JP2006146811A - Device and method for parking vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To park a vehicle at a target parking position with a simple device configuration. <P>SOLUTION: A control part 8 stores the target parking position of the vehicle and a vehicle swept path between the vehicle target parking position and a driver unloading position in a parking position storage part 3 and a swept path storage part 4, respectively. When a control signal is received from a remote controller 9, the vehicle is moved to the target parking position along the stored swept path. Consequently, the necessity of performing a complicated calculation processing is eliminated so as to reduce a calculation load. Thus, the vehicle is parked at the target parking position with simple device configuration. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle parking apparatus and a vehicle parking method for controlling a vehicle behavior to park a vehicle at a parking target position.

Conventionally, a parking assist device that sets a parking target position of a vehicle based on a distance to an object existing around the vehicle and an orientation of the object, and calculates a trajectory for parking the vehicle at the set parking target position. It is known (see, for example, Patent Document 1). According to such a parking assist device, the driver can accurately park the vehicle at the parking target position by moving the vehicle along the calculated track.
JP 2003-58998 A (paragraph [0051] to paragraph [0062])

  However, since the conventional parking assist device is configured to calculate the trajectory for parking the vehicle at the parking target position by a complicated calculation process, the calculation load increases. From such a background, according to the conventional parking assist device, the device configuration becomes large, and it is difficult to park the vehicle at the parking target position with a simple device configuration.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a vehicle parking apparatus and a vehicle parking method capable of parking a vehicle at a parking target position with a simple apparatus configuration. It is in.

  In order to solve the above-described problems, a vehicle parking apparatus and a vehicle parking method according to the present invention detect vehicle position information, store the detected position information as a parking target position of the vehicle, and the vehicle is set to a parking target position. The travel trajectory of the vehicle from when it is moved until it stops is stored, and the vehicle is controlled to move to the parking target position along the travel trajectory.

  According to the vehicle parking apparatus and the vehicle parking method according to the present invention, since it is not necessary to perform complicated calculation processing and the calculation load can be reduced, the vehicle is accurately parked at the parking position with a simple device configuration. be able to.

  Hereinafter, the configuration and operation of a vehicle parking apparatus according to an embodiment of the present invention will be described with reference to the drawings.

[Configuration of vehicle parking device]
A vehicle parking apparatus 1 according to an embodiment of the present invention is mounted on a vehicle, and as shown in FIG. 1, a vehicle position detection unit 2, a parking position storage unit 3, a travel locus storage unit 4, and a motor drive unit. 5, an operation unit 6, a receiving unit 7, and a control unit 8 are provided as main components. The vehicle position detection unit 2 is configured by a position detection device such as GPS (Global Positioning System), and inputs the latitude and longitude of the position where the vehicle is present to the control unit 8 as vehicle position information.

  The parking position storage unit 3 and the travel locus storage unit 4 are configured by a storage device such as an EEPROM (Electronically Erasable and Programmable Read Only Memory) in an ECU (Electronic Control Unit). The position information and the vehicle travel locus (details will be described later) are stored.

  The motor drive unit 5 is configured by an inverter connected to a motor 12 as an auxiliary power source of the vehicle, and drives the motor 12 according to a control signal from the control unit 8. The operation unit 6 includes a known operation input device such as an operation button, a touch panel, or a joystick, and inputs an operation signal corresponding to the operation content of the driver to the control unit 8.

  The receiving unit 7 is configured by a receiving device that receives a signal from the remote controller 9 carried by the driver, and outputs a control signal to the control unit 8 when receiving a signal from the remote controller 9. The control unit 8 is configured by an arithmetic processing device such as a CPU (Cetral Processing Unit) inside the ECU, and controls the operation of each component inside the vehicle parking device 1.

  And in the vehicle parking apparatus 1 which has such a structure, the control part 8 parks a vehicle in a parking target position by performing the parking control process shown below. Hereinafter, with reference to the flowchart shown in FIG. 2, operation | movement of the control part 8 at the time of performing this parking control process is demonstrated in detail.

[Parking control processing]
In the flowchart shown in FIG. 2, the driver instructs the control unit 8 to execute the parking control process by operating the operation unit 6 after the vehicle 10 is moved backward as shown in FIG. 3 and the vehicle 10 is parked. The parking control process proceeds to step S1.

