JP2010143464A - Contact prevention device, and parking assisting device assembled with the contact prevention device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a suitably operated contact prevention device, and a parking assisting device assembled with the contact prevention device. <P>SOLUTION: A parking assisting device part P is connected to an ECU 10. A contact prevention means 13 for emitting an alarm to a driver of the vehicle 7, and a distance detection means 14 for detecting a distance between a wall W of a parking section area and an obstacle or the like and the vehicle 7 are connected to the ECU 10. The ECU 10 is provided with a caution distance memory means 11 for memorizing a caution distance, i.e., a set value changeable regarding the distance between the vehicle 7 and the object W, and a caution distance changing means 12 for changing the caution distance. By photographing an image of a mark M by a camera 1, when the ECU 10 recognizes that the vehicle 7 is parked in the state that it is made approached to one wall W in the parking section area S as much as possible, the ECU 10 operates the caution distance changing means 12 to change a value of the caution distance memorized in the caution distance memory means 11 to a smaller value (shorter distance than distance between the vehicle 7 and the wall W). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a contact prevention device and a parking assistance device incorporating the contact prevention device, and more particularly, a contact prevention device in which contact prevention means operates when a vehicle approaches an obstacle or the like, and the contact prevention device. The present invention relates to a parking assistance device.

  In the parking assist device of Patent Document 1, when the vehicle moves forward, the detection range of the ultrasonic sensor attached to the front side surface of the vehicle is increased, and when the vehicle moves backward, the detection range of the ultrasonic sensor is decreased. Thus, it is possible to prevent unnecessary warnings from being frequently issued when the vehicle is moved to the parking section. Further, in the parking assist device of Patent Document 2, when a vehicle equipped with an ultrasonic sensor is parked, the detection range of the ultrasonic sensor is increased when a deviation between a planned driving operation and an actual driving operation is large. Thus, the vehicle can be prevented from interfering with an obstacle or the like on the way to the target position, and appropriate parking assistance can be provided to the driver.

In addition, when parking as close as possible to the wall of the parking section, it is generally preferable that the detection range of the ultrasonic sensor is small because it can prevent unnecessary alarms from being issued, but it is not so. In some cases, it is generally not preferable that the detection range of the ultrasonic sensor is small.
In addition, there are obstacles such as walls and utility poles in the space before the parking section, and when you want to park along a path close to such obstacles, it is generally better that the detection range of the ultrasonic sensor is smaller. Although it is preferable because a necessary alarm can be prevented from being issued, it is generally not preferable that the detection range of the ultrasonic sensor is small otherwise.

JP 2007-15661 A JP 2003-24651 A

  However, in the parking assistance device of Patent Document 1, although the detection range of the ultrasonic sensor can be changed depending on whether the vehicle is parked (backward) or released (forward), the detection range during parking traveling is changed. If you try to park as close as possible to the wall of the parking area, or if you try to park through a path close to an obstacle in the space in front of the parking area, an unnecessary warning will be issued. There was a problem of being emitted. Moreover, in the parking assistance apparatus of patent document 2, since the scheduled driving | operation operation is decided, similarly, when trying to park as close as possible to the wall of a parking area, or the obstacle in the space before a parking area There is a problem that an unnecessary warning is issued when parking is attempted through a locus close to the vehicle.

  The present invention has been made to solve such a problem, and when trying to park as close as possible to the wall of the parking area, or through a path close to an obstacle in the space before the parking area. Even if it is a case where it wants to park, it aims at providing the parking assistance apparatus incorporating this contact prevention apparatus and this contact prevention apparatus which operate | move appropriately.

The contact prevention device according to the present invention includes a distance detection unit that detects a distance between a vehicle and an object, and a warning that stores a warning distance that is a changeable setting value for the distance between the vehicle and the object. A distance storing means; a contact preventing means that operates when the distance detected by the distance detecting means is smaller than the warning distance; a warning distance changing means for changing the warning distance; and a parking section in which the vehicle is parked or Object information acquiring means for acquiring object information existing in the vicinity of the parking section, and the warning distance changing means changes the warning distance based on at least the object information. If the warning distance is changed to a smaller value based on the object information, the contact prevention means does not operate even when the vehicle and the object approach each other, so the contact prevention means does not operate unnecessarily.
When the object information acquisition means acquires the object information, the vehicle recognizes a relative position with respect to the object, and when the vehicle is expected to approach the object more than the warning distance, The warning distance changing means may reduce the warning distance.
The object information may be represented as a mark having a predetermined shape fixed in the parking section, and the object information acquisition unit may be a camera for photographing the mark.

