JP3630114B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device, and more particularly to a device for guiding a driving operation during parking to a driver.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been proposed an apparatus that displays a rear view of a vehicle on a monitor when the driver cannot see a target location due to the blind spot of the vehicle when the vehicle is moving backward. For example, Japanese Patent Publication No. 2-36417 discloses a television camera that captures the rear of a vehicle, a monitor television that displays an image captured by the television camera, a sensor that outputs an information signal related to a tire steering angle, A vehicle rear monitoring and monitoring device is disclosed that includes a circuit that generates a marker signal in accordance with the information signal and displays the marker superimposed on a television screen. In this device, the steering angle data of the tire and the marker position data along the reverse direction of the vehicle corresponding to the steering angle are stored in the ROM, and the predicted backward trajectory of the vehicle according to the steering angle at that time is the marker position data. As a row, it is displayed on the television screen in a manner superimposed on the video photographed by the television camera.
[0003]
According to such a device, when the vehicle is moving backward, the predicted backward trajectory of the vehicle according to the steering angle is displayed on the monitor TV screen together with the field of view of the road behind the vehicle, so the driver turns backward. The vehicle can be moved backward by operating the steering wheel while watching the TV screen.
[0004]
[Problems to be solved by the invention]
However, when parking, the driver only looks at the rear field of view and the expected backward trajectory of the vehicle on the TV screen in the conventional rear monitoring monitor device. Therefore, it is difficult to determine whether or not to perform a driving operation, and there is a problem that sufficient assistance at the time of parking cannot be performed.
[0005]
Further, in the conventional rear monitoring monitor device, the driver needs to perform the driving operation while watching the TV screen, but the driver must also check the safety around the vehicle, which places a heavy burden on the driver. There was also a problem.
[0006]
The present invention was made to solve such problems, and it is an object of the present invention to provide a parking assist device capable of accurately guiding a driving operation during parking without imposing a heavy burden on the driver. And
[0007]
[Means for Solving the Problems]
To park in a parking space by performing a predetermined number of times of advancing operation with the steering wheel held at a constant steering angle from the initial stop position and advancing operation with the steering wheel held in a reverse direction and held at a constant steering angle. A parking assist device used for detecting a yaw angle of a vehicle, a reference position setting unit for setting a reference position of the yaw angle of the vehicle when the vehicle is stopped, and Guidance means for outputting guidance information, a controller for providing the driver with guidance information of driving operation necessary for parking based on the yaw angle detected by the yaw angle detection means, through the guidance means; An initial stop position detecting means for detecting that the vehicle has reached an initial stop position by recognizing a fixed object in the parking space, and a parking space disposed at a distance from the initial stop position detecting means in the longitudinal direction of the vehicle. A proximity detection means for detecting that the fixture was close to the initial stop position by recognizing the controller, operation that close to the initial stop position by the approach detection unit via the guide means to be detected The approach information is output to the driver, and the arrival information is output to the driver via the guide means when it is detected that the initial stop position is reached by the initial stop position detection means .
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 shows the configuration of a parking assistance apparatus according to an embodiment of the present invention. The controller 1 is connected to a yaw rate sensor 2 that detects an angular velocity of the vehicle in the yaw angle direction, and is connected to a parallel mode switch 3 for notifying the controller 1 that parallel parking is performed. Further, the controller 1 is connected to an initial stop position detection switch 4 and a speaker 6 as guidance means for guiding information on driving operation to the driver. Further, a light emitter / receiver 7 that emits light to a mirror 8 as a fixed object provided in a garage or the like and receives reflected light reflected by the mirror 8 is connected to the controller 1. The yaw rate sensor 2 constitutes the yaw angle detecting means of the present invention, the parallel mode switch 3 constitutes the reference position setting means, and the light emitter / receiver 7 constitutes the initial stop position detecting means. The parallel mode switch 3, the initial stop position detection switch 4, and the speaker 6 are disposed in the driver's seat, and the light projecting / receiving device 7 is attached near the driver's seat so as to emit light in a lateral direction with respect to the vehicle. .
