CN1737501A - Parking auxiliary device for vehicle and parking auxiliary method - Google Patents

Abstract

This invention relates to one parking assistant device, which allows the user movement and the real image of the auto environment to display the aim parking position of the aim frame and automatically guide the auto to the set aim position. The device can initially display the aim-parking frame through the setting of the last aim parking positions.

Description

The parking aid and the parking assistance method that are used for vehicle

Technical field

The present invention relates to a kind of parking aid and a kind of parking assistance method, be used for a kind of carrying out vehicle is directed to the auxiliary control of parking that target parking position is put automatically.

Background technology

In the described a kind of known parking aid of Japanese patent application of special permission publication number 11-208420, this device carries out a kind of vehicle being directed to the auxiliary control of parking that target parking position puts automatically, before the auxiliary control beginning of stopping, the mode of target parking frame with stack is presented on the real image of vehicle environmental, and this real image is shown on the display monitor.In this parking aid, target parking position is put and can be specified by user's adjusted button, to change the position of target parking frame on display monitor.

Put in order to allow the user that target parking position is set, be used to specify target parking frame that target parking position puts and can initially be presented in the predetermined default position or estimated position on the display monitor, this estimated position provides by system-computed.Yet this target parking frame is not always initially to be shown in the desirable parking spot of each user (comprising its orientation (orientation)).That is to say, because the relation that the parking reference position is put about target parking position can change according to single driver's driving characteristics, so in the restriction that certain accuracy is arranged aspect the initial position of estimation target parking frame.Therefore, if the relation that the parking reference position that the initial position of target parking frame and user are accustomed to is put about target parking position is inconsistent, then for each operation of the auxiliary control of stopping, the user has to stand the inconvenience that the position adjustment of target parking frame is caused.

Summary of the invention

Thereby target of the present invention provides a kind of parking aid and a kind of parking assistance method, and they can be at suitable display position, the initial display position of display-object parking frame.

According to first scheme of the present invention, a kind of parking aid is provided, it allows to move the target parking frame that the real image together with vehicle environmental shows by the user and comes the target setting parking spot, and the target parking position that vehicle is directed to automatically this setting is put, this parking aid is characterised in that, by the setting in the past that utilizes the user that target parking position is put, initially display-object parking frame.

According to first scheme of the present invention, the user by the target parking frame that will show together with the real image of vehicle environmental (for example, the graphic form of the outer shape of imitation parking stall or vehicle) moves to corresponding to actual parking bit position (comprising the orientation), target setting parking spot.Preferably, the initial position of target parking frame (comprising its orientation) is corresponding with single user's (driver) driving characteristics, thereby minimizes the needs that the user moved and regulated the target parking frame that is shown in the initial position.In this scheme, the present invention utilizes such fact, and the relation that the reference position of promptly stopping is put about target parking position all is different for each user, but then trends towards being consistent substantially for single user.That is to say, by user's utilization setting in the past, initially display-object parking frame.Therefore,, the target parking frame initially can be presented in the corresponding position of driving characteristics (comprising the orientation) with each user, therefore can reduce the required time of target setting parking spot considerably according to the present invention.

By the setting in the past of using target parking position to put, the initial demonstration of target parking frame can be the initial demonstration of target parking frame in a position (comprising the orientation), this position with in the past or the position of the target parking frame that in the past set identical.In this case, when selection one should be used for before or in the past setting of the current initial demonstration of target parking frame, can consider deflection (deflection) angle in the parking of parallel parking type as described below (the parallel parking in a left side or right side) or garage.

In first scheme of the present invention, this parking aid also comprises: the controlled variable calculation element, the variable quantity that is used to calculate the amount of movement of vehicle and vehicle heading is as controlled variable, and this amount of movement and this variable quantity are required the target parking position that vehicle is directed to setting from the parking reference position is put; Memory storage is used to store the controlled variable that calculates that is associated with amount of movement that calculates and the variable quantity that calculates; And estimating device, being used for based on the driving condition of vehicle till the parking reference position, the estimation target parking position is put, and is used to estimate vehicle is put required amount of movement and variable quantity from the target parking position that the parking reference position is directed to estimation.In this device, can from memory storage, fetch (retrieve) with the amount of movement of estimation and the corresponding controlled variable of variable quantity of estimation, and the target parking frame can initially be presented on the real image based on the controlled variable of fetching.

