Vehicular parking support device

Abstract

To solve the problem that necessary parking space information may not be acquired from image data in bad weather or the like concerning a conventional vehicular parking support device.SOLUTION: In a vehicular parking support device 10, a vehicle control section 11 calculates parking space information from first photographing data and generates synthetic data 24 obtained by synthesizing the parking space information and second photographing data. The vehicle control section 11 allows a display section 16 to display the synthetic data 24. By the control method, a driver of a vehicle 21 performs a parking operation while confirming the synthetic data, so as to enable safe retreat parking of the vehicle 21 to a parking space 33A even under an adverse condition.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a parking assistance device for a vehicle. [Background technology]

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

[0003] The parking space detection unit detects parking spaces in front of the vehicle from image data captured by the front camera and inputs information about the detected parking spaces to the storage unit. The side obstacle detection unit analyzes multiple images captured by the side cameras at different times and detects whether an obstacle exists in the processing area or whether the area is set as blank. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-87758 A Summary of the Invention [Problem to be solved by the invention]

[0005] The obstacle detection device has multiple cameras, including a front camera and side cameras. 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 poor external conditions such as rain, there is a risk that the image data captured by the front camera or the side camera alone may not contain desired information due to poor shooting conditions.

[0006] In parking spaces, the border lines may become thin or partially disappear due to exposure to wind and rain over many years. In addition, when a parking space is set up on land such as gravel by stretching a rope, it is difficult to grasp the border lines in the first place. In these cases, the parking space detection unit has a problem that it is difficult to obtain necessary information about the parking space, such as the border lines, from image data acquired by the front camera.

[0007] Similarly, in the side obstacle detection unit, there is a problem that the presence of an obstacle may not be analyzed using only the image data captured by the side camera. In addition, if a camera capable of high-precision image analysis is used as the side camera, a new problem arises in that it is difficult to reduce manufacturing costs.

[0008] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a parking assistance device for a vehicle that uses image data obtained from multiple cameras and displays composite data supplemented with necessary information on a display unit to assist in parking. [Means for solving the problem]

[0009] One embodiment of the present invention relates to a vehicle parking assistance device that provides parking assistance when parking a vehicle in a parking space, and includes a first photographing unit that photographs the front side of the vehicle, a second photographing unit that photographs the rear side of the vehicle, a display unit that is capable of displaying at least the first photographed data acquired from the first photographing unit or the second photographed data acquired from the second photographing unit, a memory unit that stores the first photographed data and the second photographed data, and a vehicle control unit that calculates parking space information regarding the parking space using the first photographed data.When the vehicle control unit detects a shift change into reverse range of the vehicle, the vehicle control unit generates synthetic data that combines the parking space information with the second photographed data, and displays the synthetic data on the display unit. Effect of the Invention

[0010] In a vehicle parking assistance device according to an embodiment of the present invention, a vehicle control unit calculates parking space information from the first photographed data, and generates composite data by combining the parking space information with the second photographed data. The vehicle control unit then displays the composite data on a display unit. With this control method, a driver of the vehicle can safely reverse and park the vehicle into a parking space even in adverse conditions by performing parking operations while checking the composite data. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram illustrating a vehicle parking assistance device according to an embodiment of the present invention; [Figure 2A] 1 is a schematic diagram illustrating a parking method using a vehicle parking assistance device according to an embodiment of the present invention; [Figure 2B] 1 is a schematic diagram illustrating a parking method using a vehicle parking assistance device according to an embodiment of the present invention; [Diagram 3] 4 is a flowchart illustrating a parking assistance control method using the vehicle parking assistance device according to one embodiment of the present invention. [Figure 4] 1 is a schematic diagram illustrating a display example during parking assistance using a vehicle parking assistance device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, a vehicle parking assistance device 10 according to an embodiment of the present invention will be described in detail with reference to the drawings. In the description of this embodiment, the same components are generally designated by the same reference numerals, and repeated description will be omitted.

[0013] FIG. 1 is a block diagram for explaining the vehicle parking assistance device 10 of this embodiment. FIG. 2A is a schematic diagram for explaining a parking method using the vehicle parking assistance device 10 of this embodiment, showing a situation where the vehicle 21 is backed into a specific parking space 33A and parked. FIG. 2B is a schematic diagram for explaining a parking method using the vehicle parking assistance device 10 of this embodiment, showing a situation where the vehicle 21 is backed into an unspecified parking space 43A and parked. FIG. 3 is a flowchart for explaining a parking assistance control method using the vehicle parking assistance device 10 of this embodiment. FIG. 4 is a schematic diagram for explaining a display example of the composite data 24 in the parking assistance control method using the vehicle parking assistance device 10 of this embodiment.

