JP3436237B2 - Parking assistance device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assistance device .

[0002]

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

According to such a device, when the vehicle is moving backward, the field of view such as road conditions behind the vehicle is displayed on the screen of the monitor television according to the expected backward trajectory of the vehicle according to the steering angle. You can move the vehicle backwards by operating the steering wheel while looking at the TV screen without turning around.

[0004]

When the vehicle is parked in parallel, for example, the vehicle is retracted in parallel with the road, the steering wheel is turned at an appropriate position to enter the parking space, and the steering wheel is turned in the opposite direction to reach the target. It is necessary to guide the vehicle to the parking position. However, in the conventional rear-view monitoring device, the driver can determine where to start or turn the steering wheel and the amount of steering simply by looking at the rear view and the expected backward trajectory of the vehicle on the TV screen. It was difficult to determine how much to do. Therefore, if it is possible to know a specific operation method and operation timing according to the position of the vehicle, it is preferable that even a driver unfamiliar with the operation can easily perform steering. Further, if steering information can be obtained from other than the TV screen, it is desirable that the driver does not have to constantly watch the TV screen and can drive while looking around the vehicle.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a parking assist device which allows a driver to easily grasp the steering timing when parking.

[0006]

In order to achieve the above-mentioned object, the present invention is a parking assist device for assisting backward parking, in which yaw angle detecting means for detecting a yaw angle of a vehicle and parking are started. Reference setting means for setting a reference angle of the yaw angle at a reference position, and a controller for specifying a vehicle position based on the reference angle set by the reference setting means and the yaw angle detected by the yaw angle detection means. A controller for providing steering information to a driver based on the position of the vehicle specified by the controller,
Is the yaw of the vehicle corresponding to the predetermined position with respect to the reference position.
Is provided with a yaw angle storage means for storing the yaw angle.
The yaw angle detected by the output means and the yaw angle storage means
The yaw angle stored in the vehicle is compared with the stored yaw angle.
It is characterized by specifying the position of . The locus from the reference position of the vehicle to the parking position is a plurality of arcs circumscribing each other and each having a constant radius .
Even if the value corresponds to the position of the end point of each arc,
Good. The yaw angle detection means may be a yaw rate sensor that detects a yaw direction angular velocity of the vehicle. The yaw angle detecting means may include a steering angle sensor for detecting the steering angle of the steering wheel and a yaw rate sensor for detecting the angular velocity of the vehicle in the yaw direction, or a steering angle sensor for detecting the steering angle of the steering wheel. And a distance sensor that detects the traveling distance of the vehicle. The steering information includes
When the yaw angle reaches a predetermined angle, at least guidance information for turning the steering wheel or guidance information for maximizing the steering angle of the steering wheel may be included. The steering information may include at least guidance information for turning the steering wheel or guidance information for making the steering wheel straight when the yaw angle reaches a predetermined angle. The steering information may include guidance information for stopping the vehicle at the target parking position when the yaw angle reaches a predetermined angle. The steering information is preferably sound or visual information. The steering information may include guidance information capable of steering to an appropriate steering angle based on the steering angle detected by the steering angle sensor.

In order to achieve the above-mentioned object, another aspect of the present invention is such that a forward operation is performed in a state where a preset constant steering angle is maintained, and then a backward steering is performed in a stopped state to preset. A yaw angle detection means for detecting a yaw angle of a vehicle, which is a parking assist device used for performing a reverse movement parking while performing a backward movement while being held at a fixed steering angle,
A reference position setting means for setting a reference angle of the yaw angle at a reference position for starting parking, and a vehicle position based on the reference angle set by the reference setting means and the yaw angle detected by the yaw angle detection means. The controller includes a controller for specifying and a guide unit for providing steering information to a driver based on the position of the vehicle specified by the controller.
The roller is a vehicle corresponding to a predetermined position with respect to the reference position.
The yaw angle storage means for storing both yaw angles is provided,
The yaw angle detected by the angle detection means and the yaw angle
Compare the yaw angle stored in the memory with the memory yaw angle.
Characterized that you identify the location of the vehicle Te. The controller holds the stored yaw angle value at a constant steering angle.
Of the end point of the forward or backward movement performed in the
It may be a value corresponding to the position. The parking assistance device is
It is preferable to further include adjusting means for correcting the value of the stored yaw angle . The value of the stored yaw angle may be a value of the yaw angle corresponding to the position where the vehicle starts to move backward for backward parking. The value of the stored yaw angle may be a value of the yaw angle corresponding to the position of the steering wheel turning point of the vehicle moving backward for parallel parking. The value of the stored yaw angle may be a value of the yaw angle corresponding to the position where the backward movement for the parallel parking is completed. The value of the stored yaw angle may be a value of the yaw angle corresponding to a position that defines a point at which the steering wheel of the vehicle that retreats for parallel parking is returned to the straight forward retreat state.

The standard setting means may set, as the standard position, a vehicle position where the driver's position and a predetermined position in the parking space coincide with each other in the longitudinal direction of the vehicle during parallel parking. The reference setting means may set, as the reference position, a vehicle position in which the driver's position and a predetermined position with respect to the parking space match in the vehicle front-rear direction during parallel parking.

The parking assist device may include a measuring means for measuring the backward driving start position with respect to the target parking position. The measuring means may be a measuring means for measuring a distance to an obstacle on the side of the vehicle. The parking assistance device further includes a camera that captures a rear view of the vehicle, and a monitor that is disposed in a driver's seat of the vehicle and that displays an image from the camera, and the steering information indicates a parking space on the monitor. by substantially overlap the line, at least, it is preferable that the vehicle to notify the timing for the timing or the steering angle Ru was Kirikaesa the handle up contains a vehicle mark simulating.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. Embodiment 1. The first embodiment is the Japanese Patent Application No. 11-254 filed by the present applicant.
No. 191 and a parking support applied when guiding a vehicle to a target parking space according to the aspects disclosed in the drawings.
The present invention relates to an assisting device . As shown in the schematic diagram of FIG. 4, the vehicle is parked in parallel in the parking space T from the vehicle position N, which is operated to be parallel to the target parking space T, through the steering start position M, the full cut position P. It is a device for assisting a person's steering. The full cutting position P
Is determined from the size of the vehicle 1, the minimum turning radius Rc, and the like. In the present embodiment, the angle formed between the rear axle of the vehicle 1 and the target width direction of the parking space T is, for example, 39 °.
Is set to.

As shown in FIG. 1, a camera 2 for taking a visual field behind the vehicle 1 is attached to the rear portion of the vehicle 1. A rear bumper 3 of the vehicle 1 is provided at an end portion on the near side of the field of view of the camera 2. A monitor 4 composed of a color type liquid crystal display is arranged in the driver's seat of the vehicle 1. The monitor 4 may be used as a display device of a navigation device. The front wheels 6 as steered wheels are steered by operating the steering wheel 7.

