JP2003104149A - Parking assistance device - Google Patents

Abstract

(57) [Summary] [Problem] To reduce the operation burden on a driver accompanying a parking operation of a vehicle. A shape of a parking area, a position of an obstacle around the parking area, and the like are detected using distance sensors installed on left and right side surfaces in front of a vehicle. The ECU calculates a guidance area for guiding the own vehicle and a steering angle for reaching the guidance area based on the positional relationship between the shape of the parking area and the own vehicle. In addition, a camera is installed at the rear of the vehicle so that an image behind the vehicle can be captured in real time. When the vehicle retreats, the guidance screen is divided into two parts, left and right, a back-view video taken by the camera is displayed on the left screen, and a bird's-eye view near the parking area is displayed on the right screen. The back view image displays a tire trajectory based on the current steering angle and a guideline for guiding the vehicle to the guidance area, and a bird's-eye view also displays the positional relationship between the guidance area and the vehicle. The driver can set the steering angle while looking at the guidance screen.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device, and more particularly to a device that assists a driving operation when parking a vehicle in a parking space.

[0002]

2. Description of the Related Art When a vehicle is parked in a parking area, a driver recognizes the parking area and repeatedly moves forward and backward while turning a steering wheel to move the vehicle to the parking area. Such a parking operation is a difficult operation for a driver who has little driving experience, and it is difficult for even a person who has a lot of driving experience to operate the vehicle while turning the steering wheel.

Various systems have been proposed in the past for supporting such difficult parking operations, for example, one using a back guide monitor. In this system, a display device such as a liquid crystal display is installed near the driver's seat, and an image taken by a camera installed in the rear part of the vehicle is displayed in real time. Thus, the driver can perform the parking operation while checking the image displayed on the display device. In addition, an obstacle is detected by a distance sensor, the shape of the parking area is detected, and the relative position between the parking area and the vehicle is displayed as an image, and the vehicle trajectory when traveling (backward) at the current steering angle is displayed. There are technologies that are designed to display more.

[0004]

However, a parking assist device, such as a back guide monitor, which only monitors a rear image of a vehicle captured by a camera on a display device is effective for a purpose of confirming an obstacle behind. However, it is difficult to understand the parking area and the positional relationship between the obstacle and the vehicle, and it is also difficult to guide the driver to safely park in the parking area. In addition, when the shape of the parking area is detected by a distance sensor or the like and is represented by a symbol, it is less realistic than the image on the back guide monitor. For this reason, any of the methods imposes a burden on the driver.

Therefore, an object of the present invention is to provide a parking assist device which can reduce the operation load on the driver.

[0006]

According to a first aspect of the present invention, the parking signal is obtained by using a detection signal of a distance sensor attached to a vehicle to obtain a parking area that is positionally associated with the position of the vehicle. Area acquisition means, guidance position calculation means for calculating a guidance position to be passed in order to move the vehicle to the acquired parking area, and a rear image for obtaining a rear image of the vehicle including the guidance position The parking assist device is equipped with an acquisition unit and a display unit that displays the acquired image and the acquired guidance position in a distinguishable manner on the image to achieve the above object. In the invention according to claim 2, in the parking assistance device according to claim 1,
The display means further includes a steering angle acquisition unit that acquires a current steering angle of the vehicle, and a vehicle movement locus acquisition unit that acquires a movement locus of the vehicle when the vehicle is moved by the acquired steering angle. Further, it is characterized in that the acquired trajectory of the vehicle is displayed in a distinguishable manner on the video. In the invention according to claim 3, in the parking assistance device according to claim 1 or 2, the displayed movement trajectory of the vehicle is updated according to the change in the acquired steering angle. Characterize. In the invention according to claim 4, in the parking assistance device according to claim 2 or claim 3, the display means displays the parking available area acquired by the parking area acquiring means in a bird's-eye view. The bird's-eye view display means further includes a bird's-eye view display means, and the bird's-eye view display means displays the position of the vehicle in a distinguishable manner, and the guide position map display in which the acquired guidance position is displayed in a distinguishable manner. Means and an expected arrival position map display means for discriminatingly displaying an expected arrival position expected to be reached when the vehicle is moved backward with the acquired steering angle on the displayed overhead view. Prepare. In the invention according to claim 5, in the parking assistance device according to claim 4, the parking assistance device according to any one of claims 1 to 5, wherein the vehicle moves backward. The vehicle position map display means displays the rear part of the vehicle in a tail-up state vehicle symbol at a predetermined position, and the guide position map display means retracts the vehicle. According to the above, the display position of the guide position is changed. According to a sixth aspect of the invention, there is further provided a voice output means for outputting information for moving the vehicle to the guidance position by voice.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS.
FIG. 1 illustrates a configuration of the parking assistance device 1 according to the present embodiment. The parking assist device 1 is mounted in the main body of the vehicle and has a distance sensor 21 that detects a distance from the vehicle to surrounding objects and a steering sensor 22 that detects a steering wheel turning angle (steering angle) and a steering wheel operating direction.
A vehicle speed sensor 23 for detecting the speed of the vehicle, a shift lever position detection device 24 installed on the shift lever for detecting the shift lever position, and a camera 28 attached to the rear of the vehicle for capturing an image of the rear of the vehicle. .

Further, the parking assist device 1 includes a distance sensor 2
1. Performing parking operation support equipment processing based on the detected values supplied from the steering sensor 22 and the vehicle speed sensor E
The CU (electronic control unit) 25 and the image by the camera 28 are displayed, the relative positional relationship between the detected parking area and the own vehicle position is displayed, and further steering operation and driving operation for parking are supported. A display (display means) 26 for displaying a guide screen to be displayed, and a speaker (sound generation means) 2 for transmitting a signal sound supplementing the display content and a voice for driving operation guidance.
7 and 7.

The distance sensor 21 is composed of, for example, an ultrasonic sensor and functions as a distance detecting means. The distance sensor 21 includes an ultrasonic pulse transmitter and a receiver that receives the ultrasonic pulse reflected by the object. These transmitters / receivers measure the propagation time of ultrasonic waves and measure the distance by the propagation time. Also,
The distance sensor 21 is not limited to the ultrasonic sensor, and a laser sensor or other sensor can be used.

