JP6931818B2 - Parking support device, parking support method and parking support program - Google Patents

Description

The present invention relates to a parking support device, a parking support method, and a parking support program that support a driving operation when parking a vehicle.

In recent years, a parking support device that supports a driving operation when parking a vehicle has been developed and put into practical use (for example, Patent Document 1). The parking support device described in Patent Document 1 calculates a position that can be reached while maintaining the steering angle to the parking target position as a recommended reverse start position, and indicates the own vehicle figure showing the own vehicle position and the parking target indicating the parking target position. By displaying the reverse start frame on the display unit in addition to the frame, the driving operation when parking is supported.

According to the parking support device described in Patent Document 1, the own vehicle figure, the parking target frame, and the reverse movement start frame are displayed as the parking guide, so that the driver can easily recognize the parking target position and the reverse reverse start recommended position. By performing the driving operation according to this parking guide, the own vehicle can be moved to the parking target position and parked.

Japanese Patent No. 4900232

However, in the driving support device described in Patent Document 1, the parking guide is only performed according to the parking route calculated at the parking start position, and the presence or absence of obstacles on the parking route is not considered. Therefore, if there is an obstacle on the parking route, there is a risk that the driving operation according to the parking guide cannot be performed. In this case, the parking route will be reset when the driving operation becomes impossible, so the driving efficiency at the time of parking may decrease. In the worst case, the parking route cannot be generated and the system cannot be generated. May be interrupted.

An object of the present invention is to provide a parking support device, a parking support method, and a parking support program that can complete parking by driving according to a parking guide and improve driving efficiency during parking.

The parking support device according to the present invention includes an imaging unit that images the surroundings of the own vehicle and an imaging unit.
A guidance image for guiding the own vehicle from the parking start position to the parking target position and an superimposed image in which an image showing a moving area, which is an area in which the own vehicle can move, is superimposed on the image captured by the imaging unit are displayed. a display unit that,
With
When the steering angle becomes larger than the reference with respect to the steering angle when the own vehicle is traveling straight, the moving area displayed on the display unit is perpendicular to the traveling direction of the own vehicle. Expanded in various directions
The moving area is a rectangular area .

The parking support method according to the present invention
(A) The process of acquiring a captured image of the surroundings of the own vehicle,
(B) An imaging unit that captures the surroundings of the own vehicle with a guidance image for guiding the own vehicle from a parking start position to a parking target position and an image showing a moving area which is an area where the own vehicle can move. The process of displaying the superimposed image superimposed on the image captured by the display on the display unit,
(C) When the steering angle becomes larger than the reference with respect to the steering angle when the own vehicle is traveling straight, the moving area displayed on the display unit is in the traveling direction of the own vehicle. The process of expanding in the vertical direction,
Have,
The moving area is a rectangular area .

The parking support program according to the present invention can be applied to the computer of the parking support device.
(A) Processing to acquire a captured image of the surroundings of the own vehicle,
(B) An imaging unit that captures the surroundings of the own vehicle with a guidance image for guiding the own vehicle from a parking start position to a parking target position and an image showing a moving area which is an area where the own vehicle can move. The process of displaying the superimposed image superimposed on the image captured by the display on the display unit,
(C) When the steering angle becomes larger than the reference with respect to the steering angle when the own vehicle is traveling straight, the moving area displayed on the display unit is in the traveling direction of the own vehicle. The process of expanding in the vertical direction,
To run ,
The moving area is a rectangular area .

According to the present invention, since the parking route is set in consideration of the presence or absence of obstacles on the parking route, the driver can complete parking by driving according to the parking guide. Therefore, the driving efficiency at the time of parking is improved.

It is a figure which shows the structure of the parking support device which concerns on embodiment. It is a figure which shows the arrangement mode of an in-vehicle camera. It is a figure which shows an example of the display screen in the display part. It is a figure which shows the steering icon. It is a flowchart which shows an example of a parking support process. It is a flowchart which shows an example of a parking route setting process. It is a flowchart which shows an example of a parking guide process. It is a flowchart which shows an example of a steering operation support process. It is a figure which shows an example of a parking operation. It is a figure which shows the imaging area. It is a figure which shows an example of a moving area. It is a figure which shows another example of a moving area. It is a figure which shows the display example at the time of a parking guide. It is a figure which shows the other display example at the time of a parking guide. It is a figure which shows an example of an obstacle area. It is a figure which shows another example of an obstacle area.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a parking support device 1 according to the present embodiment. The parking support device 1 supports a driving operation when the own vehicle V (see FIG. 2) is parked at the parking target position. As shown in FIG. 1, the parking support device 1 includes a control unit 11, an imaging unit 12, a display unit 13, an audio output unit 14, an operation unit 15, a steering angle sensor 16, and the like.

