CN105539572A - Parking assisting device - Google Patents
Parking assisting device Download PDFInfo
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- CN105539572A CN105539572A CN201510604198.9A CN201510604198A CN105539572A CN 105539572 A CN105539572 A CN 105539572A CN 201510604198 A CN201510604198 A CN 201510604198A CN 105539572 A CN105539572 A CN 105539572A
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- reverse switching
- switching position
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Abstract
The invention provides a parking assisting device. Even through a vehicle goes over a forward and backward switching position to a large degree, the parking assisting device can also guide the vehicle to a target parking position well. The parking assisting device (10) is provided with a forward and backward switching position path setting portion (64) setting a forward and backward switching position path (CS-K), a target parking position path setting portion (66) setting a target parking position path (CK-P), and the a forward and backward switching position path setting portion (64) and the target parking position path setting portion (66) are setting portions of a parking assisting middle path C of the vehicle. The parking assisting device (10) is also provided with a presumption portion (76), and the presumption portion (76) presumes whether the vehicle goes over the forward and backward switching position. And, when the presumption portion (76) presumes that the vehicle goes over the forward and backward switching position K, the forward and backward switching position path setting portion (64) corrects the forward and backward switching position path (CS-K) so that the vehicle is close to an extension line of the target parking position path (CK-P).
Description
Technical field
The present invention relates to a kind of EPH of assisting vehicle parking.
Background technology
In order to assisting vehicle parking, in prior art, propose a kind of EPH guiding the vehicle to target parking position.Such as, the EPH disclosed in patent documentation 1 rotates with steering locking angle degree by making bearing circle, makes vehicle move ahead with minimum turning radius and be directed to forward-reverse switching position (the position F1 in Fig. 2 of patent documentation 1).Then, after forward-reverse switching position is stopped, carry out parking and assist, that is, by making bearing circle rotate in the opposite direction, make vehicle retreat with minimum turning radius equally and be directed to target parking position.
In addition, even if vehicle is slightly beyond forward-reverse switching position, the EPH disclosed in patent documentation 1, also can by carrying out the correction of the turn radius increasing vehicle when guided vehicle retreats, change the steering angle of bearing circle, guide the vehicle to target parking position.
No. 2004-224178, [patent documentation 1] Japanese invention Patent Publication No
But, when implementing parking and assisting, when forward-reverse switching position crossed largely by vehicle, just the turn radius of head for target parking position is revised as shown in patent documentation 1 is open, sometimes then can not guide the vehicle to target parking position.Such as, as shown in Figure 9, when vehicle 12 has been crossed forward-reverse switching position K (being equivalent to the position F1 in patent documentation 1) largely and moved to position Z, the length direction of vehicle 12 is excessively close to the length direction (both are almost parallel) of parking frame 68.If in this case, after vehicle 12 stops, bearing circle is rotated in the opposite direction, then there are the following problems: even if revise turn radius to greatest extent, (namely the turning path of vehicle 12 also can not comprise target parking position P, vehicle 12 can not through target parking position P), thus vehicle 12 can not be guided to target parking position P.
Summary of the invention
In order to solve the problem, propose the present invention, the object of the present invention is to provide a kind of EPH, this EPH is when controlling the parking of vehicle is auxiliary, even if set forward-reverse switching position crossed largely by vehicle, also target parking position can be guided the vehicle to well.
In order to reach above-mentioned purpose, EPH of the present invention has target parking position configuration part, forward-reverse switching position configuration part, the 1st path setting portion and the 2nd path setting portion, wherein, the setting of described target parking position configuration part becomes the target parking position of the parking target of vehicle, the forward-reverse switching position of described forward-reverse switching position configuration part setting for making described vehicle be parked in described target parking position, described 1st setting the 1st path, path setting portion, the 1st path assists the starting position of start time to the described forward-reverse switching position set by described forward-reverse switching position configuration part by parking, described 2nd setting the 2nd path, path setting portion, 2nd path by described forward-reverse switching position to described target parking position, described EPH is according to the described 1st and the 2nd path set by the described 1st and the 2nd path setting portion, described vehicle is guided to described target parking position, described EPH also has presumption unit, whether described presumption unit can cross described forward-reverse switching position to described vehicle estimates, described forward-reverse switching position can be crossed when described presumption unit is estimated as described vehicle, or when being judged to be that described forward-reverse switching position crossed by described vehicle, described 1st and the 2nd path setting portion is revised the described 1st or the 2nd path, to make described vehicle close to the extended line in described 2nd path that presets or described 2nd path.
When adopting technique scheme, be estimated as described vehicle by presumption unit can cross described forward-reverse switching position or be judged to be that forward-reverse switching position crossed by described vehicle, afterwards, EPH is revised the 1st or the 2nd path, to make vehicle close to the extended line in the 2nd path that presets or the 2nd path, thus target parking position can be guided the vehicle to well.That is, the EPH extended line of vehicle rapidly close to the 2nd path or the 2nd path when advancing or when retreating that can make to cross forward-reverse switching position.Therefore, even if forward-reverse switching position crossed largely by vehicle, also can be directed and by close to the position of forward-reverse switching position, thus can successfully guide the vehicle to target parking position when retreating.
In this case, when described presumption unit be estimated as described vehicle can cross described forward-reverse switching position or be judged to be that described forward-reverse switching position crossed by described vehicle time, described 1st path setting portion can revise described 1st path, to make described vehicle to the directional steering contrary with described 1st path, close to the extended line in described 2nd path preset.
Like this, the 1st path setting portion is revised the 1st path, to make vehicle to the directional steering contrary with the 1st path, close to the extended line in the 2nd path, thus, when forward-reverse switching position crossed by vehicle, vehicle can have been made at once close to the extended line in the 2nd path.Thereby, it is possible to control vehicle, close to the 2nd path when being moved by forward-reverse switching position to make it, that is, vehicle is made to be the posture that can be directed to target parking position.Thus can easily guide the vehicle to target parking position.
