WO2011135672A1 - Parking support device - Google Patents

Parking support device Download PDF

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Publication number
WO2011135672A1
WO2011135672A1 PCT/JP2010/057473 JP2010057473W WO2011135672A1 WO 2011135672 A1 WO2011135672 A1 WO 2011135672A1 JP 2010057473 W JP2010057473 W JP 2010057473W WO 2011135672 A1 WO2011135672 A1 WO 2011135672A1
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WO
WIPO (PCT)
Prior art keywords
parking
host vehicle
vehicle
steering angle
parking frame
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PCT/JP2010/057473
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French (fr)
Japanese (ja)
Inventor
一広 森本
明久 横山
和則 香川
悟 丹羽
有華 祖父江
淳一 脇田
信 田中
Original Assignee
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to PCT/JP2010/057473 priority Critical patent/WO2011135672A1/en
Priority to JP2012512574A priority patent/JP5472454B2/en
Publication of WO2011135672A1 publication Critical patent/WO2011135672A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image

Definitions

  • the present invention relates to a parking assistance device, and more particularly to a parking assistance device that displays an image behind the host vehicle.
  • Patent Document 1 discloses a parking assistance device that displays a travel assistance line that represents an expected course by a tire locus based on a steering angle.
  • the device of Patent Literature 1 displays the travel assistance line by changing it to a straight line parallel to the depth direction of the parking frame at a point where the tangent line of the expected course is parallel to the depth direction of the parking frame.
  • the device of Patent Document 1 allows a driver to use a speaker to retreat with a steering angle of 0 degree at a point where the rear tire of the host vehicle reaches a straight line when the host vehicle actually moves backward toward the parking frame. Notice.
  • the above technique only displays the expected course based on the steering angle as it is. Therefore, there is a possibility that it takes time for the driver to adjust the steering angle with respect to the parking frame and adjust the course of the host vehicle.
  • an object of the present invention is to provide a parking assistance device that is more operable and can realize natural parking assistance.
  • the present invention includes a display unit that displays an image of the rear of the host vehicle, and the display unit displays a travel locus when the host vehicle is moving backward while maintaining the current steering angle, superimposed on the image of the rear of the host vehicle,
  • the travel locus is a parking assistance device that is displayed up to a position where the direction of the travel locus is parallel to the parking direction of the parking frame in which the host vehicle is parked.
  • the display unit that displays the image behind the host vehicle displays the travel locus when the host vehicle is moving backward while maintaining the current steering angle on the image behind the host vehicle.
  • the vehicle is displayed up to a position where the direction of the travel locus is parallel to the parking direction of the parking frame where the host vehicle is parked.
  • the driver adjusts the rudder angle while looking at the traveling locus displayed on the image of the parking frame behind the host vehicle displayed on the display unit, and moves backward so that the host vehicle is surely placed within the parking frame.
  • the steering angle for making the host vehicle parallel to the parking direction of the parking frame can be determined more easily.
  • the driver returns the rudder angle to 0 degrees at the position where the traveling locus displayed on the display unit ends, so that the vehicle is surely placed in the parking frame, and the vehicle is parallel to the parking direction of the parking frame. It is even easier to do.
  • the display unit determines the direction of the host vehicle based on the time when the host vehicle is perpendicular to the parking direction of the parking frame, and calculates a position where the direction of the travel locus is parallel to the parking direction of the parking frame. I can do it.
  • the display unit determines the direction of the host vehicle based on when the host vehicle is perpendicular to the parking direction of the parking frame, and the position where the direction of the travel locus is parallel to the parking direction of the parking frame. Is calculated. It can be relatively easily determined by the driver or the device that the host vehicle is perpendicular to the parking direction of the parking frame. For this reason, it becomes easy for the display unit to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame.
  • the display unit can determine the direction of the host vehicle based on the steering angle and speed of the host vehicle, and calculate a position where the direction of the travel locus is parallel to the parking direction of the parking frame.
  • the display unit determines the direction of the host vehicle based on the rudder angle and speed of the host vehicle based on when the host vehicle is perpendicular to the parking direction of the parking frame, and parks the parking frame. A position where the direction of the travel locus is parallel to the direction is calculated. For this reason, it becomes easy for the display unit to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame.
  • the display unit can start displaying the travel locus when the transmission of the host vehicle enters a state of moving the host vehicle backward.
  • the display unit starts displaying the travel locus when the transmission of the host vehicle enters a state of moving the host vehicle backward.
  • the traveling locus is displayed only when the host vehicle is moving backward, so that the steering angle is adjusted at a certain steering angle after fine adjustment of the steering angle.
  • the host vehicle can be moved backward to the parking frame, and the driving operation can be performed more naturally.
  • the present invention it becomes easier to securely place the host vehicle in the parking frame and to make the host vehicle parallel to the parking direction of the parking frame.
  • the parking assist device 10 of this embodiment includes a support switch 11, a steering angle sensor 12, a yaw rate sensor 14, a vehicle speed sensor 16, a transmission shift position sensor 17, a rear camera 18, a drawing device 20, and a display 22.