  In the following description, the parking control process when the driver retreats the vehicle 10 and parks the vehicle 10 will be described. This parking control process is performed when the driver advances the vehicle 10 and parks the vehicle 10. Of course, the present invention can also be applied.

  In the process of step S1, the control unit 8 detects the position information of the vehicle 10 via the vehicle position detection unit 2, and stores the detected position information in the parking position storage unit 3 as information indicating the parking target position of the vehicle. To do. Thereby, the process of this step S1 is completed and a parking control process progresses to the process of step S2.

  In the process of step S2, as shown in FIG. 4, the driver moves the vehicle 10 forward to a position where the driver can easily get off, then stops the engine of the vehicle 10 and gets off. During this time, the control unit 8 calculates a travel locus of the vehicle 10 from the start of forward movement until the engine stops, and stores the calculated travel locus in the travel locus storage unit 4.

  In addition, in order to prompt the driver to move the vehicle 10 forward to a position where it is easy to get off, the control unit 8 presents a message prompting the driver to the driver by voice or video after the completion of the processing in step S1. May be. Thereby, the process of step S2 is completed, and the parking control process proceeds to the process of step S3.

  In the process of step S3, as shown in FIG. 5, the driver 11 operates the remote controller 9 from outside the vehicle to transmit a control signal to the control unit 8, and the control unit 8 passes the remote controller 9 via the reception unit 7. It is discriminated whether or not a control signal has been received. And when a control signal is received, the control part 8 judges that the driver | operator 11 got off, and advances a parking control process to the process of step S4.

  In the process of step S4, the control unit 8 reads the parking target position and the traveling locus of the vehicle 10 stored in the parking position storage unit 2 and the traveling locus storage unit 3, and controls the motor driving unit 5 to As shown in FIG. 6, the vehicle 10 is moved to the parking target position along the read travel locus. Thereby, the process of this step S4 is completed and a series of parking control processes are complete | finished.

  As is clear from the above description, according to the vehicle parking apparatus 1 according to an embodiment of the present invention, the control unit 8 determines whether the driver 10 gets out of the parking target position of the vehicle 10 and the parking target position of the vehicle 10. Until the vehicle 10 is stored in the parking position storage unit 3 and the travel track storage unit 4 and when the control signal is received from the remote controller 9, the vehicle 10 is moved along the stored travel track. Move to the parking target position. And according to such a structure, since it becomes unnecessary to perform a complicated calculation process and calculation load can be reduced, the vehicle 10 can be parked at the parking target position with a simple device structure.

  Moreover, according to the vehicle parking apparatus 1 which becomes one Embodiment of this invention, since the control part 8 moves the vehicle 10 to a parking target position after getting off in the position where a driver | operator is easy to get off, the vehicles 10 such as three-dimensional parking. Even when the distance between the vehicle and the obstacle is short, the driver can park the vehicle 10 without feeling inconvenience when getting off. Conversely, when the driver gets on the vehicle 10, the control unit 8 moves the vehicle 10 from the parking position to the driver's dismounting position, so that the driver does not feel inconvenience when getting on. The vehicle 10 can be parked.

  Moreover, according to the vehicle parking apparatus 1 which becomes one Embodiment of this invention, the control part 8 controls the motor drive part 5, and uses the motor as an auxiliary power source instead of an engine to park the vehicle 10. Since the vehicle 10 moves to the position, the vehicle 10 can be parked at the parking target position safely and without adversely affecting the environment by suppressing fuel, noise, and exhaust gas. Moreover, the moving accuracy of the vehicle 10 when moving the vehicle 10 can be improved.

