CN100400357C - Parking assistance apparatus - Google Patents
Parking assistance apparatus Download PDFInfo
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- CN100400357C CN100400357C CNB2005800003992A CN200580000399A CN100400357C CN 100400357 C CN100400357 C CN 100400357C CN B2005800003992 A CNB2005800003992 A CN B2005800003992A CN 200580000399 A CN200580000399 A CN 200580000399A CN 100400357 C CN100400357 C CN 100400357C
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Abstract
In a parking assistance apparatus disclosed herein, when a lateral parking mode switch is set at an initial stop position A, a controller calculates a backward movement start position B for parking based on a yaw angle and a steering angle of a vehicle, and issues guiding information to stop the vehicle upon having determined that the vehicle has reached the calculated backward movement start position B. After having sensed that a shift lever was shifted to a reverse position, the controller displays on a display an image captured by a camera as to an area behind the vehicle, and also displays on the display in a superimposed manner an estimated vehicle space in the case where the vehicle moves backwards while maintaining a steering angle at the time of the shift of the shift lever. The driver operates a steering wheel so as to establish a suitable positional relation between the estimated vehicle space and a target parking space on the display, whereby an appropirate steering angle is obtained in moving the vehicle backwards.
Description
Technical field
The present invention relates to parking aid, and more specifically, relate to the equipment that the driver behavior guiding is provided for chaufeur in side direction is stopped.
Background technology
Traditionally, developed in driver behavior, by at vehicle backward between moving period, showing the image of catching on the telltale by the monitor camera that is installed on the vehicle, and stack ground shows that the estimation track of the deflection angle of corresponding bearing circle provides auxiliary driving ancillary equipment on the image that is showing on the telltale, as for example disclosing in JP-2002-251632A.
Above-mentioned driving ancillary equipment allows chaufeur to carry out by steering vehicle observing the estimation track on telltale when, and for example, side direction parks cars in parking space.
The problem to be solved in the present invention
Yet although attempt to stop vehicle and it is moved backward to carry out side direction parking in parking space, the estimation track on telltale can not arrive parking space, unless vehicle stops at correct position.In this case, vehicle can not be parked, unless its passive movement and stop at another position.
In a word, because during travelling forward, the image that transmits from photographic camera is not presented on the telltale, and chaufeur can not be selected, and is used to the stop position that begins to move backward but find intuitively.Therefore, auxiliary as stopping, on telltale, showing the estimation track not enough in the motion backward simply.
In addition, only showing that track brings the user-friendly problem of shortage, is unclear because how this track matches with the target parking space at this track of which partial sum.
The present invention has solved the problems referred to above.Purpose of the present invention is for providing parking aid, and it allows chaufeur to park cars reliably and easily, and does not need intuitively.
Summary of the invention
According to the present invention, parking aid is provided, be used for by vehicle is travelled forward from initial stop position under the situation that bearing circle rotates, stop vehicle in the starting position of moving backward, and at bearing circle moving vehicle backward under the situation that opposite direction is rotated, to provide auxiliary in the driver behavior of vehicle parking in the target parking space, this parking aid comprises: the photographic camera that is used to catch the image of vehicle back; Arrange near the telltale of the driver's seat of vehicle; Be used to detect the steering angle sensor of deflection angle; Be used to detect the yaw angle detecting device of the yaw angle of vehicle; Be used for guiding device to chaufeur issue driver behavior guidance information; And controller, its be used for when vehicle when initial stop position travels forward, the yaw angle of the vehicle that detects based on the deflection angle that detects by steering angle sensor and yaw angle detecting device is obtained the instantaneous position of vehicle and the instantaneous yaw angle of vehicle, in case being used for vehicle enters by stop allowing the position and stop and allows the zone of the initial position of motion backward that yaw angle limits or entered this zone after a period of time at vehicle, stop vehicle by guiding device issue guidance information, be used for when vehicle moves backward, on telltale, showing the image of catching by photographic camera, and be used under the situation that vehicle keeps moving backward by the current deflection angle that steering angle sensor detects, the vehicle space that on telltale, shows estimation in the mode of stack, the vehicle space of estimating is according to current deflection angle motion, to inform chaufeur suitable deflection angle in the moving vehicle backward thus.
, should be noted that the starting position of moving backward not only means certain location here, and can be in the position in allowing (stop and allow) scope.
