JP4992696B2 - Parking support apparatus and method - Google Patents

Description

  The present invention relates to a parking assistance apparatus and method for assisting a driving operation for parking a host vehicle by presenting an image representing a surrounding situation to a driver of the vehicle.

2. Description of the Related Art Conventionally, a parking assist device using a bird's-eye view image, which is an image of a vehicle viewed from the sky, which is a virtual viewpoint, is obtained by photographing the periphery of the vehicle with a plurality of cameras and converting coordinates of the obtained image ( See Patent Document 1 below). Such a parking assistance apparatus sets the parking target position on the bird's-eye view image.
Japanese Patent Laid-Open No. 2005-239048

  However, in the prior art, for example, when another vehicle is present in a parking frame adjacent to the parking frame, an overhead image in which an image of the other vehicle falls into the parking frame is generated. For this reason, when the parking target position is set using the bird's-eye view image, there is a possibility that the distance from the other vehicle adjacent to the parking target position is different from the distance from the other vehicle assumed by the driver. .

  Therefore, the present invention has been proposed in view of the above-described situation, and there is provided a parking assistance device and method capable of parking in a state assumed by the driver even when a parking target is set using an overhead image. The purpose is to provide.

In the present invention, when it is detected that an obstacle exists only on one side of the parking frame that is a candidate for the parking target area, the distance from the obstacle existing on one side of the candidate for the parking target area is set to the first distance. The parking target area is set to be a predetermined distance, the distance between the candidate for the opposite parking target area where the first predetermined distance is set and the white line is the second predetermined distance, and the first predetermined distance is larger than the second predetermined distance. By solving, the above-mentioned problem is solved.

According to the present invention, since the parking target area is set according to the distance from the obstacle and the white line , the parking target area can be set and displayed on the overhead image with the same distance feeling as the situation seen from the driver. Even when the parking target is set by using the vehicle, the vehicle can be parked in a state assumed by the driver.

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

  The present invention is applied to, for example, a parking assistance device configured as shown in FIG. This parking assistance device presents the situation around the vehicle as a bird's-eye view image to assist in parking driving. In particular, this parking assist device sets a parking frame that is less likely to deviate from the vehicle surroundings assumed by the driver even if a fall due to image conversion occurs in an image of another vehicle displayed by an overhead image. is there.

  This parking assist device includes an image processing device 1, camera modules (imaging means) 2 a, 2 b, 2 c, 2 d (hereinafter simply referred to as “camera module 2”), an operation input unit 3, and a vehicle speed. A sensor 4, a steering angle sensor 5, a shift position sensor 6, an obstacle detection unit 7, and a monitor (display means) 8 are connected.

  The camera module 2 captures the periphery of the vehicle, and for example, a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal-Oxide Semiconductor) camera is used. The camera module 2 includes four camera modules 2a, 2b, 2c, and 2d. The camera module 2a is provided near the center of the front grille at the front of the vehicle so that the front of the vehicle is the imaging direction. The camera module 2b is provided, for example, on the right door mirror of the vehicle so that the right side of the vehicle is the imaging direction. The camera module 2c is provided, for example, on the left door mirror of the vehicle so that the left side of the vehicle is the imaging direction. The camera module 2d is provided near the center of the rear hatch at the rear of the vehicle so that the rear side of the vehicle is the imaging direction. As described above, the plurality of camera modules 2 are provided on all sides of the vehicle.

  The obstacle detection unit 7 is realized by a plurality of ultrasonic sensors, a stereo camera system, a monocular motion stereo camera, a radar, or the like provided in each part of the vehicle. In the present embodiment, the obstacle detection unit 7 includes an ultrasonic sensor, outputs an ultrasonic wave, detects a reflected wave of the ultrasonic wave, and obtains a distance from the vehicle to the obstacle. The ultrasonic sensors are provided on both sides of the vehicle, and can detect other surrounding vehicles 202 when the host vehicle 201 enters the parking lot as shown in FIG. The obstacle detection unit 7 outputs the presence / absence of obstacles around the vehicle and the distance and direction when obstacles exist to the image processing apparatus 1 as obstacle information.