  • the support switch 11 is a switch for displaying an image behind the host vehicle captured by the rear camera 18 on the display 22 by the operation of the driver. Further, the support switch 11 superimposes and displays a traveling locus when the host vehicle is moving backward while maintaining the current steering angle by a driver's operation on a video behind the host vehicle on the display 22 using a predetermined steering angle line or the like. It is a switch to do.
  • the support switch 12 can display only an image behind the host vehicle by a driver's operation.
  • the rudder angle sensor 12 is a sensor that detects a rudder angle that is an angle of the front tire with respect to the front-rear direction of the host vehicle.
  • the yaw rate sensor 14 is a sensor that detects the yaw rate of the host vehicle using a gyro sensor or the like.
  • the vehicle speed sensor 16 is a sensor that detects the vehicle speed of the host vehicle by detecting the rotational speed of the wheels of the host vehicle.
  • the transmission shift position sensor 17 is a sensor that detects whether the shift position of the transmission of the host vehicle is in a forward “D” position or a reverse “R” position.
  • the rear camera 18 is a camera that captures an image behind the host vehicle.
  • the rear camera 18 can include a wide-angle lens having a diagonal field angle of 68 degrees or more.
  • the drawing device 20 travels when the host vehicle moves backward while maintaining the current steering angle based on signals from the support switch 11, the steering angle sensor 12, the yaw rate sensor 14, the vehicle speed sensor 16, and the transmission shift position sensor 17. It is an apparatus for drawing a locus by superimposing it on the image behind the host vehicle on the display 22 with a constant steering angle line or the like.
  • the display 22 displays an image of the rear of the host vehicle captured by the rear camera 18.
  • the display 22 displays a travel locus (rear wheel locus) when the host vehicle is moving backward while maintaining the current steering angle by superimposing it on an image behind the host vehicle with a fixed steering angle line or the like.
  • the display 22 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
  • the operation of the parking support apparatus of this embodiment will be described.
  • the host vehicle VM is traveling in a direction perpendicular to the parking direction of the parking frame P.
  • the support switch 11 is turned ON by the driver's operation (S11).
  • the drawing device 20 calculates the advance angle ⁇ of the host vehicle VM. (S14).
  • a fixed rudder angle line L1 that is a travel locus when the host vehicle is moving backward while maintaining the current rudder angle is displayed on the display 22 as a rear image of the host vehicle VM.
  • the constant rudder angle line L1 is displayed up to a position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P in which the host vehicle VM is parked.
  • the constant rudder angle line L1 is actually displayed as shown in FIG.
  • Such a constant rudder angle line L1 can be obtained by coordinate-converting the constant rudder angle line L1 calculated as shown in FIG. 4 as an image viewed from the viewpoint of the rear camera 18.
  • the constant steering angle line L ⁇ b> 1 displayed on the display 22 changes.
  • the constant rudder angle line L2 extends long until the direction of the constant rudder angle line L2 is parallel to the parking direction of the parking frame P.
  • the rudder angle is large, the direction of the constant rudder angle line L3 is immediately parallel to the parking direction of the parking frame P, and the constant rudder angle line L3 becomes shorter.
  • the drawing device 20 calculates the traveling angle ⁇ even while the host vehicle VM is moving backward, and reaches a position where the constant steering angle line L1 is parallel to the parking frame P according to the traveling angle ⁇ and the steering angle. indicate.
  • the driver can park the vehicle VM in parallel with the parking direction of the parking frame P by setting the steering angle to 0 degrees at a position where the constant steering angle line L1 is not displayed while viewing the display on the display 22. .
  • the drawing device 20 that displays an image behind the host vehicle VM on the display 22 is a constant rudder angle line L1 that is a travel locus when the host vehicle VM moves backward while maintaining the current rudder angle.
  • the constant rudder angle line L1 is displayed up to a position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P in which the host vehicle VM is parked. .
  • the driver adjusts the rudder angle while looking at the constant rudder angle line L1 displayed superimposed on the image of the parking frame P behind the host vehicle VM displayed on the display 22, and places the host vehicle VM in the parking frame P.
  • the driver retracts the host vehicle VM to the position where the constant rudder angle line L1 displayed on the display 22 ends and returns the rudder angle to 0 degrees, so that the host vehicle VM is securely placed in the parking frame P, In addition, it becomes easier to make the host vehicle VM parallel to the parking direction of the parking frame P.
  • the drawing device 20 determines the direction of the host vehicle VM based on the time when the host vehicle VM is perpendicular to the parking direction of the parking frame P, and is constant in the parking direction of the parking frame P. A position where the direction of the rudder angle line L1 is parallel is calculated. Whether the host vehicle VM is perpendicular to the parking direction of the parking frame P can be determined relatively easily by the driver or the device. For this reason, it becomes easy for the drawing device 20 to accurately calculate the position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P.
  • the drawing device 20 uses the direction of the host vehicle VM based on the steering angle and speed of the host vehicle VM with reference to the time when the host vehicle VM is perpendicular to the parking direction of the parking frame P. And the position at which the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P is calculated. For this reason, it becomes easy for the drawing device 20 to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame P.
  • the drawing device 20 starts displaying the constant steering angle line L1 when the transmission of the host vehicle VM enters a state of moving the host vehicle VM backward.
  • the travel locus L1 is displayed only when the host vehicle VM is moving backward.
  • the host vehicle VM can be moved backward to the parking frame P at a fixed steering angle, and the driving operation can be performed more naturally.