Description of drawings
Fig. 1 has installed the lateral plan of the vehicle of parking aid according to an embodiment of the invention;
Fig. 2 is the constructional drawing that shows according to the structure of the parking aid of this embodiment;
The position of vehicle when Fig. 3 is classified to and schematically shows vehicle and parks according to this embodiment side direction;
Fig. 4 shows the back view image of the vehicle that shows on the telltale of this embodiment;
Fig. 5 and 6 schematically shows in this embodiment the method for the starting position of confirming to move backward respectively;
Fig. 7 shows the starting position of motion backward in this embodiment;
Fig. 8 to 10 shows the example of the modification of the vehicle mark that shows respectively on telltale;
Figure 11 shows the vehicle mark display position according to another embodiment; And
Figure 12 and 13 is for showing the constructional drawing according to the structure of the parking aid of another embodiment respectively.
The specific embodiment
To embodiments of the invention be described based on accompanying drawing hereinafter.
As shown in Figure 1, the backsight monitor camera 2 that is used to catch the image of vehicle 1 back is installed to the aft section of vehicle 1.The rear bumper 3 of vehicle 1 is trapped in the end portion of photographic camera 2 visual ranges.Liquid color display 4 is arranged near the driver's seat of vehicle 1.When carrying out the parking non-productive operation based on the present invention, the image of catching by photographic camera 2 is presented on the telltale 4, and it is used as the display unit of navigationsystem usually.In addition, shifter bar 5 is arranged on the driver's seat next door.Turn to as the front-wheel 6 that turns to the tire wheel by direction of operating dish 7.
Fig. 2 shows the structure according to the parking aid of the first embodiment of the present invention.Controller 8 is connected to photographic camera 2 and telltale 4.Be used to detect the steering angle sensor 9 of the deflection angle of bearing circle 7, be used to detect vehicle 1 at the yaw rate sensor 10 of the cireular frequency of its yaw angle direction with produce backward in shifter bar 5 speed changes when falling back the position that the speed change sensor 11 of motor message is connected to controller 8.In addition, be used to inform that controller 8 vehicles 1 will carry out the side direction car-parking model switch 12 that side direction stops and also be connected to controller 8.In addition, be used to guide the loud speaker 13 of chaufeur driver behavior information to be connected to controller 8.
For controller 8 provide central process unit (not shown), control program be stored in wherein the read-only memory (ROM) (not shown) and work the random access memory (not shown).
Data and the control program specific at vehicle are stored in the read-only memory (ROM).These data be included under the situation that vehicle 1 turns with the maximum rotation amount of its bearing circle 7 minimum turning radius Rmin and when vehicle 1 is carried out side direction and is stopped control program carry out to stop and assist.Central process unit is based on the control program running that is stored in the read-only memory (ROM).
When switch sides during to car-parking model switch 12, controller 8 calculates the yaw angle of vehicle 1 by integration from the cireular frequency of the vehicle of yaw rate sensor 10 input, and obtains the starting position of motion backward that allows the position and stop and allow yaw angle to limit by stopping based on the yaw angle of calculating.If determine that based on deflection angle and yaw angle vehicle 1 has arrived the starting position of moving backward during travelling forward, controller 8 impels chaufeur to stop vehicle by loud speaker 13 issue guidance informations.
By speed change sensor 11 sensing shifter bars 5 speed change to the position of falling back, under the situation of moving after with predetermined target turning angle in the deflection angle that has kept detecting at vehicle by steering angle sensor 9, controller 8 on telltale 4 with the mode of stack show by photographic camera 2 catch about the image in the zone of vehicle back and the vehicle space of estimation.The vehicle space of this estimation is moved on telltale 4 according to deflection angle.When driver's operation bearing circle 7 so that when setting up suitable position between vehicle space of estimating on the telltale 4 and the target parking space and concern, obtain the suitable deflection angle in moving backward.
The operation of carrying out in the side direction parking is described especially referring now to Fig. 3.At first, when vehicle is substantially perpendicular to about 0.5 to the 1 meter desired location that makes the corresponding target parking space of driver's seat S of the inlet of target parking space S and distance objective parking space S, for example, when the preceding frame line S1 of target parking space S just in time was positioned at the chaufeur next door, vehicle initially stopped.This vehicle location is defined as initial stop position A.
If to car-parking model switch 12, controller 8 affirmation stopping guides begin and cause loud speaker 13 that sound guidance is provided chaufeur, such as " providing the side direction stopping guide for you now in initial stop position A switch sides.Please steering wheel rotation, travel forward, and when signal is issued, stop.In case " 12 switchings of side direction car-parking model switch, controller 8 is set at the yaw angle of the vehicle 1 at initial stop position A place the reference position of yaw angle.