  The operation input unit 3 is an operation interface operated by the driver, and is configured by, for example, a touch sensor integrated with the monitor 8. An operation input signal representing the driver's operation detected by the operation input unit 3 is supplied to the image processing apparatus 1. The vehicle speed sensor 4 detects the vehicle speed of the host vehicle. A vehicle speed signal detected by the vehicle speed sensor 4 is supplied to the image processing apparatus 1. The steering angle sensor 5 detects the steering angle of the host vehicle. A steering angle signal detected by the steering angle sensor 5 is supplied to the image processing apparatus 1. The shift position sensor 6 detects a shift position (gear position) of the host vehicle. The shift position signal detected by the shift position sensor 6 is supplied to the image processing apparatus 1.

  The image processing apparatus 1 processes camera image data captured by the camera module 2. The image processing apparatus 1 is configured by hardware by a computer, but in FIG. 1, for the sake of convenience, description is given separately for each functional block.

  The image processing apparatus 1 includes an input buffer 11a, 11b, 11c, 11d corresponding to each of the camera modules 2a, 2b, 2c, 2d (hereinafter referred to simply as “input buffer” when collectively referred to). 11 ”), a CPU 12, an image processing unit 13, a table storage unit 14, and an output buffer 15.

  The input buffer 11 inputs and stores camera image data from the camera module 2. The input buffer 11 is provided corresponding to the number of camera modules 2, the input buffer 11a is connected to the camera module 2a, the input buffer 11b is connected to the camera module 2b, and the input buffer 11c is connected to the camera module 2c. The input buffer 11d is connected to the camera module 2d. The input buffer 11 temporarily stores the camera image data, and the camera image data is read at the image conversion timing by the image processing unit 13 under the control of the CPU 12.

  The output buffer 15 stores display data created by the image processing unit 13 described later. The output buffer 15 outputs the stored display data to the monitor 8 under the control of the CPU 12. The monitor 8 displays the display data output from the output buffer 15.

  The CPU 12 controls the entire image processing apparatus 1. The CPU 12 mainly controls the timing of taking out the camera image data from the input buffers 11a, 11b, 11c, and 11d, the image processing timing of the image processing unit 13, and the timing of transmitting the display data from the output buffer 15 to the monitor 8. The CPU 12 includes devices such as an ASIC (Application Specific Integrated Circuit), an LSI (Large Scale Integrated Circuit), an FPGA (Field Programmable Gate Array), and a DSP (Digital Signal Processor).

  The table storage unit 14 stores an address conversion table 14a that performs coordinate conversion using camera image data around the vehicle photographed by the camera module 2 to create display data. The table storage unit 14 performs coordinate conversion using the camera image data captured by the plurality of camera modules 2 as the address conversion table 14a, and displays an overhead image that is an image of the vehicle as viewed from the sky, which is a virtual viewpoint. Stores table data to be created.

  The image processing unit 13 creates display data to be displayed on the monitor 8 by performing coordinate conversion processing using a plurality of camera image data supplied from the input buffer 11 under the control of the CPU 12. The image processing unit 13 includes an image conversion unit (image conversion unit) 13a that creates an overhead image, a parking target region setting unit (parking target region setting unit) 13b that sets a parking target region in the overhead image, and a parking target region The vehicle includes a route calculation unit (route calculation unit) 13c that calculates a route until the vehicle is parked, and a display image generation unit (display image generation unit) 13d that generates a display image to be displayed on the monitor 8.

  As shown in FIG. 2, the image conversion unit 13a captures the vehicle surrounding image 102a in front of the vehicle photographed by the camera module 2a, the vehicle surrounding image 102b photographed by the camera module 2b, and the camera module 2c. The vehicle surrounding image 102c on the left side of the vehicle and the vehicle surrounding image 102d on the right side of the vehicle photographed by the camera module 2d are used. In the vehicle peripheral images 102a to 102d shown in FIG. 2, a white line 103 drawn on the ground around the vehicle is displayed.

