JP6803265B2 - Vehicle parking support device - Google Patents

Description

The present invention relates to a vehicle parking support device that assists parking when the own vehicle passes through an empty parking space in front of the vehicle and is parked in an empty parking space in the back.

Generally, when the vehicle is parked backwards in the parking space, in a vehicle equipped with a rear view camera, when the select lever is set to the R (reverse) range, the rear image is displayed on the monitor together with the rear end of the rear bumper. By recognizing the rear image displayed on the monitor, the driver can easily grasp the parking position of the own vehicle.

Further, various techniques have been proposed in which parking assistance is provided by displaying an image on a monitor when a parking space is detected even when the driver does not set the select lever in the R range. For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2005-50220), the own vehicle is based on the current position detected based on the position data from the geomagnetic sensor or GPS satellite and the map data stored in the navigation device. Disclosed is a technique for automatically displaying a rearward surveillance image on a monitor when the vehicle is in a parking lot and the vehicle speed is below a predetermined value.

Japanese Unexamined Patent Publication No. 2005-50220

By the way, when two parking spaces arranged in a column are adjacent to each other via a horizontal division line defining the rear end of the parking space, the entrances and exits of the parking spaces are provided on opposite sides, and therefore different driving paths. And park your vehicle in each parking space. Even in this case, when parking backwards with respect to each parking space, smooth parking is possible by adopting the techniques disclosed in the above-mentioned patent documents.

At that time, if any of the parking spaces in the adjacent columns via the horizontal division line are vacant, the driver can pass the parking space in front and park in the parking space in the back in advance, as a result. It will be the same as when parking backwards.

However, even with such a parking method, in the technology disclosed in the above-mentioned document, when the entry of the own vehicle into the parking lot is detected, the rear surveillance image is automatically displayed. The surveillance image is information that is not required when the own vehicle is parked in the forward direction, and has the inconvenience of causing the driver to feel annoyed.

On the other hand, with the technology that the rear image is displayed only when the select lever is set to the R range, the own vehicle is made to enter the parking space in the back from the parking space in front of the parking spaces lined up in columns. At that time, it is not possible to grasp the distance between the rear end of the own vehicle and the horizontal division line, and it becomes difficult to stop the own vehicle at an appropriate position. Therefore, in such a case, the own vehicle is temporarily overloaded from the entrance / exit toward the traveling path, and then the select lever is set in the R range to display the rear image on the monitor.

Then, the driver retracts the own vehicle while recognizing the rear image of the monitor and stops the vehicle at an appropriate position. However, this parking method has the disadvantage that complicated operations are required because it is necessary to move the own vehicle forward once and then move it backward.

In view of the above circumstances, the present invention provides a smooth and accurate position without imposing a burden on the driver when attempting to park the own vehicle forward in the parking space in the back through the parking space in front. It is an object of the present invention to provide a parking support device for a vehicle that can be stopped.

The present invention includes a front image acquiring means for acquiring a front image of the own vehicle, a vehicle speed detecting means for detecting the vehicle speed of the own vehicle, and at least the traveling environment in front of the own vehicle and the vehicle speed acquired by the front image acquiring means. When it is determined that the own vehicle is about to park in an empty parking space based on the vehicle speed detected by the detection means, the parking is performed in the parking support device of the vehicle provided with the parking support calculation means for supporting the parking of the own vehicle. The support calculation means detects a lane marking that divides the empty parking space based on the front image acquired by the front image acquisition means, and the own vehicle passes through the empty parking space in front and becomes an empty parking space in the back. When the parking estimation means for estimating whether or not the vehicle is about to park and the parking estimation means estimate that the own vehicle is trying to park in the empty parking space in the back, the front image acquired by the front image acquisition means. A section line detection frame setting means for setting a section line detection frame for detecting the passage of a horizontal section line that divides the empty parking space in front of the parking space and the empty parking space in the back, and the horizontal section line detection frame. The horizontal lane marking means for determining whether or not the lane marking has passed, and the vacant parking space in the back when the passage of the lane marking is detected by the horizontal lane marking means. It is provided with a parking support means for executing parking support for the own vehicle.

According to the present invention, when the own vehicle passes through the parking space in front and is attempted to be parked in the parking space in the back in the forward direction, the parking support is executed by the parking support means, which imposes a burden on the driver. It is possible to stop the own vehicle at a smooth and accurate position with respect to the parking space in the back.

