JP2010264945A - Parking assistance device, parking assistance method, and parking assistance program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking assist device capable of recognizing a position to be stopped reliably by a method with a small load.
A parking assist device includes a camera that captures an image of the rear of the vehicle and acquires an image, and an obstacle detection unit that detects an obstacle existing behind the vehicle and obtains a distance from the rear end of the vehicle to the obstacle. 202, a vehicle speed sensor 203 that detects the vehicle speed, and a guide line that extends from the vehicle in the traveling direction from the distance to the obstacle and the vehicle speed to a guide line that gives information indicating the near position of the obstacle. A line control unit 205, an image processing unit 207 that combines the acquired image and the corrected guide line to create a combined image, and a monitor 209 that displays the combined image.
[Selection] Figure 1

Description

  The present invention relates to a parking assistance device that supports parking by displaying an image captured by an in-vehicle camera on an in-vehicle monitor, and more particularly, to a parking assistance device that synthesizes and displays a guide line on an image captured by an in-vehicle camera. Is.

  A conventional parking assistance device photographs a vehicle periphery with an in-vehicle camera, synthesizes a guide line with the photographed image, and displays it as a parking assistance screen. In this conventional parking assistance device, two lines (vehicle width extension lines) in which the vehicle width is extended rearward of the vehicle as a guide line are superimposed on the captured image.

  For example, Patent Literature 1 discloses a parking assistance device that draws a vehicle width extension line on a parking assistance screen. FIG. 19 is a diagram illustrating an example of a parking assistance screen displayed by the parking assistance device of Patent Document 1. When parking in the parking area indicated by the division line 1901, a vehicle width extension line 1902 having a predetermined length as a guide line is drawn on the parking assistance screen 1900. In areas 1903 on both sides of the screen, an image obtained by supplementing the current image acquired by the image data acquisition unit with a past recorded image is displayed. With this parking assistance screen 1900, the driver can intuitively grasp the relative distance between the host vehicle and the obstacle.

  In addition, there is known a parking assistance device that detects a nearby obstacle and prevents a collision by alerting the driver. For example, in Patent Document 2, the position of an obstacle and the distance from the own vehicle to the obstacle are obtained, and an overhead view showing the positional relationship between the own vehicle and the obstacle is created, and the own vehicle and the obstacle are symbolized. A parking assist device that displays images with pictorial images is disclosed. FIG. 20 is a diagram illustrating an example of a parking assistance screen displayed by the parking assistance device of Patent Document 2. On this parking assistance screen 2000, the real image and the planar image are displayed side by side. The left side is a real image, and the right side is a planar image. The other vehicle 2001 and the wall 2002 are displayed in the actual image, and in the plan view, the host vehicle 2005 is displayed as a symbol together with the other vehicle 2003 and the wall 2004 corresponding thereto. With this parking assistance screen 2000, the driver can grasp the positional relationship between the host vehicle and other vehicles and walls.

JP 2007-30564 A JP 2004-104478 A

  In the parking assistance device of Patent Document 1, a parking assistance image is displayed in which the relative distance between an obstacle existing ahead in the traveling direction when parking and the host vehicle can be intuitively grasped. However, for example, when it is difficult to visually recognize an obstacle due to a low contrast of the displayed image, the vehicle may collide with the obstacle. Moreover, although a guide line is displayed on a parking assistance image with a parking lot line etc., when visibility of a parking lot line etc. is bad, it becomes difficult to recognize clearly the position which should stop.

  Since the parking assistance device disclosed in Patent Document 2 displays the self-vehicle and the obstacle as a symbolic image, the parking area and the obstacle can be reliably recognized. However, since the positional relationship between the host vehicle and the parking area and the obstacle changes as the host vehicle progresses, creating a pictorial image that symbolizes the host vehicle and the obstacle each time increases the load on the system. .

  The present invention has been made to solve the conventional problems, and an object of the present invention is to provide a parking assistance device that can reliably recognize a position to be stopped.

  It is another object of the present invention to provide a parking assistance device that can recognize a position where the vehicle should be stopped by a method with less load.

  Furthermore, an object of this invention is to provide the parking assistance apparatus which can prevent the collision with an obstruction by a simple method.

  A parking assistance device according to the present invention is a parking assistance device that assists in parking of a vehicle. The camera captures an image of the rear of the vehicle to acquire an image, and detects a reference object behind the vehicle. Based on the distance to the reference object, a reference object detection unit that obtains the distance to the reference object, and generates a guide line that extends from the vehicle in the traveling direction and is provided with information indicating the near position of the reference object. The image processing apparatus includes a guide line control unit, an image processing unit that generates a composite image by combining the acquired image and the guide line, and a monitor that displays the composite image.

  With this configuration, a guide line with information indicating the near position of the reference object is displayed, so even if the visibility of the image acquired by the camera is poor, relying on the information provided to the guide line, The distance to the near position of the object can be recognized reliably. In addition, since the distance between the vehicle and the reference object is expressed by a method of giving information indicating the reference object's near position to the guide line, all the vehicles and obstacles are displayed as symbols The processing load on the apparatus can be reduced as compared with the above.

