JP2006273122A - Parking brake assistance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking brake assistance device capable of stopping a vehicle at a proper parking position. <P>SOLUTION: The parking brake assistance device 4 photographs the traveling direction of a vehicle 1 by an image pick-up means 2 at the time of parking operation, decides a parking target position k on the basis of a photographed image, and adds a brake force to a braking means 10 of the vehicle from a parking start position to the parking target position k, thereby assisting the parking of the vehicle. The parking brake assistance device 4 comprises a parking finish position detecting means 23 detecting a parking finish position E finishing parking assistance, a distance calculating means 24 calculating a distance between the parking finish position E and the vehicle 1, and a speed-reducing means 25 carrying out speed-reduction control to the braking means 10 when the distance comes to be not longer than a predetermined value. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking braking assist device that stops a vehicle during parking.

  Conventionally, as a parking braking assist device for stopping a vehicle at the time of parking, for example, a device described in Patent Document 1 is known. This parking brake assist device images the status of the parking section with a rear camera mounted on the vehicle when parking, calculates a guide route from the vehicle stop position of the host vehicle to the parking target position, and guides the vehicle to the parking target position. Sometimes, the vehicle image after the guidance is overlaid on the display image on the display. The parking brake assist device automatically controls the steering, and automatically applies a brake when changing the rotation direction of the steering or when the vehicle reaches the parking target position, thereby stopping the vehicle completely.

JP-A-11-208420 (see paragraphs 0020 to 0026, paragraphs 0034 to 0041, FIGS. 13 to 15, and FIGS. 21 to 24).

  However, since the conventional parking brake assist device automatically stops the vehicle by braking when the parking target position is reached, if an error occurs when setting the parking target position, the parking position where the vehicle is actually parked is parked. It was out of the target position. For example, in a parking lot such as a supermarket, a ring stop is provided in a parking section that divides the parking space so that the vehicle does not hit the wall of the building during parking. Since the conventional parking brake assist device applies a brake when the parking target position is reached, if the parking target position is set and an error occurs behind the wheel stop, the vehicle is not sufficiently decelerated near the wheel stop, There was a risk of overcoming the clasp.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a parking braking assist device that can stop a vehicle at an appropriate parking position.

The parking brake assist device according to the present invention has the following configuration.
(1) When the parking operation is performed, the traveling direction of the vehicle is captured by the imaging unit, the parking target position is determined based on the captured image, and the braking force is applied to the braking unit of the vehicle between the parking start position and the parking target position. In the parking braking assist device that assists the parking of the vehicle by providing a parking end position detecting means for detecting a parking end position for ending the parking assist, a distance calculating means for calculating a distance between the parking end position and the vehicle, And a deceleration unit that performs deceleration control on the braking unit when the distance is equal to or less than a predetermined value.

(2) In the invention described in (1), when the vehicle reaches the parking end position, it has a vehicle stop means for stopping the vehicle.

(3) In the invention according to (1) or (2), the parking end position detecting means detects a parking lot line of a parking lot where the vehicle is parked from the image, and parks from the end position of the parking lot line. An end position is detected.
(4) In the invention described in (1) or (2), the parking end position detecting means detects a ring stop from an image and sets the position of the ring stop as a parking end position.
(5) In the invention described in (1) or (2), the parking end position detecting means detects an obstacle in the traveling direction in which the vehicle travels toward the parking target position from the image, and based on the position of the obstacle. And detecting the parking end position.

(6) In the invention described in (1) or (2), the vehicle further includes an obstacle detection unit that detects an obstacle in the traveling direction in which the vehicle travels toward the parking target position, and the parking end position detection unit is an obstacle. The parking end position is detected based on the detection result of the detection means.

