to claim 11 is such that the display means displays an image of the vehicle after the end of automatic parking in consideration of the opening and closing of the door of the vehicle. (12) According to a twelfth aspect of the present invention, the display means displays a parking feasibility determination line for determining whether or not the parallel parking space can be parked.

[0006]

(1) According to the first and seventh aspects of the present invention, the image of the vehicle after the end of the guidance or the end of the automatic parking is superimposed and displayed on the expected parking position on the surrounding environment image. Before starting parking guidance or automatic parking, the status of the vehicle after parking can be checked. (2) According to the second and eighth aspects of the invention, the vehicle is provided with the position changing means for changing the planned parking position, and after the guidance is completed or after the automatic parking is completed according to the change of the planned parking position by the position changing means. Because I moved the image of
The parking position can be changed on the surrounding environment screen, and the situation of the vehicle after the change of the planned parking position can be confirmed. (3) According to the third and ninth aspects of the present invention, since the route to the changed planned parking position is reset, the vehicle is reliably guided or moved to the changed planned parking position. Can be. (4) According to the fourth and tenth aspects of the present invention, the image of the vehicle after the end of the guidance on the surrounding environment image or after the end of the automatic parking is moved according to the moving amount of the vehicle, so that the guidance is started. Before or before the start of automatic parking, it is possible to change the parking position by moving the vehicle itself while viewing the image of the parked vehicle superimposed on the surrounding environment image. In this case, it is not necessary to recalculate the route to the expected parking position when the parking position is changed. (5) According to the fifth and eleventh aspects of the present invention, since the image of the vehicle after the end of the guidance or after the automatic parking in consideration of the opening and closing of the door of the vehicle is displayed, the vehicle is parked in a narrow parking space. Even in this case, it is possible to set a parking position where the occupant can easily get on and off. (6) According to the sixth and twelfth aspects of the invention, a parking feasibility determination line for determining whether or not a parallel parking space by parking guidance or automatic parking is feasible is displayed. Even when there is a stopped vehicle, it is possible to recognize whether or not parking is possible.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a parking guidance device for guiding a vehicle to a parking position by instructing a driver to perform a driving operation will be described.

FIG. 1 is a diagram showing a configuration of an embodiment. This parking guidance device includes cameras 1 and 2 on the side and rear of the vehicle, respectively, and captures the surrounding environment on the side and rear. The cameras 1 and 2 are installed such that their center lines are perpendicular to the outside of the vehicle. The display 3 processes the surrounding environment captured by the cameras 1 and 2 by the graphic controller 4 and displays the surrounding environment image. The steering angle sensor 5 detects a steering operation angle. The operation switches 6 include a start switch for instructing start of parking guidance, an adjustment knob for changing a planned parking position, and the like. The braking device 7 is a device that automatically stops the vehicle at a predetermined position. The right rear wheel rotation sensor 8 and the left rear wheel rotation sensor 9 output pulse signals according to the rotation amounts of the right rear wheel and the left rear wheel. By counting these pulse signals, the amount of movement and the amount of turning of the vehicle can be detected. The arithmetic unit 10 includes a microcomputer and its peripheral parts, and sets a parking position based on signals from the cameras 1 and 2, the steering angle sensor 5, the operation switches 6, and the wheel rotation sensors 8 and 9, and sets the parking position. A route to the vehicle is calculated, the state of the vehicle after parking is displayed on the display 3, and the stop of the vehicle is controlled by the braking device 7.

-Garage Entry Guidance-First, garage entry guidance by the parking guidance device of one embodiment will be described. This parking guidance device is provided with an arithmetic device 10
The default value of the garage entry route as shown in FIG. As described above, the side camera 1
Is installed such that its center Oc is perpendicular to the outside of the vehicle. This garage entrance route is a route in which the center Oc of the side camera 1 at the start of the vehicle guidance coincides with the center of the rear axle after the guidance is completed. When entering the garage, the driver once retreats from the guidance start position, then advances forward with full right steering, and further retreats with full left steering to enter a parking frame (indicated by a hatched frame).