  In the parking assist device of the present invention, the reference object detection unit is an obstacle detection unit that detects an obstacle existing behind the vehicle as the reference object and obtains a distance from the rear end of the vehicle to the obstacle.

  With this configuration, the obstacle detection unit detects an obstacle present at the rear of the vehicle and obtains the distance from the rear end of the vehicle to the obstacle, so that parking can be supported so that the vehicle can be reliably stopped at the position in front of the obstacle. It is possible to prevent the vehicle from colliding with an obstacle.

  In the parking assistance device of the present invention, the reference object detection unit detects a rear end of the parking area behind the vehicle as the reference object, and determines a distance from the rear end of the vehicle to the rear end of the parking area. Part.

  With this configuration, the parking area detection unit detects the rear end of the parking area behind the vehicle and obtains the distance from the rear end of the vehicle to the rear end of the parking area. Parking can be supported so that the vehicle can be stopped, and the driver can park the vehicle so as to be within the parking area.

  In the parking assist device of the present invention, the reference object detection unit is a vehicle stop detection unit that detects a vehicle stop existing in a parking area behind the vehicle as the reference object and obtains a distance from a rear wheel of the vehicle to the vehicle stop.

  With this configuration, the vehicle stop detection unit detects the vehicle stop present in the parking area behind the vehicle and obtains the distance from the rear wheel of the vehicle to the vehicle stop, so that the rear wheel of the vehicle can be reliably stopped at the position before the vehicle stop. Thus, the driver can park the rear wheel of the vehicle at a position before the vehicle stop, or park the vehicle with the rear wheel of the vehicle gently against the vehicle stop.

  In the parking assistance device of the present invention, the reference object detection unit detects an obstacle existing behind the vehicle as the reference object, and obtains an obstacle detection unit that obtains a distance from the rear end of the vehicle to the obstacle; A parking area detection unit that detects a rear end of a rear parking area as the reference object and obtains a distance from a rear end of the vehicle to the rear end of the parking area, and the guide line control unit includes the obstacle A guide line is generated based on the shorter distance among the distance obtained by the detection unit and the distance obtained by the parking region detection unit.

  With this configuration, since the guide line is generated based on the distance between the obstacle and the rear end of the parking area, which is closer to the obstacle, parking assistance can be provided so that the vehicle fits in the parking area while avoiding a collision with the obstacle. .

  In the parking assistance device of the present invention, the reference object detection unit detects an obstacle existing behind the vehicle as the reference object, and obtains an obstacle detection unit that obtains a distance from the rear end of the vehicle to the obstacle; A parking area detection unit that detects a rear end of a rear parking area as the reference object and obtains a distance from a rear end of the vehicle to a rear end of the parking area, and a vehicle stop that exists in the parking area behind the vehicle. And detecting a distance from the rear wheel of the vehicle to the vehicle stop, and the guide line control unit calculates the distance obtained by the obstacle detection unit and the distance obtained by the parking region detection unit. The guide line is generated based on the shortest distance among the distances obtained by the vehicle stop detection unit.

  With this configuration, a guide line is generated based on the distance from the obstacle, the rear end of the parking area, and the closest of the car stops, so that the rear end of the vehicle is within the parking area while avoiding a collision with the obstacle. The parking assistance can be performed so that the rear wheel of the vehicle stops or stops at the vehicle stop.

  In the parking assist apparatus of the present invention, the image processing unit performs coordinate conversion on the composite image, and the monitor displays the coordinate-converted composite image.

  With this configuration, it is possible to provide an image that makes it easier to understand the positional relationship between the vehicle and the reference object.

  The parking assist device of the present invention further includes a vehicle speed sensor for detecting a vehicle speed, and the guide line control unit generates a guide line based on the vehicle speed in addition to the distance to the reference object.

  With this configuration, information indicating the front position of the reference object is given to the guide line in consideration of not only the distance to the reference object but also the vehicle speed, so that the position to be stopped can be more appropriately guided according to the vehicle speed. Therefore, it is possible to prevent the vehicle from being delayed and colliding with the reference object due to the high vehicle speed, and when the vehicle speed is slowed down, the position immediately before the reference object is shown, so that the position as close to the reference object as possible is shown. I can guide you to stop.

  In the parking assistance apparatus of the present invention, the guide line control unit gives information indicating the near position of the reference object by changing the length of the guide line to the near position of the reference object.

  With this configuration, the distance to the front position of the reference object can be intuitively grasped by the length of the guide line. In addition, since a simple means of changing the length of the guide line is used to express the distance from the vehicle to the front position of the reference object, the processing burden on the apparatus can be reduced.

  In the parking assistance apparatus of the present invention, the guide line control unit is information indicating the near position of the reference object by changing the color, line width, or line type of the guide line before and after the near position of the reference object. Is granted.

  With this configuration, the distance to the front position of the reference object can be intuitively grasped based on the color, line width, and / or line type of the guide line. In addition, a simple means of changing the color, line width, and / or line type of the guide line is used to express the distance from the vehicle to the front position of the reference object. Can be reduced.

