JP2004345528A - Parking assist method and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assist method capable of supporting parallel parking and double parking without requiring switching labor between the parallel parking and double parking. <P>SOLUTION: A right guide line 21a for double parking or a left guide line 21b for double parking disposed in an image for displaying the rear side of a vehicle is aligned to the entrance of a parking space 32 for double parking, and the vehicle is moved back from that position at a maximum steering angle and is parked doubly. A right guide line 22a for parallel parking or a left guide line 22b for parallel parking disposed in the image 14 is aligned to the entrance of the parking space 32 for parallel parking, and the vehicle is moved back from that position at a maximum steering angle, returned at a position where the depth-side end of the parking space 32 fits to a circular arc right guide line 23a or a circular arc left guide line 23b reverse to the steering direction so as to provide a reverse maximum steering angle, moved back, and parked in parallel. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention belongs to the technical field of a parking assist method for assisting parking of a vehicle easily.
[0002]
[Prior art]
In the conventional parking assist method, a yaw rate sensor for detecting an angular velocity of a vehicle in a yaw angle direction is connected to a controller, and a parallel parking mode button for causing the controller to perform parallel parking of the vehicle and a vehicle perform parallel parking. When a vehicle approaches a predetermined position on a predetermined parking route, an intermittent sound of `` beep, beep '' and a continuous sound of `` beep '' are connected. It emits light and guides the vehicle on a predetermined route to assist parking (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-2003-45269 (pages 2 to 5, FIG. 1)
[0004]
[Problems to be solved by the invention]
However, in the conventional parking assist method, since the user switches between the parallel and the parallel before parking, it is troublesome. In addition, there was an inconvenience that could not be visually confirmed.
[0005]
SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a parking assist method capable of supporting parallel / parallel parking without the need for switching between parallel / parallel. It is in.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, in a parking assist method for assisting a vehicle to retreat and park at a predetermined place, an image displaying the rear of the vehicle includes a guide line for parallel parking. A parallel parking guide line and an arc-shaped guide line are provided, and the parallel parking guide line provided in the image that displays the rear of the vehicle is aligned with the entrance of the parking space for parallel parking, at the maximum steering angle from that position. Reverse to parallel parking, align the guide line for parallel parking provided in the image with the entrance of the parking space for parallel parking, move backward from that position with the maximum steering angle, and the far end of the parking space At the position corresponding to the arc-shaped guide line, the vehicle is turned back so as to have the opposite maximum steering angle, and the vehicle is moved backward to perform parallel parking.
[0007]
In the invention according to claim 2, the guide line for parallel parking, the guide line for parallel parking, and the arc-shaped guide line are provided for both left-side parking and right-side parking. .
[0008]
According to the third aspect of the invention, it is possible to park by aligning the guide line for parallel parking with the entrance of the parking space at the time of parallel parking, and by aligning the guide line for parallel parking with the entrance of the parking space at the time of parallel parking. Means for determining whether there is a wide range.
[0009]
In the invention according to claim 4, a rear display unit for displaying a rear image of the vehicle to the driver is provided, and the rear image displayed by the rear display unit indicates a width required for parallel parking and an optimal initial position of the vehicle. A parallel parking guide line, a parallel parking guide line indicating the width required for parallel parking and the optimal initial position of the vehicle, and an arc-shaped guide line indicating the locus drawn by the rearmost part of the vehicle at the maximum steering angle. It is a means characterized by being provided.
[0010]
【The invention's effect】
According to the first aspect of the present invention, the parallel parking guide line of the image displaying the rear of the vehicle is used in parallel parking, and the parallel parking guide line and the arc-shaped guide line of the image displaying the rear of the vehicle are tandemly arranged. Since it is used at the time of parking, it is possible to easily perform parallel parking and parallel parking without requiring the trouble of switching.
[0011]
According to the second aspect of the present invention, parallel parking and parallel parking can be easily performed on both the left and right sides.