L is the distance from the center Oc of the side camera 1 to the rear axle at the start of full right steering, α is the turning angle when moving forward clockwise with full right steering, and clockwise with full left steering. Assuming that the turning angle at the time of retreat is β, from FIG.

(Equation 1)

(Equation 2)

## EQU3 ## is given by β = π / 2−α. Here, Rr is the distance from the center of rotation of the vehicle during full right steering to the center of the rear axle, R1 is the distance from the center of rotation of the vehicle to the center of the rear axle during full left steering, and W is the vehicle width.

Position stopped in front of the garage (guidance start position)
The pulse integration value of the rotation sensors 8 and 9 of the left rear wheel or the right rear wheel from the vehicle to the right full steering position is P1d, and the left rear wheel rotation sensor 9 until the vehicle turns forward by the turning angle α from the right full steering position. Pulse integrated value is P2d, turning angle β from full left steering position
Assuming that the pulse integrated value of the right rear wheel rotation sensor 8 until the vehicle turns back only is P3d,

## EQU4 ## P1d = (L-lc) /. Delta.

## EQU5 ## P2d = Prl.α / 2π

## EQU6 ## P3d = Plr.beta. / 2.pi. Here, δ is the moving distance per pulse of the rotation sensors 8 and 9, lc is the distance from the center O c of the side camera 1 to the rear axle, and Prl is the left rear wheel rotation when making one full right steering. The pulse integrated value of the sensor 9, Plr, is the pulse integrated value of the right rear wheel rotation sensor 8 when the vehicle has made one revolution with full left steering. If the braking stop control of the vehicle is performed so as to satisfy the above pulse integrated values P1d, P2d, and P3d, the vehicle can be guided along the above-described garage entrance route.

As shown in FIG. 3, if the road plane coordinate system fixed to the vehicle at the start of the guidance is XY and the screen coordinate system of the vehicle-mounted camera is xy, a point (X , Y)
And the point (x, y) on the screen, the height of the side camera 1 from the road surface is Ho, the pitch angle is θo, and the focal length is f.

X = −f · X / (Ycosθo + Hosinθo)

Y = −f (Y sin θo−Hocos θo) / (Y cos θ
o + Hosin θo).

Therefore, as shown in FIG. 4, the points A, B, C, and D at the rear of the vehicle after the guidance are represented by points CA (xA, yA) and CB (xB, yB) on the screen according to equations (7) and (8). ),
Projected onto CC (xC, yC) and CD (xd, yd). A display example in which a closed area surrounded by these four points CA, CB, CC, and CD is colored and overwritten on the surrounding environment image of the side camera 1,
As shown in FIG. In FIG. 5, a hatched frame indicated by hatching represents a parking frame, and a colored closed area is a projected parking position projected image, that is, an image of the vehicle after the end of parking guidance, which is superimposed and displayed on the planned parking position on the surrounding environment image of the vehicle. It is.

The occupant only needs to move the vehicle until the projected parking position projected image reaches a position in the parking frame to be parked. For example, when the vehicle is to be parked along the left parking frame, as shown in FIG. 6, the closed area colored on the screen of the display 3, that is, the projected parking position projected image approaches the left parking frame. Move the vehicle to the position.

Alternatively, without moving the vehicle, as shown in FIG. 7, by operating the position adjustment knob (6) while looking at the display screen, the projected parking position projected image is moved in parallel to the left parking frame. In this case, since the garage entering route changes according to the movement of the projected parking position projection image, the route is recalculated.

Further, even when the parking frame is oblique as shown in FIG. 8, the projected parking position projected image is rotated by the position adjusting knob (6) while watching the display screen, as shown in FIG. The parking position can be set at an arbitrary position in the parking frame. Also in this case, the garage entry route changes according to the rotation amount of the projected parking position projection image, and thus the garage entry route is recalculated.

