JP3565156B2 - Vehicle parking assist device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle parking support device, and more particularly to a device that displays a help screen when an abnormal operation is performed and the next operation cannot be understood.
[0002]
[Prior art]
Japanese Patent Application Laid-Open No. Hei 10-244891 has a plurality of cameras mounted thereon, and assists the driving operation during the parallel parking by overwriting an image from these cameras with a parallel parking possibility determination line, a turning angle instruction line, a stop instruction line, and the like. A parking assist device is disclosed. Stop the vehicle in parallel with the roadside line, turn backward with full left steering until the roadside line is parallel to the turning angle instruction line, and go straight forward and backward until the roadside line overlaps the stop instruction line. The vehicle retreats by turning and stops when the host vehicle is substantially aligned with the stopped vehicle. In this way, parallel parking can be completed.
[0003]
[Problems to be solved by the invention]
However, when parking using such a parking assist device, if the next operation is not understood due to an erroneous operation, the driver cannot rely on the parking assist device. Had to think of a way to return or park again from the beginning. Therefore, it takes time and effort to complete parking, and it is difficult to perform accurate parking.
The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a vehicle parking assist device capable of quickly and accurately parking even when the next operation is not known. .
[0004]
[Means for Solving the Problems]
The vehicle parking assist device according to the present invention displays an image behind the vehicle taken by a camera when the vehicle retreats on a monitor arranged in a driver's seat and assists in driving the vehicle during parking according to a scenario for parking. In a vehicle parking assist device that superimposes a guide display according to the progress on a screen of a monitor, a help button arranged in a driver's seat of a vehicle and a scenario pointer set stepwise according to the progress of parking. Display control means for sequentially updating the driver according to the driving operation at the time of parking and displaying a help screen for instructing the driving operation in accordance with the scenario pointer at that time when the help button is pressed by the driver on a screen of the monitor. It is provided with.
[0005]
After performing the driving operation according to the help screen, the display control means can return the scenario pointer by a predetermined number.
In addition, a scenario for assisting driving of the vehicle at the time of parking branches depending on a condition during the progress of parking, and also in the branched scenario, the display control means sets a scenario pointer in advance and sets a scenario pointer according to the driving operation. May be sequentially updated, and when the help button is pressed by the driver, a help screen corresponding to the scenario pointer at that time may be displayed on the monitor screen.
In addition, a help screen that illustrates driving operation can be used.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
As shown in FIG. 1, a camera 2 that captures a field of view behind the vehicle 1 is attached to a rear portion of the vehicle 1. The rear bumper 3 of the vehicle 1 is located at the near-side end of the view range of the camera 2. A monitor 4 composed of a liquid crystal display of a color type is arranged in a driver's seat of the vehicle 1 and is normally used as a display device of a navigation device. When a shift lever 5 provided in the driver's seat is operated to a reverse position. An image from the camera 2 is displayed. The front wheel 6 as a steered wheel is steered by operating the steering wheel 7.
[0007]
FIG. 2 shows the configuration of the vehicle parking assistance device according to Embodiment 1 of the present invention. An image processing device 8 is connected to the camera 2, and the monitor 4 is connected to the image processing device 8 via a monitor controller 9. A steering angle sensor 10 for detecting a steering angle θ of the steering wheel 7 is attached to a steering shaft of the steering wheel 7 of the vehicle 1, and a mode operation button 11 for selecting and operating various modes is provided on a driver's seat. And a seesaw switch 12 for moving a movement guide display, which will be described later, on the monitor 4. The steering angle sensor 10, the mode operation button 11, and the seesaw switch 12 are connected to the image processing device 8.
[0008]
The monitor controller 9 normally inputs a display signal from a navigation device (not shown) and causes the monitor 4 to display the display signal. However, when a display signal is input from the image processing device 8, the monitor controller 9 based on the display signal from the image processing device 8. Display is performed on the monitor 4.
The image processing device 8 includes a CPU 14, a ROM 15 storing a control program, an image processing processor 16 for processing video data from the camera 2, and an image memory for storing video data processed by the image processing processor 16. 17 and a working RAM 18.
The display control means of the present invention is formed by the image processing device 8 and the monitor controller 9 described above.
