JP7286276B2 - PARKING ASSIST DEVICE AND CONTROL METHOD FOR PARKING ASSIST DEVICE - Google Patents

Description

The present invention relates to a parking assistance device and a control method for the parking assistance device.

Conventionally, there is a technique disclosed in Patent Document 1 as a technique for assisting parking. In Patent Document 1, it is described that "a photographing unit for photographing the scene behind the vehicle 1, a display unit for displaying the photographed image in the vehicle interior, and at least turning based on a predetermined steering angle held by the passenger. A guide unit that guides the vehicle 1 to the parking frame E including the parking target area by moving backward, and a superimposition that superimposes the auxiliary lines B and L that can overlap each other when the vehicle 1 completes the necessary turn on the captured image. Auxiliary line B is a vehicle extension line BC that is parallel to the front-rear direction of the vehicle 1 and extends to the rear of the vehicle 1. Auxiliary line L is a parking target parallel to the front-rear direction of the parking target area. line LC."

JP 2008-162426 A

However, there are cases where the auxiliary line B is not properly displayed, which may cause the driver to feel uncomfortable.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a parking assistance device and a control method for the parking assistance device that do not cause a driver to feel uncomfortable.

The present invention provides a parking completion position setting unit that sets a parking completion position, which is a position where it is determined that parking of the vehicle has been completed, and a predicted progress route of the vehicle in an image. a guide line display control unit for controlling display of the vehicle guide line extending to the vehicle , wherein the guide line display control unit prevents the end point of the vehicle guide line in the image from exceeding the parking completion position when viewed from the vehicle. When the vehicle moves, the vehicle guide line is moved while maintaining the vehicle guide line at a constant length in the image, and the end point of the vehicle guide line is displayed in the image. When the end point of the vehicle guide line reaches the parking completion position as viewed from the vehicle, and the end point of the vehicle guide line exceeds the parking completion position as viewed from the vehicle due to the movement of the vehicle , the end point of the vehicle guide line is moved to the parking completion position . , the length of the vehicle guide line is maintained at the same length as when the end point is not fixed at the parking completion position , and the vehicle guide line is moved regardless of the movement of the vehicle. It is characterized by not letting

Advantageous Effects of Invention According to the present invention, parking can be assisted without causing discomfort to the driver.

It is a figure showing composition of a parking assistance system concerning an embodiment of the present invention. It is a figure which shows an example of a parking assistance screen. It is a figure which shows an example of a parking space. It is a flow chart of parking condition setting processing. It is a figure which shows the example of a display of a parking assistance screen. It is a figure which shows the example of a display of a parking assistance screen. It is a figure which shows the example of a display of a parking assistance screen. 9 is a flowchart of guide line change display processing. It is a figure which shows the parking assistance screen in the state where the 1st display control process and the 2nd display control process were implemented. FIG. 9 shows a parking assistance screen when the first display control process and the second display control process are not performed. It is a figure which shows the example of a display of the parking assistance screen at the time of the completion of parking.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing the configuration of a parking assistance system 1 according to this embodiment.
The parking assistance system 1 is provided in a vehicle 4 and displays a parking assistance screen 40 when an occupant of the vehicle 4 (a driver in this embodiment) parks the vehicle 4. It is a system that supports the driving operation of

FIG. 2 is a diagram showing an example of the parking assistance screen 40. As shown in FIG.
The parking assistance screen 40 displays a target parking space 60 in which the vehicle 4 is to be parked, and guides the driver to a driving operation for moving the vehicle 4 so as to fit in the parking space 60. The parking space display is a screen. It has three display areas: an area 41 , a surrounding display area 42 and an information display area 43 .

The parking space display area 41 is an area that displays the parking space 60 viewed from the vehicle 4 in real time. In the illustrated example, an image of a parking space 60 located behind the vehicle 4 is displayed in the parking space display area 41 .

The surrounding display area 42 is an area that displays the surroundings of the vehicle 4 including the parking space 60 in real time. Is displayed. The center of the bird's-eye view image always corresponds to the position of the vehicle 4, and a vehicle icon 45, which is an icon representing the vehicle 4, is superimposed on the position. This bird's-eye view image is displayed in the peripheral display area 42 with the upper side always aligned with the front of the vehicle 4, thereby preventing the driver's erroneous recognition of the direction.

The information display area 43 is an area for displaying various types of information such as an operation menu including operation buttons and messages for the driver. In this message, the location that the driver should pay attention to in the parking space display area 41 and the surrounding display area 42 and the operation that the driver should perform are displayed. Note that voice may be output along with the message.

Guide lines L and turning position marks M are superimposed on each image of the parking space display area 41 and surrounding display area 42 in real time. The guide line L is a line that guides the driver to perform a driving operation for parking. The turning position mark M indicates to the driver the position where it is necessary to operate the steering wheel to change the steering angle, and is appropriately displayed beside the vehicle guide line L1.