[0014] The vehicle parking assistance device 10 mainly includes a vehicle control unit 11, a storage unit 12, an imaging device 13 that captures images of the periphery of the vehicle 21, a GPS decoder 14, a navigation device 15, a display unit 16, and an alarm unit 17. Although not shown, the vehicle parking assistance device 10 may include a millimeter wave radar, a near infrared sensor, or the like, to detect obstacles around the vehicle 21, input a detection signal to the vehicle control unit 11, and use the detection signal for parking assistance, which will be described later.

[0015] 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. The vehicle control unit 11 is an electronic control unit (ECU) having one or more processors that execute various calculations for controlling the vehicle parking assistance device 10 and a drive device (not shown) of the vehicle 21 such as an engine.

[0016] The storage unit 12 is composed of a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-only Memory). The storage unit 12 stores various data required for controlling the vehicle and one or more programs executable by the one or more processors. The storage unit 12 also stores parking space information, first photographed data, second photographed data, composite data 24, etc., which will be described in detail later.

[0017] The photographing device 13 is connected to the vehicle control unit 11 via an in-vehicle network. The photographing device 13 is, for example, a device that photographs parking spaces 33, 43, etc. around the vehicle 21 and transmits 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. For example, a camera module or a drive recorder constituting a driving assistance system may be used as the photographing device 13. The driving assistance system is a system that assists the driver in driving the vehicle when the vehicle is manually driven, or assists the driver in driving the vehicle when the vehicle is automatically driven.

[0018] 2A and 2B, in this embodiment, the photographing device 13 has a first photographing unit 22 that photographs the front side of the vehicle 21 and a second photographing unit 23 that photographs the rear side of the vehicle 21. The first photographed data photographed by the first photographing unit 22 and the second photographed data photographed by the second photographing unit 23 are transmitted to the vehicle control unit 11 and stored in the storage unit 12.

[0019] The GPS decoder 14 decodes a signal received by a GPS (Global Positioning System) antenna 18 to obtain information such as the current position of the vehicle 21. The current position information is then transmitted to the vehicle control unit 11 and stored in the storage unit 12.

[0020] The navigation device 15 can acquire map information showing a map, traffic information showing congestion or traffic regulations, etc., through a vehicle communication unit (not shown). Then, the navigation device 15 can derive a planned travel route showing a route along which the vehicle 21 is scheduled to travel, based on the departure point, the destination, and the map information.

[0021] The display unit 16 may be, for example, a display in an instrument panel in front of the driver's seat or a display disposed above an instrument panel in the center of the vehicle 21. The display unit 16 is controlled by the vehicle control unit 11, and displays the composite data 24 when the vehicle parking assistance device 10 assists in parking the vehicle 21.

[0022] The notification unit 17 is, for example, a speaker disposed in the interior of the vehicle 21. When the vehicle parking assistance device 10 assists the vehicle 21 in parking the vehicle 21, if there is a risk of the vehicle 21 colliding with an obstacle such as another vehicle parked nearby, the notification unit 17 notifies the driver of the risk.

[0023] 2A shows, for example, a contracted parking lot 31 of an apartment building, in which a plurality of parking spaces 33 are formed, each divided by a white frame line 32. The owner of vehicle 21 contracts for parking space 33A in the contracted parking lot 31, and the location information of parking space 33A is registered in advance in vehicle 21. In other words, FIG. 2A shows a situation in which vehicle 21 is parked in parking space 33A that has been specified in advance.

[0024] In this case, the driver of vehicle 21 enters contract parking lot 31 by driving forward, as shown by arrow 34, passes the specific parking space 33A, and then parks vehicle 21 in parking space 33A by driving backward, as shown by arrow 35.

[0025] At this time, the vehicle parking assistance device 10, for example, uses the current position information of the vehicle 21 from the GPS decoder 14 to obtain the first photographed data from the first photographing unit 22 at the timing when the vehicle 21 arrives at the contract parking lot 31, and starts storing the data in the memory unit 12. In this embodiment, the vehicle control unit 11 obtains, for example, the first photographed data related to the parking space 33A and the parking spaces 33B and 33C adjacent to the parking space 33A via the first photographing unit 22, and stores the data in the memory unit 12. Note that the parking spaces 33B and 33C show a situation in which other vehicles 36 and 37 are parked, respectively.

