Parking assist device for vehicle

Abstract

The invention provides a parking assist device for a vehicle. Conventional parking assist devices for vehicles have a problem that necessary parking space information may not be acquired from image data in severe weather or the like. In this vehicle parking assist device (10), a vehicle control unit (11) calculates parking space information on the basis of first imaging data, and generates synthesized data (24) in which the parking space information and second imaging data are synthesized. Then, the vehicle control unit (11) displays the composite data (24) on a display unit (16). According to the control method, the driver of the vehicle (21) performs the parking operation while confirming the composite data, so that the vehicle (21) can be safely retreated and parked to the parking space (33A) even under severe conditions.

Description

Technical Field

[0001] The invention relates to a parking assist device for a vehicle. Background Art

[0002] Patent Document 1 discloses an obstacle detection device for assisting parking of a vehicle. The obstacle detection device includes a front camera, a side camera, and a CPU. The front camera captures the front of the vehicle, and the side camera captures the side of the vehicle. The CPU calculates obstacle information based on image data acquired by the front camera and the side camera every 0.1 seconds, for example.

[0003] In addition, the parking space detection unit detects the parking space in front of the vehicle based on the image data captured by the front camera, and inputs information related to the detected parking space into the storage unit. Then, the side obstacle detection unit analyzes multiple images captured by the side camera at different times to detect whether there is an obstacle in the processing area or whether it is set as a blank.

[0004] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Publication No. 2017-87758 Summary of the invention

[0005] Technical issues The obstacle detection device has a plurality of cameras, namely, a front camera and a side camera. In addition, the parking space detection unit uses image data captured by the front camera, and the side obstacle detection unit uses image data captured by the side camera. Therefore, when driving at night or in a bad external environment such as rainy days, the image data captured by the front camera and the side camera may not contain the desired information due to poor shooting conditions.

[0006] As for parking spaces, the frame lines are exposed to wind and rain for many years, and sometimes the frame lines themselves become faint or partially disappear. In addition, when the parking space is set up with ropes and cables on gravel or other ground, it becomes difficult to grasp the frame lines. In these cases, there is the following problem: in the parking space detection unit, it is difficult to obtain the required information related to the parking space, such as the frame lines, from the image data obtained by the front camera.

[0007] Similarly, in the side obstacle detection unit, there is also a problem that the presence of obstacles may not be analyzed based on the image data captured by the side camera alone. In addition, when using a camera capable of high-precision image analysis as a side camera, it is difficult to reduce the manufacturing cost.

[0008] The present invention has been made in view of the above circumstances, and provides a parking assist device for a vehicle that uses image data obtained from multiple cameras to cause a display unit to display composite data obtained by supplementing necessary information for parking assistance.

[0009] Technical solution A parking assist device for a vehicle according to an embodiment of the present invention performs parking assistance when the vehicle parks in a parking space. The parking assist device for a vehicle includes: a first imaging unit that images the front side of the vehicle; a second imaging unit that images the rear side of the vehicle; a display unit that can at least display first imaging data obtained from the first imaging unit or second imaging data obtained from the second imaging unit; and a vehicle control unit that calculates parking space information related to the parking space using the first imaging data. When the vehicle control unit detects that the vehicle shifts to the reverse gear, the vehicle control unit generates composite data obtained by synthesizing the parking space information and the second imaging data, and displays the composite data on the display unit.

[0010] Technical effect In a parking assist device for a vehicle according to an embodiment of the present invention, a vehicle control unit calculates parking space information based on first imaging data, and generates composite data obtained by synthesizing the parking space information and second imaging data. Then, the vehicle control unit causes the display unit to display the composite data. By this control method, the driver of the vehicle can park the vehicle backward into the parking space safely even under adverse conditions by confirming the above composite data while performing the parking operation. Description of the drawings

[0011] Figure 1 It is a block diagram illustrating a parking assist device for a vehicle according to an embodiment of the present invention.

[0012] Figure 2A It is a schematic diagram illustrating a parking method using a parking assist device for a vehicle according to an embodiment of the present invention.

[0013] Figure 2B It is a schematic diagram illustrating a parking method using a parking assist device for a vehicle according to an embodiment of the present invention.