The driver's operation bearing circle 7 and the vehicle 1 that when turning, travels forward.Under situation shown in Figure 3, the chaufeur vehicle 1 that in turning clockwise bearing circle 7, travels forward lentamente.This moment, controller 8 obtains the deflection angle that detects by steering angle sensor 9 and from the cireular frequency of the vehicle 1 of yaw rate sensor 10 inputs, and, for example, by deflection angle and the angular velocity data that integration obtains to the initial stop position A of car-parking model switch 12 from switch sides, grasp yaw angle and the position of vehicle 1 for target parking space S.In other words, controller 8 calculates instantaneous yaw angle by the integration instantaneous angular velocity, obtain turn radius from instantaneous deflection angle, suppose the amount that vehicle 1 motion changes with instantaneous yaw angle under this state, the move distance of integration vehicle 1, and calculate the current relative position of vehicle 1 for initial stop position A.Deflection angle does not need to keep constant, but can change midway.
If determine that vehicle 1 travels forward in angle of turn θ from initial stop position A, and arrive soon after and be used for backward moving vehicle to be parked in the initial position of the motion backward B in the target parking space S, controller 8 is for chaufeur provides guidance information, as the instruction that stops vehicle.For example, from loud speaker 13 issue sound guidances, such as " ding-dong! Please the direction of operating dish and slowly motion backward, mate to be sure of yellow frame and target location.”。The starting position B that moves backward mean permission by under the situation that is fixed on certain deflection angle at bearing circle 7 backward moving vehicle 1 arrive zone (that is parking allowed band) in the target parking space S.
Thereby under the image that does not have photographic camera 2 was presented at situation on the telltale 4, vehicle 1 can move to the starting position B that moves backward from initial stop position A.Because do not rely on the image of photographic camera 2 that guiding is provided, when when turning, travelling forward, obstacle, pedestrian and the analogue of the easier attention vehicle periphery of chaufeur.When vehicle 1 arrives when moving starting position B backward, target parking space S is positioned at vehicle 1 back and at the camera coverage of backsight monitor camera 2.
If chaufeur at the starting position B that moves backward with shifter bar 5 speed changes to the position of falling back, controller 8 is by from the operation to the position of falling back of the detection signal sensing speed change of speed change sensor 11.Subsequently, under the situation of having moved backward in the deflection angle that has kept detecting at vehicle by steering angle sensor 9, controller 8 on telltale 4 with the mode of stack show by photographic camera 2 catch about the image in the zone of vehicle back and the vehicle space of estimation.The vehicle space of estimating is for example with the form of the vehicle mark of the profile of total profile of expression vehicle 1, vehicle 1 under the situation of bearing circle 7 at current deflection angle from current location turning turning angle (90 °-θ) after (target turning angle), the position display that vehicle 1 is positioned at.That is, as shown in Figure 4, on the screen of telltale 4, show the image about the zone of vehicle 1 back of catching, comprise the rear bumper 3 and the target parking space S of vehicle 1 by backsight monitor camera 2.Vehicle mark also is presented on the screen of telltale 4 according to the deflection angle of bearing circle 7 mode with transition, for example, and as illustrating to C3 by C1.Should be noted that here vehicle mark C1, C2 and C3 represent that respectively it is (90 °-θ) later state of angle of turn under the situation of R1, R2 and R3 at turn radius that vehicle 1 is positioned at from the starting position B that moves backward.
Driver's operation bearing circle 7 is so that set up suitable position relation between vehicle space of estimating on the telltale 4 and target parking space S.With reference to figure 3, intersect as the vehicle mark C1 of vehicle space and the preceding frame line S1 of target parking space S with turn radius R1 estimation, and therefore mean that the deflection angle of bearing circle 7 is excessive, and have the vehicle mark C3 of turn radius R3 and the after-frame line S2 of target parking space S and intersect, and therefore mean that the deflection angle of bearing circle 7 is too small.Vehicle mark C2 with turn radius R2 suitably locatees for target parking space S.
Therefore, in the sound guidance of following 13 issues of above-mentioned loud speaker, chaufeur is fixed under the situation of the deflection angle that causes showing vehicle mark C2 slowly moving vehicle 1 backward at bearing circle 7.When vehicle 1 moved backward, the mode that the position of vehicle mark C2 changes with moment on telltale 4 showed, so that keep the mutual alignment relation between target parking space S and the vehicle mark C2 constant.Controller 8 is based on the yaw angle from the angular speed calculation vehicle 1 of yaw rate sensor 10 input, in case and the amount that changes from initial position A of yaw angle reach 90 degree, can confirm that vehicle 1 arrives the position of vehicle mark C2.Controller 8 provide sound guidance with impel chaufeur before vehicle 1 arrives vehicle mark C2 or the later suitable moment stop, and when vehicle 1 almost arrives the position of vehicle mark C2, also at the vehicle width line that shows the track of corresponding vehicle 1 during its moved straight rearward on the telltale 4.Reference is at the vehicle width line that shows in the mode that is superimposed upon on the target parking space S on the telltale 4, and chaufeur is regulated the position that is used to stop subtly and subsequently vehicle 1 stopped at and guarantees parallel suitable position between vehicle 1 and the target parking space S.