In this embodiment, as the guide lines L, an image including the vehicle guide lines L1 and the distance reference lines L2 is used.
The vehicle guide line L1 indicates a predicted path from the vehicle 4 to the parking space 60 in the images of the parking space display area 41 and the surrounding display area 42 when the vehicle 4 advances to park in the parking space 60. is indicated by a line extending in the moving direction A (in the illustrated example, from the rear end of the vehicle 4 to the rear). In this embodiment, the vehicle guide line L1 is displayed for each of the left and right ends of the vehicle 4 in the vehicle width direction.

The distance reference line L2 is a line that indicates to the driver a position separated from the vehicle 4 by a certain distance C in the moving direction A in the images of the parking space display area 41 and the surrounding display area 42 . Although this fixed distance C is set appropriately, in this embodiment, it is set to a length based on the total length of the vehicle 4 (more precisely, it is set to the total length of the vehicle 4).

In this embodiment, the vehicle guide line L1 is drawn as a line with the distance reference line L2 as the end point L1E. The distance reference line L2 is drawn as a line connecting the end points L1E of the two vehicle guide lines L1. Drawn.

Each image of the parking space display area 41 and the surrounding display area 42 changes in real time as the vehicle 4 moves, and the guide line L and the turning position mark M are displayed (display position, etc.) according to this change. are also updated in real time.

Next, the configuration of the parking assistance system 1 that displays the parking assistance screen 40 will be described in detail.
As shown in FIG. 1, the parking assistance system 1 includes an imaging unit 8, a vehicle information acquisition unit 10, a parking space information acquisition unit 12, an operation unit 14, a display device 16, a parking assistance device 20, Prepare. In this embodiment, each part of the parking assistance system 1 is connected so as to be able to transmit and receive data appropriately via an in-vehicle network such as CAN (Controller Area Network).

The photographing unit 8 photographs the surroundings of the vehicle 4 and outputs the photographed image to the parking assistance device 20 . In this embodiment, at least the following four cameras 9 are provided in the photographing unit 8 for generating the bird's-eye view image. That is, one is a camera 9 for photographing the front from the center of the vehicle width direction of the front end of the vehicle 4 (for example, the front bumper), and the other is the rear end of the vehicle 4 (for example, the rear bumper). The camera 9 shoots the rear from the center of the direction, the other camera 9 shoots the right side from the right side of the vehicle 4 (for example, the right door mirror), and the remaining one is the left side of the vehicle 4 (for example, the left side). It is a camera 9 that photographs the left side from the door mirror).

The vehicle information acquisition unit 10 acquires vehicle information A1 and outputs it to the parking assistance device 20, and is realized by an ECU (Electronic Control Unit), for example. An ECU is an electric control device that includes a processor such as a microprocessor or a CPU, a memory device such as a ROM or a RAM, and a connection interface with an in-vehicle network such as CAN, various sensors, and peripheral devices.

The vehicle information A1 is information related to the vehicle 4, and includes at least information that enables the parking assistance device 20 to locate the own vehicle position of the vehicle 4 by dead reckoning (also called odometry). In this embodiment, the vehicle information A1 includes information on the vehicle speed of the vehicle 4 and the steering angle of the vehicle 4 . Further, in the present embodiment, the shift position of the shift lever (also called a select lever) is also included in the vehicle information A1.
In order to acquire the vehicle information A1, the vehicle information acquisition unit 10 acquires the shift position and the vehicle speed from the shift lever sensor 10A and the vehicle speed pulse sensor 10B provided in the vehicle 4, respectively. Regarding the steering angle, the vehicle information acquisition unit 10 acquires the steering operation amount and the operation direction from the steering sensor 10C provided in the vehicle 4, and the vehicle information acquisition unit 10 calculates the steering operation amount of the vehicle based on the steering operation amount and the operation direction. Find the steering angle of 4.

The parking space information acquisition unit 12 acquires the detection result of the parking space detection sensor 12A provided in the vehicle 4, and outputs the parking space information A2 including the detection result to the parking assistance device 20. The parking space information acquisition unit 12 is realized by an ECU, for example. It is The parking space detection sensor 12A detects various physical quantities of the parking space 60 (position, size, distance to the parking space 60, presence or absence of structures (walls, other vehicles, etc.) around the parking space 60, It is a sensor that detects the distance to In this embodiment, a sonar sensor that detects structures around the parking space 60 is used as the parking space detection sensor 12A.

In the parking assistance system 1 of this embodiment, the parking assistance device 20 detects the parking space 60 by image recognition processing, which will be described later, and the parking space information A2 is used to compensate for the result of the image recognition processing.

