JP2011126337A - Drive support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive support device which prevents the restriction of execution of parking support when an obstacle is detected and performs sonar detection suitable for each of parallel parking and garage parking. <P>SOLUTION: The drive support device of a vehicle includes a parking support means for performing predetermined parking support for a driver in parallel parking and garage parking, and an approach detection means for detecting that the vehicle approaches an obstacle using a first clearance sonar arranged on a front portion of the vehicle and a second clearance sonar arranged on a rear portion of the vehicle. The drive support device further includes a sonar detection distance changing means for lengthening a distance detected by the first clearance sonar to be longer than usual and shortening a distance detected by the second clearance sonar to be shorter than usual in parallel parking and for maintaining a distance detected by the first clearance sonar to be the same as usual and shortening the distance detected by the second clearance sonar to be shorter than usual in garage parking when the predetermined parking support is performed. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support device, and in particular, with clearance sonar provided respectively at a front part and a rear part of a vehicle that performs predetermined parking support for a driver during parallel parking and parking in a garage. The present invention relates to a driving support apparatus suitable for detecting approach.

  2. Description of the Related Art Conventionally, an apparatus that detects an approach between an own vehicle and an obstacle using an ultrasonic sensor (clearance sonar) disposed in the vehicle is known (see, for example, Patent Documents 1 and 2). In the device described in Patent Document 1, the presence or absence of an obstacle on the side as viewed from the host vehicle is detected using an ultrasonic sensor, and the parking space of the host vehicle is recognized. In this device, the detection distance of the ultrasonic sensor is changed according to the operation position of the shift lever. Furthermore, the device described in Patent Document 2 is mounted on a vehicle that performs predetermined parking assistance for the driver during parking. When an obstacle is detected by an ultrasonic sensor during the parking assistance, the predetermined parking assistance is performed. Stop execution.

JP 2007-015661 A JP 2007-076496 A

  However, in the apparatus described in Patent Document 2, when an obstacle is detected by the ultrasonic sensor, the execution of the parking support is stopped, so that the execution as the parking support system is excessively limited. .

  In general, approach detection with an obstacle is performed within a predetermined detection distance range at the front corner of the vehicle and the rear portion of the vehicle, respectively. In order to suppress unnecessary warnings when the vehicle is stopped, the detection distance is set to about 50 cm, and in the approach detection for the rear part of the vehicle, the detection distance is set to about 150 cm in order to promptly issue an approach warning when the vehicle moves backward. Further, as vehicle parking, there are parallel parking in which vehicles are cascaded on a road shoulder and the like, and garage parking in which vehicles are paralleled in a parking lot or the like. In parallel parking, it is important for the driver how close the front corner of the vehicle (especially the front corner on the side where parallel parking is intended) to the vehicle ahead of the parking space. Since it is preferable that the driver can recognize the approach distance early, it is desirable to detect the approach to the front corner of the vehicle at a distance longer than the normal detection distance, and the rear vehicle located behind the parking space stops. However, since it is not necessary that the approach warning is given early, it is sufficient to detect the approach to the rear part of the vehicle at a distance shorter than the normal detection distance. On the other hand, in garage parking, the approach to the front corner of the vehicle is not so important for the driver, so it is sufficient to detect the approach to the vehicle front corner at the normal detection distance, In addition, the adjacent vehicles adjacent to the parking space are generally stopped, and it is not necessary to issue an approach warning early, so the approach detection for the rear of the vehicle is performed at a shorter distance than the normal detection distance. It is enough to do. However, in the apparatus described in Patent Document 1 described above, the detection distance of the ultrasonic sensor is changed according to the operation position of the shift lever, but the change of the detection distance of the ultrasonic sensor is different between parallel parking and garage parking. Since no distinction is made, changes appropriate for parallel parking and changes appropriate for parking in a garage have not been made, and an unnecessary approach warning may occur.

  The present invention has been made in view of the above points, and it is possible to perform sonar detection suitable for parallel parking and garage parking while avoiding the limitation of the execution of parking support when detecting an obstacle. An object is to provide a possible driving assistance device.