The control unit 11 has a CPU (Central Processing Unit) 111 as a calculation / control device, and a RAM 112 and a ROM 113 as a main storage device. The CPU 111 reads a program according to the processing content from the ROM 113, expands the program into the RAM 112, and controls each block in cooperation with the expanded program.

The ROM 113 stores a parking support program for supporting a driving operation when parking a vehicle, in addition to a basic program called a BIOS (Basic Input Output System). The specific function of the control unit 11 will be described later.

The image pickup unit 12 is at least one in-vehicle camera mounted on the own vehicle V. As shown in FIG. 2, the imaging unit 12 includes, for example, a front camera 121, a rear camera 122, a right side camera 123, and a left side camera 124. These in-vehicle cameras 121 to 124 are wide-angle cameras having an angle of view of, for example, about 180 °, and are arranged so that the entire circumference of the own vehicle V is imaged.

For example, the front camera 121 is installed on the front grill of the own vehicle V, and images the front region in a direction obliquely looking down on the ground. The rear camera 122 is installed on the roof spoiler of the own vehicle V, and images the rear area in a direction looking down at an angle with respect to the ground. The right side camera 123 and the left side camera 124 are installed on the side mirrors of the own vehicle V, respectively, and take an image in a direction in which the side area is viewed obliquely with respect to the ground.

The display unit 13 is, for example, a display of a navigation system arranged on an instrument panel. The display unit 13 displays an image for guiding the own vehicle V to the parking target position. The sound output unit 14 is, for example, a speaker, and outputs sound when guiding the own vehicle V to the parking target position.

The operation unit 15 sets a main switch for enabling the parking support function, a parking position setting button for setting the parking target position, a route determination button for determining the parking route, and the presence / absence of turning back. Includes parking mode selection buttons and more.

The steering angle sensor 16 detects the steering angle of the current steering wheel SW.

The control unit 11 functions as an image management unit 11A, a parking guide creation unit 11B, a movement prediction locus creation unit 11C, a display control unit 11D, a movement area identification unit 11E, and a stop position identification unit 11F.

The image management unit 11A acquires the image captured by the image capturing unit 12 and temporarily stores it. Further, the image management unit 11A creates an omnidirectional view image by synthesizing a plurality of images captured by the imaging unit 12.

The parking guide creation unit 11B determines an ideal parking route based on basic information including the current position (parking start position) of the own vehicle V, the set parking target position, and the surrounding environment (presence or absence of obstacles, etc.). Create the parking guide information to be shown. The parking guide information includes the steering position, the parking guide line, the target steering angle, and the like.

The steering position is a position where the direction is changed when the own vehicle V is parked, and includes a reverse movement start position and a turning position. The target steering angle is a steering angle for guiding the own vehicle V to a movement target position including a steering position and a parking target position. That is, if the steering angle is set to the target steering angle, the own vehicle V can be guided to the movement target position without any subsequent steering operation.

The parking guide creation unit 11B creates parking guide information when the operation unit 15 sets the parking target position, but the final parking guide information is based on the steering angle at the start of parking. It is determined. Further, the parking guide information may be fine-tuned when the movement to the steering position is completed.

The movement prediction locus creation unit 11C creates a movement prediction locus based on the current position of the own vehicle V and the current steering angle. The expected movement locus is a locus when the own vehicle moves while the current steering angle is maintained.

The display control unit 11D controls the display mode of the image on the display unit 13. The display control unit 11D displays, for example, a guidance image for guiding the own vehicle V to the parking target position on the display unit 13.

FIG. 3 is a diagram showing an example of a display screen in the display unit 13. As shown in FIG. 3, the display unit 13 has an omnidirectional view display area 131, a front / rear view display area 132, an icon display area 133, and a message display area 134.