FIG. 2 shows the configuration of a parking assist device applied to parallel parking according to the embodiment of the present invention. An image processing device 8 is connected to the camera 2, and a monitor 4 is connected to the image processing device 8 via a monitor controller 9.
A steering angle sensor 10 for detecting the steering angle of the steering wheel 7 is attached to the steering shaft of the steering wheel 7, and the steering angle sensor 10 is connected to a controller 11.
The controller 11 includes a yaw rate sensor (gyro) 12 for detecting the angular velocity of the vehicle in the yaw direction, an operation switch 13 for setting the 0 degree position of the yaw angle of the vehicle, and voice guidance of steering information to the driver. A speaker 14 for connecting is connected.

The controller 11 calculates the steering angle of the front wheels 6 from the steering angle of the steering wheel 7 detected by the steering angle sensor 10 and outputs it to the image processing device 8. The image processing device 8 is C
PU15, ROM16 which memorized the control program,
An image processing processor 17 that processes video data from the camera 2, an image memory 18a in which the video data processed by the image processing processor 17 is stored, and a working R
AM 18b.

The ROM 16 stores display data of a fixed guide display which is fixedly displayed at a predetermined position on the screen of the monitor 4 regardless of steering of the steering wheel 7. As shown by the solid line in FIG. 3 (a), the fixed guide display shows a pair of vehicle width guidelines 20 and 21 indicating expected positions on both sides of the vehicle 1 when the vehicle 1 goes straight backward, and these vehicle width guidelines. Yellow circular eye marks 2 arranged at the rear end portions of the vehicle width guidelines 20 and 21 on the screen 19 displaying the upper portion of 20 and 21, that is, the rear image.
2 and 23. Eye marks 22 and 23
Is a mark for notifying the driver that the vehicle is in the full cut position when it overlaps the target point S1 of the target parking space on the screen 19. The eye mark 22 is for right rear parking, and the eye mark 23 is for left rear parking. Further, the fixed guide display has a pair of blue steering start guidelines 24 and 25 symmetrically arranged in the upper part of the screen 19. The steering start guidelines 24 and 25 indicate the timing at which the vehicle 1 traveling straight and backward in parallel with the road starts steering for parallel parking, and each is drawn as a line segment of a predetermined length.

The CPU 15 operates based on a control program stored in the ROM 16, calculates an expected locus of the vehicle 1 at the time of reversing at the steering angle at that time from the output signal of the controller 11, and based on this expected locus. The display data for displaying the movement guide display 26 indicating the vehicle width at a position corresponding to the steering angle by superimposing it on the image of the camera 2 is created at a predetermined cycle.

As shown by the broken line in FIG. 3 (a), the movement guide display 26 corresponds to the expected trajectory of the vehicle 1 at the time of reversing at the steering angle, and the vehicle rear end on the screen 19 of the monitor 4 is displayed. A line segment 27 having a vehicle width substantially at the position of the wheel base, and a pair of side lines 28 extending from both ends of the line segment 27 to the vehicle rear end with a vehicle width interval,
A pair of line segments 29 showing the middle part of the vehicle and extending in the vehicle width direction,
Has 30. In response to the steering of the steering wheel 7, the movement guide display 26 moves so as to bend in the left-right direction, as indicated by a broken line in FIG.

Further, the CPU 15 has a controller 11
On the basis of the output signal of, the red circular steering amount guide mark 31 moving along the steering start guide lines 24 and 25 of the screen 19 of the monitor 4 is superimposed on the image of the camera 2 according to the steering angle at that time. Display data to be displayed is created at a predetermined cycle. Turning the handle 7 to the left, for example,
As shown in (c), the steering amount guide mark 31 is moved and displayed on the steering start guideline 24 on the left side of the screen,
On the other hand, when the steering wheel 7 is turned to the right, the steering amount guide mark 31 is moved and displayed on the steering start guide line 25 on the right side of the screen, as shown in FIG. The steering amount guide mark 31 is a mark for notifying the driver that when the vehicle overlaps with the target point S1 on the screen 19, the driver can reach the full cut position by holding the steering angle and moving backward.

Here, steering start guidelines 24 and 2
A method of drawing 5 will be described. As shown in FIG. 4, the center of the rear axle of the vehicle 1 when the vehicle 1 is properly parked in the parking space T is the origin, the Y axis is parallel to the road in the backward direction of the vehicle 1, and is perpendicular to the Y axis. Take the X-axis.
Further, a back corner of the parking space T is set as a target point S1, and its coordinates are set as S1 (W / 2, a). Where W
Indicates the vehicle width, and a indicates the rear overhang. When the vehicle 1 located at the vehicle position Q maximizes the steering angle of the steering wheel 7, the radius Rc
When the vehicle position P reaches the vehicle position P, the steering wheel 7 is turned back in the opposite direction so that the steering angle is maximized, and in this state, the vehicle 1 is moved backward with a radius Rc and appropriately parked in the parking space T. I shall.

First, the angle γ of the vehicle position P viewed from the turning center C when the vehicle moves backward to the parking space T with the turning radius Rc of the rear axle center at the maximum steering angle from the vehicle position P.
Is γ = cos ⁻¹ [(Rc−W / 2) / {(Rc + W / 2) ² + a ² } ^1/2 ] −tan ⁻¹ {a / (Rc + W / 2)}. The coordinates (P0x, P0y) of the rear axle center P0 at the vehicle position P are represented by P0x = −Rc (1−cosγ) P0y = −Rc · sinγ using the above angle γ. Further, from the coordinates of the rear axle center P0, the coordinates (Q1x, Q1y) of the point Q1, which is the inner corner of the parking space corresponding to the target point S1 when the parking space T is moved in parallel to the vehicle position Q, are Q1x = −2Rc (1−cosγ) + W / 2 Q1y = −2Rc · sinγ + a.

Therefore, the straight line L connecting the target point S1 and the point Q1 is represented by Y = {sinγ / (1-cosγ)} X- {sinγ / (1-cosγ)}  (W / 2) + a The line segment extending rearward along the straight line L from the target point S1 on the screen 19 of the monitor 4 when the vehicle 1 is at the vehicle position Q becomes the steering start guideline. This steering start guideline is drawn symmetrically with respect to the Y axis, and these are designated as steering start guidelines 24 and 25. If the target point S1 of the parking space T displayed on the screen 19 of the monitor 4 overlaps with the steering start guideline 24 or 25 as the vehicle 1 moves, that location is defined by the present invention.
The parking assist device can determine that the vehicle can be parked in parallel.

Next, a method of drawing the steering amount guide mark 31 will be described. Consider an arbitrary vehicle position M that is parallel to the Y-axis and reaches the vehicle position P by turning backward with a radius R. The coordinates (M1x, M1y) of the point M1 which is the inner corner of the parking space corresponding to the target point S1 when the parking space T is moved in parallel to the vehicle position M are M1x = − (R + Rc) · (1− cosγ) + W / 2 M1y =-(R + Rc) sinγ + a, and when the turning radius R is obtained using this Y coordinate M1y, R = (a-M1y) / sinγ-Rc. Therefore, a circular steering amount guide mark 31 that moves along the steering start guide lines 24 and 25 according to the steering angle of the steering wheel 7 is displayed superimposed on the image of the camera 2, and the steering amount guide mark 31 is displayed on the monitor 4. The position of the steering amount guide mark 31 is set so that when the steering wheel 7 is steered so as to overlap the target point S1 of the parking space T displayed on the screen 19, the turning radius R of the above formula is exactly obtained.