  The image conversion unit 13a performs coordinate conversion of each of the vehicle surrounding images 102a to 102d with reference to the address conversion table 14a. That is, the image conversion unit 13a generates a partial image 104a in which the vehicle peripheral image 102a in front of the vehicle is coordinate-converted to view the front of the host vehicle from the sky, and the vehicle peripheral image 102b in the rear of the vehicle is coordinate-converted to convert the rear of the host vehicle. A partial image 104b viewed from above is generated, and the vehicle peripheral image 102c on the left side of the vehicle is coordinate-converted to generate a partial image 104c viewed from the left side of the vehicle, and the vehicle peripheral image 102d on the right side of the vehicle is coordinated A partial image 104d obtained by converting the vehicle right side as viewed from above is generated. Then, the image conversion unit 13a synthesizes the partial images 104a to 104d obtained by the coordinate conversion, and generates a bird's-eye view image 101 for display when the periphery of the host vehicle is viewed from above. As described above, the image conversion unit 13 a can generate a bird's-eye view image 101 by performing coordinate conversion on the vehicle periphery image captured by the camera module 2.

  The parking target area setting unit 13b sets the parking target area in the overhead image generated by the image conversion unit 13a based on the obstacle information including the distance information to the obstacle detected by the obstacle detection unit 7. .

  The display image creation unit 13d creates a display image in which a parking target mark representing the parking target area set by the parking target area setting unit 13b is superimposed on the overhead image generated by the image conversion unit 13a. This display image is presented to the driver by being output to the monitor 8 via the output buffer 15.

  As shown in FIG. 3 (a), such a parking assist device is configured such that the obstacle detection unit 7 provided on the side of the own vehicle 201 when the own vehicle 201 enters a parking lot that is parked in parallel parking. The other vehicle 202A is detected by the ultrasonic sensor 7a that constitutes the above. The obstacle detection unit 7 supplies obstacle information including the direction and distance of the other vehicle 202 </ b> A with respect to the host vehicle 201 to the image processing apparatus 1. As a result, the parking assistance device uses the contour 204A ′ as a part of the contour position 204A of the other vehicle 202A as an obstacle detection result of the other vehicle 202A as an obstacle present on the side where the host vehicle 201 has traveled. Can be detected. This outline 204A 'represents a relative distance from the vehicle to the other vehicle 202A.

  Further, the parking assist device further advances from the state shown in FIG. 3A, and as shown in FIG. 3B, in the vicinity of the front of the other vehicle 202B in order to retract and park in an empty parking frame. When the vehicle is positioned at, the other vehicle 202B is detected by the ultrasonic sensor 7a. The obstacle detection unit 7 supplies obstacle information including the direction and distance of the other vehicle 202 </ b> B with respect to the host vehicle 201 to the image processing apparatus 1. As a result, the parking assistance device detects the contour 204B ′ as a part of the contour position 204B of the other vehicle 202B as an obstacle detection result of the other vehicle 202B as an obstacle present on the side where the host vehicle 201 has traveled. can do. This outline 204B 'represents the relative distance from the vehicle to the other vehicle 202B.

  Further, the parking assistance device detects the outline 204A 'of the other vehicle 202A and the outline 204B' of the other vehicle 202B, and also detects white lines 203A and 203B drawn on the ground. At this time, the parking assistance device detects an area surrounded by the white lines 203A and 203B by performing an edge extraction process on the camera image data captured by the camera module 2. And the parking assistance apparatus can set the area | region enclosed by white line 203A, 202B as a candidate of the parking target area | region 205, for example, when a shift position is made into a reverse position (reverse position) with the shift position sensor 6. FIG. In addition, the process which makes the area | region enclosed by white line 203A, 202B the candidate of the parking target area | region 205 has few edges in the area | region enclosed by the said white line 203A, 202B, or the area | region enclosed by white line 203A, 202B. This is performed by detecting that the color is the same as that of the ground portion close to the host vehicle 201.

  The parking target area setting unit 13b sets a parking target area 205 to be drawn as a parking target mark in the overhead image based on the outline detection information 204A 'and the outline detection information 204B'. Here, as shown in FIG. 3, the parking target region 205 is set between the contour detection information 204A ′ of the other vehicle 202A and the contour detection information 204B ′ of the other vehicle 202B. Detailed setting processing of the parking target area 205 will be described later.

