WO2013146139A1

WO2013146139A1 - Parking assistance system and parking assistance method

Info

Publication number: WO2013146139A1
Application number: PCT/JP2013/056110
Authority: WO
Inventors: 菊地　雅彦
Original assignee: 日産自動車株式会社
Priority date: 2012-03-28
Filing date: 2013-03-06
Publication date: 2013-10-03
Also published as: JP5751383B2; JPWO2013146139A1

Abstract

This parking assistance system: generates an overhead view image on the basis of images taken of the surroundings of a vehicle (V); generates auxiliary setting information (F), which includes a parking space setting frame (F2) to be displayed at a predetermined position with respect to the vehicle (V) and a center line (F1) which extends through the center of the parking space setting frame and along the width direction of the vehicle (V); and generates stop indication marks (S) that include at least a linear stop-completion indication mark (S1), which extends substantially through the center of a parking space (200) and along the length direction of the vehicle (V), and stop-initiation indication marks (S2), which are provided at positions away from said indication mark (S1) by a predetermined distance. The parking assistance system superimposes the marks on the overhead view image and presents the resulting image on a display (20) to assist the operation of setting the parking space (200) corresponding to the position of the parking space setting frame (F2) as a target parking space (200).

Description

Parking support system and parking support method

The present invention relates to a parking support system and a parking support method that support an operation of parking a vehicle in a parking space.
This application claims priority based on Japanese Patent Application No. 2012-073134 filed on Mar. 28, 2012. For designated countries that are allowed to be incorporated by reference, The contents described in the application are incorporated into the present application by reference and made a part of the description of the present application.

With regard to this type of device, a parking target line (auxiliary line) that is a center line extending in the front-rear direction of a parking frame targeted for a monitor in the passenger compartment, and a vehicle extension line that passes through the vehicle center in parallel with the traveling direction of the host vehicle ( If the two auxiliary lines, the target parking target line and the vehicle extension line of the host vehicle, overlap when moving backward with a rudder angle to the final target parking position. A parking assist device is known that causes a driver to determine that a necessary turn has been completed, causes the driver to stop the vehicle based on this determination, and returns to the final parking position after returning the steering to neutral (Patent Document 1).

JP 2008-162426 A

However, in the conventional technology, the driver makes a necessary turn based on the fact that the parking target line (auxiliary line) matches the vehicle extension line (auxiliary line) that is parallel to the traveling direction of the host vehicle and passes through the vehicle center. The driver who is unfamiliar with driving may be late for the next stop operation to determine that the vehicle has been completed, and may not be able to stop the vehicle at the correct final parking position by moving the vehicle too far backward. There was a problem.

The problem to be solved by the present invention is to stop the vehicle at an appropriate position according to the position of the target parking space even when the driver is unfamiliar with driving in the scene of setting the target parking space based on the position of the vehicle. It is to let you.

The present invention generates setting auxiliary information including a parking space setting frame displayed at a predetermined position with respect to a vehicle and a center line passing through the center of the parking space setting frame and extending along the vehicle width direction of the vehicle, and parking A linear stop completion indicator along the vehicle length direction of the vehicle parked in this parking space, passing through the approximate center of the space, and a position separated from the stop completion indicator by a predetermined distance in the vehicle width direction A stop instruction sign including at least the stop start instruction sign thus generated, and the setting auxiliary information and the stop instruction sign are superimposed on a bird's-eye view image synthesized based on a captured image around the vehicle and presented on the display. Solve the above problems.

According to the present invention, when the target parking space is set based on the position of the vehicle, when the vehicle approaches the target parking space, the center line that moves together with the vehicle approaches the stop start instruction sign and is superimposed at a certain timing. Therefore, the driver can recognize the timing at which the center line and the stop start instruction mark are superimposed as the timing to start the vehicle stop operation. Furthermore, after the stop operation of the vehicle is started, the center line that moves with the vehicle and the stop completion instruction sign along the same direction as this center line approach each other and overlap at a certain timing. The timing at which the sign is superimposed can be recognized by the driver as the timing when the position of the parking space setting frame matches the position of the target parking space and the vehicle stop operation is completed. As a result, since the driver can accurately operate the vehicle so that the position of the parking space setting frame matches the position of the target parking space, it is possible to improve operability and accuracy when setting the target parking space.

It is a block diagram of the parking assistance system of embodiment which concerns on this invention. It is a specific block diagram of the parking assistance system of the embodiment according to the present invention. It is a flowchart figure which shows the control procedure of the driving assistance system which concerns on embodiment of this invention. It is a figure which shows an example of the installation position of the vehicle-mounted camera of this embodiment. It is a figure which shows the example of a display of the bird's-eye view image of this embodiment. It is a 1st figure for demonstrating the production | generation / presentation process of parking presentation information. It is a 2nd figure for demonstrating the production | generation / presentation process of parking presentation information. It is a 1st figure which shows an example of the setting auxiliary information and stop instruction | indication mark of this embodiment. It is a 2nd figure which shows an example of the setting auxiliary information and stop instruction | indication mark of this embodiment. It is a 3rd figure which shows an example of the setting auxiliary information and stop instruction | indication mark of this embodiment. It is a 1st figure which shows the other example of the setting auxiliary information and stop instruction | indication mark of this embodiment. It is a 2nd figure which shows the other example of the setting auxiliary information and stop instruction | indication mark of this embodiment. It is a figure which shows the relationship of the distance of the stop start mark with respect to a vehicle speed, and a stop completion mark. It is a figure which shows the 1st example of the aspect of the stop instruction | indication label | marker of this embodiment. It is a figure which shows the 2nd example of the aspect of the stop instruction | indication label | marker of this embodiment. It is a figure which shows the 3rd example of the aspect of the stop instruction | indication label | marker of this embodiment. It is a 1st figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle reverses at the time of parking assistance of this embodiment. It is a 2nd figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle reverses at the time of parking assistance of this embodiment. It is a 3rd figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle reverses at the time of parking assistance of this embodiment. It is a figure corresponding to the 1st figure of Drawing 13A showing other stop directions signs generated and shown when a vehicle reverses at the time of parking assistance of this embodiment. It is a 1st figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle advances at the time of parking assistance of this embodiment. It is a 2nd figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle advances at the time of parking assistance of this embodiment. It is a 3rd figure which shows the stop instruction | indication mark produced | generated and shown when a vehicle moves forward at the time of parking assistance of this embodiment. It is a figure corresponding to the 1st figure of Drawing 14A showing other stop directions signs generated and shown when vehicles advance at the time of parking assistance of this embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the on-vehicle parking support apparatus according to the present invention is applied to a parking support system 1000 provided in a parking lot (power supply stand) including a non-contact power supply system will be described as an example.

FIG. 1 is a block diagram of a parking assistance system 1000 having a contactless power feeding function including a vehicle V on which a parking assistance device 100 and a power receiving device 300 according to an embodiment of the present invention are mounted, a parking space 200, and a power feeding device 300. FIG. Moreover, the power receiving device 300 mounted on the vehicle V and the power feeding device 300 provided in the parking space 200 of the parking lot constitute a non-contact power feeding system. The power feeding device 300 of the non-contact power feeding system supplies power to the power receiving device 300 on the vehicle V side in a non-contact manner and charges the battery 48 of the vehicle V. The vehicle V in this example is an electric vehicle or a hybrid vehicle.

The power feeding device 300 includes a power control device 31, a power transmission coil 32, a reception device 33, a wireless communication device 34, and a control device 35. The power supply device 300 is provided in the parking space 200 where the vehicle V is parked, and detects that the vehicle V is parked at a predetermined position in the parking space 200 and a predetermined operation is performed or parked at the predetermined position. This is a ground-side unit that automatically supplies power from the power transmission coil 32 to the power reception coil 42 in a non-contact manner.

Hereinafter, each configuration of the power supply apparatus 300 will be described. The power control device 31 is a circuit for converting AC power transmitted from the AC power source 500 into high-frequency AC power and transmitting the AC power to the power transmission coil 32. A rectifier 311, a PFC (Power Factor Correction) circuit 312 and Inverter 313 and sensor 314 are provided. The rectifier 311 is a circuit that is electrically connected to the AC power source 500 and rectifies output AC power from the AC power source. The PFC circuit 312 is a circuit for improving the power factor by shaping the output waveform from the rectifier 311, and is connected between the rectifier 311 and the inverter 313. The inverter 313 is a power conversion circuit including a PWM control circuit having a smoothing capacitor, a switching element such as an IGBT, and the like, and converts DC power into high-frequency AC power based on a switching control signal from the control device 35. The power is supplied to the power transmission coil 32. The sensor 314 is connected between the PFC circuit 312 and the inverter 313, and detects current and voltage. The power transmission coil 32 is a coil for supplying electric power in a non-contact manner to the power receiving coil 42 provided on the vehicle V side, and is provided in a parking space 200 of a parking lot including the power feeding device 300 of this example. Yes.