  The above object is to provide parking support means for performing predetermined parking support for the driver at the time of parallel parking and garage parking, a first clearance sonar disposed at the front of the vehicle, and a second clearance disposed at the rear of the vehicle. A vehicle driving support device for detecting an approach between the host vehicle and an obstacle using a sonar, wherein the first clearance sonar during parallel parking during execution of the predetermined parking support. The detection distance of the first clearance sonar is set to be longer than that of the normal time and the detection distance of the second clearance sonar is set to be shorter than that of the normal time. This is achieved by a driving support device that includes a sonar detection distance changing means that makes the detection distance of the second clearance sonar shorter than that of a normal one without changing it.

  In the invention of this aspect, during predetermined parking assistance, the detection distance of each clearance sonar is changed according to parallel parking and garage parking. In this case, even if the proximity detection is performed using the clearance sonar whose detection distance is changed, the predetermined parking assistance is not stopped. For this reason, it is avoided that the execution of parking assistance is restricted at the time of obstacle detection using the clearance sonar. In addition, during the predetermined parking assistance, during parallel parking, the detection distance of the first clearance sonar at the front of the vehicle is made longer than that at normal time, and the detection distance of the second clearance sonar at the rear of the vehicle is higher than that at normal time. On the other hand, at the time of parking in the garage, the detection distance of the first clearance sonar at the front part of the vehicle is not changed from that at the normal time, and the detection distance of the second clearance sonar at the rear part of the vehicle is made shorter than that at the normal time. . For this reason, sonar detection suitable for each of parallel parking and garage parking becomes possible.

  According to the present invention, it is possible to perform sonar detection suitable for parallel parking and parking in a garage while avoiding the limitation of the execution of parking assistance during obstacle detection.

It is a block diagram of the driving assistance device which is one Example of this invention. It is a figure showing the detection distance (detection range) of the clearance sonar with which the driving assistance device of a present Example is provided. It is a figure for demonstrating the structure at the time of parallel parking in a present Example. It is a figure for demonstrating the structure at the time of parking in a garage in a present Example. It is a flowchart of an example of the control routine performed in the driving assistance apparatus of a present Example.

  Hereinafter, specific embodiments of the driving support apparatus according to the present invention will be described with reference to the drawings.

  FIG. 1 shows a configuration diagram of a driving support apparatus 10 mounted on a vehicle according to an embodiment of the present invention. The driving support device 10 of the present embodiment has the side of the vehicle body adjacent to the other vehicle in parallel parking and parking lots in which the front of the vehicle body and the rear of the vehicle body are adjacent to the other vehicle on the road shoulder or the like and parked in parallel. This is a device that provides parking assistance to the vehicle driver by guiding the vehicle to the target parking position where the vehicle should be parked during parking in the garage parking that is parked in parallel, and also warns when an approach between the vehicle and an obstacle is detected It is a device that performs display and notification.

  First, the structure which performs parking assistance in the driving assistance apparatus 10 is demonstrated. As shown in FIG. 1, the driving support device 10 includes a parking assist electronic control unit (hereinafter referred to as a parking assist ECU) 12 that performs a calculation for performing parking support for the driver when the vehicle is parked. The parking assist ECU 12 is mainly composed of a microcomputer, and executes parking assistance according to the processing software.

  A back camera 14 and a display 16 are electrically connected to the parking assist ECU 12. The rear camera 14 is disposed in the center of the rear part of the vehicle body, and captures a vehicle rear area that extends from the position of the rear camera in a predetermined angle range that is predetermined to the rear of the vehicle. The captured image of the vehicle rear situation captured by the back camera 14 is supplied to the parking assist ECU 12. The display 16 is a touch display that is arranged at a position (for example, the center of the instrument panel) where the vehicle driver can visually recognize and operate the display so that the display screen faces the rear of the vehicle. The parking assist ECU 12 shoots the rear of the vehicle by the back camera 14 when, for example, a predetermined switch operation is performed by the vehicle driver or when it is detected that the host vehicle has entered the parking lot using a navigation device or the like. The captured image is displayed on the display screen of the display 16. The display 16 displays a captured image obtained by photographing the rear of the vehicle by the back camera 14 in accordance with a command from the parking assist ECU 12 on its display screen.

  The display 16 is provided with a pressure-sensitive touch operation unit that can be operated by the vehicle driver. Parking assistance ECU12 displays a touch operation part on the display 16, when performing parking assistance. The touch operation unit includes a plurality of hierarchical switches and is displayed on the display screen according to a command from the parking assist ECU 12. Moreover, parking assist ECU12 detects the operation by the vehicle driver to the touch operation part displayed on the display 16, and performs the process according to the content of the detected operation. The touch operation unit has a switch for selecting one of a parallel parking mode for supporting parallel parking and a garage parking mode for supporting garage parking, and the driver parks the vehicle. An arrow button switch for setting the target parking position, a switch for confirming the setting, and the like are included.