[0009]
The CPU 14 operates based on the control program stored in the ROM 15, and when the parallel parking mode is selected by the mode operation button 11, as shown in FIG. A rectangular vehicle space mark 20 disposed in the vehicle and a vertical guide lines 21 and 22 extending from the rear end of the vehicle space mark 20 to the left and right in parallel with the vehicle width direction of the vehicle and the vehicle width direction of the vehicle from the front end of the vehicle space mark 20 The display data is generated at a predetermined period to display the vertical guide lines 23 and 24 extending in the left and right directions in parallel with the image of the camera 2 so as to be superimposed thereon.
[0010]
The vehicle space mark 20 and the vertical guide lines 21 to 24 are both moved up and down in the screen of the monitor 4 by operating the seesaw switch 12 arranged in the driver's seat.
Further, based on the output signal of the steering angle sensor 10, the CPU 14 moves the vehicle space mark 20 along the vertical guide lines 21 and 23 or the vertical guide lines 22 and 24 according to the steering angle θ of the steering wheel 7 at that time. Move and display. For example, when the steering wheel 7 is turned to the left, the vehicle space mark 20 moves leftward along the vertical guide lines 21 and 23 on the left side of the screen as shown in FIG.
[0011]
The image processing device 8 provides guidance for parking assistance as follows according to a predetermined parking scenario from parking start to parking completion. First, when the vehicle 1 is stopped at a position parallel to the parking space A and the parallel parking mode is selected by the mode operation button 11 on the screen of the monitor 4 shown in FIG. The vehicle space mark 20 and the vertical guide lines 21 to 24 are superimposed on the image of the camera 2 and displayed almost at the center of the image.
[0012]
The driver operates the seesaw switch 12 until the vertical guide lines 21 to 24 overlap the rear end line and the front end line of the parking space A, as shown in FIG.
Further, as shown in FIG. 3 (c), after operating the steering wheel 7 until the vehicle space mark 20 overlaps the parking space A, the vehicle 1 is moved backward while maintaining the steering angle θ of the steering wheel 7. Here, the CPU 14 terminates the display of the vehicle space mark 20 and the vertical guide lines 21 to 24 and, instead, superimposes the eye mark 25 as shown in FIG. Then, when the parking space A overlaps the eye mark 25, the driver stops the vehicle 1. Next, the steering angle of the steering wheel 7 is maximized in the opposite direction by stationary steering, and the vehicle 1 is retreated as it is to complete the parallel parking.
[0013]
The scenario pointer SP is set so as to sequentially increase by one from "1" in accordance with the progress of such a series of parking scenarios in a stepwise manner.
The image processing device 8 has a help function for instructing the driver to perform a driving operation when the next operation is not understood due to an abnormal operation or the like during the progress of a series of parking scenarios. More specifically, a plurality of help screens substantially corresponding to each scenario pointer SP are stored in advance in the ROM 15 of the image processing apparatus 8, and a help button is displayed on the screen of the monitor 4 as shown in FIG. When 26 is pressed, a help screen corresponding to the scenario pointer SP at that time is displayed.
[0014]
The operation of the vehicle parking assist device of the first embodiment having such a help function will be described with reference to the flowchart of FIG. First, as shown in FIG. 3A, the vehicle 1 is stopped at a position parallel to the parking space A, and the parallel parking mode is selected by the mode operation button 11 on the screen of the monitor 4 to park in step S1. To start. The CPU 14 resets the value of the scenario pointer SP to 0 in step S2, and increments the value of the scenario pointer SP by 1 in subsequent step S3. Further, it is determined in step S4 whether or not the scenario pointer SP has exceeded the upper limit value SPmax. If not, it is determined in step S5 whether or not the help button 26 has been pressed. If the help button 26 is not pressed, it is determined that the parking operation is proceeding normally, and the process proceeds to step S6, where the normal guidance and the driver's operation corresponding to the current value of the scenario pointer SP are performed. Be executed. For example, in FIG. 3A, the driver operates the seesaw switch 12 until the parallel guide lines 21 to 24 overlap the rear end line and the front end line of the parking space A.
[0015]
After the normal operation is performed in step S6, the process returns to step S3, and the value of the scenario pointer SP is incremented by one. Unless the help button 26 is pressed, steps S3 to S6 are repeated until it is determined in step S4 that the scenario pointer SP has exceeded the upper limit value SPmax.