The operation unit 14 includes various operation switches for receiving operations by the driver, and is arranged at a position where the driver can easily operate the vehicle while driving. These operation switches are composed of, for example, mechanical switches and touch panels.
The display device 16 displays a parking assistance screen 40 under the control of the parking assistance device 20. The display device 16 may be a flat panel display located near the driver's seat or a head-up display that projects and displays an image on the windshield. Equipped with a display, etc.

The parking assistance device 20 displays a parking assistance screen 40 on the display device 16 and updates the display in real time as the vehicle 4 moves, thereby assisting the driver's driving operation. , a storage unit 32 and an image processing unit 34 .
In this embodiment, the parking assistance device 20 is implemented by an ECU including a processor that implements the control unit 30, a storage device that implements the storage unit 32, and an image processor that implements the image processing unit 34. there is In this case, the processor that implements the control unit 30 may implement the functions of the image processing unit 34 as well. This ECU is provided with a connection interface, and data is transmitted to and received from each part of the parking assistance system 1 via the connection interface.

The controller 30 controls each part of the parking assistance device 20 .
The storage unit 32 stores at least vehicle data 36 and parking assistance screen data 38 . The vehicle data 36 includes information on the dimensions (vehicle width and overall length) of the vehicle 4 required for displaying the guide line L. FIG. The parking assistance screen data 38 is various data required for displaying the parking assistance screen 40. For example, data for creating the framework of the parking assistance screen 40, icons displayed on the parking assistance screen 40 (vehicle icon 45 ), menus, data of various character information, and the like.
The image processing unit 34 generates a parking assistance screen 40 and displays it on the display device 16 under the control of the control unit 30 , and includes a surrounding image generation unit 50 and a parking space recognition unit 52 .

The surrounding image generation unit 50 generates a bird's eye image to be displayed in the surrounding display area 42 based on the captured image input from the image capturing unit 8 . That is, the surrounding image generation unit 50 converts the captured images of the front, the rear, the right side, and the left side of the vehicle 4 into the captured images of the vehicle 4 viewed from directly above, and converts the captured images after the conversion into the captured images of the vehicle. 4 is synthesized as a reference, and a vehicle icon 45 is superimposed on the position of the vehicle 4 to generate a bird's-eye view image.
The parking space recognition unit 52 performs image recognition processing on the bird's-eye video and recognizes the parking space 60 shown in the bird's-eye video.

FIG. 3 is a diagram showing an example of a parking space 60. As shown in FIG. The figure shows a parking space 60 provided in the parking lot.
A parking space 60 for one vehicle generally has a rectangular shape in plan view, and at least a boundary K1 in the vehicle width direction B1 is defined by a pair of parking division lines 62 extending in the vehicle length (front-rear) direction B2. . A boundary K2 of the parking space 60 in the vehicle full length direction B2 is defined by the vertex 63 of each parking lane line 62 .
That is, once the pair of parking division lines 62 are determined, the boundaries K1 and K2 can be specified, and the outline (outer edge) of the rectangular parking space 60 can be specified by these boundaries K1 and K2.

Returning to FIG. 1 , the parking space recognition unit 52 identifies the parking space 60 by recognizing the parking lane lines 62 shown in the bird's-eye view image, and outputs the parking space 60 to the control unit 30 . In this embodiment, the parking space recognizing unit 52 identifies the end position PE ( FIG. 3 ) of the parking space 60 and the position of the parking lane line 62 when identifying the parking space 60 .

The control unit 30 generates display data for the parking assistance screen 40 based on the parking assistance screen data 38 in the storage unit 32 by executing the program stored in the memory device by the processor, and outputs the display data to the display device 16 . Realize the function to When displaying the parking support screen 40 , the control unit 30 synthesizes the image of the camera 9 capturing the parking space 60 with the parking space display area 41 , and displays the bird's-eye view image of the surrounding image generation unit 50 in the surrounding display area 42 . Synthesize.

Further, the control unit 30 controls the display of the guide line L and the turning position mark M in each image of the guidance unit 54 that obtains the guide line L and the turning position mark M, and the parking space display area 41 and the peripheral display area 42 . and a guide line display control unit 56 that These functional units are implemented by the processor executing programs stored in the memory device.

The guidance unit 54 calculates the predicted travel route of the vehicle 4 from the current position of the vehicle 4 to the completion of parking in the parking space 60 and the steering angle change position on the predicted travel route. These predicted travel route and steering angle change position are calculated using an appropriate method based on the current position of the vehicle 4, the steering angle at that time, and the position of the parking space 60 (relative positional relationship with the vehicle 4). be done. The guidance unit 54 determines whether the parking is completed by determining whether the entire vehicle 4 has settled into the parking space 60 . In this case, instead of the parking space 60, a target area appropriately set in the parking space 60 may be used for determination of parking completion.

The guide line display control unit 56 superimposes the guide line L and the turning position mark M on the corresponding positions in the respective images of the parking space display area 41 and the surrounding display area 42 .