  In the parking assistance apparatus of the present invention, the guide lines are two lines indicating the vehicle width of the vehicle.

  With this configuration, in addition to the distance in the vehicle traveling direction to the position where the vehicle should stop, the relationship between the vehicle width in front of the vehicle traveling direction and the reference object can be ascertained. Intuitively grasp whether it can be done.

  The parking assist method of the present invention is a parking assist method for assisting parking, in which an image acquisition step of capturing an image of the rear of the vehicle to acquire an image, a reference object behind the vehicle is detected, and a predetermined portion of the vehicle is detected. A reference object distance detecting step for obtaining a distance from the reference object to the reference object, and a guide line extending from the vehicle in the advancing direction based on the distance to the reference object and provided with information indicating the near position of the reference object A guide line control step for generating the image, an image processing step for synthesizing the acquired image and the guide line to create a composite image, and a display step for displaying the composite image. .

  The parking assistance program according to the present invention is a parking assistance program for assisting parking, and an image acquisition step for capturing an image by capturing a rear image of the vehicle on a computer and a reference object at the rear of the vehicle are detected. A reference object distance detecting step for obtaining a distance from a predetermined position of the reference object to the reference object, and based on the distance to the reference object, information extending from the vehicle in the traveling direction and indicating the front position of the reference object is provided. A guide line control step for generating a guide line, an image processing step for synthesizing the acquired image and the guide line to create a composite image, and a display step for displaying the composite image.

  According to the parking assist device of the present invention, since information indicating the front position of the reference object is given to the guide line based on the distance to the reference object, the parking that can surely recognize the position where the vehicle should stop by a method with less load. A support device can be provided.

The block diagram of the parking assistance apparatus in the 1st Embodiment of this invention The figure which shows the state which mounted the parking assistance apparatus in the 1st Embodiment of this invention in the vehicle. The figure which shows the example of the image acquired by image | photographing with the camera in the 1st Embodiment of this invention The figure which shows the example of the vehicle in the 1st Embodiment of this invention, and an obstruction The figure which shows the example of the image which synthesize | combined the guide line with the image obtained by image | photographing with the camera in the 1st Embodiment of this invention The figure which shows the example of the guide line data in the 1st Embodiment of this invention The figure which shows the example of the coordinate transformation process data in the 1st Embodiment of this invention The figure which shows the example of the image which performed the coordinate transformation process in the 1st Embodiment of this invention The flowchart for operation | movement description of the parking assistance apparatus in the 1st Embodiment of this invention The figure which shows the example of the parking assistance image in the 1st Embodiment of this invention The figure which shows the other example of the parking assistance image in the 1st Embodiment of this invention. The figure which shows the other example of the parking assistance image in the 1st Embodiment of this invention. The figure which shows the other example of the parking assistance image in the 1st Embodiment of this invention. The figure which shows the other example of the parking assistance image in the 1st Embodiment of this invention. The block diagram of the parking assistance apparatus in the 2nd Embodiment of this invention The figure which shows the example of the image which image | photographed the parking area | region in the 2nd Embodiment of this invention. The block diagram of the parking assistance apparatus in the 3rd Embodiment of this invention The figure which shows the attachment position of the vehicle stop detection part in the 3rd Embodiment of this invention. The figure which shows the example of the parking assistance screen in the conventional parking assistance apparatus The figure which shows the other example of the parking assistance screen in the conventional parking assistance apparatus.

  Hereinafter, a parking assistance device according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 2 is a diagram illustrating a state in which the parking assist device according to the first embodiment of the present invention is mounted on a vehicle. A camera 201 and an obstacle detection unit 202 are installed at the rear of the vehicle 101. A monitor 209 is installed in the driver's seat of the vehicle 101 at a position visible to the driver 102.

  FIG. 1 is a block diagram of a parking assistance apparatus according to the first embodiment of this invention. The parking assist device 100 includes a camera 201, an obstacle detection unit 202, a vehicle speed sensor 203, a guide line data storage unit 204, a guide line control unit 205, an image conversion data storage unit 206, an image processing unit 207, a display control unit 208, and A monitor 209 is provided.

  The camera 201 is installed at the rear of the vehicle 101 and photographs the surrounding environment behind the vehicle 101. The camera 201 is attached to the vehicle under such an attachment condition that a part of the vehicle 101 (such as a bumper) is reflected in the photographing range.

  FIG. 3 is a diagram illustrating an example of an image obtained by photographing with the camera 201. In FIG. 3, the bumper 301 of the vehicle 101 is shown in the lower part of the image, and the partition line 302 of the parking area existing behind the vehicle 101 is shown in the upper part of the image.

  The obstacle detection unit 202 detects an obstacle existing behind the vehicle 101, calculates the distance from the rear end of the vehicle 101 to the obstacle, and outputs the distance to the guide line control unit 205. Since the obstacle detection unit 202 is attached to the rear end of the vehicle, the distance calculated here is the distance from the rear end of the vehicle to the obstacle. The obstacle detection unit 202 is configured by, for example, an ultrasonic sonar, and the reception unit receives the reflected ultrasonic wave transmitted from the transmission unit, and calculates the distance to the obstacle from the time difference between the transmission time and the reception time. To do. When there are a plurality of obstacles behind the vehicle 101, the distance to the nearest obstacle is output to the guide line control unit 205.