In such scheme of the present invention, when the user finishes being provided with of putting of target parking position, calculate relation that the parking reference position puts about target parking position as controlled variable (be the amount of movement of vehicle and vehicle heading variable quantity (hereinafter, this variable quantity will be called " deflection angle "), the two is required from the parking reference position is put to the target parking position of setting at guided vehicle).The controlled variable that calculates is based on the setting result that target parking position that the user carries out is put, and is considered to corresponding with user's driving characteristics.Therefore, store these controlled variable, to be used for the initial demonstration of target parking frame when next time and the later target setting parking spot.The controlled variable that calculates is associated with the deflection angle (it is one of controlled variable) that calculates and stores.In the present invention, the initial demonstration of target parking frame realizes based on the controlled variable of above-mentioned storage.Therefore, according to the present invention, the target parking frame can initially be presented in setting in the past (i.e. the controlled variable that calculates when in the past setting) the corresponding position (comprising the orientation) of target parking position being put with the user.Therefore, the target parking frame initially can be presented in the corresponding position of driving characteristics (comprising the orientation) with each user.According to the deflection angle of estimating based on the driving condition of vehicle before the parking reference position, being used for the initial controlled variable that shows of target parking frame can fetch from memory storage.The position relation that the parking reference position is put about target parking position changes according to deflection angle.Therefore, according to the present invention, the setting in the past that the target parking position of selecting according to the target parking frame of being estimated is put can be used for display-object parking frame initially, and the deflection angle of the estimation of set basis in the past that this target parking position is put is selected.Therefore, can realize the initial demonstration of target parking frame more reliably driving in the corresponding position of characteristics (comprising the orientation) with the user.

In the structure about first aspect, in the steering vehicle process, estimating device is every predetermined travel distance, calculates consistently and the variation in store car orientation, and can estimate variable quantity based on the variation of the vehicle heading of being stored.Therefore, orientation (deflection angle) that can estimating vehicle, and when stop to have nothing to do in the parking reference position with vehicle.That is to say that total energy realizes the estimation of deflection angle.

According to alternative plan of the present invention, a kind of parking aid that is used for the parking of auxiliary garage, it allows the user to come the target setting parking spot by the mobile target parking frame that shows together with the real image of vehicle environmental, it is characterized in that comprising: estimating device, be used for based on the driving condition of vehicle till the parking reference position, the amount of movement of estimating vehicle and the variable quantity of vehicle heading be as controlled variable, and this amount of movement and this variable quantity are in that vehicle is directed to target parking position from the parking reference position required putting; And initial position is determined device, be used for based on the controlled variable of being estimated, determine the initial display position of target parking frame, wherein in the steering vehicle process, estimating device is every predetermined travel distance, calculate consistently and the variation in store car orientation, and, estimate controlled variable based on the variation of the vehicle heading of being stored.

According to alternative plan, the user moves to corresponding to actual parking bit position (comprising the orientation) target setting parking spot by the target parking frame that will show together with the real image of vehicle environmental.Preferably, the initial position of target parking frame (comprising its orientation) is corresponding with user's driving characteristics, thereby minimizes the needs that the user moved and regulated the target parking frame that is shown in initial position.In this scheme,, determine that the required controlled variable of target parking frame initial position estimates based on the actual driving condition of vehicle till the parking reference position according to the present invention.Because the vehicle running state that changes with the driving characteristics according to single user of controlled variable is that the basis is estimated, the target parking frame initially is presented in the corresponding position of driving characteristics (comprising the orientation) with each user so the present invention can make.In addition, in the present invention, because in the process of steering vehicle, every predetermined travel distance, the variation in calculating and store car orientation constantly, so can realize the estimation (and the corresponding of the initial display position of target parking frame determined) of controlled variable, and when stop to have nothing to do in the parking reference position with vehicle.

According to third party's case of the present invention, a kind of parking assistance method, wherein move the target parking frame that the real image together with vehicle environmental shows by the user, the target setting parking spot, and the target parking position that vehicle is directed to automatically this setting is put, it is characterized in that comprising step: by the setting in the past that utilizes the user that target parking position is put, initially display-object parking frame.

According to cubic case of the present invention, a kind of parking assistance method that is used for the parking of auxiliary garage, the target parking frame that it allows user to show by the real image that moves together with vehicle environmental, the target setting parking spot, the method is characterized in that and comprise step: in the steering vehicle process, every predetermined travel distance, the variation in calculating and store car orientation consistently, and based on arrive the vehicle driving state that is obtained before the parking reference position at vehicle, the amount of movement of calculating vehicle and the variable quantity of vehicle heading are as controlled variable, this amount of movement and this variable quantity are in that vehicle is directed to target parking position from the parking reference position required putting, and, determine the initial display position of target parking frame based on the controlled variable of being estimated.

According to the 5th scheme of the present invention, a kind ofly be used for the auxiliary parking aid that parks cars, it is characterized in that, if the pick-up unit that is used to detect the vehicle halted state detects the halted state of vehicle, then be that target parking position is put with a location recognition, this position has predetermined relationship with the vehicle stop position that occurs when detecting halted state.

According to the 5th scheme of the present invention, if by for example vehicle speed sensor, detect the halted state of vehicle, then this parking aid is that target parking position is put with a location recognition, and this position has predetermined relationship with the vehicle stop position that occurs when detecting this halted state.Therefore, when parking cars, the user can be only stopped by temporary transient, thus the target parking position of stop position and hope put and have predetermined relationship, the target parking position that the user just can make parking aid discern hope is put.When detecting the halted state of vehicle, can carry out the identification that parking aid is put target parking position.