Or, described forward-reverse switching position can be crossed when described presumption unit is estimated as described vehicle or is judged to be that described forward-reverse switching position crossed by described vehicle, and when described vehicle stops afterwards, described 2nd path setting portion can revise described 2nd path, to make described vehicle via described forward-reverse switching position, along the path movement identical with described 2nd path preset.
Like this, the 2nd path setting portion is revised the 2nd path, to make vehicle via forward-reverse switching position, along the path movement identical with the 2nd path, thus, can make vehicle in the action retreated by forward-reverse switching position at once close to the 2nd path.Thereby, it is possible to control the movement of vehicle, to make it close to the 2nd path, thus can easily guide the vehicle to target parking position.
When adopting of the present invention, EPH, when the auxiliary control of the parking carrying out vehicle, even if set forward-reverse switching position crossed largely by vehicle, also can guide the vehicle to target parking position well.
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of the vehicle representing the EPH be provided with involved by the 1st embodiment of the present invention.
Fig. 2 is the diagram of circuit representing that the parking undertaken by the EPH of Fig. 1 is assisted.
Fig. 3 is the functional block diagram of the parking electronic control apparatus for assistant of Fig. 1.
Fig. 4 is the birds-eye view that the parking of the EPH of instruction diagram 1 is assisted.
Fig. 5 is the instruction diagram of an example of the guide picture of the touch-screen of the EPH representing Fig. 1.
Fig. 6 illustrates the birds-eye view crossing the control of forward-reverse switching position undertaken by the EPH of Fig. 1.
Fig. 7 is the diagram of circuit of the automatic steering control of the EPH representing Fig. 1.
Fig. 8 is the birds-eye view crossing the control of forward-reverse switching position of the EPH illustrated involved by the 2nd embodiment of the present invention.
Fig. 9 is the birds-eye view of state when representing that forward-reverse switching position crossed largely by vehicle in EPH in the prior art.
[description of reference numerals]
10,10A: EPH; 12: vehicle; 14: bearing circle; 16: lever; 22: parking electronic control apparatus for assistant (ECU); 24:EPS system; 34rl, 34rr: wheel; 36: touch-screen; 38: loud speaker; 56: setup control portion; 58: automatic steering control portion; 60: target parking position configuration part; 62: forward-reverse switching position configuration part: 64: forward-reverse switching position path setting portion; 66,66A: target parking position path setting portion; 70: drive control part; 76: presumption unit; C
s-K, C
s-K1, C
s-K2: forward-reverse switching position path; C
k-P, C
k-P', C
k-P1, C
k-P2: target parking position path; K: forward-reverse switching position; P: target parking position; S: starting position.
Detailed description of the invention
Below, be described in detail with reference to the preferred implementation of accompanying drawing to EPH involved in the present invention.
As shown in Figure 1, EPH 10 involved in the present invention is arranged on vehicle 12, and it carries out the auxiliary system of parking, and this EPH 10 carrys out assisting vehicle 12 parking by making bearing circle 14 auto-steering.That is, the operation of bearing circle 14 is carried out automatically by EPH 10, and the operation of Das Gaspedal and brake pedal (all not shown) and gear 16 is undertaken by driver.In addition, EPH 10 also can be configured to: except automatic operation bearing circle 14, also automatically carries out the operation (driving of vehicle 12 and control) of Das Gaspedal and brake pedal and the operation (forward travel state of vehicle 12 and the switching of fallback state) of gear 16.
EPH 10, in order to carry out above-mentioned auto-steering, has: sensor group 18, and it detects various detected value; Homing advice 20; Parking electronic control apparatus for assistant 22 (hereinafter referred to ECU22); Electric boosting steering system 24 (hereinafter referred to EPS 24).
Sensor group 18 is made up of multiple check implements of the ambient state for detecting (monitoring) vehicle 12 or vehicle 12.Sensor group 18 such as comprises camera 26 (front camera 26f, rear camera 26rr, left side side camera 26l, right side side camera 26rt), wheel sensor 28rl, 28rr, car speed sensor 30 and gear position sensor 32.
The surrounding image Is that the ambient state that camera 26 exports shooting vehicle 12 obtains.Below, the surrounding image Is photographed by front camera 26f is called " forward image If ", the surrounding image Is photographed by rear camera 26rr is called " rear images Irr ", the surrounding image Is photographed by left side side camera 26l is called " left side side image Il ", and the surrounding image Is photographed by right side side camera 26rt is called " right side side image Irt ".In addition, left side side image Il and right side side image Irt is referred to as " side image Isd ".
Wheel sensor 28rl, 28rr are angular transducer or the displacement pickup of the rotational angle θ w [deg] detecting wheel 34rl, 34rr (with reference to Fig. 4) respectively, and it is output detections pulse when each wheel 34rl, 34rr rotate predetermined angular.This detection pulse is for the velocity of rotation [rpm] of the rotational angle θ w (that is, miles of relative movement) and wheel 34rl, 34rr that calculate wheel 34rl, 34rr.Wheel sensor 28rl detects the rotational angle θ w (hereinafter also referred to as " rotational angle θ wrl ") of left rear wheel 34rl, and wheel sensor 28rr detects the rotational angle θ w (hereinafter also referred to as " rotational angle θ wrr ") of off hind wheel 34rr.
Car speed sensor 30 detects speed (hereinafter referred to vehicle velocity V) [km/h] of vehicle 12, and the signal of the speed representing this vehicle 12 is exported to ECU22.This wheel sensor 30, such as according to the rotation of the tween drive shaft of change-speed box, detects vehicle velocity V.
Gear position sensor 32 detects the position (hereinafter referred to gear positions Ps) of lever 16, and exports the signal of the position representing this gear 16.
Homing advice 20 detects the current location of vehicle 12 by GPS (GlobalPositioningSystem), guides user's (comprising the occupant of chaufeur) according to the path arriving destination.This homing advice 20 has: touch-screen 36, the current location of its display vehicle 12 and path etc.; Loud speaker 38, it carries out voice guide to vehicle, travels towards destination to make vehicle 12.