[0026] Furthermore, the timing at which the vehicle control unit 11 starts storing the first photographed data is not limited to when the vehicle 21 arrives at the contracted parking lot 31. For example, any design change is possible, such as immediately before the vehicle 21 passes through the parking space 33B or immediately before the vehicle 21 arrives at the contracted parking lot 31.

[0027] 2B shows, for example, a supermarket parking lot 41, in which a plurality of parking spaces 43 are formed, each separated by a white frame line 42. Since the parking lot 41 is used by an unspecified number of users of the supermarket, the owner of the vehicle 21 must search for a vacant parking space 43 and park the vehicle 21 therein. That is, FIG. 2B shows a situation in which the vehicle 21 can be parked in unspecified vacant parking spaces 43A, 43B, 43C, and 43D.

[0028] In this case, the driver of vehicle 21 enters parking lot 41 by driving forward, as shown by arrow 44, determines the parking space 43A in which he wants to park vehicle 21, and after passing through that parking space 43A, parks vehicle 21 in parking space 43A by driving backward, as shown by arrow 45.

[0029] At this time, the vehicle parking assistance device 10, for example, uses the current position information of the vehicle 21 from the GPS decoder 14 and the map information from the navigation device 15 to acquire the first photographed data from the first photographing unit 22 at the timing when the vehicle 21 arrives at the parking lot 41, and starts storing the data in the storage unit 12. Then, since the parking space 43A in which the vehicle 21 is to be parked has not been determined at the time when the vehicle 21 arrives at the parking lot 41, the vehicle control unit 11 temporarily stores the photographed data acquired by the first photographing unit 22 in the storage unit 12 according to the traveling direction of the vehicle 21. After that, the driver of the vehicle 21 determines the parking space 43A, stops the vehicle 21, and shifts gears to the reverse range. Then, the vehicle control unit 11 detects the shift to the reverse range, and leaves the first photographed data of at least the parking spaces 43A, 43B, and 43C, which are in the vicinity of the stopping position of the vehicle 21 and are highly likely to be used for parking the vehicle 21, and stores the data in the storage unit 12.

[0030] Next, a control method for parking assistance using the vehicle parking assistance device 10 will be described with reference to Fig. 3. In the following description, as described with reference to Fig. 2A, a case will be described in which the vehicle 21 is parked in a specific parking space 33A by backing up.

[0031] 3, in step S10, when the driver gets into the vehicle 21 and presses an ignition switch (not shown), the vehicle 21 enters an ignition-on state. Then, by pressing the ignition switch, the vehicle parking assistance device 10 of the vehicle 21 also enters an on state.

[0032] In step S11, the vehicle control unit 11 starts a vehicle drive mechanism (not shown) such as an engine, and the driver operates the steering wheel and the like to start driving the vehicle 21.

[0033] In step S12, the vehicle control unit 11 controls the GPS decoder 14 to acquire the position information of the vehicle itself and stores it in the memory unit 12. If the answer is YES in step S12, and the vehicle control unit 11 determines that the vehicle 21 has arrived at a contract parking lot 31 that has a parking space 33A that is registered in advance for the vehicle 21, the vehicle control unit 11 proceeds to step S13.

[0034] On the other hand, if the answer is NO in step S12, and the vehicle control unit 11 determines that the vehicle 21 has not arrived at the contract parking lot 31, it continues to control the GPS decoder 14 to obtain the vehicle's position information and determine whether the vehicle 21 has reached the contract parking lot 31.

[0035] In step S13, the vehicle control unit 11 activates the first photographing unit 22 to start photographing the area ahead of the vehicle 21. As shown in FIG. 2A, the first photographing unit 22 that photographs the area ahead of the vehicle 21 is disposed in the front part of the body of the vehicle 21, for example. As the vehicle 21 moves forward, the first photographing unit 22 acquires first photographed data of the parking space 33A in which the vehicle 21 is to be parked and the surrounding area, and stores the first photographed data in the memory unit 12.

[0036] In step S14, the vehicle control unit 11 calculates parking space information for the parking space 33A from the first photographed data. Specifically, the vehicle control unit 11 extracts the frame line 32 of the parking space 33A from the first photographed 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 to the frame line and the length of the frame line in the memory unit 12.

[0037] 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 to the frame line and the length of the frame line. Then, the vehicle control unit 11 stores the center position in the memory unit 12.