The contact prevention device according to the present invention includes a distance detection unit that detects a distance between a vehicle and an object, and a warning that stores a warning distance that is a changeable setting value for the distance between the vehicle and the object. A distance storage unit; a contact prevention unit that operates when the distance detected by the distance detection unit is smaller than the warning distance; a warning distance change unit that changes the warning distance; and an input unit; The distance changing means changes the warning distance based on the state of the input means. If the warning distance is changed to a smaller value by operating the input means, the contact prevention means will not operate even if the vehicle and the object approach each other, so the contact prevention means will not operate unnecessarily.
The warning distance changing means may change the warning distance based on the distance detected by the distance detection means while the vehicle enters the parking area.
The distance detection means may be provided on both side surfaces of the vehicle, and only the warning distance for the distance detection means provided on one side surface may be changed.
The warning distance storage means may be provided in the distance detection means.
The distance detection means includes at least one first distance detection unit and at least one second distance detection unit, and the warning distance includes a first warning distance and a second distance detection corresponding to the first distance detection unit. The second warning distance is a value smaller than the first warning distance, and the warning distance storage means stores a first warning distance that stores the first warning distance. And a second warning distance storage unit that stores the second warning distance, and the distance detected by the first distance detection unit or the second distance detection unit is the first warning distance or the second warning distance, respectively. When the distance is smaller than the distance, the contact prevention means may issue an alarm, and the warning distance changing means may change the warning distance by invalidating the first warning distance.
The at least one first distance detection unit and the at least one second distance detection unit may all be mounted on the vehicle.
The first distance detection unit may be mounted on the vehicle, and the second distance detection unit may be disposed in the parking section.
The contact preventing means may be a device that automatically stops the vehicle.
You may incorporate the said contact prevention apparatus in a parking assistance apparatus.

  According to this invention, if the warning distance is changed to a smaller value based on the object information or by operating the input means, the contact prevention means does not operate even if the vehicle and the object approach. This may be the case when the contact prevention means stops working unnecessarily and you try to park as close as possible to the wall of the parking area, or when you want to park along the path close to the obstacle in the space before the parking area. However, the contact preventing means can be appropriately operated.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 shows a plan view of a vehicle having a parking assist device incorporating a contact prevention device according to Embodiment 1 of the present invention and a parking section where the vehicle parks. A mark M representing parking space information about the parking space S is installed on the floor surface of the parking space S or the like. The vehicle 7 parked in the parking section S is equipped with a camera 1 for photographing the mark M. The camera 1 is built in a predetermined location having a predetermined positional relationship with the vehicle 7, for example, a door mirror 8 of the vehicle 7, and the vehicle 7 is positioned at a point A in the vicinity of the parking section S where the target parking position is set. Sometimes, the mark M installed on the floor surface of the parking section S is installed in the field of view. It is assumed that the predetermined positional relationship of the camera 1 with respect to the vehicle 7 is grasped in advance. Here, the camera 1 constitutes parking section information acquisition means. In addition, four ultrasonic sensors 14 a to 14 d are provided at the four corners of the vehicle 7 on the right front, left front, right rear, and left rear.

  It is assumed that the mark M is installed at a predetermined place having a predetermined positional relationship with respect to the parking section S, and the predetermined positional relationship of the mark M with respect to the parking section S is grasped in advance. As the mark M, for example, as shown in FIG. 2, a figure having a square outer shape in which four right isosceles triangles are in contact with each other can be used. Adjacent right-angled isosceles triangles are painted with different colors, and this mark M has five characteristic points C1 to C5 that are intersections of a plurality of sides.

  As shown in FIG. 3, the camera 1 is connected to the input unit K of the parking assistance device component P. Connected to the input unit K is an image processing means 2 that extracts the feature point of the mark M from the image obtained by photographing the mark M with the camera 1 and recognizes the two-dimensional coordinates of the feature point on the image. This image processing means 2 is connected to a position parameter calculating means 3 for calculating a position parameter of the camera 1 with reference to the mark M, and the positional parameter calculating means 3 indicates the relative positional relationship between the vehicle 7 and the parking section S. A relative position specifying means 4 for specifying is connected. Furthermore, a parking locus calculating means 5 for calculating a parking locus for guiding the vehicle 7 to the parking section S is connected to the relative position specifying means 4, and these input unit K, image processing means 2, position parameter calculating means 3, The relative position specifying means 4 and the parking locus calculating means 5 constitute a parking assistance device component P. An automatic steering device 6 is connected to the parking locus calculation means 5.