Next, a method of moving the projected parking position projected image by the position adjustment knob (6) will be described. FIG. 10 shows an example of the position adjustment knob (6). With this position adjustment knob 10, the projected parking position projected image can be moved and rotated on the display screen.

FIG. 11 shows a state in which the projected parking position projected image is translated from the default state by (a, b). In this case, points A, B, C, and D of the vehicle are A '(-W / 2 + a, 0), B' (-W / 2 + a, L + b), and C '(W / 2 + a, L +
b), D ′ (W / 2 + a, 0), and are converted to points on the image by Expressions 7 and 8.

FIG. 12 shows a state where the projected parking position projected image is rotated by -θ from the default state. In this case, the points A, B, C, and D of the vehicle are respectively A ″ (− W / 2cos
θ, 0), B ”(-Wcosθ / 2 + Lsinθ, Wsinθ / 2 + Lcosθ),
C "(Wcosθ / 2 + Lsinθ, -Wsinθ / 2 + Lcosθ), D" (W / 2co
sθ, 0), and is converted to a point on the image by Expressions 7 and 8.

FIGS. 13 to 15 are flowcharts showing the garage entry guidance of the arithmetic unit 10. The garage putting guidance procedure according to the embodiment will be described with reference to these flowcharts. In step 1, when the garage entry switch (6) is operated, garage entry guidance is started. In step 2, the surrounding environment image captured by the side camera 1 is displayed on the display 3, and in step 3, the garage entry route is calculated as described above. In step 4, as shown in FIG. 5, the projected parking position projection image after the garage entry guidance generated by the graphic controller 4 is overwritten and displayed on the display 3. When changing the parking position by looking at the projected parking position projection image, the occupant must move the vehicle until the vehicle reaches the position to be parked in the parking frame, or use the position adjustment knob (6). The projected parking position projection image is moved or rotated until the projected parking position projection image reaches a position in the parking frame where parking is desired.

In step 5, the position adjustment knob is set by the occupant.
After confirming the operation of (6), if the parking position is changed by the position adjustment knob (6), the process proceeds to step 6, and the garage entrance route is recalculated according to the adjustment amount. The position adjustment knob
Regardless of (6), if the parking position is changed by moving the vehicle itself, the garage entry route does not change, so that recalculation of the route is unnecessary.

Step 7 is a start switch by the occupant.
After confirming the operation of (6), when the start switch (6) is operated, the routine proceeds to step 8, where the brake is applied to the vehicle by the braking device 7. Then, at step 9, “AT” is displayed on the display 3.
(Automatic transmission) Put the shift in reverse. " At step 10, it is checked whether the AT shift is reverse. If the AT shift is set to reverse, the process proceeds to step 11, where "Please neutralize the steering" is displayed on the display 3. In step 12, the steering angle sensor 5
To check if the steering is neutral, and if neutral, proceed to step 13.

When the steering becomes neutral, step 1
At 3, the brake by the braking device 7 is released. As a result, the vehicle moves backward. In step 14, it is determined whether the vehicle has retreated a predetermined distance along the garage parking route,
When the vehicle retreats by a predetermined distance, the process proceeds to step 15, where the braking device 7 applies a brake to the vehicle. And step 1
6 displays "Please put AT shift in the drive" on the display 3. At step 17, it is confirmed whether or not the AT shift is set to drive. When the drive is set to drive, the process proceeds to step 18, and the display 3 displays "Please turn the steering wheel to the full right".

In step 19, the steering angle of the steering is confirmed by the steering angle sensor 5, and if the steering is in the full-right steering state, the routine proceeds to step 20, where the braking by the braking device 7 is released. As a result, the vehicle turns clockwise and moves forward diagonally right. In step 21, the turning angle is confirmed by the left rear wheel rotation sensor 9, and after turning by a predetermined turning angle, the process proceeds to step 22, and the vehicle is braked by the braking device 7.

In step 23, the surrounding environment image picked up by the rear camera 2 is displayed on the display 3. In step 24, "Please put AT shift in reverse" is displayed on display 3. Step 25
To determine whether the AT shift has been set to reverse. If the AT shift has been set to reverse, the routine proceeds to step 26. In step 26, "Please turn the steering wheel to the left fully" is displayed on the display 3.