  • the parking assist device of the present invention it becomes easier to securely place the host vehicle in the parking frame and to make the host vehicle parallel to the parking direction of the parking frame.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

A rendering device (20) for displaying a video image of a rear view from a vehicle (VM) on a display (22) displays, on top of the video image of the rear view from the vehicle (VM), a constant steering angle line (L1) which is the travel locus of the vehicle (VM) when backing up while maintaining the present steering angle. The constant steering angle line (L1) is displayed up to a position where the direction of the constant steering angle line (L1) is parallel to the parking direction of a parking slot (P) where the vehicle (VM) is to be parked. For this reason, it follows that the driver will adjust the steering angle while looking at the constant steering angle line (L1), which is displayed on the display (22) and is shown on top of the video image of the parking slot (P) rearward of the vehicle (VM), back up the vehicle (VM) so as to reliably fit the vehicle inside the parking slot (P), and easily be able to determine the steering angle necessary for the vehicle (VM) to be parallel to the parking direction of the parking slot (P). By backing up the vehicle (VM) to the position where the constant steering angle line (L1) displayed on the display (22) terminates and returning the steering angle to zero degrees, the driver can easily fit the vehicle (VM) inside the parking slot (P) with the vehicle (VM) parallel to the parking direction of the parking slot (P).

Description

駐車支援装置Parking assistance device
　本発明は、駐車支援装置に関し、特に自車両後方の映像を表示する駐車支援装置に関する。 The present invention relates to a parking assistance device, and more particularly to a parking assistance device that displays an image behind the host vehicle.
　自車両後方の映像を表示することにより、車両を駐車枠に駐車させる際に運転者の運転を支援する装置が提案されている。例えば、特許文献１には、操舵角に基づいてタイヤ軌跡により予想進路を表現する走行補助線を表示する駐車支援装置が開示されている。特許文献１の装置は、予想進路の接線が駐車枠の奥行き方向に平行になった地点で、走行補助線を駐車枠の奥行き方向に平行な直線に変更して表示する。特許文献１の装置は、実際に自車両が駐車枠に向けて後退したときに、自車両の後輪タイヤが直線に到達した地点で舵角を０度として後退するようにスピーカにより運転者に通知する。 There has been proposed a device that supports the driving of the driver when the vehicle is parked in the parking frame by displaying an image behind the host vehicle. For example, Patent Document 1 discloses a parking assistance device that displays a travel assistance line that represents an expected course by a tire locus based on a steering angle. The device of Patent Literature 1 displays the travel assistance line by changing it to a straight line parallel to the depth direction of the parking frame at a point where the tangent line of the expected course is parallel to the depth direction of the parking frame. The device of Patent Document 1 allows a driver to use a speaker to retreat with a steering angle of 0 degree at a point where the rear tire of the host vehicle reaches a straight line when the host vehicle actually moves backward toward the parking frame. Notice.
特開２００９－７１６５９号公報JP 2009-71659 A
　しかしながら、上記の技術では、操舵角に基づく予想進路をそのまま表示するのみである。そのため、運転者が駐車枠に対して操舵角を調整して自車両の進路を合わせるために時間を要してしまう可能性がある。また、自車両の位置や操舵角によっては、操舵角に応じて走行補助線が曲がっている部位と駐車枠に平行な直線である部位との境界が判りにくい。そのため、運転者が操舵角を０度にする地点がスピーカにより通知されないと判り難い。そのため、運転者に違和感を与えてしまう可能性がある。以上のように、より操作性が高く、自然な駐車支援を実現するためには改善の余地がある。 However, the above technique only displays the expected course based on the steering angle as it is. Therefore, there is a possibility that it takes time for the driver to adjust the steering angle with respect to the parking frame and adjust the course of the host vehicle. In addition, depending on the position and steering angle of the host vehicle, it is difficult to understand the boundary between a portion where the travel assist line is bent according to the steering angle and a portion which is a straight line parallel to the parking frame. Therefore, it is difficult to understand unless the driver notifies the speaker of the point at which the steering angle is 0 degree. Therefore, there is a possibility that the driver may feel uncomfortable. As described above, there is room for improvement in order to realize a parking assistance with higher operability and naturalness.
　そこで、本発明は、より操作性が高く、自然な駐車支援を実現することが可能な駐車支援装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a parking assistance device that is more operable and can realize natural parking assistance.
　本発明は、自車両後方の映像を表示する表示ユニットを備え、表示ユニットは、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡を自車両後方の映像に重ねて表示し、走行軌跡は、自車両が駐車する駐車枠の駐車方向に走行軌跡の方向が平行となる位置まで表示される駐車支援装置である。 The present invention includes a display unit that displays an image of the rear of the host vehicle, and the display unit displays a travel locus when the host vehicle is moving backward while maintaining the current steering angle, superimposed on the image of the rear of the host vehicle, The travel locus is a parking assistance device that is displayed up to a position where the direction of the travel locus is parallel to the parking direction of the parking frame in which the host vehicle is parked.