When the vehicle V is parked at a predetermined position in the parking space 200, the power transmission coil 32 is located below the power reception coil 42 and is located at a position facing the power reception coil 42 at a predetermined distance. The power transmission coil 32 is a circular coil having a surface parallel to the surface of the parking space 200 (the mounting surface of the vehicle V).

The receiving device 33 is a sensor including a receiving antenna and is provided in the power feeding device 300 on the ground side, and is transmitted from the transmitting device 43 of the power receiving device 400 by measuring a magnetic field near the receiving antenna. Receive electromagnetic waves. The wireless communication device 34 performs bidirectional communication with the wireless communication device 24 provided on the vehicle V side.

The control device 35 is a part that controls the entire power supply device 300, and controls the power control device 31, the power transmission coil 32, the reception device 33, and the wireless communication device 34. The control device 35 communicates with the wireless communication unit 24 on the vehicle V side and transmits a control signal for starting power supply from the power supply device 300 to the power receiving device 400 on the vehicle V side, or the power receiving device on the vehicle V side. A control signal to start receiving power from 400 is received. The control device 35 performs switching control of the inverter 313 based on the detection current of the sensor 314 and controls the power transmitted from the power transmission coil 32.

The power receiving device 400 on the vehicle V side will be described. The power receiving device 400 includes an inverter 41, a power receiving coil 42, a receiving device 43, a motor 44, a charge control device 45, a rectifier 46, a relay device 47, and a battery 48. The power receiving device 400 is disposed at a predetermined position of the vehicle V. When the vehicle V is parked at a predetermined position of the parking space 200, the power is supplied from the power transmitting coil 32 to the power receiving coil 42 in a non-contact manner. Side unit.

Hereinafter, each configuration of the power receiving apparatus 400 will be described. The power receiving coil 42 is a circular coil that is provided between the rear wheels on the bottom surface of the vehicle V and the like, and is parallel to the surface of the parking space 200 (the mounting surface of the vehicle V).

The transmission device 43 includes a transmission antenna, and transmits electromagnetic waves to the reception device 33 on the parking lot side. The wireless communication device 24 on the vehicle V side communicates bidirectionally with the wireless communication device 34 on the parking lot side.

The rectifier 46 is connected to the power receiving coil 42 and is configured by a rectifier circuit that rectifies AC power received by the power receiving coil 42 into direct current. The relay device 47 includes a relay switch that is turned on and off under the control of the control device 45. Further, the relay device 47 turns off the relay switch, thereby disconnecting the high-power system including the battery 48 from the low-power system of the power receiving coil 42 and the rectifier 46 serving as a charging circuit unit.

The battery 48 is configured by connecting a plurality of secondary batteries, and serves as a power source for the vehicle V. The inverter 41 is a control circuit such as a PWM control circuit having a switching element such as an IGBT, and based on the switching control signal, the DC power output from the battery 48 is converted into AC power and supplied to the motor 44. The motor 44 is composed of, for example, a three-phase AC motor and serves as a drive source for driving the vehicle V.

The charging control device 45 is a controller for controlling the charging of the battery 48, and controls the transmission device 43, the wireless communication device 24, and the charging control device 45. The charging control device 45 transmits a signal to start charging to the control device 35 on the parking lot side via the wireless communication unit 24 and the wireless communication unit 34. The charging control device 45 is connected to a controller (not shown) that controls the entire vehicle V via a CAN communication network. The controller manages the switching control of the inverter 41 and the state of charge (SOC) of the battery 48. When the SOC of the battery 48 managed by the controller reaches a full charge, the charge control device 45 transmits a signal to the effect that the charging is to be terminated to the control device 35 on the parking lot side.

In the non-contact power feeding system of this example, high-frequency power is transmitted and received in a non-contact state by electromagnetic induction between the power transmission coil 32 on the parking lot side and the power receiving coil 42 on the vehicle V side. That is, when a voltage is applied to the power transmission coil 32, magnetic coupling occurs between the power transmission coil 32 and the power reception coil 42, and power is supplied from the power transmission coil 32 to the power reception coil 42.

The reception device 33 on the parking lot side includes four receiving antennas arranged around the power transmission coil 12 so as to be point-symmetric with respect to the center of the power transmission coil 12. The transmission device 43 on the vehicle V side includes one transmission antenna at the center point of the power receiving coil 43. Since the receiving device 33 on the parking lot side is embedded in a predetermined position of the parking space 200, the position is fixed. On the other hand, the transmission device 43 on the vehicle V side moves together with the vehicle V. That is, the relative positional relationship between the power reception coil 42 and the power transmission coil 32 varies according to the parking position of the vehicle V.

When the vehicle V is parked in the parking space 200, the power transmission coil 12 and the power reception coil 42 face each other. At this time, the plurality of reception antennas of the reception device 33 provided around the power transmission coil 12 and the transmission antenna of the power transmission device 43 provided around the power reception coil 42 exchange signals with each other. The transmission device 43 can obtain the relative position of the power transmission coil 12 with respect to the power reception coil 42 based on the signal strength received by each reception antenna.

If the signal strength received by each of the receiving antennas of the receiving device 33 is equal, the center of the power receiving coil 43 and the center of the power transmitting coil 32 are equal on the mounting surface of the vehicle V, and the positions of the power receiving coil 43 and the power transmitting coil 32 are the same. Are consistent. On the other hand, if the signal strength received by each of the receiving antennas of the receiving device 33 is different, the center of the power receiving coil 43 and the center of the power transmitting coil 32 are misaligned, and the positions of the power receiving coil 43 and the power transmitting coil 32 match. Not.

If the center of the power receiving coil 43 and the center of the power transmission coil 32 coincide with each other, the power supply efficiency becomes high, and the power supply efficiency decreases as the deviation amount between the center of the power receiving coil 43 and the center of the power transmission coil 32 increases. .

From the viewpoint of increasing the power supply efficiency of the non-contact power feeding, the vehicle V is preferably parked at a predetermined position in the parking space 200, and the amount of deviation between the center of the power receiving coil 43 and the center of the power transmitting coil 32 is large. When the signal strength received by each of the receiving antennas of the device 33 is greater than or equal to a predetermined value, control for stopping contactless power feeding, control for guiding the driver to move the vehicle V and correct the parking position, etc. It is preferable to carry out.

The parking assistance device 100 of the parking assistance system 1000 according to the present embodiment includes the control device 10 and the input / output device 20, and the vehicle V is parked at a predetermined position in the parking space 200 where the stop instruction sign S is provided. Helping to be done.

Hereinafter, the parking assistance apparatus 100 according to this embodiment of the present invention will be described. FIG. 2 is a specific configuration diagram of the parking assistance system 1000 according to the embodiment of the present invention. The parking assist device 100 of the present embodiment is mounted on the vehicle V and is a target parking space set by the driver using the parking space setting frame F2 in a parking mode desired by the driver (parallel parking, parallel parking, diagonal parking, etc.). 200 is an apparatus that supports an operation of parking the vehicle V at 200.

As shown in FIG. 2, the parking assistance system 1000 of this embodiment includes a camera 1a to 1d, an image processing device 2, a parking assistance device 100, a vehicle controller 30, and a touch panel display having an input / output function. 20, a drive system 40 of the vehicle V, a steering angle sensor 50, a vehicle speed sensor 60, and a current position detection device 70.

The control device 10 of the parking assist device 100 according to the present embodiment generates a stop instruction sign and setting auxiliary information, presents it on the display 20, receives a setting command for the target parking space 200, and parks the vehicle V in the target parking space 200. A ROM 12 that stores a support program for the operation to be performed, and a CPU 11 as an operation circuit that functions as the parking support device 100 of the present embodiment and a function as an accessible storage device by executing the program stored in the ROM 12 And a RAM 13 to be used.

The control device 10 of the parking assistance device 100 can include a parking assistance control unit. The parking assist control unit is based on EPS based on shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, rudder angle information from the rudder angle sensor control unit, engine speed information from the ECM, etc. It calculates and outputs instruction information related to automatic steering to the control unit, instruction information such as warnings to the meter control unit, and the like. The content and method of parking assistance are not particularly limited, and a method known at the time of filing can be appropriately applied.

The drive system 40 is a drive mechanism of the vehicle V for performing parking assistance, and assists the operation of parking the vehicle V in the target parking space 200 by driving based on the control command signal acquired from the parking assistance device 100. To do. For example, the EPS motor included in the drive system 40 supports the operation when the vehicle V is moved to the target parking space 200 by driving the power steering mechanism included in the steering based on the control command signal acquired from the parking assist device 100. To do.

The parking assistance apparatus 100 of this embodiment is connected by CAN (Controller Area Network) and other in-vehicle LANs so that information can be exchanged with each configuration of the parking assistance system 1000 shown in FIG. 2 and other in-vehicle devices. ing.