A total of two distance sensors 21 are arranged, one on each of the left and right sides of the front end of the vehicle. Distance sensor 2
1 constitutes a parking feasible area acquisition means for acquiring a parking feasible area, that is, a parking feasible area by operating together with a steering sensor 22 and a vehicle speed sensor 23, which will be described later, to search for obstacles on the side of the host vehicle. is doing. It should be noted that a total of two may be arranged, one on each of the left and right sides of the rear end of the vehicle, and the distance may be measured by a total of four. When four distance sensors 21 are arranged, the distance sensors 21 on both sides of the vehicle front are used when the vehicle moves forward, and the distance sensors 21 on both sides of the vehicle rear are used when the vehicle moves backward. In this case, the detection accuracy may be increased by using it for confirmation of the distance detected by the sensor at the other end.

The steering sensor 22 constitutes a steering angle acquisition means and detects the steering operation amount, that is, the steering movement amount and its direction. From this steering operation amount, it is determined how many times the steering angle is operated to the left and right. As the supplied operation amount, the steering position in the straight traveling state is set to 0, the operation amount to the right is +, the operation amount to the left is −, and the movement amount is shown by a numerical value. For example,
When the detection value of +150 is supplied, it means that the steering operation is performed to the right by 150 degrees. The steering sensor 22 functions as a steering angle detecting means, and also functions as a vehicle position detecting means together with the vehicle speed sensor 23.

The vehicle speed sensor 23 outputs a vehicle speed pulse in order to detect the vehicle speed, and measures the vehicle speed pulse to calculate the moving distance of the vehicle. Also, the vehicle speed when the vehicle is moving forward is recognized as +, and when the vehicle is moving backward, the vehicle speed is recognized as-, and the vehicle speed when the vehicle is moving forward and when it is moving backward is distinguished. You can do it.

The ECU 25 is a CPU (Cen not shown).
tral ProcessingUnit), ROM
(Read Only Memory), RAM (Ra
It is configured by a computer system that includes an ndom access memory) and other devices. The CPU of the ECU 25 controls the entire system according to various programs stored in a storage unit including a ROM, and at the same time, performs parking area detection processing, vehicle guidance processing, guidance area calculation / display processing, forward processing, backward processing according to the present embodiment. Various processes are performed to support parking operations such as.

The ROM stores programs and data for executing these various processes by the CPU, vehicle information regarding the vehicle in which the parking assistance apparatus 1 is installed, and the like. This vehicle information is information for determining the turning performance of the vehicle, and includes vehicle length, vehicle width, wheel base, tread length, maximum snake angle, and the like. The ROM also stores the voice data of the support guidance voice output from the speaker 27 in the parking operation support process. The voice data may be stored in a storage means other than the ROM.

The RAM is used as a so-called working area where the CPU reads and writes various data when executing various programs, and stores, for example, detected values by each sensor, calculated parking areas, guidance areas, guidelines, and the like.

The ECU 25 may be provided with a storage unit for storing various data and programs. This storage unit does not have to be the same type of storage medium, and each unit may use a different storage medium. For example, when the parking area is constant and does not change like the parking space at home, and the condition of surrounding obstacles has been measured in advance, the measured data of the surrounding condition is stored in the IC card. You may make it memorize | store in.

The ECU 25 uses the detection values of the distance sensor 21, the steering sensor 22, and the vehicle speed sensor 23 to perform RO.
A guide position calculating means for calculating a guide area, which is a position to guide the own vehicle 2 from a program stored in M, and a vehicle movement locus obtaining means for obtaining a movement locus of the vehicle by calculation are configured.

The display 26 is composed of various display devices such as a CRT display, a liquid crystal screen, a plasma display, etc., and functions as a display means. A guide screen is displayed on the display 26, and on this guide screen, the relative positional relationship between the parking area obtained as a result of the calculation and the own vehicle, and the expected movement trajectory (guideline) of the own vehicle are detected. A bird's-eye view showing an appropriate vehicle position (guidance area) to be moved from the current position in order to move the vehicle to the parking area, an image taken by the camera 28, and the like are displayed. As will be described later, the display 26 displays vehicle position map display means for displaying the position of the vehicle by a vehicle symbol, guide position map display means for indicating the position of the guidance area, and the vehicle 2 at the current steering angle. An expected arrival position map display means for displaying a position expected to be reached when the vehicle advances. Through the guide screen of the display 26, the driver receives assistance for the position where the vehicle should move and parking operation such as steering operation.

The speaker 27 is a voice output means for emitting auditory information representing position information in place of the visual information displayed on the display 26 and auditory information supplementing the visual information. Specifically, voice guidance for shift lever position, voice guidance for start of forward / backward movement, voice guidance for steering wheel operation,
Audience information such as a notification sound to notify the completion of steering wheel operation, forward movement and backward movement is output.

The camera 28 is composed of, for example, a CCD camera. The camera 28 is installed so as to photograph the rear of the vehicle, and constitutes a rear image acquisition means. The camera 28 is used to display an image of the rear of the vehicle (back view image) on the display 26 in real time when the vehicle enters the parking area in the back. Further, on the image taken by the CCD camera, the guideline for adjusting the steering angle and the current vehicle movement locus are displayed so as to be superimposed on the image.

The parking assist system 1 also includes an input unit (not shown). The input unit includes, for example, a touch panel attached on the screen of the display 26, a wireless or wired remote control device, and the like. The input unit includes a start button for starting parking operation support, various function buttons, and the like. A voice recognition device may be arranged in the input unit to enable voice input.

Next, the operation of parking assistance by the parking assistance device 1 thus constructed will be described. 2 to 4
FIG. 4 shows an example of the configuration of the guidance screen displayed on the display 26 by the situation of the vehicle performing the parking operation and the parking assistance process. Each of the figures is a pair on the left and right, the figure on the left schematically shows the situation in which the vehicle is parked, and the figure on the right shows the display 2 at that time.
6 shows the guide screen 15 displayed.

FIG. 2 (a) shows that the driver has begun to drive in front of the parking area 3 in order to park the vehicle 2 in the parking area 3. Before approaching the parking area 3, the driver switches on the start button to operate the parking assistance device 1. Then, the ECU 25 displays the guide screen 15 shown in FIG.
EC For example, output the sound from the speaker 27 such as "Please set the shift position to drive. Please fix the steering wheel and proceed straight and slowly. Please stop the car with the audible signal of pu, pu, pee." By that,
Guidance on the next operation to be performed.