[0016]
Here, when the driver performs an abnormal operation that deviates from the parking scenario and the next operation is unknown, if the driver presses the help button 26 on the screen of the monitor 4, the process proceeds from step S5 to step S7. The CPU 14 recognizes the current value of the scenario pointer SP, reads a help screen corresponding to the value of the scenario pointer SP from the ROM 15 and displays it on the screen of the monitor 4 in step S8.
For example, since the vehicle 1 is stopped at a position too far from the parking space A at the time of parking start as shown in FIG. 5, even if the steering wheel 7 is thereafter operated to the maximum, the vehicle space mark 20 becomes as shown in FIG. When the driver presses the help button 26 when the driver does not overlap the parking space A, a help screen shown in FIG. 7 is displayed. The help screen has a help display 27 indicating that it is a help screen, an instruction display 28 for instructing the driving operation by characters, and an operation button 29. The driving operation is illustrated so that the driver can intuitively grasp the contents. Have been. The driver sees the help screen and immediately recognizes that the stop position needs to be changed, and stops again at the position as instructed.
[0017]
After the driver performs the recovery operation in step S9 in this way, the value of the scenario pointer SP is reduced by the number α of scenarios returned in the recovery operation in step S10. When the vehicle returns to the previous parking scenario by the recovery operation, α becomes 1. Thereafter, the process returns to step S5.
For example, when the stop position is changed based on the help screen shown in FIG. 7, the value of the scenario pointer SP is reduced by 1 and the process returns to step S5, and as shown in FIG. The seesaw switch 12 is operated until the parallel guide lines 21 to 24 overlap the rear end line and the front end line of the parking space A.
[0018]
As such a help screen, for example, when the vehicle 1 is to be retracted with the steering angle of the steering wheel 7 maximized in the opposite direction when the vehicle is stationary, the vehicle 1 cannot be parked in the parking space A properly because the vehicle 1 retreats at an inappropriate steering angle. In this case, when the help button 26 is pressed, a help screen as shown in FIG. 8 is displayed. It is instructed to change the parking start position by advancing the vehicle 1 to the right front while paying attention to the following vehicle. This help screen has a two-layered structure. When the “next” button is pressed, a help screen as shown in FIG. 9 is successively displayed to instruct where to set the parking start position. .
Further, when the parking in the parking space A is normally performed according to the series of guidance, and the final parking position protrudes from the parking space A or turns, the help button 26 is pressed, as shown in FIG. A help screen like this is displayed. It is instructed to move forward and adjust the position.
[0019]
In the flowchart of FIG. 4, when it is determined in step S4 that the scenario pointer SP has exceeded the upper limit value SPmax, it is determined that parallel parking in a series of parking scenarios has been completed, and the process ends.
[0020]
Embodiment 2 FIG.
In the first embodiment, a series of scenarios having a single flow is assumed as the parking scenario from the start of parking to the completion of parking. However, the present invention is not limited to this. Parking scenario that branches off from the basic flow in accordance with For example, when there is a step between the initial stop position and the parking space, when the slope angle is different between the initial stop position and the parking space, when the road width is narrow and parking cannot be performed at one time, obstacles around For example, in the case where the vehicle collides with an obstacle when parking according to the guidance because of the existence of the scenario, as shown in FIG. 11, the scenario branches off from the basic flow, and the scenario pointer SP can be set step by step. In FIG. 11, the scenario pointer SP basically increases in the order of 1 → 2 → 3 →... According to the progress of parking, but the scenario branches depending on the condition when the scenario pointer SP corresponds to 2. Then, the scenario pointer SP increases from 2 ′ → 3 ′ →.
[0021]
In addition, a plurality of help screens corresponding to each scenario pointer SP in the branched flow and a plurality of help screens corresponding to each scenario pointer SP in the branched flow are stored in advance in the ROM 15 of the image processing device 8 in the basic flow. When the help button 26 is pressed on the screen 4, the help screen corresponding to the scenario pointer SP at that time is displayed even in the branched flow.
[0022]
In addition, a plurality of parking scenarios different from each other are prepared in advance according to the road width, the actual road width is captured by car navigation or a dedicated sensor, etc., and one of the parking scenarios is selected according to the road width. You can also. In this case, a help screen is set corresponding to each scenario pointer of each parking scenario.
