JP4848122B2 - Parallel parking support device and parallel parking method - Google Patents

Description

  The present invention relates to a parallel parking support device that supports parallel parking of a vehicle by superimposing and displaying a guide line on a video image of the surroundings of the vehicle, and a parallel parking method using the parallel parking support device.

  Conventionally, there has been disclosed a parking method that supports parallel parking of vehicles by superimposing and displaying a parking auxiliary line on a vehicle rear image captured by a camera (see Patent Document 1). In this parking method, it is possible to perform parallel parking while preventing contact with an obstacle by activating the parking assist function after stopping at a position parallel to the parking space.

JP 2002-321581 A

  However, according to the prior art, since the degree of freedom of the initial position for starting parallel parking is low, there is a problem that the vehicle needs to be accurately stopped at the initial position.

  The invention of claim 1 is a parallel parking support apparatus for parallel parking at the parking position from the parking start position to the parking arrival position from the parking start position, the imaging means for imaging the periphery of the vehicle, and the imaging means When the host vehicle moves backward from the parking start position toward the parking arrival position, the display means for converting and displaying the video imaged in the above to a bird's-eye view image, and the first guide line at the parking start position Control means for superimposing a second guide line on the overhead view image to be displayed on the display means, and the own vehicle parked at the parking arrival position escapes by full steering to the right side. Between the line segment extending the right end surface of the host vehicle parked at the plurality of parking arrival positions and the calculated plurality of the trajectories. Multiple dating A plurality of feature points determined with a predetermined margin between each of the calculated intersections and the rear end of the other vehicle parked in front of the parking arrival position. The first guide line calculating means for calculating a line segment obtained by connecting points as the first guide line, and the virtual point determined with a predetermined margin on the side of the left rear end of the host vehicle. And a second guide line calculating means for calculating, as the second guide line, an arcuate movement trajectory when fully steered at a point.
The invention of claim 3 is the parallel parking method for performing parallel parking while referring to the first and second guide lines displayed on the display means of the parallel parking support apparatus according to claim 1, wherein the host vehicle is The steering angle is changed by rotating the steering wheel of the host vehicle to the left while stopping at the parking start position, and the right rear end of the other vehicle existing in front of the parking space and the first guide line are The rotation operation of the steering wheel is stopped at the operation position in contact with the display means, the host vehicle is moved backward at the steering angle of the steering wheel where the rotation operation is stopped, and then the arcuate second guide line is placed on the display means. The vehicle is stopped when it touches the curb on the left side of the parking arrival position, and the steering wheel steering angle is maximized on the right side at the stop point, and then the vehicle is moved backward to the parking target position.

  According to the parallel parking assist device of the present invention, parallel parking is easily performed while avoiding contact with obstacles existing around the parking space in a state where the degree of freedom of the initial parking position when starting parallel parking is high. be able to.

  FIG. 1 is a diagram illustrating a configuration of a parallel parking assistance apparatus according to an embodiment. The parallel parking assist device in one embodiment is mounted on a vehicle 10, and includes a camera 1, a control device 2, an in-vehicle monitor 3, a shift position sensor 4, a steering angle sensor 5, a vehicle speed sensor 6, A parallel parking assistance switch 7 is provided.

  The camera 1 is a CCD camera that captures a predetermined angle region behind the vehicle. The video imaged by the camera 1 is transmitted to the control device 2. The control device 2 obtains a guide line for superimposing and displaying the image captured by the camera 1. This guide line is an auxiliary line for supporting parallel parking, and details will be described later. The in-vehicle monitor 3 displays an image behind the vehicle with a guide line for parking assistance superimposed during parallel parking.

  The shift position sensor 4 detects the shift position and outputs it to the control device 2. The steering angle sensor 5 detects the steering angle of the steering wheel that can be operated by the driver, and outputs the detected steering angle to the control device 2. The vehicle speed sensor 6 detects the speed of the vehicle and outputs it to the control device 2. The parallel parking assist switch 7 is provided at a position where the driver can operate. When operated by the driver during parallel parking, an image behind the vehicle with the guide line superimposed is displayed on the in-vehicle monitor 3.

  FIG. 2A is a diagram illustrating a model of the vehicle 10, and FIG. 2B is a diagram illustrating a model of the parking space 15. The center line 11 is a center line in the front-rear direction of the vehicle, and the direction of the arrow indicates the front of the host vehicle. Line 12 is the center line of the front wheel, and line 13 is the center line of the rear wheel. Here, the intersection 14 between the center line 11 and the center line 13 is called a center of gravity. FIG. 2B is a diagram illustrating a state where the vehicle 10 is parked in the parking space 15 for parallel parking.