When the vehicle starts traveling, the ECU 25 starts recognition of parking area candidates. In FIG. 2A, by using two distance sensors 21 arranged at the left and right front ends of the vehicle to search for obstacles on both sides of the vehicle, such as adjacent vehicles 4 and 5 on both sides of the parking area 3. Done. Then, the ECU 25 displays the obstacles on both sides of the vehicle on the guide screen 15 in real time based on the detected distance to the obstacle and the moving distance detected by the vehicle speed sensor 23.

On the guide screen 15, a vehicle symbol 6 representing the host vehicle is displayed in front-up (displaying the front of the vehicle with the front of the screen facing upward). Own vehicle symbol 6
Obstacle symbols 31 representing obstacles on the parking area side and obstacle symbols 32 representing obstacles on the side facing the parking area are displayed on the left and right sides of the vehicle as the vehicle moves.

The guide screen 15 has a virtual parking area 30.
Are formed as the vehicle travels. In front of the vehicle symbol 6, a vehicle locus 33 that represents the movement locus of the vehicle at the current steering angle, and a guidance area 34 that is a recommended stop position.
Is displayed in blue, for example.

The appropriate vehicle speed at which the distance sensor 21 can be appropriately performed is, for example, within 30 km / hour, and if the vehicle speed becomes faster than that, it becomes difficult to detect an obstacle. So EC
When the detection value of the vehicle speed sensor 23 becomes a speed at which it is difficult to detect an obstacle, the U25 issues a "beep" notification sound from the speaker 27 and then announces "Please reduce the vehicle speed." The ECU 25 also displays the current vehicle speed on the guide screen 15 and displays "vehicle speed is within 30 km!" To alert the driver.

When the host vehicle 2 moves forward and approaches the guide area 34, the ECU 25 outputs a warning sound such as "Pop, Pup ..." from the speaker 27 to inform the driver that the host vehicle is approaching the guide area. Advance notice. And the ECU 25
Generates a notification sound such as "pee" when the vehicle reaches the guidance area, and instructs the driver to stop the vehicle. In this way, by giving a notice and notification by voice, the confirmation work on the screen of the driver is reduced.

FIG. 2 (c) shows that the vehicle 2 has reached the guidance area and stopped, and FIG. 2 (d) is a diagram showing the state of the guide screen 15 at that time. ECU
25 is a guidance screen 1 when the own vehicle 2 stops in the guidance area.
An overhead view showing the positional relationship between the vehicle 2 and the parking area 3 is displayed at 5. The parking area 3 is represented by the parking area symbol 38. Then, the ECU 25 outputs, from the speaker 27, a voice for guiding the shift operation such as "Please put the shift lever in the rear."

FIG. 2 (e) shows that the shift lever is put in the rear with the host vehicle 2 stopped.
(F) is a diagram showing the guide screen 15 at that time.
When the shift lever position detection device 24 detects that the shift lever has been put in the rear, the ECU 25 calculates a guide area which is the most appropriate moving position for moving the vehicle from the vehicle position to the parking area 3. And E
The CU 25 displays a screen for guiding the vehicle on the guide screen 15 formed using the calculation result. The ECU 2
5 may be configured not to detect the shift lever position but to detect that the host vehicle 2 has stopped and start calculation of the guidance area.

The guide screen 15 is converted into a two-screen display of a left screen and a right screen. On the left screen, a rear image of the vehicle 2 captured by the camera 28 is displayed. In the rear image, the vehicle movement locus 40 when the vehicle retreats while maintaining the current steering angle, the expected arrival area 43 in that case, and the own vehicle 2
A guide line 41, which is a line for guiding the guide to the guide area, is displayed in a predetermined color in an overlapping manner on the image. The vehicle movement locus 40 and the expected arrival area 43 are displayed in, for example, blue, and the guideline 41 is displayed in, for example, yellow. The portion where the vehicle movement trajectory 40 and the guideline 41 overlap is displayed in, for example, light blue. Note that the guide screen may be converted into a two-screen display of an upper screen and a lower screen instead of being displayed on the left and right.

When the driver rotates the steering wheel, the vehicle movement locus changes accordingly. The ECU 25
Accordingly, the vehicle movement locus 40 is changed in association with the steering wheel operation. This is performed by the ECU 25 calculating the vehicle movement locus in real time based on the detection value of the steering sensor 22 and updating the vehicle movement locus 40 using the calculation result. In this way, the ECU 25
The driver can be prompted to match the vehicle movement trajectory 40 with the guideline 41.

On the right screen, a bird's-eye view of the vehicle symbol 6 shown by tail-up (displaying the rear part of the vehicle with the upper part of the screen facing up) is displayed. By displaying the vehicle symbol 6 in the tail-up, the movement (direction) of the movement of the vehicle symbol 6 and the movement of the rear image when the vehicle travels in the back direction match. For this reason, when the driver looks at the screen, the moving directions of the vehicle on the left and right screens match each other, which makes it easier to understand the positional relationship between the vehicle and the obstacle. A steering wheel rotation direction guide 42 is displayed by the ECU 25 above the right screen. Handle rotation direction guide 42
Is composed of a symbol imitating a handle and an arrow line representing the direction in which the handle is rotated. The steering wheel rotation direction guide 42 can instruct the driver in the direction in which the steering wheel should be rotated.

A steering angle display field 45 for displaying the steering angle is provided below the right screen. The steering angle display field 45 is represented by the ECU 25 as a horizontally long bar, and the target indicator 46 and the current steering angle indicator 47 are displayed as images in a predetermined color. Here, as an example, it is assumed that the target indicator 46 is yellow and the current steering angle indicator 47 is blue. Also, when the target indicator 46 and the current steering angle indicator 47 overlap each other, they are displayed in light blue.

The target indicator 46 is always displayed in the center of the steering angle display field 45. When it is necessary to rotate the steering wheel to the left to move the host vehicle 2 to the guidance area, the current steering angle indicator 47 is displayed on the right side of the target indicator 46. Further, when it is necessary to rotate the steering wheel to the right, the current steering angle indicator 47 is displayed on the left side of the target indicator 46.
The display position of the current steering angle indicator 47 changes in real time according to the steering angle detected by the steering sensor 22.