  A steering sensor 20 and an EPS-ECU 22 are connected to the parking assist ECU 12 via a communication line 18 such as CAN. The steering sensor 20 is a sensor that outputs a signal corresponding to the steering angle of the steering operated by the driver to steer the vehicle. The output of the steering sensor 20 is supplied to the parking assist ECU 12. The parking assist ECU 12 detects the steering angle of the steering based on the output signal of the steering sensor 20, and executes a process according to the steering angle.

  A torque sensor 24 and an EPS actuator 26 are electrically connected to the EPS-ECU 22. The torque sensor 24 is a sensor that outputs a signal corresponding to the operation torque from the driver applied to the steering that the driver operates to steer the vehicle. The output of the torque sensor 24 is supplied to the EPS-ECU 22. The output of the steering sensor 20 is also supplied to the EPS-ECU 22. The EPS-ECU 22 responds to the detected torque while detecting the operation torque applied to the steering based on the output signal of the torque sensor 24 during normal times (specifically, when the parking assistance by the parking assist ECU 12 is not performed). Steering assist for driving the EPS actuator 26 is executed so that the assist torque is applied to the steering. On the other hand, when the parking assist ECU 12 performs parking assistance, the EPS-ECU 22 automatically detects the steering angle according to the target guidance locus to the target parking position while detecting the steering angle based on the output signal of the steering sensor 20. Parking assistance for driving the EPS actuator 26 so as to be rotated (automatic steering) is executed.

  Hereinafter, a specific operation for guiding the vehicle to the target parking position when parking the vehicle and providing parking assistance to the vehicle driver will be described.

  In this embodiment, when the vehicle driver turns on a parking assist switch provided on an instrument panel or the like to start and execute parking assistance, the parking assistance ECU 12 starts executing parking assistance (parking assistance mode). ). Specifically, when the parking assist ECU 12 detects that the parking assist switch is turned on, first, the parking assist ECU 12 uses the ultrasonic sensors provided on both side surfaces of the front part of the vehicle body and the back camera 14 described above to detect the vehicle. Detect parking space. Then, the target parking position where the subject vehicle is to be parked in parallel or parked in accordance with an operation to the touch operation unit of the display 16 based on the space while displaying the detected parking space on the display 16. Move to confirm the position. The driver determines the target parking position corresponding to the parallel parking or the parking in the garage by operating the touch operation unit while looking at the parking available space displayed on the display 16.

  When the parking assist ECU 12 determines the target parking position in either the parallel parking mode or the garage parking mode, the parking position corresponding to the parking mode is determined from the current position (confirmed position) of the own vehicle with respect to the EPS-ECU 22. A request instruction to perform automatic steering is transmitted toward. When such transmission is performed, the EPS-ECU 22 receives a request instruction from the parking assistance ECU 12 via the communication line 18. When such reception is performed, thereafter, the EPS-ECU 22 causes the vehicle to move from the determined position to the target position when the driver operates the shift lever to the retracted position and the pedaling force on the brake pedal is relaxed. The EPS actuator 26 is driven so as to follow the target locus up to the parking position. In this case, the steering is automatically steered along the target locus to the target parking position by driving the EPS actuator 26. The driver adjusts the reverse speed of the vehicle by operating the brake pedal while confirming the surrounding safety while the vehicle is moving backward from the fixed position to the target parking position, and the vehicle moves backward to the vicinity of the target parking position. When you do, depress the brake pedal to stop the vehicle. When the vehicle stops, the parking assist mode is cancelled.

  As described above, according to the driving assistance device 10 of the present embodiment, in the parking assist mode, the parking assistance is performed in which the steering is automatically rotated and automatically steered when the host vehicle is parked at the target parking position. Can do. For this reason, according to the present embodiment, it is sufficient for the driver to adjust the brake operation when the vehicle is parked, and it is not necessary to perform the steering operation. Can be reduced.

  Next, the structure which performs approach detection with an obstacle in the driving assistance apparatus 10 is demonstrated. FIG. 2 is a diagram showing the detection distance (detection range) of the clearance sonar included in the driving support device 10 of the present embodiment.