  In the situation where the parking target area 205 is set in the bird's-eye view image, the course calculation unit 13c, as shown in FIG. 4, the parking target area 205, the course 206 in which the host vehicle 201 moves forward (forward path 206), and the host vehicle A course 207 (parking path 207) in which 201 enters the parking target area 205 is calculated. The forward travel path 206 of the host vehicle 201 represents the direction in which the host vehicle 201 travels in the overhead view image according to the steering angle signal supplied from the steering angle sensor 5. A forward path 206 of the host vehicle 201 represents a path in which the host vehicle 201 can enter the parking target area 205 when the host vehicle 201 moves backward at a predetermined steering angle.

  Then, the display image creation unit 13d includes the parking target area 205 set by the parking target area setting unit 13b, the forward path 206 and the backward path 207 calculated by the path calculation unit 13c, and the white line 203 recognized from the camera module 2. Is displayed on the overhead image 300.

  Here, the display image creation unit 13d creates a display image 300 ′ having a size larger than the display range of the monitor 8, and includes a parking target mark representing the host vehicle 201 and the parking target area 205 from the display image 300 ′. The range may be cut out to be an image displayed on the monitor 8.

  Such a parking assistance device captures camera image data captured by the camera module 2 and stored in the input buffer 11 by the image processing unit 13 every predetermined period, and creates an overhead image 300 by the image conversion unit 13a. . At the same time, the parking target area setting unit 13b sets the parking target area 205 in the overhead image 300 based on the outline 204A ′ of the other vehicle 202A and the outline 204B ′ of the other vehicle 202B from the obstacle detection unit 7, The course calculation unit 13c calculates the forward course 207 and the forward course 206. Then, the display image creation unit 13d creates a display image in which the parking target area 205, the forward path 206, and the reverse path 207 are superimposed on the overhead image 300 every predetermined period, and stores the display image in the output buffer 15. . Thereby, the parking assistance apparatus can display on the monitor 8 the display image updated for every predetermined period.

“Parking target area 205 setting process”
Next, in the parking assistance device configured as described above, a process for setting the parking target area 205 on the overhead image 300 by the parking target area setting unit 13b will be described.

  As illustrated in FIG. 3, the parking target area setting unit 13 b may be configured to detect other obstacles such as the other vehicles 202 </ b> A and 202 </ b> B on both sides of the parking frame that is a candidate for setting the parking target area 205. A parking target area 205 is set at the center of the vehicle 202B. At this time, as shown in FIG. 5, the parking target area setting unit 13b obtains the center 205b between the contour 204A ′ of the other vehicle 202B and the contour 204B ′ of the other vehicle 202A detected by the obstacle detection unit 7, A parking target area 205 ′ whose position is corrected so that the center line 205a of the parking target area 205 passes through the center 205b is set.

  In addition, as shown in FIG. 6, the parking target area setting unit 13 b determines the distance from the other vehicle to a predetermined distance Da when the other vehicle exists only in one of the parking frames that are candidates for the parking target area 205. The corrected parking target area 205 ′ is set to a position that keeps the position. At this time, the parking target area setting unit 13b sets the parking target area 205 by separating the predetermined distance Da from the contour 204 of the other vehicle 202 detected by the obstacle detection unit 7. On the other hand, the distance Db between the parking target area 205 on the side opposite to the predetermined distance Da and the white line becomes small. As this predetermined distance Da, for example, a distance at which an occupant can easily get on and off when the door of the host vehicle 201 is opened is set. In addition, the parking target area 205 detects the white line 203 included in the bird's-eye view image 300, and the distance from the white line 203 on the side where the vehicle 202 other than the parking frame that is a candidate for the parking target area 205 exists is a predetermined distance. You may set so that it becomes.

  Furthermore, as shown in FIG. 7, there may be an obstacle behind the parking frame that is a candidate for setting the parking target area 205. In this case, the parking target area setting unit 13b uses the contour 210 obtained as a result of detecting the obstacle behind the parking frame by the obstacle detecting unit 7, and parks the obstacle present on the rear side of the parking frame with the obstacle. A parking target area 205 ′ whose position is corrected so that the distance from the target area 205 is a predetermined distance is set.

"Route setting process"
Next, in the parking assistance apparatus configured as described above, a process of setting and displaying the courses 206 and 207 of the host vehicle 201 on the overhead image 300 by the course calculation unit 13c will be described.