[0014] Figure 3 It is a flowchart illustrating a control method for parking assistance using a parking assist device for a vehicle according to an embodiment of the present invention.

[0015] Figure 4 It is a schematic diagram illustrating a display example during parking assistance using a parking assist device for a vehicle according to an embodiment of the present invention.

[0016] Symbolic Explanation 10: Parking assistance device for vehicle 11: Vehicle control unit 12: Storage unit 13: Imaging device 14: GPS decoder 15: Navigation device 16: Display unit 17: Notification unit 18: GPS antenna 21: Vehicle 22: First imaging unit 23: Second imaging unit 24: Composite data 31: Leased parking lot 32: Frame line 32A: Frame line 32B: Center line 33: Parking space 33A: Parking space 33B: Parking space 33C: Parking space 41: Parking lot 42: Frame line 43: Parking space 43A: Parking space 43B: Parking space 43C: Parking space 43D: Parking space Detailed implementation mode

[0017] Hereinafter, a parking assistance device 10 for a vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that, when describing this embodiment, the same reference numerals are generally used for the same constituent elements, and repeated descriptions are omitted.

[0018] Figure 1 It is a block diagram for explaining the parking assistance device 10 for a vehicle according to this embodiment. Figure 2A It is a schematic diagram for explaining a parking method using the parking assistance device 10 for a vehicle according to this embodiment, showing a situation where the vehicle 21 is reverse parked into a specific parking space 33A. Figure 2B It is a schematic diagram for explaining a parking method using the parking assistance device 10 for a vehicle according to this embodiment, showing a situation where the vehicle 21 is reverse parked into an unspecified parking space 43A. Figure 3 It is a flowchart for explaining a control method of parking assistance using the parking assistance device 10 for a vehicle according to this embodiment. Figure 4This is a schematic diagram for explaining a display example of the composite data 24 in a parking assistance control method for a vehicle parking assistance device 10 using this embodiment.

[0019] The vehicle parking assistance device 10 mainly includes a vehicle control unit 11, a storage unit 12, a photographing device 13 that photographs the periphery of the vehicle 21, a GPS decoder 14, a navigation device 15, a display unit 16, and a notification unit 17. It should be noted that although not shown, in the vehicle parking assistance device 10, it may also be the case where a millimeter-wave radar, a near-infrared sensor, etc. are provided to detect obstacles around the vehicle 21 and input a detection signal to the vehicle control unit 11 for use in the parking assistance described later.

[0020] The vehicle control unit 11 is configured to include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. Moreover, the vehicle control unit 11 is an electronic control unit (ECU) having one or more processors that execute various operations such as controlling the vehicle parking assistance device 10 and a driving device (not shown) of the vehicle 21 such as an engine.

[0021] The storage unit 12 is constituted by a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-only Memory), for example. Moreover, various data required for vehicle control and one or more programs that can be executed by the above one or more processors are stored in the storage unit 12. In addition, although the details will be described later, the storage unit 12 stores parking space information, first photographing data, second photographing data, composite data 24, etc.

[0022] The photographing device 13 is connected to the vehicle control unit 11 via an in-vehicle network. Moreover, the photographing device 13 is, for example, a device that photographs parking spaces 33, 43, etc. around the vehicle 21 and sends the photographed data to the storage unit 12. The photographing device 13 is, for example, a camera module having an image sensor such as a CCD or a CMOS. Moreover, as the photographing device 13, for example, it may also be the case of using a camera module or a driving recorder that constitutes a driving assistance system. It should be noted that the driving assistance system is a system that assists the driving operation when the vehicle is manually driven by the driver or assists the driving operation when the vehicle is autonomously driven.

[0023] Here, as Figure 2A and Figure 2BAs shown, in the present embodiment, the imaging device 13 includes a first imaging unit 22 that images the front side of the vehicle 21 and a second imaging unit 23 that images the rear side of the vehicle 21. Further, the first imaging data captured by the first imaging unit 22 and the second imaging data captured by the second imaging unit 23 are transmitted to the vehicle control unit 11 and stored in the storage unit 12.