In the parking braking assist device of the present invention, the parking target position is set based on an image obtained by the imaging means mounted on the vehicle capturing the traveling direction of the vehicle during the parking operation, and the vehicle moves from the parking start position to the parking target position. When assisting the parking of the vehicle by applying a braking force to the braking means of the vehicle, the parking end position for ending the vehicle assist is detected, and the parking end position and the own vehicle that is about to park are The distance is calculated, and when the distance between the parking end position and the host vehicle is equal to or less than a predetermined value, deceleration control is performed on the braking means. Such a parking braking assist device, for example, detects the parking end position again while the vehicle is traveling toward the parking target position even when an error occurs behind the parking section when the parking target position is set. When the vehicle approaches the parking end position, the vehicle is decelerated to make it easier to stop, so that when the driver operates the braking means at the parking end position, the vehicle stops with good responsiveness, It is possible not to get over. Therefore, according to the parking braking assist device of the present invention, the vehicle can be stopped at an appropriate parking position.
The above-mentioned “predetermined value” refers to the distance to the parking end position set within the range of the deceleration acceleration that does not make the driver feel uncomfortable.

  Moreover, since the parking braking assist device of the present invention controls the braking means to stop the vehicle when the host vehicle reaches the parking end position, the vehicle can be automatically stopped at the parking end position.

  Further, the parking braking assist device of the present invention detects a parking lot line of a parking lot where the host vehicle parks from the image, detects a parking end position based on the end position of the parking lot line, Detecting a wheel stop and setting the position of the wheel stop as a parking end position, and further imaging an obstacle (for example, a fence, a wall, another vehicle, etc.) in the traveling direction of the vehicle traveling toward the parking target position The parking end position is detected based on the position of the obstacle. For this reason, the parking brake assisting device of the present invention can park the vehicle at an appropriate parking position while reducing the number of parts as compared with the case of detecting a ring stop or the like using various sensors.

  Furthermore, the parking braking assist device of the present invention detects the parking end position based on the detection result when the obstacle detecting means detects an obstacle in the traveling direction of the vehicle traveling toward the parking target position. Therefore, it is possible to reliably detect an obstacle (for example, a white and flat wall) that cannot recognize an image and to park the vehicle appropriately in the parking section.

Next, an embodiment of a parking braking assist device according to the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of a parking brake assist system.
The vehicle 1 includes a rear camera (imaging means) 2, a display 3, a control device (hereinafter referred to as a “parking assist control device (parking assist ECU))” 4, a steering angle sensor 5, a shift lever reverse switch 6, a right A rear wheel speed sensor 7, a left rear wheel speed sensor 8, a steering actuator 9, and a brake actuator (braking means) 10 are provided. In the present embodiment, a parking brake assist device is configured by the parking assist ECU 4.

  The rear camera 2 captures the rear of the vehicle in the direction of travel of the vehicle 1 during parking operation, and is installed near the upper center of the license plate mounted on the rear of the vehicle 1 and installed with the optical axis facing downward. Is done. The camera itself secures a field of view of 140 degrees to the left and right with a wide-angle lens, and can capture a region up to about 8 m behind.

The display 3 is provided on the center console or panel surface of the vehicle 1. For example, the display 3 displays an image captured by the rear camera 2. In the image, a guidance image D, a virtual parking position K, a virtual image of a vehicle (hereinafter referred to as “own vehicle”) 1 that is to be parked are superimposed and displayed, and the vehicle 1 and the parking section G are displayed to the driver. The driver knows the position of the vehicle and makes it easier for the driver to park.
The parking assist ECU 4 executes various arithmetic processes in order to assist the driver in parking the vehicle 1 in the parking section. A detailed configuration will be described later.
The steering angle sensor 5 is attached to the inside of the steering device, detects a steering angle when the steering wheel rolls, and outputs a steering angle signal to the parking assist ECU 4. The steering angle sensor 5 is configured to detect the rotation amount of the steering column shaft with an optical sensor or the like.

