CN106183992B

CN106183992B - Parking aid

Info

Publication number: CN106183992B
Application number: CN201610556596.2A
Authority: CN
Inventors: 土佐贡; 山中浩; 原悠记; 酒井克博
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2013-10-04
Filing date: 2014-09-29
Publication date: 2019-03-15
Anticipated expiration: 2034-09-29
Also published as: CN104512337B; CN106183992A; CN104512337A

Abstract

The present invention provides a kind of parking aid (12).Regardless of the direction of advance from vehicle (10), the display control mechanism (18) of the parking aid (12) makes being kept fixed in the display area (108) of overhead view image from the relative position of vehicle image (110), direction and display multiplying power, when being switched to fallback state by forward travel state from vehicle (10), display control mechanism (18) expands the display area of the display area (108) of overhead view image being located at from the rear of vehicle image (110).

Description

Parking aid

Technical field

The present invention relates to a kind of parking aid.

Background technique

In Japanese invention patent Publication special open 2010-089716 (hereinafter referred to as " JP2010-089716A ") show It include to indicate from vehicle location from vehicle graphic V, parking frame figure corresponding with parking target position in diagram picture Ft, with recommend the corresponding positive block diagram shape Fk that moves backward back of positive position that moves backward back.From vehicle graphic V configuration at the center for overlooking picture Position (Fig. 3~Fig. 8, [0032], [0043]).

In Japanese invention patent Publication Japanese Laid-Open Patent Publication 08-048198 (hereinafter referred to as " JP08-048198A "), The display pattern (surrounding rotation display pattern) and the fixed display pattern from vehicle movement of surrounding rotated from the fixed surrounding of vehicle It is switched between (the fixed display pattern of surrounding) the two display patterns.In general, rotating display pattern (Fig. 6 around In (a)), when towards parking stall parking etc., returned just etc. according to the reversing of vehicle, automatically switch to and around fix display pattern (Fig. 6 In (b), (c)).In addition, when being less than reference distance from the distance between vehicle and barrier, while amplifying display, Also the display (abstract) of surrounding rotation is carried out.

It is public in Japanese invention patent Publication special open 2011-039600 (hereinafter referred to as " JP2011-039600A ") Open the parking aid that a kind of region from from vehicle periphery detects target parking position automatically.In JP2011-039600A In, on the overhead view image 100 from vehicle periphery, the picture frame 110 for indicating target parking position is drawn, and keep the picture frame 110 aobvious Show (abstract, Fig. 6 etc.) on display 5.

As described above, center (Fig. 3 in overhead view image will be configured from vehicle graphic V in JP2010-089716A ~Fig. 8, [0032], [0043]).In addition, display turns using from around the fixed surrounding rotation of vehicle in JP08-048198A Dynamic display pattern and surrounding, which are fixed, fixes display pattern (abstract) from around vehicle movement.In JP2011-039600A, The overhead view image 100 (abstract, Fig. 6 etc.) of vehicle periphery is come from display.Technology in these bulletins, how according to from vehicle Indication range (field range) aspect that direction of advance preferably sets overhead view image still leaves some room for improvement.

For example, driver is possible to grasp with being unable to fully from vehicle only with the overhead view image of JP2011-039600A 100 Around the case where (especially from the rear of vehicle).

In addition, in JP2010-089716A, positive block diagram shape of moving backward back corresponding with positive position of recommending to move backward back is being drawn Fk, move backward back direct action when, if driver only sees the positive block diagram shape Fk that moves backward back, be difficult intuitively to identify and come from vehicle Direction of advance.Especially, for from vehicle location, positive position is moved backward back in recommendation and target parking position is shown in same side When upward, driver, which is difficult to identify to be led to from vehicle, recommends move backward back positive position or target parking position.In addition, as this The problem of sample, can not only generate because moving backward back direct action, and do not move backward back direct action when (be depicted without and move backward back just When block diagram shape Fk) can also lead to the problem of it is same.

Summary of the invention

In view of the foregoing, the object of the present invention is to provide one kind to be provided suitable according to the direction of advance from vehicle When overhead view image display apparatus for displaying image of surroundings of vehicle and parking aid.

Display apparatus for displaying image of surroundings of vehicle according to the present invention has multiple photographic units, indication mechanism and display control machine Structure, wherein

The multiple photographic unit is used to shoot from around vehicle,

The display control mechanism generates described in overlooking according to the surrounding's image obtained by the multiple photographic unit from vehicle Obtained overhead view image, and make the overhead view image and indicate the displaying together described aobvious from vehicle image from vehicle Show in mechanism,

Regardless of the direction of advance from vehicle, the display control mechanism makes the viewing area of the overhead view image In domain it is described from the relative position of vehicle image, direction and display multiplying power be kept fixed,

When being switched to fallback state by forward travel state from vehicle, the display control mechanism expands the overhead view image It is located at the display area from the rear of vehicle image in display area.

According to the present invention, regardless of the direction of advance from vehicle, in the display area of overhead view image from vehicle image Relative position, direction and display multiplying power be kept fixed.Therefore, will not using the variation of the direction of advance from vehicle as reason, and Make to change from vehicle image and surrounding overhead view image.Thus, for driver, in the direction of advance from vehicle The understanding generated before switching to peripheral situation also can be maintained easily from after the switching of the direction of advance of vehicle.

In addition, expanding when being switched to fallback state by forward travel state from vehicle and being located at bowing from the rear of vehicle image The display area of visible image.To make the display area at the rear for not needing to pay special attention to is relatively narrow to show when advancing from vehicle Show, and when from vehicle rollback, so that the display area at rear is expanded display, thus expand the field range at rear, improves user Visibility, so as to make to become easy from vehicle rollback.

The present invention can be using such as flowering structure:

Display control mechanism setting it is described from vehicle rollback when, the overhead view image is shown, moreover, described from vehicle When advance, do not show that the display of the overhead view image is Zone switched,

It is described advance from vehicle when, the display control mechanism will be used to selecting described to be used from vehicle when advancing Operation selection image be shown in it is described display it is Zone switched in.

To which the display area at the rear for not needing to pay special attention to can be used when stopping from vehicle or when advancing A part (display Zone switched) carry out operation selection.

The present invention can be using such as flowering structure:

The display apparatus for displaying image of surroundings of vehicle be for assisting the parking aid from vehicle parking,

The parking aid executes the target parking position for setting target parking position and sets control and by institute It states and guides from vehicle to the guidance control of the set target parking position,

The display is Zone switched to be used when carrying out the target parking position setting control,

The selection image is the time of the candidate for choosing whether that automatically retrieval is needed to become the target parking position The autosensing mode that cover is set sets image.

To, when setting target parking position (that is, in setting target parking position, when being in mobile from vehicle), when When stopping from vehicle or when advancing, autosensing mode setting image show in display is Zone switched, when from vehicle rollback When, it is being shown being shown from the overhead view image of rear of vehicle in Zone switched.Therefore, the aobvious of indication mechanism can be effectively utilized Show region.

Parking aid according to the present invention has multiple photographic units, indication mechanism and display control mechanism, In,

The multiple photographic unit is used to shoot from around vehicle,

The display control mechanism generates described in overlooking according to the surrounding's image obtained by the multiple photographic unit from vehicle Overhead view image, and the overhead view image is shown on the indication mechanism,

The multiple photographic unit obtains the forward image from vehicle and rear images at least as the surrounding Image,

When carrying out target parking position setting control, when it is described be in from vehicle stop when, the display control Mechanism shows that all surrounding images not, and shows the overhead view image,

When carrying out target parking position setting control, when it is described be in from vehicle advance when, the display control Mechanism shows that all surrounding images not, and shows the overhead view image, or make the overhead view image and institute Forward image is stated to show,

When carrying out target parking position setting control, when it is described be in from vehicle stop when, the display control Mechanism shows that the overhead view image and the rear images the two images all.

According to the present invention, when carrying out target parking position setting control, when being in retrogressing from vehicle, make overhead view image The two images are shown with rear images.So as to be easy confirmation dead angle for driver it is more and be difficult to see that from vehicle Rear.In addition, not showing any surrounding image when being in stopping from vehicle, and show overhead view image.Thus, for example The computational load for showing surrounding image Is can be ensured to reduce or vacate the area for showing various guidance display images Domain.In addition, when be in from vehicle advance when, do not show any surrounding image, and show that overhead view image is shown or overhead view image And forward image.Display appropriate is thus allowed for, shows that image is used to ensure the reduction of computational load, vacate various guidance Display area or give offering convenience property of driver.

The present invention can be using such as flowering structure:

When carrying out target parking position setting control, when it is described be in from vehicle stop or advance when, it is described Display control mechanism shows the combination of the navigational figure of the overhead view image and guidance parking auxiliary,

When carrying out target parking position setting control, when it is described be in from vehicle retreat when, the rear images In the stopping from vehicle or the when of advance, shows shown, navigational figure in the region of a part of the navigational figure A part be then not displayed.

To in the case where showing the navigational figure only used when stopping from vehicle or when advancing, when from vehicle Retreat when, region corresponding with the navigational figure show rear images, thus, it is possible to improve to driver's bring just Benefit, further, it is possible to realize the effective use of display picture.

The present invention can be using such as flowering structure:

The navigational figure includes that parking type selection image and guidance start at least one of image, wherein

The parking type selects image for selecting double parking or parallel parking to assist guiding as the parking Parking type,

The guidance starts image and is used to indicate and will guide since vehicle to the target parking position.

The present invention can be using such as flowering structure:

When carrying out target parking position setting control, when it is described be in from vehicle retreat when, the display control Mechanism shows the overhead view image, the rear images and parking type selection image, without showing that the guidance starts Image,

The rear images are in the stopping since vehicle or the when of advance shows the guidance in the region of image It is shown.

According to above structure, when from vehicle rollback, do not show that guidance starts image, and it is corresponding starting image with guidance Position show rear images.To which when from vehicle rollback, limitation starts to guide from vehicle to target parking position.Cause This, when guiding beginning, it can be ensured that be in halted state or forward travel state from vehicle.

When using automatic steering control, (driver operates gas pedal, brake pedal and gear lever, automatically turns steering wheel To control) will be guided from vehicle to target parking position when, when automatic steering control starts, make the case where advancing from vehicle It is more.In order to show that guidance starts image as described above, need to make to be in halted state or forward travel state from vehicle (that is, gear is made to be in the drive shifts such as drive), therefore can reliably ensure when automatic steering control starts, gear is hung To drive shift.

In addition, (being automatically brought into operation gas pedal, brake pedal, gear lever and auto-steering using automatic stopping control Control) when will guide from vehicle to target parking position, can also obtain effect as described above.

In addition, even if also showing parking type selection label in vehicle rollback.To by allowing from vehicle rollback When parking type change, improve give driver's bring convenience.

The present invention can be using such as flowering structure:

When carrying out target parking position setting control, when it is described be in from vehicle stop when, alternatively, when it is described from When vehicle advances and the speed from vehicle is lower than the 1st speed threshold value, the display control mechanism makes the guidance start figure As being shown with the active state that can be selected,

When carrying out target parking position setting control, advance from vehicle and the speed from vehicle is super when described When crossing the 1st speed threshold value, the guidance that the display control mechanism forbids display to be in active state starts image.

The present invention can be using such as flowering structure:

When carrying out target parking position setting control, advance from vehicle and the speed from vehicle is super when described When crossing the 1st speed threshold value and being lower than the 2nd speed threshold value bigger than the 1st speed threshold value, the display control mechanism makes The guidance is started image and is shown with the inactive state that can not be selected.

To be in inactive state that is shown but can not being selected since guidance starts image, it is thus possible to It simply transmits to start to guide and needs to reduce the information of speed.