When moving backward, chaufeur only need keep bearing circle 7 fixing, and does not therefore have difficulties on obstacle, pedestrian and the analogue of noting vehicle periphery.
Become 90 degree in case detect yaw angle, controller 8 confirms that vehicle arrives vehicle mark C2, that is, after turning from the starting position B that moves backward, vehicle has arrived target steering angle.Controller 8 causes loud speaker 13 issue sound guidances, such as " asking the straightening bearing circle and vehicle is moved rearwards to suitable position to finish parking.", and finish the operation of side direction stopping guide.
Chaufeur when noting surrounding environment according to sound guidance straight-line motion backward, with reference to the image that shows with the relation of adjacent vehicle with on telltale 4 about the vehicle back zone, vehicle is stopped at suitable position in the target parking space S, and finish driver behavior thus.
Finished side direction parking in target parking space S thus.The method of confirming the above-mentioned starting position B that moves backward will be described now.
Confirm to move backward starting position B based on satisfying to ensuing two condition J1 and J2.
Condition J1 is that if vehicle 1 moves backward with steering locking angle (that is, with minimum turning radius), the line of centers of vehicle 1 is not positioned at the turning exterior lateral area for the line of centers of target parking space S.
Condition J2 is that when vehicle 1 was moved into target parking space S backward, the part of vehicle 1 did not reach the turning medial zone for target parking space S.
Here, term " turning exterior lateral area " and " turning medial zone " refer to respectively when carrying out side direction and stop, vehicle 1 move backward along the outside and the inboard of turning track.For example, vehicle 1 moves backward from the starting position B that moves backward under the situation that its bearing circle turns left, and attempts to be parked in the target parking space S on the left side of vehicle 1.In the case, term " turning exterior lateral area " means the right side area of vehicle 1, and term " turning medial zone " means the left field of vehicle 1.
[condition J1]
Be described referring now to Fig. 5.As initial point, the Y coordinate extends in vehicle direction forward, and X-axis is extended in vehicle direction to the right with the center of the rear axle of initial stop position A.If set up ensuing relation, vehicle 1 with minimum turning radius when the starting position B that moves backward moves backward, the line of centers of vehicle 1 is positioned at the turning exterior lateral area for the line of centers of target parking space S.
Rmin×(1-sinθ)＞Yb-Yt...(1)
Here suppose that Rmin represents the minimum turning radius of the rear shaft center of vehicle 1, θ is illustrated in the yaw angle (yaw angle that is set in initial stop position A is 0) of the starting position B that moves backward, Yb represents rear shaft center's distance from initial stop position A to the starting position B process of moving backward on Y direction, and Yt represent rear shaft center on Y direction from the center of target parking space S to (having positive and negative) distance of initial stop position A process.
Minimum turning radius Rmin on Y direction and distance Y t can be defined as constant by judging vehicle parameter and representative type parking space.Therefore, if when vehicle 1 from initial stop position A when the starting position B that moves backward travels, obtain distance Y b and yaw angle θ on Y direction, can determine that whether above-mentioned expression formula (1) satisfies.
In other words, when setting up ensuing the relation, condition J1 satisfies.
Yb＞Rmin×(1-sinθ)+Yb...(1’)
[condition J2]
As shown in Figure 6, at vehicle 1 after the starting position B that moves backward moves backward during target approach parking space S, when the preceding corner part P that just in time abuts against target parking space S when the part of vehicle 1 goes up, the rear shaft center that is set in the vehicle 1 of initial stop position A represents initial point, sets up ensuing relation.
Ra×(1-sinθ)＝Yb-Yt …(2)
(Ra-W/2)
2＝(Xc-Xp)
2+(Ra-PW/2)
2…(3)
Ra×cosθ＝Xb+Xc…(4)
Here suppose that Ra represents the turning radius of the rear shaft center of vehicle 1, θ is illustrated in the yaw angle (yaw angle that is set in initial stop position A is 0) of the starting position B that moves backward, Xb represents rear shaft center's distance from initial stop position A to the starting position B process of moving backward on X-direction, Yb represents rear shaft center's distance from initial stop position A to the starting position B process of moving backward on Y direction, Yt represent rear shaft center on Y direction from the center of target parking space S to (having positive and negative) distance of initial stop position A process, Xp represents rear shaft center's distance from the arrival end of target parking space S to initial stop position A process on X-direction, Xc represents rear shaft center's distance from initial stop position A to vehicle mark C process on X-direction, PW represents the width of target parking space S, and W represents the width of vehicle 1.
To give formula (3) to obtain formula (3 ') from the Xc assignment that formula (4) is derived.Subsequently, will give formula (3 ') obtaining formula (3 ") from the Ra assignment that formula (2) is derived, the variable of formula (3 ") comprises θ, Xb and Yb.