The control device 10 of the parking assistance device 100 according to the present embodiment includes software for realizing a captured image acquisition function, an image generation function, a parking information presentation function, a target parking space setting function, and a parking assistance function. The above functions are executed by the cooperation of the hardware described above.

The parking support system 1000 according to the present embodiment executes the parking support process shown in the flowchart of FIG. The trigger for starting the parking support process is not particularly limited, and the trigger may be that the start switch of the parking support apparatus 100 is operated, or the trigger may be a predetermined speed (for example, 10 km / h or less). Also good. *

Specifically, the control device 10 of the parking assistance device 100 according to the present embodiment acquires captured images captured by the cameras 1a to 1d attached to a plurality of locations of the vehicle V in step 101, respectively. The cameras 1a to 1d are composed of a CCD camera or the like, and take an image of the parking space 200 around the vehicle V. When a stop instruction sign is provided in the parking space 200, an image of the stop instruction sign is also taken. FIG. 4 is a diagram showing an arrangement example of the cameras 1a to 1d mounted on the vehicle V. As shown in FIG. In the example shown in FIG. 4, the camera 1 a is arranged on the front grill portion of the vehicle V, the camera 1 d is arranged near the rear bumper, and the cameras 1 b and 1 c are arranged below the left and right door mirrors. The cameras 1a to 1d use wide-angle cameras with a wide viewing angle.

In step 102, the control device 10 of the parking assistance device 100 causes the image processing device 2 to generate an overhead image. The image processing apparatus 2 viewed the surrounding state including the vehicle V and the parking space 200 in which the vehicle V is parked from the viewpoint P (see FIG. 4) above the vehicle V based on the acquired plurality of captured images. An overhead image is generated. The image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Keigo Chino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of Academic Lecture Meeting of the Automotive Engineers of Japan, 116-07 (2007-10), 17 22. "etc. can be used. FIG. 5 is a diagram illustrating an example of a display mode of the generated overhead image 21. It is a figure which shows the example of a display of the bird's-eye view image (top view) 21 around the own vehicle, and the monitoring image | video (normal view) 22 around the own vehicle. As shown in FIG. 5, a bird's-eye view image (top view) 21 converted into a virtual viewpoint P in FIG. 4 is displayed on the left side of the screen of the display 20 and is monitored by any of the cameras 1a to 1d ( Normal view) 22 is displayed on the right side of the screen. The overhead view image (top view) 21 displayed on the left side of the screen of the display 20 includes an image showing the parking space 200. The monitoring image (normal view) can be taken by different cameras 1a to 1d depending on the operation state of the vehicle V. In the example shown in FIG. 5, the captured image of the camera 1a is displayed on the front grille of the vehicle V. When the vehicle V moves backward, the captured image of the camera 1d arranged near the rear bumper is displayed. Also good.

Referring back to FIG. 3, in step 103, the parking mode selection information is received. The parking mode of the present embodiment includes at least six modes including a right side or left side parallel parking mode, a right side or left side parallel parking mode, and a right side or left side diagonal parking mode. The driver inputs selection information for selecting any parking mode that matches the positional relationship between the vehicle V and the parking space 200 where parking is desired. And the parking assistance apparatus 100 acquires the selection information of the parking mode which selects any one parking mode from the several parking modes including right and left parallel parking and left and right parallel parking. The parking mode may be selected by touching any of the parking modes displayed on the touch panel display 20, or may be selected by a switch operation associated with each parking mode. Note that the selection of the parking mode in step 103 can be performed prior to the acquisition of the captured image (S101) and the generation of the overhead image (S102). In addition, after step S102, the setting auxiliary information and stop instruction sign in step S104 are presented and the target parking space 200 is set in step S105, and then the parking mode is selected in step 103, and then the process proceeds to step S106. It is also possible to configure the control procedure to do so.

In step 104, setting auxiliary information and a stop instruction sign are presented. There are the following two methods for this processing. The first method is a method of generating setting auxiliary information and a stop instruction sign in the image processing apparatus 2 of the on-vehicle parking support apparatus 100 and presenting the generated information on the display 20. In the second method, setting auxiliary information is generated in the image processing apparatus 2 of the on-vehicle parking support apparatus 100 and presented on the display 20 as to the setting auxiliary information, and the stop instruction sign is displayed. , A stop instruction sign S is provided in the parking space 200 on the parking lot side, and this stop instruction sign S is captured by the cameras 1a to 1d of the on-vehicle parking support apparatus 100 to be included in the overhead view image, and the display 20 It is a technique to present to. Details of step S104 will be described later.

In the following step S105, the control device 10 of the parking assistance device 100 of the present embodiment displays the parking space 200 corresponding to the position of the parking space setting frame F2 included in the setting auxiliary information F presented on the touch panel type display 20, The target parking space 200 in which the vehicle V is parked is set. The parking space setting frame F2 is displayed at a predetermined position with respect to the vehicle V, and the position of the parking space setting frame F2 can be adjusted by moving the vehicle V. The parking space setting frame F <b> 2 can be displayed as a rectangular figure corresponding to the shape of the parking space 200. The position of the parking space setting frame F2 superimposed on the overhead view image 21 shown in FIG. The driver can select the target parking space 200 in which the vehicle V is parked by superimposing the parking space setting frame F2 on the parking space 200 in which the vehicle V is desired to be parked. The driver may operate the determination button or the like at the timing when the adjustment of the position of the parking space setting frame F2 is completed, and input to the parking assistance device 100 that the selection of the parking space 200 is completed. Note that the driver can finely adjust the position of the parking space setting frame F2 for parking the vehicle V by operating an adjustment button (not shown) while the vehicle is stopped.

Similarly, the obstacle avoidance frame F3 superimposed on the bird's-eye view image 21 is arranged at a predetermined position with respect to the vehicle V outside the parking space setting frame F2, and the position changes as the vehicle V moves. The obstacle avoidance frame F3 is a sign indicating a boundary between a region having a high possibility of contact with the obstacle and a region having a low possibility of contact with the obstacle. The driver can park the vehicle V so that the vehicle V does not come into contact with the obstacle by operating the vehicle V so that there is no solid object in the obstacle avoidance frame F3. If the position of the parking space setting frame F2 is finely adjusted by the adjustment button described above, the obstacle avoidance frame F3 moves on the screen while maintaining the relative positional relationship with the parking space setting frame F2. .

In the next step S106, the control device 10 of the parking assistance device 100 calculates a parking route for moving the vehicle V to the selected target parking space 200 in the selected parking mode. Specifically, the parking assistance device 100 activates the parking assistance control unit, calculates the parking route based on the positional relationship between the current position where the vehicle V stops and parking assistance starts and the position of the target parking space 200. To do. The parking route is stored in a memory (ROM) one by one corresponding to each of parallel parking, parallel parking, and oblique parking, the route corresponding to the selected parking mode is read, and the vehicle at the start of the parking assist process A parking route is calculated based on the positional relationship between the position of V and the position of the target parking space 200. Although not particularly limited, the parking assistance control unit calculates the parking position of the vehicle V, that is, the curve from the parking assistance start position to the return position and the curve from the return position to the target parking space 200 as the parking route. Although not particularly limited, the parking assistance device 100 selects the target parking space 200, and when the driver relaxes the brake pedal pressure and the predetermined brake pressure is released, the acquired position and parking mode of the target parking space 200 are acquired. The execution of the parking support process based on the selection information is determined, and when the driver depresses the accelerator pedal, the execution of the support for the operation of parking the vehicle V in the target parking space 200 along the calculated parking route is started.

In step S107, the parking support apparatus 100 of the present embodiment executes a parking support process. The parking assistance apparatus 100 of the present embodiment controls steering of the vehicle V so that the vehicle V moves along the parking path. The parking assist device 100 drives the vehicle V such as an EPS motor while feeding back the output values of the steering angle sensor 51 and the steering direction sensor 52 of the steering 50 so that the movement locus of the vehicle V coincides with the calculated parking route. A command signal to the system 40 is calculated, and this command signal is sent to the drive system 40 or the vehicle controller 30 that controls the drive system 40. Of course, the calculated parking route is displayed on the display 20 or the like, and the steering amount of the steering wheel 50, the steering timing of the steering 500, and the operation timing of the brake or accelerator are instructed so that the movement locus of the vehicle V coincides with the parking route. Driving assistance can also be provided. In addition, the content of the driving assistance can be appropriately applied the method disclosed or devised at the time of filing.

Here, the setting auxiliary information F and the stop instruction sign S presenting process in step S104 of FIG. 3 and the setting process of the target parking space 200 in step S105 will be described in detail.

As described above, with regard to the process of presenting the setting auxiliary information F and the stop instruction sign S, the first method of synthesizing the stop instruction sign S on the vehicle V side parking assist device 100 side and the stop instruction sign S are parked. There is a second method that is set in advance in the parking space 200 on the parking lot side.