  FIG. 4 is a diagram illustrating an example of a vehicle and an obstacle. An example of processing by the obstacle detection unit 202 will be described with reference to FIG. When there are a plurality of obstacles 401, 402, and 403 behind the vehicle 101, if the distance from the rear end of the vehicle 101 to the obstacle 401 is 3 m and the distance to the obstacle 402 is 4 m, the obstacle The detection unit 202 outputs the closest distance of 3 m. In the case where the obstacle protrudes from the vehicle width like the obstacle 403 and the distance A protruding from the vehicle width is larger than a predetermined distance (for example, 1 m), the obstacle is Don't ask for distance.

  The detection of the obstacle and the distance to the obstacle may be calculated by another method such as a stereo method using a plurality of cameras.

  The vehicle speed sensor 203 detects a speed of the vehicle 101 by generating a vehicle speed pulse according to the rotation of the wheel.

  The guide line data storage unit 204 stores guide line data for displaying guide lines. The guide lines are two lines indicating the vehicle width of the vehicle 101 and extend rearward of the vehicle. The guide line data is designed to indicate a line obtained by extending the vehicle width backward on the image acquired by the camera 201. The guide line data is designed to display a guide line up to a predetermined distance (5 m in the present embodiment). The guide line data is calculated based on the mounting position and mounting angle of the camera 201 on the vehicle.

  FIG. 5 is a diagram illustrating an example of an image obtained by combining a guide line with an image obtained by photographing with a camera. The front end of the guide wire 501 corresponds to a distance of 5 m from the rear end of the vehicle. The guide line is corrected according to the distance obtained by the obstacle detection unit 202, as will be described later. Therefore, the guide line data storage unit 204 stores the position (coordinate value) of the guide line on the screen and information on the distance from the rear end of the vehicle in association with each other. For example, the guide line data storage unit 204 stores a table in which the coordinates of the guide line in the image shown in FIG. 5 are associated with the distance from the rear end of the vehicle, as shown in FIG.

  The guide line control unit 205 is recorded in the guide line data storage unit 204 based on the distance from the rear end of the vehicle 101 to the obstacle obtained by the obstacle detection unit 202 and the vehicle speed detected by the vehicle speed sensor 203. Correct the guide line data. A specific correction method will be described later.

  The image conversion data storage unit 206 records coordinate conversion processing data for creating an image obtained by performing distortion correction, viewpoint conversion, or the like on the image acquired by the camera 201. For example, as shown in FIG. 7, the correspondence of coordinates between the image before conversion and the image after conversion is described.

  The image processing unit 207 combines the image acquired by the camera 201 and the guide line data corrected by the guide line control unit 205, and based on the coordinate conversion processing data recorded in the image conversion data storage unit 206. Create a coordinate transformation image.

  FIG. 8 is a diagram illustrating an example of an image subjected to coordinate conversion processing. In the example of FIG. 8, the image around the rear of the vehicle 101 acquired by the camera 201 is converted into an image looking down from above. By this coordinate conversion processing, the guide line 501 shown in FIG. 5 is similarly converted to the guide line 801.

  The display control unit 208 sends the image created by the image processing unit 207 to the monitor 209 at an appropriate timing. The display control unit 208 can send the image created by the image processing unit 207 to the monitor, for example, when the shift lever is put in the back. In addition, a separate input unit may be provided in the parking assistance device 100, and the display control unit 208 may send an image created by the image processing unit 207 to the monitor at a timing when an instruction is given from the driver 102 to the input unit. Good.

  The monitor 209 displays the image sent from the display control unit 208.

  About the parking assistance apparatus comprised as mentioned above, the operation | movement is demonstrated using FIG.

  First, an image is acquired by the camera 201 (step S901). Next, an obstacle is detected by the obstacle detection unit 202, the distance to the obstacle is obtained (step S902), and the vehicle speed is detected by the vehicle speed sensor 203 (step S903).

  Subsequently, the guide line control unit 205 corrects the guide line data based on the distance to the obstacle obtained by the obstacle detection unit 202 and the vehicle speed detected by the vehicle speed sensor 203 (step S904). The image processing unit 207 combines the image acquired by the camera 201 and the guide line data corrected by the guide line control unit 205 to create a combined image (step S905). The composite image is subjected to coordinate conversion to generate a coordinate conversion image (step S906), and the coordinate conversion image is displayed on the monitor 209 (step S907).

  By repeating this, the driver 102 is provided with a parking assistance screen for parking assistance.

  Next, specific processing contents of the guide line control unit 205 will be described.