After displaying the guide line L, the control unit 30 sequentially measures the position of the vehicle 4 by dead reckoning based on the vehicle information A1 of the vehicle information acquisition unit 10 . The guiding unit 54 successively updates the guide line L and the turning position mark M in accordance with this change in position. The images are sequentially displayed in the corresponding positions of the parking space display area 41 and the surrounding display area 42 .

Further, the control unit 30 of this embodiment includes a parking completion position setting unit 58 that sets the parking completion position T. As shown in FIG. The parking completion position T is the end of the vehicle 4 on the moving direction A side to the parking space 60 (example in FIG. is the point where the rear end) is located. The parking completion position setting unit 58 sets the parking completion position T based on the recognition result of the parking space recognition unit 52 and the parking space information A2 of the parking space information acquisition unit 12 .

Specifically, the parking completion position setting unit 58 acquires the end position PE of the parking space 60 from the parking space recognition unit 52, and determines the structure existing before and after the end position PE in the movement direction A during parking. The distance from the end position PE is acquired from the parking space information A2.
Then, when there is no structure within the range of the predetermined distance Q ( FIG. 3 ) before and after the end position PE, the parking completion position setting unit 58 sets the end position PE to the parking completion position T. This predetermined distance Q defines the separation distance of the vehicle 4 from the structure (the size of the space between the vehicle 4 and the structure when parking is completed), and its numerical value is appropriately set.

On the other hand, as shown in FIG. 3, when a structure exists within a range of a predetermined distance Q from the end position PE, the parking completion position T is set at a position at least a predetermined distance Q from the structure. As a result, even if another vehicle stops close to the end position PE of the parking space 60 or there is a structure such as a wall near the end position PE, there is sufficient space between the other vehicle and the structure. The vehicle 4 can be parked while maintaining the distance.
If the parking completion position T shifts from the end position PE of the parking space 60 toward the vehicle 4 and the vehicle 4 cannot be accommodated in the parking space 60 when parking is completed, the control unit 30 displays the information display area 43 to that effect. may be displayed or output as audio.

In the present embodiment, the guide line display control unit 56, when displaying the guide line L, displays the guide line L according to the positional relationship between the parking completion position T, the parking division line 62, and the guide line L. Although the display is changed, this change will be described in detail later.

Next, the operation of the parking assistance system 1 will be explained.
When receiving parking assistance, the driver stops the vehicle 4 at a location where there is a parking space 60 in the surroundings, for example, as shown in FIG. When the parking assistance device 20 is activated, the parking assistance screen 40 is displayed on the display device 14 . Then, prior to the display of the guide line L, the parking assistance device 20 starts a parking condition setting process for setting a parking condition such as the target parking space 60 .

FIG. 4 is a flowchart of the parking condition setting process.
The controller 30 of the parking assistance device 20 first sets the parking conditions (step Sa1).
The parking condition setting includes three settings: the target location of the parking space 60 , the parking pattern, and the parking direction to the parking space 60 . The direction in which the parking space 60 exists is set as the location of the parking space 60 with reference to the vehicle 4, and either parallel parking or parallel parking is set as the parking pattern. The parking direction is set to the direction of the vehicle 4 when entering the parking space 60, specifically either forward or backward.

At step Sa1, the control unit 30 displays a selection button 70 for selecting a parking condition in the information display area 43 of the parking assistance screen 40, as shown in FIG. The driver inputs the parking conditions by selecting and operating the selection button 70 using the operation unit 14 (for example, a touch panel). In the following description, the parking space position, parking pattern, and parking direction are set to "left", "parallel parking", and "backward".

Next, based on the recognition result of the parking space recognition section 52, the control section 30 detects the parking space 60 existing in the direction set by the parking space position (step Sa2). When detecting the parking space 60, the control unit 30 supplements the recognition result of the parking space recognition unit 52 based on the parking space information A2 of the parking space information acquisition unit 12, thereby increasing the detection accuracy of the parking space 60. is increasing.

When the parking space 60 is detected (step Sa3: Yes), the controller 30 displays the detected parking space 60 on the parking assistance screen 40 (step Sa4), and allows the driver to confirm the parking space 60 (step Sa5).

More specifically, at step Sa4, the control unit 30 displays an image captured by the camera 9 in the direction set at the parking space position in the parking space display area 41 of the parking support screen 40. FIG. Then, the detected parking space 60 is displayed in each image of the parking space display area 41 and the peripheral display area 42 . In the present embodiment, as shown in FIG. 6, a parking lot line image 71 expressing the parking lot line 62 of the detected parking space 60 in a predetermined color (red in the illustrated example) is combined with each image to detect the parking space. The designated parking space 60 is presented to the driver.

Then, at step Sa5, the control unit 30 displays a message in the information display area 43 prompting the driver to select the parking lane line 62 of the target parking space 60, as shown in FIG. When the driver operates the operation unit 14 to select the parking lane 62 , the control unit 30 determines the target parking space 60 .