  In order to guide the host vehicle 201 to the parking frame in which the parking target area 205 is set, the parking support device sets a reverse start position 212 in the diagonal direction of the parking target area 205 as shown in FIG. The reverse start position 212 is such that the host vehicle 201 travels forward in front of the parking target area 205 and stops so that the host vehicle 201 parks in the parking target area 205, and the steering angle of the host vehicle 201 is set to a predetermined angle. This is the position at which reverse travel is started in this state.

  At this time, the course calculation unit 13c sets a position away from the parking target area 205 by a predetermined distance at a predetermined steering angle as the reverse start position 212 based on the parking target area 205 and the movable range of the host vehicle 201. . Here, the course calculation unit 13c may set a reverse start position 212 that can enter the parking target area 205 when the host vehicle retreats at the maximum steering angle from the position 211 of the host vehicle.

  Then, the route calculation unit 13c calculates a forward route 206 that is guided from the current position 211 of the host vehicle to the reverse start position 212 when moving forward in front of the parking target area 205 as shown in FIG. At this time, the course calculation unit 13 c calculates the intersection of the vertical line in the traveling direction at the position 211 of the host vehicle and the vertical line in the traveling direction at the reverse start position 212 as the first rotation center 213. Then, the course calculation unit 13c sets an arcuate line segment having a radius R1 around the first rotation center 213 connecting the position 211 of the host vehicle and the reverse start position 212 as the forward course 206. Accordingly, the course calculation unit 13c calculates, as the forward path 206, a path that can travel from the position 211 of the host vehicle to the reverse start position 212 by traveling along the forward path 206 at a constant steering angle. Then, using the coordinate information indicating the forward course 206, the display image creating unit 13d draws the forward course 206 on the overhead image 300.

  Further, the course calculation unit 13c calculates a backward path 207 that leads from the reverse start position 212 to the parking target area 205. At this time, the course calculation unit 13 c calculates the intersection of the perpendicular to the long side of the parking target area 205 and the perpendicular in the traveling direction at the reverse start position 212 as the second rotation center 214. Then, the course calculation unit 13c sets the arcuate line segment having the radius R2 around the second rotation center 214 connecting the parking target area 205 and the reverse start position 212 as the reverse path 207. As a result, the course calculation unit 13c calculates the course that can travel from the reverse start position 212 to the parking target area 205 as the backward path 207 by traveling along the backward path 207 at a constant steering angle. Then, using the coordinate information indicating the backward path 207, the display image creating unit 13d draws the backward path 207 on the overhead image 300.

  In this way, the parking assist device sets the reverse start position 212 that can be moved backward to the parking target area 205 with the steering angle being maximized when the host vehicle 201 is parked in the parking target area 205, and the reverse start position 212 is set. It is possible to present the forward path 206 that travels toward the vehicle and the backward path 207 that travels toward the parking target area 205.

  Furthermore, the parking assistance device may cause the host vehicle 201 to come into contact with the obstacle when traveling on the forward path 206 or the backward path 207 based on the distance from the obstacle detected by the obstacle detection unit 7. When it is determined that there is, it is desirable to make a correction so that the vehicle travels by turning right or left from the forward path 206 or the reverse path 207.

  For example, as shown in FIG. 9, when an obstacle such as the other vehicle 204C is detected on the side facing the parking target area 205 by the ultrasonic sensor 7b of the obstacle detection unit 7, the route calculation unit 13c and the other vehicle 201 The possibility of contact with the vehicle 204C is determined. When moving the position 211 of the host vehicle along the forward path 206, the path calculation unit 13c may contact the other vehicle 204C when the position 211 of the host vehicle moves along the forward path 206. Ask for. This limit line 215 is a line where the reverse start position 212 set on the reverse travel path 207 centered on the second rotation center 214 contacts the other vehicle 204C. Then, the course calculation unit 13c sets the reverse start position 212 so that the position 211 of the host vehicle does not exceed the limit line 215, and sets the forward course 206.

  As described above, when the parking assistance device determines that there is a possibility of contacting with not only the other vehicle 202 adjacent to the parking target area 205 but also other obstacles such as the other vehicle 204C facing the parking target area 205. In addition, a limit line 215 can be set. Thereby, the parking assistance device can correct the forward travel path 206 and the reverse travel path 207 to turn right or turn left by correcting the reverse start position 212.