[0009]
The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data related to the minimum turning radius Rc when the vehicle's handle is steered to the maximum and the vehicle turns, and stores a control program for assisting parking in the parking space. The CPU operates based on a control program stored in the ROM. The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 2, calculates the turning angle of the vehicle, and outputs information about the operation method and operation timing at each step during parking operation to the speaker 6. To do. The controller 1 informs the driver via the speaker 6 that the vehicle 10 has reached the initial stop position by a signal from the light projecting / receiving device 7.
[0010]
Next, with reference to FIG. 2, a description will be given of what kind of trajectory is drawn on the vehicle to assist parking when the parking assist device of the present invention parks in the parking space T. The central point of the entrance of the parking space T where the vehicle 10 is to be parked is the origin O, the Y axis is perpendicular to the road and the vehicle 10 is retracted in the parking space T, and is parallel to the road, that is, perpendicular to the Y axis. Take the X axis. The width of the parking frame of the parking space T is W1. The parking assist device assists the driver so that the vehicle 10 is properly parked at the vehicle position H1 where the rear axle center HO is the center in the width direction of the parking space T and parallel to the length direction of the parking space T. Shall.
[0011]
First, an initial stop position that is perpendicular to the parking space T, the rear axle center EO of the vehicle 10 is a distance D from the entrance of the parking space T, and the side portion T1 of the parking space T and the position DR of the driver of the vehicle 10 coincide. It is assumed that the vehicle 10 is stopped at the vehicle position E1.
[0012]
Next, the vehicle 10 at the vehicle position E1 advances to the turning angle θ while turning at the radius Rc with the steering angle of the steering wheel set to the maximum on the left side, and when the vehicle position F1 is reached, the steering angle of the steering wheel is set to the maximum on the right side. The vehicle 10 moves backward at the turning angle φ while turning at the turning radius Rc, and the vehicle 10 returns to the straight traveling state at the vehicle position G1 parallel to the parking space T, and further moves backward to move the vehicle position within the parking space T. It shall be properly parked in H1.
Further, the center of the rear axle at the vehicle positions E1, F1, and G1 is defined as EO, FO, and GO, respectively.
[0013]
Here, if the distance in the X-axis direction between the driver's position DR and the rear axle center EO at the vehicle position E1 is L, the coordinates (C1x) of the turning center C1 when the vehicle 10 turns from the vehicle position E1 to the vehicle position F1. , C1y)
C1x = L-W1 / 2
C1y =-(D + Rc)
It is represented by
The coordinates (C2x, C2y) of the turning center C2 when the vehicle 10 turns from the vehicle position F1 to the vehicle position G1 are:
C2x = − (Rc + Rc) · sin θ + C1x = −2Rc · sin θ + L−W1 / 2
C2y = (Rc + Rc) · cos θ + C1y = 2Rc · cos θ− (D + Rc)
Of these, the X coordinate C2x is
C2x = -Rc
It is also expressed as
From the two relational expressions of the X coordinate C2x, sin θ is
sin θ = (Rc + L−W1 / 2) / 2Rc
The value of θ can be calculated using known Rc, L, and W1, and the controller 1 stores the value of θ as a set value θ.
Further, the turning angle φ at which the vehicle 10 turns from the vehicle position F1 to the vehicle position G1 is:
φ = π / 2−θ
It is represented by
[0014]
Next, the operation | movement at the time of parking to the garage of the parking assistance apparatus which concerns on Embodiment 1 is demonstrated.