  As shown in FIG. 1, the driving support device 10 further includes a clearance sonar ECU 30 that performs a calculation for detecting the approach of the host vehicle and an obstacle. The clearance sonar ECU 30 is mainly composed of a microcomputer, and detects approach to an obstacle according to processing software.

  A clearance sonar 32 as an obstacle detection sensor is electrically connected to the clearance sonar ECU 30. As shown in FIG. 2, a plurality of clearance sonars 32 are disposed in the vehicle front bumper and the vehicle rear bumper, and are provided at least at both corners of the vehicle front and at the center of the vehicle rear. . Hereinafter, the clearance sonar 32 at the vehicle front corner will be referred to as first clearance sonars 32FL and 32FR, and the clearance sonar 32 at the center of the rear of the vehicle will be referred to as second clearance sonar 32BC, respectively.

  Each clearance sonar 32 transmits an ultrasonic wave toward the front side of the vehicle or the rear side of the vehicle, receives a reflected wave reflected by the obstacle, and outputs a detection signal. The first clearance sonars 32FL and 32FR at the front corner of the vehicle are operated, for example, when the vehicle is in an ignition-on state, the shift lever is at a position other than the stop position P, and the vehicle speed is below a predetermined speed (for example, 10 km / h). Allowed at certain times. The operation of the second clearance sonar 32BC at the center of the rear portion of the vehicle is permitted, for example, when the vehicle is in an ignition-on state and the shift lever is in the reverse position R.

  Transmission of ultrasonic waves by the clearance sonar 32 is performed at a predetermined cycle. The time (phase difference) from the transmission of the ultrasonic wave of the clearance sonar 32 to the reception of the reflected wave depends on the distance between the host vehicle and the obstacle. Specifically, the shorter the distance, the shorter, and the longer the distance, the longer. In this regard, if the ultrasonic transmission period of the clearance sonar 32 is changed in accordance with the detection distance (detection range) of the obstacle to be detected, the obstacle according to the detection distance based on the detection signal of the clearance sonar 32 It becomes possible to detect the approach of an object. For example, in order to detect an obstacle at a position relatively close to the host vehicle, the ultrasonic transmission cycle is shortened to shorten (narrow) the detection distance (detection range). On the other hand, when detecting an obstacle at a position relatively far from the host vehicle, the transmission distance of the ultrasonic wave (detection range) is lengthened (widened) by increasing the ultrasonic transmission cycle.

  The detection distance Xfc0 of the first clearance sonars 32FL, 32FR is erroneously detected as an obstacle when the host vehicle is too close to the preceding vehicle and waits for a signal at an intersection, and a false alarm of a buzzer is made. Usually, the normal value X10 of about 50 cm is set. In addition, the detection distance Xb0 of the second clearance sonar 32BC is normally set to a normal value X20 of about 150 cm in order to speed up the timing of detecting the approach with an obstacle when the vehicle is moving backward.

  The output of the detection signal of each clearance sonar 32 is supplied to the clearance sonar ECU 30. The clearance sonar ECU 30 determines the presence or absence of an obstacle existing around the host vehicle based on the output signal of each clearance sonar 32, and if an approach to the obstacle is detected, the obstacle and the host vehicle are detected. Detect the distance.

  A buzzer alarm 34 is electrically connected to the clearance sonar ECU 30, and a meter ECU 36 is connected via the communication line 18. When the clearance sonar ECU 30 detects the approach to the obstacle using the clearance sonar 32, the clearance sonar ECU 30 drives the buzzer alarm 34 and issues a request instruction to display to the meter ECU 36 indicating the approach detection. The buzzer alarm 34 sounds a buzzer toward the driver in accordance with an instruction from the clearance sonar ECU 30. The buzzer sounding of the buzzer alarm 34 corresponds to the distance between the host vehicle and the obstacle. For example, when the distance is long, it is performed with a long intermittent time, and when the distance is short, it is performed with a short intermittent time. In addition, the meter ECU 36 causes the display 16 and the information display to display an indication that an approach to an obstacle has been detected toward the driver in accordance with an instruction from the clearance sonar ECU 30 via the communication line 18. This display corresponds to the distance between the host vehicle and the obstacle. For example, when the distance is long, it is performed at a long blinking interval, and when the distance is short, it is performed at a short blinking interval.

  Hereinafter, a specific operation for detecting an approach to an obstacle near the host vehicle will be described.

