JP2001213253A - Auxiliary apparatus for parking vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an auxiliary apparatus for parking a vehicle which can indicate the reverse starting position when the vehicle is reversed and parked at a parking lot. SOLUTION: A guide locus 4 to be expected when the vehicle is reversed while the steering angle is fixed to a maximum value is displayed, the peripheral information acquired by a sensor and the position of the vehicle are displayed on a display screen, the guide locus 4 is integratedly displayed on a symbol 3a of the vehicle on the screen, and displayed in the screen so that the guide locus 4 accommodated in a parking space is the reverse starting position. In addition, an estimated locus 5 whose shape is changed according to the actual steering angle of the steering wheel is displayed on the same screen, and the guide of the steering operation is also realized by superposing the estimated locus 5 on the guide locus 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting and informing a parkable area, and more particularly, to a notifying apparatus having a function of designating a stop position for parking in a parkable area. .

[0002]

2. Description of the Related Art Conventionally, when a vehicle is parked in a parking lot or parallelly parked along a road, a driver recognizes an area where the car is not parked, and operates the vehicle while operating a steering wheel to the parkable area. And park the vehicle at the desired location. Such a parking operation is an extremely difficult operation for a driver with little driving experience, and a device for assisting such an operation is disclosed in Japanese Patent Application Laid-Open No. 61-48098.
For example, a display device for a vehicle described in Japanese Patent Application Laid-Open No. H10-27964 has been proposed.

This device measures the distance between an obstacle around the vehicle and the vehicle by using a distance sensor, a vehicle speed sensor, and a steering angle sensor provided on a side surface of the vehicle, and calculates a situation around the vehicle. In addition to displaying the surrounding situation on the display, the current position of the vehicle and the expected movement locus of the vehicle based on the steering angle are displayed on the same display. Then, it assists a parking operation such as putting the vehicle in a garage.

[0004]

On the other hand, important factors in parking operations, such as garage parking and parallel parking, are as follows.
This is the position where the parking operation starts. For example, in garage entry, an operation is performed in which a vehicle travels at right angles to the direction of entry and exit of the garage, stops the vehicle at a position passing through the entrance of the garage, and moves backward while turning the steering wheel.

Here, the position where the vehicle is first stopped is
It is difficult to enter the garage if it is too close or too far. It is difficult for a beginner to select an appropriate position in this way, and it is not possible to recognize an appropriate stop position simply by displaying a trajectory according to the steering angle as in a conventional device. SUMMARY OF THE INVENTION It is an object of the present invention to provide a parking operation assisting device capable of knowing an appropriate stop position when parking a vehicle in a parkable area.

[0006]

The above objects are achieved by the present invention described below. (1) Parking information acquisition means for acquiring information about the position of a parking area around the own vehicle, and a case where the own vehicle is moved while being fixed at a specific steering angle and maintaining the steering angle. A guide trajectory calculating means for calculating a guide trajectory of the own vehicle, a display means for displaying the acquired parking available area, and a position of the own vehicle with respect to the parking available area on a display screen; A vehicle parking operation assisting device further comprising: guidance display means for displaying the guidance trajectory together with the display of the own vehicle together with the movement of the own vehicle.

(2) The parking information acquiring means includes a distance detecting means for detecting a distance to an object located around the own vehicle, a moving position detecting means for detecting a moving position of the own vehicle, and the moving position detecting means. And (2) a parking area calculating means for calculating a parkable area located around the own vehicle from the movement position detected by the means and the distance to an object located in the surroundings detected by the distance detecting means. The vehicle parking operation assisting device according to (1).

(3) Further, a steering angle detecting means for detecting an actual steering angle, and an expected movement locus of the own vehicle which is expected when the own vehicle is moved at the steering angle detected by the steering angle detecting means. (1) or (2), further comprising: a movement trajectory calculation means for performing the calculation; and a predicted movement trajectory display means for displaying the predicted movement trajectory on the guidance trajectory displayed on the guidance display means. apparatus.

(4) Further, the reverse detection means for detecting the reverse operation, and when the reverse detection is detected by the reverse detection means, the display of the guide trajectory moving integrally with the movement of the own vehicle of the guide trajectory is canceled, The above (1) to (3) having fixing means for fixedly displaying the guidance trajectory on the display screen of the guidance display means.
The vehicle parking operation assisting device according to any one of the above.