On the other hand, if the parking space 60 is not detected (step Sa3: No), the controller 30 prompts the driver to input the position of the parking space 60 (step Sa6).
Specifically, as shown in FIG. 7, the control unit 30 displays a parking space instruction image 72 having a size and shape that simulates the parking space 60 in the parking space display area 41 and the surrounding display area 42 of the parking assistance screen 40. The image is synthesized and displayed with at least one of the images (the image of the parking space display area 41 in the illustrated example). Next, the control unit 30 displays a message in the information display area 43 instructing the driver to move the parking space indication image 72 by operating the operation unit 14 to match the position of the target parking space 60 . Then, the control unit 30 determines the position to which the driver moves the parking space indication image 72 as the parking space 60 . In this case, the control unit 30 determines whether or not there is a sufficient vacant space to which the parking space instruction image 72 is moved based on image recognition and the parking space information A2. is displayed in the information display area 43 to prompt the driver to reset.

When the parking conditions are set by the parking condition setting process and the parking space 60 is determined, the control unit 30 displays the guide line L and the turning position mark to support the driving operation for parking in the parking space 60. M is superimposed on each image of the parking space display area 41 and the surrounding display area 42 of the parking assistance screen 40 .
After that, the control unit 30 sequentially updates the guide line L and the turning position mark M in accordance with the movement of the vehicle 4 by the driving operation of the driver, and updates the updated guide line L and the turning position mark M. The images are superimposed and displayed in real time on the corresponding positions of the images in the parking space display area 41 and the surrounding display area 42 .

In this embodiment, during parking assistance, the display of the guide lines L in the respective images of the parking space display area 41 and the surrounding display area 42 is the parking completion position T, the parking division lines 62, and the guide lines L, as described above. are controlled to change according to their respective positional relationships. This guide line change display will be described in detail below.

FIG. 8 is a flowchart of guide line change display processing.
This guide line change display process is roughly divided into the following two display control processes.
The first display control process is a process of displaying each of the end point L1E of the vehicle guide line L1 and the distance reference line L2 forming the guide line L so as not to exceed the parking completion position T when viewed from the vehicle 4.
In the second display process, when the vehicle guide line L1 overlaps the parking line 62 of the parking space 60 or extends outside along the parking line 62, the vehicle guide line L1 is displayed in the parking space. This is processing for displaying inside the line 62 .

Specifically, in the guide line change display process, the control unit 30 first determines whether or not the shift position of the shift lever is other than the "parking position" based on the vehicle information A1 (step Sb1). If the shift position is the "parking position" (step Sb1: No), the vehicle 4 has completed parking, and the process ends.

On the other hand, if the shift position is other than the "parking position" (step Sb1: Yes), the control unit 30 measures the current position of the vehicle 4 by dead reckoning based on the vehicle information A1 (step Sb2). Based on the current position of the vehicle 4, the guide line display control unit 56 calculates the display position of the guide line L in each image of the parking space display area 41 and the surrounding display area 42 (step Sb3).

Next, the guide line display control unit 56 determines whether or not the first display control process should be performed.
Specifically, the guide line display control unit 56 controls that the display positions of the end point L1E of the vehicle guide line L1 and the distance reference line L2 in each image of the parking space display area 41 and the surrounding display area 42 are the same as those of the vehicle 4 It is determined whether or not the vehicle is at a position beyond the parking completion position T (step Sb4).
If these display positions are beyond the parking completion position T (step Sb4: Yes), the guide line display control unit 56 fixes the end point L1E of the vehicle guide line L1 to the parking completion position T to guide the vehicle. The line L1 is displayed, and the distance reference line L2 is also displayed fixedly at the parking completion position T (step Sb5). At this time, the guide line display control unit 56 maintains the length of the vehicle guide line L1 constant (corresponding to the total length of the vehicle 4 in this embodiment) without changing the length.

Next, the guide line display control unit 56 determines whether or not to perform the second display control process.
Specifically, the guide line display control unit 56 causes the vehicle guide line L1 to overlap and extend over the parking division line 62 of the parking space 60 in each of the images of the parking space display area 41 and the surrounding display area 42. Alternatively, it is determined whether or not it extends outside the parking lane line 62 (step Sb6).
If the vehicle guide line L1 extends above or outside the parking line 62 (step Sb6: Yes), the guide line display control unit 56 moves the vehicle guide line L1 to the inside of the parking line 62 in each image. display (step Sb7).

FIG. 9 shows the parking assistance screen 40 in a state where the first display control process and the second display control process are executed, and FIG. 10 shows the first display control process and the second display control process in FIG. The parking assistance screen 40 is shown when the process is not performed.