Next, the operation of the parking assist system according to this embodiment will be described. Note that Table 1 below shows an example of the content of the voice steering information at each step of the parking process.

[0023]

[Table 1]

First, when the driver operates the shift lever 5 to the reverse position, the image processing device 8 causes the vehicle width guide lines 20, 2 to be displayed on the screen 19 of the monitor 4, as shown in FIG.
1, eye mark 22,23, steering start guideline 2
4, 25, the movement guide display 26, and the steering amount guide mark 31 are superimposed and displayed on the image of the camera 2. And
The driver operates the operation switch 13 at a vehicle position N parallel to the road shown in FIG. Operation switch 13
The controller 11 causes the vehicle position N
Is set as the 0 degree position of the vehicle yaw angle, and as shown in FIG. 5 and Table 1, as step 1, voice steering information for guiding the driver to enter the parallel parking mode is provided to the driver via the speaker 14. provide. Continuing on, the controller 11 turns the blue line (steering start guidelines 24 and 2
The steering information for the reverse target guidance to the effect that the vehicle is moved backward until 5) matches the target point S1 is provided.

When the driver moves the vehicle 1 straight and backward in parallel with the road according to the steering information, the target point S is displayed on the screen 19.
1 gradually approaches the steering start guideline 24, and FIG.
As shown in (b), when the target point S1 overlaps the steering start guideline 24, it is determined that the vehicle position M allows parallel parking, and the vehicle 1 is stopped.

Here, when the driver turns the steering wheel 7 to the left, the steering angle is detected by the steering angle sensor 10. When the steering angle exceeds 36 degrees, the controller 11 makes a red mark at step 2. (Steering amount guide mark 31)
Voice guidance information for steering target guidance to the effect that the steering wheel is turned until is coincident with the target point S1. When the driver turns the steering wheel 7 according to the steering information, the steering amount guide mark 31 gradually moves from the upper side to the lower side of the screen 19 along the steering start guideline 24, and the driver follows the steering information as shown in FIG. As shown in (c), the steering angle of the steering wheel 7 is maintained when the steering amount guide mark 31 overlaps the target point S1. Next, the controller 11
Is the yellow mark (eye mark 22
And 23) provide voice steering information for backward target guidance indicating that the vehicle will move backward until the target point S1 coincides with the target point S1.

According to the steering information, the driver moves the vehicle 1 backward while maintaining the steering angle of the steering wheel. As a result, the vehicle 1 turns with the radius R, and the target point S1 is displayed on the screen 19.
Gradually approaches the left rear parking eye mark 23. When the vehicle 1 starts to turn in this way, the yaw rate sensor 12 detects the angular velocity of the vehicle in the yaw angle direction, and the vehicle position N in which the operation switch 13 is actuated by integrating the angular velocity with time is set to 0 degree. The yaw angle, that is, the turning angle is detected. Then, when the turning angle of the vehicle exceeds 32 degrees, the controller 11 guides that the vehicle is approaching the full cut position P where the eye mark 23 overlaps the target point S1 on the screen 19 as step 4 at step 4. The approach signal sound to the effect is provided as steering information. Further, when the turning angle of the vehicle exceeds 34 degrees, the controller 11 provides the approach signal sound indicating that the vehicle is approaching the full cut position P as steering information as the steering information in step 5.

Here, in the present embodiment, the turning angle of the vehicle 1 reaching the full cut position P is set to 39 degrees. Therefore, when the turning angle of the vehicle before the vehicle 1 reaches the full cut position P exceeds 36 degrees, the controller 11 determines, as step 6, the eye mark 23 on the screen 19.
A matching signal sound indicating that the target point S1 matches the target point S1 is provided as steering information. Then, as shown in FIG. 3D, the driver determines that the vehicle position P has been reached when the target point S1 overlaps the eye mark 23 and stops the vehicle 1.

Next, in step 7, the controller 11 provides voice steering information for full turning guidance to the effect that the steering wheel is fully turned in the opposite direction (to the right). The driver
According to the steering information, the steering wheel 7 is turned in the opposite direction to maximize the steering angle and the vehicle 1 is moved backward. At this time, when the controller 11 confirms that the steering wheel 7 is fully turned, that is, the steering angle sensor 10 confirms that the steering angle has reached 540 degrees, the controller 11 retreats with the steering wheel fully turned. It also provides voice steering information for backward guidance to the effect.

The driver retracts the vehicle 1 into the parking space T according to the steering information. During this time as well, the yaw rate sensor 12 detects the angular velocity of the vehicle in the yaw angle direction, and when the turning angle decreases to 20 degrees, the controller 11 proceeds to step 8 as a front warning guide assuming a vehicle or the like parked in front. Provide voice steering information for. Then, when the vehicle retreats further and the turning angle decreases to 10 degrees, the controller 11
In step 9, voice steering information for stop guidance indicating that the vehicle has approached the parking completion position, that is, the parking space T is provided. Based on the steering information, the driver sets the vehicle width guideline 20 to the roadside line 32 as shown in FIG.
When the vehicle becomes parallel to the vehicle, the vehicle 1 is stopped and the parallel parking is completed.

As described above, in the parking assistance device of this embodiment, steps 3 to 6 are performed.
The driver always pays attention to the voice steering information provided from the speaker 14 during the backward movement of the screen 1 and the full reverse movement of the step 7 to the step 9 so that the driver can always see the screen 1.
It is not necessary to keep looking at 9, and it becomes possible to move backward while actually visually confirming the outer circumferences of the front and both sides of the vehicle 1. Further, since the driver can obtain the steering information by voice, even a beginner who is not accustomed to the operation of the parking assistance device can reliably park.

The present invention is not limited to the above-described embodiment, but the following modifications can be made. Embodiment 2. In the first embodiment, as the means for detecting the yaw angle, the yaw rate sensor 12, that is, the rate gyro that detects the angular velocity in the yaw angle direction is used, but instead, a position gyro that detects the yaw angle itself is used. You can also

Embodiment 3. Further, in the first embodiment, instead of the yaw rate sensor 12, a distance sensor that detects the traveling distance of the vehicle at the time of reversing may be used. That is, in FIG. 4, the turning radius R of the vehicle can be calculated as being peculiar to the vehicle type if the steering angle is obtained by the steering angle sensor 10, and the retreat distance detected by the distance sensor is the arc length of the turning radius R. Therefore, the controller 11 can calculate the yaw angle of the vehicle, that is, the turning angle from the turning radius R and the arc length.

Fourth Embodiment In addition, the parking assist device of the present invention, parked in parallel parking
But it is not limited to car support, parking in a parallel parking
It can also be used for car support . That is, the turning position where the yaw angle of the vehicle changes by 90 degrees from the 0 degree position of the vehicle yaw angle when the operation switch 13 is operated is set as the completion position of the parallel parking, and various steering information is provided to the driver. Is also possible.

