JP2003045269A - Switch for parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a switch for a parking support device with which a driver can select with precision from a parallel-parking mode and a double-parking mode. SOLUTION: To a controller 1 is connected a yaw-rate sensor 2 for detecting yaw velocity of a vehicle in the yaw-angle direction, as well as a switch 5 with a double-parking mode button 3 and a parallel-parking mode button 4 arranged by a separator 9 with a certain interval formed in different shapes so as to enable to select from a double-parking mode and a parallel-parking mode by the sense of touch and a speaker 6 for guiding a driver with information on driving operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a switch of a parking assist device, and more particularly to a switch for selecting a parallel parking mode and a parallel parking mode.

[0002]

2. Description of the Related Art Conventionally, there has been proposed a device for displaying a rear view of a vehicle on a monitor when a driver cannot see a target location due to a blind spot of the vehicle when the vehicle is moving backward. For example, in Japanese Examined Patent Publication No. 2-36417,
A TV camera that shoots the rear of the vehicle, a monitor TV that displays the image captured by this TV camera, a sensor that outputs an information signal related to the tire steering angle, and a marker signal is generated according to the information signal from this sensor, A rear monitoring monitor device for a vehicle is disclosed which includes a circuit for displaying a marker on a television screen in a superimposed manner. In this device, the steering angle data of the tire and the marker position data along the backward direction of the vehicle corresponding to the steering angle are stored in the ROM, and the predicted backward trajectory of the vehicle corresponding to the steering angle at that time is stored in the marker. The image is displayed as a row on the television screen by superimposing it on the image captured by the television camera.

According to such an apparatus, when the vehicle is moving backward, the field of view of the road behind the vehicle and the expected backward movement trajectory of the vehicle according to the steering angle are displayed on the screen of the monitor TV. You can move the vehicle backward by operating the steering wheel while watching the TV screen without turning around.

[0004]

However, in general, when parking a vehicle, there are a parallel parking mode and a parallel parking mode. Therefore, in a device that performs parking assistance, when a parallel parking mode for performing parallel parking and a parallel parking mode for performing parallel parking are provided, when the driver performs parallel parking or parallel parking, the desired It is desired to consider so that the mode can be selected. The present invention has been made to solve such a problem, and an object of the present invention is to provide a switch of a parking assist device that allows a driver to appropriately select a parallel parking mode and a parallel parking mode.

[0005]

In order to achieve the above object, the switch of the parking assistance device of the present invention is a switch of the parking assistance device which provides the driver with parking assistance information based on the yaw angle of the vehicle. In addition, the parallel parking mode button and the parallel parking mode button, which are formed in different shapes and are arranged at a predetermined interval so that the parallel parking mode and the parallel parking mode can be distinguished and selected by touch, are provided. The parallel mode button and the column mode button may be separated by a separator. The parallel parking mode button may have a linear protrusion whose extension direction is horizontal, and the parallel parking mode button may have a linear protrusion whose extension direction is vertical. And the parallel parking mode button may have a plurality of protrusions whose arrangement direction is vertical. Further, the parallel parking mode button may have one of a convex portion and a concave portion, and the parallel parking mode button may have the other of the convex portion and the concave portion.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows the configuration of a parking assistance device including a switch according to an embodiment of the present invention.
The controller 1 is connected to a yaw rate sensor 2 that detects the angular velocity of the vehicle in the yaw angle direction, and the parallel parking mode button 3 for notifying the controller 1 that the vehicles are parked in parallel and the vehicles are parked in parallel. Parallel parking mode button 4 to inform the controller 1
A switch 5 including and is connected. Further, the controller 1 is connected to a speaker 6 for guiding the driver of driving operation information.