Configuration diagram of the parking support device according to the first embodiment The same, flowchart showing parking support routine (1) Same, flowchart showing parking support routine (Part 2) The same, schematic view of the parking lot where two parking spaces are set in the column The same, explanatory diagram of the vehicle entering the parking space forward The same, explanatory diagram of the vehicle trying to enter the parking space from the front to the back by moving forward The same is an explanatory diagram showing the time-series change of the front image information acquired by the in-vehicle camera when entering the parking space by moving forward. The same, explanatory drawing of the vehicle entering the parking space where the car stop is installed The same, explanatory view of the vehicle crossing the horizontal lane marking and entering the parking space in the back The same, explanatory view of the vehicle showing the state parked in the parking space in the back Configuration diagram of the parking support device according to the second embodiment The same, flowchart showing parking support routine (1) Same, flowchart showing parking support routine (Part 2) The same, explanatory diagram of the vehicle trying to enter the parking space in the back by moving forward The same, explanatory view of the vehicle crossing the horizontal lane marking and entering the parking space in the back The same, explanatory view of the vehicle showing the state parked in the parking space in the back

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[First Embodiment]
1 to 10 show a first embodiment of the present invention. Reference numeral 1 in FIG. 1 is a parking support device, which is mounted on the own vehicle M1 shown in FIG. 5 and the like. The parking support device 1 has a parking support calculation unit 11 as a parking support calculation means. The parking support calculation unit 11 is mainly composed of a well-known microcomputer equipped with a CPU, ROM, RAM, and the like, and the ROM includes various control programs represented by a control program for realizing a preset operation by the CPU. Fixed data is stored.

An in-vehicle camera unit 12 as a front image acquisition means for acquiring the traveling environment in front of the own vehicle M1 is connected to the input side of the parking support calculation unit 11. The in-vehicle camera unit 12 includes a stereo camera including a main camera 12a and a sub camera 12b, and a first image processing unit (first IPU) 12c. Both cameras 12a and 12b are fixedly mounted on the upper part of the front part of the vehicle interior (for example, both sides of the rearview mirror) while maintaining a certain distance. The image signal of the driving environment in front of the own vehicle captured by both cameras 12a and 12b is transmitted to the first IPU 12c, and based on the image information captured by both cameras 12a and 12b, the front image information 20 of the own vehicle M1 (for example, , Refer to FIG. 7), and output the front image information 20 to the parking support calculation unit 11.

Further, on the input side of the parking support calculation unit 11, a vehicle speed sensor 13 as a vehicle speed detecting means for detecting the vehicle speed of the own vehicle M1 (hereinafter, referred to as “own vehicle speed”), and a steering angle for detecting the steering angle of the steering wheel. Sensor 14, brake switch 15 that operates ON when the brake pedal is depressed, accelerator opening sensor 16 that detects the accelerator opening from the amount of accelerator pedal depression, select position sensor 17 that detects the set position of the select lever, and rear image A rear view camera unit 18 as an acquisition means is connected.

The rear view camera unit 18 includes a rear view camera 18a that captures an image of the rear of the own vehicle M1 together with a rear end portion of the rear pumper, and a second image processing unit (second IPU) 18b. The second IPU18b performs predetermined image processing on the rear image captured by the rear view camera 18a, and also has a vertical vehicle width extension line indicating a guideline for vehicle width extension and a horizontal distance guideline indicating the distance from the rear end of the bumper. A superposed image composed of lines and the like, which is a composite of well-known parking guide lines, is generated and output to the parking support calculation unit 11.

On the other hand, the monitor 21 is connected to the output side of the parking support calculation unit 11. The monitor 21 displays a superposed image of the rear image output from the rear view camera unit 18 and the parking guide line as a guideline for parking, particularly when the driver parks the own vehicle M1. Etc., it is installed in a position that is easy for the driver to see.

In the parking support calculation unit 11, the own vehicle M1 advances forward into the empty parking space 31a of the parking lot 31 shown in FIG. 4 based on the front image information 20 from the in-vehicle camera unit 12, and the adjacent empty parking space 31b in the back Predict if you are about to park in. As shown in FIGS. 4A and 5, when the parking area provided in the parking lot 31 forms a parallel two-row parallel parking surface, the parking space on the parallel side is divided via the horizontal division line 32a. The parking space on the row side is partitioned via the parallel section line 32b. The lane markings 32a and 32b are often drawn as white lines, which makes the contrast with the road surface clear so that the driver can easily identify them.