The shift lever reverse switch 6 is incorporated in the shift lever, and is turned on when the shift position is in the reverse state, and is turned off when the shift position is not in the reverse state.
The right rear wheel speed sensor 7 and the left rear wheel speed sensor 8 are composed of active wheel speed sensors attached to the wheels of the vehicle 1, detect the rotational speed of the wheels, and output a speed signal to the parking assist ECU 4. Yes.
The steering actuator 9 steers the wheel by reducing the force to snake the steering wheel.
The brake actuator 10 applies a braking force to the wheel 1.

Next, the configuration of the parking assist ECU 4 will be described. FIG. 2 is a block diagram showing an internal configuration of the parking assist ECU 4 shown in FIG. 1 and a connection state with the outside.
The parking assist ECU 4 includes a CPU 11 that performs control, a graphics drawing circuit 12 that draws graphics on the display 3, a superimpose circuit 13 that superimposes the graphics signal and the rear image from the rear camera 2, and a synchronization signal from the camera image. A synchronization separation circuit 14 that extracts and supplies the graphics drawing circuit 12 and a sound circuit 15 that sends a guide sound from the speaker 16 of the vehicle 1 are provided. In addition, the parking assist ECU 4 includes a vehicle detection unit 17, a parking lot line calculation unit 18, a parking target position setting unit 19, a guidance route calculation unit 20, a steering wheel operation amount calculation unit 21, a steering wheel control unit 22, and a parking end position detection. The CPU 11 includes a section (parking end position detection means) 23, a distance calculation section (distance calculation means) 24, a deceleration section (deceleration means) 25, a vehicle stop section (vehicle stop means) 26, and the like.

The vehicle detection unit 17 detects the movement of the vehicle 1 from the wheel speed sensors 7 and 8.
The parking lot line calculation unit 18 detects parking lot lines T, TL, and TR that partition the parking zones G1, G2, and G3 where the vehicle 1 is parked.
The parking target position setting unit 19 sets the initial position of the virtual parking position K based on the parking lot lines T, TL, TR detected by the parking lot line calculating unit 18.
The guidance route calculation unit 20 calculates a guidance route D for guiding the vehicle 1 to the parking target position k. Here, the parking target position k refers to a point set in the virtual parking position K, and in this embodiment, refers to a position corresponding to the center of the shaft connecting the left and right rear wheels.
The steering wheel operation amount calculation unit 21 calculates the steering wheel operation amount of the vehicle 1 based on the guidance route D.
The steering wheel control unit 22 automatically controls the operation of the steering wheel of the vehicle 1 based on the steering wheel operation amount calculated by the steering wheel operation amount calculation unit 21.

The parking end position detection unit 23 detects a parking end position E suitable for parking when the vehicle 1 is traveling toward the parking target position k. A method for detecting the parking end position E will be described later.
The distance calculation unit 24 calculates the distance between the parking end position E and the host vehicle 1.
The deceleration unit 25 controls the brake actuator 10 so as to decelerate the vehicle 1 when it is determined that the distance between the parking end position E and the host vehicle 1 has become a predetermined value or less.
The vehicle stop unit 26 controls the brake actuator 10 to stop the vehicle 1 when it is determined that the host vehicle 1 has reached the parking end position E.

  The CPU 11 is connected to various sensors such as a steering angle sensor 5, a shift lever reverse switch 6, a right rear wheel speed sensor 7, and a left rear wheel speed sensor 8, and inputs detection signals. Further, the CPU 11 gives an instruction to the steering actuator 9, adjusts the force to turn the steering wheel based on the control signal created by the steering wheel control unit 22, and automatically steers the steering wheel. . Further, the CPU 11 gives an instruction to the brake actuator 10 and changes the brake pressure based on the control signals created by the speed reduction unit 25 and the vehicle stop unit 26 to automatically apply the braking force. In FIG. 1, the brake is applied only to the rear wheels. However, the brake force may be applied to only the front wheels or the front wheels in addition to the rear wheels.