The touch-screen 36 of homing advice 20 has: display part 36a, its displays image information; Input part 36b, it is overlapping with display part 36a, for identifying the operation (with reference to Fig. 5) of user.This touch-screen 36 is also the input/output mechanism carrying out input-output operation for user of EPH 10, assist relevant picture to be presented on touch-screen 36 to parking, user confirms this picture or assists relevant instruction according to the input of this picture to parking.Further, EPH 10 also can use structural element beyond touch-screen 36 as input/output mechanism.In addition, preferably when parking is assisted, carry out the voice guide corresponding with process by loud speaker 38.
ECU22 has input and output portion 40, operational part 42 and storage part 44 as hardware, and it controls each portion by performing by operational part 42 program be stored in storage part 44, thus it is auxiliary to perform parking.Concrete structure during executive routine can be described below.
EPS 24 for: when carrying out steering operation to bearing circle 14 in the process of driver vehicle, provide electric power as required, auxiliary bearing circle 14 turns to.This EPS 24 has steering angle sensor 46, torque sensor 48, EPS motor 50, magslip 52 and EPS electronic control package 54 (hereinafter referred to EPSECU54).
Steering angle sensor 46 detects the steering angle θ st of bearing circle 14.Torque sensor 48 detects the torque T Q being applied to bearing circle 14.EPS motor 50, thus can the operation carried out bearing circle 14 of driver assistance and the auto-steering that realizes bearing circle 14 when parking is assisted by applying propulsive effort or antagonistic force to the Steering gear be connected with bearing circle 14.Magslip 52 detects the rotational angle θ m of EPS motor 50.
In addition, EPSECU54 controls whole EPS 24, identical with ECU22, and it has input and output portion, operational part and storage part (all not shown) as hardware.Further, EPSECU54, according to the value of steering angle θ st, torque T Q and steering angle θ m, calculates the electric current supplied EPS motor 50, and according to the calculated electric current supplied, carrys out control EPS motor 50.
Next, be described with reference to the flow process that Fig. 2 is auxiliary to the parking performed by EPH 10.In the parking undertaken by ECU22 is auxiliary, in step sl, whether auxiliary to parking beginning condition is set up and is judged.Beginning condition is such as the auxiliary button (not shown) that starts of parking be presented on the touch-screen 36 of homing advice 20 is pressed by user.In addition, the beginning condition also vehicle velocity V can assisted as parking lower than the 1st speed of a motor vehicle threshold value THv1 specified.When the beginning condition that parking is auxiliary is set up (S1:YES), enter step S2, when the beginning condition that parking is auxiliary is false (S1:NO), terminates this process, restarting from step S1 after specified time.
In step s 2, ECU22 performs setup control, that is, set parking assist in each target location (target parking position P, forward-reverse switching position K) (with reference to Fig. 4).In addition, in setup control, also to path C (the forward-reverse switching position path C relevant to each target location P, K
s-K, target parking position path C
k-P) set.In addition, the setting for forward-reverse switching position K or each path C can be carried out when automatic steering control described later.
Then, in step s3, whether the beginning condition of ECU22 to auto-steering is set up and is judged.The beginning condition of auto-steering is such as pressed by user for the auto-steering be presented on the touch-screen 36 of homing advice 20 starts button (not shown).In addition, also vehicle velocity V can be in the beginning condition of halted state as auto-steering lower than the 2nd speed of a motor vehicle threshold value THv2 specified or vehicle 12.
When the beginning condition of auto-steering is set up (S3:YES), voice guide when ECU22 performs automatic steering control (S4), auto-steering side by side controls the display and control (S6) when (S5) and auto-steering.
Automatic steering control is with the control making vehicle 12 arrive target parking position P by automatic operation bearing circle 14.For the automatic operation carried out bearing circle 14, be realized according to the control command control EPS motor 50 from ECU22 by EPSECU54.It is the control being carried out the voice guide relevant to automatic steering control by loud speaker 38 that voice guide during auto-steering controls.Display and control during auto-steering is the control being carried out the display relevant to automatic steering control by touch-screen 36.In addition, the automatic steering control (S4) of the display and control (S6) when voice guide when comprising auto-steering can be controlled (S5) and auto-steering is interpreted as the automatic steering control of broad sense.
In order to implement above-mentioned flow process, ECU22 performs internal processes, and as shown in Figure 3, ECU22 comprises setup control portion 56 and automatic steering control portion 58, and wherein, setup control portion 56 carries out the various settings for auto-steering; Automatic steering control portion 58, according to the path C set by setup control portion 56, generates and exports the information of control command.
Setup control portion 56 has target parking position configuration part 60, forward-reverse switching position configuration part 62, forward-reverse switching position path setting portion 64 (the 1st path setting portion) and target parking position path setting portion 66 (the 2nd path setting portion), and this setup control portion 56 sets the path C of the head for target parking position P such as shown in Fig. 4.
In this case, setup control portion 56 is to connect the Width central part of the axletree of pair of wheels 34rl, 34rr of vehicle 12 for benchmark O, preset starting position S and the guiding target of vehicle 12, this guiding target is target parking position P and forward-reverse switching position K.Afterwards, forward-reverse switching position path C is set
s-K(the 1st path: the thicker solid line in Fig. 4), this forward-reverse switching position path C
s-Kfor following path: from the S of starting position, make bearing circle 14 rotate to the right (cw) of vehicle 12 with steering locking angle degree or close to the angle of steering locking angle degree, make vehicle 12 arrive forward-reverse switching position K.Forward-reverse switching position path C
s-Kcraspedodrome action done by vehicle 12 part according to set forward-reverse switching position K can be comprised.
Further, setup control portion 56 target setting parking position path C
k-P, this target parking position path C
k-P(the 2nd path: the thicker single dotted broken line in Fig. 4) is following path: from forward-reverse switching position K, bearing circle 14 is rotated to the left (conter clockwise) of vehicle 12 with steering locking angle degree or close to the angle of steering locking angle degree, makes vehicle 12 arrive target parking position P.This target parking position path C
k-Pcan comprise: make bearing circle 14 times just thus the part of craspedodrome action made by vehicle 12 at the position Q that vehicle 12 is parallel with parking frame 68.Like this, EPH 10, thus can be guided vehicle 12 with minimal actuating quantity with the steering locking angle degree of bearing circle 14 or the path C setting vehicle 12 close to the angle of steering locking angle degree by setup control portion 56.