In the 5th scheme of the present invention, if except that the halted state of vehicle, also detect the steering angle that is in neutral gear (neutral) position substantially, then be that target parking position is put with a location recognition, this position has predetermined relationship with the vehicle stop position that occurs when detecting the vehicle halted state.This setting can reduce parking aid target parking position is put the frequency of identification, and this parking aid triggers by the normal halted state of vehicle that detects outside this halted state, and this halted state is intended to make parking aid recognition objective parking spot.When particularly stopping in the garage, bearing circle can remain under the turn condition, till arriving the parking reference position.Therefore, if the user stops so that parking after the expectation target parking spot that parking aid identification is used for stopping in the garage facilitating, then parking aid can be about later stop position, the recognition objective parking spot.

In the 5th scheme of the present invention or its relevant structure, one location recognition is used for the candidate of target parking frame at least one, this position and first stop position have predetermined relationship, and the candidate among described at least one candidate is identified as target parking position to put, this candidate discerns about second stop position, this second stop position with have predetermined relationship away from the current vehicle location of first stop position.Therefore, put among the candidate, suitable candidate can be identified as the realistic objective parking spot at a plurality of target parking positions.Therefore, can improve the accuracy that the estimation target parking position is put.This parking aid can be put these target parking positions the candidate and is retained in the storer, till vehicle arrives the parking reference position.In this case, can in time delete each candidate, this candidate does not need lose owing to moving of vehicle and to become during the predetermined relationship of current vehicle location.Predetermined location relationship between current vehicle location and the stop position can move by the vehicle between the linear range between two positions or two positions or travel distance is specified, and also can be appointed as by the upper limit value and lower limit value of linear range or travel distance and come restricted portion.

In about the structure aspect the 5th, if there are a plurality of position candidate, then the candidate among a plurality of candidates is identified as target parking position and puts, this candidate discerns about second stop position, and this second stop position is with nearest away from the current vehicle location of first stop position.Therefore, put among the candidate, only a suitable candidate is identified as target parking position and puts at a plurality of target parking positions.

In about the structure aspect the 5th, if there is no position candidate then is identified as the target stop position with a predeterminated position, and vehicle can be directed into this predeterminated position about the current vehicle location away from first stop position.

Aspect the 5th or in its relative configurations, parking aid also can comprise display device, is used for the real image together with vehicle environmental, and the target parking position that demonstration is discerned is put.Therefore, when shut-down operation begins, can put to the target parking position that user's indication is discerned.In this case, when vehicle arrives the parking reference position, can realize the demonstration that target parking position is put.

In about the structure aspect the 5th, parking aid also can comprise hand-operating device, according to switching manipulation, moves and regulate the display position that target parking position is put.Therefore, the target parking position of being discerned as mentioned above by parking aid is put and can be changed on display screen or regulated by the user.What in this case, target parking position was put determines that finally can leave the user for finishes.

According to a sixth aspect of the invention, a kind of auxiliary parking assistance method that parks cars, it is characterized in that comprising step: with a location recognition is that target parking position is put, and this position has predetermined relationship with the vehicle stop position that occurs when detecting the vehicle halted state.

Description of drawings

To the following description of preferred embodiment, aforementioned and further target of the present invention, characteristics and advantage will become apparent from reference to the accompanying drawings, and wherein same Reference numeral is used to represent same parts, and wherein:

Fig. 1 is the system construction figure of first and second embodiment of expression parking aid of the present invention;

Fig. 2 is the figure that expression is used for the contact plate form of target setting parking spot on display monitor 22;

Fig. 3 represents to be presented at target parking frame on the image that video camera obtained with stacked system;

Fig. 4 A represents the controlled variable under the parallel parking situation, and Fig. 4 B represents the controlled variable under the garage parking situation;

Fig. 5 represents the controlled variable of storing and managing according to deflection angle theta;

Fig. 6 is the process flow diagram of the handling procedure carried out as pre-service, and this pre-service is used for the auxiliary control of parking undertaken by the auxiliary ECU of the parking of first embodiment;

Fig. 7 represents that being used for estimating vehicle according to first embodiment arrives the path of parking reference position and the method for deflection angle theta (with swing angle α);

Fig. 8 represents to estimate among first embodiment controlled variable (X _c, Z _c) method and second embodiment in calculate that target parking position is put and the method for the relation of the reference position of stopping;

Fig. 9 represents according to the present invention the method that target parking position that estimation is used for stopping in the garage is put;

Figure 10 represents that according to the present invention estimation is used for the method that the target parking position of parallel parking is put; And

Figure 11 is the process flow diagram of expression by the performed concrete handling procedure of the auxiliary ECU of the parking of second embodiment.

Embodiment

Hereinafter, will describe the preferred embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 is the system construction figure of first embodiment of expression parking aid of the present invention, and this system construction figure also is applied to the of the present invention second and the 3rd embodiment.Yet in the 3rd embodiment, memory storage 12a can omit.As shown in fig. 1, this parking aid has the ECU (Electrical Control Unit) 12 (being called hereinafter, " auxiliary ECU 12 stops ") as central unit.The auxiliary ECU 12 that stops forms microcomputer, and it comprises CPU, ROM, RAM etc., and they are connected to each other by the bus (not shown).The have program stored therein predetermined characteristic value (for example, wheelbase (wheel base) L (not shown), general gear speed ratio (overallgear ratio) ρ etc.) of (comprising and following arithmetic expression corresponding programs) and vehicle of ROM.