[0024] The GPS decoder 14 decodes the signals received by the GPS (Global Positioning System) antenna 18 and other GNSS (Global Navigation Satellite System) antennas to obtain the current position information of the vehicle 21 and the like. Further, the above-mentioned current position information is transmitted to the vehicle control unit 11 and stored in the storage unit 12.

[0025] The navigation device 15 can obtain map information showing a map and traffic information showing congestion or traffic control, etc., through a vehicle communication unit (not shown). Further, the navigation device 15 can derive a predetermined driving route showing the predetermined route that the vehicle 21 will travel, based on the departure place, the destination, and the map information.

[0026] For example, a display in the instrument panel in front of the driver's seat, a display above the instrument panel disposed at the center of the vehicle 21, etc. are used as the display unit 16. Further, when the vehicle 21 is assisted in parking by the vehicle parking assist device 10 under the control of the vehicle control unit 11, the composite data 24 is displayed on the display unit 16.

[0027] The notification unit 17 is, for example, a speaker disposed inside the vehicle 21. When the vehicle 21 is assisted in parking by the vehicle parking assist device 10, in the case where there is a risk of collision between the vehicle 21 and an obstacle such as another vehicle parked in the vicinity, this risk is reported.

[0028] In Figure 2A for example, a rental parking lot 31 of an apartment is shown. In the rental parking lot 31, a plurality of parking spaces 33 are formed, which are demarcated by white frame lines 32. Further, the owner of the vehicle 21 rents the parking space 33A in the rental parking lot 31, and the position information of the parking space 33A is registered in the vehicle 21 in advance. That is, in Figure 2A a situation where the vehicle 21 is parked in the predetermined parking space 33A is shown.

[0029] In this case, as shown by the arrow 34, the driver of the vehicle 21 enters the rental parking lot 31 by driving forward, and after passing through the specific parking space 33A, as shown by the arrow 35, the vehicle 21 is parked in the parking space 33A by driving backward.

[0030] At this time, in the vehicle parking assistance device 10, for example, using the current position information of the vehicle 21 from the GPS decoder 14, when the vehicle 21 arrives at the rental parking lot 31, the first shooting data is obtained from the first shooting unit 22 and starts to be stored in the storage unit 12. In the present embodiment, in the vehicle control unit 11, for example, the first shooting data related to the parking space 33A and the parking spaces 33B and 33C on both sides of the parking space 33A is obtained via the first shooting unit 22 and stored in the storage unit 12. It should be noted that the situation where other vehicles 36 and 37 are parked in the parking spaces 33B and 33C respectively is shown.

[0031] In addition, in the vehicle control unit 11, the timing of starting to store the first shooting data is not limited to when the vehicle 21 arrives at the rental parking lot 31. For example, any design changes such as before the vehicle 21 is about to pass the parking space 33B or before the vehicle 21 is about to arrive at the rental parking lot 31 can be made.

[0032] In Figure 2B for example, a parking lot 41 of a supermarket is shown. In the parking lot 41, a plurality of parking spaces 43 are formed by white border lines 42. Moreover, since the parking lot 41 is used by a plurality of unspecified users of the supermarket, the owner of the vehicle 21 needs to find an empty parking space 43 and park the vehicle 21. That is, in Figure 2B the situation where the vehicle 21 can be parked in the unspecified empty parking spaces 43A, 43B, 43C, and 43D is shown.

[0033] In this case, as shown by the arrow 44, the driver of the vehicle 21 enters the parking lot 41 by moving forward, determines the parking space 43A where the vehicle 21 is to be parked, and after passing through the parking space 43A, as shown by the arrow 45, the vehicle 21 is parked in the parking space 43A by moving backward.