[0012]
According to the third aspect of the present invention, it is possible to judge whether or not parking is possible in the space before starting backward movement for parking, it is very easy to use, and it is possible to prevent parking failure.
[0013]
According to the fourth aspect of the present invention, it is possible to provide a parking assist device that can easily perform parallel parking and parallel parking without requiring switching work.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments for realizing the parking assist method and apparatus of the present invention will be described based on embodiments corresponding to the first, second, third, and fourth aspects of the present invention.
[0015]
(Example)
[0016]
First, the configuration will be described.
FIG. 1 is an explanatory diagram showing a rear display image of the parking assist method and device of the embodiment. FIG. 2 is a flowchart illustrating a flow of an operation at the time of parallel parking of the parking assist method and the parking assist method according to the embodiment. FIG. 3 is a flowchart illustrating a flow of an operation at the time of parallel parking of the parking assist method and device according to the embodiment. FIG. 4 is an explanatory diagram illustrating the movement of the vehicle in the parallel parking in the parking assist method and device according to the embodiment. FIG. 5 is an explanatory diagram illustrating the movement of the screen corresponding to the movement of the vehicle in the parallel parking in the parking assist method and the parking assist device according to the embodiment. FIG. 6 is an explanatory diagram showing the movement of a vehicle in parallel parking in the parking assist method and device according to the embodiment. FIG. 7 is an explanatory diagram showing the movement of the screen corresponding to the movement of the vehicle in the parallel parking in the parking assist method and device of the embodiment. FIG. 8 is a block diagram illustrating a configuration of the parking assist method and the parking assist device according to the embodiment.
[0017]
The parking assist device 1 of the present embodiment includes a rear camera 11, an image processing unit 12, and a display 13.
The image 14 displayed on the display 13 by the image processing unit 12 includes a parallel parking right guide line 21a (a parallel parking guide line for a right side parking) and a parallel parking left guide line 21b (a parallel parking for a left side parking). End line portion 21c of the right guide line 21a for parallel parking and the left guide line 21b for parallel parking, the right guide line 22a for parallel parking (guide line for parallel parking for right side parking), the left guide for parallel parking. Line 22b (guide line for parallel parking for left parking), right guide line 22a for parallel parking, end portion 22c of left guide line 22b for parallel parking, arc-shaped right guide line 23a (arc guide line for right parking) ), An arc-shaped left guide line 23b (an arc-shaped guide line for left parking) is displayed.
In addition, it is assumed that vehicles A41 and B42 are parked on both sides of the parking space 32 where the vehicle 31 is parked, and a road shoulder 43 is located at the back of the parking space.
[0018]
In the present embodiment, an image behind the vehicle is photographed by the rear camera 11, and an image signal is sent to the image processing unit 12 as shown in FIG.
In the image processing unit 12, the right guide line 21a for parallel parking, the left guide line 21b for parallel parking, the right guide line 22a for parallel parking, the left guide line 22b for parallel parking, and the arc-shaped right guide line are added to the image of the rear camera 11 in the image. Image processing is performed so that 23 a and the arc-shaped left guide line 23 b are superimposed and displayed, and an image signal of the image is sent to the display 13.
The parallel parking right guide line 21a and the parallel parking left guide line 21b displayed on the image 14 are provided on both sides of the image 14 so as to become narrower toward the back as shown in FIG. The positions of the parallel parking right guide line 21a and the parallel parking left guide line 21b are provided so as to indicate that when the vehicle travels backward at the maximum steering angle, the front end of the vehicle can be positioned at that line. Further, the lengths of the parallel parking right guide line 21a and the parallel parking left guide line 21b are set to indicate widths that allow a margin more than the width of the vehicle when the vehicle travels backward at the maximum steering angle.
[0019]
Next, the right guide line 22a for parallel parking and the left guide line 22b for parallel parking are provided on both sides of the image 14 as shown in FIG. The position of the right guide line 22a for parallel parking and the left guide line 22b for parallel parking are provided so as to indicate that substantially the side of the vehicle can be located therefrom when the vehicle reverses according to the contents described later. In addition, the length of the parallel parking right guide line 22a and the length of the parallel parking left guide line 22b are set to indicate a width having a margin more than the front and rear length of the vehicle.