The target parking position configuration part 60 in setup control portion 56 is in setup control (S2), and setting becomes the target parking position P of the parking target that vehicle 12 (from vehicle) finally arrives.For the setting of target parking position P, such as can by show on touch-screen 36 to be photographed by camera 26 around image Is, by user, the position candidate of target parking position P is selected (touch operation).Now, also can show overhead view image on touch-screen 36, user is selected target parking position P on this overhead view image.Or target parking position configuration part 60 can be formed as follows: by extracting parking frame 68 etc., automatically extracting target parking position P, and automatically setting this target parking position P.In addition, also vehicle 12 can be made to move to the assigned position of target parking position P (such as by the operation of chaufeur, the line of the right-hand member of the parking frame of target parking position P is made to be positioned at position on the extension line of not shown outside rear-view mirror), carry out target setting parking position P.
When vehicle 12 being guided to the target parking position P set by target parking position configuration part 60, forward-reverse switching position configuration part 62 is to the position when forward travel state of switching vehicle 12 and fallback state, and namely forward-reverse switching position K sets.This front on the fore-and-aft direction of vehicle 12, forward-reverse switching position configuration part 62, and forward-reverse switching position K is set on the position across vehicle 12 and parking frame 68 interval predetermined distance.Preferably according to the turn radius (steering angle of bearing circle 14) of vehicle 12, forward-reverse switching position K setting is gone up in position.In addition, forward-reverse switching position configuration part 62 can be formed as follows: according to the surrounding image Is of the vehicle 12 obtained by camera 26, differentiate, and revise forward-reverse switching position K the existence of such as obstacle.
In addition, forward-reverse switching position path setting portion 64 sets forward-reverse switching position path C
s-K, this forward-reverse switching position path C
s-Kassisted the starting position S residing for the vehicle 12 of start time to the forward-reverse switching position K set by forward-reverse switching position configuration part 62 by parking.Such as, forward-reverse switching position path setting portion 64 calculates following circular arc: this circular arc is connected with forward-reverse switching position K, and its radius is, vehicle 12 with steering locking angle degree or close to the corresponding turn radius (minimum turning radius) of the angle of steering locking angle degree.Then, by making the mode by the straight line of the starting position S of vehicle 12 forwards (front on the fore-and-aft direction of vehicle 12) linearly extension is tangent with the circular arc calculated set forward-reverse switching position path C
s-K.
In addition, target parking position path setting portion 66 sets by the target parking position path C of forward-reverse switching position K to target parking position P
k-P.Such as, target parking position path setting portion 66 calculates following circular arc: this circular arc is connected with forward-reverse switching position K, and its radius is, with forward-reverse switching position path C
s-Ktime steering angle opposite sense on steering locking angle degree or close to the corresponding turn radius (minimum turning radius) of the angle of steering locking angle degree.Then, by making to carry out target setting parking position path C by the straight line of the linearly extension of target parking position P and the mode of the circular arc tangent (at position Q) calculated
k-P.
Assist by carrying out automatic steering control (S4) parking to vehicle 12 by automatic steering control portion 58 with reference to Fig. 2, ECU22.Now, chaufeur only operates Das Gaspedal, brake pedal and lever 16, and without the need to operating bearing circle 14.This automatic steering control portion 58 has drive control part 70, Voice command portion 72, display control unit 74 and presumption unit 76.
When the beginning condition of auto-steering sets up (S3), drive control part 70 according to each path C set by setup control portion 56, to EPS 24 sending controling instruction.EPS 24, according to this control command, makes bearing circle 14 auto-steering, and controls the direct of travel of vehicle 12.In addition, when vehicle 12 moves, drive control part 70 obtains rotational angle θ wrl, the θ wrr of wheel 34rl, 34rr from wheel sensor 28rl, 28rr, and obtain vehicle velocity V from car speed sensor 30, continue to monitor the state (miles of relative movement, posture etc.) of the vehicle 12 from the S of starting position.Such as, according to the rotational angle θ wrl of wheel 34rl, 34rr, the difference of θ wrr, turning situation when vehicle 12 advances or when retreating can be calculated.
Drive control part 70 in automatic steering control, first along the forward-reverse switching position path C set by forward-reverse switching position path setting portion 64
s-K, carry out auto-steering.Lever 16 is moved to D gear by chaufeur, and operates brake pedal or Das Gaspedal, makes vehicle 12 advance to forward-reverse switching position K.Such as, as shown in Figure 4, the assigned position when vehicle 12 advances, according to the instruction of drive control part 70, bearing circle 14 rotates to the right with steering locking angle degree, thus vehicle 12 is turned to the right with minimum turning radius.Vehicle 12 march forward retreat switching position K move time, automatic steering control portion 58 can by display or mode guided vehicle 12 temporary shut down of voice, the steering operation of travel direction dish 14 under this dead ship condition.Or automatic steering control portion 58 can make bearing circle 14 slowly turn in vehicle 12 advance process, to the steering volume of bearing circle 14 with turn to revise opportunity.
When vehicle 12 arrives forward-reverse switching position K, drive control part 70 is along the target parking position path C set by target parking position path setting portion 66
k-P, carry out auto-steering.When lever 16 is moved to R gear by chaufeur under the dead ship condition of vehicle 12, drive control part 70 is in the forward-reverse switching position K of dead ship condition at vehicle 12, and bearing circle 14 is rotated to the left with steering locking angle degree.If driver's operation brake pedal or Das Gaspedal make vehicle 12 retreat in this condition, then vehicle 12 is turned to the left with minimum turning radius.Thus vehicle 12 retreats to position Q while turning to the left, then at this position Q, the steering angle of bearing circle 14 is returned to 0 ° (returning positive dirction dish 14), vehicle 12 straight line is retreated, arrive target parking position P.