First, the control procedure based on the first method will be described based on the flowchart of FIG. 6, and then the control procedure based on the second method will be described based on the flowchart of FIG. Common points will be added as appropriate.

When the process of step S104 is started, in step S201, the control device 10 generates the setting auxiliary information F and presents it on the display 200. The setting auxiliary information F includes a parking space setting frame F2 displayed at a predetermined position with respect to the vehicle V, and a center line F1 passing through the center of the parking space setting frame F2 and along the vehicle width direction W of the vehicle V. FIG. 8A shows a display example of the icon of the vehicle V generated by the control device 10, the parking space setting frame F2, and the center line F1. 8A indicates a reference point such as the center of the vehicle V, reference numeral 42 indicates the position of the power receiving coil 42 of the power receiving device 400 of the non-contact power feeding system, and reference numeral 42P indicates the center of the power receiving coil 42 or the like. Indicates the reference point. The icon of the vehicle V reflects the actual position of the vehicle V. When the vehicle V moves, the vehicle icon V also moves. The parking space setting frame F2 and the center line F1 are arranged at predetermined positions with respect to the vehicle V and the vehicle icon V. That is, when the vehicle V moves, the vehicle icon V, the parking space setting frame F2, and the center line F1 move.

In step S202, the control device 10 extracts the boundary of the parking space 200 from the overhead image. The extraction method is not particularly limited, and a light / dark edge can be extracted from the overhead image, and the boundary of the parking space 200 can be extracted based on the continuous edge. In the example shown in FIG. 8A, four parking spaces 200 in the areas PK1 to PK4 can be detected. In addition, a power transmission device 300 of a non-contact power feeding system is constructed in the parking space 200 of the present embodiment, and a power transmission coil 32 is provided in each of the areas PK1 to PK4 (200) of each parking space 200. ing. Reference numeral 32P in the figure indicates a reference point such as the center of the power transmission coil 32.

In step S203, the control device 10 generates a stop instruction sign S. The stop instruction sign S includes a stop completion instruction sign S1, a stop start instruction sign S2, and a traveling direction instruction sign S5. In the basic routine, the control device 10 generates the stop instruction mark S, and then proceeds to step S204 to display the generated stop instruction mark S on the display 20.

As shown in FIG. 8A, the stop completion instruction sign S1 is a linear sign along the vehicle length direction L1 of the vehicle V that passes through the approximate center of the parking space 200 and PK1 to PK4 and is parked in the parking space 200. . A linear portion along the vehicle length direction L1 of the parked vehicle V (the vehicle width direction W of the traveling vehicle V) may be included, and may be displayed in combination with a two-dimensional figure or the like. In addition, the stop completion instruction mark S <b> 1 of the present embodiment is a linear mark that passes through the center 32 </ b> P of the power transmission coil 32 of the power supply apparatus 300.

As shown in the figure, the stop start instruction sign S2 is a position separated from the stop completion instruction sign S1 by a predetermined distance SL1 along the vehicle width direction W1 of the vehicle V parked (the vehicle length direction L of the traveling vehicle V). Is a sign placed in The stop start instruction mark S2 may be a linear mark, or may be a graphic mark such as a triangle as shown in FIG. The predetermined distance SL1 between the stop start instruction sign S2 and the stop completion instruction sign S1 is appropriately determined based on an experimental result in consideration of an average vehicle speed (4 to 20 km) when the target parking space 200 is set. Can be set to The predetermined distance SL1 may be changed according to the size (margin) of the parking space 200, or may be set at a predetermined cycle according to the actually detected vehicle speed of each vehicle V, as will be described later. .

As shown in the figure, the traveling direction indicating sign S5 is a linear sign parallel to the parallel direction of the parking space 200 (also indicated by PK1 to PK4) (the direction along the vehicle width direction W1 of the parked vehicle V). is there.

Although not shown in FIG. 8A, the stop instruction sign S can include an auxiliary line S3. The auxiliary line S3 is a sign that guides the line of sight from the stop start instruction sign S2 displayed on the display to the stop completion instruction sign S1 between the stop start instruction sign S2 and the stop completion instruction sign S1. The auxiliary line S3 will be described later with an example.

When parking the vehicle V in the parking space PK1, the driver moves the vehicle V to the side of the target parking space PK1 so that the parking space setting frame F2 overlaps the target parking space PK1. FIG. 8B shows a state in which the vehicle V is advanced in the direction of arrow K in the figure from the state of FIG. 8A. When the vehicle V moves, the center line F1, the parking space setting frame F2, and the obstacle avoidance frame F3 also move. As shown in FIG. 8B, the center line F1 that moves as the vehicle V moves forward approaches the center line F1 and the stop start instruction sign S2, and overlaps at a certain timing. In this manner, the driver can recognize the timing at which the center line F1 and the stop start instruction sign S2 are superimposed as the timing at which the stop operation of the vehicle V is started. The driver starts stepping on the brake or increases the amount of depression of the brake at the timing at which the center line F1 and the stop start instruction sign S2 overlap. When the driver depresses the brake, the vehicle V decelerates but moves forward without stopping completely.

As shown in FIG. 8C, when the vehicle V further moves forward, the center line F1 that moves as the vehicle V moves forward approaches the center line F1 and the stop completion instruction sign S1, and overlaps at a certain timing. Thus, the driver can recognize the timing at which the center line F1 and the stop completion instruction sign S1 are superimposed as the timing at which the stop operation of the vehicle V is completed. The driver increases the brake depression amount from the timing at which the center line F1 and the stop start instruction sign S2 are overlapped, and the brake V is strongly depressed at the timing at which the center line F1 and the stop completion instruction sign S1 are overlapped, thereby completely driving the vehicle V. Stop.

Thus, if the vehicle V can be stopped at the timing when the center line F1 and the stop completion instruction sign S1 overlap, the parking space setting frame F2 can be accurately overlapped with the target parking space 200, and the target parking The vehicle V can be stopped at a predetermined position in the space 200.

Incidentally, the parking support process is started from the stop position of the vehicle V. For this reason, if the vehicle V can be stopped at a predetermined position with respect to the target parking space 200, the parking process can be started from the predetermined position. If the stop position of the vehicle V that is the starting point of the parking trajectory is accurate, the parking trajectory calculated by the parking assist device 100 is constant and accurate, so the vehicle V is brought to a predetermined position (for example, the center) of the parking space 200. It can be parked.

In particular, when the power transmission device 30 is arranged in the parking space 200, the center 42P of the power receiving coil 42 and the center 32P of the power transmission coil 32 can be matched, so that the power feeding efficiency can be improved.

Further, since the traveling direction indicating sign S5 is also displayed, the vehicle V can be moved along the parallel direction of the parking spaces 200 (PK1 to PK4) (the direction along the vehicle width direction W1 of the parked vehicle V). it can. As a result, the center line F1, the stop completion instruction sign S1, and the stop start instruction sign S2 are parallel to each other, so that the timing at which both are superimposed can be uniquely determined. Thereby, the direction of the vehicle V can be straightened with respect to the parallel direction of the parking space PK so that the center of the vehicle V matches the center of the parking space PK. You can park in the center.

Hereinafter, the control procedure related to the subroutine from step 205 to step 207 in the flowchart of FIG. 6 will be described with reference to FIGS. 9A to 9C.

In step S205, the control device 10 acquires the current position of the vehicle V from the current position detection device 70, and the distance between the current position of the vehicle V and any of the areas PK1 to PK4 of the parking space 200 approaches within a predetermined distance. It is repeatedly determined whether or not. If the distance between the vehicle V and any of the areas PK1 to PK4 approaches within a predetermined distance, the process proceeds to step S206. The current position detection device 70 includes GPS (Global Positioning System) and uses autonomous navigation that estimates the current position by a cumulative calculation method based on positioning data input from a gyro sensor and a distance sensor attached to a wheel. The position of the vehicle V is measured.

In step S206, the control device 10 acquires the speed information of the vehicle V from the vehicle speed sensor 60. In step S207, the control device 10 determines the drawing position of the stop start instruction mark S based on the current position of the vehicle V acquired in step S204 and the vehicle speed information acquired in step S205.

As described above, when the vehicle V is parked in the parking space PK using this type of parking assist device 100, the driver sets the parking space setting frame F2 to the target parking space PK1 in order to specify the target parking space PK. The vehicle V is moved and stopped so that the center of the vehicle V is aligned with the center of the target parking space PK1 so as to overlap. In the present embodiment, the stop operation of the vehicle V is started at a timing at which the center line F1 that moves together with the vehicle V and the stop start instruction sign S2 are superimposed, and at the timing at which the center line F1 and the stop completion instruction sign S1 are superimposed. Complete the V stop operation and stop completely. The time from when the center line F1 and the stop start instruction sign S2 overlap to the timing when the center line F1 and the stop completion instruction sign S1 overlap, that is, between the stop start instruction sign S2 and the stop completion instruction sign S1. The predetermined distance may change according to the speed of the vehicle V.