At step 27, the steering angle of the steering is confirmed by the steering angle sensor 5, and if the steering is in the full left steering state, the routine proceeds to step 28, where the braking by the braking device 7 is released. As a result, the vehicle turns clockwise and retreats. In step 29, the right rear wheel rotation sensor 8
, The turning angle is confirmed, and after turning by a predetermined turning angle, the routine proceeds to step 30, where the brake is applied to the vehicle by the braking device 7. Then, "Please neutralize the steering wheel" is displayed on the display 3 in step 31. In step 32, the steering angle of the steering is confirmed by the steering angle sensor 5, and if the steering is in a neutral state, step 3 is executed.
Proceed to 3. In step 33, "Please enter the garage while correcting the steering" is displayed on the display 3, and the garage entry guidance is terminated.

-Guidance of Parallel Parking-Next, parallel parking by this parking guidance device will be described. This parking guidance device stores a default value of a parallel parking route as shown in FIG. In FIG. 16, a stopped vehicle 1 and a stopped vehicle 2
It is determined that parallel parking is possible in the space between the vehicle and the vehicle, and the host vehicle stops parallel to the stopped vehicle 1 by a distance Lo. Go straight from that point to the first steering point A1B1C1D1 while keeping the steering neutral (forward or backward)
Then, the vehicle stops at the first steering point A1B1C1D1, and the steering is fully steered to the left. Then, the steering wheel is kept as it is and turns backward by a predetermined turning angle θ clockwise, so that the second steering point A2
Stop at B2C2D2 and return the steering to neutral. Next, the steering wheel is kept neutral and the vehicle is moved backward by a predetermined distance n, stopped at the third steering point A3B3C3D3, and fully steered to the right. Further, the vehicle is steered with the steering wheel turned to the right, turned backward by a predetermined turning angle θ in a counterclockwise direction, and stopped at the parallel parking point A4B4C4D4.

Next, the conditions under which parallel parking is possible will be considered. FIG. 17 shows the positional relationship between the turning center and the vehicle at the time of full right steering and the left full steering. Or indicates a turning center at the time of full right steering, and Or indicates a turning center at the time of full left 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 the distance from Ol 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 over Hang.

With respect to the inter-vehicle distance FG between the stopped vehicle 1 and the stopped vehicle 2, when the vehicle turns backward and counterclockwise with full right steering, the trajectory B3 → B4 of the left front end of the own vehicle is shifted to the right rear of the front stopped vehicle 1. A condition that does not interfere with the end F and that the rear end C4D4 does not interfere with the front end of the rear stopped vehicle 2 must be satisfied. Vehicle 1 stopped from right after rear axle when parallel parking is completed
Of the right rear end F of the

(Equation 9) 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 f1 and f2 are predetermined margins. Equation 9
Then, an inter-vehicle distance FG between the stopped vehicle 1 and the stopped vehicle 2 is obtained by adding

[Equation 11] The minimum inter-vehicle distance b between the stationary vehicle 1 and the stationary vehicle 2 that can be parallel parked is given by Equation

(Equation 12)

Assuming that the depth e of the parallel parking space is f5, the trajectory C3 → C4 of the left rear end of the own vehicle becomes a curb of the road width when the vehicle turns backward and counterclockwise with full right steering. Conditions that do not interfere must be met. That is,

## EQU13 ## e ≧ R3 + f5−R2.

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 in neutral, the trajectory C2 → C3 of the left rear end of the vehicle
Must not meet the right rear end F of the vehicle 1 stopped ahead. That is, the line segment Or3F is changed to Or3Ol2.
The length of the upwardly projected line segment must be greater than (R2 + W). here,

## EQU14 ## If the angle between Or3F and Or3O is α, Or3F = R1 + f1

[Expression 15] cosα = Or3O / Or3F

(Equation 16) Becomes The host vehicle moves f3 to the side of the right rear end F of the stopped vehicle 1.
When retreating away by (preset margin)

## EQU17 ## Or3Fcos (α-θ)-(R2 + W) = f3

## EQU18 ## cos (α-θ) = (R2 + W + f3) / (R1 +
f1) From equation 18,

[Equation 19] Given by

The retreat distance n is determined by focusing on the length of Ol3H.