  The parking assistance device component P is connected to the ECU 10 which is a control device. The ECU 10 indicates the distance between the vehicle 7 and the contact prevention means 13 that issues a warning to the driver of the vehicle 7, the wall W of the parking section S, an obstacle, etc. (hereinafter collectively referred to as “object”). Distance detection means 14 for detection is connected. The distance detecting means 14 is composed of the above-described four ultrasonic sensors 14a, 14b, 14c, and 14d (see FIG. 2). The ECU 10 includes a warning distance storage unit 11 that stores a warning distance that is a changeable setting value for a distance between the vehicle 7 and the wall W, an obstacle, and the like, and a warning distance change unit 12 that changes the warning distance. I have. Since the wall W of the parking section S is an object, the mark M representing the parking section information about the parking section S constitutes object information, and the camera 1 constituting the parking section information acquisition unit acquires object information. Configure the means.

Next, the operation of the contact prevention device according to Embodiment 1 will be described.
As shown in FIG. 1, the vehicle 7 is positioned at a point A in the vicinity of the parking section S with the mark M in the field of view of the camera 1, and the mark M is photographed by the camera 1. The photographed image is input to the image processing means 2 via the input unit K, and the image processing means 2 extracts five feature points C1 to C5 of the mark M from the image of the mark M photographed by the camera 1, The two-dimensional coordinates of these feature points C1 to C5 on the image are recognized and acquired. Next, based on the two-dimensional coordinates of the feature points C1 to C5 recognized by the image processing means 2, the position parameter calculation means 3 uses the three-dimensional coordinates (x, y, z) of the camera 1 with the mark M as a reference. ), Tilt angle (down angle), pan angle (direction angle), and swing angle (rotation angle).

Here, a position parameter calculation method by the position parameter calculation means 3 will be described.
First, a road surface coordinate system is assumed in which a point on the ground surface perpendicular to the road surface from the center of the rear axle of the vehicle 7 is set as the origin O, the x-axis and y-axis are set in the horizontal direction, and the z-axis is set in the vertical direction. Assume an image coordinate system in which an X axis and a Y axis are set on an image photographed by the camera 1.
The coordinate values Xm and Ym (m = 1 to 5) of the feature points C1 to C5 of the mark M in the image coordinate system are the six positional parameters of the feature points C1 to C5 of the mark M in the road surface coordinate system, that is, the coordinate value xm, From ym and zm and the angle parameters Kn (n = 1 to 3) of the tilt angle, pan angle, and swing angle described above, using the functions F and G,
Xm = F (xm, ym, zm, Kn) + DXm
Ym = G (xm, ym, zm, Kn) + DYm
It is represented by Here, DXm and DYm are the X and Y coordinates of the feature points C1 to C5 calculated using the functions F and G and the coordinate values Xm and Ym of the feature points C1 to C5 recognized by the image processing means 2. Deviation.

That is, by representing the X and Y coordinates of the five feature points C1 to C5, a total of ten relational expressions are created for the six position parameters (xm, ym, zm, Kn).
Therefore, the sum of squares of the deviations DXm and DYm S = Σ (DXm ² + DYm ² )
Position parameters (xm, ym, zm, Kn) that minimize the value are obtained. That is, an optimization problem that minimizes S is solved. Known optimization methods such as simplex method, steepest descent method, Newton method, and quasi-Newton method can be used.

Since the positional parameters are determined by creating a relational expression having more than the number “6” of the positional parameters (xm, ym, zm, Kn) to be calculated, the positional parameters (xm, ym, zm, Kn) can be obtained.
In the first embodiment, ten relational expressions are created from five feature points C1 to C5 for six position parameters (xm, ym, zm, Kn), but the number of relational expressions will be calculated. It is sufficient that the number of positional parameters (xm, ym, zm, Kn) is larger than the number of positional parameters (xm, ym, zm, Kn). ) Can be calculated.

  Using the position parameter of the camera 1 calculated in this way, the relative position specifying unit 4 specifies the relative position relationship between the vehicle 7 and the parking section S. That is, the relative positional relationship between the camera 1 and the parking section S is specified based on the position parameter calculated by the position parameter calculating means 3 and the predetermined positional relationship of the mark M with respect to the parking section S that is grasped in advance. Since the predetermined positional relationship of the camera 1 with respect to the vehicle 7 is grasped in advance, the relative positional relationship between the vehicle 7 and the parking section S is further specified.