In this embodiment, the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S2 is changed according to the vehicle speed of the vehicle V that approaches the parking space PK and specifies the target parking space PK. That is, the drawing position of the stop start instruction sign S2 is determined according to the vehicle speed of the vehicle V.

Thus, since the stop start instruction sign S2 can be displayed at an appropriate position according to the vehicle speed and the current position of the vehicle V, the driver can know an appropriate start timing of the brake operation. Since the driver can recognize the start timing of the brake operation according to the situation, the vehicle V can be accurately stopped at the position corresponding to the target parking space PK.

Specifically, when the vehicle speed of the vehicle V is high, the control device 10 of the parking assistance device 100 of the present embodiment changes the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S2 longer. As shown in FIG. 8A, when the vehicle speed of the vehicle V is the reference value X, the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S2 is the default value SL1. When the vehicle speed Xa of the vehicle V is high (Xa> X), the control device 10 relatively increases the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S3 as shown in FIG. 9A. SL3 (SL3> SL1) is set, and the stop start instruction sign S3 is displayed separated from the stop completion instruction sign S1 by a predetermined distance SL3 (SL3> SL1).

On the other hand, when the vehicle speed of the vehicle V is high, the control device 10 of the parking assistance device 100 of the present embodiment changes the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S2 to be short. When the vehicle speed Xb of the vehicle V is low (Xb <X), the control device 10 relatively shortens the predetermined distance between the stop completion instruction sign S1 and the stop start instruction sign S4 as shown in FIG. 9B. SL4 (SL4 <SL1) is set, and the stop start instruction sign S4 is displayed separated from the stop completion instruction sign S1 by a predetermined distance SL4 (SL4 <SL1).

FIG. 9C shows an example of the relationship between the predetermined distance SL (SL1, SL3, SL4) between the stop completion instruction sign S1 and the stop start instruction signs S2, S3, S4 and the speed of the vehicle V. The relationship is not particularly limited as long as the vehicle V becomes larger as the predetermined distance SL becomes larger, and is not limited to a linearly changing relationship as shown in FIG. 9C. It may be a changing relationship.

Hereinafter, a second method in which the stop instruction sign S is installed in the parking space 200 on the parking lot side in advance will be described based on the flowchart of FIG.

The parking space 200 on the parking lot side according to the present embodiment is parked from the stop completion instruction sign S1 passing through the approximate center of the parking space 200 and along the vehicle length direction of the vehicle V parked on the vehicle V, and the stop completion instruction sign S1. A stop instruction sign S including at least a stop start instruction sign S2 disposed at a position separated from the vehicle V by a predetermined distance in the vehicle width direction.

The stop instruction sign S may be formed by painting on the road surface (mounting surface of the vehicle V) of the parking space 200, or may emit light such as an LED lamp on the road surface of the parking space 200 (mounting surface of the vehicle V). It may be formed by embedding the body. Since the stop instruction sign S formed on the road surface of the parking space 200 is captured by the cameras 1a to 1d, the image of the stop instruction sign S is included in the overhead image to be synthesized. That is, there is no need to generate the parking assist device 100 on the vehicle V side.

As shown in FIG. 7, in step 301, the control device 10 of the parking assistance device 100 of the present embodiment generates setting auxiliary information F that moves together with the vehicle V and displays it on the display 20. In step 302, the boundary of the parking space 200 and the image of the stop instruction sign S that are captured by the cameras 1a to 1d and included in the overhead view image are displayed on the display 20. The functions, operations, and effects of the displayed setting auxiliary information F and the stop instruction sign S are the same as the functions, functions, and effects of the setting auxiliary information F and the stop instruction sign S that are generated on the vehicle-mounted parking assist device 100 described above. is there. Here, in order to avoid redundant description, the above-described description is used for the method of selecting and setting the target parking space 200.

Incidentally, the driver needs to specify the target parking space PK when the vehicle V is parked in the parking space PK using this type of parking assist device 100. In this case, the driver moves the vehicle V so that the center of the vehicle V matches the center of the target parking space PK1 so that the parking space setting frame F2 overlaps the target parking space PK1.

However, it is not easy to stop the vehicle V in the center of the parking space setting frame F2, and there is a case where it is not known when the brake is depressed or when the vehicle is completely depressed by depressing the brake.

For example, when the driver is unfamiliar with the operation, the center of the vehicle V is shifted forward from the center of the target parking space PK. The center of the vehicle V is completely stopped before the center of the target parking space PK. In other cases, the center of the vehicle V may be shifted forward from the center of the target parking space PK when the accelerator is stepped on, in order to advance only an insufficient distance. In such a case, the forward and backward movements must be repeated until the center of the vehicle V matches the center of the target parking space PK, and the setting operation of the target parking space 200 itself becomes a burden on the driver.

On the other hand, when driving assistance is started in a state where the center of the vehicle V is not aligned with the center of the target parking space PK, the vehicle V is not accommodated in the center of the target parking space PK and is too close to the adjacent parking space PK in parallel. Inconvenience that the tire of the vehicle V protrudes from the boundary of the target parking space PK occurs.

In particular, when trying to perform non-contact power feeding after parking, if the vehicle V is not accommodated at an appropriate position such as the center of the target parking space PK, the power receiving coil 42 is not disposed at a position facing the power transmitting coil 32, There also arises a disadvantage that the power supply efficiency is lowered.

On the other hand, since the parking assistance apparatus 100 of this embodiment displays the center line F1 and the stop start instruction | indication sign | symbol S2 which move with the vehicle V when setting the target parking space PK, the timing which both overlapped is displayed. The driver can be informed of the timing for starting the stop operation of the vehicle V. In addition, when the vehicle V is stopped at a position where the parking space setting frame F2 is superimposed on the target parking space PK, the parking assistance device 100 according to the present embodiment includes the center line F1 that moves together with the vehicle V, and the stop completion instruction sign S1. Is displayed, it is possible to notify the driver of the timing at which both are superimposed as the timing at which the stop operation of the vehicle V is completed. As a result, the driver can stop the vehicle V so that the position of the parking space setting frame F2 is aligned with the position of the parking space PK where parking is desired, so that the operability and accuracy when setting the target parking space PK are accurate. Can be improved.

If the driver can stop the vehicle V so that the position of the parking space setting frame F2 matches the position of the parking space PK where parking is desired, the vehicle V can be finally parked in the center of the parking space PK. Therefore, since the power receiving coil 42 mounted on the vehicle V can be disposed at a position facing the power transmitting coil 32, power can be supplied with high efficiency.

Subsequently, specific modes of the stop instruction sign S will be described with reference to FIGS. Each stop instruction sign S includes a stop completion instruction sign S1, a stop start instruction sign S2, an auxiliary line S3, and a traveling direction instruction sign S5.

The stop instruction sign S shown in FIG. 10 passes through the center of the parking space 200 (PK1) and the center of the center 32P of the power transmission coil 32, and stops along the vehicle length direction L1 of the vehicle V parked in the parking space 200 (PK1). It has a completion instruction sign S1, a stop start instruction sign S2 indicated by a dot, and a solid line or a broken auxiliary line S3 connected from the stop start instruction sign S2 to the stop completion instruction sign S1. The stop start instruction sign S2 may be displayed as a line. In this case, the auxiliary line S3 is a solid line or a broken line that extends from the end of the stop start instruction sign S2 to the stop completion instruction sign S1.

The auxiliary line S3 is provided from the viewpoint of guiding the line of sight from the stop start instruction sign S2 to the stop completion instruction sign S1, and one end of the auxiliary line S3 of this example is connected to the stop start instruction sign S2, The other end of the line S3 is connected to the stop completion instruction sign S1. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the auxiliary line S3 is connected to the stop start instruction sign S2 and the stop completion instruction sign S1, after the driver passes the stop start instruction sign S2, the driver follows the auxiliary line S3 connected thereto from the stop start instruction sign S2. The line of sight is guided to the stop completion instruction sign S1, which is the next mark, and the timing at which the vehicle V is completely stopped can be accurately captured.

The stop instruction sign S shown in FIG. 11 passes through the center of the parking space 200 (PK1) and the center of the center 32P of the power transmission coil 32, and stops along the vehicle length direction L1 of the vehicle V parked in the parking space 200 (PK1). The stop instruction indicator S1 is disposed between the stop instruction indicator S1, the stop completion instruction indicator S1 displayed with a line longer than the stop start indicator S2, and the stop start instruction indicator S2 and the stop completion indicator S1. And an auxiliary line S3 composed of one or a plurality of lines (solid line or broken line) whose length gradually increases from S2 toward the stop completion instruction sign S1. The auxiliary line S3 in this example is a straight line along the vehicle length direction L1 of the vehicle V parked in the parking space 200. In this example, one auxiliary line S3 is shown, but a plurality of auxiliary lines S3 may be arranged.