Formula (3 ") schematically following expression.
Xb＝F(θ，Yb，Kn)...(3”)
Here should be noted that F represents that the function be scheduled to and Kn represent the constant that is necessary.
Therefore, when setting up ensuing the relation, condition 2 satisfies.
Xb＞F(θ，Yb，Kn)...(3”’)
The starting position B that moves backward of the expression formula (1 ') of J1 that satisfies condition and the expression formula of condition J2 (3 " ') is confirmed to be the starting position B of motion backward of eligible J1 and J2.As conspicuous from expression formula (1 ') and expression formula (3 " '), if determine one of value of Xb, Yb and θ, the possible scope of other value is determined.In the present embodiment, be described based on following hypothesis, under the situation that the yaw angle θ of vehicle determines, the possible scope of Xb and Yb is represented the starting position B that moves backward.
This starting position B that moves backward illustrates in Fig. 7 especially.When θ=40 degree, E1 and E2 represent the boundary line that limited by condition J1 and J2 respectively.When in the regional AR of rear shaft center between boundary line E1 and E2 of vehicle 1, vehicle 1 is positioned at the starting position B that moves backward.With reference to figure 7, except the situation of θ=40 degree, show corresponding by vehicle 1 several regional AR at the different value of the yaw angle θ at the B place, starting position that moves backward hypothesis.Thereby, calculate the scope of the starting position B that moves backward according to the yaw angle θ of vehicle 1.
In the aforementioned embodiment, condition J1 limits based on the center of vehicle 1 and the center of target parking space S.Yet condition J1 also can limit based on the outside of vehicle 1 and the outside (S2) of target parking space S.
In the case, condition J1 substitutes with ensuing condition J1A.
Condition J1A is that if vehicle 1 moves backward with steering locking angle (that is, with minimum turning radius), the outside of vehicle 1 is not positioned at the turning exterior lateral area for the outside (S2) of target parking space S.
If set up ensuing relation, vehicle 1 with minimum turning radius when the starting position B that moves backward moves backward, the outside of vehicle 1 is positioned at the turning exterior lateral area for the outside of target parking space S.
Rmin×(1-sinθ)+W/2＞Yb-Yt+PW/2...(1A)
Therefore, the condition of the J1A that satisfies condition is not an expression formula (1 '), but ensuing expression formula.
Yb＞Rmin×(1-sinθ)+W/2+Yt-PW/2...(1A’)
In the above-described embodiments, the vehicle mark of the profile of total profile of expression vehicle 1 shows as shown in Figure 4.Yet, as shown in Figure 8,, the zone of the distant place of vehicle mark M1 and near zone are represented with fine rule and thick line respectively if based on the transparent view technique of painting, determine more significantly easily whether the vehicle space of estimating suitably locatees with respect to target parking space S.
In addition, as shown in Figure 9, taked to indicate the vehicle mark M2 of form on the semi-translucent plane of the shape that roughly projects the vehicle 1 on the road surface also can be shown as the vehicle space of estimation.Because vehicle mark M2 is a semi-translucent, show that on telltale 4 the parking boundary line with indicating target parking space S can not disappear, even when vehicle mark M2 overlapping they the time, and can confirm the overlapping degree of vehicle mark M2 and target parking space S.
In addition, as shown in figure 10, if the vehicle mark M3 that uses than the real profile U of vehicle 1 wide and with target parking space S width for example about equally, concern more significantly as seen in vehicle space of estimating and the position between the target parking space S, and be more prone to determine whether the vehicle space of estimating suitably locatees with respect to target parking space S.In the case, vehicle mark M3 can be expressed as, the vehicle mark of profile of representing total profile of vehicle 1 as shown in Figure 4, as shown in Figure 8 according to the vehicle mark of the transparent view technique of painting, perhaps take to have indicated the vehicle mark of form on the semi-translucent plane of the shape that roughly projects the vehicle 1 on the road surface as shown in Figure 9.Yet, consider and the parking boundary line of the wide overlapping expression target of vehicle mark M3 parking space S preferably use the semi-translucent vehicle mark.
In the aforementioned embodiment, as shown in Figure 3, the vehicle space of estimation, such as vehicle mark C2, be presented at vehicle 1 turning turning angle (90 °-θ) in position from being arrived after the starting position B that moves backward moves backward with constant deflection angle.Yet as shown in figure 11, the position straight line that vehicle mark D2 may be displayed on by showing vehicle mark C2 moves the position that predetermined distance D obtains backward.Therefore, even (position that the 90 °-process of moving backward from the starting position B that moves backward θ) time is finished, the part of vehicle mark D2 also is positioned at the viewing area of photographic camera 2 at turning turning angle when vehicle 1 has arrived corresponding vehicle 1.Therefore, the part of vehicle mark D2 is showing in the mode that is superimposed upon on the target parking space S on the telltale 4, so determine easily whether vehicle 1 becomes parallel with target parking space S.