  Next, the parking locus calculation means 5 calculates a parking locus for guiding the vehicle 7 to the parking space S based on the relative positional relationship between the vehicle 7 and the parking space S specified by the relative position specifying device 4. For example, from a point A in the vicinity of the parking section S, the vehicle 7 is moved forward at a predetermined first steering angle and stopped at the point B, and then moved backward at a predetermined second steering angle and parked in the parking section S. A parking locus L is calculated. Here, the predetermined first steering angle and the predetermined second steering angle may have the same absolute value, for example, a full cutting angle (maximum steering angle), or may have different absolute values. In addition, the parking locus L may be such that the steering angle during one turn does not hold constant, and the vehicle moves while changing the steering angle.

  The automatic steering device 6 sends out an electric power steering device (EPS) control signal so that the steering wheel is automatically steered in response to the movement of the vehicle 7 by the driver's brake operation or accelerator operation. The automatic steering device 6 automatically performs steering for causing the vehicle 7 to travel along the parking locus L calculated by the parking locus calculating means 5. Therefore, the driver can park the vehicle 7 only by performing a brake operation and an accelerator operation of the vehicle 7.

  When the vehicle 7 travels along the parking locus L and an object is present on the parking locus L or in the parking section S, the vehicle 7 collides with the object. Therefore, the four ultrasonic sensors 14a to 14d provided in the vehicle 7 detect the distance between the vehicle 7 and the object while the vehicle 7 travels on the parking locus L. The ECU 10 compares the distances detected by the four ultrasonic sensors 14a to 14d with the warning distance stored in the warning distance storage means 11, and prevents contact when the detected distance is smaller than the warning distance. The means 13 is actuated to issue an alarm notifying the driver of the vehicle 7 that the vehicle 7 and the object may collide. The contact prevention means 13 is a device that generates sound, a device that lights an alarm lamp on an instrument panel or a navigation system of the vehicle 7, or displays a message that may cause a collision. When the alarm is generated, the driver can stop traveling of the vehicle 7 to avoid or confirm a collision with an object.

  However, the parking assist method for the vehicle 7 according to the first embodiment recognizes the shape and size of the parking section S and specifies the relative positional relationship between the vehicle 7 and the parking section S so that the vehicle 7 is accurately parked. It is for parking in S (high-precision parking). As such parking, for example, the vehicle 7 is parked with a sufficient distance between the driver's seat side of the vehicle 7 and the wall W by bringing the passenger seat side of the vehicle 7 as close as possible to one wall W of the parking section S. The vehicle 7 can be parked in the section S. In this case, when the vehicle 7 moves backward into the parking section S, the distance between the vehicle 7 and the wall W detected by the ultrasonic sensor 14d becomes smaller than the warning distance, and the parking assistance device guides. Even if there is no collision between the vehicle 7 and the wall W if the vehicle travels on the street, the ECU 10 activates the contact preventing means 13 and issues an unnecessary alarm.

  Therefore, when the ECU 10 recognizes that the vehicle 1 is parked as close as possible to the one wall W in the parking section S by the camera 1 taking an image of the mark M, the ECU 10 changes the warning distance. The means 12 is operated to change the value of the warning distance stored in the warning distance storage means 11 to a smaller value (a distance shorter than the distance between the vehicle 7 and the wall W). In this case, it is assumed that the mark M also includes information that the vehicle is parked in a state as close as possible to the wall 2 of the parking section S. Thereby, it is possible to prevent an unnecessary warning from being issued from the contact prevention means 13 while the vehicle 7 enters the parking section S. For example, when an object exists so as to be adjacent to the wall W, the distance between the vehicle 7 and the object is detected by the ultrasonic sensor 14d, and contact prevention is performed when this distance is smaller than the warning distance. Means 13 issues an alarm. Thereafter, after the vehicle 7 is released from the parking section S, the ECU 10 operates the warning distance changing means 12 to set the warning distance value stored in the warning distance storage means 11 to a warning distance suitable for normal driving. Return to or reset.

  In this way, when the ECU 10 recognizes that the vehicle 1 is parked as close as possible to the one wall W in the parking section S when the camera 1 captures the image of the mark M, the warning distance is further increased. If the value is changed to a small value, unnecessary warnings are not frequently issued, so that appropriate warnings can be issued in accordance with the surrounding conditions of the vehicle 7.