Next, the operation of the parking brake assist device will be described. FIG. 3 is a flowchart of parking braking assist processing. FIG. 4 is a flowchart of parking end position detection processing.
When the vehicle 1 is started (that is, when the ignition key is turned on), the CPU 11 of the parking assist ECU 4 reads out and executes a program for executing the processes shown in FIGS. 3 and 4 from a memory (not shown). Here, as shown in FIG. 5, the operation of the parking brake assist device will be described by taking as an example a case where the vehicle 1 is parked in parallel in a parking section G2 that is vacant between the parking sections G1 and G3. FIG. 5 is a state explanatory view showing the movement of the vehicle 1 before parallel parking.

  As shown in FIG. 8, when the parking target ECU 4 sets the parking target position k on the display 3 that displays the rear situation, the parking assist ECU 4 automatically operates the steering according to the guidance route D that guides the host vehicle 1 to the parking target position k. The parking assist ECU 4 displays the rear situation on the display 3 in real time until the host vehicle 1 is moved from the current parking position (parking start position) B to the parking target position k, and searches and detects this display image. The parking end position E is detected on the basis of the wheel stops 33L and 33R and the parking lot lines TL and TR, and the host vehicle 1 is decelerated in the vicinity of the parking end position E and then stopped at the parking end position E. Operate the brake automatically.

  That is, the parking assist ECU 4 first determines whether or not the shift lever switch 6 is in the reverse position in step 1 of FIG. 3 (hereinafter abbreviated as “S1”). When the shift lever is not in the reverse position, the shift lever switch 6 is in the OFF state (S1: NO), so that it waits as it is.

  On the other hand, when the shift lever is in the reverse position, the shift lever switch 6 is turned on (S1: YES), so that the image captured by the rear camera 2 is displayed on the display 3. As shown in FIG. 5, when the driver intends to park in the parking section G2, the driver temporarily stops as shown in FIG. 5 at the vehicle position A directly next to the parking section G2, and confirms the situation of the parking section G2. Then, the steering wheel is turned to the opposite side to the parking section G2 to move forward toward the vehicle position B, and after the vehicle 1 is stopped at the vehicle position B in a state tilted by a predetermined angle with respect to the parking section G2, the shift lever is Set to reverse position. Then, as shown in FIG. 6, an image near the parking section G <b> 2 captured by the rear camera 2 is displayed on the display 3. This image is displayed in the same state as it appears in the rear view mirror to make it easier for the driver to check the situation behind. On the display 3, the virtual parking position K is superimposed and displayed on the initial position, and a position adjustment switch 31 for adjusting the virtual parking position K and a confirmation input switch 32 for confirming the virtual parking position K are touch panel methods. Is displayed.

  When the driver sets the virtual parking position K using the position adjustment switch 31 in S3 of FIG. 3, the virtual parking position K set in the rear image by the graphics drawing process is displayed on the display 3 as shown in FIG. Overlapping display. In order to display the virtual parking position K in the rear camera, the drawing point P (Xi, Yi, Zi) on the world coordinates must be converted to a point p (xi, yi) on the image coordinates.

FIG. 7 is an explanatory diagram showing a coordinate conversion method.
This coordinate conversion is performed by: (X, Y, Z): road surface coordinates, (x, y): camera coordinates (CCD pixel surface), f: lens focal length, (X ′, Y ′, Z ′): lens coordinates ( If Z ′ coincides with the optical axis), θt: camera mounting angle, and Hc: mounting height from the road surface, the following relational expressions (1) to (7) are established.

x = f · x ′ / z ′ (1)
y = f · y ′ / z ′ (2)
x ′ = X (3)
y ′ = X sin θt + (Y−Hc) cos θt (4)
z ′ = Zcos θt− (Y−Hc) sin θt (5)
According to the above formulas (1) to (5), if limited to only coordinates on the road surface, Y = 0, and if x and y are obtained,
x = f · X / (Zcos θt + Hcsin θt) (6)
y = f · (Zsinθt−Hcosθt) / (Zcosθt + Hcsinθt) (7)

  Therefore, when the point P (X, Z) on the world coordinates is captured by the camera, the coordinates p (x, y) on the graphic image (image coordinates) are obtained from the equations (6) and (7), and the rear image is displayed. Can be overlapped.