  FIG. 3 is a model diagram for explaining a route along which the vehicle 10 moves when performing parallel parking. FIG. 3 shows the vehicle 10A before the start of the parallel parking, that is, the vehicle 10A at the parking initial position, the vehicle 10B at the steering wheel turning point, and the vehicle 10C after the parallel parking ends. The vehicle 10A before the start of parallel parking starts retreating with the steering wheel being steered to the left and held. In this case, the center of gravity 14 of the vehicle draws a trajectory 32 that is a circular arc with a radius 31 centered on a point 30 on the center line 13A of the rear wheel. The radius 31 of this circle is a value corresponding to the steering angle of the steering wheel in the left steering state.

  When the vehicle 10A moves backward to the position of the vehicle 10B in the left steering state, the vehicle 10A temporarily stops and turns the steering wheel back to the right steering state. Thereafter, the vehicle moves backward while holding the steering wheel in the right steering state, and finally parks at the position of the vehicle 10C. The trajectory 33 from the position of the vehicle 10B to the position of the vehicle 10C is also an arc. That is, a circular arc having a radius of 35 is formed with the point 34 on the center line 13B of the rear wheel of the vehicle 10B and the center line 13C of the rear wheel of the vehicle 10C as the center. The radius 35 of this circle is a value corresponding to the steering angle of the steering wheel during right steering.

  The circle that draws the locus 32 and the circle that draws the locus 33 are circumscribed at the position of the center of gravity 14B of the vehicle 10B. This position of the center of gravity 14B is called a turning point. Further, an angle θ1 between the direction of the vehicle 10B at the turning point and the direction of the vehicle 10C at the end of the parallel parking is referred to as an approach angle.

  Here, if it is assumed that the steering of the steering wheel at the time of drawing the trajectory 33 is full turning (a state where the steering wheel is turned to the full limit on the right side), the distance 36 shown in FIG. This is the minimum distance necessary to get out of the road while avoiding contact with an obstacle (for example, a parked vehicle). This distance 36 is from an intersection 39 of a circle 37 corresponding to an arc that is a trajectory drawn by the left front end of the vehicle 10 and a boundary line 38 between the parking space and the road from the turning point to the end point of the parallel parking. This is the distance to the front end of the vehicle 10C.

  FIG. 4 is a diagram showing a plurality of parking positions 40 to 42 that can be reached when the steering wheel is retracted to a turning point while maintaining an arbitrary steering angle and the steering wheel is turned backward while fully turning the steering wheel at the turning point. . As shown in FIG. 4, the angle between the direction of the vehicle 10D at the parallel parking start position and the direction of the vehicle at the end of the parallel parking is defined as θ2. In this case, if the steering angle of the steering wheel until reaching the turning point is determined at the initial parking position, a plurality of parking positions that form an angle θ2 with the initial parking position are determined according to the turning point.

  An arc 43 shown in FIG. 4 shows a trajectory drawn by the center of gravity of the vehicle before reaching the turning point, and is a part of a circle having a radius corresponding to the steering angle of the steering wheel until the turning point is reached. Arcs 44, 45, and 46 are arcs that indicate the trajectory drawn by the center of gravity of the vehicle when the steering wheel is moved backward from the turning point toward the parking end positions 40, 41, and 42 with the steering wheel fully turned to the right. It is.

  5-7 is a figure for demonstrating the parking auxiliary line displayed on the monitor 3 in a vehicle. In FIG. 5, when the vehicle 10 </ b> D performs parallel parking toward the parking end position 40, the vehicle left front end draws a trajectory 50 before moving from the turning point to the parking end position in the right full steering state. Similarly, when the vehicle 10D performs parallel parking from the turning point toward the parking end position 41, the locus drawn by the left front end of the vehicle is 51, and when the vehicle 10D performs parallel parking toward the parking end position 42, The locus drawn by the left front end of the vehicle is 52.