When the first display control process is not performed, the distance reference line L2 is always displayed at a position at a certain distance C from the vehicle 4. Therefore, as shown in FIG. It may be displayed in the position beyond. In this case, when the wall surface 80 exists behind the parking space 60 as in the illustrated example, the distance reference line L2 is displayed within the wall surface 80 . Also, the vehicle guide line L1 also extends from the vehicle 4 to at least the distance reference line L2, so that the end point L1E reaches the wall surface 80. As shown in FIG. Since the vehicle guide line L1 guides the driver on the predicted travel route of the vehicle 4 when parking, the display in FIG. Become. Further, when the driver performs a driving operation relying on the vehicle guide line L1, the vehicle 4 may be moved beyond the parking completion position T and a sufficient space between the vehicle 4 and the wall surface 80 may not be secured.

On the other hand, when the first display control process is executed, the distance reference line L2 is fixedly displayed at the parking completion position T when it exceeds the parking completion position T, as shown in FIG. Furthermore, when the end point L1E of the vehicle guide line L1 exceeds the parking completion position T, the vehicle guide line L1 is fixedly displayed at the parking completion position T as well.
As a result, the end point L1E of the vehicle guide line L1 and the distance reference line L2 are displayed so as not to exceed the parking completion position T, and the end point of the predicted progress route of the vehicle 4 when parking is actually displayed. As a result, the vehicle guide line L1 is displayed accurately, and the driver does not feel uncomfortable with the display of the vehicle guide line L1.
In addition, by surely guiding the parking completion position T to the driver, the parking can be completed while securing a sufficient space between the parking space 60 and the surrounding structures (the wall surface 80 and other vehicles).

Furthermore, in the first display control process, the length of the vehicle guide line L1 is kept constant. The front end L1S is displayed so as to move relatively from the rear end of the vehicle 4 to the front end of the vehicle 4 . This display shows that the vehicle 4 is entering the U-shaped guide line L whose end is fixed at the parking completion position T, so that the driver is approaching the parking completion position T. You can intuitively understand. Further, as shown in FIG. 11, when the end of the vehicle 4 (the rear end in the illustrated example) reaches the parking completion position T, the length of the vehicle guide line L1 is set to correspond to the entire length of the vehicle 4. Therefore, a state in which the vehicle 4 is contained within the U-shaped guide line L is displayed. This display expresses that the vehicle 4 has settled into the parking space 60, so that the driver can intuitively understand that the parking of the vehicle 4 has been completed.

On the other hand, in the guide line change display process, if the second display control process is not executed, the positional relationship between the vehicle 4 and the parking space 60 is changed as shown in the image display example of the surrounding display area 42 shown in FIG. Depending on the situation, the vehicle guide line L1 may extend over the parking lane line 62 . In this case, it becomes difficult for the driver to grasp the actual position of the parking space 60 from the image. In some cases, the vehicle guide line L<b>1 extends outside the parking division line 62 . In this case, a discrepancy occurs between the actual parking space 60 and the vehicle guide line L1, which may make the driver feel uncomfortable.

On the other hand, by executing the second display control process, the vehicle guide line L1 is displayed inside the parking space line 62 as shown in FIG. position can be accurately grasped without misunderstanding.

Returning to FIG. 8, the guide line display control unit 56 repeats the processing of steps Sb1 to Sb7 until the parking of the vehicle 4 is completed and the shift position of the shift lever becomes the "parking position" (step Sb1: No). Execute.

When moving the vehicle 4 to the parking space 60, the reverse operation and the forward operation may be switched when the vehicle 4 is turned back. Also in this case, the first display control process and the second display control process are performed in accordance with the positional relationship between the parking completion position T and the guide line L when the vehicle is moving backward and when moving forward. . Thus, even when the vehicle 4 moves forward and leaves the parking completion position T, the guide line L is displayed at an appropriate position according to the positional relationship between the parking completion position T and the guide line L at that time. In this case, when the vehicle 4 moves forward, the control unit 30 may hide the image of the rear camera shown in FIG. 9 and the like.

According to the embodiment described above, the following effects are obtained.

In the parking assistance device 20 of this embodiment, the end point L1E of the vehicle guide line L1 in each image of the parking space display area 41 and the surrounding display area 42 is arranged so that the end point L1E of the vehicle guide line L1 does not exceed the parking completion position T as viewed from the vehicle 4. Display L1.
As a result, the vehicle guide line L1 accurately indicates the end point of the predicted travel route of the vehicle 4 when parking, and the display of the vehicle guide line L1 does not cause the driver to feel uncomfortable and is smooth. can park in

In the parking assistance device 20 of the present embodiment, the parking completion position setting unit 58 sets, as the parking completion position T, the point where the end of the vehicle 4 is located when the guidance unit 54 determines that parking is completed. As a result, the driver can perform the driving operation so that the end point L1E of the vehicle guide line L1 coincides with the end of the vehicle 4 in each of the images of the parking space display area 41 and the surrounding display area 42, thereby simplifying and Parking can be completed exactly at the parking completion position T.