In the first embodiment, the camera 1 recognizes that the vehicle 7 is parked as close as possible to one wall W in the parking section S by the camera 1 taking an image of the mark M. It is not limited. When it is recognized that so-called high-accuracy parking is performed, the warning distance may be changed. In addition to the above, high-accuracy parking is a method for automatically recognizing the frame wall of the parking section in the camera image and recognizing the relative position between the frame wall and the vehicle in a parking lot where no mark is installed. In addition, in a parking lot where no mark is installed, the parking point in the camera image is designated with a pointing device to recognize the entrance point and the relative position of the vehicle.
In addition, since the mark M represents information on the size and shape of the parking section, when the parking section S is small, the distance between the vehicle 7 and the wall W when the vehicle 7 is moved into the parking section S. Can be recognized as having to be very small. If this is recognized, the same effect can be obtained by changing the guard distance to a smaller value as in the first embodiment. In other words, regardless of the cause, when the camera 1 recognizes that the distance between the vehicle 7 and the parking section S is very small by taking an image of the mark M, the warning distance is made smaller. Change to a value.
In addition, when the driver recognizes that high-accuracy parking is to be performed, and the driver has selected to park in a state of being close to the wall W (for example, the parking where the driver is positioned close to the wall W on the display) The warning distance may be changed when the range is selected.
Further, the warning distance may be changed when it is recognized that high-accuracy parking is performed at a stage before the driver selects to park the vehicle in the state of being close to the wall W.

  In the first embodiment, the warning distance is changed when recognizing that the distance between the vehicle 7 and the wall W is very small, but this is not a limitation. For example, in the first embodiment, since the vehicle 7 enters the parking section S while retreating, the distance between the vehicle 7 and the wall W detected by the ultrasonic sensor 14d is initially smaller than the warning distance. . Therefore, after the recognition, the warning distance may be changed to a smaller value when the distance detected by the ultrasonic sensor 14d becomes smaller than the warning distance. That is, the warning distance may be changed based on the distance detected by the ultrasonic sensor 14d. In this case, until the vehicle 7 starts entering the parking section S, the distance from the object around the vehicle 7 is detected with a large warning distance, so that the collision avoidance effect is enhanced.

In the first embodiment, the alert distances of the ultrasonic sensors 14a to 14d are the same. When the alert distance is changed, the alert distances of all the ultrasonic sensors are changed. However, the embodiment is limited to this embodiment. is not. The warning distance storage means 11 is configured to be able to store a warning distance for each of the ultrasonic sensors 14a to 14d, and for any of the ultrasonic sensors (for example, the ultrasonic sensors 14c and 14d in the first embodiment). The warning distance may be changed. Further, as shown in FIG. 5, after changing the warning distance for the ultrasonic sensor 14d at the point B, when the distance detected by the ultrasonic sensor 14c becomes smaller than the warning distance, that is, at the point C ′. You may make it change the warning distance about the sound wave sensor 14c. The number of ultrasonic sensors is not limited to four, and may be one or a plurality other than four.
Further, in place of changing the warning distance to a smaller value when the distance between the vehicle 7 and the wall W becomes smaller than the warning distance, the relative position specifying means 4 in FIG. When the relative position specifying means 4 specifies that the vehicle 7 is located at the point C ′, the ultrasonic sensor 14c is changed so that the warning distance of the ultrasonic sensor 14d is further reduced. The warning distance may be changed to be smaller.

  In the first embodiment, the warning distance storage unit 11 is provided in the ECU 10, but the present invention is not limited to this form. As shown in FIG. 4, each of the distance detection means 14, that is, the ultrasonic sensors 14 a to 14 d (see FIG. 1) is provided with a warning distance storage means 11 that stores a warning distance for each ultrasonic sensor. In the sonic sensor, it may be determined whether the distance between the vehicle 7 (see FIG. 1) and the wall W is smaller than the warning distance by comparing the detected distance and the warning distance. . In this case as well, the warning distance changing means 12 provided in the ECU 10 changes the warning distance stored in the warning distance storage means 11 provided in each ultrasonic sensor.

Embodiment 2. FIG.
Next, a contact preventing apparatus according to Embodiment 2 of the present invention will be described. In the following embodiments, the same reference numerals as those in FIGS. 1 to 5 are the same or similar components, and thus detailed description thereof is omitted.
The contact prevention device according to the second embodiment of the present invention is the same as that of the first embodiment except that an input means 20 electrically connected to the ECU 10 is provided as shown in FIG. . The input means 20 may be any device that can be operated by the driver of the vehicle 7, such as a switch provided on the instrument panel of the vehicle 7 or a screen of the navigation system. It may be a touch panel type provided.