The present invention can be using such as flowering structure:

When carrying out target parking position setting control, advance from vehicle and the speed from vehicle is super when described When crossing the 2nd speed threshold value or the 3rd speed threshold value bigger than the 2nd speed threshold value, the forward image is when described The area of image the guidance is shown when being lower than the 2nd speed threshold value or the 3rd speed threshold value since the speed of vehicle It is shown in domain, and the guidance starts image and is then not displayed.

When speed becomes larger, it is believed that driver wishes to guide the vehicle to the intention of target parking position relatively It is small.Therefore, when speed be more than the 2nd speed threshold value when, by display forward image come replace guidance start image, can be improved to Driver's bring convenience.

Parking aid according to the present invention has multiple photographic units, indication mechanism, display control mechanism, In,

The multiple photographic unit is used to shoot from around vehicle,

When carrying out target parking position setting control, when it is described be in from vehicle stop or in advance when, The navigational figure of the display control mechanism display guidance parking auxiliary,

When carrying out target parking position setting control, when it is described be in from vehicle retreat when, the display control In the region for when mechanism makes the rear images be shown in the stopping from vehicle or showing the navigational figure when advance.

According to the present invention, in progress target parking position setting control, stop or be in advance when being in from vehicle When, it shows the navigational figure for guiding parking auxiliary, when being in retrogressing from vehicle, is shown in rear images from when vehicle stopping Or it is shown in the region of navigational figure when advancing.So as to be easy confirmation, dead angle is more for driver and is difficult to see that The rear from vehicle.

In addition, in the case where showing the navigational figure only used when stopping from vehicle or when advancing, when from vehicle Retreat when, region corresponding with the navigational figure show rear images, thus, it is possible to improve to driver's bring just Benefit, further, it is possible to realize the effective use of the display picture of indication mechanism.

The photographic unit is used to shoot from around vehicle,

The display control mechanism is used in the navigational figure of parking auxiliary and the week shot by the photographic unit It encloses image or is overlapped according to the overhead view image that the surrounding image generates, and be shown on the indication mechanism,

The navigational figure includes indicating described when carrying out parking movement to stop from the target of the target stop position of vehicle The only direction of advance image of location drawing picture and the expression direction of advance from vehicle,

The target stop position image is identical with the display color of the direction of advance image or by same kind of Lines are constituted.

According to the present invention, in addition to displaying target stop position image, direction of advance image is also shown.Therefore, it is easy with straight Feel direction of advance of the identification from vehicle.In addition, target stop position is identical with direction of advance image display color or by same The lines of type are constituted.Therefore, driver can intuitively connect target stop position and direction of advance from vehicle, It easily identifies and comes from vehicle to the advance of which position.

The present invention can be using such as flowering structure:

The target stop position includes that one or more targets are moved backward back positive position, target parking position,

As one in the positive position of moving backward back from vehicle towards the target, the display control mechanism display is made To indicate that the move backward back target of the target stop position image of positive position of the target is moved backward back positive position image, and show It moves backward back the direction of advance that positive position image display color is identical or is made of same kind of lines with the target Image,

When it is described from vehicle towards the target parking position when, the display control mechanism display stops as the target The target parking position image of the target stop position image of truck position, and show and the target parking position image Display color is identical or the direction of advance image that be made of same kind of lines,

The target moves backward back positive position image and the target parking position image by different colours or variety classes Lines constitute.

To, when from vehicle backing Hui Zhenghou, when being parked in target parking position, driver can before and after move backward back just with Target stop position (target move backward back positive position and target parking position) and direction of advance are connected and are identified by intuition.

The present invention can be using such as flowering structure:

The target stop position includes that multiple targets are moved backward back positive position and the target parking position,

As one in the positive position of moving backward back from vehicle towards the target, move backward back positive position in the target For distance with the target parking position lower than in the case where defined distance threshold, the display control mechanism shows the mesh Move backward back positive position image and shown direction of advance image are marked, also, forbids showing the target parking position image.

When target moves backward back positive position and close target parking position, show that target parking position image not.Therefore, Can prevent because target parking position image there are due to be difficult to see that and indicate that the target as target stop position at this time is fallen The target that vehicle returns positive position move backward back positive position image, and raising target is moved backward back the visibility of positive position image.

Detailed description of the invention

Fig. 1 is the frame for indicating to carry the structure of the vehicle of parking aid involved in the 1st embodiment of the invention Figure.

Fig. 2 is the figure of the display screen switching in the parking auxiliary control indicated for illustrating the 1st embodiment.

Fig. 3 is the figure of the 1st example of the display picture in the above-mentioned parking auxiliary control for indicate the 1st embodiment.

Fig. 4 is the figure of the 2nd example of the display picture in the above-mentioned parking auxiliary control for indicate the 1st embodiment.

Fig. 5 is the figure of the 3rd example of the display picture in the above-mentioned parking auxiliary control for indicate the 1st embodiment.

Fig. 6 is the figure of the 4th example of the display picture in the above-mentioned parking auxiliary control for indicate the 1st embodiment.

Fig. 7 is the figure of the 5th example of the display picture in the above-mentioned parking auxiliary control for indicate the 1st embodiment.

Fig. 8 is the figure of the display screen switching in the parking auxiliary control indicated for illustrating the 2nd embodiment.

Fig. 9 is the figure of the 6th example of the display picture in the above-mentioned parking auxiliary control for indicate the 2nd embodiment.

Figure 10 is the flow chart for indicating the parking auxiliary control of the 3rd embodiment.

Figure 11 is the top view for the example that vehicle acts when indicating back parking.

Figure 12 is the figure of the 2nd example of display picture when indicating the auto-steering of the 3rd embodiment in display control.

Figure 13 is the figure of the 3rd example of display picture when indicating the auto-steering of the 3rd embodiment in display control.

Figure 14 is the flow chart of the overhead view image control of the 3rd embodiment.

Specific embodiment

A. the 1st embodiment

[A1. structure]

[A1-1. overall structure]

Fig. 1 is to indicate to carry the vehicle 10 of parking aid 12 involved in the 1st embodiment of the invention (below again Referred to as " from vehicle 10 ") structure block diagram.

The parking aid 12 of 1st embodiment assists vehicle 10 to stop by carrying out auto-steering.That is, by stopping Auxiliary device 12 automatically operates steering wheel 68, and gas pedal, brake pedal (not shown) and gear lever 38 are by driving The person's of sailing operation.Parking aid 12 can also carry out gas pedal in addition to the operation that can carry out steering wheel 68 automatically automatically With the operation (driving and braking of vehicle 10) of brake pedal and operation (advance of vehicle 10 and the cutting for retrogressing of gear lever 38 It changes).

As shown in Figure 1, parking aid 12 includes sensor group 14, detection is for each of auxiliary control etc. of stopping Kind detected value；Navigation device 16；Stop electronic control apparatus for assistant 18 (hereinafter referred to as " parking auxiliary ECU18 " or "ECU18")；Electric boosting steering system 20 (hereinafter referred to as " EPS system 20 ").

(A1-2. sensor group 14)

As shown in Figure 1, sensor group 14 include front camera 30f, rear camera 30rr, left side side camera 30l, Right side side camera 30rt, wheel detector 32rl, 32rr, vehicle speed sensor 34, gear position sensor 36.

Camera 30f, 30rr, 30l, 30rt output pass through obtained surrounding image Is around shooting vehicle 10.In the following, The surrounding image Is of front camera 30f shooting is known as " forward image If ", will be schemed around rear camera 30rr shooting As Is is known as " rear images Irr ", the surrounding image Is of left side side camera 30l shooting is known as " left side side image Il ", it will The surrounding image Is of right side side camera 30rt shooting is known as " right side side image Irt ".In addition, by left side side image Il and right side Square image Irt is referred to as " side image Isd ".

Wheel detector 32rl, 32rr are respectively the angle sensor for detecting the rotational angle θ w [deg] of wheel (not shown) Device or displacement sensor, in the every rotation predetermined angular of wheel, output detection pulse.The detection pulse can be used for calculating vehicle The rotational angle θ w (that is, moving distance) of wheel and the velocity of rotation [rpm] of wheel.Wheel detector 32rl is for detecting left rear wheel Rotational angle θ w (below also known as " rotational angle θ wrl "), wheel detector 32rr is used to detect the rotational angle of off hind wheel θ w (below also known as " rotational angle θ wrr ").

Vehicle speed sensor 34 is used to detect speed (hereinafter referred to as " vehicle velocity V ") [km/ of the vehicle body (not shown) of vehicle 10 H], and the speed is exported and assists ECU18 to parking.Vehicle speed sensor 34 is for example according to the rotation of the countershaft of speed changer, detection Vehicle velocity V out.

Gear position sensor 36 is used to detect the position (hereinafter referred to as " gear Ps ") of gear lever 38, and outputs it.

(A1-3. navigation device 16)

Navigation device 16 detects the current location of vehicle 10 using GPS (Global Positioning System), right User (including driver) shows the path arrived at the destination.Navigation device 16 has storage device (not shown), the storage Device has map information database.

Navigation device 16 has touch screen 40 and loudspeaker 42.Input unit of the touch screen 40 as parking aid 12 It plays a role with display device.User is inputted and the related instruction of auxiliary of stopping by touch screen 40.In addition, on touch screen 40 Display assists related picture with parking.As described later, the structural element other than touch screen 40 also can be used as input dress It sets or display device.In addition, carrying out voice guide by loudspeaker 42 when carrying out parking auxiliary.

(A1-4. parking auxiliary ECU18)

As shown in Figure 1, ECU18 has input and output portion 50, operational part 52 and storage unit 54 as hardware.1st embodiment party The operational part 52 of formula controls each portion according to the program being stored in storage unit 54, thereby executing parking auxiliary control (after Face will do it detailed description).

(A1-5.EPS system 20)

EPS system 20 includes steering angle sensor 60, torque sensor 62, EPS motor 64, rotary transformer 65 and EPS Electronic control unit 66 (hereinafter referred to as " EPS ECU66 ").

Steering angle sensor 60 is used for the steering angle θ st of detection direction disk 68.Torque sensor 62 is applied to for detecting The torque T Q of steering wheel 68.

EPS motor 64 by applying driving force or reaction force to the steering column 70 that connect with steering wheel 68, so as to Enough assist the auto-steering when operation of steering wheel 68 and parking auxiliary of driver.Rotary transformer 65 is for detecting EPS motor 64 rotational angle θ m.

EPS ECU66 is identical as parking auxiliary ECU18 for controlling entire EPS system 20, has input defeated as hardware Portion, operational part and storage unit (not shown) out.

[control of A2. parking auxiliary]

(brief description of A2-1. parking auxiliary control)

The main parking auxiliary control of 1st embodiment includes that target parking position setting control (is also known as " target below Setting control ") and automatic steering control both control.Goal-setting controls the target parking position for setting vehicle 10 Pptar.Automatic steering control is used for by being automatically brought into operation steering wheel 68, so that vehicle 10 reaches target parking position Pptar.It is logical It crosses and motor 64 is controlled by EPS ECU66 to carry out being automatically brought into operation for steering wheel 68.As the example being automatically brought into operation, can also be applied The content shown in aftermentioned Figure 11.

(switching of A2-2. picture)

Fig. 2 is the figure for illustrating the switching of the display picture 100 in the parking auxiliary control of the 1st embodiment.Fig. 3~ Fig. 7 is the 1st example~5 of the display picture 100 of the touch screen 40 in the parking auxiliary control for indicate the 1st embodiment The figure of example.

(A2-2-1. parking assists the display picture 100 before starting)

Fig. 3 is to indicate that (following also known as " parking auxiliary starts preceding picture to the display picture 100 before parking auxiliary starts 100a " or " start before picture 100a ") an example figure.Before start in picture 100a, include it is multiple operation by Key 102a~102e, information 104, direction of advance image-region 106, overhead view image region 108 are pointed out.

Operation button 102a is the key for starting parking auxiliary, is also known as " parking auxiliary beginning key below 102a".Operation button 102b~102d is the view for switching the surrounding image Is being shown in direction of advance image-region 106 The key of point or field range.Operation button 102e is the end key for terminating the display of picture 100a before starting.