[0034] At this time, in the vehicle parking assistance device 10, for example, when the vehicle 21 arrives at the parking lot 41 using the current position information of the vehicle 21 from the GPS decoder 14 and the map information of the navigation device 15, the first shooting data is obtained from the first shooting unit 22 and starts to be stored in the storage unit 12. Moreover, at the time when the vehicle 21 arrives at the parking lot 41, since the parking space 43A for parking the vehicle 21 is not determined, in the vehicle control unit 11, the shooting data obtained by the first shooting unit 22 is temporarily stored in the storage unit 12 in accordance with the traveling direction of the vehicle 21. Thereafter, the driver of the vehicle 21 determines the parking space 43A, stops the vehicle 21, and shifts to the reverse gear. Then, the vehicle control unit 11 detects the shift to the reverse gear, retains at least the first shooting data of the parking spaces 43A, 43B, and 43C that are around the parking position of the vehicle 21 and have a high possibility of the vehicle 21 parking, and stores it in the storage unit 12.

[0035] Next, the Figure 3 control method of the parking assistance using the vehicle parking assistance device 10 will be described. It should be noted that in the following description, as described using Figure 2A , the case where the vehicle 21 is parked in the specific parking space 33A by reverse driving will be described.

[0036] As Figure 3 shown, in step S10, if the driver gets on the vehicle 21 and presses the ignition switch (not shown), the vehicle 21 becomes the ignition-on state. Moreover, by pressing the above ignition switch, the vehicle parking assistance device 10 of the vehicle 21 also becomes the on state.

[0037] In step S11, the vehicle control unit 11 starts the vehicle driving mechanism such as the engine (not shown), and the driver operates the steering wheel and the like, and the vehicle 21 starts to drive.

[0038] In step S12, the vehicle control unit 11 controls the GPS decoder 14, obtains the position information of the own vehicle, and stores it in the storage unit 12. When step S12 is YES, the vehicle control unit 11 transfers to step S13 when it determines that the vehicle 21 has arrived at the rental parking lot 31 having the parking space 33A registered in advance in the vehicle 21.

[0039] On the other hand, when step S12 is NO, the vehicle control unit 11 continues to control the GPS decoder 14 to obtain the position information of the own vehicle and determines whether the vehicle 21 has arrived at the rental parking lot 31 when it determines that the vehicle 21 has not arrived at the above rental parking lot 31. In step S12, the vehicle control unit 11 determines whether the vehicle 21 has arrived within a predetermined range with respect to the rental parking lot 31 including the parking space 33A based on the position information.

[0040] In step S13, the vehicle control unit 11 activates the first imaging unit 22 to start imaging the front of the vehicle 21. As Figure 2A shown, the first imaging unit 22 for imaging the front side of the vehicle 21 is provided, for example, at the front part of the vehicle body of the vehicle 21. Moreover, in accordance with the forward travel of the vehicle 21, the first imaging unit 22 acquires first imaging data obtained by imaging the parking space 33A where the vehicle 21 stops and its surrounding area, and stores it in the storage unit 12.

[0041] In step S14, the vehicle control unit 11 calculates parking space information related to the parking space 33A based on the first imaging data. Specifically, the vehicle control unit 11 extracts the frame line 32 of the parking space 33A from the first imaging data, and calculates the distance from the current position of the vehicle 21 to the frame line, the length of the frame line, etc. Then, the vehicle control unit 11 stores the distance up to the frame line and the length of the frame line in the storage unit 12.

[0042] In step S15, the vehicle control unit 11 calculates the center position of the frame line 32 of the parking space 33A by using the distance up to the frame line and the length of the frame line. Then, the vehicle control unit 11 stores the center position in the storage unit 12.

[0043] In step S16, the vehicle control unit 11 detects a shift of the vehicle 21 from the forward gear to the reverse gear. When step S16 is affirmative, the vehicle 21 stops from forward travel, and the driver of the vehicle 21 shifts to the reverse gear. When the vehicle control unit 11 detects that the vehicle 21 has shifted to the reverse gear, it proceeds to step S17.

[0044] In step S17, the vehicle control unit 11 activates the second imaging unit 23 to start imaging the rear of the vehicle 21. As Figure 2A shown, the second imaging unit 23 for imaging the rear side of the vehicle 21 is provided, for example, at the rear part of the vehicle body of the vehicle 21. Moreover, in accordance with the reverse travel of the vehicle 21, the second imaging unit 23 stores second imaging data obtained by imaging the parking space 33A where the vehicle 21 stops and its surrounding area in the storage unit 12.