In order to the steering angle sensor 16 of the steering angle Ha (not shown) that detects the bearing circle (not shown) with in order to detect the vehicle speed sensor 18 of vehicle velocity V (not shown), be connected to the auxiliary ECU 12 that stops by suitable bus such as high-speed communication bus etc.Vehicle speed sensor 18 can be wheel (tire wheel) speed pickup, and it is arranged on the wheel, and with the frequency output pulse signal corresponding to wheel velocity.The output signal of steering angle sensor 16 and vehicle speed sensor 18 offers the auxiliary ECU 12 that stops.In addition, autosteerer 30, dead-man's device 32 and servomechanism 34 are connected to the auxiliary ECU 12 that stops by suitable bus.

In addition, reverse gear (reverse shift) switch 50 and shutdown switch 52 are connected to the auxiliary ECU12 that stops.When shift lever is operated car backing position (reverse position), reverse gear switch 50 output connection signals.In other cases, reverse gear switch 50 remains on off-state.Shutdown switch 52 is arranged on one and closes in the cabin (cabin), thereby can operate shutdown switch 52 by the user.Shutdown switch 52 remains on off-state usually, becomes on-state when being operated by the user.Stop auxiliary ECU 12 based on the output signal of reverse gear switch 50, determine whether present case is in the situation of vehicle backing, and, determine whether the user needs to stop auxiliary based on the output signal of shutdown switch 52.

Be arranged on the rear view camera (back monitorcamera) 20 in vehicle rear bumper (bumper) middle body and be arranged on this display monitor 22 that closes in the cabin and be connected to the auxiliary ECU 12 that stops.Rear view camera 20 is ccd video cameras, is used for obtaining scene image in the zone of the predetermined angular of rear view of vehicle.The picture signal that video camera 20 is obtained offers the auxiliary ECU 12 that stops.When reverse gear switch 50 and shutdown switch 52 all were in on-state, the auxiliary ECU 12 that stops showed on display monitor 22 by the captured image of rear view camera 20.At this moment, display monitor 22 shows the soft-touch control that is used for the target setting parking spot, and the mode display-object parking frame on actual photographed image to superpose, as shown in Figure 2 (screen that the expression garage stops).

As shown in Figure 2, target parking position installs and decides soft-touch control such as comprising: be used for upwards, downwards, to the right, to the soft-touch control of left target parking frame and rolling target parking frame; The left and right sides reverser that is used for the reverse target parking frame of the longitudinal axis (corresponding to the central shaft of screen) around vehicle; Be used to specify the parking selector switch (not shown) of pending parking type; And the carriage return switch that is used for the position (comprising its orientation) of definite target parking frame.These soft-touch controls are shown on the display monitor 22 in the suitable stage according to their purposes.

The target parking frame can have the shape of the actual parking stall of imitation, outside vehicle shape etc., shown in the dotted line among Fig. 3.In addition, the target parking frame can have the user of permission and visually discern the profile in its position and orientation, and can provide for these two types in demonstration that is used for garage parking purposes and the demonstration that is used for parallel parking purposes.The coordinate figure of management objectives parking frame on display monitor 22 in the coordinate system in the position of representing the target parking frame and orientation.Particularly, the target parking frame represents that in the position on the display monitor 22 is two-dimensional coordinate system on display monitor 22 wherein: an axle corresponding to the axle (longitudinal axis) of vehicle on the display monitor 22 is defined as Z _mAxle; Another is perpendicular to Z _mThe axle of axle is defined as X _mAxle is as the position coordinates (X of reference point A on target parking position is put _m, Z _m) shown in.The reference line B of target parking frame can be passed through about Z in the orientation of target parking frame on display monitor 22 _mDegree of tilt (gradient) θ of axle _mManage.Under the situation of parallel parking, because the vehicle angle that will reach is known (promptly zero), can to can't help user's change (be θ so be used for the target parking frame orientation of parallel parking _mBe definite value, its sign is according to coordinate figure X _mSymbol and change).Hereinafter, the position of target parking frame on display monitor 22 and the (X in orientation will be used to specify _m, Z _m, θ _m) be called " display parameter ".

By moving target parking frame in display monitor 22, promptly (promptly change display parameter (X by the position of using target parking position to install to decide soft-touch control (by-pass cock) to change the target parking frame _m, Z _m, θ _m) each value), the user can make the setting operation on the realistic parking stall of target parking frame in display monitor 22.That is to say, by using soft-touch control, the user in display monitor 22, rotate and upwards, downwards, the parking frame of translation target to the left or to the right, change to actual parking bit position (comprising its orientation) with position (under the situation of garage parking, comprising the orientation of target parking frame) with the target parking frame.After regulating put in place (comprising the orientation) by this way, the target parking frame can be by the user such as being defined as final goal parking frame (promptly finishing the setting that the user puts target parking position) by pressing the carriage return switch.