The guide line control unit 205 corrects the guide line based on the distance to the obstacle and the vehicle speed obtained by the obstacle detection unit 202. The guide line control unit 205 lengthens the guide line as the distance to the obstacle increases, and shortens the guide line as the vehicle speed increases. Specifically, from the distance D [cm] to the obstacle determined by the obstacle detection unit 202, the vehicle speed S [km / h] detected by the vehicle speed sensor 203, and a predetermined coefficient K determined in advance. The distance L [cm] to the front position of the obstacle is obtained by the following formula 1.
L = D−K * S (Formula 1)

  For example, the distance D to the obstacle determined by the obstacle detection unit 202 is 250 [cm], the vehicle speed S detected by the vehicle speed sensor 203 is 5 [km / h], and a predetermined coefficient is set in advance. If K is 10, the distance L is calculated as 200 [cm].

  The coefficient K is a value determined so as to allow a margin for safety of collision prevention. The coefficient K may be adjusted according to the skill level of the driver 102 and the accuracy of the obstacle detection unit 202. For example, when the driver 102 is a beginner or when the accuracy of the obstacle detection unit 202 is low, the coefficient K may be increased. When the driver 102 is an expert, the accuracy of the obstacle detection unit 202 may be increased. When K is high, the coefficient K may be reduced.

  The guide line control unit 205 corrects the guide line so that the guide line indicates a position in front of the obstacle, that is, a position to stop. In the present embodiment, the guide line control unit 205 changes the length of the guide line corresponding to the distance L so that the guide line indicates the front position of the obstacle on the composite image. That is, the length of the guide line is corrected so as to correspond to a distance obtained by subtracting a predetermined distance proportional to the vehicle speed from the distance to the obstacle detected by the obstacle detection unit 202. When the calculated distance L is longer than the guide line recorded in the guide line data storage unit 204, the guide line need not be corrected.

  FIG. 10 is a diagram illustrating an example of a parking assistance image. In FIG. 10, the guide line whose length has been changed is combined with the photographed image. An obstacle 1001 exists behind the vehicle, and the guide line 1002 is changed to a length up to a position before the obstacle 1001. The guide line control unit 205 refers to the table shown in FIG. 6, searches for the farthest distance that is smaller than the obtained distance L, and draws the guide line up to the corresponding guide line coordinates, thereby generating the guide line length. Change the size.

  FIG. 11 is a diagram illustrating another example of the parking support image, and is a diagram illustrating an example in which coordinate conversion processing such as distortion correction and viewpoint conversion is further performed on the parking support image illustrated in FIG. 10. Also in this image, the guide line 1102 is changed to a length up to the front of the obstacle 1101.

  In order to indicate the distance L to the front position of the obstacle, the color of the guide line may be changed before and after the front position of the obstacle. FIG. 12 is a diagram illustrating an example of a guide line whose color has been changed. In FIG. 12, the corrected guide line 1102 is combined with the photographed image and further subjected to coordinate conversion processing. In the example of FIG. 12, the color of the guide line 1102 on the near side of the front position of the obstacle 1101 is black, and the color of the line behind the front position of the obstacle is white.

  In order to indicate the distance L to the front position of the obstacle, the line width of the guide line may be changed before and after the front position of the obstacle. FIG. 13 is a diagram illustrating an example of a guide line whose line width is changed. In FIG. 13, the corrected guide line 1102 is combined with the photographed image and further subjected to coordinate conversion processing. In the example of FIG. 13, the line width of the guide line 1102 on the near side of the front position of the obstacle 1101 is increased, and the line width of the guide line 1102 on the rear side of the front position of the obstacle 1101 is decreased.

  Furthermore, in order to show the distance L to the front position of the obstacle, the line type of the guide line may be changed before and after the front position of the obstacle. FIG. 14 is a diagram illustrating an example of a guide line whose line type is changed. In FIG. 14, the corrected guide line 1102 is combined with the photographed image and subjected to coordinate conversion processing. In the example of FIG. 14, the guide line 1102 on the near side of the front position of the obstacle 1101 is a solid line, and the guide line 1102 behind the front position of the obstacle 1101 is a dotted line.

  Further, in order to indicate the near position of the obstacle, a change in the color of the guide line, a change in the line width, and a change in the line type may be arbitrarily combined. For example, the line on the near side of the front position of the obstacle is made thick as a black solid line, the line width is made thicker, and the line behind the front position of the obstacle is made a white dotted line.

  The obstacle of the present embodiment corresponds to the “reference object” of the present invention.

  As described above, according to the parking assist device of the first embodiment of the present invention, the distance to the obstacle behind the vehicle can be determined at a glance by correcting the guide line so that the front position of the obstacle can be understood. As a result, it is possible to prevent collisions with obstacles when parking. Further, the correction of the guide line can be easily performed with less load because it only changes the length, color, line width, line type, and the like.

(Second Embodiment)
FIG. 15 is a block diagram of a parking assistance apparatus according to the second embodiment of this invention. Hereinafter, description of the same components as those in the first embodiment will be omitted, and only different parts will be described.

  The parking assistance device 200 includes a parking area detection unit 1501. The parking area detection unit 1501 detects a parking area existing behind the vehicle 101 and obtains a distance from the rear end of the vehicle 101 to the rear end of the parking area. For example, as shown in FIG. 16, when the parking area is drawn with a white line 1601, the parking area can be detected by detecting an edge in the image, and the distance to the rear end 1602 of the parking area is obtained. It is done. For this purpose, the parking area detection unit 1501 has a table that defines the relationship between the position in the image and the distance from the rear end of the vehicle 101 according to the position, and the detected rear end of the parking area is included in the image. The distance from the rear end of the vehicle 101 to the rear end of the parking area is obtained based on the position at.