Though in the aforementioned embodiment, calculate the yaw angle of vehicle 1 by integration from the cireular frequency of the vehicle 1 of yaw rate sensor 10 input, this not necessarily.As shown in figure 12, also can substitute yaw rate sensor 10 by mounting distance sensor 14, come the move distance of the vehicle 1 that obtains based on the deflection angle that obtains from steering angle sensor 9 with from rang sensor 14 to calculate the yaw angle of vehicle 1, and provide guidance information for chaufeur.In the case, rang sensor 14 and steering angle sensor 9 are formed the yaw angle detecting device.
Be not orthogonal under the situation of target parking space S at the vehicle 1 that stops at initial stop position A, worry that the vehicle space of the estimation that shows can not be suitably with respect to target parking space S location on telltale 4, even at starting position B direction of operating dish 7 backward.In order to deal carefully with this situation, as shown in figure 13, can near driver's seat, arrange exercisable switch 15, and switch 15 is connected to controller 8, and can changes the angle of the vehicle space of the estimation that on telltale 4, shows by the exercisable switch 15 of operation.In the case, from turning angle that the starting position B that moves backward moves rearwards to vehicle mark C according to the angle of the vehicle space of the estimation that shows at telltale 4 for (the 90 °-amount that θ) changes increases or reduces perpendicular to the angle under the situation of target parking space S at vehicle 1.In this way, can provide stopping guide more accurately in the angle of initial stop position A according to vehicle 1.
Substitute in initial stop position A switch sides to car-parking model switch 12, side direction car-parking model switch 12 also can switch in the straight-line way of initial stop position A forward at vehicle 1, and when vehicle 1 is turned under the situation that bearing circle 7 rotates from initial stop position A when the starting position B that moves backward travels forward, the change of the yaw angle that controller 8 can be by detecting vehicle 1 confirms that stopping guide is initial.Substitute switch sides to car-parking model switch 12, microphone and acoustic recognition unit can be installed, be used for by voice recognition to controller 8 issue an orders.Thereby, simplified the operation that chaufeur is carried out.
Stop though previous embodiment is handled in the left side of passage side direction, stop in the right side side direction and also can carry out in a similar fashion.
In case reaching the guiding of the starting position B that moves backward can enter regional AR or enter regional AR and provide after a period of time at vehicle 1.
Substituting provides guiding to stop impelling chaufeur, provides guiding can stop vehicle with driver when vehicle 1 is in regional AR and also can accept.Thereby chaufeur can be carried out the operation that stops vehicle 1 in the moment of more or less freely selecting.
Initial stop position A is not limited to leave the position of 0.5 to 1 meter of the inlet of target parking space S.Zone AR can calculate according to predetermined initial stop position A.
When vehicle 1 stopped at initial stop position A, chaufeur saw that frame line S1 is not indispensable on vehicle 1 next door just in time.For example, chaufeur can see that frame line S2 is just in time on the vehicle next door.In the case, even proal deflection angle is little when turning, vehicle 1 also can easily arrive regional AR.
In addition, when vehicle 1 stopped at initial stop position A, chaufeur can see that the center of target parking space S is just in time on vehicle 1 next door.This is suitable for the situation of vehicle parking in not having the parking area of parking frame.
When vehicle 1 stops at initial position A, can by switch select aforementioned three kinds of states (vehicle 1 just in time is positioned at the next door at the center of frame line S1, the frame line S2 of target parking space S or target parking space S) one of them.In the case, according to the situation of each parking area, docking process can be from guaranteeing more maneuverable initial stop position A.
In addition, though use two boundary line E1 (condition J1 or J1A) and E2 (condition J2) zoning AR, also can substitute boundary line E2 by limited boundary line E3, boundary line E3 represents the corresponding corresponding intersection point of yaw angle θ between boundary line E1 and E2, as shown in Figure 7 (promptly, tracing intersection point between boundary line E1 and E2, or with θ=0 degree by intersection point between boundary line E1 and the E2 and the straight line that intersects with right angle and boundary line E1), and use boundary line E1 and E3 zoning AR.In the case, as shown in Figure 7, regional AR is positioned at above the E1 of boundary line and on the E3 right side, boundary line.
In addition, the starting position B that moves backward must calculate according to the yaw angle of vehicle 1.Store data in advance, and also be suitable by determining with reference to these data whether vehicle 1 arrives the starting position B that moves backward corresponding to the regional AR of yaw angle.