First, as shown in FIG. 3, it is assumed that a mirror 8 is provided at the entrance of the garage serving as the parking space T. First, the vehicle 10 is brought perpendicular to the garage, and the initial stop position detection switch 4 is turned on in front of the mirror 8 provided at the entrance of the garage. By turning on the switch 4, light having directivity such as laser light is emitted from the light projecting / receiving device 7 toward the garage. The vehicle 10 is moved forward until this light is reflected by the mirror 8 and caught by the projector / receiver 7. When the reflected light from the mirror 8 reaches the light projecting / receiving device 7, the light receiving output of the light projecting / receiving device 7 increases, whereby the controller 1 can recognize that the vehicle 10 has reached the initial stop position. Therefore, the controller 1 notifies the driver of arrival information that informs the driver that the initial stop position has been reached via the speaker 6. The driver stops the vehicle at the initial stop position based on this information. In this manner, the driver can easily and accurately stop the vehicle at the initial stop position based on the information from the speaker 6.
[0015]
When the driver operates the parallel mode switch 3 at this initial stop position, the controller 1 sets the vehicle position E1 as a position where the yaw angle of the vehicle is 0 degrees and starts a parallel parking program. At the same time, the controller 1 stops the light emission from the light emitter / receiver 7. Next, the driver steers the steering wheel to the maximum on the left side to bring it to a full cut state, and advances the vehicle 10 as it is.
[0016]
The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle 10 input from the yaw rate sensor 2, and compares this yaw angle with the set value θ. As the vehicle 10 approaches the vehicle position F1 from the vehicle position E1 that is the initial stop position, the controller 1 is based on the difference between the yaw angle and the set value θ, and approach information that informs that the vehicle position F1 has been approached; The driver is notified via the speaker 6 of the arrival information notifying that the vehicle position F1 has been reached.
[0017]
For example, as the approach information, an intermittent sound “beep” is emitted from the speaker 6, and the intermittent sound and the blinking period become shorter as the difference between the yaw angle and the set value θ decreases. When the difference between the yaw angle and the set value θ disappears, a continuous sound “pea” is emitted from the speaker 6 as arrival information.
[0018]
The driver stops the vehicle 10 at the vehicle position F1 according to the arrival information. Next, the driver steers the steering wheel to the maximum on the right side so that the steering wheel is fully turned, and the vehicle 10 is moved backward. As the yaw angle of the vehicle 10 approaches 90 degrees, the controller 1 has approach information for notifying that the vehicle 10 has approached the vehicle position G1 parallel to the parking space T, and arrival for notifying that the vehicle position G1 has been reached. Information is notified to the driver via the speaker 6. The driver stops the vehicle 10 at the vehicle position G1 according to the arrival information, then returns the steering wheel to the straight traveling state, then moves the vehicle 10 backward, and completes parking when the vehicle 10 is in the parking space T.
[0019]
As described above, the parking assist device according to the first embodiment uses the projector / receiver 7 to accurately stop the vehicle 10 at the initial stop position, and then fully turns the steering wheel to the right or left according to the arrival information from the speaker 6. Accurate parking in the parking space can be completed simply by moving the vehicle in the off state.
[0020]
Since the mirror 8 is provided in advance at the entrance of the parking space, a private garage is suitable as the parking space. In addition, when the driver wants to park to the left or right due to circumstances such as luggage in the garage, a controller that can be set according to the garage may be connected to the controller. . For example, if you want to park on the right side, input this from the controller to the controller 1, and the controller 1 will advance the reverse turn timing of the steering wheel rather than the usual guidance to the center of the parking space by calculation. invite. By using such an adjuster, the degree of freedom of the parking position within the range of the parking space T can be increased.
[0021]
Further, if the light projecting / receiving device 7 is provided with a distance measuring function, it can be seen that the distance between the mirror 8 of the garage and the light projecting / receiving device 7 is significantly different from a predetermined standard distance. An alarm may be sounded, such as a left front caution during rotation and a right rear caution during reverse.
[0022]
Embodiment 2. FIG.