  In this embodiment, when the vehicle driver turns on a clearance sonar switch provided on an instrument panel or the like to start and execute obstacle detection, the clearance sonar ECU 30 detects the approach between the host vehicle and the obstacle. Start execution (approach detection mode). Specifically, ultrasonic waves are transmitted from the clearance sonar 32 that is permitted to operate in accordance with the operating conditions of each clearance sonar 32.

  When there is no obstacle within the detection distance of the clearance sonar 32 that is permitted to operate, the reflected wave of the ultrasonic wave is not received, so the clearance sonar 32 does not output a detection signal. Accordingly, in this case, the clearance sonar ECU 30 does not receive the detection signal from the clearance sonar 32, and therefore determines that there is no obstacle present within the detection distance. On the other hand, when an obstacle exists within the detection distance of the clearance sonar 32 permitted to operate, the reflected wave of the ultrasonic wave is received, so the clearance sonar 32 outputs a detection signal. When the clearance sonar ECU 30 receives a detection signal from the clearance sonar 32, the clearance sonar ECU 30 determines that an obstacle exists within the detection range of the clearance sonar 32 and detects the distance from the host vehicle to the obstacle.

  When the clearance sonar ECU 30 determines that there is an obstacle and detects the distance between the host vehicle and the obstacle, the clearance sonar ECU 30 drives the buzzer alarm 34 so that the buzzer sounds according to the detected distance to the obstacle. At the same time, a display request instruction is given to the meter ECU 36 so that display according to the detected distance to the obstacle is performed. In this case, a buzzer sounding according to the distance between the host vehicle and the obstacle is performed from the buzzer alarm 34, indicating that the approach to the obstacle has been detected on the display visible to the driver, and Display according to the distance to the obstacle is performed.

  As described above, according to the driving support device 10 of the present embodiment, in the approach detection mode, it is possible to detect the approach to an obstacle existing in the vicinity of the host vehicle using the clearance sonar 32 attached to the vehicle body, and When approaching with an obstacle is detected, the driver can be informed of approaching with the obstacle by buzzer sound or display. For this reason, according to the present embodiment, it is possible to reduce the burden of the driving operation by giving the driver information on the obstacle to be careful when the driver operates the host vehicle. .

  Next, with reference to FIGS. 3-5, the case where the approach detection to an obstacle mentioned above in the present Example is performed during execution of the parking assistance mentioned above is demonstrated.

  FIG. 3 is a diagram for explaining a configuration during parallel parking in the present embodiment. FIG. 4 is a diagram for explaining a configuration at the time of parking in a garage in the present embodiment. 3A and 4A are diagrams showing the detection range of the clearance sonar 32 when the approach detection to the obstacle is performed as usual during the execution of the parking assistance, FIGS. 3B and 4B are diagrams respectively showing detection ranges of the clearance sonar 32 during execution of parking assistance in the present embodiment. FIG. 5 shows a flowchart of an example of a control routine executed in the driving support device 10 of the present embodiment.

  In this embodiment, when the parking assist ECU 12 starts executing the parking assist by turning on the parking assist switch, the parking assist ECU 12 transmits a signal (IPA operation signal) indicating that the host vehicle is in the parking assist mode during the parking assist mode. 18 to the clearance sonar ECU 30. The transmission of the IPA operation signal from the parking assist ECU 12 to the clearance sonar ECU 30 is set after the parking assist mode is set to the parallel parking mode or the garage parking mode by the operation to the touch operation unit. What is necessary is just to include at least information on the parallel parking mode or the garage parking mode.

  When the clearance sonar ECU 30 has not received an IPA operation signal including information on the parallel parking mode or the garage parking mode, the clearance sonar ECU 30 determines that the parking assistance by the parking assistance ECU 12 is not being executed, and processes related to the parking assistance. Is not performed (when negative determination is made in step 100). On the other hand, when an IPA operation signal including information on the parallel parking mode or the garage parking mode is received, it is determined that the parking support ECU 12 is executing the parking assistance while the approach detection mode is set (Yes in Step 100). Next, based on the mode information included in the received IPA operation signal, it is determined whether the parking assist mode is the parallel parking mode or the garage parking mode (step 102).

  As described above, normally, the detection distance Xfc0 of the first clearance sonars 32FL and 32FR at the front corners of the vehicle is set to a normal value X10 of about 50 cm to prevent false alarms such as waiting for a signal, The detection distance Xb0 of the second clearance sonar 32BC at the center of the rear part of the vehicle is set to a normal value X20 of about 150 cm so as to accelerate the timing of detecting the approach with the obstacle when the vehicle is moving backward.