## EQU20 ## R5 + W + Lo = (R2 + W + R5) (1-cos
θ) + nsin θ + R5 n

２１W + Lo− (R2 + W + R5) (1-cos
θ)｝ / sin θ.

Next, a method for overwriting the projected parking position projection image after the parallel parking guidance on the surrounding environment image of the parking lot will be described. As illustrated in FIG. 18, the parking position of the host vehicle when the guidance is completed along the default value of the parallel parking route is overwritten on the image of the side camera. FIG. 19 shows the actual vehicle position at this time. The width of the vehicle in the projected parking position projection image is larger than the width of the actual vehicle, and e in Expression 13 is used. The occupant must move the vehicle itself to a position where this projected image does not interfere with the curb, or use the position adjustment knob.
By moving the projected parking position projection image on the display screen according to (6), guidance that does not interfere with the curb can be realized. When the parking position is set by the position adjustment knob (6), the route is recalculated because the value of Lo of the default route changes. Next, as shown in FIG. 20, a parking possibility determination line is displayed at the position of the minimum inter-vehicle distance b at which parallel parking is possible. If the vehicle 1 stopped ahead does not interfere with this line, parallel parking is possible.

FIGS. 21 to 24 are flowcharts showing parallel parking guidance of the arithmetic unit 10. The parallel parking guidance procedure according to the embodiment will be described with reference to these flowcharts. In step 41, when the parallel parking switch (6) is operated, parallel parking guidance is started. In step 42, the surrounding environment image captured by the side camera 1 is displayed on the display 3, and in step 43, the parallel parking route is calculated as described above. In step 44, the projected parking position projection image after the parallel parking guidance generated by the graphic controller 4 is overwritten and displayed on the display 3. When changing the parking position by looking at the projected parking position projection image, the occupant must move the vehicle itself until the vehicle reaches the position to be parked in the parking frame, or use the position adjustment knob (6). The projected parking position projected image is moved and rotated on the display screen until the projected parking position projected image comes to the position to park in the parking frame.

In step 45, the operation of the position adjustment knob (6) by the occupant is confirmed, and if the parking position is changed by the position adjustment knob (6), the process proceeds to step 46, and the parallel parking path is set in accordance with the adjustment amount. Recalculate. In addition, when the parking position is changed by moving the vehicle itself, regardless of the position adjustment knob (6), the parallel parking route does not change, so that the route is not recalculated.

In step 47, the operation of the guidance start switch (6) by the occupant is confirmed, and when the guidance start switch (6) is operated, the process proceeds to step 48, and "Please proceed slowly" is displayed on the display 3. In step 49, the surrounding environment image captured by the side camera 1 is displayed on the display 3, and in subsequent step 50, the parking feasibility determination line is overwritten and displayed at a position corresponding to the minimum length b of the parkable space. Here, as shown in FIG. 20, when the vehicle stopped ahead is outside of the parking feasibility determination line, the occupant determines that there is sufficient parallel parking available space and operates the parallel parking continuation switch (6). . When the parallel parking continuation switch (6) is operated by the occupant in step 51, step 5 is executed.
Proceed to 2 and display “Stop” on the display 3.

In step 53, it is confirmed that the vehicle has stopped. If the vehicle stops, the process proceeds to step 54. Step 5
In step 4, the vehicle is braked by the braking device 7. In step 55, "Please neutralize the steering" is displayed on the display 3, and in the following step 56, the steering angle of the steering is confirmed by the steering angle sensor 5. If the steering is in the neutral state, proceed to step 57,
The brake by the braking device 7 is released. As a result, the vehicle goes straight to the first steering point. In step 58, it is confirmed whether or not the vehicle has moved a predetermined distance along the parallel parking path by the rotation sensors 8, 9 of the left and right rear wheels. When the vehicle travels a predetermined distance and reaches the first steering point, the routine proceeds to step 59, where the braking device 7 applies a brake to the vehicle.