Point out the content that information 104 should be noted that at this moment to driver's transmitting.In the example shown in Fig. 3, for Make before vehicle 10 and then before stepping gas pedal, the case where in order to supervise driver to confirm surrounding, and shows and " please directly confirm Text as the case where surrounding ".

In direction of advance image-region 106, surrounding image Is corresponding with the direction of advance of vehicle 10 is shown.That is, Corresponding with the operation of operation button 102b~102d when vehicle 10 advances, switching display is shot by front camera 30f The surroundings image such as forward image If arrived Is.It is corresponding with the operation of operation button 102b~102d when vehicle 10 retreats, it cuts Display is changed by surroundings image Is such as the rear camera 30rr rear images Irr shot.

In overhead view image region 108, show to forward image If, rear images Irr, left side side image Il and right side side Image Irt carries out the overhead view image Ig of obtained vehicle 10 after image procossing.It include to indicate in overhead view image region 108 Vehicle 10 from vehicle image 110, a variety of navigational figures (the 1st goal directed line 112 etc.).Display picture 100 in Fig. 3~7 In include overhead view image region 108, in overhead view image region 108 from the relative position of vehicle image 110, direction and display Multiplying power is kept fixed constant, but the indication range in overhead view image region 108 can then change and (will do it below specifically It is bright).

As shown in figure 3, in direction of advance image-region 106 and overhead view image region 108, as navigational figure the 1st Goal directed line 112 is overlapped.1st goal directed line 112 is by with vehicle 10 or from before the direction of advance of vehicle image 110 The image that the lines of the corresponding display in side are constituted, is in yellow in the 1st embodiment.1st goal directed line 112 with various targets Stop position image (aftermentioned target parking position image 164 etc.) uses when being aligned, width and target stop position image It is identical.

In addition, including the image as around in the direction of advance image-region 106 of Fig. 3 and overhead view image region 108 The white line 114 of a part (image shot by camera 30l, 30rt) of Is.White line 114 is the line for dividing parking stall.

(the display picture 100 in the setting control of A2-2-2. target parking position)

(A2-2-2-1. brief description)

As shown in Fig. 2, target parking position setting control in, according to vehicle 10 be in halted state, forward travel state and The case where any one state in fallback state, switches display picture 100.For example, can be examined according to by gear position sensor 36 The gear Ps measured and the rotational angle θ w detected by wheel detector 32rl, 32rr determine these states.

Halted state can for example determine in this way: gear Ps is linked into R grades (reverse drive gears) or D grades (drive shift), and vehicle velocity V In threshold value (halted state decision threshold) (for example, any one value of the 0~5km/h) state below for determining halted state. Forward travel state can for example determine in this way: gear Ps is linked into other than R grades (reverse drive gears) or D grades (drive shift), and vehicle velocity V is more than The state of above-mentioned halted state decision threshold.Fallback state can for example determine in this way: gear Rs is linked into R grades of state.In addition, Also wheel velocity can be used to replace vehicle velocity V.

In addition, also can use gear when the rotational angle θ w that wheel detector 32rl, 32rr are detected is absolute value The detected value of Ps and wheel detector 32rl, 32rr come determine vehicle 10 halted state, forward travel state and fallback state (advance Direction).In addition, also can use can sentence when the rotational angle θ w that wheel detector 32rl, 32rr are detected is not absolute value The rotational angle of direction of travel is determined to determine halted state, forward travel state and fallback state (direction of travel).

(when A2-2-2-2. vehicle 10 stops)

Before start in picture 100a (Fig. 3), presses parking auxiliary and start key 102a, parking auxiliary ECU18 will be shown Screen switching is used display picture 100 (Fig. 4) (scheme by reference when vehicle 10 stops in target parking position setting control 2)。

Fig. 4 is to indicate to set in control in target parking position, and it is (following that vehicle 10 is in the display picture 100 when stopping Also known as " target parking position setting screen 100b when stopping " or " setting screen 100b when stopping ") an example Figure.When stopping in setting screen 100b, except include with start before picture 100a is identical points out information 104 and vertical view It also include that parking auxiliary sign 120 in inactive state, progress illustrate that item 122, operation draw other than image-region 108 Information 124 is led, auto-steering is separately included and starts parking type selection label 126a, 126b of key 128a, 128b, automatic inspection It surveys key 130, stop key 132.

In the implementation procedure of automatic steering control, when parking auxiliary sign 120 is in active state, shown with intensification, It is aobvious with shoaling when parking auxiliary sign 120 is in inactive state in the implementation procedure of target parking position setting control Show, parking auxiliary sign 120 indicates the development situation of parking auxiliary in this way.

Progress illustrates item 122 for illustrating the progress of parking auxiliary.Progress illustrates item 122 by including indicating target parking position It sets Pptar and is in the region of text as " setting " in setting, including indicating text as " auxiliary " in auto-steering The region of word assists the region of text as " end " of end to constitute including indicating to stop.In that region, and at this time The corresponding region of the control carried out is highlighted (for example, using different colors) display relative to other regions.

Operation guiding information 124 transmits the movement that vehicle 10 should carry out to driver.In the example shown in Figure 4, it selects It selects auto-steering and starts one in key 128a, 128b, start auto-steering, in order to transmit the information, and show and " press " beginning " key, stops in green frame " as text." green frame " mentioned here refers to display in overhead view image region 108 Candidate position image 134.

Type of stopping selection label 126a, 126b (following also known as " selection label 126a, 126b " or " label 126a, 126b ") for selecting the type of parking from back parking (double parking) or word parking.In each label 126a, 126b It has separately included 2 auto-steerings and has started key 128a, 128b.

In the overhead view image region 108 of Fig. 4, in addition to showing the 1st goal directed line 112, in from vehicle image 110 Left and right side show candidate position image 134 respectively.Candidate position image 134 is to indicate target parking position Pptar Candidate image.It is right with the candidate position image 134 in left side when user selects the auto-steering in left side to start key 128a The target parking position Pptar answered is set, and starts auto-steering later.In addition, when user selects the auto-steering on right side to open When beginning key 128b, target parking position Pptar corresponding with the candidate position image 134 on right side is set, and is started later certainly Turn to.

The lateral length in the overhead view image region 108 of the lateral length Lh ratio Fig. 3 in the overhead view image region 108 of Fig. 4 is long.It changes The cross in the lateral overhead view image region 108 of the indication range (field range) than Fig. 3 in the overhead view image region 108 of Yan Zhi, Fig. 4 To indication range (field range) it is wide.To can easily see no matter in the which side from vehicle image 110 or so To candidate position image 134.At this point, the relative position from vehicle image 110 in overhead view image region 108 immobilizes.That is, When being switched to the picture 100b of Fig. 4 by the picture 100a of Fig. 3, overhead view image is horizontally still located on from vehicle image 110 The center in region 108.

In addition, the longitudinal length in the overhead view image region 108 of the longitudinal length Lv ratio Fig. 3 in the overhead view image region 108 of Fig. 4 It is short.In other words, the indication range (field range) from 110 rear of vehicle image in the overhead view image region 108 of Fig. 4 is than Fig. 3's The indication range (field range) from 110 rear of vehicle image in overhead view image region 108 is narrow.So as in the region to narrow The automatic detection key 130 of display in (hereinafter referred to as " display Zone switched 136 ").At this point, in overhead view image region 108 from vehicle The relative position of image 110 immobilizes.That is, when being switched to the picture 100b of Fig. 4 by the picture 100a of Fig. 3, from vehicle The position of image 110 in the longitudinal direction does not change.

Automatic detection key 130 is for the candidate (candidate position for detecting target parking position Pptar whether automatically to be set Ppc).In other words, when detection key 130 is opened automatically, ECU18 is detected according to left side side image Il and right side side image Irt Candidate position Ppc out, and corresponding with detected candidate position Ppc show candidate position image 134.Therefore, it is bowing In visible image region 108, change from the relative position of vehicle image 110 and candidate position image 134.

In addition, ECU18 fixation is shown relative to the candidate from vehicle image 110 when detection key 130 is closed automatically The position of location drawing picture 134.To which user makes candidate position image 134 in overhead view image while actually driving vehicle 10 It is corresponding with the desired parking position of vehicle 10 (from vehicle image 110) in region 108.

Stop key 132 for terminating parking auxiliary.

(when A2-2-2-3. vehicle 10 advances)

In the state that in the stopping of Fig. 4, setting screen 100b is shown, when vehicle 10 advances, parking auxiliary ECU18 It is the used display picture 100 (Fig. 5) when advancing of vehicle 10 in target parking position setting control by display screen switching (referring to Fig. 2).

Fig. 5 is to indicate to set in control in target parking position, and it is (following that vehicle 10 is in the display picture 100 when advancing Also known as " target parking position setting screen 100c when advance " or " setting screen 100c when advance ") an example Figure.When advancing in setting screen 100c, except include it is identical with setting screen 100b when stopping point out information 104, Overhead view image region 108, parking auxiliary sign 120, progress illustrate item 122, operation guiding information 124, automatic detection key 130 And stop except key 132, there are also the parking types comprising forward image region 140 to select label 126a, 126b.

As vehicle 10 advance when operation guiding information 124, such as using " please green frame is aligned with parking position " this The sentence of sample.

When stopping in setting screen 100b (Fig. 4), select in label 126a, 126b to include from turn in parking type To beginning key 128a, 128b.In contrast, when advancing in setting screen 100c (Fig. 5), label is selected in parking type It include the forward image region 140 for indicating forward image If in 126a, 126b.The reason for this is that vehicle 10 is when moving, no Auto-steering can be selected to start key 128a, 128b, thus forbid starting auto-steering, meanwhile, by showing front figure As If, it can be improved and give driver's bring convenience.

It also include prediction guide line in addition to including the 1st goal directed line 112 in forward image region 140 142.Predict that guide line 142 is the image being made of the lines of the progress path of expression vehicle 10 (from vehicle image 110), the In orange in 1 embodiment.

The indication range in the overhead view image region 108 of Fig. 5 and the indication range in overhead view image region 108 of Fig. 4 are identical.

In the state that in the advance of Fig. 5, setting screen 100c is shown, when driver tramples brake pedal (not shown), When stopping vehicle 10, parking auxiliary ECU18 by setting screen 100b (Fig. 4) when showing that picture 100 switches back into stopping, (scheme by reference 2)。

(when A2-2-2-4. vehicle 10 retreats)

In the state that in the stopping of Fig. 4, setting screen 100b is shown, when vehicle 10 retreats, (gear Ps is linked into R grades When), parking auxiliary ECU18 will show that screen switching is in target parking position setting control, and vehicle 10 is used when retreating Display picture 100 (Fig. 6) (referring to Fig. 2).

Fig. 6 is to indicate to set in control in target parking position, and it is (following that vehicle 10 is in the display picture 100 when retreating Also known as " target parking position setting screen 100d when retrogressing " or " setting screen 100d when retrogressing ") an example Figure.When retreating in setting screen 100d, information is pointed out except setting screen 100b (Fig. 4) is identical when including and stopping 104, overhead view image region 108, parking auxiliary sign 120, progress illustrate item 122, operation guiding information 124, stop key 132 Except, it also include that parking type selection label 126a, 126b and barrier inform setting key 152, wherein the parking type Selecting label 126a, 126b includes rear images region 150.

As vehicle 10 retreat when operation guiding information 124, such as using " being used after gear lever is please linked into D grades " this The sentence of sample.It is opened the reason for this is that the automatic steering control of present embodiment is linked into D (drive) shelves using gear Ps as condition Begin to carry out.In other words, when gear Ps is not linked into D grades, auto-steering, which starts key 128a, 128b, to be shown.