In addition, the voice guide of Voice command portion 72 when auto-steering controls in (S5), corresponding to automatic steering control, chaufeur is carried out to the operation guide of brake pedal, Das Gaspedal and lever 16, and remind chaufeur to note by loud speaker 38 in the mode of voice.Such as, when automatic steering control starts, voice output " around PLSCONFM after safety, is slowly advanced ".In addition, when making bearing circle 14 automatically rotate to the right, voice output " right-hand rotation ".In addition, when vehicle 12 arrives forward-reverse switching position K, voice output " please be stopped ", vehicle 12 reality stop after, lever " is please moved to reverse gear " by voice output, lever 16 is actual move to reverse gear after, voice output " after the safety of PLSCONFM rear, slowly falls back ".
Further, in the display and control of display control unit 74 when auto-steering (S6), touch-screen 36 exports various guiding display.Such as shown in Figure 5, the display part 36a of touch-screen 36 shows progress explanation bar 80, operation guiding information 82, point out information 84, direct of travel image-region 86, overhead view image region 88 and stop button 90.
In this case, progress illustrates the progress that bar 80 is assisted for illustration of parking.Progress illustrates that bar 80 is made up of such as lower area: comprise and represent that setup control portion 56 is carrying out the region of the word " setting " that set; Comprise expression just in the region of auto-steering " assisting " such word; Comprise the region representing the word that parking assists " end " of end such.The corresponding region of the control carried out with this moment in these regions is highlighted (such as showing by the color different with other regions) compared with other regions.
The action that operation guiding information 82 passes on vehicle 12 to carry out to chaufeur.Such as, in Figure 5, vehicle 12 should advance to the forward-reverse switching position K represented by rim 92 (direct of travel image-region 86), in order to pass on this information, and shows " please advance to rim " such word.
Point out information 84 and pass on the content should noted in this moment to chaufeur.Such as, in Figure 5, in order to supervise the situation around driver certifying when vehicle 12 advances, and " situation please directly confirming surrounding " such word is shown.
Direct of travel image-region 86 shows the surrounding image Is corresponding with the direct of travel of vehicle 12, and shows multiple navigational figure.That is, when vehicle 12 advances, direct of travel image-region 86 shows the forward image If photographed by front camera 26f, when vehicle 12 retreats, shows the rear images Irr photographed by rear camera 26rr.
Overhead view image region 88 show image procossing is carried out to forward image If, rear images Irr, left side side image Il and right side side image Irt after the overhead view image Ig of vehicle 12 that obtains.In addition, also show in overhead view image region 88 represent vehicle 12 from vehicle image 93 and multiple navigational figure.As the navigational figure in direct of travel image-region 86 and overhead view image region 88, such as, there are the target parking position image 94 representing target parking position P, the direct of travel image 96 representing direct of travel and goal directed line 98.
In addition, stopping button 90 is for terminating the auxiliary button of parking.
With reference to Fig. 3, whether presumption unit 76 pairs of vehicles 12 in automatic steering control portion 58 can be parked in forward-reverse switching position K estimates or whether has been parked in forward-reverse switching position K to vehicle 12 and judge.Then, when being estimated as vehicle 12 and can crossing forward-reverse switching position K or be judged to be that forward-reverse switching position K crossed by vehicle 12, presumption unit 76 is supervised setup control portion 56 and automatic steering control portion 58 to perform and is crossed the control of forward-reverse switching position.
That is, when automatic steering control, when vehicle 12 arrives forward-reverse switching position K, vehicle 12 is indicated to stop by the display and control (S6) when voice guide control (S5) during auto-steering and auto-steering.But because the operation (operation of brake pedal or Das Gaspedal) beyond automatic steering control is completed by chaufeur, thus vehicle may not be parked in forward-reverse switching position K and cross this forward-reverse switching position K.And, such as, as shown in Figure 9, if vehicle 12 is crossed forward-reverse switching position K largely and is parked in position Z, even if then carry out the control (carrying out the correction of the turn radius of the head for target parking position P increasing vehicle 12) disclosed in patent documentation 1, also vehicle 12 cannot be guided to parking frame 68.
Therefore, EPH 10 estimates vehicle 12 according to presumption unit 76 and can cross forward-reverse switching position K or judge that the result of forward-reverse switching position K crossed by vehicle 12, carries out crossing forward-reverse switching position and controls.Such as, the current location of presumption unit 76 pairs of vehicles 12 and the distance of forward-reverse switching position K measure, and the vehicle velocity V detected by car speed sensor 30 is monitored, when this vehicle velocity V be vehicle 12 can not be parked in the speed of forward-reverse switching position K time, carry out crossing forward-reverse switching position and control.Further, the information of vehicles (such as, the acceleration/accel of vehicle 12 or deceleration/decel, degree of dip) that presumption unit 76 can consider other estimates vehicle 12 and whether can cross forward-reverse switching position K.In addition, even if vehicle velocity V is the speed that vehicle 12 can be parked in forward-reverse switching position K, whether presumption unit 76 has also been parked in forward-reverse switching position K to vehicle 12 judges, when judging that vehicle is not parked in forward-reverse switching position K, also carrying out crossing forward-reverse switching position and controlling.
When carrying out crossing the control of forward-reverse switching position, presumption unit 76 indicates 64 pairs, forward-reverse switching position path setting portion forward-reverse switching position path C
s-Krevise.As shown in Figure 6, according to the instruction of this presumption unit 76, the forward-reverse switching position path C that forward-reverse switching position path setting portion 64 will first calculate
s-K1 is updated to the forward-reverse switching position path C that bearing circle 14 rotates (such as, becoming the state of rotating to the left from the state of rotating to the right) in the opposite direction
s-K2.
Then, drive control part 70 is according to the forward-reverse switching position path C after being upgraded by forward-reverse switching position path setting portion 64
s-K2, carry out the control instruction that bearing circle 14 is rotated in the opposite direction.Due to the forward-reverse switching position path C after renewal
s-Kthe turn radius (circular arc) of 2 can revise the posture of vehicle 12 at once, thus preferred by the forward-reverse switching position path C after renewal
s-K2 are set as and target parking position path C
k-Pthe roughly the same turn radius of turn radius.Thus the vehicle 12 of turning to the right starts to turn to the left.Further, presumption unit 76 can also be configured to: when detecting that forward-reverse switching position K crossed by vehicle 12, makes bearing circle 14 auto-steering in the opposite direction at once by drive control part 70.Its reason is, drive control part 70, thus can by forward-reverse switching position path C owing to having tracked miles of relative movement or the posture of vehicle 12
s-K1 is modified to forward-reverse switching position path C
s-K2.