The auxiliary line S3 is provided from the viewpoint of guiding the line of sight from the stop start instruction sign S2 to the stop completion instruction sign S1, and the end of the auxiliary line S3 of this example is stopped at the end of the stop start instruction sign S2. It arrange | positions so that it may be located on the line | wire which connects the edge part with completion instruction | indication label | marker S1. In other words, when the end of the stop start instruction sign S2 is traced to the end of the auxiliary line S3 and further in the direction, the stop completion instruction sign S1 is reached. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the end of the auxiliary line S exists between the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1, the driver passes the stop start instruction sign S2 and then stops. If the end of the auxiliary line S3 arranged next to S2 is traced, the line of sight is guided to the stop completion instruction sign S1, which is the next mark, and the timing at which the vehicle V is completely stopped can be accurately grasped.

The stop instruction sign S shown in FIG. 12 passes through the center of the parking space 200 (PK1) and the center of the center 32P of the power transmission coil 32, and stops along the vehicle length direction L1 of the vehicle V parked in the parking space 200 (PK1). Completion indication sign S1, stop start sign S2 displayed in a straight line along the vehicle width direction of vehicle V parked in parking space 200 (PK1), and vehicle width of vehicle V parked in parking space 200 (PK1) The auxiliary line S3 is a straight line that extends along the direction W1 and includes a plurality of lines having different lengths arranged so that the end of the auxiliary line S3 approaches the stop completion instruction sign S1. The auxiliary line S3 in this example is a straight line along the vehicle width direction W1 of the vehicle V parked in the parking space 200. In this example, two auxiliary lines S3 are shown, but one or three or more auxiliary lines S3 may be arranged.

The auxiliary line S3 is provided from the viewpoint of guiding the line of sight from the stop start instruction sign S2 to the stop completion instruction sign S1, and the end of the auxiliary line S3 of this example is stopped at the end of the stop start instruction sign S2. It arrange | positions so that it may be located on the line which connects the edge part with completion instruction | indication label | marker S1. In other words, when the end of the stop start instruction sign S2 is traced to the end of the auxiliary line S3 and further in the direction, the stop completion instruction sign S1 is reached. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the end of the auxiliary line S exists between the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1, the driver passes the stop start instruction sign S2 and then stops. If the end of the auxiliary line S3 arranged next to S2 is traced, the line of sight is guided to the stop completion instruction sign S1 that becomes the next mark, so that it is possible to accurately grasp the timing at which the vehicle V is completely stopped. .

The stop instruction signs shown in FIGS. 10 to 12 show a stop start instruction sign S2 and an auxiliary line S3 that are symmetrical with respect to the stop completion instruction sign S1 as a center of symmetry. This is because the space 200 may be accessed. Therefore, when the direction to access the parking space 200 is limited to one direction (one-way), the stop start instruction sign S2 and the auxiliary line S3 are displayed only on the right or left side of the stop completion instruction sign S1. This is the scope of disclosure of the present embodiment.

Next, an assisting method for alignment when the vehicle V goes straight backward when parking assistance is executed will be described with reference to FIGS. 13A to 13C, and an auxiliary method for alignment when the vehicle V goes straight forward is shown in FIG. 14A. This will be described with reference to FIG. 14C.

As shown in FIG. 13A, the control device 10 of the parking assistance device 100 according to the present embodiment generates a retreat line F5 along the vehicle width direction W of the vehicle V at a predetermined position with respect to the vehicle V. The backward line F5 is included in the setting auxiliary information F. Moreover, the control apparatus 10 is a linear stop completion instruction | indication mark S6 along the vehicle width direction W1 of the vehicle V parked in the parking space 200, and the vehicle length direction (L1) of the vehicle V parked from the stop completion instruction | indication sign S6. ) And a stop start instruction sign S7 arranged at a position separated by a predetermined distance. The control device 10 generates an auxiliary line S8 provided from the viewpoint of guiding the line of sight from the stop start instruction sign S7 to the stop completion instruction sign S6 between the stop completion instruction sign S6 and the stop start instruction sign S7. The stop completion instruction sign S6, the stop start instruction sign S7, and the auxiliary line S8 are included in the stop instruction sign S. The setting auxiliary information F and the stop instruction sign S are presented via the display 20 so as to be superimposed on the overhead image. These pieces of information are preferably displayed when the vehicle V moves forward after the parking operation starts and then moves backward and enters the parking space 200.

When the vehicle V is moved backward from the start of reverse movement shown in FIG. 13A, the reverse line F5 and the stop start instruction sign S7 are superimposed as shown in FIG. 13B. At this timing, the driver starts stepping on the brake or increases the brake depression amount. The vehicle V further moves backward, and as shown in FIG. 13C, a backward line F5 and a stop completion instruction sign S6 are superimposed. At this timing, the driver strongly depresses the brake and stops the vehicle V completely.

Thus, since the setting auxiliary information F including the reverse line F5, which is an auxiliary method for alignment when the vehicle V goes straight backward, and the stop instruction sign S are superimposed and displayed on the overhead image, the vehicle at the time of reverse It is possible to make the driver recognize the timing at which the brake of V is started and the timing at which the vehicle V is completely stopped by depressing the brake strongly. As a result, the driver can park the vehicle V at a predetermined position in the parking space 200 (PK).

In particular, when the vehicle V is parked in the parking space 200 in the parking lot where the power feeding device 300 of the non-contact power feeding system is arranged, from the viewpoint of improving power feeding efficiency, the power receiving coil 42 of the power receiving device 400 on the vehicle V side It is necessary to match the position of the power transmission device 300 with the power transmission coil 32. According to this example, the vehicle V is prevented from retreating too much or insufficiently retreating, and the center 42P of the power receiving coil 42 and the center 32P of the power transmitting coil 32 are aligned as shown in FIG. 13C. be able to. As a result, power supply efficiency can be improved.

FIG. 13D shows an example of a stop instruction sign that is different from the example shown in FIGS. 13A to 13C. The state shown in FIG. 13D corresponds to the state shown in FIG. 13A. In the mode of FIG. 13A, the stop completion instruction sign S6 is longer in the vehicle width direction W than the stop start instruction sign S7, and the auxiliary line S8 is longer than the stop start instruction sign S7, than the stop completion instruction sign S6. Also short. The operation of the driver who sees these signs is the same as that shown in FIGS. 13A to 13C, and the description thereof is used.

The same applies when the vehicle V is moved forward and the vehicle V is parked in the parking space 200. As shown in FIG. 14A, the control device 10 of the parking assistance device 100 according to the present embodiment generates a forward line F6 along the vehicle width direction W of the vehicle V at a predetermined position with respect to the vehicle V. The forward line F6 is included in the setting auxiliary information F. Moreover, the control apparatus 10 is a linear stop completion instruction | indication mark S6 along the vehicle width direction W1 of the vehicle V parked in the parking space 200, and the vehicle length direction (L1) of the vehicle V parked from the stop completion instruction | indication sign S6. ) And a stop start instruction sign S7 arranged at a position separated by a predetermined distance. The control device 10 generates an auxiliary line S8 provided from the viewpoint of guiding the line of sight from the stop start instruction sign S7 to the stop completion instruction sign S6 between the stop completion instruction sign S6 and the stop start instruction sign S7. The stop completion instruction sign S6, the stop start instruction sign S7, and the auxiliary line S8 are included in the stop instruction sign S. The setting auxiliary information F and the stop instruction sign S are presented via the display 20 so as to be superimposed on the overhead image. These pieces of information are preferably displayed when the vehicle V moves forward and enters the parking space 200 after the parking operation is started.

When the vehicle V is advanced from the start of forward movement shown in FIG. 14A, a forward line F6 and a stop start instruction sign S7 are superimposed as shown in FIG. 14B. At this timing, the driver starts stepping on the brake or increases the brake depression amount. The vehicle V further advances, and as shown in FIG. 14C, the advance line F6 and the stop completion instruction sign S6 are superimposed. At this timing, the driver strongly depresses the brake and stops the vehicle V completely.

As described above, since the setting auxiliary information F including the forward line F6 and the stop instruction sign S, which is an auxiliary method of alignment when the vehicle V goes straight forward, and the stop instruction sign S are superimposed and displayed on the overhead image, the vehicle during forward movement It is possible to make the driver recognize the timing at which the brake of V is started and the timing at which the vehicle V is completely stopped by depressing the brake strongly. As a result, the driver can park the vehicle V at a predetermined position in the parking space 200 (PK).

In particular, when the vehicle V is parked in the parking space 200 in the parking lot where the power feeding device 300 of the non-contact power feeding system is arranged, from the viewpoint of improving power feeding efficiency, the power receiving coil 42 of the power receiving device 400 on the vehicle V side It is necessary to match the position of the power transmission device 300 with the power transmission coil 32. According to this example, the vehicle V is prevented from moving forward too much or insufficiently moving, and the center 42P of the power receiving coil 42 and the center 32P of the power transmitting coil 32 are aligned as shown in FIG. 14C. be able to. As a result, power supply efficiency can be improved.