[0010]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram illustrating a configuration of a parking operation assisting device 1 according to the present invention. The parking operation assisting device 1 is mounted in the main body of the own vehicle,
Distance sensor 2 that detects the distance from the vehicle to the surrounding objects
1, a steering sensor 22 for detecting the steering angle and the operating direction of the steering wheel, a vehicle speed sensor 23 for detecting the speed of the own vehicle, and a shift lever installed on the shift lever to determine whether the shift lever is located at the reverse position. A processing device 25 that detects a parking area based on detection values supplied from a forward / backward detection device 24 that detects the forward / backward movement of the vehicle, a distance sensor 21, a steering sensor 22, and a vehicle speed sensor 23.
Display means 26 for displaying the relative positional relationship between the detected parkable area and the position of the vehicle, sounding device 27 for transmitting a signal sound or voice to supplement the display contents, and input means 28. I have.

The distance sensor 21 is constituted by, for example, an ultrasonic sensor. The ultrasonic sensor includes an ultrasonic pulse transmitter,
It has a receiver for receiving the ultrasonic pulse reflected by the object. These transceivers measure the propagation time of the ultrasonic wave, and measure the distance based on the propagation time. The distance sensors 21 are provided at the front and rear ends of the left and right sides of the vehicle.

The steering sensor 22 detects the amount of steering operation, that is, the amount of steering movement and its direction. From this steering operation amount, it is determined how many times the steering angle has been operated left and right. As the supplied operation amount,
Assuming that the position of the steering in the straight traveling state is 0, the rightward operation is indicated by +, the leftward operation is indicated by-, and the movement amount is indicated by a numerical value. For example, when a detection value of +150 is supplied, it indicates that the operation has been performed 150 degrees to the right.

The vehicle speed sensor 23 outputs a vehicle speed pulse,
By measuring the vehicle speed pulse, the travel distance of the own vehicle is calculated. The processing unit 25 includes a central processing unit (Central Pr
ocessing Unit), ROM (Read Only Memory),
A random access memory (RAM). RO
M is a program that detects a parkable area based on various values supplied from each of the above sensors and calculates a relative position between the own vehicle position and the parkable area, and the own vehicle calculated based on the vehicle information. A program for calculating the trajectory of the vehicle, and information on the vehicle on which the apparatus is mounted are stored. The vehicle information is information for determining the turning performance of the vehicle, and includes a length of the vehicle, a width of the vehicle, a wheelbase, a tread length, a maximum steering angle, and the like. The RAM is used as a working area, and stores a vehicle movable area, a parkable area, a movement locus, and the like detected as a result of the processing.

The display means 26 is composed of, for example, a CRT display or a liquid crystal display, and displays the relative positional relationship between the parkable area and the own vehicle obtained as a result of the calculation, and simultaneously displays the movement locus of the own vehicle. Is done. The sounding device 27 has a speaker, and emits auditory information representing position information instead of visual information displayed on the display means 26 and auditory information supplementing the visual information. The input unit 28 is a display unit 26
And a wireless or wired remote control device.

The operation of the parking operation assisting device 1 configured as described above will be described with reference to the flowchart shown in FIG. As shown in FIG. 3, for example, assuming that the own vehicle 3 enters a parking lot where several cars 31 and 32 are parked and parks, the vehicle 3 enters the parking lot. At this point, an operation start is instructed by input means such as a remote control device. As a result, the symbol 3a indicating the position of the vehicle 3 is displayed on the display screen of the display means 26 (step S101). Here, the driver displays the guidance trajectory on the display unit 26 in order to confirm the position where the driver stops the vehicle to park in the desired parking available area.
Is input via the input means 28. As shown in FIG. 4, the guidance trajectory 4 is an expected vehicle wheel (or vehicle angle) when the own vehicle 3 is moved while maintaining a predetermined steering angle. Part)
Is the locus drawn. In the illustrated example, when the vehicle is moved backward in the right direction, an expected locus a drawn by the front left corner, an expected locus b drawn by the rear left corner, and an expected locus c drawn by the right rear wheel are displayed. I have.

When the driver selects a parkable area to be parked, the driver sets the selected guide path via the input means 28 in order to select the most suitable guide path for parking in that area. This setting is, for example, right or left of the own vehicle. Hereinafter, the case where the guidance locus to the right rear is selected will be described.

Next, it is determined whether or not an input has been made regarding the direction in which the guidance locus is to be displayed (step S103).
If there is an input, the guidance trajectory 4 is displayed on the display screen of the display means 26 (step S105). This display
As shown in FIG. 4, it is displayed so as to be superimposed on the symbol 3a of the own vehicle, and indicates that each part (corner or wheel of the own vehicle) moves on each trajectory when the own vehicle 3 moves. ing. Next, as shown in FIG. 3, the vehicle is driven in front of the parked vehicles 31 and 32 while operating the distance sensor 21, and the distance sensor 2
In step 1, data on the surrounding situation (for example, the distance to a parked vehicle) is acquired. At this time, on the display screen, as shown in FIG. 5, the guidance trajectory 4 is displayed, and if the own vehicle 3 is moved, the symbol 3a of the own vehicle becomes the guidance trajectory. 4 and move in the screen together.