In addition, corresponding to the data computation zone AR of the regional AR of yaw angle not necessarily according to the yaw angle of vehicle 1 or storage.For example, regional AR can be according to Xb or the data computation corresponding to the regional AR of Xb that can store in advance.Alternatively, regional AR can be according to Yb or the data computation corresponding to the regional AR of Yb that can store in advance.
As mentioned above, the invention enables vehicle to may be directed to the starting position of moving backward, can be parked in the target parking space from this position, make that thus parking is reliable and easy in the target parking space.
Claims (19)
1. parking aid, it is used for by vehicle is travelled forward from initial stop position under the situation that bearing circle rotates, stop vehicle in the starting position of moving backward, and at bearing circle moving vehicle backward under the situation that opposite direction is rotated, to provide auxiliary in the driver behavior of vehicle parking in the target parking space, this parking aid comprises:
Be used to catch the photographic camera of the image of vehicle back;
Arrange near the telltale of the driver's seat of vehicle;
Be used to detect the steering angle sensor of deflection angle;
Be used to detect the yaw angle detecting device of the yaw angle of vehicle;
Be used for guiding device to chaufeur issue driver behavior guidance information; And
Controller, its be used for when vehicle when initial stop position travels forward, the yaw angle of the vehicle that detects based on the deflection angle that detects by steering angle sensor and yaw angle detecting device is obtained the instantaneous position of vehicle and the instantaneous yaw angle of vehicle, in case be used for vehicle entered by stop to allow the position and the zone that allows the starting position of moving backward that yaw angle limits of stopping in or entered this zone after a period of time at vehicle, stop vehicle by guiding device issue guidance information, be used for when vehicle moves backward, on telltale, showing the image of catching by photographic camera, and be used at vehicle under the situation that the current deflection angle that maintenance detects by steering angle sensor moves backward, the vehicle space that on telltale, shows estimation in the mode of stack, the vehicle space of estimating is according to current deflection angle motion, to inform the chaufeur suitable deflection angle of moving vehicle backward thus.
2. parking aid according to claim 1, wherein, the vehicle space of estimation is based on showing at move the backward yaw angle of place, starting position vehicle and the deflection angle of vehicle; And
Chaufeur concerns to set up suitable position between vehicle space that is presented at the estimation on the telltale and target parking space, and begins moving vehicle backward with this state at the starting position direction of operating dish that moves backward.
3. parking aid according to claim 2, wherein, the vehicle space of estimation is the profile of total profile of expression vehicle.
4. parking aid according to claim 3, wherein, based on the transparent view technique of painting, the profile of the vehicle space of constitute estimating its at a distance the zone and near the zone be shown as fine rule and thick line.
5. parking aid according to claim 2, wherein, the vehicle space of estimation shows with the form on the semi-translucent plane of the shape of the image that roughly projects the vehicle on the road surface.
6. parking aid according to claim 2, wherein, the vehicle space of estimation shows with the width greater than the developed width of vehicle.
7. parking aid according to claim 2, wherein, the vehicle space of estimating is by further moving the position display that distance obtained of being scheduled to backward with such place straight line, wherein, described place reaches after having kept by vehicle under the situation of its deflection angle moving backward from the starting position of moving backward in the predetermined angle of turning.
8. parking aid according to claim 1, wherein, the starting position move backward in following scope, wherein, even vehicle moves when keeping steering locking angle backward, the line of centers of vehicle is not positioned at the turning exterior lateral area with respect to the line of centers of target parking space yet, even and vehicle moves when keeping the deflection angle of being scheduled to backward, when the target approach parking space, any part of vehicle can not reach in the turning medial zone with respect to the target parking space yet.
9. parking aid according to claim 1, wherein, the starting position move backward in following scope, wherein, even vehicle moves when keeping steering locking angle backward, any part of vehicle can not be positioned at the turning exterior lateral area with respect to the target parking space yet, even and vehicle when keeping predetermined deflection angle, move backward, when the target approach parking space, any part of vehicle can not reach in the turning medial zone with respect to the target parking space yet.
10. parking aid according to claim 1, wherein, controller calculates predetermined zone according to the yaw angle of vehicle, and when vehicle is positioned at the predetermined zone of such calculating, confirms that vehicle arrives the starting position of moving backward.
11. parking aid according to claim 1, wherein, controller is stored the presumptive area according to the yaw angle of vehicle in advance, and when vehicle is positioned at the predetermined zone of such storage, confirms that vehicle arrives the starting position of moving backward.
12. parking aid according to claim 1, wherein, after issuing guidance information and stopping vehicle, controller determines whether that the vehicle position that in fact stops and the starting position of moving backward meet, if and determined that this position is improper, would inform that by guiding device this position of chaufeur is improper.