  In addition, when the driver tries to get on the vehicle 10 parked in reverse, the control unit 8 drives the vehicle along the stored travel locus when receiving the control signal from the remote controller 9. Move to the person's getting-off position (engine stop position). Here, the determination as to whether the driver is about to park the vehicle 10 or to get on the vehicle 10 uses a method such as a method for determining whether or not the current position of the vehicle is at the parking target position. This can be done easily.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the description and the drawings that form part of the disclosure of the present invention according to this embodiment. For example, as shown in FIG. 7, a detection device 21 such as a sensor or a camera is provided in the vehicle parking device 1, and the control unit 8 detects obstacles around the parking line L or the vehicle by the detection device 21 as shown in FIG. 8. O may be detected, and the traveling locus stored in the traveling locus storage unit 4 may be corrected according to the detection result. According to such processing, the vehicle can be parked safely at the parking position. Further, a switch may be provided outside the vehicle such as a front bumper so that the vehicle 10 is not controlled to move to the parking target position unless this switch is pressed. In addition, a limit (for example, 50 cm or the like) on the distance that the vehicle 10 can be moved by one operation may be provided, and the vehicle 10 may be controlled to move to the parking target position step by step. Further, it is detected whether or not there is a driver near the vehicle 10 by using means such as a remote control key (smart entry key), and the vehicle 10 is set at the parking target position only when the driver is near the vehicle 10. The movement may be controlled. According to such processing, since the vehicle 10 is controlled to move only when the driver is near the vehicle 10, the driver moves the vehicle 10 while checking the surroundings of the vehicle 10. 10 can be parked at the parking target position more safely. As described above, it is a matter of course that all other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above embodiments are included in the scope of the present invention.

It is a block diagram which shows the structure of the vehicle parking apparatus used as one Embodiment of this invention. It is a flowchart figure which shows the flow of the parking control process used as one Embodiment of this invention. It is a figure showing the state where the driver parked the vehicle at the parking target position. It is a figure showing the state which the driver moved the vehicle from the parking target position. It is a figure showing the state in which the driver is operating the remote controller from the outside of a vehicle. It is a figure showing the state which the vehicle parking apparatus shown in FIG. 1 is moving the vehicle to the parking target position along a driving | running | working locus | trajectory. It is a block diagram which shows the structure of the application example of the vehicle parking apparatus shown in FIG. It is a figure for demonstrating the parking control process by the vehicle parking apparatus shown in FIG.

Explanation of symbols

1: vehicle parking device 2: vehicle position detection unit 3: parking position storage unit 4: travel locus storage unit 5: motor drive unit 6: operation unit 7: communication unit 8: control unit 9: remote controller

Claims (9)

A vehicle position detector for detecting vehicle position information;
A parking position storage unit that stores vehicle position information detected by the vehicle position detection unit as a parking target position of the vehicle;
A travel locus storage unit that stores a travel locus of the vehicle until the vehicle moves from the parking target position and stops;
A vehicle parking system comprising: a controller that controls movement of the vehicle to the parking target position along the travel locus with reference to information stored in the parking position storage unit and the travel locus storage unit. apparatus. The vehicle parking apparatus according to claim 1,
A motor drive unit for driving a motor as a power source of the vehicle;
The said control part controls the movement of the said vehicle using the said motor by controlling the said motor drive part. The vehicle parking apparatus characterized by these. The vehicle parking apparatus according to claim 1 or 2,
An obstacle detection unit for detecting an obstacle present around the vehicle;
The said control part correct | amends the said travel locus so that the said vehicle may not contact the said obstacle according to the detection result of the said obstacle detection part. The vehicle parking apparatus characterized by these. The vehicle parking device according to any one of claims 1 to 3,
The control unit controls the movement of the vehicle only when the operator is within a predetermined distance from the vehicle. The vehicle parking apparatus according to claim 4,
The control unit controls the movement of the vehicle only when the identification information can be transmitted and received between the communication unit carried by the operator and the communication unit provided on the vehicle side. . The vehicle parking apparatus according to claim 4 or 5, wherein
The vehicle parking apparatus, wherein the control unit controls the movement of the vehicle only in a state where an operating means provided on the vehicle is operated by the operator. The vehicle parking apparatus according to claim 6,
The said control part provides the restriction | limiting in the distance which moves a vehicle by one operation, and moves and controls a vehicle to the said parking target position in steps. The vehicle parking device according to any one of claims 1 to 7,
The said control part moves a vehicle to a driver | operator's alighting position along the driving | running | working locus | trajectory memorize | stored, when a driver | operator tries to board the vehicle in a parking target position. Detecting vehicle position information;
Storing the detected position information as a parking target position of the vehicle;
Storing a travel locus of the vehicle until the vehicle moves from the parking target position and stops;
A vehicle parking method comprising: controlling the movement of the vehicle to the parking target position along the travel locus.

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