Further, based on the acquired data, the processing device 25 displays the surrounding situation on the screen together with the movement of the vehicle 3 (step S107). In this embodiment, the surrounding situation is represented by a line drawing. The driver sequentially selects the parking available area S from the surrounding conditions projected on the screen, and operates the own vehicle 3 with reference to the display screen so that the entire guide trajectory 4 fits in the area S. . Then, as shown in FIG.
When the vehicle is completely settled, the own vehicle 3 is stopped. As described above, by operating the own vehicle 3 while referring to the display screen, it is possible to easily grasp the position to stop for the parking operation. In addition, since the expected trajectory of each part (the part that moves the outermost when retreating) is displayed, it is easy to grasp the behavior of the posture of the own vehicle, and it is possible to bring obstacles etc. into contact with the own vehicle or damage the body. It is possible to suppress troubles such as wearing.

Next, it is determined whether the shift lever is at the reverse position (step S109). This determination is made based on the presence or absence of a detection signal from the forward / backward detection device 24. When the detection signal is supplied, an expected movement trajectory when the vehicle moves backward according to the current steering angle is calculated, and is superimposed on the guide trajectory 4 already displayed as shown in FIG. Thus, the predicted movement locus 5 is displayed on the same screen (step S111). Further, based on the detection signal from the forward / backward detection device 24, the display of the guidance trajectory 4 displayed so as to move integrally with the symbol 3a of the own vehicle is fixed at that position, and thereafter, the guidance trajectory 4 is displayed. Is canceled.

The predicted movement trajectory 5 is provided at a location corresponding to the guidance trajectory 4. That is, there is an expected locus d drawn by the front left corner, an expected locus e drawn by the rear left corner, and an expected locus f drawn by the right rear wheel. An expected locus 5 corresponding to the actual steering angle is calculated and displayed on the same screen. Will be displayed. Then, when the steering wheel is turned, the steering angle of the steered wheel changes, and the shape of the predicted trajectory 5 displayed according to the change in the steering angle also changes. It is desirable that the predicted trajectory 5 and the guidance trajectory 4 adopt different display methods. For example, the dashed line and the solid line, the displayed color and the thickness of the line are different, or one of the trajectories is blinked.

The driver stops the vehicle 3 and sets the shift lever to the reverse position, and then sets the expected trajectory 5 displayed on the screen.
Turn the steering wheel while observing the change in the shape of the vehicle, and turn the steering wheel until the expected trajectory 5 overlaps the guidance trajectory 4. Here, when the predicted trajectory 5 and the guide trajectory 4 overlap with each other, a notifying means for notifying the driver of the overlap is provided. As the notification method, there are a case where the notification is performed audibly by a dial tone, a voice, and the like, a case where the notification is performed by changing the background color of the display screen, and the like.

Then, at the position where the predicted trajectory 5 and the guide trajectory 4 overlap, the steering is fixed and the reverse travel is started. By performing such an operation, the driver can predict the trajectory of the own vehicle 3 in advance and check the moving state of the own vehicle 3 on the display screen. You can park your car. The travel distance is calculated by the vehicle speed sensor, and when the travel distance at the time of retreat is equal to the length of the guide trajectory 4, stop notification means for reporting stop of the own vehicle is provided to measure the travel distance of the own vehicle. hand,
When parking is completed, a signal for stopping the own vehicle may be transmitted.

In addition to the above configuration, the steering angle for determining the guide trajectory may be changed according to the distance from the surrounding obstacle. For example, as shown in FIG. 6, when the distance L to the obstacle on the parking side is short, each of the trajectories a, b, and c of the guide trajectory 4 is different when the steering angle is maximized. The predicted trajectory is shown, and when the distance L is long, the trajectory is assumed to be expected when the steering angle is reduced, so that the parking operation more adaptive to the surrounding situation can be performed.

As described above, the method for acquiring parking information includes not only a configuration for acquiring information about a parking area around the own vehicle using a sensor, but also acquiring data about a parking area from the outside by communication means. It may be configured. In such a case, for example, when entering a parking lot,
At the entrance, data relating to the current available parking area in the parking lot may be acquired, and the data may be displayed on a display screen.