  Then, in S4 of FIG. 3, a guide route D for guiding the host vehicle 1 from the vehicle position B to the parking target position k is calculated. In S5, it is determined whether or not there is an adjustment input for the parking target position k. The parking target position k is displaced by resetting the virtual parking position K with the position adjustment switch 31. If there is an adjustment input for the parking target position k (S5: YES), the process returns to S4 to recalculate the guidance route D. On the other hand, when there is no adjustment input of the parking target position k (S5: NO), whether or not the driver touches the confirmation input switch 32 shown in FIG. Determine whether. When the driver does not turn on the confirmation input switch 32 (S6: NO), the process returns to S5 and waits until there is an adjustment input of the parking target position k. On the other hand, when the confirmation input switch 32 is turned on (S6: YES), the parking guidance start is announced through the speaker 16 in S7.

FIG. 8 is an explanatory diagram showing the relationship between the parking zone detection and the parking target position.
When the driver releases the brake after the announcement of the start of parking guidance, the vehicle 1 automatically starts to move back according to the guidance route D calculated in S4 as shown in FIG. In order for the vehicle 1 to move backward according to the guide route D, the steering is held in a neutral position from the vehicle position B to the vehicle position C, and when the vehicle is moved to the vehicle position C, the steering wheel is moved backward. When the vehicle 1 is parallel to the parking section G2, it is necessary to return the steering to the neutral position. Therefore, in S8, the amount of movement of the host vehicle 1 is calculated, and when the position of the host vehicle 1 is grasped on the image, the target operation amount is set according to the position of the host vehicle 1 on the guidance route D in S9. In S10, the steering actuator 9 is controlled in accordance with the target operation amount calculated in S9.

ここで、ｄｓは微小移動距離であり、左右後輪の車輪速センサ７，８より検出されるタイヤの回転量により求められる。また、Ｒは車両１の旋回半径であり、操舵角センサ５の値より求められる。αは駐車開始位置となる車両位置Ｂからの累積移動距離である。 The vehicle movement amount is detected using Equations 1 to 3. FIG. 9 is an explanatory diagram showing a vehicle movement amount detection method.

Here, ds is a minute movement distance, and is obtained from the rotation amount of the tire detected by the wheel speed sensors 7 and 8 of the left and right rear wheels. R is the turning radius of the vehicle 1 and is obtained from the value of the steering angle sensor 5. α is the cumulative travel distance from the vehicle position B that is the parking start position.

  In S11, it is determined whether or not the vehicle position is near the parking target position k. If the host vehicle position is not near the parking target position k, the process proceeds to S12 to determine whether or not the parking target position k has been reached. At this time, since the parking target position k has not been reached (S12: NO), the process returns to S8, and the process is repeated until the own vehicle position is near the parking target position k. Here, “near the parking target position k” refers to a position where the host vehicle 1 is parallel to the parking section G2.

  Thereafter, when the host vehicle position is in the vicinity of the parking target position k (S11: YES), the parking end position E is detected in S13. A method for detecting the parking end position E will be described with reference to FIGS. FIG. 10 is a diagram showing a rear image displayed on the display 3.

  When the vehicle 1 moves backward from the vehicle position B to the position parallel to the parking section G2 via the vehicle position C, an image as shown in FIG. The display 3 includes parking lot lines TL and TR that divide the parking lot G2 with respect to the parking lots G1 and G2, and loop stops 33L and 33R for preventing the vehicle 1 from running backward from the parking lot G2. It is reflected. Therefore, in S131 of FIG. 4, feature points are detected from the camera image shown in FIG. 10 using the brightness gradation, and in S132, the last end position FL of the ring stoppers 33L and 33R or the parking partition lines TL and TR. , FR is detected and determined.