  A line 53 illustrated in FIG. 5 indicates a line at a position away from the rear end of the vehicle by a predetermined distance when the vehicle 10D reaches the parking end position 40. Similarly, the line 54 is a line at a position away from the rear end of the vehicle by a predetermined distance when the vehicle 10D reaches the parking end position 41, and the line 55 is a line 55 at the parking end position 42. Is a line at a position away from the rear end of the vehicle by a predetermined distance. For example, when parallel parking is performed at the parking end position 40, if the guide line 53 is displayed on the in-vehicle monitor 3, the distance between the host vehicle and an obstacle (for example, another parked vehicle) existing behind the parking space is grasped. It becomes easy to do.

  In FIG. 6, a curve 60 indicates a parking auxiliary line (guide line) displayed on the in-vehicle monitor 3 when the parallel parking assist switch 7 is operated. A distance 64 in FIG. 6 is a linear distance in the vehicle traveling direction between the right front end of the vehicle at the parking end position 42 and the curve 52 described with reference to FIG. That is, when the vehicle is parked at the parking position 42, if the distance from an obstacle such as another vehicle parked in front is shorter than the distance 64, the vehicle tries to get out on the road with the steering wheel fully turned to the right. Even comes in contact with that obstacle.

  In the parallel parking assist device according to the embodiment, in order to draw a parking auxiliary line, the position 63 is separated from the front right end of the vehicle at the parking end position 42 by a distance obtained by adding the distance 64 and a predetermined distance 65 that is a margin. The feature point. Similarly, the feature point when reaching the parking end position 41 is 62, and the feature point when reaching the parking end position 40 is 61. As described above, a plurality of parking positions that can be reached are determined if the steering angle of the steering wheel when the vehicle is retracted from the initial parking position to the turning point is determined. That is, if the steering angle of the steering wheel until reaching the turning point is determined, a plurality of feature points obtained based on a plurality of reachable parking end positions can be obtained, and a set of the plurality of feature points is shown in FIG. The arc 60 is as shown.

  The arc 60 is parked so that, for example, an obstacle such as another vehicle exists in front of the parking end position, and the right side surface of the own vehicle at the end of parking and the right side surface of the other vehicle are in a straight line. When it does, it becomes a line which can determine whether it contacts with the other vehicle which exists ahead. In particular, although a plurality of parking arrival positions can be assumed for a certain steering angle to the turning point, whether one of the plurality of parking arrival positions comes into contact with another vehicle ahead by one curve. It can be determined whether or not. Therefore, in the parallel parking assistance apparatus according to the embodiment, the arc 60 is displayed on the in-vehicle monitor 3 as a parking auxiliary line.

  Further, as will be described later, a curve 70 in FIG. 6 indicates that the vehicle is parked at a position close to the obstacle while avoiding contact with the obstacle in a situation where an obstacle such as another vehicle exists behind the parking space. This is a parking auxiliary line to be displayed on the in-vehicle monitor 3. A feature point 71 is an intersection of a line extending the left side surface of the vehicle at the parking end position 40 and the guide line 53 described with reference to FIG. Similarly, the feature points 72 and 73 are points corresponding to the parking end positions 41 and 42. A set of these feature points is an arc 70.

  How to draw the arc 60 will be described with reference to FIG. Assume that the parking start position is 1001, and the parking position to be reached is parallel to the straight line 1007. By retreating from the parking start position 1001 at the left fixed steering angle and retreating the steering wheel to the right full turning at a certain turning point, a position such as 1002 or 1003 can be reached. Hereinafter, the operation of moving backward with the steering wheel turned to the left is referred to as phase 1, and the operation of moving backward from the turning point with the steering wheel turned to the right is referred to as phase 2.

  When the left steering angle at the time of reverse and the angle of the parking start position with respect to the parking arrival position are determined, the center of gravity of the vehicle at the parking arrival position is on a circle 1004. In Phase 1, the locus drawn by the center of gravity of the vehicle is on a circle 1005. In phase 2, the miracle drawn by the center of gravity of the vehicle is on a circle 1006, but this circle 1006 is drawn at a position corresponding to the turning point. As described above, the radius of the circle 1005 has a value corresponding to the left steering angle, and the radius of the circle 1006 has a value corresponding to the right steering angle.