As shown in FIG. 2, a parallel parking mode button 3 and a parallel parking mode button 4 are arranged on the switch 5 with a separator 9 therebetween. In the present embodiment, the separator 9 is integrally provided as a part of the main body of the switch 5, but it may be a separate component attached to the main body of the switch 5 later. Further, the height of the separator 9 can be set to be approximately the same as, or higher or lower than, the heights of the parallel parking mode button 3 and the parallel parking mode button 4 depending on the needs of the user. The parallel parking mode button 3 has two linear protrusions 7 extending in the horizontal direction. On the other hand, the parallel parking mode button 4 has two linear protrusions 8 whose extension direction is vertical. Switch 5 like this
In the above, since the parallel parking mode button 3 and the parallel parking mode button 4 have different shapes, the user can easily select the parallel parking mode and the parallel parking mode by touching these buttons. Further, since these two buttons are arranged at a predetermined distance from each other by the separator 9, the respective buttons can be more easily distinguished from each other, which reduces erroneous operations by the user. Therefore, for example, the interior of the vehicle is dark at night and the parallel parking mode button 3 on the switch 5 is
Also, even if the position and shape of the parallel parking mode button 4 are not clearly visible and these buttons cannot be identified, the user can accurately select the desired parking mode by recognizing the arrangement and shape by tactile sense. . In addition, the above-described shapes of the parallel parking mode button 3 and the parallel parking mode button 4 are shapes that make it easy to visually image the parallel and parallel rows. , Each parking mode button can be easily distinguished from both sides of vision. Also,
The number of linear protrusions that the parallel parking mode button 3 and the parallel parking mode button 4 have is not limited to two, and may be any number that allows the user to tactually recognize each parking mode button. Further, on the switch 5, the parallel parking mode button 3 and the parallel parking mode button 4
Without arranging them side by side (left and right) as shown in FIG.
They may be arranged vertically (front and back), or may be arranged vertically. Alternatively, the parking mode buttons may be simply arranged at predetermined intervals (not adjacent to each other) without disposing the separator 9 between the two buttons.

The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data of the minimum turning radius Rc when the steering wheel of the vehicle is steered to the maximum and the vehicle turns, and also stores a control program for performing parking assistance during parallel parking and parallel parking. CPU is RO
It operates based on the control program stored in M. The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 2, calculates the turning angle of the vehicle, and outputs information about the operating method and the operating timing in each step during parking operation to the speaker 6. To do.

Here, it will be described what kind of locus the vehicle parking assist system according to this embodiment draws to assist parking. First, a case where parallel parking is performed will be described with reference to FIG. Vehicle position H1 in which the rear axle center HO of the vehicle 10 is in the widthwise center of the parking space T and is parallel to the lengthwise direction of the parking space T
First, the parking assist device assists the driver so that the vehicle 10 is parked properly.

First, as an initial stop position, the rear axle center EO of the vehicle 10 is vertical to the parking space T, is at a distance D from the entrance of the parking space T, and the side portion T1 of the parking space T and the driver's position DR of the vehicle 10. It is assumed that the vehicle 10 is stopped at the vehicle position E1 where Next, the vehicle 10 at the vehicle position E1 turns to the turning angle θ with the steering angle of the steering wheel at the maximum on the left side, moves forward to the turning angle θ, and when the vehicle position becomes F1, the steering angle on the steering wheel to the maximum on the right side. While turning with the turning radius Rc, the vehicle 10 moves backward by a turning angle φ, and at the vehicle position G1 where the vehicle 10 is parallel to the parking space T, the steering wheel is returned to the straight-ahead state, and the vehicle 10 further moves backward and moves to the vehicle position You should park properly in H1. Further, the rear axle centers at the vehicle positions E1, F1, G1 are set to EO, FO, GO, respectively. The value of the turning angle θ when the vehicle 10 turns from the vehicle position E1 to the vehicle position F1 and moves forward is stored in the controller 1 as a set value θ.

Next, the operation of the parking assistance device equipped with the switch according to the present embodiment during parallel parking will be described.
First, when the driver stops the vehicle 10 at the vehicle position E1 and turns on the parallel parking mode button 3 here, the controller 1 sets the vehicle position E1 as the position where the yaw angle of the vehicle is 0 degree and the parallel position is set. Start the parking program. Next, the driver steers the steering wheel to the left side to the full cut state, and advances the vehicle 10 as it is.

The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle 10 input from the yaw rate sensor 2 and compares the yaw angle with the set value θ. Vehicle 1
As 0 approaches the vehicle position F1 from the vehicle position E1, the controller 1 arrives at the vehicle position F1 and approach information indicating that the vehicle position F1 is approached based on the difference between the yaw angle and the set value θ. The arrival information for notifying the driver is notified to the driver via the speaker 6. For example, as the approach information, an intermittent sound “beep, blip” is emitted from the speaker 6, and the cycle of this intermittent sound and blinking becomes shorter as the difference between the yaw angle and the set value θ decreases. When the difference between the yaw angle and the set value θ disappears, the speaker 6 emits a continuous sound as the arrival information. The driver stops the vehicle 10 at the vehicle position F1 according to the arrival information. Next, the driver steers the steering wheel to the right to the maximum and fully cuts it, and then the vehicle 10 is moved backward. As the yaw angle of the vehicle 10 approaches 90 degrees, the controller 1 informs that the vehicle 10 has approached the vehicle position G1 that is parallel to the parking space T, and arrival information that indicates that the vehicle position G1 has been reached. The information is notified to the driver via the speaker 6. After stopping the vehicle 10 at the vehicle position G1 according to the arrival information, the driver returns the steering wheel to the straight traveling state and then moves the vehicle 10 backward. When the vehicle 10 is stored in the parking space T, the parking is completed.