　この構成によれば、自車両後方の映像を表示する表示ユニットは、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡を自車両後方の映像に重ねて表示し、走行軌跡は、自車両が駐車する駐車枠の駐車方向に走行軌跡の方向が平行となる位置まで表示される。このため、運転者は表示ユニットに表示される自車両後方の駐車枠の映像に重ねて表示される走行軌跡を見ながら舵角を調整し、自車両を駐車枠内に確実に納まるように後退させ、且つ自車両を駐車枠の駐車方向に平行となるようにするための舵角をさらに容易に決定することができる。さらに、運転者は表示ユニットに表示される走行軌跡が終わる位置で舵角を０度に戻すことにより、自車両を駐車枠内に確実に納め、且つ自車両を駐車枠の駐車方向に平行とすることがさらに容易となる。 According to this configuration, the display unit that displays the image behind the host vehicle displays the travel locus when the host vehicle is moving backward while maintaining the current steering angle on the image behind the host vehicle. The vehicle is displayed up to a position where the direction of the travel locus is parallel to the parking direction of the parking frame where the host vehicle is parked. For this reason, the driver adjusts the rudder angle while looking at the traveling locus displayed on the image of the parking frame behind the host vehicle displayed on the display unit, and moves backward so that the host vehicle is surely placed within the parking frame. And the steering angle for making the host vehicle parallel to the parking direction of the parking frame can be determined more easily. Further, the driver returns the rudder angle to 0 degrees at the position where the traveling locus displayed on the display unit ends, so that the vehicle is surely placed in the parking frame, and the vehicle is parallel to the parking direction of the parking frame. It is even easier to do.
　この場合、表示ユニットは、自車両が駐車枠の駐車方向に垂直であるときを基準として、自車両の方向を判定し、駐車枠の駐車方向に走行軌跡の方向が平行となる位置を算出するものとできる。 In this case, the display unit determines the direction of the host vehicle based on the time when the host vehicle is perpendicular to the parking direction of the parking frame, and calculates a position where the direction of the travel locus is parallel to the parking direction of the parking frame. I can do it.
　この構成によれば、表示ユニットは、自車両が駐車枠の駐車方向に垂直であるときを基準として、自車両の方向を判定し、駐車枠の駐車方向に走行軌跡の方向が平行となる位置を算出する。自車両が駐車枠の駐車方向に垂直であることは、運転者又は装置において比較的容易に判定可能である。このため、表示ユニットが駐車枠の駐車方向に走行軌跡の方向が平行となる位置を正確に算出することが容易となる。 According to this configuration, the display unit determines the direction of the host vehicle based on when the host vehicle is perpendicular to the parking direction of the parking frame, and the position where the direction of the travel locus is parallel to the parking direction of the parking frame. Is calculated. It can be relatively easily determined by the driver or the device that the host vehicle is perpendicular to the parking direction of the parking frame. For this reason, it becomes easy for the display unit to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame.
　また、表示ユニットは、自車両の舵角及び速度に基づいて、自車両の方向を判定し、駐車枠の駐車方向に走行軌跡の方向が平行となる位置を算出するものとできる。 Further, the display unit can determine the direction of the host vehicle based on the steering angle and speed of the host vehicle, and calculate a position where the direction of the travel locus is parallel to the parking direction of the parking frame.
　この構成によれば、表示ユニットは、自車両が駐車枠の駐車方向に垂直であるときを基準として、自車両の舵角及び速度に基づいて、自車両の方向を判定し、駐車枠の駐車方向に走行軌跡の方向が平行となる位置を算出する。このため、表示ユニットが駐車枠の駐車方向に走行軌跡の方向が平行となる位置を正確に算出することが容易となる。 According to this configuration, the display unit determines the direction of the host vehicle based on the rudder angle and speed of the host vehicle based on when the host vehicle is perpendicular to the parking direction of the parking frame, and parks the parking frame. A position where the direction of the travel locus is parallel to the direction is calculated. For this reason, it becomes easy for the display unit to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame.
　また、表示ユニットは、自車両のトランスミッションが自車両を後退させる状態となったときに、走行軌跡の表示を開始するものとできる。 Further, the display unit can start displaying the travel locus when the transmission of the host vehicle enters a state of moving the host vehicle backward.
　この構成によれば、表示ユニットは、自車両のトランスミッションが自車両を後退させる状態となったときに、走行軌跡の表示を開始する。自車両の運転者が駐車枠に対して自車両の後退を開始する位置を決めることが得意なときは、後退時にのみ走行軌跡が表示されることにより、舵角の微調整後に一定舵角で自車両を駐車枠に後退させることができ、より自然に運転操作を行うことができる。 According to this configuration, the display unit starts displaying the travel locus when the transmission of the host vehicle enters a state of moving the host vehicle backward. When the driver of the host vehicle is good at deciding the position where the host vehicle starts to move backward with respect to the parking frame, the traveling locus is displayed only when the host vehicle is moving backward, so that the steering angle is adjusted at a certain steering angle after fine adjustment of the steering angle. The host vehicle can be moved backward to the parking frame, and the driving operation can be performed more naturally.
　本発明によれば、自車両を駐車枠内に確実に納め、且つ自車両を駐車枠の駐車方向に平行とすることがさらに容易となる。 According to the present invention, it becomes easier to securely place the host vehicle in the parking frame and to make the host vehicle parallel to the parking direction of the parking frame.