[0038] In step S16, the vehicle control unit 11 detects a shift change from the drive range to the reverse range of the vehicle 21. If the result of step S16 is YES, the vehicle 21 stops from forward travel and the driver of the vehicle 21 shifts into the reverse range. If the vehicle control unit 11 detects the shift change into the reverse range of the vehicle 21, the process proceeds to step S17.

[0039] In step S17, the vehicle control unit 11 activates the second photographing unit 23 to start photographing the rear of the vehicle 21. As shown in Fig. 2A, for example, the second photographing unit 23 that photographs the rear side of the vehicle 21 is disposed in the rear part of the body of the vehicle 21. Then, as the vehicle 21 moves backward, the second photographing unit 23 stores in the storage unit 12 second photographed data obtained by photographing the parking space 33A in which the vehicle 21 is to be parked and the surrounding area.

[0040] In step S18, the vehicle control unit 11 uses the parking space information to generate composite data 24 by adding a frame line 32A (see FIG. 4) and a center line 32B (see FIG. 4) of the frame line 32 to the second photographed data. Specifically, as shown in FIG. 4, the vehicle control unit 11 uses the parking space information calculated from the first photographed data to calculate the position of the frame line 32A of the parking space 33A. Then, the vehicle control unit 11 generates composite data 24 by combining the frame line 32A calculated from the first photographed data with the frame line 32 of the parking space 33A in the second photographed data. Thereafter, the vehicle control unit 11 stores the composite data 24 in the storage unit 12.

[0041] In step S19, the vehicle control unit 11 controls the display unit 16 to display the composite data 24 on the display unit 16. As shown in Fig. 4, the frame line 32A is, for example, two lines in the width direction of the vehicle 21 in the parking space 33A, and in the composite data 24, the frame line 32A is displayed superimposed on the frame line 32 of the second photographed data. Similarly, a center line 32B of the frame line 32 of the parking space 33A may be displayed between the two frame lines 32A by combining it with the second photographed data.

[0042] In step S20, the driver of the vehicle 21 parks the vehicle 21 within the frame line 32 of the parking space 33A while checking the composite data 24 displayed on the display unit 16. Then, after stopping the vehicle 21, the driver performs a shift change from the reverse range to the parking range.

[0043] On the other hand, if the answer is NO in step S16, as shown by the dotted arrow 38 in Figure 2A, when the vehicle 21 that has entered the contract parking lot 31 while moving forward parks the vehicle 21 in the parking space 33A while continuing to move forward, the vehicle control unit 11 does not detect a shift change of the vehicle 21 into the reverse range and proceeds to step S21.

[0044] In step S21, the vehicle control unit 11 uses the parking space information to generate composite data (not shown) by combining the calculated frame line 32A and center line 32B with the first photographed data. As described above in step S18, the vehicle control unit 11 calculates the position of the frame line 32A of the parking space 33A from the first photographed data. Then, the vehicle control unit 11 generates composite data 24 by combining the frame line 32A with the frame line 32 of the parking space 33A in the first photographed data, and the vehicle control unit 11 stores the composite data 24 in the storage unit 12. Thereafter, the process proceeds to step S19, and the above-mentioned parking assistance control is performed.

[0045] In step S22, the vehicle control unit 11 detects a shift change into the parking range of the vehicle 21 and determines that the vehicle 21 has been parked within the frame lines 32 of the parking space 33A. Then, the vehicle control unit 11 stops the operation of the first photographing unit 22 and the second photographing unit 23, and the parking assistance by the vehicle parking assistance device 10 ends.

[0046] In step S23, when the driver of the vehicle 21 presses the ignition switch, the vehicle 21 enters an ignition-off state.

[0047] In the vehicle parking assistance device 10 of this embodiment, the vehicle control unit 11 calculates the parking space information about the parking space 33A by using the first photographed data acquired from the first photographing unit 22. After that, the vehicle control unit 11 generates composite data 24 by combining the second photographed data acquired from the second photographing unit 23 with the parking space information, and causes the display unit 16 to display the composite data 24.

[0048] With this control method, even if the frame line 32 of the parking space 33A in the second photographed data cannot be recognized by the second photographing unit 23 due to insufficient lighting at night or poor visibility due to bad weather, the frame line 32A and the like of the parking space information calculated from the first photographed data are synthesized into the second photographed data. As a result, the driver can park the vehicle 21 while recognizing the parking space 33A via the display unit 16. Then, the driver can safely reverse and park the vehicle 21 into the parking space 33A even under the above-mentioned bad conditions.