In step 60, "A" is displayed on the display 3.
Please put the T shift in reverse. " At step 61, the position of the AT shift is confirmed, and if it is set to the reverse position, the process proceeds to step 62, and the display 3 displays "Please turn the steering wheel to the left fully." In step 63, the steering angle of the steering is confirmed by the steering angle sensor 5. If the steering is in the full left steering state, the process proceeds to step 64, and the surrounding environment image captured by the rear camera 2 is displayed on the display 3. Next, in step 65, the brake by the braking device 7 is released. As a result, the vehicle moves backward in a state of full left steering.

In step 66, the turning angle is detected by the right rear wheel rotation sensor 8, and it is confirmed whether or not the turning angle has reached the predetermined turning angle θ obtained by equation (19). When the predetermined turning angle θ is reached, the routine proceeds to step 67, where the brake is applied to the vehicle by the braking device 7 and stopped. At step 68, "Please neutralize steering" is displayed on the display 3. In step 69, the steering angle of the steering is confirmed by the steering angle sensor 5, and when the steering is in a neutral state, the process proceeds to step 70. In step 70, the brake by the braking device 7 is released. As a result, the vehicle retreats straight.

In step 71, the moving distance of the vehicle is detected by the left and right rear wheel rotation sensors 8 and 9, and it is confirmed whether or not the vehicle has moved backward by the predetermined distance n obtained by the equation (21). After retreating by the predetermined distance n, the routine proceeds to step 72, where the brake is applied to the vehicle by the braking device 7 and stopped. Step 7
3, the display 3 displays "Please turn the steering wheel to the right." At step 74, the steering angle of the steering is detected by the steering angle sensor 5, and it is confirmed whether or not the steering is fully turned right. If the vehicle has been fully steered to the right, the routine proceeds to step 75, where the brake by the braking device 7 is released. As a result, the vehicle moves backward with full right steering.

In step 76, the turning angle is detected by the left rear wheel rotation sensor 9 and it is confirmed whether or not the turning angle has reached a predetermined turning angle θ. When the predetermined turning angle θ is reached, the routine proceeds to step 77, where the brake is applied to the vehicle by the braking device 7 and stopped. Next, at step 78, "Please put AT shift in parking" is displayed on display 3. In a succeeding step 79, it is confirmed whether or not the AT shift is set to the parking. If the automatic transmission is set to the parking, the process proceeds to a step 80, and the display 3 displays "Please neutralize the steering". In step 81, the steering angle of the steering is detected by the steering angle sensor 5, and it is confirmed whether or not the steering is in a neutral state. If the steering is in the neutral state, the routine proceeds to step 82, where the brake by the braking device 7 is released, and the parallel parking guidance is terminated.

As described above, the image of the vehicle after parking guidance is superimposed and displayed on the expected parking position on the surrounding environment image, so that the situation of the vehicle after parking can be confirmed before starting parking guidance. Can be. In addition, a position adjustment knob (6) for changing the planned parking position is provided, and the image of the vehicle after the end of parking guidance is moved according to the change in the planned parking position by the position adjustment knob (6), so that the surrounding environment The parking position can be changed on the screen, and the status of the vehicle after the change of the planned parking position can be confirmed. Further, since the route to the changed parking position is reset according to the change of the planned parking position, the vehicle can be reliably guided to the changed parking position.

Further, since the image of the vehicle after the parking guidance on the surrounding environment image is moved in accordance with the amount of movement of the vehicle, the parking space superimposed on the surrounding environment image is displayed before the parking guidance starts. While viewing the image of the vehicle, the vehicle itself can be moved to change the parking position. In this case, it is not necessary to recalculate the route to the expected parking position when the parking position is changed. Furthermore, since the image of the vehicle after the end of the parking guidance in consideration of the opening and closing of the door of the vehicle is displayed, even when parking in a narrow parking space, it is possible to set a parking position where the occupant can easily get on and off.