  Further, the parking assist device, when the forward route 206 and the backward route 207 where the own vehicle 201 does not contact with the obstacle cannot be calculated by the route calculation unit 13c, retreats to a position where it does not come into contact with the obstacle and then travels backward again. And the reverse start position for entering the parking target area 205 is calculated.

  As shown in FIG. 10A and FIG. 10B, the parking support apparatus is configured to start from the parking target area 205 when a wall 204D as an obstacle exists on the side facing the parking target area 205. Even if the reverse start position 212 that allows the vehicle to move backward with the steering angle is set, the wall 204D and the host vehicle 201 come into contact with each other, and the forward path 206 and the reverse path 207 where the wall 204D and the host vehicle 201 do not contact cannot be set.

  In this case, as shown in FIG. 10A, the course calculation unit 13c first advances the own vehicle 201 from the initial stop position of the own vehicle 201 to the first stop position 221 and the first stop. A backward traveling path for reversing the host vehicle 201 from the position 221 to the second stop position 222 is calculated. At this time, the course calculation unit 13c sets the intersection of the vertical line in the traveling direction at the initial stop position of the host vehicle 201 and the vertical line in the traveling direction at the first stop position 221 as the first rotation center 213, and performs the first rotation. A forward course around the center 213 is set. In addition, the course calculation unit 13c sets the intersection of the vertical line in the traveling direction at the first stop position 221 and the vertical line in the traveling direction at the second stop position as the second rotation center 214, and the second rotation center 214 is set as the center. Set the reverse path.

  Next, as shown in FIG. 10B, the course calculation unit 13 c sets a forward path for advancing from the second stop position 222 to the third stop position 223, and from the third stop position 223 to the parking target area 205. Set the reverse path to reverse. At this time, the course calculation unit 13c sets the intersection of the traveling direction perpendicular to the second stop position 222 of the host vehicle 201 and the traveling direction perpendicular to the third stop position 223 as the third rotation center 224, and A forward course around the center of rotation 224 is set. Further, the course calculation unit 13c sets the intersection of the vertical line in the traveling direction at the third stop position 223 and the vertical line of the parking target area 205 as the fourth rotation center 225, and moves backward with the fourth rotation center 225 as the center. Set the course.

  As described above in detail, according to the parking assistance apparatus to which the present invention is applied, the parking target area 205 is set in the overhead image 300 based on the distance from the host vehicle 201 to the obstacle, and the parking target area Since a display image in which a parking target mark representing 205 is superimposed on the bird's-eye view image 300 is displayed, even if the video of the other vehicle falls in the bird's-eye view image 300, the parking target area has the same sense of distance as the situation seen by the driver. 205 can be set and displayed on the overhead image. Therefore, according to this parking assistance apparatus, even when a parking target is set using an overhead image, parking can be performed in a state assumed by the driver.

  Further, according to this parking assist device, the backward route 207 in which the host vehicle 201 travels to the parking target area 205 is calculated by the route calculating unit 13c, and the backward route 207 is superimposed on the overhead image 300 by the display image creating unit 13d. Therefore, it is possible to present to the driver the course until the host vehicle 201 enters the parking target area 205 set according to the distance from the obstacle.

  Furthermore, according to this parking assist device, when the obstacle detection unit 7 detects that the other vehicles 202A and 202B exist on both sides of the parking frame that is a candidate for setting the parking target area 205, Since the parking target area 205 is set so that the center between the other vehicles 202A and 202B existing on both sides of the frame coincides with the center of the parking target area 205, a certain amount between the other vehicles 202A and 202B on both sides. It is possible to guide to the parking target area 205 that keeps the distance.

  Furthermore, according to this parking assist device, when the obstacle detection unit 7 detects that an obstacle exists on one side of the parking frame that is a candidate for setting the parking target area 205, Since the parking target area 205 is set so that the distance to the obstacle existing on one side is kept at a predetermined distance, guidance to the parking target area 205 that keeps the distance from the other vehicle 202 on one side of the parking frame is performed. Can do.