  The radius of the circle 1004 is the same size as the radius of the circle 1005 and is the same size as the radius of the circle 1006 and the vector 1009 perpendicular to the vehicle front-rear direction at the parking start position and the direction of the parking arrival position. Thus, it is the sum of the vector 1010 perpendicular to the vehicle longitudinal direction and directed toward the road shoulder when the vehicle stops at the parking arrival position. The center point of the circle 1004 advances from the center of gravity 1008 of the vehicle at the parking start position by the same distance as the radius of the circle 1005 in the lateral direction of the vehicle as indicated by an arrow 1009, and then a straight line as indicated by the arrow 1010. The position of the coordinate 1011 is the same distance as the radius of the circle 1006 at a right angle to 1007. When the initial stop position (parking start position) of the vehicle and the parking arrival position are parallel, the vector sum described above is the sum of the radii of the circle 1006 and the circle 1004.

  A feature point 1013 corresponding to the parking arrival position 1002 and a feature point 1014 corresponding to the parking arrival position 1003 are on a circle 1012 shown in FIG. This circle 1012 corresponds to the arc 60 shown in FIG. A circle 1012 is obtained by translating the circle 1004 by the distance of the arrow 1015. The vector indicated by the arrow 1015 is the intersection of the left front end trajectory of the vehicle when it is moved back and forth with full right steering with the center of gravity of the vehicle at the parking arrival position and the straight line extending the right side of the vehicle at the parking arrival position (this The coordinate of the intersection point is a vector of the direction of the position obtained by adding the predetermined distance 65 shown in FIG. 6 to the front end of the vehicle at the parking arrival position by a distance 64 shown in FIG. That is, the vector is directed to the feature point 63 from the position of the center of gravity of the vehicle arrival position 42 shown in FIG.

  Accordingly, the circle 1012 is determined in accordance with the left steering angle when the vehicle moves backward from the parking start position and the angle formed by the parking start position and the parking arrival position. In particular, when the parking start position and the parking arrival position are parallel, it is determined according to the left steering angle when the vehicle moves backward. On the in-vehicle monitor 3, a part of an arc of the circle 1012 is displayed as a parking auxiliary line so as to be superimposed on an image around the vehicle photographed by the camera 1.

  FIG. 8 is a diagram showing an image displayed on the in-vehicle monitor 3 and a parking auxiliary line in the parallel parking disclosure. As shown in FIG. 8, the control device 2 converts the image captured by the camera 1 into an image (overhead image) as if it was captured from above the vehicle and displays it on the in-vehicle monitor 3. Since the technique for converting the captured video into the overhead video is known, detailed description thereof is omitted here. The vehicle 1100 shown in FIG. 8 is temporarily stopped in order to perform parallel parking in the parking space 1103 behind the other vehicle 1102. A curb 1101 exists on the left side of the parking space 1103 and the other vehicle 1102.

  When the vehicle 1100 stops the vehicle at an arbitrary position in front of the parking space 1103, the steering wheel is steered to the left side. A parking assistance line (guide line 1) corresponding to the left turning angle of the steering wheel detected by the steering angle sensor 5 is superimposed on the in-car monitor 3 on the overhead view image created based on the image taken by the camera 1. Displayed. In FIG. 8, six parking auxiliary lines 1105 to 11110 corresponding to the steering angle of the steering wheel are displayed, but only one is actually displayed on the in-vehicle monitor 3.

  The driver of the vehicle 1100 fixes the handle at a position where the parking assistance line whose display position changes according to the steering angle of the steering wheel contacts the right rear end of the other vehicle 1102. In the case of FIG. 8, if the steering wheel is steered to the left from the state where the steering wheel is not steered, the display position of the parking auxiliary line changes in the order of 1100 → 1109 → 1108 → 1107. Fix it. When the parking auxiliary line is retracted at the steering angle at the position of 1107, the vehicle can be parked in the form of being close to the other vehicle 1102 existing in front of the parking space 1103.

  In addition, when the parking space 1103 has sufficient space behind, the parking assist line can be fixed at the position 1108 or 1109 to start parallel parking. On the other hand, if the parking assistance line is fixed at the position 1105 or 1106 and the parallel parking is started, the left front end of the vehicle comes into contact with the vehicle 1102 when the steering wheel is turned to the right and turned backward at the turning point. become.