In the omnidirectional view display area 131, an omnidirectional view image created by synthesizing the images acquired by the imaging unit 12 is displayed as if the vehicle was looked down from above. In the omnidirectional view display area 131, a stop icon indicating a stop position including a parking target position and a steering position is displayed superimposed on the captured image. Here, the stop icon shall include the characters "stop" and an image of the stop line.

The image acquired by the front camera 121 or the rear camera 122 is displayed in the front / rear view display area 132. The display image of the front / rear view display area 132 is switched based on the traveling direction (gear position) of the own vehicle V. In the front / rear view display area 132, the parking guide line and the expected movement locus are displayed superimposing on the captured image.

In the icon display area 133, icons I1 and I2 indicating information regarding parking support are displayed. The icon I1 is an icon for instructing the angle of the steering wheel to be operated (hereinafter referred to as “target steering angle”) (hereinafter referred to as “steering icon I1”). The icon I2 is an icon indicating an area (front in FIG. 3) displayed in the front / rear view display area 132.

Information about parking assistance is displayed as a message in the message display area 134. In the message display area 134, for example, a message calling attention when parking, a message instructing the driver to perform a driving operation, a message notifying that the movement to the movement target position is completed, and the like are displayed. These messages are displayed in the message display area 134 and are output as voice from the voice output unit 14.

FIG. 4 is a diagram showing a steering icon I1. FIG. 4A shows a case where the current steering angle θ is 23 degrees and the target steering angle φ is 100 degrees. FIG. 4B shows a case where the current steering angle θ is 90 degrees and the target steering angle φ is 100 degrees.

As shown in FIGS. 4A and 4B, the steering icon I1 is a first icon I11 indicating the current steering angle θ, a second icon I12 indicating a predetermined angle range centered on the target steering angle φ, and a present. Includes a third icon I13 that numerically indicates the steering angle θ and the target steering angle φ.

In the present embodiment, the steering angles θ and φ are indicated by a positive angle in the clockwise direction and a negative angle in the counterclockwise direction with reference to the state of the steering wheel SW when traveling straight (0 °).

The first icon I11 includes, for example, an image of a steering wheel and an instruction line indicating a steering angle θ. The second icon I12 is, for example, an arc-shaped band image along the outer circumference of the steering wheel of the first icon I11, and may include an instruction line indicating a target steering angle φ.

The first icon I11 and the third icon I13 (numerical values indicating the current steering angle θ) change with the operation of the steering wheel SW. The second icon I12 is set based on the current position and the movement target position of the own vehicle V. The second icon I12 allows the driver to intuitively recognize how much the steering wheel SW should be operated.

Further, since the current steering angle θ and the target steering angle φ are numerically represented by the third icon I13, it is possible to prevent the steering wheel operation direction from being erroneously recognized. Further, even when the target steering angle φ is 360 degrees or more, it can be reliably recognized.

The predetermined angle range centered on the target steering angle φ is, for example, ± 20 °. If the steering angle θ is in the range of ± 20 °, it can be considered that the steering angles of the tires are almost the same, and the own vehicle V can be guided to the movement target position. The predetermined angle range may be any range as long as the steering angles of the tires corresponding to the steering angle θ can be considered to be equivalent, and may be appropriately set depending on the vehicle on which the parking support device 1 is mounted.

It is preferable that the display mode of the second icon I12 changes according to the current steering angle θ. For example, "red" when the current steering angle θ is far from the target steering angle φ, "yellow" when approaching the target steering angle φ, "blue" when entering a predetermined angle range, and so on. The display color is controlled to change. As a result, the driver can easily recognize how much more the steering wheel SW should be operated.

Further, the display mode of the third icon I13 may be changed in conjunction with the change of the display mode of the second icon I12. The display mode to be changed is not limited to the display color, and may be changed from a lighting display to a blinking display (or from a blinking display to a lighting display), for example.

FIG. 5 is a flowchart showing an example of the parking support process executed by the control unit 11. This process is realized, for example, by the CPU 111 calling and executing the parking support program stored in the ROM 113 in accordance with the operation of the driver in the operation unit 15.

Here, as shown in FIG. 9A, after moving from the parking start position to the reverse start position, as shown in FIG. 9B, the parking operation in the case of moving to the parking target position and performing parallel parking is specifically described. explain.

In step S1 of FIG. 5, the control unit 11 executes the parking route setting process. Specifically, the parking route setting process is performed according to the flowchart shown in FIG.