FIG. 14D shows an example of a stop instruction sign in a mode different from the example shown in FIGS. 14A to 14C. The state shown in FIG. 14D corresponds to the state shown in FIG. 14A. 14A, the stop completion instruction sign S6 is longer in the vehicle width direction W than the stop start instruction sign S7, and the auxiliary line S8 is longer than the stop start instruction sign S7, than the stop completion instruction sign S6. Also short. The operation of the driver who sees these signs is the same as that shown in FIGS. 14A to 14C, and the description thereof is used.

The parking support apparatus 100 of the present embodiment configured and operating as described above has the following effects.

According to the parking assist device 100 of the present embodiment of the present invention, the vehicle space direction W of the vehicle V passes through the parking space setting frame F2 displayed at a predetermined position with respect to the vehicle V and the center of the parking space setting frame F2. Is generated along with the center line F1 along the center line of the parking space 200 and passes through the approximate center of the parking space 200, and the linear stop completion instruction sign along the vehicle length direction L1 of the vehicle V parked in the parking space 200. A stop instruction sign S including at least S1 and a stop start instruction sign S2 disposed at a predetermined distance from the stop completion instruction sign S1 in the vehicle width direction W of the vehicle V is generated, and the setting auxiliary information F and the stop instruction sign S can be superimposed on the overhead image synthesized based on the captured images around the vehicle and presented on the display 20.

Thus, when the target parking space 200 is set by matching the position of the parking space setting frame F2 that moves according to the position of the vehicle V with the position of the desired parking space 200 by moving the vehicle V, the vehicle V is When approaching the desired parking space 200, the center line F1 that moves together with the vehicle V and the center line F1 and the stop start instruction sign S2 approach each other and overlap at a certain timing. The timing at which S2 is superimposed can be recognized by the driver as the timing at which the operation of stopping the vehicle V is started.

Further, after the stop operation of the vehicle V is started, the center line F1 that moves together with the vehicle V and the stop completion instruction sign S1 along the same direction as the center line F1 approach each other and overlap at a certain timing. The driver recognizes the timing at which the line F1 and the stop completion instruction sign S1 are superimposed as the timing at which the parking space setting frame F2 matches the position of the parking space 200 where parking is desired and the stop operation of the vehicle V is completed. be able to. As a result, the driver can operate the vehicle V so that the position of the parking space setting frame F2 is aligned with the position of the parking space 200 where parking is desired, so that the operability and accuracy when setting the target parking space 200 are improved. Can be made. The parking assistance method of the present invention also achieves the same effect by the same operation. Further, even when the stop instruction sign S is not generated by the image composition technique but is provided in the parking space 200, the same effect is obtained by the same operation.

According to the parking assist device 100 of the present embodiment of the present invention, the current position and vehicle speed information of the vehicle V are acquired, and the drawing position of the stop start instruction sign S2 is set based on the current position and vehicle speed information of the vehicle V. Therefore, the driver can know the start timing of the brake operation. Since the driver can recognize the start timing of the brake operation according to the situation, the vehicle V can be reliably stopped at the stop completion instruction sign S1.

According to the parking assistance apparatus 100 of the present embodiment of the present invention, the line of sight from the stop start instruction sign S2 displayed on the display 20 to the stop completion instruction sign S1 between the stop start instruction sign S2 and the stop completion instruction sign S1. By displaying the auxiliary line S3 that guides the driver, the driver's line of sight follows the auxiliary line S3 connected to the stop start instruction sign S2 and is guided to the stop completion instruction sign S1 that becomes the next mark. The timing for stopping V can be accurately grasped.

According to the parking assistance device 100 of the present embodiment of the present invention, the auxiliary line S3 is configured by a solid line or a broken line that is continuous with the stop completion instruction sign S1 from the stop start instruction sign S2 displayed by a dot or a line. One end of the auxiliary line S3 is connected to the stop start instruction sign S2, and the other end of the auxiliary line S3 is connected to the stop completion instruction sign S1. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the driver follows the auxiliary line S3 connected to the stop start instruction sign S2 after passing the stop start instruction sign S2, the driver's line of sight is guided to the stop completion instruction sign S1, which is the next mark, and the vehicle V is completely It is possible to accurately grasp the timing to stop.

According to the parking assistance device 100 of the present embodiment of the present invention, the length is gradually increased as it approaches the stop completion instruction sign S1 from the stop start instruction sign S2 which is disposed between the stop start instruction sign S2 and the stop completion instruction sign S1. Since the auxiliary line S3 is composed of one or a plurality of lines (solid line or broken line) that are long, the end of the auxiliary line S3 is connected to the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1. Located on the connecting line. In other words, when the end of the stop start instruction sign S2 is traced to the end of the auxiliary line S3 and further in the direction, the stop completion instruction sign S1 is reached. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the end of the auxiliary line S exists between the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1, the driver passes the stop start instruction sign S2 and then stops. If the end of the auxiliary line S3 arranged next to S2 is traced, the line of sight is guided to the stop completion instruction sign S1, which is the next mark, and the timing at which the vehicle V is completely stopped can be accurately grasped.

According to the parking assist device 100 of the present embodiment of the present invention, the auxiliary line S3 is a straight line along the vehicle width direction W1 of the vehicle V parked in the parking space 200 (PK1), and the end of the auxiliary line S3 is completed. Since it is composed of a plurality of lines having different lengths arranged so as to approach the instruction sign S1, the end of the auxiliary line S3 connects the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1. It is arranged so that it is located on the line. In other words, when the end of the stop start instruction sign S2 is traced to the end of the auxiliary line S3 and further in the direction, the stop completion instruction sign S1 is reached. First, the driver moves forward with the stop start instruction sign S2 as a mark, starts to step on the brake at a timing when the center line F1 overlaps the stop start instruction sign S2, and then sets the stop completion instruction sign S1 as the next mark. Since the end of the auxiliary line S exists between the end of the stop start instruction sign S2 and the end of the stop completion instruction sign S1, the driver passes the stop start instruction sign S2 and then stops. If the end of the auxiliary line S3 arranged next to S2 is traced, the line of sight is guided to the stop completion instruction sign S1 that becomes the next mark, so that it is possible to accurately grasp the timing at which the vehicle V is completely stopped. .

According to the parking assist device 100 of the present embodiment of the present invention, the traveling direction indicating sign S5 is also displayed, so the vehicle V is arranged in the parallel direction of the parking spaces 200 (PK1 to PK4) (the vehicle width direction of the parked vehicle V). (Direction along W1). As a result, the center line F1, the stop completion instruction sign S1, and the stop start instruction sign S2 are parallel to each other, so that the timing at which both are superimposed can be uniquely determined. Thereby, the direction of the vehicle V can be straightened with respect to the parallel direction of the parking space PK so that the center of the vehicle V matches the center of the parking space PK. You can park in the center.

According to the parking assist device 100 of the present embodiment of the present invention, the setting auxiliary information F including the reverse line F5 (or the forward line F6), which is an alignment assisting technique when the vehicle V goes straight backward (or forward straight). And the stop instruction sign S superimposed on the overhead image, the timing for starting to depress the brake of the vehicle V at the time of reverse (or at the time of forward movement), and the timing for completely depressing the brake to stop the vehicle V Can be recognized by the driver. As a result, the driver can park the vehicle V at a predetermined position in the parking space 200 (PK). In particular, when the vehicle V is parked in the parking space 200 of the parking lot where the power supply device 300 of the non-contact power supply system is disposed, the vehicle V may be retracted too much or may not be sufficiently retracted (or the vehicle V is The center 42P of the power receiving coil 42 and the center 32P of the power transmission coil 32 can be matched with each other. As a result, power supply efficiency can be improved.

According to the parking assistance apparatus 100 of the present embodiment of the present invention, the stop completion instruction sign S1 is a linear sign that passes through the center 32P of the power transmission coil 32 of the power feeding apparatus 300 arranged in the parking space 200. The space 200 can be selected accurately.

Further, since the parking support process is started from the stop position of the vehicle V, if the vehicle V can be stopped at a predetermined position with respect to the target parking space 200, the predetermined position with respect to the target parking space 200 is set as a starting point. The parking process can be started. That is, if the stop position of the vehicle V that is the starting point of the parking track is accurate, the vehicle V is parked in the center of the parking space 200 if the vehicle V is moved according to the parking track calculated by the parking assist device 100. Can do. As a result, since the center 42P of the power receiving coil 42 and the center 32P of the power transmitting coil 32 can be matched, the power feeding efficiency can be improved.