  The detection of the loop stops 33L and 33R will be described in detail. For example, an edge where the brightness of the original image changes suddenly is detected from the grayscale image of the rear camera 2 by a differential operator, and a line drawing obtained by linear fitting is also obtained. Then, geometric processing is performed to calculate the shape of the three-dimensional object. Then, the calculated shape of the three-dimensional object is compared with a reference pattern stored in advance as the shape of the loop stoppers 33L and 33R, and if it matches the reference pattern, the solid object is detected and determined as the ring stoppers 33L and 33R.

  The detection of the parking lot lines TL and TR will be described in detail. For example, the edge detection of the parking lot lines TL and TR that are the characteristic points of the parking lot G2 is performed from the image of the rear camera 2 by a known technique. That is, a method is used in which edges of the parking lot lines TL and TR are detected by a known Sobel filter, and a peak of a portion exceeding an appropriate threshold is detected to extract edge points constituting the boundary. In this case, the recognition of the parking lot lines TL and TR can easily detect the feature point of the parking lot G2 by image recognition. Then, a straight line is detected from the edge point detected using the known Hough transform. And the line segment used as the parking lot line candidate which comprises parking lot G2 from the straight line detected by Hough transformation, and the orthogonal component orthogonal to the line segment used as a parking lot line candidate are detected. When a line segment that is a parking lot line candidate is detected, a connection point of the line segment that is the farthest from the vehicle 1 is calculated, and the position of the line segment that connects the connection points is the end of the line segment. Detection is determined as positions FL and FR.

  In S133, it is determined whether or not the loop ends 33L and 33R or the rearmost positions FL and FR of the parking lot lines TL and TR have been successfully detected. If the detection fails (S133: NO), it means that the parking end position E cannot be detected even though the parking target position k is approached, and the vehicle 1 may protrude from the parking section G2. The process after S14 is executed and the parking end position E is detected again.

  On the other hand, when the rear end positions FL and FR of the ring stoppers 33L and 33R or the parking lot lines TL and TR are successfully detected (S133: YES), the ring fasteners 33L and 33R and the parking lot lines TL and TR are two-dimensionally displayed. To 3D image. This is for grasping the ring stoppers 33L and 33R and the parking partition lines TL and TR with a sense of distance. In S135, the parking target position k is corrected to the parking end position E. As a result, the parking target position k is changed to the parking target position k ′ according to the rear ends FL and FR of the ring stoppers 33L and 33R or the parking partition lines TL and TR, and the deviation at the time of setting is eliminated. When the parking end position E is detected in this way, the process returns to S14 in FIG. 3 to calculate the remaining backward distance from the own vehicle position to the parking end position E.

Here, a method for calculating the remaining backward distance will be described. FIG. 11 is an explanatory diagram conceptually showing a remaining backward distance calculation method.
The rear camera 2 is attached so that the optical axis L is directed downward from the horizontal so that the rear can be imaged from the vicinity of the rear bumper of the vehicle 1, and the imaging range is fixed. Therefore, the distance to the subject can be calculated from the position of the image data reflected on the rear camera 2. On the other hand, the distance from the rear wheel to the rear end of the vehicle 1, that is, the rear overhang Oz is determined by the vehicle 1. Therefore, for example, a line segment that becomes a boundary between the loop bracket 33L (33R) and the road surface of the parking section G2 is acquired from the line segment that forms the loop bracket 33L (33R) detected from the image of the rear camera 2. Then, the distance O from the rear end of the vehicle 1 to the ring stop 33L (33R) is calculated based on the position where the line segment appears in the image, and the distance Oz of the rear overhang is added to the calculated distance O. A distance O + Oz from the vehicle 1 to the ring stop 33L (33R) is calculated.