  Furthermore, according to this parking assist device, when the obstacle detection unit 7 detects that there is an obstacle behind the parking frame that is a candidate for setting the parking target area 205, the parking frame Since the parking target area 205 is set so that the distance to the obstacle existing on the rear side of the vehicle is a predetermined distance, the parking target area 205 is guided so as to maintain the distance from the other vehicle 202 behind the parking frame. be able to.

  Furthermore, according to this parking assist device, the vehicle starts to move backward with the steering angle of the host vehicle 201 being maximized based on the target parking area 205 and the movable range of the host vehicle 201 to enter the parking target area 205. Since the forward start path 212 for calculating the reverse start position 212 to be entered and moving forward to the reverse start position 212 is calculated, and the reverse path 207 for returning from the reverse start position 212 with the steering angle being maximized, the parking target is calculated. When the area 205 is set, parallel parking in which the traveling direction of the parking frame and the host vehicle 201 is perpendicular can be performed by reverse traveling only once at the maximum steering angle.

  Furthermore, according to this parking assistance device, when the vehicle 201 travels on the forward path 206 or the reverse path 207 based on the distance from the obstacle detected by the obstacle detection unit 7, the host vehicle 201 is identified as an obstacle. When it is determined that there is a possibility of contact, the vehicle is corrected so that the vehicle travels by turning right or left from the forward path 206 or the backward path 207. Even if the vehicle 205 cannot be guided to the area 205, the host vehicle 201 can be guided to the parking target area 205 by the corrected forward path 206 and the parking path 207. Therefore, according to this parking assist device, even when the parking target area 205 is set in a narrow parking lot and parked, it can be guided to the parking target area 205 that keeps a distance from surrounding obstacles. .

  Furthermore, according to this parking assist device, the forward path 206 that determines the possibility that the vehicle 201 is in contact with an obstacle existing on the side facing the parking target area 205 and guides to the parking target area 205, and Since it is possible to recalculate the backward path 207, even when the parking target area 205 is set in a narrow parking lot and parked, the vehicle is guided to the parking target area 205 that keeps a distance from surrounding obstacles. Can do.

  Furthermore, according to this parking assist device, when the forward path 206 and the backward path 207 in which the host vehicle 201 does not come into contact with the obstacle cannot be calculated, the backward running is performed again after the vehicle 201 is moved back to the position where it does not come into contact with the obstacle. Since the forward path 206 and the backward path 207 to start and enter the parking target area 205 are calculated, even when the parking target area 205 is set in a narrow parking lot and parked, the distance to surrounding obstacles is calculated. It is possible to guide to the maintained parking target area 205.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a block diagram which shows the structure of the parking assistance apparatus to which this invention is applied. It is a figure explaining the process which creates a bird's-eye view image with the parking assistance apparatus to which this invention is applied. It is a figure explaining the process which detects the distance with an obstacle when the own vehicle drive | works in the direction perpendicular | vertical to a parking frame, and sets a parking target area | region. It is a figure which shows the screen which displays a parking target area | region, a forward course, and a parking course by the parking assistance apparatus to which this invention is applied. It is a figure for demonstrating setting a parking target area | region in the middle of the other vehicle which exists in the both sides of a parking frame with the parking assistance apparatus to which this invention is applied. It is a figure for demonstrating setting the parking target area | region which left | separated predetermined distance from the other vehicle which exists in the one side of a parking frame with the parking assistance apparatus to which this invention is applied. It is a figure for demonstrating setting the parking target area | region which left | separated only the predetermined distance from the obstacle which exists behind the parking frame with the parking assistance apparatus to which this invention is applied. It is a figure for demonstrating the process which sets the parking course for parking in a parking target area | region, the reverse start position, and a forward course by the parking assistance apparatus to which this invention is applied. To describe a process for setting a parking path, a reverse start position, and a forward path for parking in the parking target area when there is an obstacle on the side facing the parking target area by the parking assist device to which the present invention is applied. FIG. It is a figure for demonstrating the process which sets the parking course for parking in a parking target area | region, a reverse start position, and a forward course by the parking assistance apparatus to which this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Image processing apparatus 2a, 2b, 2c, 2d Camera module 3 Operation input part 4 Vehicle speed sensor 5 Steering angle sensor 6 Shift position sensor 7 Obstacle detection part 7a, 7b Ultrasonic sensor 8 Monitor 10 Communication line 11a, 11b, 11c, 11d input buffer 12 CPU
DESCRIPTION OF SYMBOLS 13 Image processing part 13a Image conversion part 13b Parking target area | region setting part 13c Course calculation part 13d Display image creation part 14 Table memory | storage part 14a Address conversion table 15 Output buffer 204A Contour position 204B Contour position 205 Parking target area 206 Forward progress path 207 Reverse path 212 Reverse start position 300 overhead image