[0045] In step S18, the vehicle control unit 11 uses the above parking space information to generate composite data 24 obtained by adding the frame line 32A (refer to Figure 4 ), the center line 32B of the frame line 32 (refer to Figure 4 ) etc. to the second imaging data. Specifically, as Figure 4As shown, the vehicle control unit 11 calculates the position of the frame line 32A of the parking space 33A using the above-mentioned parking space information calculated from the first captured data. Then, the vehicle control unit 11 generates composite data 24 obtained by combining the frame line 32A calculated from the first captured data with the frame line 32 of the parking space 33A in the second captured data. After that, the vehicle control unit 11 stores the above-mentioned composite data 24 in the storage unit 12.

[0046] In step S19, the vehicle control unit 11 controls the display unit 16 to display the above-mentioned composite data 24 on the display unit 16. As Figure 4 shown, the above-mentioned frame line 32A is, for example, two lines in the lateral width direction of the vehicle 21 in the parking space 33A, and in the composite data 24, the above-mentioned frame line 32A is displayed overlapping the frame line 32 in the second captured data. Similarly, it may also be the case where the center line 32B of the frame line 32 of the parking space 33A is combined with the second captured data and displayed between the two above-mentioned frame lines 32A.

[0047] In step S20, the driver of the vehicle 21 parks the vehicle 21 inside the frame line 32 of the parking space 33A while confirming the composite data 24 displayed on the display unit 16. Then, after the driver parks the vehicle 21, the driver shifts from the reverse gear to the parking gear.

[0048] On the other hand, when the result of step S16 is negative, as Figure 2A shown by the dashed arrow 38, in the case where the vehicle 21 that enters the rental parking lot 31 by forward driving parks the vehicle 21 in the parking space 33A while maintaining the forward driving state, the vehicle control unit 11 transfers to step S21 without detecting a shift of the vehicle 21 to the reverse gear.

[0049] In step S21, the vehicle control unit 11 uses the above-mentioned parking space information to generate composite data (not shown) obtained by combining the calculated frame line 32A, center line 32B with the first captured data. In step S18, as described above, the vehicle control unit 11 calculates the position of the frame line 32A of the parking space 33A from the first captured data. Then, the vehicle control unit 11 generates composite data 24 obtained by combining the above-mentioned frame line 32A with the frame line 32 of the parking space 33A in the first captured data, and the vehicle control unit 11 stores the above-mentioned composite data 24 in the storage unit 12. After that, it transfers to step S19 to perform the control of the above-mentioned parking assistance.

[0050] In step S22, since the vehicle control unit 11 detects that the vehicle 21 has shifted to the parking gear, it determines that the vehicle 21 has parked inside the frame line 32 of the parking space 33A. Then, the vehicle control unit 11 stops the operation of the first imaging unit 22 and the second imaging unit 23, and ends the parking assistance performed by the vehicle parking assistance device 10.

[0051] In step S23, if the driver of the vehicle 21 presses the ignition switch, the vehicle 21 becomes the ignition-off state.

[0052] In the vehicle parking assist device 10 of the present embodiment, the vehicle control unit 11 calculates the above-mentioned parking space information related to the parking space 33A using the first captured data obtained from the first imaging unit 22. Thereafter, the vehicle control unit 11 generates composite data 24 obtained by synthesizing the above-mentioned parking space information with the second captured data obtained from the second imaging unit 23, and causes the composite data 24 to be displayed on the display unit 16.

[0053] With this control method, even when the frame line 32 of the parking space 33A of the second captured data cannot be recognized by the second imaging unit 23 due to poor visibility caused by insufficient lighting at night, bad weather, etc., the frame line 32A, etc. of the above-mentioned parking space information calculated based on the first captured data is synthesized into the second captured data. As a result, the driver can perform the parking operation of the vehicle 21 while recognizing the parking space 33A via the display unit 16. Moreover, the driver can safely reverse-park the vehicle 21 into the parking space 33A even under the above-mentioned adverse conditions.