  When the left steering angle of the steering wheel is determined by the above-described method and the vehicle starts to reverse, a parking auxiliary line (guide line 2) different from the above-described parking auxiliary line (guide line 1) is displayed on the in-vehicle monitor 3. . This guide line 2 is a parking auxiliary line for determining a turning point. FIG. 9 is a diagram illustrating an example of the parking auxiliary line 1201 that is the guide line 2. The parking auxiliary line 1201 indicates a locus drawn by a position with a slight margin on the outer side with reference to the left rear end of the vehicle that swells to the outermost side when retreating with right full steering. The driver moves the vehicle 1100 backward to a position where the parking auxiliary line 1201 overlaps with the curb 1101 and temporarily stops and turns the handle to the right side at a position where the parking auxiliary line 1201 overlaps with the curb 1101 as shown in FIG. . After that, when the steering wheel is turned back and the vehicle is moved backward in the right full steering state, the vehicle can be parked with the vehicle approaching the curb side without contacting the curb 1101.

  FIG. 10 is a flowchart showing the processing contents performed by the control device 2 during parallel parking. The process starting from step S10 is started when an ignition switch (not shown) is turned on. In addition, as described with reference to FIG. 7, the initial parking position and the parking arrival position are not necessarily parallel, but here, the vehicle is stopped at a position parallel to the parking arrival position, and parallel parking is performed. An example of starting will be described.

  In step S10, it is determined based on the signal input from the shift position sensor 4 whether or not the shift position has been changed to the reverse position. If it is determined that the shift position is a position other than reverse, the process waits in step S10. If it is determined that the shift position is changed to the reverse position, the process proceeds to step S20.

  In step S <b> 20, an overhead view video is created based on the video shot by the camera 1 and displayed on the in-vehicle monitor 3. In step S30 following step S20, it is determined whether or not the parallel parking assistance switch 7 is turned on. If it is determined that the parallel parking assistance switch 7 remains off, the process returns to step S10. If it is determined that the parallel parking support switch 7 is turned on, the process proceeds to step S40.

  In step S40, the guide line 1 corresponding to the steering angle detected by the steering angle sensor 5 is superimposed on the overhead image and displayed on the in-vehicle monitor 3. The driver determines the left steering angle by the method described above while looking at the guide line 1 displayed on the in-vehicle monitor 3. When the guide line 1 corresponding to the steering angle detected by the steering angle sensor 5 is displayed on the in-vehicle monitor 3, the process proceeds to step S50. In step S50, based on the signal input from the speed sensor 6, it is determined whether the vehicle has started to reverse. If it is determined that the vehicle has not started to reverse, the process returns to step S40, and if it is determined that the vehicle has started reverse, the process proceeds to step S60.

  In step S60, the guide line 2 for determining the turning point is superimposed on the overhead view video and displayed on the in-vehicle monitor 3. The driver determines the turning point while confirming the guide line 2 displayed on the in-vehicle monitor 3. Thereafter, the driver turns the steering wheel fully to the right at the determined turning point, moves backward to the vehicle arrival position, and ends the parallel parking.

  In the above description, in parallel parking, there are obstacles such as other vehicles in front of the parking space, and in order to park as close as possible to the obstacles while avoiding contact with the obstacles, that is, The example which shows the parking auxiliary line for parking in a narrow parking space was demonstrated. Next, an example of displaying a parking auxiliary line for parking at a position as close to the obstacle as possible while there is an obstacle such as another vehicle behind the parking space and avoiding contact with the obstacle behind. Will be described. This parking assistance line is a curve 70 shown in FIG.

  As described with reference to FIG. 7, the parking auxiliary line (guide line 1) in the phase 1 is a partial arc of the circle 1012. The circle 1012 is obtained by translating the circle 1004, but the parking auxiliary line (guide line 2) in the phase 2 is also a partial arc of the circle obtained by translating the circle 1004. That is, with reference to the center point 1011 of the circle 1004, this is a partial arc of a circle parallel to a vector from the center of gravity of the vehicle at the parking arrival position to a feature point (71 to 73) at the rear of the vehicle.

  FIG. 11 is a diagram illustrating a state in which parallel parking is performed in the vicinity of an obstacle existing behind the vehicle. The vehicle 1301 parks while retreating toward the parking space 1302, but since the parking space 1302 is wide, it can be considered that the vehicle 1301 reaches a position 1303 from the front of the parking space or a position 1304 from the back. The routes reaching the parking arrival positions 1303 and 1304 are 1307 and 1308, respectively.

  When the vehicle reaches the parking arrival position 1303, it is the coordinates 1305 that the vehicle swells to the outermost side (right side). When the vehicle reaches the parking arrival position 1304, it is the coordinates 1306 that the vehicle swells to the outermost side (right side). That is, when the vehicle 1301 is parked in parallel in the parking space 1302, the vehicle 1301 can be parked without being inflated outward as the vehicle 1301 is parked closer to the rear of the parking space 1302.