That is, in step S101 of FIG. 6, the control unit 11 determines whether or not the parking target position has been set by the driver. As shown in FIG. 9A, for example, the driver operates the parking position setting button of the operation unit 15 in a state where the vehicle is stopped on the side of the parking target position (parking start position) to obtain the parking target position. Can be set. When the parking target position is set by the driver (“YES” in step S101), the process proceeds to step S102.

In step S102, the control unit 11 acquires the image captured by the image capturing unit 12 (processing as the image management unit 11A). In the imaging unit 12, for example, the imaging area shown in FIG. 10 is imaged. In addition, the control unit 11 sequentially acquires the images captured by the image pickup unit 12 even in step S102 and subsequent steps.

In step S103, the control unit 11 acquires the current steering angle based on the detection result of the steering angle sensor 16.

In step S104, the control unit 11 creates parking guide information for guiding the own vehicle V from the parking start position to the parking target position (processing as the parking guide creation unit 11B). Specifically, the control unit 11 views the entire circumference based on basic information including the current position (parking start position) of the own vehicle V, the set parking target position, and the surrounding environment (presence or absence of obstacles, etc.). While creating an image, an ideal parking route (hereinafter referred to as "first parking route") is calculated.

Further, the control unit 11 calculates a parking route (hereinafter referred to as "second parking route") used for the actual parking guide based on the current steering angle together with the basic information.

Here, it is assumed that the control unit 11 also determines the necessity of turning back. In the case of the parking operation shown in FIG. 9, a parking route having the steering position (reverse start position) as the movement target position and a parking route having the parking target position as the movement target position are calculated.

In step S105, the control unit 11 specifies a movement area when the own vehicle V moves according to the second parking route (processing as the movement area specifying unit 11E). The movement area is an area in which the own vehicle V can move according to the second parking route, and is calculated in consideration of the total length and the vehicle width of the own vehicle V.

In step S106, the control unit 11 displays the moving area AR together with the current position of the own vehicle V in the omnidirectional view display area 131 (see FIGS. 11 and 12). At this time, it is preferable to change the display mode (for example, display color) of the moving area AR according to the number of turns included in the parking guide information. Thereby, the driver can recognize the ease of parking operation based on the display mode of the moving area AR. Although the moving area AR is shown by a simple figure in FIGS. 11 and 12, it is actually a larger and more complicated figure. Further, although the moving area AR is displayed in FIGS. 11 and 12, as shown in FIGS. 15 and 16, a figure showing an obstacle area BR which may have an obstacle may be displayed. good.

Further, in the message display area 134, a message prompting to confirm that there is no obstacle such as a parked vehicle in the moving area AR is displayed. This message is also output from the audio output unit 14. The driver confirms that there are no obstacles in the moving area AR. If there is an obstacle in the moving area AR, the parking operation cannot be completed in the second parking route calculated based on the current steering angle θ, so that the driver has no obstacle in the moving area AR. The steering operation is performed as described above. Further, when displaying the obstacle area BR, the driver performs the steering operation so that there is no obstacle other than the obstacle area BR.

At this time, the steering icon I1 indicating the steering angle for moving to the reverse starting position in the first parking route may be displayed in the icon display area 133. Further, the steering operation support process described later may be executed. While confirming the presence or absence of obstacles in the moving area AR, the steering operation is swiftly performed so that the current steering angle θ becomes the target steering angle φ indicated by the steering icon I1.

In step S107, the control unit 11 determines whether or not the steering operation has been performed. When the steering operation is performed (“YES” in step S107), the process proceeds to step S103. If the steering operation has not been performed (“NO” in step S107), the process proceeds to step S108.

When the steering operation is performed, the second parking route is calculated again based on the steering angle θ after the operation, and the movement area AR is updated. For example, when the steering operation is performed on the + side from the state shown in FIG. 11 and the steering angle is increased, the front side of the own vehicle V is reduced and the right side is enlarged in the moving area AR as shown in FIG. Will be done. When displaying the obstacle area BR, the front side of the own vehicle V is enlarged and the right side is reduced.