After being determined in the above described manner by the user, the final position (comprising its orientation) of target parking frame (promptly determines display parameter (X _m, Z _m, θ _m) value), the auxiliary ECU 12 that stops calculates the relation that the parking reference positions are put about target parking position, the vehicle amount of movement (X that promptly puts from the parking reference position to target parking position _c, Z _c) and the turn inside diameter angle θ that puts from the parking reference position to target parking position (hereinafter, with (X _c, Z _c, θ) be called " controlled variable ").Controlled variable (X _c, Z _c, θ) determine that by the two-dimensional coordinate system of reality in this two-dimensional coordinate system, initial point is defined in the central authorities of vehicle back axle, X-axis is extended at the horizontal direction of vehicle, and the Z axle extends at the longitudinal direction of vehicle.Controlled variable (X _c, Z _c, value θ) one to one with display parameter (X _m, Z _m, θ _m) value corresponding.Therefore, if display parameter (X _m, Z _m, θ _m) value definite, then can be by predetermined reduction formula, calculation control parameter (X _c, Z _c, value θ).Reverse calculating also is possible.The lens properties of the installation site that this reduction formula can be by considering rear view camera 20, the wide-angle lens of rear view camera 20 etc. pre-determines.Under the situation of parallel parking, the calculating of controlled variable θ is unnecessary, because the angle of turn inside diameter is known (promptly zero).

Be identified for the controlled variable (X that this target parking position is put by this way _c, Z _c, θ) afterwards, the auxiliary ECU 12 that stops calculates the target steering angle that destination path and wheel will diverse location turn on this destination path, and vehicle will be directed to target parking position along this destination path from current vehicle location and put.Here the position that should be noted that the target parking frame is always put corresponding one by one with target parking position.

Thereby, put for making parking aid that vehicle automatically is directed to target parking position, the user only need be on display monitor 22 the target setting parking spot.

In the auxiliary control of above-mentioned parking, when vehicle arrived the parking reference position, the target parking frame initially was presented at (referring to Fig. 9) on the display monitor 22.The target parking frame can come to move carrying out position adjustments as required, thus the intended target parking spot.Therefore, put in the consistent location if the target parking frame initially is presented at the target parking position of wishing, then the adjusting of target parking frame position need reduce or not have, so required T.T. of automatic stopping can reduce to some extent.

Therefore, in first to the 3rd embodiment, the processing of the auxiliary control of stopping is carried out as described below.At first first embodiment is described.

In first embodiment, as controlled variable (X _c, Z _c, when θ) having determined, the auxiliary ECU 12 that stops is with controlled variable (X _c, Z _c, θ) store among the predetermined rewritable memory storage 12a (RAM of the auxiliary ECU 12 that promptly stops), at this moment, can be the garage parking and solely store and manage controlled variable (X with parallel parking ticket _c, Z _c, θ).

Particularly, as shown in Figure 5, under the situation of garage parking, controlled variable (X _c, Z _c) value according to redirecting to vehicle rotational angle θ (hereinafter, this controlled variable will be called " deflection angle theta ") classification to some extent in storage that target parking position puts.In this embodiment, since 0 degree, on positive and negative direction, set the scope of deflection angle theta every 10 degree.In Fig. 5, the symbol of deflection angle theta is definite like this, identical among the deflection left of vehicle and Fig. 4 B the counterclockwise deflection of the vehicle longitudinal axis (promptly from).Therefore, 18 groups of controlled variable (X _c, Z _c) store (i.e. (X corresponding to the scope of deflection angle theta _C1, Z _C1) to (X _C18, Z _C18)).Because consider in the garage stops and since the relation that parking reference position and target parking position are put about reverse, general vehicle mobility can be reverse to some extent on phase place, think that the positive sign of deflection angle theta and negative sign manage controlled variable (X individually _c, Z _c).

Under the situation of parallel parking, because deflection angle theta is zero, so the controlled variable (X of storage _c, Z _c) can be according to controlled variable X _cPositive and negative number and to some extent the classification (positive sign is applicable to the left side of axletree).That is to say, in the memory storage 12a of this embodiment, only store two groups of controlled variable (X _c, Z _c), X wherein _cOn symbol, change (i.e. (X to some extent _C1, Z _C1) and (X _C2, Z _C2), X wherein _C1, X _C2＜0).For above-mentioned reasons, promptly consider general vehicle mobility in parallel parking can since the relation that the parking reference position is put about target parking position about oppositely and reverse to some extent on phase place, institute thinks X _cPositive sign and negative sign manage controlled variable (X individually _c, Z _c).