Embodiment 5. Further, in the first embodiment, the voice is mainly used as the steering information, but the steering information is not limited to this, and the auditory information other than the voice such as the signal sound may be used. It may be tactile information such as vibrations transmitted via. Also, provide some visual information at the same time, such as flashing some or all of the guide display on the monitor screen, changing the color, or changing the size, or the driver can perform next on the monitor screen. A message indicating the contents of the operation to be performed may be displayed.

Sixth Embodiment Further, in the above-described embodiment, the vehicle mark 40 shown in FIG. 6 can be used instead of the eye marks 22 and 23. That is, the vehicle mark 40 is a display simulating the plane of the vehicle, and its position and size do not change in the monitor screen 19. The shape of the vehicle mark 40 is a shape that exactly overlaps with the line indicating the parking space T in the vehicle rear image displayed on the monitor screen 19 when the vehicle reaches the full cut position P. Similar to the above-described embodiment, the driver steers the steering wheel 7 according to the voice information in step 2 until the steering amount guide mark 31 overlaps the target point S1 as shown in FIG. Move the vehicle backwards while maintaining the corner. The controller is the yaw rate sensor 1
When the turning angle of the vehicle detected by 2 exceeds 32 degrees, as shown in FIG.
25 and the steering amount guide mark 31 are erased, and the vehicle mark 40 is displayed on the monitor screen 19. Further, as the voice information similar to the voice information of step 3 described above, voice information for guiding the vehicle to move backward until the vehicle mark 40 overlaps with the line indicating the parking space T is provided. This allows the driver to know that the vehicle is in the full cut position when the vehicle mark 40 overlaps the line indicating the parking space T on the monitor screen 19. Moreover, the vehicle mark 40 has a shape imitating a vehicle,
Since the display overlaps with the line indicating the parking space T, it is easy to understand that the vehicle has reached the full cut position sensuously. Further, the vehicle mark 40 is not always displayed, but is displayed only when necessary based on the turning angle of the vehicle detected by the yaw rate sensor 12, so that the monitor screen is a large display simulating the vehicle. Do not obscure the view.

Embodiment 7. In the first to sixth embodiments described above, the image of the rear of the vehicle is captured using the camera 2, and the image is displayed on the monitor 4 together with the fixed display guide, the moving display guide, etc. The seventh mode relates to a parking assistance device that does not use the camera 2 and the monitor 4. FIG. 7 shows the configuration of a parking assistance device according to Embodiment 7 of the present invention. The controller 51 controls the yaw rate sensor 52 that detects the angular velocity of the vehicle in the yaw angle direction, and the controller 51 determines whether the vehicle performs parallel parking or parallel parking.
A function selection switch 56 for notifying the driver and a start switch 53 for notifying the controller 51 that the parking operation of the vehicle is started and causing the controller 51 to set the position of the yaw angle of 0 degree are connected. Further, a buzzer 54 for guiding the steering information by sound to the driver and an LED 55 for visually guiding the steering information are connected.

The controller 51 has a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data of the minimum turning radius Rc when the steering wheel 7 is steered to the maximum and the vehicle turns. The CPU operates based on the control program stored in the ROM. The controller 51 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 52, calculates the turning angle of the vehicle, and outputs information regarding the operating method and the operating timing in each step during parking operation to the buzzer 54 and the LED 55. Output to.

Here, in this embodiment,Parking assistance device
But what kind of trajectory do you want the vehicle to draw to assist parking?
I will explain. First of all, using Fig. 8, parallel parking
A case will be described. Vehicle 1 is about to park
The center point of the entrance to the parking space T
Vertically, the Y axis in the backward direction of the vehicle 1 in the parking space T
Take the X axis parallel to the road, that is, perpendicular to the Y axis.
It The width of the parking frame of the parking space T is W1.
Rear axle center HO is the widthwise center of parking space T
Vehicle that becomes parallel to the longitudinal direction of the parking space T
In order for the vehicle 1 to be parked properly at the position H1Parking assistance
apparatusShall support the driver.

First, as an initial stop position, the rear axle center EO of the vehicle 1 is perpendicular to the parking space T, at a distance D from the entrance of the parking space T, and at the side portion T of the parking space T.
1 and vehicle position E where the driver DR of the vehicle 1 matches
1 to stop the vehicle 1. Next, the vehicle position E
The vehicle 1 located at No. 1 turns to the turning angle θ with the steering angle of the steering wheel 7 maximized on the left side, moves forward to the turning angle θ, and when the vehicle position F1 is reached, the steering angle of the steering wheel 7 turns to the maximum right side and turns. While turning at a radius Rc, the vehicle moves backward by a turning angle φ, and at a vehicle position G1 where the vehicle 1 is parallel to the parking space T, the steering wheel 7 is returned to the straight traveling state and further backwards to a vehicle position H1 in the parking space T. It should be parked properly. Further, the rear axle centers at the vehicle positions E1, F1, G1 are set to EO, FO, GO, respectively.

Here, the distance in the X-axis direction between the driver's position DR at the vehicle position E1 and the rear axle center EO is L.
Then, the coordinates (C1x, C1y) of the turning center C1 when the vehicle 1 turns from the vehicle position E1 to the vehicle position F1.
Is represented by C1x = L−W1 / 2 C1y = − (D + Rc). Vehicle 1 from vehicle position F1 to vehicle position G1
Coordinates (C2x, C2y) of the turning center C2 when the person turns
Is represented by C2x = − (Rc + Rc) ・ sinθ + C1x = −2Rc ・ sinθ + L−W1 / 2 C2y = (Rc + Rc) ・ cosθ + C1y = 2Rc ・ cosθ− (D + Rc), of which the X coordinate C2x is C2x = −Rc Is also expressed as

From the two relational expressions of the X coordinate C2x, sin θ
Is represented by sin θ = (Rc + L−W1 / 2) / 2Rc, and the value of this θ can be calculated using known Rc, L and W1, and this value of θ can be calculated by the controller 51.
Is stored as a set value θ. Further, the vehicle position F1
The turning angle φ at which the vehicle 1 turns from the vehicle position G1 to the vehicle position G1 is represented by φ = π / 2−θ.

Next, the operation of the parking assist system according to this embodiment during parallel parking will be described. First, the driver stops the vehicle 1 at the vehicle position E1 and operates the function selection switch 56 to select the parallel parking. The controller 51 activates the parallel parking program by operating the function selection switch 56. When the driver further operates the start switch 53, the controller 51 sets the vehicle position E1 as the position where the yaw angle of the vehicle is 0 degree. Next, the driver steers the steering wheel 7 to the left side to the full cut state, and advances the vehicle 1 as it is.