In such a parking area, when a vehicle is parked backward in each parking space, the rear bumpers of each vehicle are attached to each other in the parking space on the column side. Further, as shown in FIG. 4B, in the parking area set as the service area of the expressway, the parking space on the row side is provided in order to clarify the approach direction and the exit direction with respect to the parking lot area. , The horizontal division line 32b is drawn diagonally from the entry side to the exit side via the division line 32b, and the horizontal division line 32b is drawn in a direction orthogonal to the vertical division line 32a for each parking space. In such a parking space, the vehicle is parked in the front parking space facing forward, and the vehicle is parked in the back parking space facing backward.

In these parking areas, when the two parking spaces arranged in a column are empty parking spaces 31a and 31b as shown in FIGS. 4A and 4B, the driver displays the vehicle M1 in FIG. After advancing into the empty parking space 31a in the foreground as shown by the one-point chain line, the vehicle tries to park on the empty parking space 31b side in the back as shown by the solid line across the horizontal division line 32a.

When the parking support calculation unit 11 estimates that the driver intends to park the own vehicle M1 forward through the empty parking space 31a in front and on the empty parking space 31b side in the back, the parking support calculation unit 11 is from the rear view camera unit 18. Parking support is provided to display the rear image information (back monitor image information) on the monitor 21. As a result, the driver can easily grasp the positions of the rear end of the rear bumper and the horizontal division line 32a.

Specifically, the parking support calculation process in the parking support calculation unit 11 is executed according to the parking support routine shown in FIGS. 2 to 3.

In this routine, first, it is checked whether or not the own vehicle M1 has entered the parking lot 31 in step S1. Whether or not the own vehicle M1 has entered the parking lot 31 is determined based on the own vehicle position information and the map information obtained based on GPS (GNSS) information, for example, in a vehicle equipped with a car navigation system. To do. If the own vehicle M1 is not equipped with a car navigation system, the vehicle speed is set to a low vehicle speed (for example, 20 [Km / h)) based on the front image information from the in-vehicle camera unit 12 and the own vehicle speed detected by the vehicle speed sensor 13. ]) When traveling for a predetermined time (for example, 5 to 10 [sec]) or more and detecting a plurality of line groups (specifically, vertical division line 32b) parallel to the road surface based on the front image information 20. , It is determined that the vehicle has entered the parking lot 31. Alternatively, it may be determined that the vehicle has entered the parking lot when a plurality of lines parallel to the road surface (specifically, the vertical division line 32b) are detected based on the front image information without detecting the vehicle speed.

Then, if it is determined that the own vehicle M1 has entered the parking lot 31, the process proceeds to step S2. If it is determined that the own vehicle M1 has not entered the parking lot 31, the routine is exited and the own vehicle M1 enters the parking lot 31. Wait until you do.

When the process proceeds to step S2, a superimposed image in which the lane marking detection frame 20a is combined with the front image information 20 from the vehicle-mounted camera unit 12 is generated, and the process proceeds to step S3. The processing in this step corresponds to the lane marking detection frame setting means of the present invention.

In step S3, it is checked whether or not the own vehicle M1 has left the parking lot 31. The driver may once enter the parking lot 31 and then restart and exit without parking or even after parking the system without turning it off. Whether or not to leave the parking lot 31 is determined by, for example, traveling for a predetermined time (for example, 5 to 10 [sec]) or less when the vehicle speed is a low speed determination vehicle speed (for example, 20 [Km / h]) or less based on the vehicle speed detected by the vehicle speed sensor 13. After that, when the vehicle speed exceeds the traveling determination vehicle speed (for example, 30 [Km / h]), it is determined to leave. In this case, if a lane marking that divides the lane drawn on the public road is detected based on the front image information 20 from the vehicle-mounted camera unit 12, a condition for determining exit may be added. Alternatively, when the own vehicle M1 is equipped with a car navigation device, the exit may be determined based on the own vehicle position information and the map information obtained based on the GPS (GNSS) information.