  When the result of the determination in step 102 is that the vehicle is in the parallel parking mode, clearance sonar ECU 30 next sets detection distance Xfc0 of first clearance sonars 32FL, 32FR from normal value X10 to the normal value X10. The detection distance Xb0 of the second clearance sonar 32BC is changed from the normal value X20 to a predetermined value (for example, 50 cm) X21 shorter than the normal value X20 (step 104). See FIG. 3).

  On the other hand, if the result of the determination in step 102 is that the vehicle is in the garage parking mode, the clearance sonar ECU 30 next maintains the detection distance Xfc0 of the first clearance sonars 32FL and 32FR at the normal value X10. Then, the detection distance Xb0 of the second clearance sonar 32BC is changed from the normal value X20 to a predetermined value (for example, 50 cm) X22 shorter than the normal value X20 (step 106; see FIG. 4). The predetermined value X22 may be different from the predetermined value X21 in the parallel parking mode, but may be the same.

  In tandem parking, it is important for the driver how close the front corner of the host vehicle is to the front vehicle located in front of the parking space, and the rear vehicle and the host vehicle stop behind the parking space. It is not appropriate to start approach detection with the rear part too early. On the other hand, in the present embodiment, when parking support is being executed and in the parallel parking mode, the detection distance Xfc0 of the first clearance sonars 32FL and 32FR at the front corners of the vehicle is made longer than the normal distance X10. Therefore (X11), the approach to the front vehicle located ahead of the target parking position can be detected at an early timing, and the approach display to the front vehicle and the buzzer sounding by the buzzer alarm 34 are started early. be able to. Further, in this parallel parking mode, the detection distance Xb0 of the second clearance sonar 32BC at the center of the rear of the vehicle is made shorter than the normal distance X20 (X21), so the parked rear vehicle located behind the target parking position It can be avoided that the approach to the vehicle is detected at an unnecessarily early timing, and the display of the approach to the rear vehicle and the buzzer sounding by the buzzer alarm 34 can be prevented from being performed unnecessarily quickly. .

  In garage parking, approaching the front corner of the host vehicle is not very important for the driver, and detection of approach between the adjacent vehicle adjacent to the parking space and the rear part of the host vehicle is started at an early stage. Is not appropriate. On the other hand, in the present embodiment, when parking support is being executed and in the garage entry mode, the detection distance Xfc0 of the first clearance sonars 32FL, 32FR at the front corners of the vehicle is changed from the normal X10. Therefore, the normal approach detection can be performed on the obstacle near the front of the vehicle. Unlike the parallel parking mode, the approaching display to the display and the buzzer alarm 34 are unnecessarily fast. It can be avoided. Furthermore, in this garage entry mode, the detection distance Xb0 of the second clearance sonar 32BC at the center of the rear of the vehicle is made shorter than the normal distance X20 (X21), so that no approach to an adjacent vehicle adjacent to the target parking position is not possible. It is possible to avoid detection at a necessary early timing, and it is possible to eliminate the need for an approaching display to an adjacent vehicle to the display and a buzzer sounding by the buzzer alarm 34 being performed unnecessarily quickly.

  As described above, according to the driving assistance device 10 of the present embodiment, when the parking assistance by the parking assistance ECU 12 is not being performed normally, the detection distances Xfc0 and Xb0 of the clearance sonar 32 are set to ordinary ones and the own vehicle While proximity detection with surrounding obstacles can be performed, when the parking support by the parking support ECU 12 is being executed, the detection distances Xfc0 and Xb0 of the clearance sonar 32 are matched with the parallel parking mode or the garage parking mode. By appropriately changing from the normal one, it is possible to detect the approach with the obstacle around the host vehicle.

  For this reason, in this embodiment, even if the approach between the host vehicle and the obstacle is detected, the execution of parking support in which automatic steering is performed along the trajectory to the target parking position is not stopped, In addition, approach detection with an appropriate obstacle is performed in accordance with parallel parking and parking in parking support. That is, it is possible to perform sonar detection suitable for each of parallel parking and parking in a garage while avoiding the restriction of the execution of parking support when an obstacle is detected.