When stopping in setting screen 100b (Fig. 4), select in label 126a, 126b to include from turn in parking type To beginning key 128a, 128b.In contrast, when retreating in setting screen 100d (Fig. 6), label is selected in parking type It include the rear images region 150 for indicating rear images Irr in 126a, 126b.The reason for this is that vehicle 10 is when moving, Auto-steering can not be selected to start key 128a, 128b, thus forbid starting auto-steering, meanwhile, by showing rear Image Irr can be improved and give driver's bring convenience.

It include the 2nd goal directed line 154 in rear images region 150.2nd goal directed line 154 is by vehicle 10 or the image that constitutes of the lines that are shown from the direction of advance of vehicle image 110, it is in yellow in the 1st embodiment.2nd Goal directed line 154 is used when vehicle 10 retreats, and width is identical as the 1st goal directed line 112.In addition, in the top view of Fig. 6 As showing the 1st goal directed line 112 and candidate position image 134 in region 108.

The indication range in the overhead view image region 108 of the indication range ratio Fig. 4 and Fig. 5 in the overhead view image region 108 of Fig. 6 It is wide.That is, in Fig. 6, the also a part as overhead view image region 108 of display Zone switched 136.When overhead view image region 108 The indication range indication range that is expanded to display Zone switched 136 size when, relative to from the aobvious of the front of vehicle image 110 Demonstration is enclosed, and is broadened from the indication range at 110 rear of vehicle image.

The barrier of Fig. 6 informs that setting key 152 is to detect the case where barrier is close to vehicle 10 for automatic, and carry out Inform the key of the setting of the barrier.It include using rear images region 150 and to overlook as the informing form of barrier The form and voice is carried out by loudspeaker 42 that the arrow in the close direction of barrier is shown are indicated in image-region 108 The form of guidance.

In the state that setting screen 100d is shown in the retrogressing of Fig. 6, when driver tramples brake pedal, make vehicle 10 When stopping, setting screen 100b (Fig. 4) when display picture 100 is switched back into stopping by parking auxiliary ECU18 (referring to Fig. 2).

(the display picture 100 in A2-2-3. automatic steering control)

When user presses or select auto-steering to start key 128a, 128b when stopping in setting screen 100b (Fig. 4) In one when, parking auxiliary ECU18 by show picture 100 be switched to the display picture used in automatic steering control 100 (Fig. 7) (referring to Fig. 2).

Fig. 7 is the display picture 100 (hereinafter referred to as " picture 100e when auto-steering ") indicated in automatic steering control The figure of one example.Picture 100e is vehicle 10 in when moving backward back positive position Pttar advance to target when the auto-steering of Fig. 7 Picture an example.

In auto-steering in picture 100e, information is pointed out except setting screen 100b is identical when including with stopping 104, overhead view image region 108, parking auxiliary sign 120, progress illustrate item 122, operation guiding information 124 and stop key It also include direction of advance image-region 160 outside 132.

When entering automatic steering control, parking auxiliary sign 120 is in active state, and illustrates to dash forward at item 122 in progress Text as " auxiliary " is shown out.Operation guiding information 124 when vehicle 10 when as automatic steering control advances, such as Use sentence as " blue box please be proceed to "." blue box " mentioned here refers to the target for including in overhead view image region 108 Positive position of moving backward back image 162.

In direction of advance image-region 160, the surrounding image Is in the direction of advance of vehicle 10 is shown.That is, in vehicle 10 when stopping or the when of advance while being linked into other than R grade (or gear Ps), shows forward image If, in the retrogressing of vehicle 10 (or When person's gear Ps is linked into R grades), show rear images Irr.In addition to this, as shown in fig. 7, in direction of advance image-region 160 In, in addition to showing the 1st goal directed line 112, also shows target and move backward back positive position image 162.Target is moved backward back just Location drawing picture 162 is to indicate that target is moved backward back the rectangular image (picture frame) of positive position Pttar, blue in the 1st embodiment.

In addition, there is no parking types to select label 126a, 126b in picture 100e in auto-steering.Therefore, Fig. 7 The rear images area in the display area of the direction of advance image-region 160 forward image region 140 and Fig. 6 than Fig. 5 in the longitudinal direction The display area in domain 150 is long.

The lateral length in the overhead view image region 108 of the lateral length Lh ratio Fig. 4~Fig. 6 in the overhead view image region 108 of Fig. 7 Lh is short, and longitudinal length Lv is equal with the longitudinal length Lv in overhead view image region 108 of Fig. 6.Therefore, in the overhead view image area of Fig. 7 Viewing area field width in domain 108, from the display area at 110 rear of vehicle image than front.In addition, in the overhead view image area of Fig. 7 In domain 108, show the 1st goal directed line 112, target move backward back positive position image 162, target parking position image 164 and Direction of advance image 166.Target parking position image 164 is to indicate set mesh in target parking position setting control The rectangular image (picture frame) of parking position Pptar is marked, it is identical as candidate position image 134 in the 1st embodiment, in green.

Direction of advance image 166 is the arrow shaped image for indicating the direction of advance of vehicle 10 (from vehicle image 11), the 1st In embodiment, color and target stop position (that is, target is moved backward back positive position Pttar or target parking position at this time Set Pptar) it is identical.For example, in the example of fig. 7, it is preceding when vehicle 10, which is in, moves backward back positive position Pttar advance to target It is shown into directional image 166 with the identical blue of positive position image 162 is moved backward back with target.In addition, when vehicle 10 be in When target parking position Pptar is retreated, direction of advance image 166 is shown with green identical with target parking position image 164 Show.

[effect of the 1st embodiment of A3.]

As it appears from the above, according to the 1st embodiment, regardless of the direction of advance of vehicle 10 (from vehicle), overhead view image area Being kept fixed from the relative position of vehicle image 110, direction and display multiplying power in domain 108 (display area of overhead view image Ig) (referring to Fig. 3~Fig. 7).Therefore, will not cause because of the variation of the direction of advance of vehicle 10 from vehicle image 110 and surrounding Overhead view image Ig changes.Thus, for driver, to recognizing for the peripheral situation before the direction of advance switching of vehicle 10 Know, is also able to maintain that after the direction of advance switching of vehicle 10.Especially, in target parking position setting control, due to bowing The position from vehicle image 110 in visible image region 108 absolutely not changes, thus especially available as described above Effect.

In addition, expanding overhead view image region 108 when vehicle 10 is switched to fallback state by forward travel state and being located at from vehicle Display area (Zone switched 136) (Fig. 2 and Fig. 6) of display at the rear of image 110.To make to be not required to when vehicle 10 advances The display area at the rear to be paid special attention to narrows display, in addition, making the display area at rear broaden aobvious when vehicle 10 retreats Show, thus expand the field range at rear, improve the visibility of user, so as to easily retreat vehicle 10.

In the 1st embodiment, when vehicle 10 advances, parking auxiliary ECU18 (display control mechanism) makes as being used for The automatic detection key 130 of the selection image of used operation when vehicle 10 advances is selected to be shown in display Zone switched In 136, in the display Zone switched 136, overhead view image Ig is shown when vehicle 10 (from vehicle) retreats, and is advanced in vehicle 10 When do not show overhead view image Ig.(Fig. 4 and Fig. 5)

To which the display area at the rear for not needing to pay special attention to can be used when vehicle 10 stops or when advancing A part (Zone switched 136) of display carry out operation selection.

In the 1st embodiment, parking aid 12 executes the target for setting target parking position Pptar and stops Position setting controls and for making (from the vehicle) auto-steering of vehicle 10 (guidance) to set target parking position Pptar's Automatic steering control (guidance control) (referring to Fig. 2).In addition, display Zone switched 136 is carrying out target parking position setting control Use when processed, the automatic key 130 (selection image) that detects is for choosing whether to need to detect automatically to become target parking position Set the image (autosensing mode setting image) of the candidate position Ppc of the candidate of Pptar.

To when setting target parking position Pptar (that is, in order to set target parking position Pptar, at vehicle 10 When mobile), when vehicle 10 stops or when advancing, the display of key 130 will be detected automatically in display Zone switched 136 In, when vehicle 10 retreats, the overhead view image Ig at 10 rear of vehicle is shown in display Zone switched 136.Therefore, Neng Gouyou Effect ground utilizes the display area of touch screen 40 (indication mechanism).

It is retreated when carrying out target parking position setting control when vehicle 10 (from vehicle) is according to the 1st embodiment When, show that overhead view image Ig and rear images Irr the two images (referring to Fig. 6).So as to easily verify that driving Dead angle is more for person and the rear of vehicle 10 that is difficult to see that.In addition, not shown around any when vehicle 10 is in stopping Image Is, and show overhead view image Ig (referring to Fig. 4).Thus it is for example possible to ensure that the operation for showing surrounding image Is is negative The reduction of lotus or for show it is various guidance display image (for example, auto-steering starts key 128a, 128b) regions.Also Have, when vehicle 10, which is in, to advance, show overhead view image Ig and forward image If (referring to Fig. 5).So as to ensure that operation is negative The reduction of lotus, various guidance show the display area of image or to carry out display appropriate to offering convenience property of driver.

In the 1st embodiment, when carrying out target parking position setting control, stop when vehicle 10 (from vehicle) is in When, parking auxiliary ECU18 (display control mechanism) so that overhead view image Ig and auto-steering is started key 128a, 128b (guidance stops The navigational figure of vehicle auxiliary) combination display (referring to Fig. 4).In addition, when carrying out target parking position setting control, when vehicle 10 In retreat when, rear images Irr vehicle 10 stop when or advance when be shown in display auto-steering start key 128a, In the region of 128b, and auto-steering starts key 128a, 128b and does not show then (referring to Fig. 6).

To show the navigational figure only used when vehicle 10 stops or when advancing (in the 1st embodiment In, for example, auto-steering starts key 128a, 128b) in the case where, when vehicle 10 retreats, opposite with the navigational figure The region answered shows rear images Irr, thus, it is possible to improve to give driver's bring convenience, further, it is possible to realize touch screen The effective use of the display picture 100 of 40 (indication mechanisms).

In the 1st embodiment, as the navigational figure of guidance parking auxiliary, including the type selection label 126a that stops, 126b (parking type selects image) and auto-steering start key 128a, 128b (guidance starts image), wherein parking type Label 126a, 126b is selected to assist guided parking as parking for selecting back parking (double parking) or a word to stop Type, auto-steering start key 128a, 128b be used to indicate start by vehicle 10 guide to target parking position Pptar (ginseng According to Fig. 4).So as to which by the instruction that starts of the selection of simple structure realization parking type or auto-steering, (guidance is opened Begin to indicate).

In the 1st embodiment, when carrying out target parking position setting control, retreated when vehicle 10 (from vehicle) is in When, parking auxiliary ECU18 (display control mechanism) shows overhead view image If, rear images Irr and selection label 126a, 126b (parking type selects image), without showing that auto-steering starts key 128a, 128b (guidance starts image) (referring to Fig. 6). In addition, rear images Irr is shown in (ginseng in the region that display auto-steering starts key 128a, 128b when vehicle 10 stops According to Fig. 4).

According to above structure, when vehicle 10 retreats, does not show and start key 128a, 128b by auto-steering (guidance starts Image), and rear images Irr is shown starting the corresponding position key 128a, 128b with auto-steering.To in vehicle 10 When retrogressing, limitation starts to guide vehicle 10 to target parking position Pptar.Therefore, when guiding beginning, it can be ensured that vehicle 10 are in halted state or forward travel state.

When using automatic steering control, (driver operates gas pedal, brake pedal and gear lever 38 in person, automatic to carry out The control that steering wheel 68 is turned to) by the guidance of vehicle 10 to target parking position Pptar when, when automatic steering control starts, The case where making vehicle 10 advance, is more.As described above, in the 1st embodiment, in order to show auto-steering start key 128a, 128b needs that vehicle 10 is made to be in halted state or forward travel state (that is, gear Ps is linked into other than R grades (in other words, advance Shelves)), therefore when can reliably ensure that automatic steering control starts, gear Ps is linked into drive shift.