The distance between the target indicator 46 and the current steering angle indicator 47 is determined by the steering angle.
Is approximately proportional to the difference between the recommended steering angle, which is the steering angle required to move the vehicle to the guidance area, and the current steering angle. Here, the guide area is an optimum guide area calculated by the ECU 25 from the positional relationship between the parking area 3 and the own vehicle 2 when the own vehicle 2 is parked in the parking area 3. The driver can set the steering angle to the recommended steering angle by rotating the steering wheel so that the current steering angle indicator 45 matches the target indicator 46.

Above the vehicle symbol 6, an expected arrival area 43, which is reached when the vehicle moves backward while maintaining the current steering angle, and an intermediate area calculated by the ECU 25 from the positional relationship between the parking area 3 and the host vehicle 2. The guide area 44, which is the guide position, is displayed in a predetermined color. For example, the expected arrival area 43 is displayed in blue, and the guidance area 4
4 shall be displayed in yellow. When the driver rotates the steering wheel, the ECU 25 detects the steering angle by the steering sensor 22 and updates the expected arrival area 43 on the screen in real time. It is assumed that the expected arrival area 43 and the guidance area 44 are displayed in, for example, a light blue color.

Since the vehicle 2 is guided to the guidance area calculated by the ECU 25, the driver will adjust the steering angle to the calculated recommended steering angle while the vehicle 2 is stopped. At this time, the ECU 25 assists the driver's steering wheel operation by outputting a voice such as "Please turn the steering wheel to the left until there is a signal of" beep "" from the speaker 27.

When the driver rotates the steering wheel in the direction indicated by the steering wheel rotation direction guide 42, the ECU 25
The amount of change in the steering angle is detected by the steering sensor 22, and the display content of the guide screen 15 is updated. EC
The U25 changes the vehicle movement locus 40 on the left screen in real time according to the detection value of the steering sensor 22. When the steering angle becomes the recommended steering angle, the vehicle movement locus 40 and the guideline 41 overlap each other.

The ECU 25 displays the current steering angle indicator 47 in the steering angle display field 45 on the right screen.
The display position of is changed according to the steering angle detected by the steering sensor 22. When the current steering angle and the recommended steering angle match, the target indicator 46 and the current steering angle indicator 47 match. Furthermore, as the driver turns the steering wheel, the expected arrival area 43 moves toward the guidance area 44 and overlaps with it.

When the current steering angle matches the recommended steering angle, the ECU 25 makes a loud beeping sound from the speaker 27, and then "slowly back with the steering wheel kept at that angle. , Please stop the car with the signal sound of "," and so on.

FIG. 3 (g) shows the host vehicle 2 moving backward while keeping the steering angle at the recommended steering angle, and FIG. 3 (h) shows the guide screen 15 at that time.
It shows the display of. The guidance screen 15 continues to be a two-screen display, in which a rear image by the camera 28 is displayed on the left screen, and a bird's-eye view based on a tail-up diagram is displayed on the right screen.

On the left screen, a line 50 in which the moving path of the vehicle and the guide line overlap each other is displayed on the image captured by the camera 28. The reason why the line 50 overlaps the vehicle movement trajectory and the guideline is that the current steering angle is set to the recommended steering angle. On the other hand, the right screen is displayed using the obstacle symbol 51 and the vehicle symbol 6 in which the relative positional relationship between the parking area 3 and the host vehicle 2 represents an obstacle around the parking area 6. The vehicle symbol 6 is fixed on the screen, and the obstacle symbol 51 moves as the vehicle 2 moves backward.

On this right screen, the ECU 25 calculates the movement amount of the host vehicle 2 from the detection values of the steering sensor 22 and the vehicle speed sensor 23, and the host vehicle 2 obtained by this calculation is calculated.
And the parking area 3 are displayed using the positional relationship.

The ECU 25 calculates the position of the host vehicle 2 from the detection values of the steering sensor 22 and the vehicle speed sensor 23,
When it detects that the host vehicle 2 is approaching the guidance area, it outputs a warning sound from the speaker 27 to notify the host vehicle 2
When it detects that the vehicle has reached the guidance area, please stop "Pee". 2) Voice guidance such as
Output from 7.

FIG. 3 (i) shows the vehicle 2 reaching the guidance area and stopping, and FIG. 3 (j) is a diagram showing the guide screen 15 at that time. The left screen of the guide screen is an image of the rear of the vehicle 2 by the camera 28, and the right screen is a bird's eye view composed of the vehicle symbols 6 and the like. The vehicle symbol 6 and the guide area 44 overlap. When the driver stops in the guidance area according to the voice guidance, the ECU 25 outputs a guidance voice such as "Please put the shift lever in the drive" from the speaker 27. Accordingly, the driver sets the shift lever to drive. After that, as shown in FIG. 3 (i), the host vehicle 2 can reach the parking area 3 by turning the steering wheel to the right and moving forward and then turning the steering wheel to the left and back.

FIG. 3 (k) shows that the shift lever is set from back to drive while the host vehicle 2 is stopped in the guidance area, and FIG. 3 (l) shows the guide screen 15 at that time. It is a figure. When the ECU 25 detects from the detection signal of the shift lever position detection device 24 that the shift lever is set to drive, the ECU 25 calculates the optimum position of the next guidance area 53 for guiding the vehicle 2 to the parking area 3. .

Further, the ECU 25 switches the guide screen 15 to a bird's-eye view by a front-up view. The vehicle symbol 6 is displayed near the center of the guidance screen 15, the vehicle movement locus 55 at the current steering angle and the expected arrival area 54 are displayed in front of it, for example, in blue, and the guidance area 53 calculated by the ECU 25 is displayed in yellow, for example. Is displayed. ECU
25, the current steering angle is constantly detected by the steering sensor 22, and the vehicle movement locus 55 and the expected arrival area 54 are updated in real time according to the detected values. When the current steering angle matches the recommended steering angle, the predicted arrival area 54 and the guidance area 53 match and are displayed in, for example, light blue.

A steering wheel rotation direction guide 42 is displayed on the upper portion of the guide screen 15 to inform the driver of the direction in which the steering wheel should be rotated. A steering angle display field 45 is displayed at the bottom of the guide screen 15, and a target indicator 46 and a current steering angle indicator 47 are displayed. The steering wheel rotation direction guide 42 and the steering angle display field 45 are the same as those described in FIG.