Therefore, when determining the position of (carriage return) target parking frame on display monitor 22 (whenever the user finishes the setting that target parking position is put), auxiliary ECU 12 calculation control parameter (X stop _c, Z _c, θ), and under the situation of garage parking,, upgrade and storing control parameter (X according to the value of deflection angle theta _c, Z _c), and under the situation of parallel parking, according to X _cSymbol, upgrade and storage (X _c, Z _c).Controlled variable (the X of the renewal of in memory storage 12a, being stored _c, Z _c) (or controlled variable (X _c, Z _c, θ)), be used in next time and determine later on the initial position of target parking frame during the target setting parking spot, as following with reference to figure 6 in detail as described in.Incidentally, " initial position of target parking frame " refers to, when the user during target setting parking spot, initially is presented at " position of target parking frame (comprising the orientation) " on the display monitor 22 on display monitor 22.

Fig. 6 is a process flow diagram, and its expression is carried out by the auxiliary ECU 12 of the parking of this embodiment and is used to stop the auxiliary pre-service of controlling, suitably to determine the initial position of target parking frame.When after vehicle becomes halted state, when reverse gear switch 50 and shutdown switch 52 were operated on-state, this program activated.

In step S100, for selecting to carry out the garage, the prompting user stops or parallel parking, carry out the processing that is used on display monitor 22, showing the parking selector switch.If select the garage to stop, then carry out and handle from step S200, if select parallel parking, then carry out and handle from step S300.

In step S200, based on the driving condition till the vehicle arrival parking reference position, estimating vehicle is put the deflection angle theta of inclination with respect to target parking position.This processing will be discussed in more detail below.In the following description, if desired deflection angle is distinguished mutually with the deflection angle theta of other notion, then the deflection angle of estimating based on driving condition will be expressed as the deflection angle theta of subscripting _Est

Subsequently in step S210, with the deflection angle theta of estimating among the step S200 _Est(Xc Zc) fetches from memory storage 12a corresponding controlled variable.At this moment, the mapping (map) that the auxiliary ECU 12 that stops utilizes as shown in Figure 5 comprises the estimation deflection angle theta with identification _EstThe deflection angle theta scope, and from memory storage 12a, take out controlled variable (X corresponding to the deflection angle theta scope _c, Z _c).

Subsequently in step S220, calculate with step S210 in the controlled variable (X that derived _c, Z _c, θ _Est) corresponding display parameter (X _m, Z _m, θ _m).In addition, show on display monitor 22 to be used for the target parking frame that the garage stops that its position and orientation are based on the display parameter (X that calculates _m, Z _m, θ _m).That is to say, in step S220, be identified for the initial position of the target parking frame of garage parking.In step S220, can further carry out in order to show the processing of left and right sides reverser, the function of reverse target parking frame about this left and right sides reverser has.

In step S230, determine whether the user regulated the initial position of target parking frame before pressing the carriage return switch subsequently.If the user carries out the adjusting of target parking frame initial position, then program proceeds to step S235.In step S235, calculate and regulate back/determine display parameter, and in the above described manner, the display parameter (X that recomputates Yu calculated _{M '}, Z _{M '}, θ _{M '}) corresponding controlled variable (X _c, Z _c, θ ').According to the deflection angle theta that calculates ', with the controlled variable (X that calculates _c, Z _c) be stored among the memory storage 12a in the mode of upgrading.Then, this processing proceeds to step S240.On the contrary,, but press the carriage return switch, can determine that then the initial position of target parking frame satisfies user's intention if the user does not carry out the adjusting of target parking frame initial position.Therefore do not carry out updated stored and handle, and this processing proceeds to step S240 immediately.

Alternatively, can be in step S230, the amount of movement of determining adjusting number of operations (being the soft-touch control number of operations) that the user was carried out the target parking frame or the target parking frame that causes thus before pressing the carriage return switch whether greater than predetermined threshold in corresponding one.In this case, if the adjusting number of operations that the user carried out approximately is 4 or 5, can determine that then the initial position of target parking frame satisfies user's intention to a certain extent substantially.Therefore, can not carry out the updated stored of target parking frame initial position, and this processing proceeds to step S240.

In step S230, if in step S220 the left and right sides reverser that is shown on the display monitor 22 is operated, the auxiliary ECU 12 that then stops fetches corresponding to deflection angle theta _Est" (its only on symbol with step 200 in the estimation deflection angle theta _EstDifferent) controlled variable (X _c, Z _c), and on display monitor 22 display-object parking frame again, its position and orientation are corresponding to controlled variable (X _c, Z _c, θ _Est").Subsequently, if the user regulates the target parking frame that shows with left and right sides reverse manner, then this processing proceeds to above-mentioned step S235.In step S235, recomputate and regulate back/determine display parameter (X in the above described manner _m', Z _m', θ _m') corresponding controlled variable (X _c, Z _c, θ ').According to the deflection angle theta that calculates ', with the controlled variable (X that calculates _c, Z _c) be stored among the memory storage 12a in the mode of upgrading.Then, this processing proceeds to step S240.