In addition, even if when vehicle 10 retreats also making that label 126a, 126b (parking type selection image) is selected to show Come (referring to Fig. 6).To which parking type changes when being retreated by being allowed in vehicle 10, can be improved and brings to driver Convenience.

According to the 1st embodiment, except show target move backward back the target stop positions images such as positive position image 162 with Outside, direction of advance image 166 (Fig. 7) is also shown.Therefore, it is easy intuitively to identify the direction of advance of vehicle 10 (from vehicle). In addition, target is moved backward back, positive position image 162 is identical with the display color of direction of advance image 166 (Fig. 7).Therefore, driver Intuitively target can be moved backward back positive position Pttar or target parking position Pptar (target stop position) and vehicle 10 Direction of advance connect, easily identify out vehicle 10 to which position advance.

B. the 2nd embodiment

[B1. structure (difference with the 1st embodiment)]

The structure of the hardware of 2nd embodiment is identical as the 1st embodiment (Fig. 1).In the following, with identical reference marker come It indicates identical structural element, and omits detailed description.In the 2nd embodiment, by the control of parking auxiliary ECU18 progress It is different from the 1st embodiment.

[control of B2. parking auxiliary]

(brief description of B2-1. parking auxiliary control)

Identical as the 1st embodiment, the parking auxiliary control of the 2nd embodiment mainly includes target parking position setting control Both controls of system and automatic steering control.

(switching of B2-2. picture)

Fig. 8 is the figure for illustrating the switching of the display picture 100 in the parking auxiliary control of the 2nd embodiment.Fig. 9 is Indicate the figure of the 6th example of the display picture 100 of the touch screen 40 in parking auxiliary control.In Fig. 2 of the 1st embodiment In, focus on the longitudinal length Lv and lateral length Lh in overhead view image region 108.In contrast, in Fig. 8 of the 2nd embodiment In, focus on the presence or absence of overhead view image Ig etc..

As the display picture 100 of the 2nd embodiment, using with the 1st embodiment picture 100a~100e (Fig. 3~ Fig. 7) identical display picture.More specifically, identical as the 1st embodiment in the 2nd embodiment, using starting preceding picture Face 100a (Fig. 3), stop when setting screen 100b (Fig. 4) and retreat when setting screen 100d (Fig. 6).

In addition, when vehicle 10 advances, using 2 kinds of display pictures 100 in the 2nd embodiment.1st kind is shown in Fig. 9 Display picture 100 (below also known as " the 1st setting screen 100f of target parking position when advance " or " when advance the 1st setting Picture 100f ").2nd kind (following to be also known as display picture 100 identical with setting screen 100c when the advance of the 1st embodiment For " the 2nd setting screen 100c of target parking position when advance " or " the 2nd setting screen 100c when advance ").

(the display picture 100 in the setting control of B2-2-2. target parking position)

(B2-2-1-1. brief description)

As shown in figure 8, target parking position setting control in, according to vehicle 10 be in halted state, forward travel state and Which of fallback state state shows picture 100 to switch.Such as it can be by the shelves that are detected by gear position sensor 36 The position Ps and rotational angle θ w that is detected by wheel detector 32rl, 32rr determines these states.

Halted state can for example determine in this way: gear Ps is linked into other than R grades (reverse drive gears) or D grades (drive shift), and State of the vehicle velocity V less than the 1st speed threshold value THv1 (aftermentioned).Forward travel state can for example determine in this way: gear Ps is linked into R grades Other than (reverse drive gear) or D grades (drive shift), and vehicle velocity V is more than the state of the 1st speed threshold value THv1.Fallback state for example can be with Determine in this way: gear Ps is linked into R grades.Alternatively, it is also possible to replace vehicle velocity V using wheel velocity.

In addition, also can use gear when the rotational angle θ w that wheel detector 32rl, 32rr are detected is absolute value The detected value of Ps and wheel detector 32rl, 32rr come determine vehicle 10 halted state, forward travel state and fallback state (advance Direction).In addition, also can use can when the rotational angle θ w that wheel detector 32rl, 32rr are detected is not absolute value The rotational angle of direction of travel is determined to determine halted state, forward travel state and fallback state (direction of advance).

(when B2-2-1-2. vehicle 10 stops)

Before start in picture 100a (Fig. 3), presses parking auxiliary and start key 102a, parking auxiliary ECU18 will be shown Screen switching is that used display picture 100 (sets picture when vehicle 10 stops in target parking position setting control when stopping Face 100b) (Fig. 4) (referring to Fig. 8).

Setting screen 100b is that vehicle 10 is in and stops in target parking position setting control when stopping in the 2nd embodiment Display picture 100 when only or the vehicle velocity V of vehicle 10 is less than the 1st speed threshold value THv1.1st speed threshold value THv1 is for sentencing Determine the speed threshold value that vehicle 10 is practically at halted state, such as can be any one value in 0.5~3.0km/h.Stop Setting screen 100b can also only when vehicle 10 stops, (for example, vehicle velocity V=0) be used when only.

When stopping in setting screen 100b (Fig. 4), parking type selection label 126a, 126b and auto-steering start by Key 128a, 128b are in the state (active state) that can be selected.

(when B2-2-1-3. vehicle 10 advances)

In the state that in the stopping of Fig. 4, setting screen 100b is shown, when vehicle 10 advances, parking auxiliary ECU18 It is the used 100 (reference of display picture when vehicle 10 advances in target parking position setting control by display screen switching Fig. 8).As described above, as in target parking position setting control when vehicle 10 advances used display picture 100, wrap When including advance the 1st setting screen 100f (Fig. 9) and advance when the 2nd setting screen 100c (Fig. 5).

It include to be infused with setting screen 100b (Fig. 4) identical prompting when stopping when advancing in the 1st setting screen 100f Meaning information 104, overhead view image region 108, parking auxiliary sign 120, progress illustrate item 122, operation guiding information 124, parking Type selection label 126a, 126b (including auto-steering starts key 128a, 128b), automatic detection key 130 and suspension are pressed Key 132.

When stopping in setting screen 100b (Fig. 4), auto-steering starts key 128a, 128b and is in and can be selected State (active state).In contrast, in Fig. 9, state that auto-steering starts key 128a, 128b can not be selected (inactive state) display.Auto-steering in inactive state starts key 128a, 128b, such as than being in moving type The auto-steering of state starts the shallow color of key 128a, 128b and shows.The reason for this is that forbidding when vehicle 10 is in mobile Start auto-steering.

In addition, identical as Fig. 4, in Fig. 9, parking type selection label 126a, 126b is (living with the state that can be selected Dynamic state) display.The reason for this is that, by selecting the type of parking, also can be improved even if vehicle 10 is in movement Give user's bring convenience.

In the state that the 1st setting screen 100f is shown in the advance of Fig. 9, make vehicle when driver tramples brake pedal When 10 stopping, setting screen 100b (Fig. 4) when display picture 100 is switched back into stopping by parking auxiliary ECU18 (referring to Fig. 8).

In addition, in the state that the 1st setting screen 100f is shown in the advance of Fig. 9, when vehicle 10 continues to accelerate, make vehicle When fast V reaches the 2nd speed threshold value THv2 or more, stop auxiliary ECU18 for the 2nd setting picture when showing that picture 100 is switched to advance Face 100c (Fig. 5) (referring to Fig. 8).The 2nd setting screen 100c is in target parking position setting control, when vehicle 10 when advance Used display picture 100 when advance and when vehicle velocity V is more than the 2nd speed threshold value THv2.

2nd speed threshold value THv2 is for determining that vehicle is in the lesser driving status of necessity of automatic steering control Speed threshold value, such as can be any one value in 3~8km/h.

In the state that in the advance of Fig. 5, the 2nd setting screen 100c is shown, for example, when driver unclamps gas pedal, When making vehicle velocity V less than the 2nd speed threshold value THv2, parking auxiliary ECU18 sets picture for the when showing that picture 100 switches back into advance the 1st Face 100f (Fig. 9) (referring to Fig. 8).When alternatively, it is also possible to omit advance the 1st setting screen 100f or advance when the 2nd setting picture One in the 100c of face.

(when B2-2-2-4. vehicle 10 retreats)

In the state that in the stopping of Fig. 4, setting screen 100b is shown, when vehicle 10 retreats, (gear Ps is linked into R grades When), parking auxiliary ECU18 will show that screen switching is used when vehicle 10 retreats in target parking position setting control Show picture (setting screen 100d when retrogressing) (Fig. 6) (referring to Fig. 8).

In the state that setting screen 100d is shown in the retrogressing of Fig. 6, when driver tramples brake pedal, make vehicle 10 Stop, when gear Ps is linked into D grades (or other than R grades), setting when display picture 100 is switched back into stopping by parking auxiliary ECU18 Picture 100b (Fig. 4) (referring to Fig. 8).

(the display picture 100 in B2-2-2. automatic steering control)

When stopping in setting screen 100b (Fig. 4), user presses or selects auto-steering to start key 128a, 128b In one when, parking auxiliary ECU18 by show picture 100 be switched to the display picture used in automatic steering control 100 (auto-steering picture 100e) (referring to Fig. 7 and Fig. 8).

[effect of the 2nd embodiment of B3.]

According to above-mentioned 2nd embodiment, in addition to the effect that can obtain the 1st embodiment or the effect is replaced, also Following effect can be obtained.

In the 2nd embodiment, when carrying out target parking position setting control, when vehicle 10 is in stopping or vehicle 10 in when advancing and the vehicle velocity V of vehicle 10 is lower than the 1st speed threshold value THv1, and parking auxiliary ECU18 (display control mechanism) makes Auto-steering is started key 128a, 128b (guidance starts image) and is shown with the active state that can be selected (referring to Fig. 4 and figure 8).In addition, when carrying out target parking position setting control, when vehicle 10 is in advance and vehicle velocity V is more than the 1st speed threshold value When THv, parking assists ECU18 that the auto-steering being in active state is made to start key 128a, 128b and does not show (in other words, taboo Only show that the auto-steering being in active state starts key 128a, 128b) (referring to Fig. 4, Fig. 8 and Fig. 9).So as to basis Vehicle velocity V accurately shows that auto-steering starts key 128a, 128b.

In the 2nd embodiment, when carrying out target parking position setting control, advance when vehicle 10 (from vehicle) is in And vehicle velocity V is more than the 1st speed threshold value THv1, when lower than the 2nd speed threshold value THv2 bigger than the 1st speed threshold value THv1, is stopped auxiliary Help ECU18 (display control mechanism) that auto-steering is made to start key 128a, 128b (guidance starts image) can not be selected Inactive state show (referring to Fig. 8 and Fig. 9).

To, though due to make auto-steering start key 128a, 128b be in it is shown can not be selected it is non- Active state, it is thus possible to simply transmit to start to guide and need to reduce the information of vehicle velocity V.

In the 2nd embodiment, when carrying out target parking position setting control, advance when vehicle 10 (from vehicle) is in And vehicle velocity V more than the 2nd speed threshold value THv2 when, the forward image If as image Is around is shown in when vehicle velocity V is lower than the 2nd Show that auto-steering starts in the region of key 128a, 128b (guidance starts image) when speed threshold value THv2, and auto-steering Start key 128a, 128b not show then (referring to Fig. 5).

When vehicle velocity V becomes larger, it is believed that driver wishes to guide the vehicle to the intention phase of target parking position Pptar To smaller.Therefore, when vehicle velocity V is more than the 2nd speed threshold value THv2, auto-steering is replaced to start by display forward image If Key 128a, 128b can be improved and give driver's bring convenience.

C. the 3rd embodiment

C1. structure (difference with the first and second embodiments)

The structure of the hardware of 3rd embodiment is identical as the first and second embodiments (Fig. 1).In the following, with identical referring to mark Note omits detailed description to indicate identical structural element.In the 3rd embodiment, carried out by parking auxiliary ECU18 Control it is different from the first and second embodiments.