When the driver sets the shift lever to drive, the ECU 25 outputs a voice guidance from the speaker 27, such as "Please turn the steering wheel to the right until there is a signal" Pee "", and the driver operates the steering wheel. To help.
When the driver turns the steering wheel to the right while the vehicle 2 is stopped, the ECU 25 detects the current steering angle by the steering sensor 22 and updates the guide screen 15.

As the driver rotates the steering wheel in the direction indicated by the steering wheel rotation direction guide 42, the expected arrival area 54 moves toward the guidance area 53, and when the current steering angle reaches the recommended steering angle, The predicted arrival area 54 and the guidance area 53 overlap. On the other hand, in the steering angle display field 45, as the steering wheel rotates,
When the current steering angle indicator 47 moves toward the target indicator 46 and the current steering angle reaches the recommended steering angle, the current steering angle indicator 47 overlaps the target indicator 46.

The ECU 25 also provides voice guidance using the speaker 27. When the current steering angle detected by the steering sensor 22 approaches the recommended steering angle, the ECU 25 emits a beeping sound, and when the current steering angle reaches the recommended steering angle, a beeping sound is emitted, followed by a "steering wheel". Please keep moving at that angle while moving forward slowly. Please stop the car with the beeping, buzzing, beeping, etc. "voice guidance.

When the driver advances the vehicle 2 according to voice guidance, the ECU 25 causes the steering sensor 22
The position of the host vehicle 2 is calculated from the detection signals from the vehicle speed sensor 23 and the like and displayed on the guide screen 15 in real time. Further, at this time, the vehicle symbol 6 is displayed to be stationary near the center of the screen and the obstacle symbols around it are moved and displayed. When the host vehicle 2 reaches the guidance area, the ECU 25 outputs a warning sound, such as "Pop-up", from the speaker 27, and when the host vehicle 2 reaches the guidance area, the ECU 25 stops the vehicle. Voice guidance such as ".

FIG. 4 (m) shows where the host vehicle 2 has reached the guidance area, and FIG. 4 (n) shows the guide screen 15 displayed at that time. ECU 25
Detects that the host vehicle 2 has stopped in the guidance area using detection signals from the steering sensor 22, vehicle speed sensor 23, etc., and provides voice guidance such as "Please put the shift lever in the back" from the speaker 27. , Encourage the driver to put the shift lever in the back.

FIG. 4 (o) shows a state in which the driver shifts the shift lever back while the vehicle 2 is stopped in the guidance area. FIG. 4 (p) shows the guide screen 1 at that time.
5 is shown. When the ECU 25 detects from the detection signal of the shift lever position detection device 24 that the shift lever is set to the back position, the ECU 25 determines the position of the next guidance area based on the relative positional relationship between the current position of the vehicle 2 and the parking area 3. At the same time as the calculation, the guide screen 15 is updated to one that supports the back operation.

The guidance screen 15 is converted into a two-screen display of a left screen and a right screen, as in FIG. 2 (f). On the left screen, a rear image of the vehicle 2 captured by the camera 28 is displayed. In the rear image, a vehicle movement locus 62 when the vehicle steers backward while maintaining the current steering angle and a guideline 61 which is a line for guiding the host vehicle 2 to the guidance area are displayed in a predetermined color in an overlapping manner on the image. .

The vehicle movement locus 62 and the guideline 61 are displayed in a predetermined color, and the vehicle movement locus is updated in real time as the driver operates the steering wheel, as in FIG. 2 (f). .

The vehicle symbol 6 and the obstacle symbol 66 are displayed on the left screen as a bird's-eye view of the tail-up diagram. On the left screen, an expected arrival area 64 that is expected to be reached when the vehicle moves backward with the current steering angle and a guidance area 63 that guides the vehicle 2 at the recommended steering angle are displayed. The predicted arrival area 64 and the guidance area 63 are displayed in a predetermined color, and the display position of the predicted arrival area 64 changes in accordance with the driver's operation of the steering wheel. And the guidance area 44.

A steering wheel rotation direction guide 42 is displayed on the upper part of the right screen, a current steering angle display field 45 is displayed on the lower part of the right screen, and a target indicator 46 and a current steering angle indicator 47 are displayed. The functions of the steering wheel rotation direction guide 42 and the current steering angle display field 45 are the same as those in FIG.

Further, the ECU 25 assists the driver's steering wheel operation by outputting a voice from the speaker 27 such as "Please turn the steering wheel to the right until there is a signal" Pee "".

When the driver turns the steering wheel to the right, the vehicle movement locus 62 approaches the guideline 61, and the expected arrival area 64 approaches the guidance area 63. Further, the current steering angle indicator 47 moves toward the target indicator 46. The driver can set the current steering angle to the recommended steering angle while recognizing these elements displayed on the screen.

When the current steering angle approaches the recommended steering angle, the ECU 25 notifies the driver that the current steering angle is close to the recommended steering angle by outputting a warning sound such as "pop-up" from the speaker 27. When the steering angle reaches the recommended steering angle, a beeping sound is emitted, and then, “Please keep moving backward while keeping the steering wheel at that angle. Stop the car with the beeping sound. Please give a voice guidance such as "Please." The next guidance area is a position where the partition of the parking area 3 and the own vehicle 3 are parallel to each other. At this position, when the steering angle is set to 0 degree and the vehicle further moves backward, the recommended parking position in the parking area 3 is reached.

When the driver starts the backward movement according to the voice instruction, the ECU 25 calculates the position of the own vehicle 2 in real time from the detection signals of the steering sensor 22 and the vehicle speed sensor 23, and updates the guide screen 15. On the left screen, an image captured by the camera 28 displays the situation in which the vehicle 2 is moving backward in real time, and a guideline 61 and a vehicle movement locus 62 are superimposed on the image. When the driver keeps the current steering angle and the recommended steering angle matched, the guideline 61 and the vehicle movement locus 62 overlap each other.

On the other hand, on the right screen, the display position of the obstacle symbol 66 moves as the vehicle 2 moves. In this case, the vehicle symbol 6 remains stationary near the center of the right screen. This is because the ECU 25 uses the steering sensor 22.
This is performed by calculating the positional relationship between the vehicle 2 and the parking area 3 using the detection signal of the vehicle speed sensor 23 and the like, and updating the display position of the obstacle symbol 66 using the calculated positional relationship.