  In the above-described embodiment, the parking assist ECU 12 and the EPS-ECU 22 automatically steer the vehicle toward the target parking position during parallel parking or parking in the garage, The clearance sonar ECU 30 detects the approach between the host vehicle and the obstacle using the clearance sonar 32, and the “approach detection means” described in the claims is included in the routine shown in FIG. By executing the processing of step 104 or 106, the “sonar detection distance changing means” described in the claims is realized.

  By the way, in the above embodiment, in the parallel parking mode, the detection distance Xfc0 of the first clearance sonars 32FL and 32FR at the vehicle front corner is changed to the predetermined value X11 longer than the normal value X10. The detection distance Xfc0 of the first clearance sonars 32FL and 32FR may be changed only on the side where the own vehicle is to be parked in parallel among both the sonars 32FL and 32FR. For example, in the situation shown in FIG. 3, the detection distance Xfc0 may be changed only for the first clearance sonar 32FL on the left side of the vehicle body.

  In addition, the detection distance Xfc0 of the first clearance sonars 32FL and 32FR in the parallel parking mode is changed regardless of whether the driver's seat is on the left side or the right side of the vehicle. It may be performed only when the host vehicle is on the side opposite to the side on which parallel parking is intended. For example, in the situation shown in FIG. 3, the change may be performed only when the driver's seat is on the right side of the vehicle interior, and the change may not be performed when the driver's seat is on the left side of the vehicle interior.

  In the above-described embodiment, when the parking sonar ECU 30 receives the IPA operation signal from the parking assist ECU 12 in the parking assist mode in which the parking assist by the parking assist ECU 12 is being executed, Although the approach detection mode for executing the approach detection with the object is set, the approach detection mode may be set on condition that the clearance sonar switch is turned on by the driver. That is, the clearance sonar ECU 30 enters the approach detection mode when it receives the IPA operation signal from the parking assist ECU 12 and detects that the clearance sonar switch is turned on, and changes the detection distance of the clearance sonar 32. For example, even if the IPA operation signal is received, it is possible not to shift to the approach detection mode when it is not detected that the clearance sonar switch is turned on. According to this configuration, it is possible to detect an approach to an obstacle using the clearance sonar 32 as the driver desires, including during parking assistance.

  In the above embodiment, the detection distances Xfc0 and Xb0 of the clearance sonar 32 are appropriately changed in the parking assist mode. Here, the approach detection of the obstacle using the clearance sonar 32 is generally intended for a certain reflection intensity so as to eliminate the influence of ultrasonic noise or the like, but parking assistance During parking assistance by the ECU 12, the situation is limited such that the obstacle to be detected for approach is almost limited to the vehicle. Therefore, the threshold value of the reflection intensity that is to be detected for approach may be lowered below the normal value. The greater the distance from the clearance sonar 32 to the obstacle, the weaker the reflected wave, and depending on the shape of the vehicle corner, the reflected wave may not be received effectively. If the threshold value of the reflection intensity for object approach detection is lowered, the obstacle detection probability can be increased, and the obstacle approach detection accuracy can be increased.

  Further, the approach detection of the obstacle using the clearance sonar 32 is generally determined when there are continuous detections a plurality of times (for example, three times) so as to eliminate the influence of ultrasonic noise and the like. However, during parking assistance by the parking assistance ECU 12, the situation is limited such that the obstacles that are subject to approach detection are almost limited to vehicles, so if one or two detections less than the normal number of times are detected, there is an obstacle. It is good also as confirming the approach detection of an object. According to this configuration, during parking assistance, the response of obstacle approach detection using the clearance sonar 32 can be improved, and prompt obstacle approach detection can be realized.

10 Driving assistance device 12 Parking assistance ECU
22 EPS-ECU
30 clearance sonar ECU
32 Clearance sonar sensor

Claims (1)

Using parking assist means for providing predetermined parking assistance to the driver at the time of parallel parking and parking in the garage, and using a first clearance sonar disposed at the front of the vehicle and a second clearance sonar disposed at the rear of the vehicle. An approach detection means for detecting an approach between the vehicle and an obstacle;
During execution of the predetermined parking support, during parallel parking, the detection distance of the first clearance sonar is made longer than that at normal time and the detection distance of the second clearance sonar is made shorter than that at normal time, On the other hand, at the time of parking in a garage, it is provided with a sonar detection distance changing means for making the detection distance of the second clearance sonar shorter than that at normal time without changing the detection distance of the first clearance sonar from that at normal time. A driving assistance device characterized by the above.