[control of C2. parking auxiliary]

Next, being illustrated to the auxiliary control of parking performed by the parking aid 12 in the 3rd embodiment.? In the parking auxiliary control of 3rd embodiment, gas pedal, brake pedal (not shown) and gear lever 38 are operated in driver Under the premise of, it is automatically brought into operation steering wheel 68.

(brief description of C2-1. parking auxiliary control)

Figure 10 is the flow chart of the parking auxiliary control of the 3rd embodiment.In addition, the flow chart of Figure 10 is readily applicable to The first and second embodiments.In the step S1 of Figure 10, whether the beginning condition that parking assists ECU18 to be used to determine that parking to assist It sets up.Start condition as this, such as can be with are as follows: user (including driver) presses the touch screen 40 for being shown in navigation device 16 On parking auxiliary start key 102a (Fig. 3).It in addition to this, can also be by vehicle velocity V (hereinafter referred to as lower than defined threshold value " the 1st speed threshold value THv11 ") it is used as beginning condition.When the beginning condition for determining parking auxiliary is set up (S1:YES), into step Rapid S2 terminates this time to handle when the beginning condition for determining parking auxiliary is invalid (S1:NO), after by the stipulated time, Restart from step S1.

In step s 2, ECU18 execution is installed for setting the target parking position of the target parking position Pptar of vehicle 10 Fixed control.Then, in step s3, ECU18 is for determining whether the beginning condition of auto-steering is true.Start item as this Part, such as can be with are as follows: user presses the auto-steering being shown on the touch screen 40 of navigation device 16 and starts key 128a, 128b (Fig. 4).In addition to this, vehicle velocity V can also be lower than defined threshold value (hereinafter referred to as " the 2nd speed threshold value THv12 ") or vehicle 10 in halted state as beginning condition.

When determine auto-steering beginning condition set up when (S3:YES), ECU18 execute side by side automatic steering control (S4), Display control (S6) when voice guide controls (S5) and auto-steering when auto-steering.

Automatic steering control is by being automatically brought into operation steering wheel 68, so that vehicle 10 reaches target parking position Pptar's Control.EPS motor 64 is controlled by EPS ECU66 to be automatically brought into operation steering wheel 68.Voice guide control is (following when auto-steering Also known as " voice guide control ") it is the control that voice guide relevant to automatic steering control is carried out by loudspeaker 42.From Turn to when display control (below also known as " display control ") be carried out by touch screen 40 it is relevant to automatic steering control The control of display.Furthermore it is possible to display control (S6) when voice guide controls (S5) and auto-steering when will include auto-steering Automatic steering control (S4) be interpreted as the automatic steering control of broad sense.

(C2-2. target parking position setting control (S2 in Figure 10))

In target parking position setting control, such as while being guided using the display picture of touch screen 40, Set target parking position Pptar.At this point, candidate (the candidate position of fixed displaying target parking position Pptar can also be passed through Ppc1 in image (candidate position image 134) and overhead view image region 108) from the opposite of vehicle image 110 (referring to Fig. 4) Position mode shows the candidate position image 134.

Alternatively, can also detect candidate position Ppc automatically by ECU18, make the image for indicating candidate position Ppc and oneself The association display of vehicle image 110 (relative positional relationship of the two is shown).Or it can also use and JP2010- 089716A identical method sets target parking position Pptar.Again alternatively, vehicle can also be made by the operation of driver 10 are moved to the specified position relative to target parking position Pptar (for example, making target parking position Pptar's (parking frame) The line of right end is located at the position on the extended line of side mirror (not shown)), to set target parking position Pptar.3rd implements Mode target parking position setting control can also by mode identical with the 1st embodiment or the 2nd embodiment into Row.

(C2-3. automatic steering control)

In automatic steering control, parking auxiliary ECU18 is by carrying out auto-steering come aid parking.Driver is only to oil Door pedal, brake pedal and gear lever 38 are operated, and operation steering wheel 68 is not needed.

When by user press auto-steering start key etc. operation make opening for automatic steering control (S4 in Figure 10) When beginning condition is set up, ECU18 calculates path of navigation according to from vehicle location Pv and target parking position Pptar.Drawing here Guiding path includes that one or more targets are moved backward back positive position Pttar.Also, ECU18 make vehicle auto-steering to target move backward It returns after positive position Pttar, carries out the auto-steering towards target parking position Pptar.The auto-steering control of 3rd embodiment System can also be carried out by mode identical with the 1st embodiment or the 2nd embodiment.

Figure 11 is the top view for indicating an example of movement for the vehicle 10 when carrying out back parking.In the example of Figure 11 In, it after place Pst advances by vehicle 10, bends to right, later, turns to the left, reach the 1st target and move backward back positive position Pttar1.Later, vehicle 10 is retreated to left back, is reached target and is moved backward back positive position Pttar2.Followed by, 10 Xiang Zhenghou of vehicle Side retreats, and reaches target parking position Pptar.

(voice guide controls when C2-4. auto-steering)

In auto-steering in voice guide control, according to automatic steering control, by loudspeaker, using voice to driving Person carry out gas pedal, brake pedal and gear lever 38 operation guidance and arouse the attention of driver.For example, automatic When course changing control starts, the sound of " please after safety around confirmation, slowly advancing " is issued.In addition, keeping steering wheel 38 automatic When right-hand rotation, the sound of " turning right " is issued.

In addition, when vehicle 10 reach target move backward back specified position before positive position Pttar or the position when, sending The sound of " please stop " issues the sound of " gear lever is please suspended to reverse drive gear ", when gear lever 38 when vehicle 10 is practical to be stopped When being actually moved to the position of reverse drive gear, the sound of " please slowly retreating after square safety after validation " is issued.

(display control when C2-5. auto-steering)

In auto-steering in display control, when carrying out automatic steering control, various navigational figures is shown and are being touched On screen 40.

(C2-5-1. shows picture 100)

(brief description that C2-5-1-1. shows picture 100)

In the auto-steering of the 3rd embodiment in display control, display picture identical with the 1st embodiment is used 100 (Fig. 7), also, picture 100 is shown using shown in Figure 12 and Figure 13.Figure 12 and Figure 13 is oneself for indicating the 3rd embodiment Turn to when display control in display picture 100 the 2nd example and the 3rd example figure.

In the 3rd embodiment, (following also known as " the 1st shows picture to the display picture 100 of Fig. 7 when being automatically brought into operation 100e " or " the 1st display picture 100e ") when being that vehicle 10 move backward back positive position Pttar1 (Figure 11) advance to the 1st target Show an example of picture 100.The display picture 100 (following also known as " the 2nd display picture 100g when being automatically brought into operation " of Figure 12 Or " the 2nd display picture 100g ") it is display picture 100 when vehicle 10 move backward back from positive position Pttar2 retrogressing to the 2nd target An example.(following also known as " the 3rd display picture 100h when being automatically brought into operation " or " the 3rd is aobvious for the display picture 100 of Figure 13 Show picture 100h ") it is an example of the vehicle 10 to the display picture 100 when target parking position Pptar retrogressing.

It include to point out information 104, overhead view image area in display picture 100 as shown in Fig. 7, Figure 12 and Figure 13 Domain 108, parking auxiliary sign 120, progress illustrate item 122, operation guiding information 124, stop key 132 and direction of advance image Region 160.

Operation guiding information 124 transmits the movement that vehicle 10 should carry out to driver.In the example of Fig. 7 and Figure 11, It should proceed to transmit vehicle 10 and be moved backward back just by the 1st target that blue box (switching move backward back positive position image 162) is shown The information of position Pttar1, and show text as " blue box please be proceed to ".In the example in figure 12, it is transmitted to transmit Vehicle 10 should back to the information of the target parking position Pptar by green frame (target parking position image 164) display, and show Text as " please back to green frame " is shown.

(C2-5-1-2. shows image from vehicle image 110 and guidance)

As shown in Fig. 7, Figure 12 and Figure 13, in overhead view image region 108 include indicate vehicle 10 from vehicle image 110.In addition, synthesis has various guidance to show image in overhead view image region 108 and direction of advance image-region 160.That is, In the overhead view image region 108 and direction of advance image-region 160 of Fig. 7, Figure 12 and Figure 13, the 1st goal directed line 112, prediction Guide line 142, the 2nd goal directed line 154, target move backward back positive position image 162, target parking position image 164 and advance Directional image 166 is selectively overlapped or is synthesized.

(C2-5-2. is specifically handled)

Display control includes picture entirety control, direction of advance image control and bows when the auto-steering of the 3rd embodiment Visible image control.

(control of C2-5-2-1. picture entirety)

Picture entirety control is for carrying out the layout respectively shown etc. in display picture 100.

(C2-5-2-2. direction of advance image control)

Direction of advance image control is the control for showing the surrounding image Is in the direction of advance of vehicle 10.For example, In the case where vehicle 10 carries out movement as shown in figure 11, when vehicle 10 to the 1st target move backward back positive position Pttar1 advance When, ECU18 shows forward image If, when vehicle 10 is moved backward back positive position Pttar2 or target parking position to the 2nd target When Pptar is retreated, ECU18 shows rear images Irr.

(control of C2-5-2-3. overhead view image)

(brief description of C2-5-2-3-1. overhead view image control)

Overhead view image control is for overhead view image Ig to be shown to the control in the overhead view image region 108 around vehicle 10 System.

Figure 14 is the flow chart of the overhead view image control of the 3rd embodiment.In step s 11, ECU18 is according to each camera The 30 surrounding image Is taken calculate the overhead view image calculation process of overhead view image Ig.Overhead view image calculation process Specific processing mode for example can be using content documented by Japanese invention patent Publication special open 2010-069944.

In step s 12, ECU18 guides display image operation processing.The guidance of 3rd embodiment shows image fortune Calculation processing is handled including target parking position image operation, target is moved backward the back processing of positive position image operation, direction of advance image Calculation process, prediction guide line calculation process and goal directed line calculation process.

In step s 13, ECU18 obtain operation in overhead view image Ig and step S12 that operation in step S11 obtains The image synthesis processing for various navigational figures (the target parking position image 164 etc.) synthesis arrived.

(C2-5-2-3-2. target parking position image operation is handled and target is moved backward back, and positive position image operation is handled)

The processing of target parking position image operation for example passes through the fortune with the parking frame figure Ft in JP2010-089716A Calculate the identical processing method of processing method, operation target parking position image 164.Target move backward back positive position image operation processing Such as pass through processing method identical with the arithmetic processing method of positive block diagram shape Fk of moving backward back in JP2010-089716A, operation Target is moved backward back positive position image 162.

In addition, when target parking position image 164 and target move backward back positive position image 162 relatively (for example, Target parking position image 164 and target move backward back positive position image 162 required location distance L lower than defined apart from threshold When value TH1), ECU18 displaying target is moved backward back positive position image 162, and target parking position image 164 is forbidden to show.

Here distance L can be for example moved backward back for target parking position image 164 and target between positive position image 162 The shortest distance.Alternatively, distance L may be that target parking position image 164 and target move backward back positive position image 162 respectively The distance between central point.In addition, distance threshold TH1 be used to determine whether because target parking position image 164 there are due to make User is difficult to see that target is moved backward back positive position image 162.

(processing of C2-5-2-3-3. direction of advance image operation)

The processing of direction of advance image operation according to the direction of advance of vehicle 10 (from vehicle image 110), make it is sagittate before Direction into directional image 166 changes.That is, making direction of advance image when vehicle 10 (from vehicle image 110) advances 166 it is upward, when vehicle 10 (from vehicle image 110) retreat when, make the downward of direction of advance image 166.