Then, if it is determined that the parking lot 31 is inside, the process proceeds to step S4. When it is determined that the vehicle has exited the parking lot 31, the process branches to step S5, the display of the division line detection frame 20a superimposed on the front image information 20 is canceled, and the routine exits.

On the other hand, when the vehicle proceeds to step S4, the own vehicle speed detected by the vehicle speed sensor 13 is compared with the preset extremely low speed determination vehicle speed (for example, 10 to 15 [Km / h]), and the driver sets the own vehicle M1. Find out if you are trying to park. Then, when the vehicle speed is lower than the extremely low speed determination vehicle speed, as shown in FIG. 5, the driver determines that the own vehicle M1 is to be parked in the empty parking space 31a in the forward direction, and proceeds to step S6. Further, when the vehicle speed is equal to or higher than the extremely low speed determination vehicle speed, it is determined that the driver has not yet tried to park in the empty parking space 31a, and the process returns to step S3. Therefore, the process in step S4 corresponds to the parking estimation means of the present invention.

In step S4, based on the front image information 20, it is checked whether or not the horizontal division lines 32a drawn on the left and right of the empty parking space 31a in front are recognized in the left-right direction of the own vehicle M1 and are recognized. , A condition for determining that the own vehicle M1 is to be parked in the empty parking space 31b at the back may be further added.

In step S6, it is checked whether or not the own vehicle M1 is about to cross the horizontal division line 32a based on the time-series change of the brightness in the division line detection frame 20a superimposed on the front image information 20. That is, as shown in FIGS. 6, when the own vehicle M1 passes through the empty parking space 31a in the front and tries to park in the empty parking space 31b in the back in the forward direction, as shown in FIGS. 7 (a) to 7 (c). In addition, the horizontal marking line 32a imaged by the vehicle-mounted camera unit 12 moves from the upper part to the lower part of the image. Then, when the horizontal division line 32a crosses the inside of the division line detection frame 20a, the binarized average brightness value in the division line detection frame 20a is "low" due to the brightness difference between the road surface and the horizontal division line 32a. (FIG. 7 (a)) → “high” (FIG. 7 (b)) → “low” (FIG. 7 (c)). The image shown in FIG. 7 is not displayed on the monitor 21.

In step S6 described above, the average luminance value is compared with the preset threshold value, and the average luminance value ≧ threshold value (“low”) and the average luminance value <threshold value (“high”) are time series as described above. If the change is made in, it is determined that the own vehicle M1 is about to cross the horizontal division line 32a, and the process proceeds to step S7. On the other hand, if the above-mentioned change in the average luminance value in the time series is not detected, the process returns to step S3. The process in step S6 corresponds to the horizontal division line passage determination means of the present invention.

Proceeding to step S7, it is checked whether or not there is an obstacle at a position (in front of or in front of the horizontal division line 32a) in front of the own vehicle M1 based on the front image information 20 from the in-vehicle camera unit 12. Obstacles include, for example, a car stop (wheel chock) 31c that regulates the stop position of a vehicle fixed in the empty parking space 31a in the foreground as shown in FIG. 8, and a vehicle parked in the empty parking space 31b in the back. Alternatively, there is a wall surface, a fence, or the like erected in front of the horizontal division line 32a.

Then, if no obstacle is detected at a position close to the front, it is determined that the vehicle can move forward as it is, and the process proceeds to step S8. On the other hand, if an obstacle is detected, the process returns to step S3.

In steps S8 to S12, parking assistance is executed when the own vehicle M1 is parked in the empty parking space 31b at the back. Therefore, the processing in steps S8 to S12 corresponds to the parking support means of the present invention.

First, in step S8, the back monitor image information (rear image information) from the rear view camera unit 18 is displayed on the monitor 21, and the process proceeds to step S9. As shown in FIGS. 9 and 10, when the driver intends to park the own vehicle M1 in the empty parking space 31b at the back across the horizontal division line 32a, the back monitor image information is displayed on the monitor 21. Therefore, the driver can easily grasp the distance between the rear end of the rear bumper and the horizontal division line 32a, and the own vehicle M1 can be stopped at an appropriate position with respect to the empty parking space 31b.