In addition, both ends of the right guide line 21a for parallel parking, the left guide line 21b for parallel parking, the right guide line 22a for parallel parking, and the left guide line 22b for parallel parking indicate directions substantially perpendicular to the respective guide lines. Short end lines 21c and 22c are provided.
Next, an arc-shaped right guide line 23a and an arc-shaped left guide line are provided between the parallel parking right guide line 21a, the parallel parking left guide line 21b, the parallel parking right guide line 22a, and the parallel parking left guide line 22b. 23b is provided. The arc-shaped right guide line 23a has a margin given to the trail drawn by the rearmost portion of the vehicle when the vehicle travels backward at the maximum steering angle toward the parallel parking right guide line 21a or the parallel parking right guide line 22a. To be. Similarly, the arc-shaped left guide line 23b also has a slight allowance in the trajectory drawn by the rearmost part of the vehicle when traveling backward at the maximum steering angle toward the parallel parking left guide line 21b or the parallel parking left guide line 22b. So that
[0020]
The display 13 is used so that the driver can move backward while watching the displayed image 14 behind the vehicle in the vehicle.
[0021]
Next, the operation will be described.
[0022]
[Backward safety confirmation action]
In the parking assist device 1 according to the present embodiment, as a basic usage method, the image 14 behind the vehicle acquired by the rear camera 11 is displayed on the display unit 13, so that the rear of the vehicle which is difficult for the driver to see is displayed. The vehicle 13 is used to help the vehicle retreat while confirming it on the display of the device 13, so that the vehicle is safely retreated.
Further, the trajectory of the vehicle when the host vehicle 31 is moved backward can be predicted by the right guide line 21a for parallel parking, the right guide line 22a for parallel parking, the left guide line 21b for parallel parking, and the left guide line 22b for parallel parking. Also, since the space between the left and right lines indicates whether there is a space for the vehicle 31 to retreat and the state of the room, the vehicle can be retreated very safely if the vehicle is retracted with reference to this. Further, when the vehicle is moved backward while turning the steering wheel by the arc-shaped right guide line 23a and the arc-shaped left guide line 23b, if the steering is set to the maximum steering angle, the driver can retreat while observing the trajectory of the vehicle 31. If you refer to this, you will be able to retreat even more safely.
Therefore, even when the vehicle retreats on a narrow road, a small bridge, or a change of direction of a vehicle, the vehicle can retreat very easily and safely.
[0023]
[Easy parallel parking]
{Circle around (1)} Flow of parallel parking The flow of operation when performing parallel parking on the left side using the parking assist device 1 using the parking assist method of the present embodiment will be described with reference to the flowchart shown in FIG.
[0024]
In step S11, the vehicle stops at the initial position.
[0025]
In step S12, the vehicle retreats leftward at the maximum steering angle.
[0026]
In step S13, the vehicle retreats at a steering angle of zero.
[0027]
(2) Judgment as to whether parking is possible As shown in FIG. 4 (a), when parallel parking is performed between the vehicle A41 and the vehicle B42 on the left rear side of the vehicle, the parking space 32 is operated by the operation shown in step S11. The vehicle moves to the initial position and stops so that the left guide line 21b for parallel parking is aligned between the front ends of the vehicle A41 and the vehicle B42. At this time, if the parallel parking left guide line 21b is displayed so as to completely enter between the vehicle A41 and the vehicle B42 as shown in FIG. 5A, the width of the parking space 32 in which parallel parking is possible. Judge that there is.
In this case, if a part of the left guide line 21b for parallel parking is displayed so as to overlap the vehicle A41 or the vehicle B42, it is determined that there is no width of the parking space 32 where parallel parking is possible.
Further, since the end lines 21c are provided at both ends of the parallel parking left guide line 21b, the length of the parallel parking left guide line 21b and the entire parallel parking left guide line 21b are between the vehicle A41 and the vehicle B42. It is easy to see if you enter.