In the parking assistance device 20 of the present embodiment, the parking completion position T is set at a point that is at least a predetermined distance Q or longer from structures existing around the parking space 60 .
As a result, the driver can reliably complete parking while securing a sufficient space between the parking space 60 and surrounding structures (the wall surface 80 and other vehicles).

In the parking assistance device 20 of the present embodiment, when the end point L1E of the vehicle guide line L1 exceeds the parking completion position T, the end point L1E of the vehicle guide line L1 is fixedly displayed at the parking completion position T, and the vehicle at this time is displayed. The length of the guide line L1 is maintained at the same length as when the end point L1E is not fixed to the parking completion position T.
As a result, the vehicle 4 enters the vehicle guide line L1 whose end point L1E is fixed at the parking completion position T, and the driver intuitively understands that the parking completion position T is approaching. can.

In the parking assistance device 20 of this embodiment, the vehicle guide line L1 extends overlapping the parking lane line 62 of the parking space 60 in each image of the parking space display area 41 and the surrounding display area 42, or the parking lane line When the vehicle guide line L1 extends outside the parking lane 62 , the vehicle guide line L1 is displayed inside the parking lane line 62 .
This makes it easier for the driver to accurately grasp the position of the parking space 60 without misunderstanding.

In the parking assistance device 20 of the present embodiment, when the distance reference line L2 in each image of the parking space display area 41 and the surrounding display area 42 exceeds the parking completion position T as seen from the vehicle 4, the distance reference line L2 is indicated as parking completion. Fixed at position T and displayed.
Accordingly, even when the distance reference line L2 is displayed, the distance reference line L2 is not displayed beyond the parking completion position T, and the driver does not feel uncomfortable.

In the parking assistance device 20 of the present embodiment, the images of the parking space display area 41 and the surrounding display area 42 are a photographed image taken in the direction of the parking space 60 from the vehicle 4 and an overhead image of the vehicle 4 viewed from above. is.
The driver can grasp the parking space 60 as well as the presence or absence of structures around it based on the photographed image of the parking space 60 and the bird's-eye view image.

The above-described embodiment is an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the scope of the present invention.

In the embodiment described above, the end point L1E of the vehicle guide line L1 is always aligned with the distance reference line L2 on the parking assistance screen 40, but this is not the only option. That is, as long as the end point L1E of the vehicle guide line L1 does not exceed the parking completion position T, the vehicle guide line L1 may extend beyond the distance reference line L2, or may not extend to the distance reference line L2. Furthermore, the distance reference line L2 may not be displayed on the parking assistance screen 40. FIG.

The line type of the vehicle guide line L1 and the distance reference line L2 is arbitrary, and may be a solid line or a broken line as in the above-described embodiment. Also, the thickness and color of the line are arbitrary.

In the embodiment described above, both the captured image of the parking space 60 and the bird's-eye view image are displayed on the parking assistance screen 40, but only one of them may be displayed. In the configuration in which only the photographed image of the parking space 60 is displayed on the parking assistance screen 40, the photographing unit 8 may be provided with at least one camera 9. FIG.

In the above-described embodiment, the parking condition is exemplified by parallel parking in the parking space 60 located on the "left side" of the vehicle 4, facing backward, but the present invention is not limited to this. Applicable to all parking conditions.

The functional blocks shown in FIG. 1 are schematic diagrams showing the constituent elements classified based on the main processing content for easy understanding of the present invention. That is, each component in FIG. 1 can be classified into more components according to the processing content, or one component can be classified so as to perform more processing.

REFERENCE SIGNS LIST 1 parking assistance system 4 vehicle 5 parking space recognition unit 8 photographing unit 14 operation unit 16 display device 20 parking assistance device 30 control unit 34 image processing unit 40 parking assistance screen 41 parking space display area 42 surrounding display area 43 information display area 52 parking Space recognition unit 54 Guide unit 56 Guide line display control unit 58 Parking completion position setting unit 60 Parking space 62 Parking lane 80 Wall surface (structure)
C Fixed distance L Guide line L1 Vehicle guide line L1E End point of vehicle guide line L2 Distance reference line PE End position of parking space Q Predetermined distance T Parking completion position