Next, the case of performing parallel parking will be described with reference to FIG. It is assumed that the vehicle 10 is parked in the parking space T so that the left end of the rear of the vehicle 10 coincides with the rear corner S2 of the parking space T. With the rear axle center MO of the vehicle 10 at the vehicle position M1 in this state as the origin, the Y axis is set in the backward direction of the vehicle 10 in parallel with the road,
Take the X axis at right angles to the Y axis. Vehicle 10 at vehicle position J1
However, when the steering angle of the steering wheel is maximized on the right side, the vehicle moves to the vehicle position K1 while turning at a radius Rc. By the way, the steering angle is maximized on the right side and the radius R
Vehicle position M in parking space T
It should be parked properly in 1.

First, with the vehicle 20 parked at a predetermined position in front of the parking space T as a guide, the vehicle 10 is moved to the vehicle position J.
It is assumed that parallel parking is started with the state where the vehicle is stopped at 1 as the initial stop position. The vehicle position J1 is a position where the Y coordinate of the position DR of the driver of the vehicle 10 matches the Y coordinate of the rear end 20a of the parked vehicle 20 and is parallel to the parking space T, and the vehicle 10 and the vehicle 20. And are positions where the predetermined vehicle distance d is. The vehicle 10 at the vehicle position J1
The steering angle of the steering wheel is maximized to the right and the vehicle moves forward to the vehicle position K1 while turning with a radius Rc. The turning center at that time is C3
And the turning angle is β. Further, the vehicle 10 at the vehicle position K1 moves backward with the steering angle to the maximum on the left side while turning at the radius Rc to the vehicle position L1. The turning center at that time is C4
And the turning angle is δ. Further, the steering wheel is turned back in the opposite direction at the vehicle position L1, the steering angle is maximized to the right, and the vehicle moves backward with the radius Rc to the vehicle position M1. The turning center at that time is C5, and the turning angle is α. Further, the rear axle centers at the vehicle positions K1, L1, M1 are designated as KO, LO, MO, respectively. The values of the turning angles α and β are stored in the controller 1 as set values α and β. Further, it is desirable that the initial stop position J1 is set to a value according to the vehicle grade, steering characteristics, and the like of the vehicle 10.

Next, the operation of the parking assist system having the switch according to the present embodiment during parallel parking will be described.
First, the driver sets the vehicle position J1 such that the Y coordinate of the driver's position DR matches the Y coordinate of the rear end 20a of the parked vehicle 20 and the vehicle 10 is positioned at the vehicle distance d with respect to the vehicle 20. Stop. Here, when the parallel parking mode button 4 is turned on, the controller 1 sets the vehicle position J1 as the position where the yaw angle of the vehicle is 0 degree and activates the program for parallel parking. Next, the driver
Steer the steering wheel of 0 to the right side to the full cut state,
The vehicle 10 is moved forward as it is. The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle 10 input from the yaw rate sensor 2 and compares this yaw angle with the value of the set value β. The vehicle 10 moves from the vehicle position J1 to the vehicle position K.
As it approaches 1, the controller 1 determines the vehicle position K1 based on the difference between the yaw angle and the set value β, as in parallel parking.
The driver is notified via the speaker 6 of approach information notifying that the vehicle position K1 has been approached and arrival information notifying that the vehicle position K1 has been reached.

The driver stops the vehicle 10 at the vehicle position K1 according to the arrival information. Next, the driver steers the steering wheel to the left to the full cut state, and then the vehicle 10 is moved backward. The controller 1 compares the yaw angle of the vehicle with the value of the set value α. Vehicle 10 is at vehicle position K1
As the yaw angle of the vehicle approaches the set value α, the controller 1 determines the vehicle position based on the difference between the yaw angle and the set value α, as in parallel parking. The driver is notified via the speaker 6 of approach information notifying that the vehicle has approached L1 and arrival information notifying that the vehicle has reached the vehicle position L1. The driver stops the vehicle 10 at the vehicle position L1 according to the arrival information.
Next, the driver turns the steering wheel in the opposite direction at the vehicle position L1 and steers it to the right side to the full-turned state, and then the vehicle 10 is moved backward. As the yaw angle of the vehicle 10 approaches 0 degree, the controller 1 provides approach information notifying that the vehicle 10 has approached the vehicle position M1 in the parking space T and arrival information notifying that the vehicle position M1 has been reached. Notify the driver via the speaker 6. Thereby, the driver can stop the vehicle 10 at the vehicle position M1 and complete the parking.