When vehicle 10 (from vehicle image 110), which is in, to be stopped, according to next target stop position at this time, (target is fallen Vehicle returns positive position Pttar or target stop position Pptar) direction of advance determine the direction of direction of advance image 166.Example Such as, it when vehicle 10 is when act shown in Figure 11, is in when reaching the move backward back vehicle 10 of positive position Pttar1 of the 1st target When stopping, direction of advance image 166 is made to move backward back the side of positive position Pttar2 towards the 2nd target of next target stop position It is shown to (downward).

Here, the opportunity as the direction of switching direction of advance image 166, such as can be with are as follows: vehicle 10 is moved backward in target It returns at or near positive position Pttar when stopping.To be easy confirmation vehicle 10 on display picture 100 before stopping Direction of advance, also, even if vehicle velocity V is 0, it can also readily recognize the direction to be advanced after vehicle 10.

Alternatively, the direction of direction of advance image 166 can also be switched when switching gear Ps.For example, when vehicle 10 with In the target for being become retreating from advance move backward back stop at or near positive position Pttar when, do not show direction of advance figure temporarily As 166.Also, when gear Ps is switched to " R " shelves (reverse drive gear) by " D " shelves (drive), display direction of advance image 166 to On be switched to downward direction of advance image 166.So as to according to gear Ps (that is, by operate gas pedal make vehicle 10 The direction actually advanced) set the direction of direction of advance image 166.

Alternatively, the direction of direction of advance image 166 can also be set according to gear Ps and wheel velocity.That is, according to shelves Position Ps determines the actual direction of advance of vehicle 10, on this basis, when wheel velocity is (for example, left rear wheel and/or off hind wheel Wheel velocity) when being 0, direction of advance image 166 is not shown, when wheel velocity is not 0, the side that is actually advanced according to vehicle 10 Always the direction of direction of advance image 166 is set.To allow users to the identification actual direction of advance of vehicle 10.

In addition, ECU18 determines that target stop position at this time is moved backward back normotopia for target parking position Pptar or target Which of Pttar is set, and sets the color of direction of advance image 166 according to result is determined.For example, working as 10 court of vehicle When moving backward back positive position Pttar to target, normotopia that ECU18 can make the primitive color of direction of advance image 166 and target is moved backward back The color for setting Pttar is identical.

(C2-5-2-3-4. predicts guide line calculation process)

Predict that guide line calculation process is used for according at this time from vehicle location Pv and target stop position (target parking position Set Pptar or target moved backward back positive position Pttar), the prediction progress path of vehicle 10 is calculated, later, calculates prediction Guide line 142.

(C2-5-2-3-5. goal directed line calculation process)

Goal directed line calculation process calculates the 1st target and draws according to the direction of advance from vehicle location Pv and vehicle 10 Conducting wire 112 or the 2nd goal directed line 154.

[effect of the 3rd embodiment of C3.]

According to above-mentioned 3rd embodiment, in addition to it can obtain the effect of the first and second embodiments or instead of the effect Fruit, additionally it is possible to obtain following effect.

In the 3rd embodiment, target stop position includes that move backward back positive position Pttar, target of one or more targets is stopped Truck position Pptar (Figure 11).As one during vehicle 10 moves backward back towards target positive position Pttar, parking auxiliary ECU18 (display control mechanism) display indicates that the move backward back target of positive position Pttar of the target is moved backward back positive position image 162, and shows Show and moves backward back the identical direction of advance image 166 (Fig. 7 and Figure 12) of 162 color of positive position image with target.In addition, working as vehicle 10 When towards target parking position Pptar, parking auxiliary ECU18 (display control mechanism) display indicates the target parking position The target parking position image 164 of Pptar, and show direction of advance figure identical with 164 color of target parking position image As 166 (Figure 13).Target parking position image 164 and target move backward back positive position image 162 color it is different.

To which as the reversing Hui Zhenghou of vehicle 10, when being parked in target parking position Pptar, driver can move backward back just Front and back is intuitively by target stop position (target move backward back positive position Pttar and target parking position Pptar) and direction of advance It connects and is identified.

In the 3rd embodiment, as one during vehicle 10 (from vehicle) moves backward back towards target positive position Pttar, The target move backward back positive position Pttar and target parking position Pptar distance lower than defined distance threshold TH1 the case where Under, ECU18 (display control mechanism) shows move backward back positive position image 162 and direction of advance image 166 of target, also, makes Target parking position image 164 is forbidden showing.

To make target parking position when target moves backward back positive position Pttar and target parking position Pptar close Image 164 is not shown.Therefore, can prevent because target parking position image 164 there are due to be difficult to see that the mesh of display at this time The move backward back target of positive position Pttar of the target of mark parking position is moved backward back positive position image 162, and raising target is moved backward back normotopia Set the visibility of image 162.

D. variation

In addition, the invention is not limited to the respective embodiments described above, according to the contents of this specification, it is of course possible to adopt With various structures.For example, can be using such as flowering structure.

[D1. applicable object]

In the respective embodiments described above, illustrate situation about parking aid 12 is mounted on vehicle 10.But example Such as, from the point of view of following viewpoint, it is not limited to this, that is, the viewpoint are as follows: the rear in overhead view image Ig is made according to direction of advance The changed viewpoint in display area, alternatively, moving body is in the feelings retreated when carrying out the control of setting stopping target position Under condition, the viewpoint that shows that overhead view image Ig and rear images Irr.For example, it is also possible to moving body (the example other than vehicle 10 Such as ship) on use parking aid 12 (stop auxiliary device).

In the above-described embodiment, the case where present invention is suitable for parking aid 12 is illustrated.But such as from root From the viewpoint of the display area for expanding the rear in overhead view image Ig according to direction of advance, it is readily applicable to without stopping The display apparatus for displaying image of surroundings of auxiliary.

[D2. camera 30f, 30rr, 30l, 30rt (photographic unit)]

In the respective embodiments described above, use camera 30f, 30rr, 30l, 30rt as shooting surrounding image Is Photographic unit (Fig. 1).But it is also possible to depending on the application, the combination of setting front camera 30f and rear camera 30rr or Rear camera 30rr is only arranged in person.

[D3. touch screen 40 (input mechanism and indication mechanism)]

In the respective embodiments described above, the touch screen 40 of navigation device 16 doubles as input mechanism and indication mechanism.But example From the viewpoint of such as from user to the input instruction of parking aid 12, touch screen 40 can be not belonging to navigation device 16.In addition, Also the input mechanism (dedicated button, speech input device etc.) other than touch screen 40 can be used.

In addition, for example, touching also can be used from the viewpoint of display display picture 100 or direction of advance image 166 Touch the indication mechanism (such as multifunctional information display screen (MID) or head-up display (HUD)) other than screen 40.Using MID Or HUD as indication mechanism when, can also show advance side in the case where no overhead view image region 108 (overhead view image Ig) To image 166.

[D4. target parking position setting control]

In the target parking position setting control of the respective embodiments described above, it will can become target parking position Pptar's Position (candidate position Ppc) is shown on touch screen 40 (Fig. 4~Fig. 6) as candidate position image 134.But such as from setting It sets the goal from the viewpoint of the Pptar of parking position, it is not limited to this.For example, it is also possible to which the operation by driver makes vehicle 10 are moved to the specified position relative to target parking position Pptar (for example, making target parking position Pptar's (parking frame) The line of one end is located at the position on the extended line of side mirror (not shown)) set target parking position Pptar.

[D5. automatic steering control]

In the respective embodiments described above, as the control by the guidance of vehicle 10 into target parking position setting control, benefit With automatic steering control (control carried out by being automatically brought into operation steering wheel 68).But if focusing on following aspect, Also other guidance controls in addition to automatic steering control can be used, that is, this aspect are as follows: when vehicle 10 is switched by forward travel state When for fallback state, expand the viewing area from 110 rear of vehicle image in overhead view image region 108 or overhead view image Ig Domain.For example, it is also possible to use automatic stopping control (accelerated automatically, braked, the control of shift and steering) as guidance control System.Alternatively, the control only carried out by voice guide also can be used.

In the 3rd embodiment, illustrate to move backward back using 2 targets positive position Pttar the case where (Figure 11).But The move backward back quantity of positive position Pttar of target is not limited thereto.For example, in the example of Figure 11, even if vehicle 10 is from the 2nd mesh Mark moves backward back positive position Pttar2 to dead astern retrogressing, when can not also reach target parking position Pptar, can also add use 3rd target is moved backward back positive position Pttar3.In this case, the 2nd target move backward back positive position Pttar2 right front and The front of target parking position Pttar sets the 3rd target and moves backward back positive position Pttar3.When vehicle 10 reaches the reversing of the 3rd target When returning positive position Pttar3, after making steering wheel 68 return to initial position (base position), vehicle 10 is retreated to dead astern, energy It gets at up to target parking position Pptar.Under such case the case where (have the 3rd target move backward back positive position Pttar3), mesh Mark move backward back positive position Pttar for from vehicle 10 in the changed position of direction of advance in the front-back direction or from vehicle 10 It changes in direction of advance in the front-back direction and changes the position of the direction of advance from vehicle 10 by turning to.

[D6. shows picture 100]

(D6-1. shows content)

In the respective embodiments described above, in display picture 100, the 1st goal directed line 112, candidate position figure are shown As 134, prediction guide line 142, the 2nd goal directed line 154, target move backward back positive position image 162, target parking position image 164 and direction of advance image 166 (Fig. 3, Fig. 7, Fig. 9, Figure 12 and Figure 13).But for example, as needed, it also can be omitted one Partly or completely guidance display image.

In the 2nd embodiment, using setting screen 100b when stopping, advancing when the 1st setting screen 100f and when advancing 2nd setting screen 100c is as the display picture 100 when advancing (referring to Fig. 4, Fig. 5, Fig. 8 and Fig. 9).But for example, if When overweighting retrogressing if setting screen 100d (Fig. 6), then 1 or 2 when including stopping including setting screen 100b is used only It shows picture, omits other display pictures.This is applied equally to the 1st, the 3rd embodiment.

In the 2nd embodiment, when advancing in the 1st setting screen 100f, auto-steering starts key 128 with inactive Status display (referring to Fig. 8 and Fig. 9).But such as key 128a, 128b can not be selected and not since making auto-steering Show from the viewpoint of forward image If, then can with auto-steering start the corresponding position key 128a, 128b into Other displays (for example, simple background is shown) of row.

In the 2nd embodiment, in the state that when advancing, the 1st setting screen 100f is shown, when vehicle velocity V is in the 2nd vehicle When fast threshold value THv2 or more, the 2nd setting screen 100c when being switched to advance (referring to Fig. 8).But the 1st setting when by advancing When picture 100f is switched to advance before the 2nd setting screen 100c, other pictures also can be inserted (for example, when with advancing Auto-steering in 1st setting screen 100f starts the corresponding position key 128a, 128b, including other displays (for example, simple Background show) picture).In this case, when vehicle velocity V is more than the 3rd speed threshold value bigger than the 2nd speed threshold value THv2 It can be the 2nd setting screen 100c when advancing by display screen switching when THv3.

(D6-2. display color)

In the 3rd embodiment, keep target parking position image 164 identical with the display color of direction of advance image 166 (Figure 13), in addition, make target move backward back positive position image 162 with the display color of direction of advance image 166 identical (Fig. 7 and figure 12).But such as can intuitively make target parking position and the direction of advance of vehicle 10 (from vehicle) be associated (connection) this From the point of view of one purpose, it is not limited to this.For example, it is also possible to using the type of identical line (for example, solid line, dotted line, single dotted broken line The line that such shape is different or thickness is different) carry out the group of displaying target parking position image 164 and direction of advance image 166 It closes or target is moved backward back the combination of positive position image 162 and direction of advance image 166.It is real that this is applied equally to the 1st, the 2nd Apply mode.

(D6-3. overhead view image Ig)

In the respective embodiments described above, using obtained by camera 30f, 30rr, 30l, 30rt forward image If, rear Image Irr, left side side image Il and rear side side image Irt generate and show overhead view image Ig (referring to Fig. 3 etc.).But It can depending on the application, by the combination producing and display overhead view image Ig of forward image And if rear images Irr or only by rear Image Irr is generated and display overhead view image Ig.