実施形態に係る駐車支援装置の構成を示すブロック図である。It is a block diagram which shows the structure of the parking assistance apparatus which concerns on embodiment. 実施形態に係る駐車支援装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the parking assistance apparatus which concerns on embodiment. 実施形態の駐車支援装置を搭載した車両の駐車場に進入時の態様を示す平面図である。It is a top view which shows the aspect at the time of approaching the parking lot of the vehicle carrying the parking assistance apparatus of embodiment. 実施形態の駐車支援装置のディスプレイに示される舵角連動線を仮想的に示した平面図である。It is the top view which showed virtually the rudder angle interlocking line shown on the display of the parking assistance device of an embodiment. 図４の誘導線における舵角に応じた変化を示す平面図である。It is a top view which shows the change according to the steering angle in the guide line of FIG. 実施形態の駐車支援装置を搭載した車両の駐車枠に向けて後退する態様を示す平面図である。It is a top view which shows the aspect which reverse | retreats toward the parking frame of the vehicle carrying the parking assistance apparatus of embodiment. ディスプレイに表示された後方映像と後方映像に重畳して表示された舵角連動線とを示す図である。It is a figure which shows the rudder angle interlocking line displayed on the back image displayed on the display, and the back image.
　以下、図面を参照して、本発明に係る駐車支援装置の好適な実施形態について詳細に説明する。本実施形態の駐車支援装置１０は、支援スイッチ１１、舵角センサ１２、ヨーレートセンサ１４、車速センサ１６、トランスミッションシフト位置センサ１７、後方カメラ１８、描画装置２０及びディスプレイ２２を備えている。 Hereinafter, a preferred embodiment of a parking assistance apparatus according to the present invention will be described in detail with reference to the drawings. The parking assist device 10 of this embodiment includes a support switch 11, a steering angle sensor 12, a yaw rate sensor 14, a vehicle speed sensor 16, a transmission shift position sensor 17, a rear camera 18, a drawing device 20, and a display 22.
　支援スイッチ１１は、運転者の操作によりディスプレイ２２に後方カメラ１８が撮像した自車両後方の映像を表示するためのスイッチである。また、支援スイッチ１１は、運転者の操作により、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡を一定舵角線等によりディスプレイ２２の自車両後方の映像に重畳して表示するためのスイッチである。支援スイッチ１２は、運転者の操作により自車両後方の画像のみを表示することが可能となっている。 The support switch 11 is a switch for displaying an image behind the host vehicle captured by the rear camera 18 on the display 22 by the operation of the driver. Further, the support switch 11 superimposes and displays a traveling locus when the host vehicle is moving backward while maintaining the current steering angle by a driver's operation on a video behind the host vehicle on the display 22 using a predetermined steering angle line or the like. It is a switch to do. The support switch 12 can display only an image behind the host vehicle by a driver's operation.
　舵角センサ１２は、自車両の前後方向に対する前輪タイヤの角度である舵角を検出するセンサである。ヨーレートセンサ１４は、自車両のヨーレートをジャイロセンサ等により検出するセンサである。車速センサ１６は、自車両の車輪の回転速度を検出することにより、自車両の車速を検出するセンサである。トランスミッションシフト位置センサ１７は、自車両のトランスミッションのシフト位置が前進「Ｄ」、後退「Ｒ」といったいずれの位置にあるかを検出するセンサである。 The rudder angle sensor 12 is a sensor that detects a rudder angle that is an angle of the front tire with respect to the front-rear direction of the host vehicle. The yaw rate sensor 14 is a sensor that detects the yaw rate of the host vehicle using a gyro sensor or the like. The vehicle speed sensor 16 is a sensor that detects the vehicle speed of the host vehicle by detecting the rotational speed of the wheels of the host vehicle. The transmission shift position sensor 17 is a sensor that detects whether the shift position of the transmission of the host vehicle is in a forward “D” position or a reverse “R” position.
　後方カメラ１８は、自車両の後方の映像を撮像するカメラである。本実施形態においては、後方カメラ１８は、対角画角６８度以上の広角レンズを備えているものとできる。 The rear camera 18 is a camera that captures an image behind the host vehicle. In the present embodiment, the rear camera 18 can include a wide-angle lens having a diagonal field angle of 68 degrees or more.
　描画装置２０は、支援スイッチ１１、舵角センサ１２、ヨーレートセンサ１４、車速センサ１６及びトランスミッションシフト位置センサ１７からの信号に基づいて、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡を一定舵角線等によりディスプレイ２２の自車両後方の映像に重畳して描画するための装置である。 The drawing device 20 travels when the host vehicle moves backward while maintaining the current steering angle based on signals from the support switch 11, the steering angle sensor 12, the yaw rate sensor 14, the vehicle speed sensor 16, and the transmission shift position sensor 17. It is an apparatus for drawing a locus by superimposing it on the image behind the host vehicle on the display 22 with a constant steering angle line or the like.