In FIG. 8, the method of parking at a position close to the other vehicle 1102 without contacting the other vehicle 1102 that exists in front of the parking space 1103 has been described. However, it does not contact the other vehicle that exists behind the parking space 1302. The method of parking at a position close to other vehicles is also the same. That is, the driver first pauses the vehicle at any position that appears to be appropriate for initiating parallel parking. When the steering wheel is steered to the left side at this parking start position, the guide line 3 (parking auxiliary line 70 in FIG. 6) corresponding to the steering angle of the steering wheel is displayed on the in-vehicle monitor 3, so that the guide line 3 indicates the parking space. The steering wheel is steered until it is displayed at a position in contact with the front end of the vehicle existing behind. When the guide line 3 starts moving backward with the handle fixed at a position where the guide line 3 contacts the vehicle behind the parking space, the guide line 2 is displayed on the in-vehicle monitor 3. When the vehicle is moved backward to reach the position where the guide line 2 comes into contact with the curbstone, the turning point is reached, and the steering wheel is fully steered to the right side. Thereafter, the vehicle moves backward to the parking end position with full right steering.

  According to the parallel parking assist device in the embodiment, the steering wheel is steered from the parking start position to the parking arrival position when the guide line for supporting the driving of the vehicle at the time of parallel parking is displayed on the in-vehicle monitor 3. Assuming multiple parking arrival positions that can be reached when reversing with the steering wheel turned back to the opposite side by fixing the handle in the fixed position while keeping it fixed, multiple traveling until reaching the assumed parking arrival position A set of feature points determined based on the route is displayed as a guide line for determining whether or not to touch an obstacle around the parking space. Thereby, parallel parking can be performed while avoiding contact with obstacles existing around the parking space.

  In addition, according to the parallel parking assist device in one embodiment, the parking start position when starting parallel parking and the approach angle from the parking start position to the target parking position are not limited, so the driving operation during parallel parking is performed. The driver has a high degree of freedom and is highly convenient for the driver. Furthermore, since parallel parking can be performed by two handle operations regardless of the initial parking position, even a driver who is not good at parallel parking can easily perform parallel parking.

  In addition, the front end on the opposite side of the host vehicle is fully steered with reference to the corner of the front end of the host vehicle at the parking start position when the vehicle reaches the position reached on the travel route. By using coordinates that are located in front of the vehicle by a distance that is the minimum required distance when escaping from the parking space and adding a predetermined allowance, even a parking space with a short front and rear length exists in front of the parking space Parallel parking can be easily performed while avoiding contact with obstacles.

  Furthermore, according to the parallel parking assist device in one embodiment, a predetermined margin is added from the rear end of the own vehicle when the vehicle reaches the arrival position of the travel route, as a feature point determined based on the travel route. Since the coordinates are located at the rear of the vehicle by the distance, the bulge of the host vehicle toward the roadway can be minimized during parallel parking.

  The present invention is not limited to the embodiment described above. For example, in the flowchart shown in FIG. 10, the example in which the parallel parking is started after the vehicle is stopped at a position parallel to the parking arrival position has been described. However, as described with reference to FIG. The parking assistance line (guide line 1) can be drawn even if it is not parallel to the position. For example, by providing a GPS sensor and detecting the angle between the initial parking position and the parking arrival position based on the position of the host vehicle detected by the GPS sensor and the direction of the parking lot stored in the map database, A parking assistance line can be drawn.

  When a system for stopping the vehicle at a position parallel to the parking arrival position is adopted, a guide line for confirming whether the host vehicle is parallel to the parking arrival position is displayed on the in-vehicle monitor 3. It may be.

  When the fixed steering angle is changed in Phase 1 or Phase 2 after the start of parallel parking, it is preferable to stop displaying the parking auxiliary line. That is, in Phase 1 and Phase 2, since it is assumed that the steering wheel is moved backward with the steering wheel steering angle fixed, when the steering wheel steering angle is changed, the guide line is displayed before the steering wheel steering angle is changed. It is not preferable to continue. In addition, it is preferable to stop displaying the parking auxiliary line even when the shift position is changed to a position other than reverse after the start of parallel parking.

  In the above-described example, in the phase 2, an example in which the vehicle moves backward in a state where the vehicle is fully turned to the right is given. However, the vehicle can move backward at an arbitrary steering angle that is not a full steering. However, the vehicle can be parked without contacting other vehicles parked in front of the parking space even when the parking space is small, by retreating with full right steering.