As described above, the parking assistance device according to this embodiment does not require a camera and a monitor, and can provide appropriate parking assistance even in a vehicle without a navigation system, a camera, or the like.

Although the yaw rate sensor is used to detect the yaw angle in this embodiment, the means for detecting the yaw angle is to use a position gyro or to attach rotation sensors to the left and right wheels respectively. A yaw angle may be detected from the rotation difference, and a geomagnetic sensor or G
A method using a PS system may be used. In addition, the speaker 6
You may make it sound from. Further, as for the approach information and the arrival information, the volume and tone color of the sound emitted from the speaker 6 may be changed or voices having different contents may be emitted for each vehicle position that is a target of the approach or the arrival. Further, in the switch 5 described above, for example, the parallel parking mode button 3 may have a shape having a plurality of protrusions arranged horizontally, and the parallel parking mode button 4 may have a shape having a plurality of protrusions arranged vertically. Good. Further, the parallel parking mode button 3 may have a concave shape and the parallel parking mode button 4 may have a convex shape, and vice versa.
The parallel parking mode button 3 may have a convex portion, and the parallel parking mode button 4 may have a concave portion. In addition, these parallel parking mode button 3 and parallel parking mode button 4
The number of protrusions, concave portions, and convex portions included in is not limited, and may be any number that allows the user to recognize each parking mode button by touch. Note that the switch of the present invention is not limited to being provided in the parking assist device having the configuration described in the above-described embodiment, and can be widely applied to devices that can support parallel parking and parallel parking. It is possible.

[0019]

As described above, the switch of the parking assist system of the present invention enables the driver to accurately select the parallel parking mode or the parallel parking mode.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a parking assistance device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the switch according to the embodiment of the present invention.

FIG. 3 is a diagram showing stepwise and schematically the position of the vehicle during parallel parking according to the embodiment of the present invention.

FIG. 4 is a diagram schematically and stepwise showing the position of a vehicle during parallel parking according to the embodiment of the present invention.

[Simple explanation of symbols]

1 controller, 2 yaw rate sensor, 3 parallel parking mode buttons, 4 parallel parking mode buttons, 5 switches, 6 speakers, 9 separators.

Continued front page    (72) Inventor Kazunori Shimazaki             2-1, Toyota-cho, Kariya City, Aichi Stock Association             Company Toyota Loom Works (72) Inventor Tomio Kimura             2-1, Toyota-cho, Kariya City, Aichi Stock Association             Company Toyota Loom Works (72) Inventor Satoshi Yamada             2-1, Toyota-cho, Kariya City, Aichi Stock Association             Company Toyota Loom Works (72) Inventor Kazuhiro Sasaki             2-1, Toyota-cho, Kariya City, Aichi Stock Association             Company Toyota Loom Works F term (reference) 3D032 CC20 DA33 DA87 DA88 DB07                       DD02 EB04 EB16 GG01                 5G006 LC01

Claims (5)

[Claims] 1. A switch of a parking assistance device that provides parking assistance information to a driver based on a yaw angle of a vehicle, the switches having different shapes so that the parallel parking mode and the parallel parking mode can be selected by tactile sense. A switch for a parking assist device, comprising a parallel parking mode button and a parallel parking mode button which are formed and arranged at predetermined intervals. 2. The switch of the parking assistance apparatus according to claim 1, wherein the parallel mode button and the column mode button are separated by a separator. 3. The parallel parking mode button has a linear protrusion extending in the horizontal direction, and the parallel parking mode button has a linear protrusion extending in the vertical direction.
Or the switch of the parking assistance device described in 2. 4. The parallel parking mode button has a plurality of protrusions arranged in a horizontal direction, and the parallel parking mode button has a plurality of protrusions arranged in a vertical direction.
Or the switch of the parking assistance device described in 2. 5. The parking assistance according to claim 1, wherein the parallel parking mode button has one of a convex portion and a concave portion, and the parallel parking mode button has another of the convex portion and the concave portion. Device switch.