Like this, as shown in Figure 6, controlling by carrying out crossing forward-reverse switching position, vehicle 12 can be made by the forward-reverse switching position path C along original setting
s-Kthe circular arc of the turn radius of 1 is turned and changes (left) round about into and turn.Specifically, corresponding to bearing circle 14 rotation in the opposite direction, vehicle 12 is to along target parking position path C
k-Pthe directional steering of extended line L.Thus EPH 10 pairs of vehicles 12 guide, make it the posture in target parking position P (parking frame 68) can be directed to.Especially, before vehicle 12 marches to forward-reverse switching position K, presumption unit 76 is estimated as vehicle 12 when can cross this forward-reverse switching position K, by making vehicle 12 turn to round about immediately, vehicle 12 can be made fully close to forward-reverse switching position path C
k-Pextended line L.
And, when carrying out crossing the control of forward-reverse switching position, by automatic steering control portion 58, the state (position and posture etc.) of vehicle 12 is sent to setup control portion 56, make target parking position path setting portion 66 can at any time to target parking position path C
k-Pcarry out resetting (correction), i.e. target setting parking position path C
k-P'.When presumption unit 76 is judged to be that vehicle 12 stops, drive control part 70 is according to the target parking position path C after resetting
k-P' vehicle 12 is retreated, thus reliably vehicle 12 can be guided to target parking position P.In addition, target parking position path setting portion 66 can be formed as follows: this result of determination stopped along with vehicle 12, according to the stop position of expression vehicle 12 received or the information of posture, by target parking position path C
k-Pbe modified to target parking position path C
k-P'.
EPH 10 involved by present embodiment has said structure substantially, below, action during automatic steering control to EPH 10 and effect are described.
As shown in a flowchart of fig. 7, when starting automatic steering control (S4), drive control part 70 reads the forward-reverse switching position path C set by forward-reverse switching position path setting portion 64
s-K1, and carry out automatic steering control (step S10) along this path.That is, drive control part 70 is according to set forward-reverse switching position path C
s-K1 and the state (position relative to target parking position P of vehicle 12 or posture) of vehicle 12 that detected by sensor group 18, to EPS 24 sending controling instruction.
Such as shown in Figure 6, when vehicle 12 advances to assigned position, drive control part 70 exports and makes bearing circle 14 with steering locking angle degree or the control command of rotating to the right close to the angle of steering locking angle degree.EPS 24, according to this control command, makes bearing circle 14 turn to.Therefore, chaufeur only need operate the service brake (brake pedal) of vehicle, Das Gaspedal and lever 16 makes vehicle 12 advance, and just can make vehicle in this advance process automatically towards forward-reverse switching position K.
When vehicle 12 marches near forward-reverse switching position K, presumption unit 76 according to information of vehicles (such as, the distance of vehicle 12 and forward-reverse switching position K, the present speed of vehicle 12), whether can cross forward-reverse switching position K to vehicle 12 and estimate (step S11).When presumption unit 76 be estimated as vehicle 12 can cross forward-reverse switching position K time, enter step S13, in addition, when presumption unit 76 be estimated as vehicle 12 can not cross forward-reverse switching position K time, repeatedly carry out same presumption by presumption unit 76, until vehicle 12 arrives forward-reverse switching position K.
When drive control part 70 makes vehicle 12 arrive forward-reverse switching position K, whether presumption unit 76 pairs of vehicles 12 have stopped and have judged (step S12).Even if be estimated as vehicle 12 can not cross forward-reverse switching position K in advance process, but when vehicle 12 is not parked in forward-reverse switching position K, then enter next step S13.In addition, when being judged to be that vehicle 12 has been parked in forward-reverse switching position K, then step S16 is entered.
In step s 13, ECU22 carries out crossing the control of forward-reverse switching position.That is, cross this situation of forward-reverse switching position K according to vehicle 12, ECU22 controls the action (turning to of bearing circle 14) of vehicle 12, to make vehicle 12 towards target parking position path C
k-Pextension line L advance.
Specifically, under the instruction of presumption unit 76, forward-reverse switching position path setting portion 64 is to the forward-reverse switching position path C of original setting
s-K1 revises, and makes its forward-reverse switching position path C with (left in Fig. 6: with reference to long and two-short dash line) guided vehicle 12 round about
s-K2 connect.In this case, forward-reverse switching position path C
s-K2 with target parking position path C
k-Pidentical, be vehicle 12 with steering locking angle degree or the circular arc of turning to the left close to the angle of steering locking angle degree.
Drive control part 70 is receiving this forward-reverse switching position path C
s-Kafter the signal that the setting of 2 is changed, the control command turned to the left is switched to send to EPS 24 by making bearing circle 14 by turning to the right.Thus EPS 24 makes bearing circle 14 turn to, turn to the left to make vehicle 12 at once.Thus, vehicle 12 as shown in the solid line of Fig. 6 away from along original forward-reverse switching position path C
s-Kthe extended line j (circular arc) of 1, changes posture court along target parking position path C
k-Pthe extended line L of circular arc advance.
Then, in step S14, carrying out crossing in the process of forward-reverse switching position control, presumption unit 76, according to the operation of chaufeur to lever 16, differentiates that whether terminating to cross forward-reverse switching position controls.Specifically, move to this situation of R shelves according to lever 16 by D shelves, terminate to cross forward-reverse switching position and control.In addition, can terminate to cross forward-reverse switching position according to the stopping of vehicle 12 and control, but even if vehicle 12 temporarily stops, chaufeur also may loosen the brake, thus, now proceeds to cross forward-reverse switching position and controls as well.