　ディスプレイ２２は、後方カメラ１８により撮像された自車両後方の映像を表示する。また、ディスプレイ２２は、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡（後輪の軌跡）を一定舵角線等により自車両後方の映像に重畳して表示する。ディスプレイ２２は、駐車支援用として独立した液晶ディスプレイ等とできる。あるいはディスプレイ２２は、ナビゲーションシステム用のディスプレイと兼用としても良い。 The display 22 displays an image of the rear of the host vehicle captured by the rear camera 18. In addition, the display 22 displays a travel locus (rear wheel locus) when the host vehicle is moving backward while maintaining the current steering angle by superimposing it on an image behind the host vehicle with a fixed steering angle line or the like. The display 22 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
　以下、本実施形態の駐車支援装置の動作について説明する。図３に示すように、自車両ＶＭが駐車枠Ｐの駐車方向に対して垂直な方向に走行しているものとする。駐車枠Ｐの隣には、他車両ＶＯも存在する。図２に示すように、支援スイッチ１１が運転者の操作によりＯＮとされる（Ｓ１１）。このとき描画装置２０は、自車両ＶＭの進行角θをθ＝０に初期化する（Ｓ１２）。 Hereinafter, the operation of the parking support apparatus of this embodiment will be described. As shown in FIG. 3, it is assumed that the host vehicle VM is traveling in a direction perpendicular to the parking direction of the parking frame P. Next to the parking frame P, there is another vehicle VO. As shown in FIG. 2, the support switch 11 is turned ON by the driver's operation (S11). At this time, the drawing apparatus 20 initializes the traveling angle θ of the host vehicle VM to θ = 0 (S12).
　図３の矢印の終端で示す自車両ＶＭの状態のように、自車両ＶＭが駐車枠Ｐに対して前進後に停車したときは（Ｓ１３）、描画装置２０は自車両ＶＭの進行角θを算出する（Ｓ１４）。描画装置２０は、自車両ＶＭが駐車枠Ｐの駐車方向に対して垂直な方向に走行している状態を基準の進行角θ＝０として、舵角センサ１２により検出された舵角、ヨーレートセンサ１４により検出されたヨーレート及び車速センサ１６により検出された車速に基づいて、自車両ＶＭの進行角θを求めることができる。 When the host vehicle VM stops after moving forward with respect to the parking frame P as in the state of the host vehicle VM indicated by the end of the arrow in FIG. 3 (S13), the drawing device 20 calculates the advance angle θ of the host vehicle VM. (S14). The drawing device 20 uses the steering angle sensor detected by the steering angle sensor 12 and the yaw rate sensor as a reference travel angle θ = 0 when the vehicle VM is traveling in a direction perpendicular to the parking direction of the parking frame P. Based on the yaw rate detected by the vehicle 14 and the vehicle speed detected by the vehicle speed sensor 16, the traveling angle θ of the host vehicle VM can be obtained.
　トランスミッションシフト位置センサ１７が、運転者の操作によりトランスミッションのシフト位置が後退「Ｒ」の位置とされたことを検出したときは（Ｓ１５）、図４に示すように、描画装置２０は、進行角θ及び舵角センサ１２により検出された舵角に基づき、自車両が現在の舵角に維持しつつ後退した場合の走行軌跡である一定舵角線Ｌ１をディスプレイ２２に自車両ＶＭの後方の映像に重畳して表示する（Ｓ１６）。この場合の一定舵角線Ｌ１は、自車両ＶＭが駐車する駐車枠Ｐの駐車方向に一定舵角線Ｌ１の方向が平行となる位置まで表示される。 When the transmission shift position sensor 17 detects that the transmission shift position has been set to the reverse “R” position by the driver's operation (S15), as shown in FIG. Based on θ and the rudder angle detected by the rudder angle sensor 12, a fixed rudder angle line L1 that is a travel locus when the host vehicle is moving backward while maintaining the current rudder angle is displayed on the display 22 as a rear image of the host vehicle VM. (S16). In this case, the constant rudder angle line L1 is displayed up to a position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P in which the host vehicle VM is parked.
　一定舵角線Ｌ１は、実際には図７に示すように表示される。このような一定舵角線Ｌ１は、図４のように算出した一定舵角線Ｌ１を後方カメラ１８の視点から視た画像として座標変換することにより求めることができる。 The constant rudder angle line L1 is actually displayed as shown in FIG. Such a constant rudder angle line L1 can be obtained by coordinate-converting the constant rudder angle line L1 calculated as shown in FIG. 4 as an image viewed from the viewpoint of the rear camera 18.
　図５に示すように、トランスミッションのシフト位置が後退「Ｒ」の状態で運転者により舵角が変更されると、ディスプレイ２２に表示される一定舵角線Ｌ１は変化する。例えば、舵角が小さい場合は、駐車枠Ｐの駐車方向に一定舵角線Ｌ２の方向が平行となるまで一定舵角線Ｌ２が長く伸びる。一方、舵角が大きい場合は、駐車枠Ｐの駐車方向に一定舵角線Ｌ３の方向はすぐに平行となり、一定舵角線Ｌ３は短くなる。運転者がディスプレイ２２の表示を見ながら一定舵角線Ｌ１が駐車枠Ｐ内に納まるように操舵を行なうことにより、一定舵角による駐車が可能となる。 As shown in FIG. 5, when the steering angle is changed by the driver while the transmission shift position is in the reverse “R” state, the constant steering angle line L <b> 1 displayed on the display 22 changes. For example, when the rudder angle is small, the constant rudder angle line L2 extends long until the direction of the constant rudder angle line L2 is parallel to the parking direction of the parking frame P. On the other hand, when the rudder angle is large, the direction of the constant rudder angle line L3 is immediately parallel to the parking direction of the parking frame P, and the constant rudder angle line L3 becomes shorter. When the driver steers the vehicle so that the constant rudder angle line L1 is within the parking frame P while viewing the display on the display 22, parking at a constant rudder angle is possible.