As described above, in the present embodiment, before starting the movement to the parallel parking, it is determined whether or not there is a space available for parking, and the vehicle is moved to the parallel parking forcibly and the vehicle A41 or the vehicle B42 is automatically moved. The vehicle 31 is prevented from coming into contact with the vehicle.
[0028]
{Circle around (3)} Vehicle moving to parallel parking If the self-vehicle 31 is stopped at the initial position shown in step S11 so that the parallel parking left guide line 21b is aligned between the vehicle A41 and the vehicle B42, the process proceeds to step S12. According to the operation, the vehicle is moved backward at the maximum steering angle. Then, the vehicle retreats while turning at a predetermined maximum steering angle, and as shown in FIG. 4B, is located on the rear side between vehicle A41 and vehicle B42, and is parallel to vehicle A41 and vehicle B42. (See FIG. 5B).
Next, in accordance with the operation in step S13, the steering angle is set to zero, and the vehicle is moved backward and straight to match the front and rear positions with the vehicle A41 and the vehicle B42. And complete the parallel parking.
In this way, the operation is very easy only by adjusting the initial position and retreating at the maximum steering angle. Further, when the vehicle moves backward, the image 14 displayed on the display 13 allows the driver to move backward while confirming the rear of the vehicle, thereby further facilitating the operation.
[0029]
[Easy parallel parking]
(1) Flow of parallel parking A flow of operation when performing parallel parking on the left side using the parking assist device 1 using the parking assist method of the present embodiment will be described with reference to a flowchart shown in FIG.
[0030]
In step S21, the vehicle stops at the initial position.
[0031]
In step S22, the vehicle retreats leftward at the maximum steering angle toward the left rear of the vehicle 31.
[0032]
In step S23, the vehicle is turned back to the maximum steering angle on the right and retreated.
[0033]
(2) Judgment as to whether parking is possible As shown in FIG. 6A, when parallel parking is performed between the vehicle A41 and the vehicle B42 on the left rear side of the vehicle, the parking space 32 is operated by the operation shown in step S21. Then, the left guide line 21b for parallel parking is moved between the right rear end of the vehicle A41 and the right front end of the vehicle B42, and the vehicle is moved to the initial position and stopped. At this time, if the left guide line 22b for parallel parking is displayed so as to completely enter between the right rear end of the vehicle A41 and the right front end of the vehicle B42 as shown in FIG. 7A, parallel parking is possible. It is determined that there is an appropriate parking space 32 width.
In this case, when a part of the parallel parking left guide line 22b is displayed so as to overlap the vehicle A41 or the vehicle B42, it is determined that the width of the parking space 32 in which parallel parking is possible is not available.
Further, since the end lines 22c are provided at both ends of the parallel parking left guide line 22b, the length of the parallel parking left guide line 22b and the entire parallel parking left guide line 22b are between the vehicle A41 and the vehicle B42. It is easy to see if you enter.
As described above, in the present embodiment, before starting the movement to the parallel parking, it is determined whether or not there is a space that can be parked, and the vehicle is moved to the impossible parallel parking and the vehicle A41 or the vehicle B42 is automatically moved. The vehicle 31 is prevented from coming into contact with the vehicle.
[0034]
(3) Vehicle Movement to Parallel Parking The self-vehicle 31 is stopped at the initial position shown in FIG. 7A where the left guide line 22b for parallel parking is located between the right rear end of the vehicle A41 and the right front end of the vehicle B42. If the operation in step S21 is performed, the steering is turned to the left by the maximum steering angle by the operation in step S22, and the vehicle retreats between the vehicle A41 and the vehicle B42 as shown in FIG. 6B. .
[0035]
When the vehicle retreats at the maximum steering angle to the left in this way, the road shoulder 43 in the back of the parking space 32 between the vehicle A41 and the vehicle B42 approaches, and the state is displayed on the display 13 as an image 14. The Rukoto. The driver retreats at the maximum steering angle to a position where the road shoulder 43 matches the arc-shaped right guide line 23a (substantially close position) as shown in FIG. 7B.