[0049] In particular, in recent years, with the development of driving assistance systems for the vehicle 21, the performance of the image capturing device 13 and various sensors that recognize the area in front of the vehicle 21 has been improved. Furthermore, the lights that illuminate the area in front of the vehicle 21 are brighter than the lights that illuminate the area behind the vehicle 21, and the first captured data is more likely to be clear. As a result, even under the above-mentioned adverse conditions, the first image capturing unit 22 can obtain clearer and higher quality image data than the second image capturing unit 23. In the vehicle 21, the image capturing device 13 with improved performance is used as the first image capturing unit 22, thereby making it possible to suppress the manufacturing cost of the vehicle 21 and provide highly accurate parking assistance to the driver.

[0050] The vehicle parking assistance device 10 of this embodiment is not limited to being used when parking the vehicle 21 in a specific parking space 33A whose position information is registered in the vehicle 21, as shown in Fig. 2A. For example, as shown in Fig. 2B, the vehicle parking assistance device 10 may be used when parking the vehicle 21 in an unspecified parking space 43A, such as a parking lot 41 of a supermarket.

[0051] In this case, the vehicle control unit 11 calculates the parking space information for the parking spaces 43B, 43C, and 43D around the parking space 43A by using the first photographing data acquired from the first photographing unit 22. Then, at the timing when the vehicle control unit 11 specifies the parking space 43A in which the vehicle 21 is to be parked from the photographing data of the second photographing unit 23, the vehicle control unit 11 generates the above-mentioned composite data 24 and displays the composite data 24 on the display unit 16. As a result, for the unspecified parking space 43A, the same effect as that obtained when the vehicle 21 is parked in the specific parking space 33A described above using FIG. 2A can be obtained.

[0052] In addition, in the above-mentioned control method using Figure 3, in step S12, after the vehicle 21 arrives at the contract parking lot 31 having the parking space 33A, the vehicle control unit 11 starts up the first photographing unit 22, acquires the first photographing data, and stores it in the memory unit 12, but this is not limited to this case.

[0053] For example, as described above, when a high-performance camera of the driving assistance system of the vehicle 21 is used as the first photographing unit 22, the first photographing unit 22 is also started at the timing when the driver gets into the vehicle 21 and presses the ignition switch in step S10. The vehicle control unit 11 may calculate the parking space information using image data stored in the storage unit 12 as the driving assistance system of the vehicle 21. In addition, various modifications are possible without departing from the scope of the present invention. [Explanation of symbols]

[0054] 10. Vehicle parking assistance device 11 Vehicle control unit 12 Storage section 13 Imaging Equipment 14 GPS Decoder 15 Navigation devices 16 Display section 17. Notification Department 18 GPS antenna 21 Vehicles 22 First Filming Section 23 2nd Filming Division 24 Synthetic Data 31 Contract Parking Lot 32 Border 32A Border 32B Center Line 33 Parking Space 33A Parking Space 33B Parking space 33C Parking space 41 Parking 42 Border 43 Parking Space 43A Parking Space 43B Parking space 43C Parking Space 43D Parking Space

Claims

1. A vehicle parking assistance device that provides parking assistance when parking a vehicle in a parking space, A first photographing unit that photographs a front side of the vehicle; A second photographing unit that photographs 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; A storage unit that stores the first shooting data and the second shooting data; a vehicle control unit that calculates parking space information regarding the parking space using the first photographed data, When the vehicle control unit detects a shift change to a reverse range of the vehicle, The vehicle control unit generates composite data by combining the second photographed data with the parking space information, and displays the composite data on the display unit.

2. 2. The vehicle parking assistance device according to claim 1, wherein the parking space information is at least a distance from the vehicle to a boundary line dividing the parking space, a center position of the parking space, or a length of the boundary line.

3. 2. The parking assistance device for a vehicle according to claim 1, wherein the vehicle control unit generates the composite data after the vehicle passes through the parking space and detects a shift change to the reverse range.

4. 2. The parking assistance device for a vehicle according to claim 1, wherein the vehicle control unit generates the composite data after the vehicle passes through the parking space and detects a shift change to the reverse range and identifies the parking space from the second photographed data.

5. a position information acquisition device for acquiring position information of the vehicle, 5. The parking assistance device for a vehicle according to claim 3, wherein the vehicle control unit starts calculating the parking space information from the first photographed data after determining from the position information that the vehicle has reached within a predetermined range of the parking space.

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