Subsequently in step S240, based on the controlled variable (X that in step S230, calculates _c, Z _c, θ '), calculate destination path and the wheel target steering angle that diverse location is turned on this destination path, vehicle can be along this destination path from current vehicle location (reference position of promptly stopping) be directed to target parking position and put.Then, as being used to pretreated should processing can the end of auxiliary control of stopping.The calculating of assisting 12 pairs of destination paths of ECU of stopping can be carried out before the position of target parking frame (comprising its orientation) is determined, promptly carried out when the user changes the position of target parking frame.In this case, if the auxiliary ECU 12 that stops determines that the calculating of destination paths is impossible, the then demonstration of ECU 12 cancellation carriage return switches, and on display monitor 22 display message, such as " not bootable ".

If in step S100, select parallel parking, then in step S300, determine to carry out which kind of parallel parking, promptly the user plans vehicle is paralleled parking left side or right side.By the aforementioned parking selector switch with function of selecting parallel parking type is provided, realizes and to determine.Can suppose that also the type of parallel parking is identical with the parallel parking type of last time carrying out.

In step S310,, from memory storage 12a, fetch controlled variable (X subsequently according to the parallel parking type of determining among the step S300 _c, Z _c).For example, if in step S300, determine to carry out the parallel parking in left side, then from memory storage 12a, fetch controlled variable (X _c, Z _c), its X _cSymbol for just.

Subsequently in step S320, calculate with step 310 in the controlled variable (X that fetched _c, Z _c) corresponding display parameter (X _m, Z _m, θ _m) (wherein, θ _mBe according to Z on symbol _cSymbol and the predetermined fixed value that changes), and on display monitor 22 the display-object parking frame, its position is based on the display parameter (X that calculates _m, Z _m).Promptly in step S320, be identified for the initial position of the target parking frame of parallel parking.Among this external step S320, can show the left and right sides reverser of the function of reverse target parking frame about having.

Can determine in step S330 subsequently whether the user regulated the initial position of target parking frame before pressing the carriage return switch.If the user carries out the adjusting of target parking frame initial position, then this processing proceeds to step S335.In step S335, recalculate and regulate back/determine display parameter (X in the above described manner _m', Z _m') corresponding controlled variable (X _c, Z _c).According to X _cSymbol (being the type of parallel parking), with the controlled variable (X that calculates _c, Z _c) be stored among the memory storage 12a in the mode of upgrading.Then, this processing proceeds to step S340.On the contrary,, and press the carriage return switch, can determine that then the initial position of target parking frame satisfies user's intention, therefore do not carry out the updated stored process, and this processing proceeds to step S340 immediately if the user does not regulate the initial position of target parking frame.

Alternatively, in step S330, determine the user pressing before the carriage return switch to the amount of movement of the adjusting number of operations (being the soft-touch control number of operations) of target parking frame or the target parking frame that causes thus whether greater than predetermined threshold in corresponding one.

In step S330, if in step S320 the left and right sides reverser that is shown on the display monitor 22 is operated, the auxiliary ECU 12 that then stops fetches the controlled variable (X corresponding to parallel parking type _c, Z _c), the type of this parallel parking is different from determined parallel parking type in step S300, and on display monitor 22 display-object parking frame again, its position and orientation and controlled variable (X _c, Z _c) corresponding.Subsequently, if the user regulates the target parking frame that shows with left and right sides reverse manner, then this processing proceeds to above-mentioned steps S335.In step S335, recalculate and regulate back/determine display parameter (X in the above described manner _m', Z _m') corresponding controlled variable (X _c, Z _c).According to X _cSymbol, with the controlled variable (X that calculates _c, Z _c) be stored among the memory storage 12a in the mode of upgrading.Then, this processing proceeds to step S340.

Subsequently in step S340, based on the controlled variable (X that calculates among the step S330 _c, Z _c), calculate destination path, vehicle will be along this destination path from current vehicle location (reference position of promptly stopping) be directed to target parking position and put, and calculate the target steering angle that wheel will diverse location be turned on this destination path.Then, as being used to pretreated should processing can the end of auxiliary control of stopping.

The auxiliary pre-service of controlling finishes if be used to stop, and the auxiliary ECU 12 that then stops begins to carry out the auxiliary control of parking.Autosteerer, dead-man's device and servomechanism are connected to the auxiliary ECU 12 that stops by suitable bus such as high-speed communication bus etc.That is to say that the auxiliary ECU 12 that stops is controlling autosteerer 30, dead-man's device 32 and servomechanism 34, with along destination path with guiding vehicles in the target parking frame.Particularly, the driver loosens pushing of brake pedal so that vehicle is walked or drive slowly (creep), and makes vehicle begin to fall back thus.Then, the different vehicle position on the destination path that the arrival target parking position is put, the auxiliary ECU 12 that stops utilizes autosteerer 30, and wheel is automatically forwarded to target steering angle.Then, when vehicle finally arrives target parking position and puts, require the driver to stop vehicle (perhaps using dead-man's device 32 automatically to stop vehicle), thereby finish the auxiliary control of stopping.

In this embodiment, as mentioned above, under the situation of garage parking, the setting result of target parking frame stores in the mode of upgrading according to deflection angle theta.Under the situation of parallel parking, the setting result of target parking frame stores in the mode of upgrading according to the type (the parallel parking in left side or right side) of parallel parking.Therefore, can determine to reflect more accurately that the driver drives the initial position of the target parking frame of characteristics.As a result, can reduce the required time of target setting parking spot considerably.