FIG. 4 shows the configuration of the parking assistance apparatus according to the second embodiment. This parking assist device is the same as the first embodiment shown in FIG. 1 except that a light receiving device 17 is attached to the vehicle as an initial stop position detecting means instead of the light projecting / receiving device 7 and is fixed to the garage instead of the mirror 8. The projector 18 is installed as an object. As shown in FIG. 5, when the vehicle 10 approaches the garage and the light receiver 17 mounted on the vehicle 10 receives light from the light projector 18, the light reception output of the light projector / receiver 7 increases. It can be recognized that 10 has reached the initial stop position. Therefore, the controller 1 notifies the driver of arrival information that informs the driver that the initial stop position has been reached via the speaker 6. The driver stops the vehicle at the initial stop position based on this information. In addition, the provision of the driving operation information for the parallel parking is performed in the same manner as the apparatus of the first embodiment. In the second embodiment, since the light receiver 17 directly receives the light from the projector 18, the light is less attenuated and the light can be received with high accuracy.
[0023]
Embodiment 3 FIG.
FIG. 6 shows the configuration of the parking assistance apparatus according to the third embodiment. This parking assist apparatus is obtained by connecting a light projector / receiver 27 to the controller 1 as an approach detecting means in the apparatus of the first embodiment shown in FIG. As shown in FIG. 7A, the light projecting / receiving device 27 is installed on the front end side portion of the vehicle 10, and emits directional light in the direction of the garage like the light projecting / receiving device 7. The light reception output is output to the controller 1. The vehicle 10 is brought close to the garage, and the initial stop position detection switch 4 is turned on in front of the mirror 8 provided at the entrance of the garage. Thereby, light is emitted from both the light projecting and receiving devices 7 and 27 in the direction of the garage. As the vehicle 10 travels, as shown in FIG. 7A, first, light from the light projecting / receiving device 27 as an approach detection means installed on the front end side portion of the vehicle 10 hits the mirror 8 and is reflected from the mirror 8. The light projector / receiver 27 captures the light. As a result, the light reception output of the light emitter / receiver 27 increases, and the controller 1 recognizes that the vehicle 10 has approached the initial stop position and issues approach information from the speaker 6 to the driver. Based on this approach information, the driver further advances the vehicle 10. Then, as shown in FIG. 7B, when the light from the light projecting / receiving device 7 as the initial stop position detecting means hits the mirror 8 and the reflected light from the mirror 8 is captured by the light projecting / receiving device 7, this time, the light projecting / receiving device The light receiving output of the device 7 increases, and the controller 1 recognizes that the vehicle 10 has reached the initial stop position, and issues arrival information from the speaker 6 to the driver. The driver who has heard this arrival information stops the vehicle 10. That is, by providing the projectors and receivers 27 and 7 in the front and rear of the vehicle, it is possible to provide the driver with the approach information as well as the arrival information at the initial stop position. In addition, the provision of the driving operation information for the parallel parking is performed in the same manner as the apparatus of the first embodiment.
[0024]
Here, it is also possible to provide a distance measuring function for the two projectors / receivers 7 and 27. By providing this function, the distance between the mirror 8 and the light projector / receiver 7 when the light projector / receiver 7 receives the reflected light from the mirror 8, and the light projector / receiver 27 receives the reflected light from the mirror 8. By comparing the distance between the mirror 8 and the light emitter / receiver 27, the inclination of the vehicle relative to the garage can be determined. Based on this tilt, the controller 1 may calculate and correct the timing for turning the steering wheel.
[0025]
In the third embodiment, a method may be used in which a light receiver is provided in place of the front and rear light projectors 27 and 7 on the front and rear of the vehicle, and a light projector is provided in place of the mirror 8 of the vehicle.
[0026]
In the above first to third embodiments, the yaw rate sensor is used to detect the yaw angle, but the means for detecting the yaw angle is a method using a position gyro or a rotation sensor attached to each of the left and right wheels. A method of detecting the yaw angle from the rotation difference may be used, and a method using a geomagnetic sensor or a GPS system may be used.