No matter vehicle 12 is parked in cross by above-mentioned the enforcement and the forward-reverse switching position path C that upgrades that forward-reverse switching position controls
s-Kwhich position (such as, the position X in Fig. 6) on 2 is all with relative to original forward-reverse switching position path C
s-K1 close to set target parking position path C
k-pextended line L state stop.Now, vehicle 12 is in can posture along from circular arc to target parking position P movement.
After parking, target parking position path setting portion 66 judges according to presumption unit 76 this result that vehicle 12 stops, vehicle 12 stop position X to target parking position path C
k-previse, be modified to the target parking position path C moving to target parking position P for guided vehicle 12
k-p' (single dotted broken line with reference in Fig. 6) (step S15).In this case, the state (miles of relative movement and posture) of the vehicle 12 utilizing drive control part 70 to monitor and previous revised forward-reverse switching position path C
s-K2, can successfully by target parking position path C
k-pbe modified to target parking position path C
k-p'.Such as, target parking position path setting portion 66 can be set as follows target parking position path C
k-p', that is, this target parking position path C
k-p' there is the radius being greater than the turn radius corresponding with steering locking angle degree, and by position Q.
Then, drive control part 70 pairs of EPS 24 sending controling instructions, to make vehicle 12 along the target parking position path C set by target parking position path setting portion 66
k-p' mobile (step S16).Thus vehicle 12 retreats while target parking position P turns.When vehicle 12 retreats, because the forward-reverse switching position of crossing of previously having carried out controls, bearing circle 14 turns to the left, therefore, it is possible to carry out the steering operation of EPS 24 pairs of bearing circle 14 at short notice.In addition, when vehicle 12 is parked in forward-reverse switching position K, along the target parking position path C preset
k-pguided vehicle 12.
Finally, whether ECU22 has arrived target parking position P to vehicle 12 differentiates (step S17), when differentiate result be vehicle 12 do not arrive target parking position P time, proceed the process of step 16, when differentiate result be vehicle 12 arrived target parking position P time, terminate automatic steering control.
In addition, preferred ECU22, when carrying out crossing the control of forward-reverse switching position, by Voice command portion 72 and display control unit 74, informs the following situation of chaufeur: because forward-reverse switching position K crossed by vehicle 12, bearing circle 14 is turned to round about.That is, in the display and control (S6) when voice guide control (S5) when auto-steering or auto-steering, by informing user by turning to the information displaying of switching on touch-screen 36 or carrying out voice guide by loud speaker 38.In addition, also can not informing of turning to of travel direction dish 14.
In addition, crossing in the control of forward-reverse switching position, chaufeur arbitrarily can carry out the shut-down operation of vehicle 12, but, forward-reverse switching position K is crossed along with vehicle 12, what ECU22 can carry out supervising chaufeur that vehicle 12 is advanced informs action, until vehicle 12 is fully close to target parking position path C
k-p.Thus, due to vehicle 12 can be made fully close to target parking position path C
k-p, thus, can reduce target parking position path C
k-pcorrection, make bearing circle 14 turn to smoothly when vehicle 12 retreats.
As implied above, when adopting the EPH 10 involved by present embodiment, even if vehicle 12 has crossed forward-reverse switching position K largely because of the operation of chaufeur, also can control by carrying out crossing forward-reverse switching position, well vehicle 12 being guided to target parking position P.That is, EPH 10 can, along with the movement of vehicle 12 of crossing forward-reverse switching position K, make it close to target parking position path C rapidly
k-pextended line L.Therefore, even if forward-reverse switching position K crossed largely by vehicle 12, also can be directed and by close to the position of forward-reverse switching position K when retreating, thus be successfully directed to target parking position P.
In this case, forward-reverse switching position path setting portion 64 is to the forward-reverse switching position path C preset
s-k1 revises, and is modified to forward-reverse switching position path C
s-k2, with make vehicle 12 to this forward-reverse switching position path C
s-k1 contrary directional steering, close to target parking position path C
k-pextended line L.Therefore, when forward-reverse switching position K crossed by vehicle 12, vehicle 12 can have been made at once close to target parking position path C
k-pextended line L.Thereby, it is possible to reliably make vehicle 12 in the posture that can be directed to target parking position P further, thus easily vehicle 12 can be guided to target parking position P.
In addition, in the setting of above-mentioned path C, following simple action is illustrated: make vehicle 12 along forward-reverse switching position path C
s-kadvance, stop at forward-reverse switching position K, then, along target parking position path C
k-pretreat, arrive target parking position P.But, in parking is auxiliary, multiple forward-reverse switching position K can be set, between multiple forward-reverse switching position K, carry out moving forward and backward of vehicle 12, thus vehicle 12 is guided to target parking position P.Now, whether cross the situation of each forward-reverse switching position K according to vehicle 12, determine whether that carrying out crossing forward-reverse switching position controls.
Below, with reference to Fig. 3, the EPH 10A involved by the 2nd embodiment is described.EPH 10A has the structure identical with the EPH 10 involved by the 1st embodiment substantially, they are different from EPH 10 in following: even if forward-reverse switching position K crossed by vehicle 12, also along forward-reverse switching position path C
s-kcircular arc to vehicle 12 proceed guide.Further, EPH 10A crosses forward-reverse switching position K according to vehicle 12 and to stop (or stop after chaufeur lever 16 is moved to R shelves) this situation, by ensuing target parking position path C
k-Pthe correction of 1, guides to target parking position P by vehicle 12.
In this case, obtained the location information of the vehicle 12 tracked by drive control part 70 by target parking position path setting portion 66A, calculate vehicle 12 and move how many by forward-reverse switching position K.Then, as shown in Figure 8,66 pairs, target parking position path setting portion target parking position path C
k-P1 carries out resetting (correction), i.e. target setting parking position path C
k-P2, to make vehicle 12 temporarily be retracted into forward-reverse switching position K, and near this forward-reverse switching position K, bearing circle 14 is turned to round about.
Drive control part 70 read this reset after target parking position path C
k-P2, turning to of direction indication dish 14.Thus first vehicle 12 continues the state keeping bearing circle 14 to turn to the right when retreating, be temporarily directed near forward-reverse switching position K.Then, by make near this forward-reverse switching position K bearing circle 14 round about (left) turn to, thus make vehicle 12 be directed to target parking position P.