 In S15, the target braking force is calculated. Here, the target braking force is adjusted to a predetermined pressure until the distance O + Oz between the parking end position E and the host vehicle 1 reaches a predetermined value, and the distance O + Oz between the parking end position E and the host vehicle 1 is a predetermined value. When it becomes below, the vehicle 1 is decelerated by gradually or intermittently increasing the brake pressure toward the parking target position E, and then when the host vehicle 1 reaches the parking target position E, It should be calculated so as to increase the brake pressure so as to stop the host vehicle 1. The “predetermined value” refers to a distance to the parking end position E set within a range of deceleration acceleration that does not make the driver feel uncomfortable. Therefore, the target braking force is calculated according to the positional relationship between the parking end position E and the host vehicle 1. In S16, the brake actuator 10 is controlled in accordance with the target braking force calculated in S15, and the brake pressing amount is adjusted according to the distance to the parking end position E.

  Then, in S12, it is determined whether or not the parking target position k, that is, the parking end position E has been reached. If the parking end position E has not been reached (S12: NO), the processing after S8 is repeated, and the host vehicle 1 is moved backward while decelerating toward the parking end position E. Thereafter, when the host vehicle 1 reaches the parking end position E (S12: YES), the processing is ended because the host vehicle 1 braked in S15 is stopped at the parking end position E.

  Therefore, in the parking brake assist device (parking assist ECU 4) of the present embodiment, the parking target position k is set based on an image in which the rear camera 2 mounted on the vehicle 1 captures the traveling direction of the vehicle 1 during the parking operation. When the vehicle 1 is traveling from the parking start position toward the parking target position k as shown in FIG. 8, the parking end position E at which the vehicle assist is ended is detected, and the parking end position E and the host vehicle 1 are detected. When the distance between the parking end position E and the host vehicle is a predetermined value (for example, 2 to 3 m) or less, deceleration control is performed on the brake actuator 3 (S13 to S16 in FIG. 3). reference). Such a parking braking assist device, for example, can be used even when the vehicle 1 is set behind the wheel stops 33L, 33R and the rear end positions FL, FR of the parking lot lines TL, TR when the parking target position k is set. While the vehicle is traveling toward the parking target position k, the parking end position E is detected again. When the vehicle 1 approaches the parking end position E, the vehicle speed is reduced and it is easy to stop. It is possible not to get over 33L and 33R. Therefore, according to the parking braking assist device of the present embodiment, the vehicle 1 can be stopped at an appropriate parking position.

  Further, the parking brake assist device (parking assist ECU 4) of the present embodiment performs control to stop the vehicle 1 with respect to the brake actuator 10 when the vehicle 1 reaches the parking end position E (S13 to S16 in FIG. 3). The vehicle 1 can be automatically stopped at the parking end position E.

  Further, the parking brake assist device (parking assist ECU 4) of the present embodiment detects the parking section G2 of the parking section where the host vehicle 1 is parked from the image, and detects the parking end lines TR and TL at the end positions FL and FR. Based on this, the parking end position E is detected, or the wheel stopper 33L (33R) is detected from the image, and the position of the wheel stopper 33L (33R) is set as the parking end position (see FIGS. 4 and 10). The vehicle 1 can be parked at an appropriate parking position while reducing the number of parts as compared with the case where the loop stoppers 33L and 33R are detected using various sensors such as a sound wave sensor.

  Although the embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, and various applications are possible.

(1) For example, in the above-described embodiment, the case of detecting the ring stop or the parking lot line T from the image captured by the rear camera 2 has been described, but in the traveling direction of the vehicle 1 traveling toward the parking target position k. When an obstacle detection means (for example, an ultrasonic sensor) detects an obstacle such as a certain parked vehicle, fence, or wall, the parking end position E may be detected based on the detection result. In this case, there is an advantage that the vehicle 1 can be parked while avoiding obstacles.

(2) For example, in the above-described embodiment, obstacle detection means (e.g., an obstacle such as a fence, a wall, or another vehicle in the traveling direction of the vehicle 1 that searches for an image and travels toward the parking target position k) The parking end position E may be detected based on the position of the obstacle. According to this detection method, for example, even if a white and flat wall stands behind the parking section G2 and image detection is difficult, the wall is detected by the obstacle detection means, The parking end position E can be detected based on the detection result.