It in the respective embodiments described above, include from vehicle image 110 in overhead view image Ig (overhead view image region 108) (referring to Fig. 3 etc.).But for example, it is also possible to depending on the application, make not including in overhead view image Ig from vehicle image 110.

It in the respective embodiments described above, include (the overhead view image region overhead view image Ig in all display pictures 100 108) (referring to Fig. 3~Fig. 7, Fig. 9, Figure 12 and Figure 13).But such as from the point of view of following viewpoint, can also be in no overhead view image In the case where Ig, rear images Irr is shown, that is, the viewpoint are as follows: when carrying out target parking position setting control, when vehicle 10 In when retreating, show rear images Irr.

(image Is around D6-4.)

In the respective embodiments described above, when carrying out target parking position setting control, when vehicle 10, which is in, to be retreated, after Square image Irr is displayed on when display vehicle 10 stops or the display auto-steering of the when of advance starts key 128a, 128b In region, and auto-steering starts key 128a, 128b and is not shown then (referring to Fig. 6 and Fig. 8).

But such as from the point of view of following viewpoint, rear images Irr can also be shown in other positions, that is, the viewpoint Are as follows: when carrying out target parking position setting control, when vehicle 10, which is in, to be retreated, make overhead view image Ig and rear images Irr The two images show or only show rear images Irr.In addition, working as vehicle when carrying out target parking position setting control 10 in when retreating, and can continue to, which makes auto-steering start key 128a, 128b, shows.But in this case, excellent Choosing when pressing auto-steering and starting key 128a, 128b, parking auxiliary ECU18 by touch screen 40 and loudspeaker 42 extremely Lack one to guide, so that gear Ps is moved to D grades (drives).

(D6-5. stops type selection label 126a, 126b (parking type selects image))

In the respective embodiments described above, the parking type as parking auxiliary guidance, can select back parking (to stop side by side Vehicle) or word parking.However, it is also possible to select in addition to above-mentioned parking type other parking types (for example, oblique line stops Vehicle).In addition, can also select any one parking type in back parking or word parking.In this case, it stops Type selection label 126a, 126b can be omitted display.

Also it is possible to using the input mechanism in addition to the display in display picture 100 (for example, setting is in display picture The dedicated operations key on position (for example, steering wheel 68) other than face 100) come select parking type.

(D6-6. auto-steering starts key 128a, 128b (guidance starts image))

In the respective embodiments described above, use auto-steering to start key 128a, 128b to guide the vehicle to as instruction The guidance that the guidance of target parking position Pptar starts starts image (referring to Fig. 4 etc.).But for example, by target parking position It sets Pptar and is provided only on left and right side and (especially, in the country to keep left, left side is provided only on, in the state to keep to the right Family is provided only on right side) in the case where, one started in key 128a, 128b can be used only.

Also it is possible to using the input mechanism in addition to the display in display picture 100 (for example, setting is in display picture The dedicated operations key on position (for example, steering wheel 68) other than face 100) to input guide the vehicle to target parking position The instruction that the guidance of Pptar starts.

(D6-7. shows Zone switched 136)

(expansion of D6-7-1. overhead view image region 108 or the display area of overhead view image Ig)

In the respective embodiments described above, switch display Zone switched 136 according to the state of the advance of vehicle 10 and retrogressing In automatic detection key 130 display and overhead view image region 108 display (referring to Fig. 4~Fig. 6).But such as from expansion From the viewpoint of display area in the direction of advance of big vehicle, when vehicle 10 retreats, automatic detection key 130 can be reduced Display multiplying power, so that the display area (overhead view image region 108) of overhead view image Ig be made to be expanded to extra area generated Domain.Alternatively, can also show automatic detection key 130 when vehicle 10 retreats, be moved to the automatic detection key 130 aobvious Show the position (for example, the suspension key 132 in Fig. 6 and barrier are informed between setting key 152) other than Zone switched 136, To expand the display area of overhead view image Ig.

In the respective embodiments described above, when vehicle 10 is switched to fallback state by forward travel state (including two states it Between the case where being interspersed with halted state), expand the display area (Fig. 4 being located in overhead view image Ig from the rear of vehicle image 110 ~Fig. 6).But such as from expand vehicle 10 direction of advance on display area from the viewpoint of, in vehicle 10 by retrogressing shape State (gear Ps is linked into R grades) (includes the case where being interspersed with halted state between two states) when being switched to forward travel state (D grades), The display area being located in overhead view image Ig from the front of vehicle image 110 can also be expanded.It in this case, can also be When vehicle rollback, used operation button when retrogressing is shown in the display area in the front from vehicle image 110.

In the above-described embodiment, expand in overhead view image Ig and be located at from the display area at the rear of vehicle image 110 Condition are as follows: target parking position setting control in, vehicle 10 by forward travel state be switched to fallback state (including two states it Between the case where being interspersed with halted state) (Fig. 2, Fig. 4~Fig. 6).But such as from expand vehicle 10 direction of advance on display From the viewpoint of region, rear display area can also be expanded as described above when carrying out automatic steering control.Alternatively, It can also be in the picture (for example, the parking auxiliary of Fig. 3 starts preceding picture 100a) other than parking auxiliary control, as described above Expand rear display area.

In the above-described embodiment, it will show that Zone switched 136 are arranged in overhead view image region 108 (Fig. 4~Fig. 6). But such as from the point of view of following viewpoint, can also will show Zone switched 136 rear images being arranged in other than overhead view image Ig At Irr, that is, the viewpoint are as follows: when vehicle 10 is switched to fallback state by forward travel state, expand the display area at 10 rear of vehicle.

(D6-7-2. detects key 130 (selection image) automatically)

In the above-described embodiment, display is automatic in the display Zone switched 136 when vehicle 10 stops and when advancing It detects key 130 (Fig. 4 and Fig. 5).But such as from the point of view of following viewpoint, other selection images can also be shown and shown In Zone switched 136, that is, the viewpoint are as follows: show the selection image such as operation button and be located at the direction of advance phase with vehicle 10 In the display area of anti-side.As such a selection image, the volume for carrying out voice guide can be used for example and open Close etc..All devices of loudspeaker 42 using navigation device 16 can be adjusted by the volume adjustment that volume switch carries out simultaneously Volume, or can also only adjust volume used in the operating constantly of parking aid 12.

(D6-8. direction of advance image 166)

In the above-described embodiment, direction of advance image 166 is shown in (Fig. 7, Figure 12 and figure from vehicle image 110 13).But such as from display vehicle 10 (from vehicle) direction of advance from the viewpoint of, can also be by direction of advance image 166 Be shown in other positions (for example, from vehicle image 110 all around in any side) on.In this case, may be used It, will when vehicle 10 retreats when vehicle 10 advances, direction of advance image 166 to be shown in the front side from vehicle image 110 Direction of advance image 166 is shown in the rear side from vehicle image 110.

In the respective embodiments described above, by the display of direction of advance image 166 (Fig. 7, Figure 12 in overhead view image region 108 And Figure 13).But such as from display vehicle 10 (from vehicle) direction of advance from the viewpoint of, can also be by direction of advance figure It is shown on other positions (for example, direction of advance image-region 160) as 166.

In the respective embodiments described above, direction of advance image 166 (Fig. 7, Figure 12 and Figure 13) is constituted by an arrow.But It is, such as from the viewpoint of the direction of advance of display vehicle 10 (from vehicle), direction of advance image 166 can also be shown as Other shapes (for example, being shown as multiple angle brackets " > > > ").When using multiple angle brackets, each point can also be successively set to include Number flashing display.

Claims

1. a kind of parking aid (12), have multiple photographic units (30f, 30rr, 30l, 30rt), indication mechanism (40) and Display control mechanism (18), wherein

The multiple photographic unit (30f, 30rr, 30l, 30rt) is used to shoot from around vehicle (10),

The display control mechanism (18) around being obtained by the multiple photographic unit (30f, 30rr, 30l, 30rt) according to scheming Picture generates and overlooks the overhead view image from vehicle (10), and the overhead view image is shown on the indication mechanism (40), It is characterized in that,

The multiple photographic unit (30f, 30rr, 30l, 30rt) at least obtains the forward image from vehicle (10) and rear Image as the surrounding image,

The parking aid (12) executes the target parking position for setting target parking position and sets control and by institute The guidance from vehicle (10) guidance to the set target parking position is stated to control,

When carrying out target parking position setting control, when it is described be in from vehicle (10) stop when, the display control Mechanism (18) shows that all surrounding images not, and shows the overhead view image,

When carrying out target parking position setting control, when it is described be in from vehicle (10) advance when, the display control Mechanism (18) shows that all surrounding images not, and shows the overhead view image, or make the overhead view image It is shown with the forward image,

When carrying out target parking position setting control, when it is described be in from vehicle (10) retreat when, the display control Mechanism (18) shows the overhead view image and the rear images the two images,

When carrying out target parking position setting control, when it is described be in from vehicle (10) stop or advance when, it is described Display control mechanism (18) shows the navigational figure (126a, 126b, 128a, 128b) of the overhead view image and guidance parking auxiliary Combination,

When carrying out target parking position setting control, when it is described be in from vehicle (10) retreat when, the rear images It is described stop from vehicle (10) when or the when of advance show a part of the navigational figure (126a, 126b, 128a, 128b) Region in be shown, a part of the navigational figure (126a, 126b, 128a, 128b) is then not displayed.

2. parking aid (12) according to claim 1, which is characterized in that

The navigational figure (126a, 126b, 128a, 128b) includes that parking type selection image (126a, 126b) and guidance are opened At least one of beginning image (128a, 128b), wherein

Parking type selection image (126a, 126b) is used for the kind by selection parking when parking auxiliary guidance vehicle parking Class is that double parking or a word stop,

Guidance beginning image (128a, 128b), which is used to indicate, to be started to guide from vehicle (10) to the target parking position It sets.

3. parking aid (12) according to claim 2, which is characterized in that

When carrying out target parking position setting control, when it is described be in from vehicle (10) retreat when, the display control Mechanism (18) makes the overhead view image, the rear images and parking type selection image (126a, 126b) display, and makes The guidance starts image (128a, 128b) and does not show,

The rear images are shown in described when stopping since vehicle (10) or the when of advance shows image the guidance In the region of (128a, 128b).

4. parking aid (12) according to claim 3, which is characterized in that

When carrying out target parking position setting control, when it is described be in from vehicle (10) stop when, alternatively, when it is described from When vehicle (10) advances and the speed from vehicle (10) is lower than the 1st speed threshold value, the display control mechanism (18) makes institute Guidance beginning image (128a, 128b) is stated to show with the active state that can be selected,

When carrying out the target parking position setting control, when described from vehicle (10) advance and the vehicle from vehicle (10) When speed is more than the 1st speed threshold value, the display control mechanism (18) forbids the guidance for making to be in active state to start Image (128a, 128b) display.

5. parking aid (12) according to claim 4, which is characterized in that

When carrying out the target parking position setting control, when described from vehicle (10) advance and the vehicle from vehicle (10) When speed is more than the 1st speed threshold value and is lower than the 2nd speed threshold value bigger than the 1st speed threshold value, the display control machine Structure (18) shows that guidance beginning image (128a, 128b) with the inactive state that can not be selected.

6. parking aid (12) according to claim 5, which is characterized in that

When carrying out the target parking position setting control, when described from vehicle (10) advance and the vehicle from vehicle (10) When speed is more than the 2nd speed threshold value or the 3rd speed threshold value bigger than the 2nd speed threshold value, the forward image is shown The image (128a, 128b) showing the guidance when the speed since vehicle (10) is lower than the 2nd speed threshold value Region in, and the guidance start image (128a, 128b) be then not displayed.