Proceeding to step S9, it is checked whether or not the driver intends to park in the empty parking space 31b. The driver's intention to park is the steering angle detected by the steering angle sensor 14, the brake ON signal detecting the depression of the brake pedal from the brake switch 15, the accelerator opening detected by the accelerator opening sensor 16, and the like. Estimate based on the operation performed by. That is, if the brake operation is performed before the own vehicle M1 crosses the horizontal division line 32a, it can be estimated that the driver intends to park the own vehicle M1 forward in the empty parking space 31a in front of the vehicle. Alternatively, when the steering angle or the accelerator opening of the own vehicle is not stopped but the steering angle or the accelerator opening is equal to or more than a predetermined value, it can be estimated that the driver has started running from the empty parking spaces 31a and 31b without parking the own vehicle M1. ..

Then, when it is determined that the driver does not intend to park in the empty parking space 31b in the back based on the above-mentioned operation, the process proceeds to step S12. If these operations are not detected, the driver determines that he / she intends to park his / her own vehicle M1 in the empty parking space, and branches to step S10.

Proceeding to step S10, the own vehicle speed detected by the vehicle speed sensor 13 is compared with the stop determination vehicle speed (for example, 5 to 10 [Km / h]), and it is determined whether or not the own vehicle M1 has stopped. Then, when the vehicle speed is equal to or lower than the stop determination vehicle speed, it is determined that the vehicle is stopped and the process proceeds to step S12. On the other hand, if the vehicle speed exceeds the stop determination vehicle speed, the process proceeds to step S11. In step S11, it is determined whether or not the elapsed time after displaying the back monitor image information on the monitor 21 in step S8 described above exceeds the preset error determination time (for example, 60 [sec]). To do. Then, if the elapsed time is within the error determination time, the driver determines that the own vehicle M1 is in the process of parking with respect to the empty parking space 31b, and returns to step S9. If the error determination time has elapsed, the process proceeds to step S12.

When the process proceeds from steps S9, S10, or S11 to step S12, the display of the back monitor image information on the monitor 21 is terminated, and the process returns to step S3. Even during the execution of this parking support routine, if the driver turns off the system after stopping the own vehicle M1, the routine is forcibly stopped.

As described above, in the present embodiment, when the driver intends to park the empty parking space 31b in the parking lot 31 across the horizontal division line 32a by moving forward from the empty parking space 31a in front of the parking lot 31, the parking support calculation unit 11 detects this, causes the monitor 21 to display the image captured by the rear view camera 18a, and displays the term end surface of the rear pumper and the horizontal division line 32a on the monitor 21, so that the driver can park in the back. When the own vehicle M1 is parked in the space 31b in the forward direction, the own vehicle M1 is stopped at a smooth and accurate position with respect to the empty parking space 31b by visually recognizing the back monitor image information displayed on the monitor 21. Can be done.

As a result, as in the conventional case, after the own vehicle M1 is once overtaken on the driving path from the empty parking space 31b, the select lever is set in the R range, and the back monitor image information is displayed on the monitor 21. It is not necessary to retract the vehicle M1 to park it, and the burden on the driver can be reduced.

Further, when the driver does not intend to park in the empty parking space 31b, the back monitor image information displayed on the monitor 21 is stopped, so that only the information required by the driver is displayed on the monitor 21. It is possible to eliminate the annoyance caused by displaying unnecessary information.

[Second Embodiment]
11 to 16 show a second embodiment of the present invention. In the above-described first embodiment, the parking support when the own vehicle M1 is parked from the front empty parking space 31a to the back empty parking space 31b by the driver's operation has been described. However, in the present embodiment, the own vehicle M1 is used. The vehicle is stopped in the empty parking space 31b by automatic brake control. The components common to the first embodiment are designated by common reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 11, the vehicle-mounted camera unit 12, the sensors 13, 14, 16 and the brake switch 15 are connected to the input side of the parking support calculation unit 11 according to the present embodiment, as in the first embodiment described above. Has been done. On the other hand, a monitor 21, a throttle actuator 22 for opening and closing the throttle valve of the electronically controlled throttle, a brake drive unit 23, and a notification means 24 such as a buzzer and a speaker are connected to the output side of the parking support calculation unit 11.