In the configuration of the above-described embodiment, the side camera 1 serves as the image pickup means, the display 3 and the graphic controller 4 serve as the display means, the arithmetic unit 10 carries out the parking route setting means, the guidance means and the parking control means. The right rear wheel rotation sensor 8 and the left rear wheel rotation sensor 9 constitute a movement amount detecting means, and the operation switches 6 constitute a position changing means.

-Modification of One Embodiment-In the above-described embodiment, the projected parking position projected image superimposed on the display screen when entering the garage only considers the width of the actual vehicle. Considering the ease of opening and closing and getting on and off, a projected parking position projection image may be displayed in consideration of the space for opening and closing the door, as shown in FIG.

As shown in FIG. 26, a view of the vehicle as viewed from the front may be superimposed. When the garage is diagonal in the display method as shown in FIG. 26, the vehicle is displayed by overwriting a view of the vehicle viewed diagonally from the front.

In the above-described embodiment, an example has been described in which the brake is automatically applied by the braking device, and the steering operation and the AT shift operation are performed by the occupant. However, all the braking / driving and steering controls of the vehicle are automatically performed. The present invention can also be applied to an automatic parking device that performs. Further, the present invention can be applied to a parking guidance device that does not perform any control of an actuator for braking / driving and steering, and gives an occupant an appropriate operation instruction for parking.

[Brief description of the drawings]

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

FIG. 2 is a diagram illustrating a garage entry route.

FIG. 3 is a diagram illustrating a relationship between a road plane coordinate system and a screen coordinate system of an on-vehicle camera.

FIG. 4 is a diagram illustrating a positional relationship of a vehicle on a display screen before starting parking guidance and after ending parking guidance.

FIG. 5 is a diagram showing a display example in which a projected image of a planned parking position of a vehicle is superimposed and displayed on a surrounding environment image of the vehicle.

FIG. 6 is a diagram illustrating a display example of a projected image of a planned parking position of a vehicle when the vehicle itself is moved to change a parking position before starting parking guidance.

FIG. 7 is a diagram illustrating a display example of a projected parking position projection image of a vehicle when the parking position is changed by a parking position adjustment knob before starting parking guidance.

FIG. 8 is a diagram showing a parking route when a parking frame is inclined.

FIG. 9 is a diagram showing a display example when a parking position is set by rotating a projected parking position projection image with a parking position adjustment knob with respect to an oblique parking frame.

FIG. 10 is a diagram showing an example of a parking position adjustment knob.

FIG. 11 is a diagram showing a positional relationship between the vehicle before the start of parking guidance and after the end of the guidance when the parking position is moved in parallel by the parking position adjustment knob.

FIG. 12 is a diagram illustrating a positional relationship between the vehicle before the start of parking guidance and after the end of guidance when the vehicle after parking is rotated by the parking position adjustment knob.

FIG. 13 is a flowchart showing a garage storing operation according to one embodiment.

FIG. 14 is a flowchart showing a garage storing operation of the embodiment, following FIG. 13;

FIG. 15 is a flowchart showing a garage storing operation of the embodiment, continued from FIG. 14;

FIG. 16 is a diagram showing a parallel parking route.

FIG. 17 is a diagram showing a positional relationship between a rotation center and a vehicle at the time of full left and right steering.

FIG. 18 is a diagram illustrating a display example in which a projected image of a planned parking position of a vehicle is superimposed and displayed on a surrounding environment image of the vehicle.

19 is a view of the planned parking position of the vehicle shown in FIG. 18 as viewed from directly above.

FIG. 20 is a diagram illustrating an example in which a minimum inter-vehicle distance that can be parallelly parked and a parking availability determination line are superimposed and displayed on a surrounding environment image of the vehicle.

FIG. 21 is a flowchart showing an operation of parallel parking according to one embodiment.