In addition, in the case of a parking lot which is always used, the parking available area information on the specific parking lot is recorded on a recording medium such as a CD-ROM mounted on the own vehicle, and the parking lot is used for parking. And parking information may be displayed on the display screen.

[0026]

According to the first aspect of the present invention, when the vehicle is moved backward and parked at a desired position, such as when entering a garage, a guidance trajectory that predicts the movement trajectory of the car is displayed on the screen in advance. Using this guide trajectory as a guide, it becomes easy to stop the vehicle at a position suitable for starting reverse.

According to the second aspect of the present invention, the parking information can be acquired by the parking area calculation means mounted on the own vehicle. To calculate the parking available area and assist the parking operation.

According to the third aspect of the present invention, since the expected trajectory that changes according to the actual steering angle is displayed so as to overlap the previously displayed guide trajectory, the expected trajectory is overlapped with the guide trajectory. , The steering operation can be used as a guide, and the parking operation can be further facilitated. In particular, it is possible to make the parking operation easier for a driver who is not accustomed to grasping the surrounding situation from the driver's seat and has a low skill.

According to the fourth aspect of the present invention, the display of the guide trajectory is fixed when the vehicle is switched to the reverse, and the integrated movement display of the own vehicle symbol and the guide trajectory is canceled.
On the screen, it is possible to confirm that the own vehicle symbol moves over the guide path. For this reason, when moving the own vehicle backward, it is only necessary to operate the vehicle so that the own vehicle symbol overlaps the guidance trajectory shown on the screen, and the reverse operation is further facilitated.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a flowchart showing processing contents of a processing device.

FIG. 3 is a schematic diagram showing a state in which the own vehicle has entered a parking lot.

FIG. 4 is a schematic diagram showing a symbol of an own vehicle displayed on a display screen of a display means and an expected trajectory.

FIG. 5 is a schematic diagram showing a display state of a host vehicle and a detected vehicle movable area on a display screen.

FIG. 6 is a schematic diagram showing a display state of a display screen showing a state in which a guidance trajectory overlaps a parkable area intended for parking.

FIG. 7 is a schematic diagram showing a display state of a display screen showing a state in which an expected movement trajectory is displayed in addition to a guidance trajectory.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 parking assist device 21 distance sensor 22 steering sensor 23 vehicle speed sensor 24 forward / backward detection device 25 processing device 26 display means 27 sounding device 28 input means 3 own vehicle 31, 32 parked vehicle 3a symbol (own vehicle) 4 guidance trajectory 5 prediction Trajectory

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 6/00 B62D 6/00 // B62D 113: 00 113: 00 (72) Inventor Hidefumi Okabe Chiyoda, Tokyo 2-19-12 Kanda, Ward F-term in Equos Research Co., Ltd. (reference) 3D032 CC01 DA03 DA22 DA23 DA76 DA95 DB07 DB20 DC38 EA00 EB00 EC00 GG01

Claims (4)

[Claims] 1. A parking information acquisition means for acquiring information on the position of a parking area around a host vehicle, when the host vehicle is moved while being fixed at a specific steering angle and maintaining the steering angle. A guidance trajectory calculating means for calculating an expected guidance trajectory of the own vehicle; a display means for displaying the acquired parking available area and a position of the own vehicle with respect to the parking available area on a display screen; A vehicle parking operation assisting device comprising: guidance display means for displaying on a display screen in conjunction with the display, and for moving the guidance trajectory along with the movement of the vehicle and integrally with the display of the vehicle. 2. The parking information acquiring means, a distance detecting means for detecting a distance from an object located around the own vehicle, a moving position detecting means for detecting a moving position of the own vehicle, and the moving position detecting means. Movement position detected by
2. The vehicle parking operation assisting device according to claim 1, further comprising: a parking area calculating unit configured to calculate a parking available area located around the own vehicle from a distance to an object located around the vehicle detected by the distance detecting unit. 3. 3. A steering angle detecting means for detecting an actual steering angle, and an expected movement trajectory of the own vehicle when the own vehicle is moved at the steering angle detected by the steering angle detecting means. The vehicle parking operation assisting device according to claim 1 or 2, further comprising: a movement trajectory calculating means; and a predicted movement trajectory display means for displaying an estimated movement trajectory on the guidance trajectory displayed on the guidance display means. 4. The vehicle according to claim 1, further comprising: a reverse detection means for detecting a reverse operation;
The vehicle parking according to any one of claims 1 to 3, further comprising fixing means for canceling the display of the guide trajectory moving as a unit with the movement of the guide trajectory and moving the guide trajectory in a fixed manner on the display screen of the guide display means. Operation assistance device.