[0027]
In the first to third embodiments, as the approach information and the arrival information, the volume and tone color of the sound emitted from the speaker 6 are changed or the sound having different contents is emitted for each vehicle position that is the target of approach or arrival. You may do it. The guiding means is not limited to the speaker, but may be a buzzer, an LED, or a lamp, and may display characters and marks on the display. Furthermore, vibration transmitted to the driver via a handle or the like may be used.
[0028]
In the first to third embodiments, the case where the initial stop position detecting unit or the approach detecting unit recognizes a fixed object using light has been described. However, the present invention is not limited to this. The fixed object may be recognized from the obtained image, or the fixed object may be recognized based on the distance measured by the distance sensor.
[0029]
【The invention's effect】
As described above, according to the parking assist device of the present invention, the vehicle is provided with the initial stop position detecting means for notifying the driver that the initial stop position has been reached when stopping the vehicle at the initial stop position. The vehicle can be easily and accurately stopped at the initial stop position provided, and the controller provides driving operation information via the guide means, so that the driving operation during parking without placing a heavy burden on the driver. Can be parked easily in the parking space.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to Embodiment 1 of the present invention.
FIG. 2 is a diagram illustrating movement of a vehicle when parallel parking is performed.
FIG. 3 is a diagram illustrating a movement for detecting an initial stop position according to the first embodiment.
FIG. 4 is a block diagram illustrating a configuration of a parking assistance device according to a second embodiment.
FIG. 5 is a diagram illustrating a movement for detecting an initial stop position according to the second embodiment.
FIG. 6 is a block diagram illustrating a configuration of a parking assistance device according to a third embodiment.
FIG. 7 is a diagram illustrating a movement for detecting an initial stop position according to the third embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Controller, 2 ... Yaw rate sensor, 3 ... Parallel mode switch, 4 ... Initial stop position detection switch, 6 ... Speaker, 7, 27 ... Light emitter / receiver, 8 ... Mirror, 17 ... Light receiver, 18 ... Light projector

Claims (6)

To park in a parking space by performing a predetermined number of times of advancing operation with the steering wheel held at a constant steering angle from the initial stop position and advancing operation with the steering wheel held in a reverse direction and held at a constant steering angle. A parking assist device used,
Yaw angle detection means for detecting the yaw angle of the vehicle;
Reference position setting means for setting a reference position of the yaw angle of the vehicle when the vehicle is stopped;
Guidance means for outputting driving operation guidance information to the driver;
A controller that provides driving information necessary for parking based on the yaw angle detected by the yaw angle detection means to the driver via the guidance means;
An initial stop position detecting means for detecting that an initial stop position has been reached by recognizing a fixed object in the parking space;
It is arranged at an interval from the initial stop position detection means in the longitudinal direction of the vehicle and includes an approach detection means for detecting that the vehicle has approached the initial stop position by recognizing a fixed object in the parking space ,
The controller outputs approach information to the driver through the guiding means when it is detected that the approach detecting means approaches the initial stop position, and the initial stop position detecting means detects that the initial stop position has been reached. Then , the parking assistance device is characterized in that arrival information is output to the driver via the guide means . The parking assistance device according to claim 1, wherein the initial stop position detection means recognizes a fixed object in the parking space using light. The parking assistance device according to claim 2, wherein the initial stop position detecting means is a light projecting / receiving device that emits light toward a mirror as a fixed object of the parking space and receives reflected light from the mirror. The parking assistance device according to claim 2, wherein the initial stop position detection means is a light receiver that receives light emitted from a projector as a fixed object in the parking space. The parking assist device according to any one of claims 1 to 4, wherein the approach detection means is a light projecting / receiving device that emits light toward a mirror as a fixed object of the parking space and receives reflected light from the mirror. The parking assistance device according to any one of claims 1 to 4, wherein the approach detection means is a light receiver that receives light emitted from a projector as a fixed object in the parking space.

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