  The guide line control unit 205 parks from the rear end of the vehicle 101 based on the distance from the rear end of the vehicle 101 to the rear end of the parking region obtained by the parking region detection unit 1501 and the vehicle speed detected by the vehicle speed sensor 203. The distance to the near position at the rear end of the area is obtained, and the guide line data recorded in the guide line data storage unit 204 is corrected based on this distance. The guide line data correction processing by the guide line control unit 205 is performed by using the distance from the rear end of the vehicle 101 to the rear end of the parking area instead of the distance from the vehicle to the obstacle in the first embodiment. The processing is the same as that described in the first embodiment.

  The rear end of the parking area of the present embodiment corresponds to the “reference object” of the present invention.

  As described above, parking assistance can be performed so as to park in accordance with the parking area by correcting the guide line based on the distance from the rear end of the vehicle 101 to the rear end of the parking area.

  In the present embodiment, the obstacle detection unit 202 and the parking area detection unit 1501 may be used simultaneously, or one of them may be selectively used. When used simultaneously, the distance from the rear end of the vehicle to the front position of the obstacle determined by the obstacle detection unit 202, and the front position of the rear end of the parking area from the rear end of the vehicle determined by the parking area detection unit 1501 The guide line may be corrected based on the shorter one of the distances up to. This is effective when there is another vehicle behind the parking area in a public parking lot or the like. For example, when another vehicle behind the vehicle enters the parking area of the vehicle, parking assistance can be performed to detect a collision with the other vehicle behind the vehicle by detecting the vehicle behind the vehicle as an obstacle. At the same time, parking assistance can be provided with reference to the rear end of the parking area when no other vehicle behind has entered the parking area. Further, when the obstacle detection unit 202 and the parking area detection unit 1501 are selectively used, from the rear end of the vehicle obtained by any one selected from the obstacle detection unit 202 and the parking area detection unit 1501. What is necessary is just to correct a guide line based on the distance to the near position of a reference | standard object (an obstruction or the parking area rear end).

  In the present embodiment, an example in which the parking assistance device 200 includes the parking area detection unit 1501 together with the obstacle detection unit 202 has been described. However, the parking assistance device 200 does not include the obstacle detection unit 202 and the parking area detection unit 1501. May be provided. In this case, the parking assist apparatus 200 is an apparatus that exclusively obtains the distance from the rear end of the vehicle to the front position of the rear end of the parking area and corrects the guide line based on the distance.

(Third embodiment)
FIG. 17 is a block diagram of the parking assistance apparatus according to the third embodiment of the present invention, and FIG. 18 is a diagram illustrating the attachment position of the vehicle stop detection unit. Hereinafter, description of the same components as those of the second embodiment will be omitted, and only different parts will be described.

  The parking assistance apparatus 300 includes a vehicle data storage unit 1701 and a vehicle stop detection unit 1702. Data relating to the vehicle 101 is recorded in the vehicle data storage unit 1701. In the vehicle data storage unit 1701, at least a distance W from the rear end of the vehicle 101 to the rear wheel 1801 shown in FIG. 18 is recorded.

  The vehicle stop detection unit 1702 detects a vehicle stop present in the parking area behind the vehicle 101 and obtains the distance from the rear wheel of the vehicle 101 to the vehicle stop. The vehicle stop detection unit 1702 may be installed at the installation position 1802 illustrated in FIG. 18 or may be installed at the installation position 1803. When the vehicle stop detection unit 1702 is installed at the installation position 1802, the vehicle stop detection unit 1702 directly obtains the distance from the rear wheel of the vehicle 101 to the vehicle stop 1804.

  When the vehicle stop detection unit 1702 is set at the installation position 1803, the vehicle stop detection unit 1702 can only obtain the distance from the rear end of the vehicle 101 to the vehicle stop 1804. Accordingly, in this case, the distance from the rear wheel of the vehicle 101 to the vehicle stop 1804 is obtained by adding the distance W recorded in the vehicle data storage unit 1701 to the distance from the rear end of the vehicle 101 to the vehicle stop 1804. In addition, when the vehicle stop detection unit 1702 is set at the installation position 1803, when the vehicle stop 1804 exists between the rear end and the rear wheel of the vehicle 101, the vehicle stop detection unit 1702 cannot directly detect the vehicle stop 1804. Based on the vehicle speed detected by the vehicle speed sensor 203, the distance from the rear wheel of the vehicle 101 to the vehicle stop 1804 is estimated.

  The guide line control unit 205 is recorded in the guide line data storage unit 204 based on the distance from the rear wheel of the vehicle 101 to the vehicle stop 1804 obtained as described above and the vehicle speed detected by the vehicle speed sensor 203. Correct the guide line data. The guide line data correction process by the guide line control unit 205 is performed using the distance from the rear wheel of the vehicle 101 to the vehicle stop 1804 obtained as described above, instead of the distance between the obstacle and the rear end of the vehicle. The processing is the same as that described in the first embodiment.