　図６に示すように、描画装置２０は自車両ＶＭの後退中も進行角θを計算し、進行角θと操舵角とに合わせて一定舵角線Ｌ１が駐車枠Ｐに平行となる位置まで表示する。運転者がディスプレイ２２の表示を見ながら一定舵角線Ｌ１が表示されなくなった位置で舵角を０度とすることにより、駐車枠Ｐの駐車方向に平行に自車両ＶＭを駐車させることができる。 As shown in FIG. 6, the drawing device 20 calculates the traveling angle θ even while the host vehicle VM is moving backward, and reaches a position where the constant steering angle line L1 is parallel to the parking frame P according to the traveling angle θ and the steering angle. indicate. The driver can park the vehicle VM in parallel with the parking direction of the parking frame P by setting the steering angle to 0 degrees at a position where the constant steering angle line L1 is not displayed while viewing the display on the display 22. .
　本実施形態によれば、自車両ＶＭの後方の映像をディスプレイ２２に表示する描画装置２０は、自車両ＶＭが現在の舵角に維持しつつ後退した場合の走行軌跡である一定舵角線Ｌ１を自車両ＶＭの後方の映像に重ねて表示し、一定舵角線Ｌ１は、自車両ＶＭが駐車する駐車枠Ｐの駐車方向に一定舵角線Ｌ１の方向が平行となる位置まで表示される。このため、運転者はディスプレイ２２に表示される自車両ＶＭ後方の駐車枠Ｐの映像に重ねて表示される一定舵角線Ｌ１を見ながら舵角を調整し、自車両ＶＭを駐車枠Ｐ内に確実に納まるように後退させ、且つ自車両ＶＭを駐車枠Ｐの駐車方向に平行となるようにするための舵角をさらに容易に決定することができる。さらに、運転者はディスプレイ２２に表示される一定舵角線Ｌ１が終わる位置まで自車両ＶＭを後退させて舵角を０度に戻すことにより、自車両ＶＭを駐車枠Ｐ内に確実に納め、且つ自車両ＶＭを駐車枠Ｐの駐車方向に平行とすることがさらに容易となる。 According to the present embodiment, the drawing device 20 that displays an image behind the host vehicle VM on the display 22 is a constant rudder angle line L1 that is a travel locus when the host vehicle VM moves backward while maintaining the current rudder angle. Is superimposed on the image behind the host vehicle VM, and the constant rudder angle line L1 is displayed up to a position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P in which the host vehicle VM is parked. . For this reason, the driver adjusts the rudder angle while looking at the constant rudder angle line L1 displayed superimposed on the image of the parking frame P behind the host vehicle VM displayed on the display 22, and places the host vehicle VM in the parking frame P. It is possible to more easily determine the rudder angle for moving the host vehicle VM in parallel with the parking direction of the parking frame P and retreating the vehicle so as to be surely accommodated. Furthermore, the driver retracts the host vehicle VM to the position where the constant rudder angle line L1 displayed on the display 22 ends and returns the rudder angle to 0 degrees, so that the host vehicle VM is securely placed in the parking frame P, In addition, it becomes easier to make the host vehicle VM parallel to the parking direction of the parking frame P.
　また、本実施形態によれば、駐車枠Ｐを認識する必要がないため、自車両ＶＭが駐車枠近くで長い時間停車する必要が無く、他車両ＶＯ等の通行の妨げとなることを防止することができる。さらに、本実施形態では、駐車枠Ｐを認識する必要が無いため、情報処理のための装置の演算負荷は小さいものとできる。 Moreover, according to this embodiment, since it is not necessary to recognize the parking frame P, it is not necessary for the own vehicle VM to stop for a long time near the parking frame, thereby preventing the other vehicle VO or the like from being obstructed. be able to. Furthermore, in this embodiment, since it is not necessary to recognize the parking frame P, the calculation load of the apparatus for information processing can be made small.
　また、本実施形態によれば、描画装置２０は、自車両ＶＭが駐車枠Ｐの駐車方向に垂直であるときを基準として、自車両ＶＭの方向を判定し、駐車枠Ｐの駐車方向に一定舵角線Ｌ１の方向が平行となる位置を算出する。自車両ＶＭが駐車枠Ｐの駐車方向に垂直であることは、運転者又は装置において比較的容易に判定可能である。このため、描画装置２０が駐車枠Ｐの駐車方向に一定舵角線Ｌ１の方向が平行となる位置を正確に算出することが容易となる。 Further, according to the present embodiment, the drawing device 20 determines the direction of the host vehicle VM based on the time when the host vehicle VM is perpendicular to the parking direction of the parking frame P, and is constant in the parking direction of the parking frame P. A position where the direction of the rudder angle line L1 is parallel is calculated. Whether the host vehicle VM is perpendicular to the parking direction of the parking frame P can be determined relatively easily by the driver or the device. For this reason, it becomes easy for the drawing device 20 to accurately calculate the position where the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P.