  If the steering wheel sensor is fully steered in the direction of the parking arrival position from the initial parking position, the steering angle sensor moves backward, and at the turning point, the steering wheel is turned back to the parking arrival position after full steering in the opposite direction. 5 need not be provided. In this case, if the parallel parking assist switch 7 is operated before the initial parking position is determined, the parking auxiliary line (guide line 1) corresponding to the steering angle at the time of full steering is displayed. The vehicle can be advanced to a position where an obstacle existing in front of the space overlaps, and the position where both overlap can be set as the initial parking position.

  Moreover, in the example mentioned above, although the example which carries out parallel parking in the parking space located in the left side of the own vehicle was given, parallel parking can also be carried out in the parking space located in the right side.

  The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the camera 1 constitutes an imaging means, the vehicle interior monitor 3 constitutes a display means, the control device 2 constitutes a control means, and the steering angle sensor 5 constitutes a steering angle detection means. In addition, as long as the characteristic function of this invention is not impaired, each component is not limited to the said structure.

The figure which shows the structure of the parallel parking assistance apparatus in one embodiment. 2A is a diagram showing a model of a vehicle, and FIG. 2B is a diagram showing a model of a parking space. Model diagram for explaining the route that the vehicle moves when performing parallel parking The figure which shows the multiple parking positions after the end of parallel parking Figure for explaining parking auxiliary line Figure showing parking assistance line Illustration to explain how to draw parking assistance line The figure which shows the picture and parking auxiliary line which are displayed on the in-car monitor in the parallel parking disclosure The figure which shows the guide line for determining the turning point The flowchart which shows the processing content performed by a control device at the time of parallel parking The figure which shows a mode that parallel parking is carried out near the obstacle which exists behind vehicles

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Camera 2 ... Control apparatus 3 ... In-vehicle monitor 4 ... Shift position sensor 5 ... Steering angle sensor 6 ... Vehicle speed sensor 7 ... Parallel parking assistance switch

Claims (3)

In the parallel parking support device when the host vehicle parks in parallel from the parking start position to the parking arrival position via the turning point,
Imaging means for imaging the surroundings of the vehicle;
Display means for converting and displaying the video imaged by the imaging means into a bird's-eye view video;
A first guide line is displayed at the parking start position, and a second guide line is superimposed on the bird's-eye view video and displayed on the display means when the host vehicle moves backward from the parking start position toward the parking arrival position. Control means for causing
The trajectory of the left front end of the own vehicle when the own vehicle parked at the parking arrival position escapes by full steering to the right side is calculated for each of the plurality of parking arrival positions, and parked at the plurality of parking arrival positions. Calculating a plurality of intersections between the line segment extending the right end surface of the own vehicle and the calculated plurality of trajectories, and calculating a rear end of another vehicle parked in front of the parking arrival position A first guide line calculation that calculates a plurality of feature points determined with a predetermined margin between each of the intersections and calculates a line segment obtained by connecting the feature points as the first guide line. Means,
A second guide that calculates, as the second guide line, an arcuate movement trajectory of a virtual point determined with a predetermined margin on the side of the left rear end of the host vehicle when the vehicle turns fully at the turning point. A parallel parking assist device comprising a line calculating means. In the parallel parking assistance apparatus according to claim 1,
  Steering angle detection means for detecting the steering angle of the steering wheel of the host vehicle,
  The control means changes the position of the first guide line displayed on the display means according to a steering wheel steering angle detected by the steering angle detection means while the host vehicle is stopped at the parking start position. A parallel parking support apparatus characterized by that. In the parallel parking method of performing parallel parking while referring to the first and second guide lines displayed on the display means of the parallel parking assist device according to claim 1,
  The steering angle is changed by rotating the steering wheel of the host vehicle to the left while the host vehicle is stopped at the parking start position,
  The rotation operation of the handle is stopped at the operation position where the right rear end of the other vehicle existing in front of the parking space and the first guide line contact on the display means,
  The host vehicle is moved backward at the steering angle at which the rotation operation is stopped,
  Thereafter, the vehicle stops when the arcuate second guide line touches the curb on the left side of the parking arrival position on the display means, and the steering wheel steering angle is maximized to the right at the stop point and then parked. A parallel parking method characterized by retreating to a target position.

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