[0023]
The help screens shown in FIGS. 7 to 10 indicate the driving operation by characters and are illustrated by a fixed image. However, if a moving image is used instead of the fixed image, the driving operation is more easily understood. If the driving operation is issued by voice in accordance with the display of the help screen, the driver can more easily understand the next driving operation.
Embodiment 1 describes parallel parking, but the vehicle parking assist device of the present invention can be similarly applied to parallel parking.
[0024]
【The invention's effect】
As described above, in the vehicle parking assist apparatus according to the present invention, the display control means sequentially updates the scenario pointer set in accordance with the progress of parking in a stepwise manner in accordance with the driving operation during parking, and performs driving. When the help button is pressed by the user, a help screen that instructs the driving operation corresponding to the scenario pointer at that time is displayed on the monitor screen, so even if you can not understand the next operation due to abnormal operation, you can quickly The vehicle can be recovered quickly and accurately, and parking can be continued.
[0025]
Since the help screen corresponding to the scenario pointer is displayed, parking can be continued only by the display control unit returning the scenario pointer by a predetermined number after performing the driving operation according to the help screen.
A scenario for assisting driving of the vehicle at the time of parking branches depending on a condition during the progress of parking, and a help screen corresponding to the scenario pointer at that time is similarly displayed on the monitor screen even in the branched scenario. By doing so, the help function can be utilized in a wide range of situations, and parking can be easily performed.
If a help screen is used that illustrates the driving operation, the driver can instantly and accurately understand the contents of the driving operation and check the surroundings, even when there is no time to spare while driving. The recovery operation can be performed safely.
[Brief description of the drawings]
FIG. 1 is a side view showing a vehicle equipped with a vehicle parking assist device according to the present invention.
FIG. 2 is a block diagram illustrating a configuration of a vehicle parking assistance device according to the first embodiment.
FIG. 3 is a diagram schematically and stepwisely showing a monitor screen during parallel parking according to the first embodiment;
FIG. 4 is a flowchart showing an operation of the first embodiment.
FIG. 5 is a diagram schematically showing a monitor screen when an abnormal operation is performed.
FIG. 6 is a diagram schematically showing a monitor screen when an abnormal operation is performed.
FIG. 7 is a diagram showing a help screen.
FIG. 8 is a diagram showing a help screen.
FIG. 9 is a diagram showing a help screen.
FIG. 10 is a diagram showing a help screen.
FIG. 11 is a diagram schematically showing a parking scenario according to the second embodiment.
[Explanation of symbols]
Reference Signs List 1 vehicle, 2 camera, 4 monitor, 5 shift lever, 6 front wheel, 7 steering wheel, 8 image processing device, 9 monitor controller, 10 steering angle sensor, 11 mode operation button, 12 seesaw switch, 14 CPU, 20 vehicle space mark , 21-24 Column guide line, 25 eye mark, 26 help button, 27 help display, 28 instruction display, 29 operation buttons, A parking space.

Claims (4)

When the vehicle retreats, an image behind the vehicle captured by the camera is displayed on a monitor arranged in the driver's seat, and a guide display according to the progress of parking is displayed on the monitor according to a scenario for assisting driving of the vehicle during parking. In a vehicle parking assist device superimposed and displayed on a screen,
A help button located in the driver's seat of the vehicle,
The scenario pointer set in accordance with the progress of parking is sequentially updated in accordance with the driving operation during parking, and when the help button is pressed by the driver, the driving operation is performed in accordance with the scenario pointer at that time. And a display control means for displaying a help screen for instructing on a monitor screen. 2. The vehicle parking assist device according to claim 1, wherein the display control unit returns the scenario pointer by a predetermined number after performing the driving operation according to the help screen. 3. A scenario for assisting driving of the vehicle at the time of parking branches according to a condition during the progress of parking, and the display control unit sets a scenario pointer in advance even in the branched scenario and sets a scenario pointer according to the driving operation. 3. The vehicle parking assist device according to claim 1, wherein, when the help button is pressed by the driver, a help screen corresponding to the scenario pointer at that time is displayed on a monitor screen. The vehicle parking assist device according to any one of claims 1 to 3, wherein the display control unit displays a help screen in which a driving operation is illustrated.

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