Further, the main brake actuator 25 and the auxiliary brake actuator 26 are connected to the brake drive unit 23. The main brake actuator 25 increases or decreases the hydraulic brake supplied from a hydraulic control unit (HCU) (not shown) to adjust the braking force with respect to the main brake 25a such as a disc brake provided on each wheel. On the other hand, the auxiliary brake actuator 26 operates the auxiliary brakes 26a such as the drum type brakes provided on the left and right rear wheels when the vehicle is stopped to maintain the stopped state of the own vehicle M1. The brake driving means 23, the main brake actuator 25a, and the main brake 25a correspond to the brake driving means for automatically stopping the own vehicle M1 of the present invention. Further, the main brake 25a can also obtain a desired braking force by the foot brake operation performed by the driver.

The parking support calculation unit 11 executes automatic brake control when the driver tries to park the own vehicle M1 in the empty parking space 31b in the back after passing through the empty parking space 31a in the front, and causes the own vehicle M1 to execute the automatic brake control. Is automatically stopped at an appropriate position with respect to the empty parking space 31b.

Specifically, the parking support process by the parking support calculation unit 11 of the present embodiment is executed according to the parking support routine shown in FIGS. 12 to 13.

In this routine, the same processes as those in the first embodiment described above are executed in steps S1 to S7, and it is determined in step S7 that no obstacle is detected at a position close to the front, and the process proceeds to step S21. In steps S21 to S29, parking support is executed when the own vehicle M1 is parked in the empty parking space 31b at the back. Therefore, the processing in steps S21 to S29 corresponds to the parking support means of the present invention.

First, in step S21, the start of automatic brake control is instructed, and in step S22, the first position from the positions of both cameras 12a and 12 mounted on the own vehicle M1 immediately after the start of automatic brake control to the front end of the horizontal division line 32a. Distance L1 (see FIG. 14) is measured. Specifically, the principle of triangulation is used based on the reference image and the comparison image of the horizontal division line 32a captured by both cameras 12a and 12b.
L1 = f · g / Z… (1)
Calculate from.

Here, f is the focal length of each camera 12a and 12b, g is the distance between the optical axes of both cameras 12a and 12b, and Z is the parallax of both cameras 12a and 12b.

After that, the process proceeds to step S23, the vehicle speed detected by the vehicle speed sensor 13 is time-integrated, and the estimated value of the moving distance, which is the second distance L2 (see FIG. 15) based on the position at the start of the automatic brake control, is sequentially calculated. calculate. L3 is the distance (third distance = fixed value) from both cameras 12a and 12b to the rear end of the own vehicle M1, that is, the rear end surface of the bumper.

Next, the process proceeds to step S24, and the fourth distance L4 from the front end of the horizontal division line 32a to the rear end of the own vehicle M1 is set.
L4 = (L1 + L3) -L2
To this, the stop position of the own vehicle M1 in the empty parking space 31b at the back, that is, the rear end of the bumper is stopped at a position predetermined away from the front end of the horizontal division line 32a. The target stop distance (L4 + L5) of the own vehicle M1 is calculated by adding the distance L5 of 5 (see FIG. 15).

After that, the process proceeds to step S25, and the instruction brake so that the current target stop distance (L4 + L5) becomes 0, that is, the rear end of the bumper is separated from the front end of the horizontal division line 32a by a fifth distance L5 in the empty parking space 31a. The instruction brake for automatically stopping the own vehicle M1 at the position is calculated for each calculation cycle based on the target stop position and the vehicle speed. Then, in step S26, the brake pressure corresponding to the indicated brake is set and output to the brake drive unit 23.

Then, the brake drive unit 23 drives the main brake actuator 25 to supply the hydraulic brake corresponding to the indicated brake pressure supplied from the hydraulic control unit (HCU) (not shown) to the main brake 25a, and the own vehicle M1 The braking force is adjusted so that it stops at a predetermined position.

Next, the process proceeds to step S27 to check whether or not there has been an override by the driver. Whether or not there is an override is determined by operating the steering wheel at a predetermined steering angle and braking based on, for example, the steering angle detected by the steering angle sensor 14, the ON operation of the brake switch 15, the accelerator opening detected by the accelerator opening sensor 16, and the like. When the brake operation with the switch 15 turned on or the accelerator operation amount (acceleration) exceeding a predetermined value is detected, it is determined that there is an override.

Then, if it is determined that there is no override, the process branches to step S28, and if it is determined that there is an override, the process proceeds to step S29. In step S28, whether or not the own vehicle M1 has stopped is checked based on the own vehicle speed detected by the vehicle speed sensor 13, and if the vehicle is not stopped, the process returns to step S23 to continue the automatic braking control. On the other hand, if it is determined that the own vehicle M1 has stopped, the process proceeds to step S29.