  As in the first embodiment, for example, when the vehicle 7 is moved into the parking section S with the passenger seat side of the vehicle 7 as close as possible to the wall W of the parking section S, the vehicle 7 is shown in FIG. The driver of the vehicle 7 operates the input means 20 when it is located at the point A. Then, as in the first embodiment, the warning distance changing unit 12 changes the warning distance stored in the warning distance storage unit 11 to a smaller value. Thereby, the same effect as Embodiment 1 is acquired.

  Also in the second embodiment, various modifications in the first embodiment, that is, the warning distance is not changed immediately when the input unit 20 is operated, but the distance detected by the ultrasonic sensor 14d is the warning distance. The warning distance is changed to a smaller value when it becomes smaller than that, and the warning distance for all the ultrasonic sensors 14c and 14d is not changed, but only the warning distance for the ultrasonic sensors 14c and 14d is changed. It is possible to adopt a point to be changed and a point provided with a warning distance storage means 11 that stores a warning distance for each ultrasonic sensor in each of the ultrasonic sensors 14a to 14d.

Embodiment 3 FIG.
Next, a contact prevention device according to Embodiment 3 of the present invention will be described.
The contact prevention device according to the third embodiment of the present invention is different from the first embodiment in that the vehicle 7 is provided with a peripheral monitoring camera and both the ultrasonic sensor and the peripheral monitoring camera are used. The distance between is detected.

  As shown in FIG. 7, the door mirror 8 of the vehicle 7 monitors the distance between the passenger seat side of the vehicle 7 and the wall W of the parking section S in addition to the camera 1 for photographing the mark M. A peripheral monitoring camera 30 is built in. Here, the ultrasonic sensors 14a to 14d constitute a first distance detecting unit, the surrounding monitoring camera 30 constitutes a second distance detecting unit, and the ultrasonic sensors 14a to 14d and the surrounding monitoring camera 30 constitute a distance detecting unit. To do.

  As shown in FIG. 8, the warning distance storage unit 11 provided in the ECU 10 includes a first warning distance storage unit 11a and a second warning distance storage unit 11b. The 1st warning distance memory | storage part 11a has memorize | stored the 1st warning distance about the ultrasonic sensors 14a-14d. The second warning distance storage unit 11 b stores a second warning distance for the peripheral monitoring camera 30. Here, the second warning distance is a value smaller than the distance between the passenger seat side of the vehicle 7 and the wall W when the vehicle 7 is at the target parking position, and is a value smaller than the first warning distance. . When the distances detected by the ultrasonic sensors 14a to 14d and the surrounding monitoring camera 30 are smaller than the first warning distance and the second warning distance, respectively, the contact prevention means 13 issues a warning. The warning distance changing means 12 is configured to enable or disable the first warning distance. Here, to invalidate the first warning distance is to prevent the contact prevention means 13 from issuing an alarm even when the distance detected by the ultrasonic sensors 14a to 14d is smaller than the first warning distance. . When the first warning distance is invalid, the contact prevention means 13 issues a warning only when the distance detected by the peripheral monitoring camera 30 is smaller than the second warning distance. Other configurations are the same as those in the first embodiment.

Next, the operation of the contact prevention device according to Embodiment 3 will be described.
In the same manner as in the first embodiment, when the ECU 10 recognizes that the vehicle 1 is parked as close as possible to one wall W in the parking section S by the camera 1 taking an image of the mark M. The ECU 10 operates the warning distance changing means 12 to invalidate the first warning distance stored in the first warning distance storage unit 11a. Then, as long as the vehicle 7 is traveling along the parking locus L, the distance detected by the peripheral monitoring camera 30 will not be smaller than the second warning distance, so that the contact prevention means 13 issues an alarm. There is no. For example, when an object is present so as to be adjacent to the wall W, the distance between the vehicle 7 and the object is detected by the peripheral monitoring camera 30, and contact prevention is performed when this distance is smaller than the second warning distance. Means 13 issues an alarm. After leaving the vehicle 7 from the parking section S, the ECU 10 operates the warning distance changing means 12 to set the value of the warning distance stored in the warning distance storage means 11 to a warning distance suitable for normal driving. Return or reset.