  Note that the vehicle stop of the present embodiment corresponds to the “reference object” of the present invention.

  As described above, according to the parking assistance device of the third exemplary embodiment of the present invention, the guide line is corrected based on the distance from the rear wheel of the vehicle 101 to the car stop 1804, and parking is performed in accordance with the car stop. You can help parking.

  In the present embodiment, the obstacle detection unit 202, the parking area detection unit 1501, and the vehicle stop detection unit 1702 may be used simultaneously, or any one of them may be selectively used. When used simultaneously, the distance from the rear end of the vehicle determined by the obstacle detection unit 202 to the front position of the obstacle, from the rear end of the vehicle determined by the parking area detection unit 1501 to the front position of the rear end of the parking area. And the guide line may be corrected based on the shortest distance among the distance from the rear wheel of the vehicle obtained using the vehicle stop detection unit 1702 to the front position of the vehicle stop. When any one of the obstacle detection unit 202, the parking area detection unit 1501, and the vehicle stop detection unit 1702 is selectively used, the obstacle detection unit 202, the parking area detection unit 1501, and the vehicle stop detection unit 1702 are selected. The guide line may be corrected based on the distance obtained by any one of the detection units. Moreover, you may use the parking area | region detection part 1501 and the vehicle stop detection part 1702 simultaneously. This is effective when a car stop is installed in the parking area. For example, if the rear end of the vehicle exceeds the rear end of the parking area before hitting the car stop, parking assistance can be provided with the rear end of the parking area as a reference, and the vehicle can be stopped at the car stop without protruding from the parking area. Parking assistance can be made based on car stops. Further, the obstacle detection unit 202 and the vehicle stop detection unit 1702 may be used at the same time. This is the case, for example, when there is a car stop, but when the vehicle is moved backward to the position of the car stop due to the design of the vehicle or parking lot or in relation to another vehicle, it collides with the wall or other vehicle It is effective for. In this case, parking assistance can be performed based on the closest of the vehicle stops and obstacles.

  Moreover, although the parking assistance apparatus 300 provided with the vehicle stop detection part 1702 with the obstacle detection part 202 and the parking area detection part 1501 was demonstrated in this Embodiment, the obstacle detection part 202 and / or the parking area detection part 1501 are demonstrated. May not be provided. When both the obstacle detection unit 202 and the parking area detection unit 1501 are not provided but only the vehicle stop detection unit 1702 is provided, the parking support device 300 exclusively obtains the distance from the rear wheel of the vehicle to the front position of the vehicle stop. Thus, the guide line is corrected based on the distance. When the parking assistance apparatus 300 includes only one of the obstacle detection unit 202 and the parking area detection unit 1501 together with the vehicle stop detection unit 1702, the distance obtained using the vehicle stop detection unit 1702 and the obstacle detection unit 202 The guide line may be corrected based on the shorter one of the distances calculated by any one of the parking area detection unit 1501, the vehicle stop detection unit 1702, the obstacle detection unit 202, or the parking region detection unit. One of 1501 may be selectively used to determine the distance and correct the guide line.

(Modification)
In the first to third embodiments, after the guide line corrected by the guide line control unit 205 is combined with the image obtained by the camera 201, the composite image is subjected to conversion processing. However, first, coordinate conversion processing is performed on the image obtained by the camera 201, and a guide line corresponding to an image captured by the camera 201 after the conversion processing is stored in the guide line data storage unit 204. Alternatively, the guide line corrected by the guide line control unit 205 may be combined with the converted image. Alternatively, a combined image obtained by combining the corrected guide line with the image obtained by the camera 201 may be displayed on the monitor 209 without performing any coordinate conversion processing.

  In the first to third embodiments described above, the guide line control unit 205 determines the “front position of the reference object” expressed by changing the length of the guide line, the line type, etc., the distance to the reference object and the vehicle speed. However, the “position before the reference object” may be determined based only on the distance to the reference object. That is, in the above equation 1, the coefficient K = 0 may be set. In this case, the “front position of the reference object” expressed by changing the length of the guide line, the line type, etc. is the position immediately before the reference object. In consideration of this, it is necessary to reduce the speed at an appropriate timing and stop the vehicle. On the other hand, as in the embodiment described above, if the front position of the reference object is determined in consideration of not only the distance to the reference object but also the vehicle speed, the stop is delayed due to the high speed and collides with the obstacle, Driving mistakes such as passing through the rear end of the parking area or hitting the car at a high speed and receiving a strong impact can be prevented, and if the vehicle speed is slowed down, the position immediately before the reference object is shown. It is possible to apply parking assistance to hit the vehicle at a vehicle stop at a very low speed, stop before reaching the rear end of the parking area, or to reach the rear end of the parking area at a very low speed.

  In the first to third embodiments, the two lines having the vehicle width extended rearward of the vehicle are used as the guide lines. However, the guide lines only need to extend from the vehicle in the traveling direction. For example, it may be a single line extending in the vehicle traveling direction from the center of the vehicle width.