When the process proceeds from step S27 or step S28 to step S29, the automatic brake control release process is executed and the process returns to step S3. In the automatic brake control release process, when it is determined in step S28 that the own vehicle M1 has stopped, the brake drive unit 23 releases the drive of the main brake actuator 25 after a lapse of a predetermined time from the stop, and the auxiliary brake actuator 26 assists. The brake 26a is operated to maintain the stopped state of the own vehicle M1. On the other hand, if it is determined to be overridden in step S27, the brake operation by the brake drive unit 23 is released. The processes in steps S25 to S29 correspond to the brake control means of the present invention.

As described above, in the present embodiment, the parking support calculation unit 11 attempts to park the own vehicle M1 forward from the empty parking space 31a in front to the empty parking space 31b in the back across the horizontal division line 32a. If it is estimated that the vehicle is in the parking space 31b, the instruction brake for stopping the own vehicle M1 is sequentially obtained at the target stop position in the empty parking space 31b, and the automatic brake control is performed so that the own vehicle M1 stops properly at the stop position. Therefore, it is possible to reduce the burden on the driver when trying to park in the empty parking space 31b in the back in the forward direction.

The present invention is not limited to the above-described embodiments. For example, in the second embodiment, when the fourth distance L4 becomes 0, the monitor 21 is displayed with back monitor image information for operation. You may ask a person to confirm it.

1 ... Parking support device,
11 ... Parking support calculation unit,
12 ... In-vehicle camera unit,
13 ... Vehicle speed sensor,
18 ... Rear view camera unit,
20 ... Forward image information,
20a ... Bound line detection frame,
21 ... Monitor,
31 ... Parking lot,
31a ... Empty parking space in front,
31b ... Empty parking space in the back,
32a ... Horizontal lane marking,
32b ... Vertical lane marking,
L1 to L5 ... First to fifth distances,
M1 ... own vehicle

Claims (4)

A front image acquisition means for acquiring a front image of the own vehicle,
The vehicle speed detecting means for detecting the vehicle speed of the own vehicle and
When it is determined that the own vehicle is about to park in an empty parking space based on at least the traveling environment in front of the own vehicle acquired by the front image acquisition means and the vehicle speed detected by the vehicle speed detection means, the parking of the own vehicle is performed. In the parking support device of a vehicle equipped with a parking support calculation means for supporting
The parking support calculation means
Whether or not the own vehicle passes through the empty parking space in front and intends to park in the empty parking space in the back by detecting the lane marking that divides the empty parking space based on the front image acquired by the front image acquisition means. Parking estimation means to estimate
When it is estimated by the parking estimation means that the own vehicle is going to park in the empty parking space in the back, the empty parking space in front and the empty parking space in the back are added to the front image acquired by the front image acquisition means. A lane marking detection frame setting means for setting a lane marking frame for detecting the passage of a horizontal lane marking that divides and
A horizontal section line passage determining means for determining whether or not the horizontal section line has passed through the section line detection frame,
It is characterized by including a parking support means for executing parking support for the own vehicle to park in the empty parking space in the back when the passage of the horizontal lane line is detected by the horizontal lane marking means. Vehicle parking assistance device. A rear image acquisition means for acquiring a rear image including the rear end portion of the own vehicle,
It further has a monitor for displaying the rear image acquired by the rear image acquisition means.
The vehicle parking support device according to claim 1, wherein the parking support executed by the parking support means is to display the rear image acquired by the rear image acquisition means on the monitor. The brake driving means for automatically stopping the own vehicle and
Further having a brake control means for controlling the brake drive means,
The first aspect of claim 1, wherein the parking support executed by the parking support means is to execute the brake control for automatically stopping the own vehicle in the empty parking space at the back by the brake control means. Vehicle parking support device. The brake control means calculates a target stop distance for stopping the rear end of the own vehicle at a position predeterminedly separated from the horizontal division line that divides the empty parking space in the back, and the vehicle speed detected by the vehicle speed detection means. 3. The vehicle parking support device according to claim 3, wherein the moving distance is calculated by time-integrating, and the instruction brake pressure at which the moving distance becomes the target stopping distance is set to drive the brake driving means. ..

Images