13. parking aid according to claim 1, wherein, at vehicle when move backward in the starting position of moving backward, controller makes that according to the demonstration of the vehicle space of the yaw angle change estimation of vehicle the mutual alignment relation between the vehicle space of image of catching by photographic camera on the actual road surface and estimation does not change.
14. parking aid according to claim 1, wherein, controller calculates required target turning angle based on vehicle in the yaw angle at the place, starting position that moves backward and finishes up to turning, and when vehicle when from move backward in the starting position of moving backward, reaching target turning angle, finish to turn by guiding device issue guidance information.
15. parking aid according to claim 14 also comprises:
Be used to change the exercisable switch of angle of the vehicle space of estimation,
Controller is according to the value at the degree revise goal turning angle of the angle change of the vehicle space of estimating.
16. parking aid according to claim 1 also comprises:
Be used to set the configuration switch of vehicle in the reference position of the yaw angle of initial stop position.
17. parking aid according to claim 1, wherein, the yaw angle detecting device is made of yaw rate sensor.
18. parking aid according to claim 1, wherein, the yaw angle detecting device is made of rang sensor that is used for the measuring vehicle move distance and steering angle sensor.
19. parking aid according to claim 1, wherein, guiding device is made of loud speaker.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004122880 | 2004-04-19 | ||
| JP122880/2004 | 2004-04-19 | ||
| JP160009/2004 | 2004-05-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1787943A CN1787943A (en) | 2006-06-14 |
| CN100400357C true CN100400357C (en) | 2008-07-09 |
Family
ID=36785032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005800003992A Expired - Fee Related CN100400357C (en) | 2004-04-19 | 2005-04-12 | Parking assistance apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100400357C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4900232B2 (en) * | 2007-12-26 | 2012-03-21 | 日産自動車株式会社 | Vehicle parking assist device and video display method |
| US8340870B2 (en) * | 2008-09-16 | 2012-12-25 | Honda Motor Co., Ltd. | Vehicle maneuver assistance device |
| CN101814246A (en) * | 2010-04-16 | 2010-08-25 | 上海交通大学 | Vehicle position azimuth digital display unit |
| US9598106B2 (en) * | 2011-08-12 | 2017-03-21 | Toyota Jidosha Kabushiki Kaisha | Parking assistance device |
| DE102012007986A1 (en) | 2012-04-20 | 2013-10-24 | Valeo Schalter Und Sensoren Gmbh | Remote maneuvering of a motor vehicle using a portable communication device |
| US9026299B2 (en) * | 2012-07-09 | 2015-05-05 | Deere & Company | Navigation system and method for autonomous mower |
| JP5857900B2 (en) * | 2012-07-18 | 2016-02-10 | アイシン精機株式会社 | Parking assistance device |
| KR102135900B1 (en) * | 2013-11-29 | 2020-08-26 | 현대모비스(주) | Apparatus and Method for Assisting Parking |
| JP6121379B2 (en) * | 2014-10-27 | 2017-04-26 | 本田技研工業株式会社 | Parking assistance device |
| CN104924988A (en) * | 2015-06-03 | 2015-09-23 | 奇瑞汽车股份有限公司 | Automatic car following system |
| JP6745456B2 (en) * | 2015-12-08 | 2020-08-26 | パナソニックＩｐマネジメント株式会社 | Parking assistance device, parking assistance method and parking assistance program |
| JP6876129B2 (en) * | 2017-06-26 | 2021-05-26 | 日立Astemo株式会社 | Driving support device |
| KR102429494B1 (en) * | 2017-10-13 | 2022-08-05 | 현대자동차주식회사 | Apparatus for displaying target parking space of vehicle and method thereof |
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| EP1123844A1 (en) * | 1999-08-12 | 2001-08-16 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Steering assist device |
| JP2002251632A (en) * | 2001-02-22 | 2002-09-06 | Matsushita Electric Ind Co Ltd | Operation supporting device |
| CN1383408A (en) * | 2000-06-27 | 2002-12-04 | 株式会社丰田自动织机 | Parking aiding device |
| US20040119610A1 (en) * | 2002-08-21 | 2004-06-24 | Takahiro Maemura | Parking assistance apparatus in a vehicle |
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| EP1123844A1 (en) * | 1999-08-12 | 2001-08-16 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Steering assist device |
| CN1383408A (en) * | 2000-06-27 | 2002-12-04 | 株式会社丰田自动织机 | Parking aiding device |
| JP2002251632A (en) * | 2001-02-22 | 2002-09-06 | Matsushita Electric Ind Co Ltd | Operation supporting device |
| US20040119610A1 (en) * | 2002-08-21 | 2004-06-24 | Takahiro Maemura | Parking assistance apparatus in a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1787943A (en) | 2006-06-14 |
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