If the road shoulder 43 is retracted to the position where it meets the arc-shaped right guide line 23a by the operation in step S22, the steering is turned back to the maximum steering angle to the right by the processing in step S23, and the vehicle is retracted. Then, the vehicle A41 and the vehicle B42 are turned so that the rear end of the vehicle A turns slightly rearward along the arcuate right guide line 23a without touching the road shoulder 43 with a little more margin than the arcuate right guide line 23a. The road shoulders 43 and the vehicle 31 are substantially parallel to each other. At this time, the rear vehicle B42 is displayed on the image 14 as shown in FIG. 7C, and the parallel parking is completed.
As described above, according to the present embodiment, after adjusting to the initial position, the vehicle retreats at the maximum steering angle to a predetermined position visible in the image 14, turns back at that position, and retreats at the opposite maximum steering angle. Well, the operation becomes very easy. Further, the operation is performed while confirming the image 14 on the rear side of the vehicle, so that the operation becomes easier.
[0036]
[Cost control action]
In the present embodiment, since a predetermined line is displayed on the image 14 of the rear camera 11 and the line or the rear camera 11 is not moved, the cost can be reduced.
[0037]
Next, effects will be described.
[0038]
In the parking assist method and apparatus according to the embodiment, the following effects can be obtained.
[0039]
(1) In a parking assist method for assisting a vehicle to retreat and park at a predetermined place, a parallel parking right guide line 21a and a parallel parking right guide line 21a are displayed on an image 14 of a display 13 displaying the rear of the vehicle by a rear camera 11. A parking left guide line 21b, a parallel parking right guide line 22a and a parallel parking left guide line 22b, an arc-shaped right guide line 23a and an arc-shaped left guide line 23b are provided, and the image 14 displaying the rear of the vehicle is provided. The parallel parking right guide line 21a or the parallel parking left guide line 21b provided is aligned with the entrance of the parking space 32 for parallel parking, and the vehicle is moved backward from that position at the maximum steering angle to perform parallel parking. The right guide line 22a for parallel parking or the left guide line 22b for parallel parking provided at the entrance of the parking space 32 for parallel parking, and move backward from that position at the maximum steering angle. The rear end of the vehicle space 32 is turned back to the opposite maximum steering angle at a position that matches the arc-shaped right guide line 23a or the arc-shaped left guide line 23b that is opposite to the steering angle direction, and then travels in reverse for parallel parking. Therefore, it is possible to easily perform the parallel parking and the parallel parking without requiring the trouble of switching between the parallel parking and the parallel parking.
[0040]
(2) Right guide line 21a for parallel parking, left guide line 21b for parallel parking, right guide line 22a for parallel parking, left guide line 22b for parallel parking, circular right guide line 23a, and circular left guide line 23b. Is provided so that both the left parking and the right parking are provided, so that the parallel parking and the parallel parking can be easily performed on both the left and right sides.
[0041]
(3) The right guide line 21a for parallel parking and the left guide line 21b for parallel parking are aligned with the entrance of the parking space 32 at the time of parallel parking, and the right guide for parallel parking at the entrance of the parking space 32 at the time of parallel parking. Because the line 22a and the left guide line 22b for parallel parking are determined to determine whether there is a width available for parking, it is possible to determine whether parking is possible in the space before starting reverse for parking. Very easy to use, no parking failure.
[0042]
(4) The rear image of the vehicle photographed by the rear camera 11 is displayed to the driver on the display 13, and the rear image displayed on the display 13 includes the width required for parallel parking and the optimum initial state of the vehicle. The parallel parking right guide line 21a and the parallel parking left guide line 21b indicating the position, the parallel parking right guide line 22a and the parallel parking left guide indicating the width necessary for parallel parking and the optimal initial position of the vehicle. Since the line 22b and the arc-shaped right guide line 23a and the arc-shaped left guide line 23b indicating the locus drawn by the rearmost portion of the vehicle at the maximum steering angle are provided, there is no need for switching work, and parallel parking can be easily performed. The parking assist device 1 can perform parallel parking.