In step S108, the control unit 11 determines whether or not the parking route determination operation (for example, the operation of the parking route determination button) has been performed by the driver. When the parking route determination operation is performed (“YES” in step S108), the process proceeds to step S109. If the parking route determination operation has not been performed (“NO” in step S108), the process proceeds to step S107. The driver recognizes the moving area AR that changes according to the steering operation, confirms that there are no obstacles on the second parking route that interfere with the parking operation, and then determines the parking route. When displaying the obstacle area BR, the driver recognizes the obstacle area BR that changes according to the steering operation, and interferes with the parking operation in the area other than the obstacle area BR indicating on the second parking route. After confirming that there are no obstacles, determine the parking route.

In step S109, the control unit 11 sets the second parking route when the decision operation is performed by the driver as the parking route for performing the parking guide. The parking guide will be provided according to the set second parking route. When the parking route setting process is completed, the process proceeds to step S2 of FIG.

In this way, when the steering operation for moving to the reverse start position is performed, the final parking route is set after confirming in advance whether there are any obstacles on the parking route that interfere with the parking operation. Therefore, the parking operation according to the parking guide is not interrupted by obstacles.

In step S2 of FIG. 5, the control unit 11 executes the parking guide process. Specifically, the parking guide process is performed according to the flowchart shown in FIG. The own vehicle V is guided to the reverse start position by the parking guide process from the parking start position, and is guided to the parking target position by the parking guide process from the reverse start position.

That is, in step S201 of FIG. 7, the control unit 11 specifies the stop position based on the set parking route (processing as the stop position specifying unit 11F). The stop position is synonymous with the movement target position, and includes the reverse start position, the turn-back position, and the parking target position. In the parking guide process, the display / non-display of the stop icon at the specified stop position is controlled according to the approach status of the own vehicle V to the stop position.

In step S202, the control unit 11 displays the first parking guide without the stop icon. That is, the stop icon is not displayed for a predetermined period after the parking operation is started from the parking start position to the reverse start position (stop position) or after the parking operation is started from the reverse start position toward the parking target position. (See FIG. 13).

In the message display area 134, a message prompting the driver to move forward with the steering wheel fixed is displayed. This message is also output from the audio output unit 14. According to this instruction, the forward operation or the reverse operation is promptly started. When the forward movement or the reverse movement is started, the own vehicle V smoothly moves toward the movement target position. The display of the omnidirectional view display area 131 and the front / rear view display area 132 changes as the own vehicle V moves.

In step S203, the control unit 11 determines whether or not the own vehicle V has approached the stop position. For example, when the approach distance of the own vehicle V to the stop position is about 1.0 m, it is determined that the own vehicle V has approached the stop position. When the own vehicle V approaches the stop position (“YES” in step S203), the process proceeds to step S204. If the own vehicle V is not close to the stop position (“NO” in step S203), the process proceeds to step S202.

In step S204, the control unit 11 displays a second parking guide with a stop icon. That is, the stop icon I3 appears for the first time when the own vehicle V approaches the reverse starting position (stop position) to some extent (see FIG. 14).

After the stop icon I3 is displayed, the display color and the transparency may be changed so that the visibility gradually increases according to the approaching situation of the own vehicle V to the stop position. Specifically, as the approaching distance approaches, the mode may change from a mode that is difficult to see (light color display, high transparency) to a mode that is easy to see (dark color display, low transparency). Further, a notification unit other than the display unit 13 may be used to notify the approach status of the own vehicle to the stop position. As the notification unit, for example, the voice output unit 14 can be applied, and further, a vibration unit (not shown) that vibrates the seat or the steering wheel can be applied.

In the message display area 134, a message prompting the vehicle to stop at the position of the stop icon I3 is displayed. This message is also output from the audio output unit 14. As a result, the driver comes to pay close attention to the stop position in the parking guide, and stops running when the parking position is reached.

As described above, the stop icon I3 is not displayed from the beginning of the parking operation, and is displayed only when the own vehicle V approaches the stop position. As a result, the driver does not have to look only at the parking guide to align his vehicle with the stop icon from the beginning of the parking operation, so he pays attention to surrounding obstacles that are not displayed and improves safety. do.

In step S205, the control unit 11 determines whether or not the own vehicle V has reached the stop position. As shown in FIG. 9, when moving forward from the parking start position to the reverse start position, the reverse start position becomes the stop position. Further, when moving backward from the reverse start position to the parking target position, the parking target position becomes the stop position. Whether or not the own vehicle V has reached the stop position can be determined based on, for example, the image pickup result by the image pickup unit 12. When the own vehicle V reaches the stop position (“YES” in step S205), the process proceeds to step S206. If the own vehicle V has not reached the stop position (“NO” in step S205), the process proceeds to step S204.