Then, the ECU 25 determines that the calculated own vehicle 2
From the positional relationship between the parking area 3 and the parking area 3, when it is detected that the vehicle is approaching the guidance area, the speaker 27 starts outputting a warning sound such as "Puppup", and the vehicle 2 is guided as a result of the calculation of the positional relationship. If you decide that you have reached the area, please stop at "Pee". "A notification sound and a guidance voice are output. Therefore, the driver stops the vehicle 2.

When the ECU 25 detects that the host vehicle 2 has stopped in the guidance area based on the detection signals from the steering sensor 22, the vehicle speed sensor 23, etc., it updates the guide screen 15. Although not shown, the guide screen 15 is composed of a left screen for displaying an image by the camera 28 and a right screen for showing an overhead view by the back tail as in FIG. 4 (p). On the left screen, the vehicle movement trajectory and the guideline are superimposed on the video, and on the right screen, the steering wheel rotation direction guide,
A steering angle display field, a vehicle symbol, an obstacle symbol, etc. are displayed. The functions of these displayed elements are the same as those displayed on the guide screen 15 in FIG. 4 (p), and the driver can adjust the steering angle to 0 degree while watching these displays. There is. .

Further, the ECU 25 outputs a voice from the speaker 27, such as "straighten the steering wheel. Please turn the steering wheel to the right until there is a" pee "signal", and the driver operates by voice. We also provide support. When the driver turns the steering wheel to the right, the ECU 25 detects the current steering angle from the steering sensor 22. Then, when the current steering angle approaches 0 degrees, the ECU 25 makes a "pup" warning sound from the speaker 27, and when the current steering angle becomes 0 degrees, a warning sound such as "beep" is issued, and then "the steering wheel is turned on." Keep straight and slowly move backwards. Please stop the car with a beeping, buzzing, beeping, etc. ”voice guidance.

When the driver starts the backward movement of the vehicle 2, E
The CU 25 includes a steering sensor 22 and a vehicle speed sensor 23.
The current position of the host vehicle 2 is calculated from the detection signal such as the above, and the positional relationship between the host vehicle 2 and the recommended parking position is calculated. ECU 25
When the vehicle 2 approaches the recommended parking position, the speaker 27 outputs a warning sound "Puppup". And the ECU 2
When No. 5 determines that the vehicle 2 has reached the recommended parking position, it outputs a notification sound such as "Pee" and then stops at "Pee". The voice is output to prompt the driver to stop. The ECU 25 uses the vehicle speed sensor 23 to detect the own vehicle 2
When it is detected that the vehicle has stopped, the parking support processing is ended.

FIG. 4 (g) shows the vehicle 2 parked in the parking area 3, and FIG. 4 (r) shows the guide screen 15 at that time. After the parking support process ends, E
The CU 15 displays a parking end guide such as “Thank you for your hard work” on the guide screen 15. In this embodiment,
Although the parking assist process is ended by detecting that the host vehicle 2 has stopped, the following configuration may be adopted. ECU2
When the vehicle speed sensor 23 detects that the vehicle 2 has stopped, the speaker 5 outputs a voice guidance such as "Please set the shift lever to parking and stop the engine." When the ECU 25 detects that the shift lever is set to parking by the detection signal of the shift lever position detection device 24, the parking assist process is ended. Although the case where the own vehicle 2 is parked in parallel has been described above, the own vehicle 2 may be configured to be parked in parallel.

FIG. 5 is a flow chart for explaining the operation of the parking assist system 1. The ECU 25 starts the parking support process when the start switch is turned on by the driver or the like. When the vehicle 2 travels in front of the parking area 3,
The ECU 25 measures the distance to the obstacles on both sides of the host vehicle 2 by the distance sensors 21 installed on both sides of the host vehicle 2, while using the detection signal of the vehicle speed sensor 23 to determine the travel distance of the host vehicle 2. get. Further, the steering angle is detected by the steering sensor 22 (step 5). Note that the ECU 25 sequentially outputs these detected values to RA.
Store in M.

Next, the ECU 25 calculates and recognizes the shape of the obstacle by using the traveling distance of the own vehicle stored in the RAM and the distance from the own vehicle 2 to the obstacle at each traveling distance, and stores it in the RAM. Store (step 10).

Next, the ECU 25 searches for a candidate area for the parking area based on the shape of the obstacle stored in the RAM. When there is a candidate area for the parking area, the ECU 25 uses the shape of the candidate area and the shape data (length, width, etc.) of the own vehicle 2 stored in the ROM to determine whether the own vehicle 2 is in the candidate area. Whether or not it can be stored is determined by a determination program stored in the ROM.

If the vehicle cannot be stored, the ECU 25 determines that there is no parking area (step 15; N), and ends the parking assistance process. If it can be stored, ECU2
5 determines that the candidate area is a parking area (step 15; Y), and starts parking assistance guidance (step 2).
0). Then, when the own vehicle 2 finishes parking in the parking area, the parking support process is terminated. The parking assistance guide is the ECU 25.
First, the guide area is calculated from the shape of the parking area to start the parking operation, and the driver is urged to stop at that position by using the guidance screen or voice.

FIG. 6 is a flow chart for explaining the operation of parking assistance guidance in step 20. ECU 25
When starting the operation of the parking assistance guidance, the host vehicle 2 is moved to the parking area while repeating forward and backward movements based on the positional relationship between the parking operation start position and the parking area according to the program stored in the ROM. An intermediate stop position (guidance area) for switching the route for moving and the traveling direction is calculated. The ECU 25 sends the guidance information such as the route and guidance area acquired as a result of the calculation to the RA.
Store in M.

The ECU 25 uses the own vehicle 2 stored in the RAM.
It is determined whether the vehicle 2 is to be moved forward or backward based on the current position and the guidance information (step 30). When it is determined to move the vehicle forward (step 30; Y), the ECU 25 uses the display 26 and the speaker 27 to present guidance information for moving the vehicle 2 forward to the guidance area. Also,
The ECU 25 continuously acquires the detection signals of the steering sensor 22 and the vehicle speed sensor 23 and stores them in the RAM while the host vehicle 2 is moving forward based on the guide information, and based on these data, the current position of the host vehicle 2. Is calculated sequentially.

The ECU 25 determines whether or not the parking is completed after the own vehicle 2 reaches the guidance area, that is, the own vehicle 2 reaches the recommended parking position in the parking area based on the positional relationship between the own vehicle 2 and the parking area 3. If it is determined that the parking is completed (step 40; Y), the parking assistance guidance is ended. If the ECU 25 determines that the parking is not completed (step 4
0; N), return to step 30 and continue the parking assistance guidance.