[0043]
As described above, the parking assist method of the present invention has been described based on the embodiments. However, the specific configuration is not limited to these embodiments, and the gist of the invention according to each claim in the claims is described. Changes and additions to the design are permitted as long as they do not deviate.
[0044]
For example, the guide lines for parallel parking, the guide lines for parallel parking, and the arc-shaped guide lines are displayed as images by the processing by the image processing unit in the embodiment, but those provided on a transparent member such as a filter are provided on the display unit. You may make it paste on a screen.
Further, in the embodiment, the guide line for parallel parking and the guide line for parallel parking are set between the vehicle A and the vehicle B. However, the guide line may be used so as to match between a partition line or a wall surface of a parking lot. The user may use it according to each situation.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram illustrating a rear display image of a parking assist method and device according to an embodiment.
FIG. 2 is a flowchart illustrating an operation flow of parallel parking of the parking assist method and the parking assist method according to the embodiment.
FIG. 3 is a flowchart illustrating an operation flow of parallel parking of the parking assist method and device according to the embodiment.
FIG. 4 is an explanatory diagram showing the movement of the vehicle in the parallel parking in the parking assist method and device according to the embodiment.
FIG. 5 is an explanatory diagram showing a screen motion corresponding to a vehicle motion of parallel parking in the parking assist method and device of the embodiment.
FIG. 6 is an explanatory diagram showing the movement of a vehicle in parallel parking in the parking assist method and device of the embodiment.
FIG. 7 is an explanatory diagram showing a movement of a screen corresponding to a movement of a vehicle in parallel parking in the parking assist method and device of the embodiment.
FIG. 8 is a block diagram illustrating a configuration of a parking assist method and apparatus according to the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 11 Rear camera 12 Image processing part 13 Display 14 Image 21a Right guide line 21b for parallel parking Left guide line 21c for parallel parking End line part 22a Right guide line 22b for parallel parking End of left guide line 22c for parallel parking Line portion 23a Arc-shaped right guide line 23b Arc-shaped left guide line 31 Own vehicle 32 Parking space 41 Vehicle A
42 Vehicle B
43 Roadside

Claims (4)

In a parking assist method for assisting a vehicle to retreat and park at a predetermined place,
In the image displaying the rear of the vehicle, a guide line for parallel parking, a guide line for parallel parking, and an arc-shaped guide line are provided,
The parallel parking guide line provided in the image that displays the rear of the vehicle is aligned with the entrance of the parking space where the parallel parking is performed, and the vehicle is moved backward from that position at the maximum steering angle to perform the parallel parking,
The parallel parking guide line provided in the image is aligned with the entrance of the parking space for parallel parking, the vehicle is moved backward at the maximum steering angle from that position, and the rear end of the parking space matches the arc-shaped guide line. A parking assist method characterized in that the vehicle is turned back to the reverse maximum steering angle and then reversely moved to perform parallel parking. In the parking assist method according to claim 1,
A parking assist method, wherein a guide line for parallel parking, a guide line for parallel parking, and an arc-shaped guide line are provided for both left-side parking and right-side parking. In the parking assist method according to claim 1 or 2,
Align parallel parking guide lines at the parking space entrance when parallel parking and parallel parking guide lines at the parking space entrance during parallel parking to determine if there is enough width for parking. A parking assist method characterized by performing. In a parking assist method for assisting a vehicle to retreat and park at a predetermined place,
Providing rear display means for displaying a rear image of the vehicle to the driver,
In the rear image displayed by the rear display means, a parallel parking guide line indicating a width necessary for parallel parking and an optimal initial position of the vehicle,
Parking characterized by providing a parallel parking guide line that indicates the width required for parallel parking and the optimal initial position of the vehicle, and an arc-shaped guide line that indicates the locus drawn by the rearmost part of the vehicle at the maximum steering angle. Assist device.

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