  As described above, the distance between the vehicle 7 and the wall W is detected by the ultrasonic sensors 14a to 14d and the surrounding monitoring camera 30, and the first warning distance and the second warning value that are smaller than the first warning distance for each. When the warning distance is set and the warning distance changing means 12 invalidates the first warning distance, the distance between the vehicle 7 and the wall W detected by the ultrasonic sensors 14c and 14d is smaller than the first warning distance. So that the alarm is not issued and the alarm is issued only when the distance between the vehicle 7 and the wall W detected by the peripheral monitoring camera 30 is smaller than the second warning distance which is smaller than the first warning distance. Become. That is, even if the first warning distance having a larger value out of the first warning distance and the second warning distance is invalidated, the warning distance is changed to a smaller value, so the same effect as in the first embodiment is obtained. Obtainable.

  In the third embodiment, the first warning distances of all the ultrasonic sensors 14a to 14d are invalidated, but the present invention is not limited to this form. The form which invalidates a 1st warning distance only about the ultrasonic sensors 14c and 14d provided in the passenger seat side of the vehicle 7 may be sufficient.

Embodiment 4 FIG.
Next, a contact prevention device according to Embodiment 4 of the present invention will be described.
The contact prevention device according to Embodiment 4 of the present invention is such that a second distance detection unit mounted on a vehicle 7 is provided in the parking section S in contrast to Embodiment 3.

  As shown in FIG. 9, the periphery monitoring camera 30 as the second distance detection unit is fixed to the parking section S at a position where the distance between the passenger seat side of the vehicle 7 and the wall W can be detected. Yes. The peripheral monitoring camera 30 is provided with a transmitting device 31 for transmitting captured data as radio waves, and the vehicle 7 is provided with a receiving device 32 for receiving the transmitted radio waves. As shown in FIG. 10, the receiving device 32 is electrically connected to the ECU 10. Other configurations are the same as those in the third embodiment.

  When the ECU 10 recognizes that the vehicle 7 is parked as close as possible to one wall W in the parking section S by the camera 1 taking an image of the mark M in the same manner as in the third embodiment. The ECU 10 operates the warning distance changing means 12 to invalidate the first warning distance stored in the first warning distance storage unit 11a. Then, as long as the vehicle 7 is traveling along the parking locus L, the distance detected by the peripheral monitoring camera 30 will not be smaller than the second warning distance, so that the contact prevention means 13 issues an alarm. There is no. For example, when an object exists so as to be adjacent to the wall W, the distance between the vehicle 7 and the object is detected by the periphery monitoring camera 30. When this data is transmitted as a radio wave from the transmitter 31 and the receiver 32 receives this radio wave, and the distance detected by the peripheral monitoring camera 30 in the ECU 10 is smaller than the second warning distance, the contact prevention means 13 Raise an alarm. When the vehicle 7 is to be removed from the parking section S, the ECU 10 activates the warning distance changing means 12 to validate the first warning distance.

  Thus, even if the periphery monitoring camera 30 is fixed to the parking section S, the same effect as the third embodiment can be obtained by enabling the distance between the passenger seat side of the vehicle 7 and the wall W to be detected. be able to.

  In the fourth embodiment, the first warning distances of all the ultrasonic sensors 14a to 14d are invalidated, but the present invention is not limited to this form. The form which invalidates a 1st warning distance only about the ultrasonic sensors 14c and 14d provided in the passenger seat side of the vehicle 7 may be sufficient.

  In the first to fourth embodiments, the contact preventing unit 13 issues an alarm, but instead, the vehicle may be automatically stopped.

  In Embodiments 1 to 4, the warning distance has been changed to be small. At first, the warning distance is set to a small value. You may make the change which enlarges a warning distance. The warning distance may be already set when the vehicle is purchased, or may be set or changed after the vehicle is purchased.

  Embodiments 1 to 4 relate to the case where parking is performed by approaching the wall W of the parking section S. In addition, for example, there are obstacles (such as utility poles) in the space before the parking section, and the obstacle When parking assistance is performed through a locus close to an object, the warning distance may be reduced. By doing so, it is possible to prevent an alarm from being issued unnecessarily.

  In the first to fourth embodiments, the vehicle 7 has entered the parking section S while retreating, but is not limited to this configuration. The vehicle 7 may enter while moving forward into the parking section S. Moreover, although the contact prevention apparatus which concerns on Embodiment 1-4 demonstrated so that it might operate | move at the time of the action | operation of a parking assistance apparatus, it is not limited to this form. An alarm can be issued even during normal operation of the vehicle 7.