The controller 51 uses the yaw rate sensor 5
The yaw angle of the vehicle is calculated from the angular velocity of the vehicle 1 input from 2, and the set value θ is compared. As the vehicle 1 approaches the vehicle position F1 from the vehicle position E1, the controller 51 determines the vehicle position F based on the difference between the yaw angle and the set value θ.
1 and the vehicle position F1
The arrival information notifying that the vehicle has arrived at is notified to the driver via the buzzer 54 and the LED 55 as steering information. For example, as the approach information, the buzzer 54 emits an intermittent sound "beep, beep" and the LED 55 blinks. This intermittent sound and blinking cycle become shorter as the difference between the yaw angle and the set value θ becomes smaller. When the difference between the yaw angle and the set value θ disappears, the buzzer 54 emits a continuous beep sound and the LED 55 lights up as arrival information. The driver moves the vehicle 1 to the vehicle position F1 according to the arrival information.
To stop. Next, the driver steers the steering wheel 7 to the right side to the full cut state, and then the vehicle 1 is moved backward. The driver stops the vehicle 1 at the vehicle position G1 where the vehicle 1 is parallel to the parking space T. At the vehicle position G1, the driver returns the steering wheel to the straight traveling state and then the vehicle 1
When the vehicle 1 is stored in the parking space T, parking is completed. When the parking is completed, the yaw angle of the vehicle 1 is approximately 90 ° with respect to the vehicle position E1. Therefore, the driver may be notified of the parking completion information based on the yaw angle of the vehicle 1 with respect to the vehicle position E1.

Next, the case of performing parallel parking will be described with reference to FIG. Parking space T is at the left end of the rear of vehicle 1.
It is assumed that the vehicle 1 is parked in the parking space T so as to coincide with the back corner S2. Vehicle position M in this state
With the rear axle center MO of the vehicle 1 in 1 as the origin,
The Y axis is taken in the backward direction of the vehicle 1 parallel to the road, and the X axis is taken at right angles to the Y axis. Further, the coordinates of the corner at the back of the parking space T are S2 (W2 / 2, a2). Where a
2 and W2 indicate the rear overhang and the vehicle width of the vehicle 1, respectively. The vehicle 1 at the vehicle position J1 moves forward with the steering angle of the steering wheel 7 at the maximum on the right side while turning at the radius Rc, and when the vehicle position K1 is reached, the steering angle on the left side becomes maximum at the radius Rc while moving backward with the radius Rc. Then, when the vehicle position L1 is reached, the steering angle is maximized to the right and the vehicle is turned back at a radius Rc while moving backward, and the vehicle is properly parked at the vehicle position M1 in the parking space T.

First, with the vehicle 91 parked at a predetermined position in front of the parking space T as a guide, the vehicle 1 is moved to the vehicle position J1.
It is assumed that parallel parking is started with the state where the vehicle is stopped at the initial stop position. The vehicle position J1 is a position where the Y coordinate of the position DR of the driver of the vehicle 1 matches the Y coordinate of the rear end 91a of the parked vehicle 91 and is parallel to the parking space T, and the vehicle 1 and the vehicle 91. And are positions where the predetermined vehicle distance d is. Therefore, the coordinates (JOx, JOy) of the rear axle center JO at the vehicle position J1 are uniquely determined from the coordinates of the rear end portion 91a of the vehicle 91, the relationship between the driver's position DR and the rear axle center JO, and the vehicle distance d. . The vehicle 1 located at the vehicle position J1 advances to the vehicle position K1 while turning at a radius Rc with the steering angle of the steering wheel 7 maximized to the right. The turning center at that time is C3, and the turning angle is β. Further, the vehicle 1 at the vehicle position K1 makes a maximum steering angle on the left side and turns to the vehicle position L1 while turning at a radius Rc. The turning center at that time is C4, and the turning angle is δ
And Further, the steering wheel 7 is turned back in the opposite direction at the vehicle position L1, the steering angle is maximized to the right, and the vehicle is turned to the vehicle position M1 while turning at the radius Rc. The turning center at that time is C5, and the turning angle is α. Also, the vehicle position K1,
The rear axle centers in L1 are designated as KO and LO, respectively.

The turning angles α, β and δ have a relation of δ = α-β. Coordinates of turning center C5 (C5x, C5y)
Is represented by C5x = -Rc C5y = 0. Coordinates of turning center C4 (C4x, C4y)
Is represented by C4x = C5x + (Rc + Rc) * cos [alpha] =-Rc + 2Rc * cos [alpha] C4y = C5y- (Rc + Rc) * sin [alpha] =-2Rc * sin [alpha]. Coordinates of turning center C3 (C3x, C3y)
Is represented by C3x = C4x− (Rc + Rc) · cosβ = −Rc + 2Rc · cosα−2Rc · cosβ C3y = C4y + (Rc + Rc) · sinβ = −2Rc · sinα + 2Rc · sinβ. Also, the rear axle center J at the vehicle position J1
The coordinates (JOx, JOy) of O are JOx = -Rc- (1-cosα) -Rc- (1-cosα-1 + cosβ) + Rc- (1-cosβ) = 2Rc- (cosα-cosβ) ............ (1) JOy = -Rc * sin [alpha] -Rc * (sin [alpha] -sin [beta]) + Rc * sin [beta] = 2Rc * (sin [beta] -sin [alpha]) ... (2)

Here, when the equations (1) and (2) are transformed by using the trigonometric formula, tan (α / 2 + β / 2) = JOx / JOy sin ² (α / 2-β / 2) = (JOx ² + JOy ² ) / (16Rc ² ), and α and β can be calculated using the known coordinates (JOx, JOy) of the rear axle center JO, and these values are used as the set values α and β in the controller 51. Remembered in. Coordinates of the rear axle center JO (JOx, JOy)
Is a value at which the vehicle 1 can be parked behind the vehicle 91 by a reasonable operation, for example, JOx = 2.3 m, JOy =
A value of 4.5 m is used. It is desirable that the coordinates JOx and JOy of the rear axle center JO be set according to the vehicle grade, steering characteristics, and the like of the vehicle 1.

Next, the operation of the parking assist system according to this embodiment during parallel parking will be described. First, the driver
The Y coordinate of the driver's position DR is the rear end 9 of the parked vehicle 91.
The vehicle 1 is stopped at the vehicle position J1 so that the vehicle 1 is located at the vehicle distance d with respect to the vehicle 91 in accordance with the Y coordinate of 1a. When the function selection switch 56 is activated to select parallel parking, the controller 51 activates the program for parallel parking. Furthermore, the driver starts the start switch 53
Is operated, the controller 51 sets the vehicle position J1 as the position where the yaw angle of the vehicle is 0 degree. Next, the driver steers the steering wheel 7 to the right side to the full cut state, and advances the vehicle 1 as it is. Controller 51
Is the yaw angle of the vehicle calculated from the angular velocity of the vehicle 1 input from the yaw rate sensor 52, and the yaw angle and the set value β
Compare with the value of. As the vehicle 1 approaches the vehicle position K1 from the vehicle position J1, the controller 51 informs that the vehicle position K1 is approached based on the difference between the yaw angle and the set value β, as in parallel parking. And arrival information notifying that the vehicle has reached the vehicle position K1.
And inform the driver via the LED 55.