  The parking assist device according to the present invention has an excellent effect that the position where the vehicle should be stopped can be surely recognized by a method with less load, and displays the image captured by the in-vehicle camera on the in-vehicle monitor to assist the parking of the vehicle. It is useful as a parking assistance device.

100, 200, 300 Parking assist device 101 Vehicle 102 Driver 201 Camera 202 Obstacle detection unit 203 Vehicle speed sensor 204 Guide line data storage unit 205 Guide line control unit 206 Image conversion data storage unit 207 Image processing unit 208 Display control unit 209 Monitor 1501 Parking area detection unit 1701 Vehicle data storage unit 1702 Car stop detection unit

Claims (13)

A parking assistance device that assists in parking a vehicle,
A camera that captures the rear of the vehicle and obtains an image;
A reference object detection unit that detects a reference object behind the vehicle and obtains a distance from a predetermined position of the vehicle to the reference object;
Based on the distance to the reference object, a guide line control unit that generates a guide line that extends from the vehicle in the traveling direction and is given information indicating the near position of the reference object;
An image processing unit that combines the acquired image and the guide line to create a combined image;
A monitor for displaying the composite image;
A parking assistance device comprising:   2. The obstacle detection unit according to claim 1, wherein the reference object detection unit is an obstacle detection unit that detects an obstacle existing behind a vehicle as the reference object and obtains a distance from a rear end of the vehicle to the obstacle. The parking assistance device described.   The reference object detection unit is a parking area detection unit that detects a rear end of a parking area behind the vehicle as the reference object and obtains a distance from the rear end of the vehicle to the rear end of the parking area. The parking assistance device according to claim 1.   2. The vehicle stop detection unit according to claim 1, wherein the reference object detection unit is a vehicle stop detection unit that detects a vehicle stop existing in a parking area behind the vehicle as the reference object and obtains a distance from a rear wheel of the vehicle to the vehicle stop. The parking assistance device described. The reference object detection unit detects an obstacle present at the rear of the vehicle as the reference object, and obtains an obstacle detection unit for obtaining a distance from the rear end of the vehicle to the obstacle, and a rear end of the parking area at the rear of the vehicle. A parking area detection unit that detects the reference object and obtains the distance from the rear end of the vehicle to the rear end of the parking area;
The guide line control unit generates a guide line based on a shorter distance of the distance obtained by the obstacle detection unit and the distance obtained by the parking area detection unit. Parking assistance apparatus as described in. The reference object detection unit detects an obstacle present at the rear of the vehicle as the reference object, and obtains an obstacle detection unit for obtaining a distance from the rear end of the vehicle to the obstacle, and a rear end of the parking area at the rear of the vehicle. A parking area detection unit that detects the distance from the rear end of the vehicle to the rear end of the parking area as a reference object, and detects a vehicle stop present in the parking area at the rear of the vehicle as the reference object. A vehicle stop detection unit for obtaining a distance from the vehicle stop to the vehicle stop,
The guide line control unit generates a guide line based on the shortest distance among the distance obtained by the obstacle detection unit, the distance obtained by the parking area detection unit, and the distance obtained by the car stop detection unit. The parking support apparatus according to claim 1, wherein   The parking support device according to any one of claims 1 to 6, wherein the image processing unit performs coordinate conversion of the composite image, and the monitor displays the composite image subjected to the coordinate conversion. Furthermore, it has a vehicle speed sensor that detects the vehicle speed,
The parking assistance device according to any one of claims 1 to 7, wherein the guide line control unit generates a guide line based on the vehicle speed in addition to the distance to the reference object.   The guide line control unit gives information indicating a front position of the reference object to the guide line by changing a length of the guide line to a position before the reference object. The parking assistance device according to any one of claims 1 to 8.   The guide line control unit gives information indicating the near position of the reference object to the guide line by changing the color, line width, or line type of the guide line before and after the near position of the reference object. The parking support apparatus according to any one of claims 1 to 9, wherein   The parking assistance device according to any one of claims 1 to 10, wherein the guide lines are two lines indicating a vehicle width of the vehicle. A parking support method for supporting parking,
An image acquisition step of capturing the rear of the vehicle and acquiring an image;
A reference object distance detection step of detecting a reference object behind the vehicle and obtaining a distance from a predetermined location of the vehicle to the reference object;
Based on the distance to the reference object, a guide line control step for generating a guide line extending from the vehicle in the traveling direction and provided with information indicating the near position of the reference object;
An image processing step of combining the acquired image and the guide line to create a composite image;
A display step for displaying the composite image;
A parking assistance method comprising: A parking assistance program that assists in parking,
An image acquisition step of capturing the rear of the vehicle and acquiring an image;
A reference object distance detection step of detecting a reference object behind the vehicle and obtaining a distance from a predetermined location of the vehicle to the reference object;
Based on the distance to the reference object, a guide line control step for generating a guide line extending from the vehicle in the traveling direction and provided with information indicating the near position of the reference object;
An image processing step of combining the acquired image and the guide line to create a composite image;
A display step for displaying the composite image;
A parking assistance program that lets you run.