It should be noted that all the embodiments described above are described for easy understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

In this specification, the parking support system 1000 including the parking support apparatus 100 mounted on the vehicle V will be described as an example of the parking support system according to the present invention. However, the present invention is not limited to this. Absent.

In the present specification, as one aspect of a parking support system including the parking support device according to the present invention and a device mounted on the vehicle V, a parking support device 100, a vehicle controller 30 mounted on the vehicle V, and a drive system. Although the parking assistance system 1000 provided with 40, steering 50, the vehicle speed sensor 60, and the present position detection apparatus 70 is demonstrated, it is not limited to this.

In this specification, as one aspect of a parking support system including the parking support apparatus according to the present invention and a parking space provided with a stop instruction sign, the parking support apparatus 100 and a parking space provided with a stop instruction sign S are provided. Although the parking assistance system 1000 provided with 200 is demonstrated, it is not limited to this.

Moreover, in this specification, a captured image acquisition function is provided as an aspect of a parking support device that includes a captured image acquisition unit, an image generation unit, a parking information presentation unit, a target parking space setting unit, and a parking support unit. Although the parking assistance apparatus 100 provided with the control apparatus 10 which performs an image generation function, a parking information presentation function, a target parking space setting function, and a parking assistance function is demonstrated, it is not limited to this.

In this specification, the parking space 200 in which the power feeding device 300 of the non-contact power feeding system is arranged will be described as an example of the parking space in which the power feeding device of the non-contact power feeding device according to the present invention is arranged. It is not a thing.

1000 ... Parking assistance system 100 ... Parking assistance device
10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
Code group including S, S ... Stop instruction sign S1, S6 ... Stop completion instruction sign S2, S3, S4, S7 ... Stop start instruction sign S3, S8 ... Auxiliary line S5 ... Travel direction instruction sign F, F code group ... Setting auxiliary information F1 ... Center line F2 ... Parking space setting frame F3 ... Obstacle avoidance frame F5, F6 ... Advancing / retreating line 20 ... Input / output device, touch panel display 1a to 1d ... In-vehicle camera 2 ... Image processing device 30 ... Vehicle controller 40 ... Drive system 50 ... Steering 51 ... Steering angle sensor 52 ... Steering direction sensor 60 ... Vehicle speed sensor 70 ... Current position detecting device 200 ... Parking space S ... Stop indication sign 300 ... Power feeding device 31 ... Power control device 311 ... Rectifier 312 ... PFC
313 ... Inverter 314 ... Sensor 32 ... Power transmission coil 32P ... Power transmission coil center point 33 ... Receiver device 34 ... Asexual communication unit 35 ... Control unit 400 ... Power reception device 41 ... Inverter 42 ... Power reception coil 42P ... Center point of power reception coil 43 ... Transmission device 44 ... Motor 45 ... Charge control device 46 ... Rectifier 47 ... Relay device 48 ... Battery V ... Vehicle VP ... Vehicle reference position, vehicle center position W ... Vehicle width direction L ... Vehicle length direction

Claims

A parking assistance device that is mounted on a vehicle and supports an operation of parking the vehicle in a parking space;
A parking support system that is capable of exchanging information with the parking support device, and equipped with a device mounted on the vehicle,
The parking assist device includes:
Captured image acquisition means for acquiring captured images around the vehicle, each of which is captured by cameras attached to a plurality of locations of the vehicle;
Based on the acquired plurality of captured images, image generating means for generating an overhead image when the surrounding state including the vehicle and a parking space where the vehicle is parked is viewed from an upper viewpoint of the vehicle;
Generating setting auxiliary information including a parking space setting frame displayed at a predetermined position with respect to the vehicle and a center line passing through the center of the parking space setting frame and along the vehicle width direction of the vehicle; A linear stop completion instruction sign along the vehicle length direction of the vehicle parked in the parking space, passing through the approximate center of the space, and a position separated from the stop completion instruction sign by a predetermined distance in the vehicle width direction of the vehicle Parking information presenting means for generating a stop instruction sign including at least a stop start instruction sign disposed, and presenting the setting auxiliary information and the stop instruction sign on the overhead image via a display.
Target parking space setting means for setting a parking space corresponding to the position of the parking space setting frame in the setting auxiliary information presented by the parking information presenting means as a target parking space for the vehicle to park;
Parking support means for supporting an operation of parking the vehicle in the target parking space;
Having a parking assistance system.
2. The parking information presenting means acquires the current position and vehicle speed information of the vehicle, and sets the drawing position of the stop start instruction sign based on the current position and vehicle speed information of the vehicle. Parking assistance system as described in.
A parking space where the vehicle is parked,
A parking assistance device that is mounted on a vehicle and supports an operation of parking the vehicle in a parking space;
A parking support system capable of exchanging information with the parking support device and having a device mounted on the vehicle,
The parking space is
Arranged at a position that passes through the approximate center of the parking space, along the vehicle length direction of the vehicle parked in the parking space, and a predetermined distance away from the stop completion indication sign in the vehicle width direction of the vehicle A stop indication sign including at least
The parking assist device includes:
Captured image acquisition means for acquiring captured images including images of the parking spaces around the vehicle, which are captured by cameras attached to a plurality of locations of the vehicle,
Based on the acquired plurality of captured images, an image generation unit that generates an overhead image when the vehicle and a surrounding state including a parking space where the vehicle is parked are viewed from an upper viewpoint of the vehicle; and Generating setting auxiliary information including a parking space setting frame displayed at a predetermined position and a center line passing through the center of the parking space setting frame and along the vehicle width direction of the vehicle, and superimposed on the overhead image Parking information presenting means for presenting via a display;
Target parking space setting means for setting a parking space corresponding to the position of the parking space setting frame in the setting auxiliary information presented by the parking information presenting means as a target parking space for the vehicle to park;
Parking support means for supporting an operation of parking the vehicle in the target parking space;
Having a parking assistance system.
The stop instruction sign includes an auxiliary line that guides a line of sight from the stop start instruction sign displayed on the display to the stop completion instruction sign between the stop start instruction sign and the stop completion instruction sign. The parking support system according to any one of claims 1 to 3, characterized in that:
5. The auxiliary line is a solid line or a broken line connected to the stop completion indication sign from an end of the stop start indication indicator indicated by a point or an end of the stop start indication indicator indicated by a line. Parking assistance system as described in.
The stop completion instruction sign is displayed with a line, and the length of the stop completion instruction sign is longer than the stop start instruction sign,
The auxiliary line is arranged between the stop start instruction sign and the stop completion instruction sign, and one or a plurality of lines whose length gradually increases from the stop start instruction sign toward the stop completion instruction sign The parking support system according to claim 4, wherein:
The stop start sign is displayed as a straight line along the vehicle width direction of the vehicle parked in the parking space,
The auxiliary line is a straight line along a vehicle width direction of a vehicle parked in the parking space, and is one or a plurality of lines arranged so that an end portion of the auxiliary line approaches the stop completion instruction sign The parking support system according to claim 4, wherein:
The parking support system according to any one of claims 1 to 7, wherein the stop instruction sign includes a traveling direction instruction sign along a parallel direction of the parking space.
The parking support means causes the parking information presentation means to generate a forward line or a backward line along the vehicle width direction of the vehicle that is included in the setting auxiliary information and displayed at a predetermined position with respect to the vehicle. A linear stop completion instruction sign along the vehicle width direction of the vehicle parked in the parking space included in the stop instruction sign, and a predetermined length direction of the vehicle parked in the parking space from the stop completion instruction sign A stop start instruction sign arranged at a position separated by a distance is generated, and the setting auxiliary information and the stop instruction sign are superimposed on the overhead image and presented via a display. The parking assistance system according to any one of claims 8 to 9.
In the parking space, a power supply device of a non-contact power supply device is arranged,
The parking support system according to any one of claims 1 to 9, wherein the stop completion instruction mark is a linear mark passing through a center of a power transmission coil of the power feeding device.
A parking support method for supporting an operation of parking a vehicle in a set target parking space,
Based on a captured image including an image of the parking space around the vehicle, which is captured by cameras attached to a plurality of locations of the vehicle, the surrounding state including the parking space where the vehicle and the vehicle are parked is Generating an overhead image viewed from a viewpoint above the vehicle;
Generating setting auxiliary information including a parking space setting frame displayed at a predetermined position with respect to the vehicle and a center line passing through the center of the parking space setting frame and along the vehicle width direction of the vehicle; A linear stop completion instruction sign along the vehicle length direction of the vehicle parked in the parking space, passing through the approximate center of the space, and a position separated from the stop completion instruction sign by a predetermined distance in the vehicle width direction of the vehicle Generating a stop indication indicator that includes at least a stop indication indicator disposed;
Presenting the setting auxiliary information and the stop instruction sign superimposed on the overhead image and presenting them via a display;
Setting a parking space corresponding to the position of the parking space setting frame in the presented setting auxiliary information as a target parking space in which the vehicle parks;
A parking assistance method.