(3) For example, in the above-described embodiment, the loop stoppers 33L and 33R are detected based on the grayscale image captured by the rear camera 2. For example, a plurality of cameras are mounted on the rear side of the vehicle 1, and a stereo camera system is used. Thus, the loop ends 33L and 33R may be searched from the image to detect the parking end position E. Further, the ring stops 33L and 33R may be searched by the light projection method.

(4) In the above embodiment, the vehicle 1 is automatically stopped at the parking end position E. However, when the host vehicle 1 approaches the parking end position E to a predetermined value, the vehicle 1 is decelerated and the driver displays The vehicle 1 may be stopped by stepping on the brake pedal while confirming the vehicle end position E by 3 or the like. In this case, since the vehicle 1 is decelerated near the parking end position E, the driver can stop the vehicle 1 with high responsiveness by simply depressing the brake pedal at the parking end position E. Easy to park.

(5) Although the case where parallel parking is performed using the parking braking assist device has been described in the above embodiment, it can also be used when parallel parking is performed.

1 is a schematic configuration diagram of a parking brake assist system in an embodiment of the present invention. It is a block diagram which shows the connection state with the internal structure of the parking assistance ECU shown in FIG. 1, and the exterior. It is a flowchart of a parking brake assist process. It is a flowchart of a parking end position detection process. It is state explanatory drawing which shows the motion of the vehicle before parallel parking. It is a figure which shows an example of the display content of a display. It is explanatory drawing which shows a coordinate transformation method. It is explanatory drawing which shows the relationship between parking zone detection and a parking target position. It is explanatory drawing which shows the vehicle movement amount detection method. It is a figure which shows the back image displayed on the display. It is explanatory drawing which shows notionally the remaining retreat distance calculation method.

Explanation of symbols

1 Vehicle 2 Rear camera (imaging means)
4 Parking assistance ECU (parking braking assist device)
10 Brake actuator (braking means)
23 parking end position detection unit (parking end position detection means)
24 Distance calculation part (distance calculation means)
25 Deceleration part (deceleration means)
26 Vehicle stop section (vehicle stop means)
33L, 33R Ring stop k Parking target position E Parking stop position TL, TR Parking lot line

Claims (6)

When the parking operation is performed, the traveling direction of the vehicle is captured by the imaging unit, a parking target position is determined based on the captured image, and braking force is applied to the braking unit of the vehicle between the parking start position and the parking target position. In the parking brake assist device that gives and assists parking of the vehicle,
A parking end position detecting means for detecting a parking end position for ending the parking assist;
Distance calculating means for calculating a distance between the parking end position and the vehicle;
A parking braking assist device, comprising: a deceleration unit that performs deceleration control on the braking unit when the distance is equal to or less than a predetermined value. In the parking brake assist device according to claim 1,
A vehicle braking assist device comprising vehicle stop means for stopping the vehicle when the vehicle reaches the parking end position. In the parking brake assist device according to claim 1 or 2,
The parking end position detecting means detects a parking lot line of a parking lot where the vehicle parks from the image, and detects the parking end position from a rearmost position of the parking lot line. Assist device. In the parking brake assist device according to claim 1 or 2,
The parking end position detecting means detects a wheel stop from the image, and sets the position of the wheel stop as the parking end position. In the parking brake assist device according to claim 1 or 2,
The parking end position detecting means detects an obstacle in a traveling direction in which the vehicle travels toward a parking target position from the image, and detects the parking end position based on the position of the obstacle. Parking braking assist device. In the parking brake assist device according to claim 1 or 2,
An obstacle detection means for detecting an obstacle in the traveling direction in which the vehicle travels toward the parking target position;
The parking braking assist device, wherein the parking end position detecting means detects the parking end position based on a detection result of the obstacle detecting means.

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