Claims (8)

Photographing means for photographing the periphery of the vehicle;
Image conversion means for generating a bird's-eye view image from the vehicle periphery image photographed by the photographing means;
Obstacle detection means for detecting the distance to the obstacle present around the vehicle;
Based on the distance to the obstacle detected by the obstacle detection means, a parking target area setting means for setting a parking target area in the overhead view image generated by the image conversion means,
Display image creation means for creating a display image in which a parking target mark representing a parking target area set by the parking target area setting means is superimposed on an overhead image generated by the image conversion means;
Display means for displaying the display image created by the display image creation means ,
The parking target area setting means includes:
A white line included in the vehicle peripheral image is detected, and an area surrounded by the white line is set as a candidate parking target area;
When the obstacle detecting means detects that an obstacle exists only on one side of the parking frame that is a candidate for the parking target area, a distance from the obstacle that exists on one side of the candidate for the parking target area Is the first predetermined distance, the distance between the candidate of the opposite parking target area where the first predetermined distance is set and the white line is the second predetermined distance, and the first predetermined distance is greater than the second predetermined distance. A parking assist device that sets a parking target area as described above . A route calculation means for calculating a route until the vehicle reaches the parking target area set by the parking target area setting means;
The display image creating means creates a display image in which the course calculated by the course computing means is superimposed on the overhead image, and the display means displays a display image including the course. Item 10. The parking assistance device according to item 1.   The parking target area setting means, when the obstacle detecting means detects that there is an obstacle behind the parking frame that is a candidate for setting the parking target area, The parking assist device according to claim 1 or 2, wherein a parking target area is set so that a distance from an obstacle existing in the vehicle is maintained at a predetermined distance. The course calculation means starts backward traveling with the steering angle of the vehicle maximized based on the parking target area set by the parking target area setting means and the movable range of the vehicle, and enters the parking target area. 3. A backward start position for calculating a backward start position to be entered and calculating a forward path for moving forward to the reverse start position, and a reverse path for moving backward with the steering angle maximized from the reverse start position. The parking assistance device according to claim 3 . The route calculation means may cause the vehicle to come into contact with an obstacle when traveling along the forward path or the backward path based on the distance from the obstacle detected by the obstacle detection means. The parking assist device according to claim 4 , wherein when the determination is made, the vehicle is corrected so that the vehicle travels by turning right or left from the forward or backward path. The path calculation means, according to claim 5, characterized in that to determine the possibility of the parking target area obstacle existing on the side facing the parking target area set by the setting means and the vehicle are in contact Parking assistance device. The route calculation means calculates a route for starting a backward traveling again and entering the parking target area after retreating to a position where the vehicle does not contact the obstacle when the route where the vehicle does not contact the obstacle cannot be calculated. The parking assistance device according to claim 5 or 6 , wherein Photographing the area around the vehicle;
Generating a bird's-eye view image from the captured vehicle periphery image;
Detecting a white line included in the vehicle peripheral image, and setting a region surrounded by the white line as a candidate parking target region;
Detecting the distance to obstacles around the vehicle;
When it is detected that an obstacle exists only on one side of the parking frame that is a candidate for the parking target area, the distance from the obstacle that exists on one side of the candidate for the parking target area is defined as a first predetermined distance. The distance between the candidate for the opposite parking target area where the first predetermined distance is set and the white line is the second predetermined distance, and the parking target area is set so that the first predetermined distance is greater than the second predetermined distance. Steps to set,
Creating and displaying a display image in which a parking target mark representing the parking target area is superimposed on an overhead image; and
The parking assistance method characterized by including .

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