In step S206, the control unit 11 displays a message prompting the stop in the message display area 134 and outputs the message from the audio output unit 14. As a result, the driver performs a stop operation, and the own vehicle V stops at the stop position. When the parking guide process is completed, the process proceeds to the process of step S3 of FIG.

In step S3 of FIG. 5, the control unit 11 determines whether or not the own vehicle V has reached the parking target position. Whether or not the own vehicle V has reached the parking target position can be determined based on, for example, an imaging result by the imaging unit 12. When the own vehicle V finally reaches the parking target position (“YES” in step S3), it is notified that the own vehicle V has reached the parking target position, and the parking support process ends. At this time, the steering wheel may be returned to the reference state and instructed to move backward as it is to complete the parking operation.

On the other hand, when the own vehicle V has not reached the parking target position (“NO” in step S3), that is, when the own vehicle V has reached the steering position (reverse start position or turn-back position), the step. The process proceeds to S4, and the steering operation support process is executed. In this case, it is notified that the steering position has been reached, and it is instructed to switch gears from forward to reverse or reverse to forward. Specifically, the steering operation support process is performed according to the flowchart shown in FIG.

That is, in step S401 of FIG. 8, the control unit 11 switches the image of the front / rear view display area 132 and updates the icon image of the icon display area 133 in accordance with the gear change operation of the driver.

At this time, in the message display area 134, a message instructing the steering operation so that the steering angle θ falls within the range indicated by I12 by the second icon is displayed. The driver can easily recognize how much the steering wheel SW should be operated by the steering icon I1, and the instructed steering operation is promptly performed.

In step S402, the control unit 11 determines whether or not the steering operation has been performed by the driver. When the steering operation is performed by the driver (“YES” in step S402), the process proceeds to step S403.

In step S403, the control unit 11 updates the steering icon I1 in accordance with the steering operation of the driver. Specifically, a numerical value indicating the current steering angle θ of the third icon I13 while rotating the first icon I11 (the image of the steering wheel and the instruction line of the steering angle θ) with the steering operation of the driver. To change.

In step S404, the control unit 11 determines whether or not the steering angle θ is within a predetermined angle range. When the steering angle θ is within the predetermined angle range (“YES” in step S404), the process proceeds to step S405. If the steering angle θ is not within the predetermined angle range (“NO” in step S404), the process proceeds to step S402.

In step S405, the control unit 11 changes the display mode (for example, display color) of the second icon I12 and the third icon I13. As a result, the driver can easily recognize that the current steering angle θ is in an appropriate state.

In step S406, the control unit 11 displays a message in the message display area 134 notifying that the steering angle θ has become an appropriate state and that the parking guide is started. When the steering operation support process is completed, the process proceeds to step S2 in FIG. The own vehicle V is finally guided to the parking target position by the parking guide process after the steering operation support process.

In this way, the target steering angle φ is displayed by an icon indicating the range of the required steering wheel operation amount, so that the driver can intuitively recognize how much the steering wheel should be operated. Therefore, the driver can complete the necessary steering operation in a short time without being excessively aware of the target steering angle φ, so that the driving efficiency at the time of parking is improved.

As described above, the parking support device 1 according to the present embodiment displays an imaging unit 12 that images the surroundings of the own vehicle V and a guidance image for guiding the own vehicle V from the parking start position to the parking target position. Based on the display unit 13, the parking guide creation unit 11B that creates parking guide information indicating the parking route based on the image pickup result by the imaging unit 12, the parking start position, and the parking target position, and the parking guide information. , A moving area specifying unit 11E that specifies a moving area AR on which the own vehicle V can move, and a display control unit 11D that causes the display unit 13 to display an image showing the moving area AR together with a guidance image based on the guide information. Be prepared.

According to the parking support device 1, the parking route is set in consideration of the presence or absence of obstacles on the parking route, so that the driver can complete parking by driving according to the parking guide. Therefore, the driving efficiency at the time of parking is improved.

Although the invention made by the present inventor has been specifically described above based on the embodiment, the present invention is not limited to the above embodiment and can be changed without departing from the gist thereof.