The driver stops the vehicle 1 at the vehicle position K1 according to the arrival information. Next, the driver steers the steering wheel 7 all the way to the left to bring it to the full cut state, and then the vehicle 1 is moved backward. The controller 51 compares the yaw angle of the vehicle with the value of the set value α (= β + δ). As the vehicle 1 approaches the vehicle position L1 from the vehicle position K1, that is, as the yaw angle of the vehicle approaches the value of the set value α, the controller 51 causes the parallel parking based on the difference between the yaw angle and the set value α. Similar to the time, the driver is notified via buzzer 54 and LED 55 of approach information notifying that the vehicle position L1 has been approached and arrival information notifying that the vehicle position L1 has been reached. The driver stops the vehicle 1 at the vehicle position L1 according to the arrival information. Next, the driver turns the steering wheel 7 in the opposite direction at the vehicle position L1 and steers it to the right side to the full-turned state, and then the vehicle 1 is moved backward. At the vehicle position M1 where the vehicle 1 is parallel to the parking space T, the driver stops the vehicle 1 and parking is completed. When the parking is completed, the yaw angle of the vehicle 1 is almost 0 ° with respect to the vehicle position J1. Therefore, the driver may be notified of the parking completion information based on the yaw angle of the vehicle 1 with respect to the vehicle position J1.

As described above, the parking assistance of this embodiment
The device does not require the camera 2 and the monitor 4, and can provide appropriate parking assistance even in a vehicle in which the navigation system or the camera 2 is not mounted.

Although the yaw rate sensor is used to detect the yaw angle in the seventh embodiment, the means for detecting the yaw angle is the method using the position gyro as in the second or third embodiment. A method in which a rotation sensor is attached to each of the left and right wheels and a yaw angle is detected from the difference in rotation between them may be used, or a method using a geomagnetic sensor or a GPS system may be used. The means for notifying the driver of the approach information and the arrival information is not limited to the LED 55 and the buzzer 54, and may be an LCD, a lamp, or a character or mark may be displayed on the display. Further, it may be voice, or may be vibration transmitted through the handle 7 or the like. Further, in the approach information and arrival information, the blinking cycle of the LED 55 and the volume and tone of the buzzer 54 may be changed for each vehicle position that is a target of approach or arrival. Also, instead of the function selection switch and the start switch,
It may be configured to include a parallel parking start switch and a parallel parking start switch. In this case, the start switch corresponding to the parking mode is pressed to start the parking operation.
Furthermore, instead of operating the start switch 53,
The controller may be notified of the start of the parking operation by causing the controller to recognize the driver's voice. In addition, even if the steering wheel operation during parking is not a full-turn operation, a steering wheel steering angle sensor is provided so that the driver can hold the vehicle at a predetermined steering wheel angle and perform parking operation. You may inform me.

Embodiment 8. In the seventh embodiment, at a predetermined initial stop position for starting parking, the controller 51 sets the set value θ for parallel parking and the set value α for parallel parking based on the initial stop position. , Β in the ROM of the controller 51
I remembered. However, in the eighth embodiment, the driver can set the initial stop position to an appropriate position. That is, the driver can correct the preset values θ, α, β of the controller and reset them in the controller.

FIG. 10 shows a parking assistance according to an embodiment of the present invention.
The structure of an apparatus is shown. The configuration of this parking assistance device is the same as the device of the seventh embodiment shown in FIG. 7, except that a check mode switch 62 and an adjustment switch 63 are added, and a controller 61 is provided instead of the controller 51. Check mode switch 62 and adjustment switch 6
3 is connected to the controller 61. The adjustment switch 63 can be operated in two directions like a seesaw switch, and can adjust the values of the set values θ, α, and β according to the operation amount and reset them in the controller 61.

Here, in this embodiment,Parking assistance device
Used for parallel parking predetermined by controller 61
How to correct and reset the set value θ
This will be described using 8. First, the driver parks the vehicle 1
Stop at an appropriate vehicle position H1 in the base T and set an appropriate distance.
Straight ahead, and an appropriate position near the vehicle position G1
To stop. At this point, the driver
To activate Chi 62 and select parallel parking
Then, the function selection switch 56 is activated. Controller 6
1 is checked by the operation of the check mode switch 62.
Function mode switch to start
Reset the set value θ for parallel parking by operating 56.
Control. Furthermore, the controller 61
The position of the yaw angle of 0 degree can be adjusted by operating the switch 53.
Set as a table. Next, the driver turns the steering wheel 7 to the right.
Steer to the maximum and turn it to the full cut state, and keep the vehicle 1 in front.
Advance. The controller 61 calculates the yaw angle,
.Phi. Which is a value obtained by subtracting the set value .theta. From the degree .pi. / 2 and the yaw angle
Compare. The vehicle 1 moves forward and approaches the vehicle position F1.
As the controller 61 increases, the difference between the yaw angle and φ is reduced.
Informs that the difference between the yaw angle and φ approaches 0.
Know the approach information and that the difference between the yaw angle and φ has reached 0.
The arrival information to be transmitted via the buzzer 54 and the LED 55.
To inform the driver. The driver follows the arrival information
Stop 1 Next, the driver moves the steering wheel 7 to the rightmost position.
Steer to the full to turn it fully off, and then move vehicle 1 backwards.
Let The driver says that the vehicle 1 is perpendicular to the parking space T.
If so, the vehicle 1 is stopped.

If the vehicle stop position coincides with the vehicle position E1, the driver does not need to adjust the set value θ.
However, when the vehicle stop position is located in front of the vehicle position E1 and the driver operates the adjustment switch 63 in one direction, a signal for slightly correcting the set value θ is input to the controller 61. On the other hand, when the vehicle stop position is located behind the vehicle position E1 and the driver operates the adjustment switch 63 in the other direction, a signal for slightly correcting the set value θ is input to the controller 61.
In this way, the set value θ for parallel parking can be corrected and reset in the controller 61. The driver releases the operation of the check mode switch 62 and performs the parallel parking by the operation method described in the seventh embodiment,
It is possible to judge whether the reset value of θ is proper or not.

Next, how the controller 61 corrects and resets the set values α and β used for parallel parking will be described with reference to FIG. First, the driver stops the vehicle 1 at an appropriate vehicle position near the vehicle position M1 in the parking space T, the driver actuates the check mode switch 62, and the function selection switch 56 to select the parallel parking. Activate. The controller 61 activates the check mode program by operating the check mode switch 62, and also activates the function selection switch 5
The operation of 6 resets the preset values α and β for parallel parking. Further, the controller 61 sets the vehicle position as the position of the yaw angle of 0 degree by the operation of the start switch 53. Next, the driver steers the steering wheel 7 to the right side to the maximum and puts it in the full cut state.
To move forward. The controller 61 calculates the yaw angle and compares the set value α with the yaw angle. As the vehicle 1 moves forward and approaches the vicinity of the vehicle position L1, the controller 6
1 indicates that the difference between the yaw angle and α is 0 based on the difference between the yaw angle and α.
The buzzer 5 displays approach information indicating that the yaw angle is approaching and arrival information indicating that the difference between the yaw angle and α has reached 0.
4 and LED 55 to inform the driver. The driver stops the vehicle 1 near the vehicle position L1 according to the arrival information. Next, the driver steers the steering wheel 7 to the left side to the full cut state, and advances the vehicle 1 as it is.
As the vehicle 1 moves forward and approaches the vicinity of the vehicle position K1, the controller 61 informs that the yaw angle has approached β (= α−δ) and the arrival information that the yaw angle has reached β. Information and buzzer 54 and LED
Notify the driver via 55. The driver stops the vehicle 1 near the vehicle position K1 according to the arrival information. Further, the driver steers the steering wheel 7 to the right side to the full cut state, and then the vehicle 1 is moved backward. Vehicle 1
When it becomes parallel to the parking space T, the vehicle 1 is stopped. If the vehicle stop position matches the vehicle position J1, the driver does not need to adjust the set values α and β. However, when the vehicle stop position deviates from the vehicle position J1, the driver operates the adjustment switch 63 to adjust the set values α and β. In this way, the set values α and β for parallel parking can be corrected and reset in the controller 61.