When vehicle 12 retreats, consider that vehicle 12 is not parked in forward-reverse switching position K and crosses the situation of this forward-reverse switching position K, preferred ECU22 controls in the mode turned to of the switching direction dish 14 that is in due course.Such as, to be retreated at vehicle 12 by the bearing circle 14 that makes to be in the state turned to the right and turned to the left lentamente before forward-reverse switching position K, thus change gradually vehicle 12 towards.Like this, by making bearing circle 14 turn to lentamente, thus can suppress to cause larger burden to the user in vehicle 12, and can stably detect vehicle 12 by position, accurately vehicle 12 is guided to target parking position P.Certainly, ECU22 can inform when vehicle 12 retreats that chaufeur temporarily makes vehicle 12 stop when vehicle 12 is retracted into forward-reverse switching position K, and after vehicle 12 stops, bearing circle 14 is turned to round about.
As implied above, when adopting the EPH 10A involved by the 2nd embodiment, target parking position path setting portion 66 is by target parking position path C
k-P1 is modified to target parking position path C
k-P2, to make vehicle 12 via forward-reverse switching position K, edge and the target parking position path C preset
k-P1 roughly the same path movement.Therefore, it is possible to make vehicle 12 in the action retreated by forward-reverse switching position K at once close to target parking position path C
k-P1, and, make it close to target parking position path C by making vehicle 12 move
k-P1, easily this vehicle 12 can be guided to target parking position P.
As mentioned above, describe the present invention with preferred implementation, but self-evident, the present invention is not limited to above-mentioned embodiment, without departing from the spirit and scope of the invention, can various distortion be carried out.Such as, in the above-mentioned the 1st and the 2nd embodiment, assist as the parking undertaken by EPH 10,10A, describe following control: after vehicle 12 advances to forward-reverse switching position K, retreat to target parking position P, but parking is auxiliary to be not limited thereto certainly.Such as, retreat to during the parking advancing to target parking position P after forward-reverse switching position K is auxiliary at vehicle 12, also can carry out the control (comprise the control of crossing forward-reverse switching position controlling) identical with above-mentioned embodiment.
Claims (3)
1. an EPH, has target parking position configuration part, forward-reverse switching position configuration part, the 1st path setting portion and the 2nd path setting portion, wherein,
The setting of described target parking position configuration part becomes the target parking position of the parking target of vehicle;
The forward-reverse switching position of described forward-reverse switching position configuration part setting for making described vehicle be parked in the described target parking position of setting;
Described 1st setting the 1st path, path setting portion, the 1st path assists the starting position of start time to the described forward-reverse switching position set by described forward-reverse switching position configuration part by parking;
Described 2nd path setting portion setting the 2nd path, the 2nd path by described forward-reverse switching position to described target parking position,
Described vehicle, according to the described 1st and the 2nd path set by the described 1st and the 2nd path setting portion, is guided to described target parking position, it is characterized in that by described EPH,
Also have presumption unit, whether described presumption unit can cross described forward-reverse switching position to described vehicle estimates,
When described presumption unit be estimated as described vehicle can cross described forward-reverse switching position or be judged to be that described forward-reverse switching position crossed by described vehicle time, described 1st and the 2nd path setting portion is revised the described 1st or the 2nd path, to make described vehicle close to the extended line in described 2nd path that presets or described 2nd path.
2. EPH according to claim 1, is characterized in that,
When described presumption unit be estimated as described vehicle can cross described forward-reverse switching position or be judged to be that described forward-reverse switching position crossed by described vehicle time, described 1st path setting portion is revised described 1st path, to make described vehicle to the directional steering contrary with described 1st path, close to the extended line in described 2nd path preset.
3. EPH according to claim 1, is characterized in that,
Described forward-reverse switching position can be crossed when described presumption unit is estimated as described vehicle or is judged to be that described forward-reverse switching position crossed by described vehicle, and when described vehicle stops afterwards, described 2nd path setting portion is revised described 2nd path, to make described vehicle via described forward-reverse switching position, along the path movement identical with described 2nd path preset.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014218150A JP6121379B2 (en) | 2014-10-27 | 2014-10-27 | Parking assistance device |
| JP2014-218150 | 2014-10-27 |
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| Publication Number | Publication Date |
|---|---|
| CN105539572A true CN105539572A (en) | 2016-05-04 |
| CN105539572B CN105539572B (en) | 2018-02-23 |
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| CN108227709A (en) * | 2017-12-29 | 2018-06-29 | 深圳地平线机器人科技有限公司 | For controlling the method and apparatus of the automatic Pilot of vehicle |
| CN109895784A (en) * | 2017-12-07 | 2019-06-18 | 丰田自动车株式会社 | Parking aid |
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| CN112313128A (en) * | 2018-06-22 | 2021-02-02 | 日立汽车系统株式会社 | Vehicle control device |
| CN112644464A (en) * | 2019-10-11 | 2021-04-13 | 丰田自动车株式会社 | Parking assist apparatus |
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| CN113511190A (en) * | 2020-03-26 | 2021-10-19 | 本田技研工业株式会社 | Parking assist system |
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| JP6793085B2 (en) * | 2017-04-07 | 2020-12-02 | クラリオン株式会社 | Parking support device |
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| CN110621562B (en) * | 2017-06-26 | 2022-08-05 | 日立安斯泰莫株式会社 | Automatic parking control device |
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| CN109895784A (en) * | 2017-12-07 | 2019-06-18 | 丰田自动车株式会社 | Parking aid |
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| CN115214771A (en) * | 2022-04-15 | 2022-10-21 | 长城汽车股份有限公司 | Steering angle adjusting method of steering wheel and related equipment |
| CN115214771B (en) * | 2022-04-15 | 2023-07-21 | 长城汽车股份有限公司 | Steering angle adjusting method of steering wheel and related equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6121379B2 (en) | 2017-04-26 |
| JP2016084029A (en) | 2016-05-19 |
| CN105539572B (en) | 2018-02-23 |
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