　また、本実施形態によれば、描画装置２０は、自車両ＶＭが駐車枠Ｐの駐車方向に垂直であるときを基準として、自車両ＶＭの舵角及び速度に基づいて、自車両ＶＭの方向を判定し、駐車枠Ｐの駐車方向に一定舵角線Ｌ１の方向が平行となる位置を算出する。このため、描画装置２０が駐車枠Ｐの駐車方向に走行軌跡の方向が平行となる位置を正確に算出することが容易となる。 Further, according to the present embodiment, the drawing device 20 uses the direction of the host vehicle VM based on the steering angle and speed of the host vehicle VM with reference to the time when the host vehicle VM is perpendicular to the parking direction of the parking frame P. And the position at which the direction of the constant rudder angle line L1 is parallel to the parking direction of the parking frame P is calculated. For this reason, it becomes easy for the drawing device 20 to accurately calculate the position where the direction of the travel locus is parallel to the parking direction of the parking frame P.
　さらに、本実施形態によれば、描画装置２０は、自車両ＶＭのトランスミッションが自車両ＶＭを後退させる状態となったときに、一定舵角線Ｌ１の表示を開始する。自車両ＶＭの運転者が駐車枠Ｐに対して自車両ＶＭの後退を開始する位置を決めることが得意なときは、後退時にのみ走行軌跡Ｌ１が表示されることにより、舵角の微調整後に一定舵角で自車両ＶＭを駐車枠Ｐに後退させることができ、より自然に運転操作を行うことができる。 Furthermore, according to the present embodiment, the drawing device 20 starts displaying the constant steering angle line L1 when the transmission of the host vehicle VM enters a state of moving the host vehicle VM backward. When the driver of the host vehicle VM is good at deciding the position at which the host vehicle VM starts to move backward with respect to the parking frame P, the travel locus L1 is displayed only when the host vehicle VM is moving backward. The host vehicle VM can be moved backward to the parking frame P at a fixed steering angle, and the driving operation can be performed more naturally.
　以上、本発明の好適な実施形態について説明したが、本発明は上記実施形態に限定されるものではない。 The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment.
　本発明の駐車支援装置によれば、自車両を駐車枠内に確実に納め、且つ自車両を駐車枠の駐車方向に平行とすることがさらに容易となる。 According to the parking assist device of the present invention, it becomes easier to securely place the host vehicle in the parking frame and to make the host vehicle parallel to the parking direction of the parking frame.
１０　駐車支援装置
１１　支援スイッチ
１２　舵角センサ
１４　ヨーレートセンサ
１６　車速センサ
１７　トランスミッションシフト位置センサ
１８　後方カメラ
２０　描画装置
２２　ディスプレイ DESCRIPTION OF SYMBOLS 10 Parking assistance apparatus 11 Support switch 12 Rudder angle sensor 14 Yaw rate sensor 16 Vehicle speed sensor 17 Transmission shift position sensor 18 Rear camera 20 Drawing apparatus 22 Display

Claims (4)

  1. 　自車両後方の映像を表示する表示ユニットを備え、
    　前記表示ユニットは、前記自車両が現在の舵角に維持しつつ後退した場合の走行軌跡を前記自車両後方の映像に重ねて表示し、
    　前記走行軌跡は、前記自車両が駐車する駐車枠の駐車方向に前記走行軌跡の方向が平行となる位置まで表示される、駐車支援装置。     It has a display unit that displays the video behind the vehicle
    The display unit displays a travel locus when the host vehicle is moving backward while maintaining the current steering angle, superimposed on the image behind the host vehicle,
    The parking assistance device, wherein the traveling locus is displayed up to a position where the direction of the traveling locus is parallel to a parking direction of a parking frame in which the host vehicle is parked.
  2. 　前記表示ユニットは、前記自車両が前記駐車枠の駐車方向に垂直であるときを基準として、前記自車両の方向を判定し、前記駐車枠の駐車方向に前記走行軌跡の方向が平行となる位置を算出する、請求項１に記載の駐車支援装置。 The display unit determines a direction of the host vehicle based on when the host vehicle is perpendicular to the parking direction of the parking frame, and a position where the direction of the travel locus is parallel to the parking direction of the parking frame. The parking assistance device according to claim 1, wherein
  3. 　前記表示ユニットは、前記自車両の舵角及び速度に基づいて、前記自車両の方向を判定し、前記駐車枠の駐車方向に前記走行軌跡の方向が平行となる位置を算出する、請求項２に記載の駐車支援装置。 The said display unit determines the direction of the said own vehicle based on the steering angle and speed of the said own vehicle, and calculates the position where the direction of the said travel locus | trajectory is parallel to the parking direction of the said parking frame. Parking assistance apparatus as described in.
  4. 　前記表示ユニットは、前記自車両のトランスミッションが前記自車両を後退させる状態となったときに、前記走行軌跡の表示を開始する、請求項１～３のいずれか１項に記載の駐車支援装置。 The parking assist device according to any one of claims 1 to 3, wherein the display unit starts displaying the travel locus when a transmission of the host vehicle enters a state of moving the host vehicle backward.
PCT/JP2010/057473 2010-04-27 2010-04-27 Parking support device WO2011135672A1 (en)

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Cited By (3)

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