For example, the driver may be able to select a parking mode in which the vehicle does not switch back and a parking mode in which the vehicle switches back. In this case, the parking support device 1 calculates an ideal parking route according to the selected parking mode. Further, after setting the parking target position at the parking start position, the vehicle may move to the reverse start position without a parking guide, and the parking guide may be started from the reverse start position.

Further, the present invention can be applied not only to the case of parallel parking but also to the case of parallel parking where the number of turns is expected to increase.

In the embodiment, the parking support process described above is realized by the control unit 11 executing the parking support program, but it can also be realized by using a hardware circuit. The parking support program can be stored in a computer-readable storage medium such as a magnetic disk, an optical disk, or a flash memory and provided to the control unit 11. Alternatively, the parking assistance program can also be provided by download via a communication line such as the Internet.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

The parking support device, parking support method, and parking support program according to the present invention are suitable for parking a vehicle at a parking target position.

1 Parking support device 11 Control unit 11A Image management unit 11B Parking guide creation unit 11C Movement prediction trajectory creation unit 11D Display control unit 11E Movement area identification unit 11F Stop position identification unit 12 Imaging unit 13 Display unit 14 Audio output unit 15 Operation unit 16 Steering angle sensor AR Movement area BR Obstacle area I3 Stop icon

Claims (9)

An imaging unit that captures the surroundings of the vehicle and
A guidance image for guiding the own vehicle from the parking start position to the parking target position and an superimposed image in which an image showing a moving area, which is an area in which the own vehicle can move, is superimposed on the image captured by the imaging unit are displayed. a display unit that,
Equipped with a,
Based on the steering angle when the front Symbol vehicle goes straight, if the steering angle is increased from the reference, the moving area displayed on the display unit, the traveling direction of the vehicle Enlarged in the vertical direction ,
The moving area is a rectangular area,
Parking support device. If the steering angle is increased from the reference, the moving area displayed on the display unit, the is reduced to the traveling direction of the vehicle, the parking assist apparatus according to claim 1. The parking support device according to claim 1 or 2, wherein the direction perpendicular to the traveling direction of the own vehicle is the vehicle width direction of the own vehicle. If the steering angle is increased from the reference, the moving area displayed on the display unit, dimension changes, the parking assist apparatus according to any one of claims 1 to 3. A parking guide creation unit that creates parking guide information indicating a parking route based on the image pickup result by the imaging unit, the parking start position, and the basic information including the parking target position.
Based on the parking guide information, a moving area specifying unit that specifies the moving area in which the own vehicle can move, and a moving area specifying unit.
A display control unit that displays an image showing the moving area together with the guidance image based on the parking guide information on the display unit.
Parking assist apparatus according to claim 1, any one of 4 with a. Equipped with a steering angle detection unit that detects the steering angle, which is the steering angle of the current steering wheel.
The parking guide creating unit creates the parking guide information based on the basic information and the steering angle detected by the steering angle detecting unit at the start of parking.
When the parking guide information changes according to the change in the steering angle detected by the steering angle detecting unit , the moving area specifying unit specifies the moving area again.
The parking support device according to claim 5. The parking support device according to claim 5 , wherein the display control unit changes the display mode of the moving area according to the number of turns included in the parking guide information. (A) The process of acquiring a captured image of the surroundings of the own vehicle,
(B) An imaging unit that captures the surroundings of the own vehicle by capturing a guidance image for guiding the own vehicle from a parking start position to a parking target position and an image showing a moving area that is an area in which the own vehicle can move. The process of displaying the superimposed image superimposed on the image captured by the display on the display unit,
(C) When the steering angle becomes larger than the reference with respect to the steering angle when the own vehicle is traveling straight, the moving area displayed on the display unit is in the traveling direction of the own vehicle. The process of expanding in the vertical direction,
Have,
The moving area is a rectangular area,
Parking support method. On the computer of the parking support device,
(A) Processing to acquire a captured image of the surroundings of the own vehicle,
(B) An imaging unit that captures the surroundings of the own vehicle with a guidance image for guiding the own vehicle from a parking start position to a parking target position and an image showing a moving area which is an area where the own vehicle can move. The process of displaying the superimposed image superimposed on the image captured by the display on the display unit,
(C) When the steering angle becomes larger than the reference with respect to the steering angle when the own vehicle is traveling straight, the moving area displayed on the display unit is in the traveling direction of the own vehicle. The process of expanding in the vertical direction,
To run ,
The moving area is a rectangular area,
Parking assistance program.

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