As described above, the set value θ for parallel parking
Since the driver can correct and reset the set values α and β for parallel parking and parallel parking, it is possible to provide more appropriate parking assistance according to the difference of vehicles and the surrounding conditions of the parking space. . In addition, it is not necessary to manufacture a separate controller for each vehicle, it is possible to prevent an increase in the number of components, facilitate component management, and reduce component costs.

Although the check mode switch 62 is provided separately from the start switch 53 in this embodiment, for example, when the start switch 53 is continuously operated for 3 seconds, the controller 61 activates the check mode program. The check mode switch 62 can be omitted.

Ninth Embodiment In the first to eighth embodiments described above, particularly in the case of parallel parking, as shown in FIG. 9, for example, the initial stop position J1 is set.
The position in the X direction is the side surface of the parked vehicle 91 and the own vehicle 1.
It was necessary to adjust the distance between the side surfaces of the vehicle to a predetermined vehicle distance d to perform the driving operation. This operation is generally difficult, and the actual interval is a value deviated from the set value d. As a result, this deviation affects the deviation of the parking completion position. On the other hand, this embodiment includes a distance sensor that measures the distance to the vehicle 91 or the like parked on the side of the vehicle 1.
When the parallel parking is started, the vehicle 91 parked by the sensor
And the coordinates (JOx, JOx) of the rear axle center JO at the initial stop position J1 based on the measured data.
y) is corrected, and the set values α and β and the value of δ obtained from these are corrected and calculated, and these values are set as the target set values in parallel parking at that time. At the start of parallel parking, it may be possible to determine whether or not the vehicle can be parked by measuring the distance from the vehicle parked beside the parking space and notify the driver.

[0061]

As described above, according to claim 1,
According to the parking assist device , it is possible to detect at which stage in the parking process the vehicle is based on the yaw angle of the vehicle, and the driver can be guided by instructing the operation method and the operation timing in each step during the backward driving. Even if the operator is not accustomed to the operation method, the operation can be performed without error and the parking can be completed.

According to the parking assistance device of the second aspect,
Driver stays constant while driving forward or backward for parking
You only have to hold the steering angle of the
Reverse parking is possible without the need. Claim 3 and
According to the parking assistance device of Item 4 , the yaw angle can be detected from the turning angular velocity of the vehicle.

According to the parking assistance device of the fifth aspect ,
The yaw angle can be detected from the turning radius and the backward movement distance of the vehicle.

According to the parking assistance device of the sixth aspect ,
The driver can easily know the timing at which the steering wheel should be turned back or the steering wheel should be maximized, even if the driver is not familiar with the operation.

According to the parking assistance device of the seventh aspect ,
Even if the driver is not familiar with the operation, the driver can easily know the timing at which the steering wheel should be turned back or the steering wheel should be moved straight.

According to the parking assistance device of the eighth aspect ,
Even if the driver is not familiar with the operation, the driver can easily know the timing of completing the parking and stopping the vehicle.

According to the parking assistance device of the ninth aspect ,
By obtaining the steering information by sound, the driver can obtain the steering information without constantly looking at the monitor screen, and can drive while looking at the outer periphery of the vehicle.

According to the parking assistance device of the tenth aspect,
You can get steering information by visual information.
Then, the driver can see the rear image of the vehicle and the information by visual information.
By steering while watching, you can receive accurate parking assistance.

According to the parking assistance device of the eleventh aspect,
For example, the steering information includes the steering detected by the steering angle sensor.
Guide information that can be steered to an appropriate steering angle based on the angle is included.
As a result, the range of turning start positions for backward parking is widened.
Therefore, backward parking is possible easily.

According to the parking assistance device of claim 12,
For example, when the vehicle is in the parking process from the yaw angle of the vehicle
Can be detected at each step during reverse operation.
By guiding the operation method and operation timing to open,
Even if the driver is not familiar with the operation method
You can complete the parking without any operation.

According to the parking assistance device of the thirteenth aspect,
If, even in a vehicle camera, and the monitor is not installed, an appropriate parking assistance is possible.

According to the parking assistance device of the fourteenth aspect , the set value for specifying the position of the vehicle can be corrected by comparing with the yaw angle. Therefore, depending on the difference of the vehicle and the surroundings of the parking space. More appropriate parking assistance can be provided depending on the situation.

According to the parking assistance device of the fifteenth aspect,
Provides information on the reverse start position for reverse parking
It becomes possible to do.

According to the parking assistance device of claim 16,
For example, provide information about the steering wheel turning point during parallel parking.
It becomes possible to serve.

According to the parking assistance device of claim 17,
For example, provide information on the position where the reverse of the vehicle is completed when parking in parallel.
It becomes possible.

A parking assistance device according to claims 18 and 20.
According to the reference position of the reference position without any special operation by the driver.
You can configure the settings.

According to the parking assistance device of claim 19,
For example, the position where the steering wheel returns to the straight running state during parallel parking
It becomes possible to provide information regarding.

According to the parking assist apparatus of the twenty-first aspect , since the measuring means for measuring the backward driving start position with respect to the target parking position is provided, the position of the vehicle at the start of parking deviates from the initial stop position. However, the vehicle can be appropriately parked at the target parking position.

According to the parking assistance device of the twenty-second aspect , the measuring means measures the distance to the obstacle on the side of the vehicle, so that the vehicle is targeted by using the surroundings of the own vehicle such as another vehicle. You can park properly in the parking position.

According to the parking assistance device of the twenty-third aspect, since the vehicle mark has a vehicle model imitating a vehicle that overlaps the line indicating the parking space, the driver should turn the steering wheel or maximize the steering angle. The timing is easy to understand.

[Brief description of drawings]

FIG. 1 is a side view of a vehicle equipped with a parking assistance device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a parking assistance device according to the first embodiment.

FIG. 3 is a diagram schematically and stepwise showing a monitor screen during parallel parking.

FIG. 4 is a diagram schematically and stepwisely showing the position of the vehicle during parallel parking.

FIG. 5 is a diagram illustrating voice steering information in each step during parallel parking.

FIG. 6 is a diagram schematically showing a monitor screen in an embodiment having a vehicle mark simulating a vehicle.

FIG. 7 is a block diagram showing a configuration of a parking assistance device according to a seventh embodiment.

FIG. 8 is a diagram showing stepwise and schematically the positions of vehicles during parallel parking according to a seventh embodiment.