  In the first to fourth embodiments, a guide device may be provided instead of the automatic steering device 6. The guidance device outputs driving operation guidance information for driving the vehicle 7 along the parking locus L calculated by the parking locus calculating means 5 to the driver of the vehicle 7. Thus, the driver can drive the vehicle 7 along the parking locus L and park it in the parking area only by performing a driving operation according to the guidance information. In addition, as a guidance apparatus, a speaker and a buzzer which transmit guidance information through a driver | operator's hearing, such as an audio | voice and a warning sound, can be used. In addition, a display or a lamp that transmits guidance information through vision such as an image or light emission may be used as the guidance device. Furthermore, a vibrator or the like that transmits guidance information through a tactile sense such as vibration can be used as the guidance device.

It is a top view of the vehicle which has the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 1 of this invention, and the parking area where the said vehicle parks. 3 is a plan view showing a mark used in Embodiment 1. FIG. It is a structure schematic diagram of the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 1. FIG. It is a structure schematic diagram of the modification of the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 1. FIG. In Embodiment 1, it is a figure for demonstrating an example of the timing which changes the warning distance of each ultrasonic sensor, when a vehicle parks in a parking area. It is a structure schematic diagram of the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 2. FIG. It is a top view of the vehicle which has the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 3, and the parking area where the said vehicle parks. It is a structure schematic diagram of the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 3. FIG. It is a top view of the vehicle which has the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 4, and the parking area where the said vehicle parks. It is a structure schematic diagram of the parking assistance apparatus incorporating the contact prevention apparatus which concerns on Embodiment 4. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Camera (object information acquisition means), 7 Vehicle, 11 Warning distance memory | storage means, 12 Warning distance change means, 13 Contact prevention means, 14 Distance detection means, 14a-14d Ultrasonic sensor (Distance detection means, 1st distance detection part) ), 20 input means, 30 periphery monitoring camera (second distance detection unit), M mark, S parking section, W (parking section) wall (object).

Claims (12)

Distance detecting means for detecting a distance between the vehicle and the object;
A warning distance storage means for storing a warning distance which is a changeable setting value for the distance between the vehicle and the object;
Contact prevention means that operates when the distance detected by the distance detection means is smaller than the warning distance;
A warning distance changing means for changing the warning distance;
An object information acquisition means for acquiring object information existing in a parking area where the vehicle is parked or around the parking area;
The warning distance changing means is a contact prevention device that changes the warning distance based on at least the object information.   When the object information acquisition means acquires the object information, the vehicle recognizes a relative position with respect to the object, and when the vehicle is expected to approach the object more than the warning distance, The contact prevention apparatus according to claim 1, wherein the warning distance changing means reduces the warning distance. The object information is represented as a mark of a predetermined shape fixed in the parking area,
The contact prevention apparatus according to claim 1, wherein the object information acquisition unit is a camera for photographing the mark. Distance detecting means for detecting a distance between the vehicle and the object;
A warning distance storage means for storing a warning distance which is a changeable setting value for the distance between the vehicle and the object;
Contact prevention means that operates when the distance detected by the distance detection means is smaller than the warning distance;
A warning distance changing means for changing the warning distance;
Input means,
The warning distance changing means is a contact prevention device that changes the warning distance based on the state of the input means.   The said warning distance change means changes the said warning distance based on the distance detected by the said distance detection means during the said vehicle approaching into the said parking area, The any one of Claims 1-4. Contact prevention device. The distance detecting means is provided on both side surfaces of the vehicle,
The contact prevention apparatus as described in any one of Claims 1-5 which changes only the warning distance about the distance detection means provided in one side surface.   The contact prevention apparatus according to claim 1, wherein the warning distance storage unit is provided in the distance detection unit. The distance detection means includes at least one first distance detection unit and at least one second distance detection unit,
The warning distance includes a first warning distance corresponding to the first distance detection unit and a second warning distance corresponding to the second distance detection unit, and the second warning distance is smaller than the first warning distance. Value,
The warning distance storage means includes a first warning distance storage unit that stores the first warning distance and a second warning distance storage unit that stores the second warning distance,
When the distance detected by the first distance detection unit or the second distance detection unit is smaller than the first warning distance or the second warning distance, the contact prevention means issues an alarm,
The contact prevention device according to any one of claims 1 to 7, wherein the warning distance changing unit changes the warning distance by invalidating the first warning distance.   The contact prevention device according to claim 8, wherein all of the at least one first distance detection unit and the at least one second distance detection unit are mounted on the vehicle.   The contact prevention device according to claim 8, wherein the first distance detection unit is mounted on the vehicle, and the second distance detection unit is disposed in the parking section.   The contact prevention device according to any one of claims 1 to 10, wherein the contact prevention means is a device that automatically stops the vehicle.   The parking assistance apparatus incorporating the contact prevention apparatus as described in any one of Claims 1-11.

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