If the ECU 25 determines in step 30 that the host vehicle 2 should not be moved forward (step 30;
N), the ECU 25 uses the display 26 and the speaker 27.
Is used to present guidance information for moving the vehicle 2 back to the guidance area. Further, the ECU 25 controls the steering sensor 2 while the vehicle 2 is moving backward based on the guidance information.
2. The detection signal of the vehicle speed sensor 23 is continuously acquired and RA
The data is stored in M and the current position of the host vehicle 2 is sequentially calculated from these data. The ECU 25 determines whether or not the parking is completed after the host vehicle 2 reaches the guidance area (step 40).

FIG. 7 is a flow chart showing the procedure for performing forward guidance in step 35. ECU 25
Detects the position of the shift lever by the shift lever position detection device 24, and if the shift lever is not set to drive, instructs the driver by voice to set the shift lever to drive from the speaker 27. next,
The ECU 25 calculates and obtains the current position for the parking area from the detection signals of the steering sensor 22 and the vehicle speed sensor 23 stored in the RAM (step 10).
0). The host vehicle 2 is stopped at this point. Next, the ECU 25 calculates the position of the guidance area from the current position and the guidance information stored in the RAM (step 10).
5).

Next, the ECU 25 calculates the recommended steering angle from the positional relationship between the current position and the guidance area and stores it in the RAM. Further, the ECU 25 uses the steering sensor 2
2, the current steering angle is detected, and the position of the expected arrival area which is expected to be reached when the host vehicle 2 is moved forward with the current steering angle is calculated and stored in the RAM.
Next, the ECU 25 detects the current steering angle by the steering sensor 22 and stores it in the RAM (step 113).

Next, the ECU 25 displays the guide screen 15 on the display 26 in a front-up view (step 115). On the guide screen 15, the recommended steering angle and the current steering angle stored in the RAM are displayed in a comparable manner, and the driver operates the steering wheel while referring to the guide screen to set the steering angle to the recommended steering angle. be able to. Further, the ECU 25 is a ROM
Predetermined voice data stored in advance is output from the speaker 27 to assist the driver in steering.

Next, the ECU 25 determines whether or not the current steering angle has reached the recommended steering angle (step 120). If the current steering angle has not yet reached the recommended steering angle (step 120; N), E
The CU 25 returns to step 115, updates the guidance screen 15, and further provides voice guidance. If the current steering angle reaches the recommended steering angle (step 12
0; Y), the ECU 25 gives a voice instruction to the driver from the speaker 27 to move forward while maintaining the steering angle (step 125).

When the driver starts to move the vehicle 2 forward, E
The CU 25 includes a steering sensor 22 and a vehicle speed sensor 23.
The current position of the host vehicle 2 is calculated and obtained in real time from the detection signal of (1) according to the program stored in the ROM (step 130). The ECU 25 compares the acquired current position with the positional relationship between the guidance area stored in the RAM and determines whether the host vehicle 2 has reached the guidance area (step 135).

When it is determined that the host vehicle 2 has not reached the guidance area yet (step 135; N), the ECU 2
5 updates the guide screen 15 to one corresponding to the current position of the vehicle 2, and outputs a voice corresponding to the positional relationship between the current position and the guidance area from the speaker 27 (step 14
0), and returns to step 130. When it is determined that the host vehicle 2 has reached the guidance area (step 135; Y), E
The CU 25 outputs a predetermined voice stored in advance in the ROM from the speaker 27, instructs the driver to stop the vehicle 2 (step 145), and ends the process.

FIG. 8 is a flow chart showing a procedure for guiding the backward movement in step 45. ECU 25
Detects the position of the shift lever by the shift lever position detection device 24, and if the shift lever is not set to the back, issues a voice instruction to the driver to set the shift lever to the back from the speaker 27.

The ECU 25 first acquires the current position (step 200) and then acquires the guidance area (step 20).
5). EC in step 200 and step 205
The operation of U25 is step 100 when performing forward guidance.
And the operation of the ECU 25 in step 105. At this point, the host vehicle 2 is in a stopped state. next,
The ECU 25 calculates the recommended steering angle from the acquired positional relationship between the current position and the guidance area according to the program stored in the ROM, and stores it in the RAM (step 210).

Next, the ECU 25 actuates the camera 28 to start photographing an image behind the host vehicle 2 (step 211). Next, the ECU 25 uses the steering sensor 2
The current steering angle is acquired from the detection signal of 2 and this is R
Store in AM.

Next, the ECU 25 displays the guide screen 15 on the display 26 (step 215). The guide screen 15 is composed of a left screen composed of a video image and a right screen composed of a bird's eye view based on a tail-up view. On the left screen, the vehicle movement trajectory calculated by the ECU 25 and the guideline are superimposed on the image. Further, on the right screen, the expected arrival area and the guidance area are displayed by symbols, and the current steering angle and the recommended steering angle are displayed in a comparable manner. The ECU 25 also outputs a voice from the speaker 27 to assist the driver in setting the current steering angle to the recommended steering angle by operating the steering wheel.

Next, the ECU 25 determines whether the current steering angle has reached the recommended steering angle using the output signal of the steering sensor 22 (step 22).
0). If it is determined that the current steering angle has not reached the recommended steering angle, the ECU 25 determines in step 2
13, the current steering angle is detected (step 2
13) and update the guide screen 15 (step 215).

When it is determined that the current steering angle has reached the recommended steering angle (step 220; Y), EC
U25 gives a voice instruction to the driver from the speaker 27 so as to move backward while maintaining the steering angle (step 225).

When the driver starts the backward movement of the vehicle 2, E
The CU 25 includes a steering sensor 22 and a vehicle speed sensor 23.
According to the program stored in the ROM, the current position of the host vehicle 2 is calculated and obtained in real time from the detection signal (step 230). The ECU 25 compares the acquired current position with the positional relationship between the guidance areas stored in the RAM, and determines whether the host vehicle 2 has reached the guidance area (step 235).