FIG. 9 is a diagram schematically and stepwise showing the position of a vehicle during parallel parking according to the seventh embodiment.

FIG. 10 is a block diagram showing a configuration of a parking assistance device according to an eighth embodiment.

[Explanation of symbols]

1 ... Vehicle, 10 ... Steering angle sensor, 12, 52 ... Yaw rate sensor (yaw angle detecting means), 13 ... Operation switch (reference setting means), 14 ... Speaker (guidance means), 40 ... Vehicle mark, 51 , 61 ... Controller, 53 ... Start switch (reference setting means) , 54 ... Buzzer (guidance means), 55 ... LED (guidance means).

─────────────────────────────────────────────────── ─── Continued Front Page (51) Int.Cl. ⁷ Identification FI B60R 21/00 B60R 21/00 626G 1/00 1/00 A H04N 7/18 H04N 7/18 J (72) Inventor Masahiko Ando 2-1-1 Toyota-machi, Kariya-shi, Aichi In-house Toyota Industries Corporation (72) Inventor Tomio Kimura 2-1-1 Toyota-machi, Kariya-shi, Aichi In-house Toyota Industries Corporation (72) Inventor Teramura Kosuke Aichi 2-1-1 Toyota-cho, Kariya City, Toyota Industries Corporation (56) References JP-A-11-157404 (JP, A) JP-A-10-111136 (JP, A) JP-A-9-301210 (JP) , A) JP 10-297522 (JP, A) JP 10-244891 (JP, A) JP 11-1177 (JP, A) JP 8-2357 (JP, A) JP 4-123945 (JP, A) Japanese Patent Publication 2-36417 (JP, B2) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60R 21/00 B60R 1/00 H04N 7/18

Claims (23)

(57) [Claims] 1. A parking assistance device for assisting backward parking, comprising yaw angle detection means for detecting a yaw angle of a vehicle, and reference setting means for setting a reference angle of the yaw angle at a reference position for starting parking. A controller that identifies the position of the vehicle based on the reference angle set by the reference setting means and the yaw angle detected by the yaw angle detection means; and a driver based on the position of the vehicle identified by the controller. And a guide means for providing steering information , wherein the controller is located at a predetermined position with respect to the reference position.
Equipped with yaw angle storage means that can store the yaw angle of the corresponding vehicle
The yaw angle detected by the yaw angle detection means,
The memory yaw angle that is the yaw angle stored in the yaw angle storage means.
A parking assist device characterized in that the position of the vehicle is identified by comparing with . 2. A locus from a reference position of a vehicle to a parking position is a plurality of arcs circumscribing each other and each having a constant radius, and the value of the stored yaw angle is at least the end point of each arc.
The parking assistance device according to claim 1, comprising a value corresponding to the position . 3. The parking assistance device according to claim 1, wherein the yaw angle detecting means is a yaw rate sensor that detects an angular velocity in the yaw direction of the vehicle. 4. The yaw angle detecting means includes a steering angle sensor for detecting a steering angle of a steering wheel, and a yaw rate sensor for detecting an angular velocity of a vehicle in a yaw direction. Parking assistance device. 5. The yaw angle detecting means includes a steering angle sensor for detecting a steering angle of a steering wheel, and a distance sensor for detecting a traveling distance of the vehicle.
Parking assistance device described in. 6. The steering information includes at least guidance information for turning the steering wheel or maximizing the steering angle of the steering wheel when the yaw angle reaches a predetermined angle. The parking assistance device according to any one of claims 1 to 5. 7. The steering information includes at least guidance information for turning the steering wheel or guidance information for making the steering wheel straight when the yaw angle reaches a predetermined angle. The parking assistance device according to claim 1. 8. The steering information includes guide information for stopping the vehicle at a target parking position when the yaw angle reaches a predetermined angle.
The parking assistance device according to any one of 1. 9. The parking assistance device according to claim 1, wherein the steering information is sound. 10. The parking assistance apparatus according to claim 1, wherein the steering information is visual information. 11. The steering information includes guide information capable of steering to an appropriate steering angle based on a steering angle detected by a steering angle sensor. Parking assistance device described in. 12. A forward steering operation is performed in a state where a preset steering angle is maintained, and then a backward steering is performed in a stopped state while a preset steering angle is maintained. A parking assist device used for performing a backward movement and performing backward parking, comprising: a yaw angle detecting means for detecting a yaw angle of a vehicle; and a reference for setting a reference angle of the yaw angle at a reference position for starting parking. Setting means, a controller for specifying the vehicle position based on the reference angle set by the reference setting means and the yaw angle detected by the yaw angle detecting means, and based on the vehicle position specified by the controller And a guide means for providing steering information to the driver , wherein the controller is located at a predetermined position with respect to the reference position.
Equipped with yaw angle storage means that can store the yaw angle of the corresponding vehicle
The yaw angle detected by the yaw angle detection means ,
The memory yaw angle that is the yaw angle stored in the yaw angle storage means.
A parking assist device characterized in that the position of the vehicle is identified by comparing with . 13. The value of the stored yaw angle is at least
Forward movement performed while maintaining a constant steering angle
The parking assistance device according to claim 12 , including a value corresponding to the position of the end point of the backward movement . 14. The parking assistance apparatus according to claim 13, further comprising adjusting means for correcting the value of the stored yaw angle . 15. The parking assist device according to claim 12, wherein the value of the stored yaw angle is a value of the yaw angle corresponding to a position where the vehicle starts to move backward for backward parking. . 16. The parking according to claim 12, wherein the value of the stored yaw angle is a value of the yaw angle corresponding to a position of a steering wheel turning point of a vehicle moving backward for parallel parking. Support device. 17. The parking assistance device according to claim 12, wherein the value of the stored yaw angle is a value of the yaw angle corresponding to a position where the backward movement for parallel parking is completed. 18. The reference setting means sets, as the reference position, a vehicle position at which a driver's position and a predetermined position with respect to a parking space coincide with each other in a vehicle longitudinal direction during parallel parking. The parking assistance device according to any one of 1. 19. The yaw angle value according to claim 12, wherein the stored yaw angle value is a value corresponding to a position that defines a point at which a steering wheel of a vehicle that retreats for parallel parking is returned to a straight-backward state. The parking assistance device according to item 1. 20. The reference setting means sets, as the reference position, a vehicle position at which a driver's position and a predetermined position with respect to a parking space coincide with each other in a vehicle front-rear direction during parallel parking. 20. The parking assistance device according to claim 19. 21. The parking assistance device according to claim 1, further comprising a measuring unit that measures a backward driving start position with respect to a target parking position. 22. The parking assistance device according to claim 1, wherein the measuring unit is a measuring unit that measures a distance to an obstacle on a side of the vehicle. 23. A camera for photographing the rear of the vehicle, and a monitor arranged in a driver's seat of the vehicle for displaying an image from the camera, wherein the steering information includes a line indicating a parking space on the monitor. 23. The vehicle mark imitating at least a timing for turning back a steering wheel or a timing for maximizing the steering angle by being substantially overlapped with the vehicle mark is included. Parking assistance device.