[0054] In particular, in recent years, due to the development of the driving assist system of the vehicle 21, the performance of the imaging device 13 and various sensors for recognizing the front of the vehicle 21 is improving. In addition, the lights illuminating the front of the vehicle 21 are brighter than the lights illuminating the rear of the vehicle 21, and the first captured data is likely to become clear. As a result, even under the above-mentioned adverse conditions, the first imaging unit 22 can obtain image data that is clearer and of higher quality than the second imaging unit 23. Moreover, in the vehicle 21, by using the above-mentioned high-performance imaging device 13 as the first imaging unit 22, it is possible to perform high-precision driver parking assistance while suppressing the manufacturing cost of the vehicle 21.

[0055] It should be noted that, as Figure 2A shown, the vehicle parking assist device 10 of the present embodiment is not limited to the case of being used when parking the vehicle 21 in a specific parking space 33A in which the position information is registered in the vehicle 21. For example, as Figure 2B shown, the vehicle parking assist device 10 may be used when parking the vehicle 21 in an unspecified parking space 43A such as a supermarket parking lot 41.

[0056] In this case, the vehicle control unit 11 also calculates the above-mentioned parking space information for the parking spaces 43B, 43C, and 43D around the parking space 43A by using the first captured data obtained from the first imaging unit 22. Then, when the vehicle control unit 11 determines the moment of the parking space 43A where the vehicle 21 is to park based on the captured data of the second imaging unit 23, it generates the above-mentioned composite data 24 and causes the composite data 24 to be displayed on the display unit 16. As a result, for the unspecified parking space 43A, the same effect as when the vehicle 21 parks in the above-mentioned specific parking space 33A can be obtained. Figure 2A The same effect as when the vehicle 21 parks in the above-mentioned specific parking space 33A can be obtained.

[0057] In addition, in the above-mentioned control method using Figure 3 it has been described that in step S12, after the vehicle 21 arrives at the rental parking lot 31 having the parking space 33A, the vehicle control unit 11 activates the first imaging unit 22, obtains the first captured data, and stores it in the storage unit 12, but this is not limited to this case.

[0058] For example, as described above, when the high-performance camera of the driving assistance system of the vehicle 21 is used as the first imaging unit 22, for the first imaging unit 22, at the moment when the driver gets on the vehicle 21 and presses the ignition switch in step S10, the first imaging unit 22 also activates. Moreover, it may be the case where the vehicle control unit 11 calculates the above-mentioned parking space information by using the image data stored in the storage unit 12 as the driving assistance system of the vehicle 21. In addition, various changes can be made without departing from the gist of the present invention.

Claims

1. A parking assist device for a vehicle, characterized in that: A parking assistance device for a vehicle is provided for parking a vehicle in a parking space. The parking assistance device for a vehicle comprises: a first imaging unit configured to capture an image of a front side of the vehicle; a second imaging unit configured to capture an image of a rear side of the vehicle; A display unit capable of displaying at least the first photographing data acquired from the first photographing unit or the second photographing data acquired from the second photographing unit; as well as a vehicle control unit, which calculates parking space information related to the parking space using the first photographing data, When the vehicle control unit detects that the vehicle is shifting to a reverse gear, The vehicle control unit generates synthesized data by synthesizing the parking space information and the second imaging data, and displays the synthesized data on the display unit.

2. The vehicle parking assist device according to claim 1, characterized in that: The parking space information is at least the distance from the vehicle to a frame line that partitions the parking space, the center position of the parking space, or the length of the frame line.

3. The vehicle parking assist device according to claim 1, characterized in that: The vehicle control unit generates the synthesized data after the vehicle moves forward through the parking space and a gear shift to the reverse gear is detected.

4. The vehicle parking assist device according to claim 1, wherein: The vehicle control unit generates the synthesized data after the vehicle moves forward through the parking space and detects a gear shift to the reverse gear, and determines the parking space based on the second imaging data.

5. The vehicle parking assistance device according to claim 3 or 4, characterized in that: The vehicle parking assist device includes a position information acquisition device that acquires position information of the vehicle. The vehicle control unit starts calculating the parking space information based on the first imaging data after determining, based on the position information, that the vehicle has arrived within a predetermined range relative to the parking space.

Images