When it is determined that the host vehicle 2 has not reached the guidance area yet (step 235; N), the ECU 2
5 updates the right screen and the left screen of the guidance screen 15 to those corresponding to the current position of the host vehicle 2 and outputs a voice corresponding to the positional relationship between the current position and the guidance area from the speaker 27 (step 240). ), And returns to step 230. When it is determined that the host vehicle 2 has reached the guidance area (step 235; Y), the ECU 25 outputs a predetermined voice stored in the ROM in advance from the speaker 27 to instruct the driver to stop the host vehicle 2. (Step 245). Next, ECU
When detecting that the host vehicle 2 has stopped from the detection signal of the vehicle speed sensor 23, 25 stops the operation of the camera 28.

In this embodiment described above, the following effects can be obtained. By adding a camera to the parking assist system that uses the distance sensor, vehicle speed sensor, and steering sensor, obstacles (parking areas) around the vehicle and the positional relationship between them and the vehicle can be grasped and guidance to the parking area can be performed. It can be done more effectively. In addition, by combining the actual image of the rear of the vehicle and the bird's-eye view created by the system when backing up, it is not always easy to recognize the surrounding situation and the position of the vehicle with the vehicle by the conventional back guide monitor image. The relationship can be grasped easily, and the accuracy which is not always easy to grasp with the information from the distance sensor can be supplemented by looking at the actual image. Regarding the combination of the real image and the bird's-eye view, by making the bird's-eye view a tail-up diagram according to the image of the camera, the direction of movement of the vehicle in the actual image matches the direction of movement of the vehicle in the bird's-eye view. , It is possible for the driver to easily grasp the image of the current moving direction of the vehicle and the surrounding situation.

[0093]

According to the first aspect of the present invention, the distance sensor is used to obtain the parking available area, the guide position is calculated, and the calculated guide position is displayed in the rear image of the vehicle in a distinguishable manner. The user can perform the parking operation while accurately grasping the state behind the vehicle. According to the second aspect of the present invention, since the movement trajectory of the vehicle when the vehicle is moved at the acquired steering angle is displayed in the rear image in a more distinguishable manner, the state of the steering angle of the user can be recognized. it can. According to the third aspect of the present invention, when the user changes the steering angle, the movement locus is updated in accordance with the change. Therefore, it is possible to effectively assist the user in setting the steering angle. In the invention according to claim 4, since the bird's-eye view showing the position of the vehicle, the expected arrival position, the guidance position, the parking possible area, and the like is further displayed, the user can perform the parking operation while looking down on the state of the vehicle. it can. In the invention according to claim 5, the bird's-eye view is displayed in a tail-up state at the time of reversing, and the guidance position changes as the vehicle retreats. Therefore, display suitable for the user's vehicle operation can be performed. According to the invention described in claim 6, since the assistance for moving the vehicle to the guidance position is provided by voice, the user can receive the assistance of the parking operation auditorily.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a parking assistance device in the present embodiment.

FIG. 2 is an explanatory diagram showing a guide screen displayed on a display in a parking assistance process according to the present embodiment and a transition of the situation of the own vehicle.

FIG. 3 is an explanatory diagram showing a guide screen displayed on a display in the parking assistance process according to the present embodiment and a transition of the situation of the own vehicle.

FIG. 4 is an explanatory diagram showing a guide screen displayed on a display in a parking assistance process according to the present embodiment and a transition of the situation of the own vehicle.

FIG. 5 is a flowchart for explaining the operation of the parking assistance device.

FIG. 6 is a flowchart for explaining the operation of parking assistance guidance.

FIG. 7 is a flowchart showing a procedure for performing forward guidance.

FIG. 8 is a flowchart showing a procedure for performing a backward guidance.

[Explanation of symbols]

1 Parking assistance device 6 vehicle symbols 21 Distance sensor 22 Steering sensor 23 Vehicle speed sensor 24 Shift lever position detector 25 ECU 26 display 27 speakers 28 cameras 32 obstacle symbols 33 Vehicle movement locus 34 guidance area 40 Vehicle locus 41 Guidelines 42 Handle rotation direction guide 43 Expected arrival area 44 guidance area 45 Steering angle display column 46 Goal Indicator 47 Current steering angle indicator

Front page continuation (51) Int.Cl. ⁷ Identification code FI theme code (reference) B62D 137: 00 B62D 137: 00 (72) Inventor Hidefumi Okabe 2-19-12 Sotokanda, Chiyoda-ku, Tokyo Stock company F-term in Equos Research (reference) 3D032 CC01 CC20 DA03 DA22 DA23 DA76 DA88 DA95 DB03 DB07 DD02 EB04 GG01

Claims (6)

[Claims] 1. A parking feasible area acquisition unit that acquires a parking feasible area that is positionally associated with the position of the vehicle by using a detection signal of a distance sensor attached to the vehicle, and the parking feasible area that is acquired. In order to move the vehicle, a guidance position calculation unit that calculates a guidance position to be passed, a rear image acquisition unit that acquires a rear image of the vehicle including the guidance position, the acquired image, and the acquired image. A parking assist device comprising: a display unit that displays a guide position on the image in a distinguishable manner. 2. A steering angle acquisition means for acquiring a current steering angle of the vehicle, and a vehicle movement path acquisition means for acquiring a movement path of the vehicle when the vehicle is moved by the acquired steering angle. The parking assist device according to claim 1, wherein the display unit further displays the acquired movement trajectory of the vehicle on the image in a distinguishable manner. 3. The parking assistance device according to claim 1, wherein the displayed movement trajectory of the vehicle is updated according to the change in the acquired steering angle. 4. The display means further comprises a bird's-eye view display means for displaying the parking available area acquired by the parking area acquisition means in a bird's-eye view, and the bird's-eye view display means is provided for the vehicle. A vehicle position map display means for displaying the position discriminatively, a guide position map display means for displaying the acquired guide position discriminatively, and the steering angle with the acquired steering angle on the displayed overhead view. 4. The parking assistance according to claim 2 or 3, further comprising: an expected arrival position map display means for discriminatingly displaying an expected arrival position expected to be reached when the vehicle is moved backward. apparatus. 5. When the vehicle moves backward, the vehicle position map display means displays a tail-up vehicle symbol with the rear portion of the vehicle facing upward at a predetermined position, and the guide position. 5. The parking assistance device according to claim 4, wherein the display unit on the drawing changes the display position of the guidance position as the vehicle moves backward. 6. A voice output device for outputting information for moving the vehicle to the guide position by voice, according to any one of claims 1 to 5. The parking assistance device according to claim 1.