FIG. 22 is a flowchart showing an operation of parallel parking according to one embodiment, following FIG. 21;

FIG. 23 is a flowchart showing the operation of parallel parking according to one embodiment, following FIG. 22;

FIG. 24 is a flowchart showing the operation of parallel parking according to one embodiment, following FIG. 23;

FIG. 25 is a diagram showing an example of displaying a projected parking position projection image in consideration of opening and closing of a door of a vehicle.

FIG. 26 is a diagram illustrating an example in which a line considering the opening and closing of the door of the vehicle is superimposed and displayed on the projected parking position projection image.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Side camera 2 Rear camera 3 Display 4 Graphic controller 5 Steering angle sensor 6 Operation switches 7 Braking device 8 Right rear wheel rotation sensor 9 Left rear wheel rotation sensor 10 Computing device

Claims (12)

[Claims] 1. An imaging unit for imaging the surrounding environment of a vehicle, a display unit for displaying the surrounding environment image, a parking route setting unit for setting a planned parking position and a route to the parking position, and detecting a moving amount of the vehicle. And a guiding means for guiding a vehicle along the route to the scheduled parking position on the basis of the detected moving amount. A parking guidance device, wherein an image of the vehicle after the guidance is overlaid and displayed on the planned parking position. 2. The parking guidance device according to claim 1, further comprising: a position changing unit that changes the planned parking position, wherein the display unit is configured to change the planned parking position by the position changing unit after the guidance is completed. A parking guidance device for moving an image of a vehicle. 3. The parking guidance device according to claim 2, wherein the parking route setting means resets a route to a planned parking position after the change by the position changing means. 4. The parking guidance device according to claim 1, wherein, if the vehicle is moved by an occupant before starting parking guidance, the parking route setting unit does not change the route, and the display unit does not change the route. A parking guidance device that moves an image of the vehicle after the guidance on the surrounding environment image according to a moving amount of the vehicle. 5. The parking guidance device according to claim 1, wherein the display unit displays an image of the vehicle after the completion of the guidance in consideration of opening and closing of a door of the vehicle. And a parking guidance device. 6. The parking guidance device according to claim 1, wherein the display unit displays a parking availability determination line for determining whether the parallel parking space is capable of parking. A parking guidance device characterized by the above-mentioned. 7. An imaging unit for imaging the surrounding environment of a vehicle, a display unit for displaying the surrounding environment image, and a parking route setting unit for setting a planned parking position and a route to the parking position based on the surrounding environment image. Moving amount detecting means for detecting the moving amount of the vehicle; steering control means for controlling the steering of the vehicle; braking / driving control means for controlling the driving and braking of the vehicle; and the steering control means and the braking / driving control means. An automatic parking device comprising: a parking control unit configured to move a vehicle to the scheduled parking position along the parking path based on the detected movement amount, wherein the display unit includes the parking schedule on the surrounding environment image. An automatic parking device, wherein an image of a vehicle after automatic parking is superimposed and displayed at a position. 8. The automatic parking device according to claim 7, further comprising a position changing unit that changes the planned parking position, wherein the display unit ends automatic parking in response to the change in the planned parking position by the position changing unit. A parking guidance device for moving an image of a rear vehicle. 9. The automatic parking apparatus according to claim 8, wherein the parking path setting means resets a path to a planned parking position after the change by the position changing means. 10. The automatic parking device according to claim 7, wherein when the vehicle is moved by an occupant before the automatic parking is started, said parking route setting means does not change said route, and said display means does not change said route. An automatic parking device that moves an image of a vehicle after automatic parking on an ambient environment image according to a moving amount of the vehicle. 11. The automatic parking device according to claim 7, wherein the display means displays an image of the vehicle after the automatic parking is completed in consideration of opening and closing of a door of the vehicle. A featured automatic parking device. 12. The automatic parking device according to claim 7, wherein the display unit displays a parking availability determination line for determining whether the parallel parking space is capable of parking. Automatic parking device characterized by the above-mentioned.