Claims (12)

a parking completion position setting unit that sets a parking completion position, which is a position at which it is determined that parking of the vehicle is completed;
a guide line display control unit that controls display of a vehicle guide line extending rearward from the rear end of the vehicle, representing the predicted travel route of the vehicle in the image;
The guide line display control unit
displaying the vehicle guide line so that the end point of the vehicle guide line in the image does not exceed the parking completion position as viewed from the vehicle;
When the vehicle moves, the vehicle guide line is moved while maintaining a constant length of the vehicle guide line in the image, and the end point of the vehicle guide line in the image reaches the parking completion position as viewed from the vehicle. Further, when the end point of the vehicle guide line exceeds the parking completion position as viewed from the vehicle due to the movement of the vehicle , the end point of the vehicle guide line is fixedly displayed at the parking completion position, and the vehicle guide is displayed. maintaining the length of the line at the same length as when the end point is not fixed at the parked position , and does not move the vehicle guide line regardless of the movement of the vehicle;
A parking assistance device characterized by: a parking completion position setting unit that sets a parking completion position, which is a position at which it is determined that parking of the vehicle is completed;
a guide line display control unit that controls display of a vehicle guide line extending rearward from the rear end of the vehicle, representing the predicted travel route of the vehicle in the image;
The guide line display control unit
displaying the vehicle guide line so that the end point of the vehicle guide line in the image does not exceed the parking completion position when viewed from the vehicle;
When the vehicle moves, the vehicle guide line is moved while maintaining a constant length of the vehicle guide line in the image, and as a result of the movement of the vehicle guide line due to the movement of the vehicle, the vehicle is displayed in the image. When the guide line is displayed from the rear end of the vehicle overlapping the parking line of the parking space where the vehicle is parked, or when the vehicle guide line is displayed from the rear end of the vehicle to the parking line A parking assistance device, wherein the vehicle guide lines are displayed inside the parking lane lines when they are displayed outside. The parking completion position setting unit,
The parking assistance device according to claim 1 or 2, wherein a point at which an end portion of the vehicle is located when it is determined that the parking of the vehicle is completed is set as the parking completion position. The parking completion position setting unit,
4. The parking assist system according to any one of claims 1 to 3, wherein a point is set that is at least a predetermined distance or more away from structures existing around the parking space in which the vehicle is parked. The guide line display control unit
displaying a distance reference line indicating a point at a certain distance from the vehicle in the video superimposed on the video;
5. The method according to any one of claims 1 to 4, wherein when the distance reference line in the video exceeds the parking completion position as viewed from the vehicle, the distance reference line is fixed and displayed at the parking completion position. parking assistance device. 2. The video includes at least one of a bird's-eye view of the vehicle from above and a photographed image of a direction of a parking space in which the vehicle is parked, which is photographed from the vehicle. 6. The parking assistance device according to any one of 5. A first step of setting a parking completion position, which is a position at which it is determined that parking of the vehicle is completed;
The vehicle guide line represents the predicted travel route of the vehicle in the image , and the vehicle guide line extends rearward from the rear end of the vehicle so that the end point of the vehicle guide line does not exceed the parking completion position as viewed from the vehicle in the image. a second step of displaying
including
In the second step,
When the vehicle moves, the vehicle guide line is moved while maintaining a constant length of the vehicle guide line in the image, and the end point of the vehicle guide line in the image reaches the parking completion position as viewed from the vehicle. Further, when the end point of the vehicle guide line exceeds the parking completion position as viewed from the vehicle due to the movement of the vehicle , the end point of the vehicle guide line is fixedly displayed at the parking completion position, and the vehicle guide is displayed. maintaining the length of the line at the same length as when the end point is not fixed at the parked position , and does not move the vehicle guide line regardless of the movement of the vehicle;
A control method for a parking assistance device, characterized by: A first step of setting a parking completion position, which is a position at which it is determined that parking of the vehicle is completed;
The vehicle guide line represents the predicted travel route of the vehicle in the image , and the vehicle guide line extends rearward from the rear end of the vehicle so that the end point of the vehicle guide line does not exceed the parking completion position as viewed from the vehicle in the image. a second step of displaying
including
In the second step,
When the vehicle moves, the vehicle guide line is moved while maintaining a constant length of the vehicle guide line in the image, and as a result of the movement of the vehicle guide line due to the movement of the vehicle, the vehicle is displayed in the image. When the guide line is displayed from the rear end of the vehicle overlapping the parking line of the parking space where the vehicle is parked, or when the vehicle guide line is displayed from the rear end of the vehicle to the parking line A control method for a parking assist device, wherein the vehicle guide line is displayed inside the parking lane line when displayed on the outside. In the first step,
9. The method of controlling a parking assist system according to claim 7, wherein a point at which an end portion of the vehicle is located when it is determined that the parking of the vehicle is completed is set as the parking completion position. In the first step,
10. The method of controlling a parking assist system according to any one of claims 7 to 9, wherein a point is set at least a predetermined distance or more from structures existing around the parking space in which the vehicle is parked. In the second step,
displaying a distance reference line indicating a point at a certain distance from the vehicle in the video superimposed on the video;
11. The method according to any one of claims 7 to 10, wherein when the distance reference line in the video exceeds the parking completion position as viewed from the vehicle, the distance reference line is fixed and displayed at the parking completion position. parking assist device control method. 8. The video includes at least one of a bird's-eye view of the vehicle from above and a photographed image of a direction of a parking space in which the vehicle is parked, which is photographed from the vehicle. 12. The control method for the parking assistance device according to any one of 11.

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