Though in this embodiment, every the deflection angle theta of ten degree, controlled variable is stored and managed, the further segmentation of deflection angle also is possible.With the same under the situation of parallel parking, also can be according to the positive sign or the negative sign of deflection angle theta, storage and management controlled variable.Under the situation of parallel parking, memory storage 12a stores two groups of controlled variable according to the controlled variable of plus or minus.

Then, in step S200, carry out the evaluation method of deflection angle theta.Should be noted that at this deflection angle theta is defined as vehicle (its longitudinal axis) in orientation and the angle of vehicle (its longitudinal axis) between the orientation of parking reference position that target parking position is put.In this embodiment, based on the variation (hereinafter, being called " swing angle α ") of vehicle heading estimation deflection angle theta, the variation in this orientation is to comprise moving from the precalculated position to the parking reference position.

Fig. 7 is the figure of the method for estimation deflection angle theta among this embodiment of expression.For carrying out garage shut-down operation as shown in Figure 7, it has been generally acknowledged that vehicle is driven near target parking position puts substantially as the crow flies, a certain direction of turning is then put to leave target parking position, and moves to the parking reference position.As shown in Figure 7, draw as the crow flies if vehicle is put (parking stall) perpendicular to target parking position, then deflection angle theta can be calculated as " deflection angle theta _Est=90-swing angle α ", wherein swing angle α is the variation of vehicle heading, this variation be in the moving process of the initial position of vehicle before user's steering wheel rotation to the parking reference position cause.As for swing angle α, counterclockwise be defined as positive dirction, and clockwise direction is defined as negative direction.Therefore, if swing angle α bears, then deflection angle theta is born, and is calculated as " deflection angle theta _Est=-90-swing angle α ".Therefore, the estimation of swing angle α makes the estimation deflection angle theta become possibility.

Usually, swing angle α calculates according to formula 1, and wherein ds is minimum vehicle displacement, and γ is road surface curvature (corresponding to the inverse of turn inside diameter radius R).Formula 1 is defined as swing angle α to change at the vehicle heading that is a bit comprised to the moving of current point from β rice rear.

$\mathrm{\α}={\∫}_{-\mathrm{\β}}^0\mathrm{\γ}\·\mathrm{ds}\·\·\·\left(1\right)$

The auxiliary ECU 12 of the parking of this embodiment calculates minimum swing angle α for each preset movement distance (being 0.5 meter in this embodiment) _i, and according to the formula 2 based on formula 1 remodeling, to the minimum swing angle α that calculates ₁To α _kSummation is to calculate swing angle α.

$\mathrm{\α}=\underset{i=1}{\overset{k}{\mathrm{\Σ}}}{\mathrm{\α}}_i\·\·\·\left(2\right)$

${\mathrm{\α}}_i={\∫}_{-0.5}^0\mathrm{\γ}\·\mathrm{ds}\·\·\·\left(3\right)$

By the time integral of output signal (wheel velocity pulse), monitoring preset movement distance (being 0.5 meter in this embodiment).Road surface curvature γ (corresponding to the inverse of turn inside diameter radius R) determines based on the steering angle Ha that is obtained from steering angle sensor 16; For example, it can be calculated as γ=Ha/L ρ, and wherein L is a wheelbase, and ρ is the total steering gear ratio ratio of wheel turning angle (the steering angle Ha with).Minimum swing angle α _iAlso can be by multiply by 0.01 minimum displacement every 0.01 meter the road surface curvature γ that minimum displacement obtained and asking the integration of this product value to calculate to 0.5 meter.Relation between road surface curvature γ and the steering angle Ha can be used as mapping, being stored among the ROM of the auxiliary ECU 12 that stops, this mapping be based upon each vehicle institute in advance the related data of acquisition prepare.

When vehicle ', based on the output signal of steering angle sensor 16 and vehicle speed sensor 18, the auxiliary ECU 12 of the parking of present embodiment calculates minimum swing angle α consistently _i, and the minimum swing angle α that will calculate _iStore among the memory storage 12a.That is to say that during steering vehicle, when the displacement of vehicle reached 0.5 meter, the auxiliary ECU 12 that stops was current 0.5 meter displacement, calculates minimum swing angle α _iMemory storage 12a stores at least 14 minimum swing angle α ₁To α ₁₄, wherein minimum swing angle α ₁₄Be the up-to-date minimum swing angle of calculating, and minimum swing angle α ₁It is the minimum swing angle of calculating before 13 computation cycles.Therefore, when vehicle moves 0.5 meter, with the minimum swing angle α that newly calculates _iData among the updated stored device 12a.Memory storage 12a always stores at least 14 up-to-date minimum swing angle α ₁To α ₁₄(the minimum swing angle α that promptly in preceding 7 meters moving area, calculates ₁To α ₁₄).

Cutting off the time point of ignition switch, removing all and be stored in minimum swing angle data among the memory storage 12a.Therefore, connecting after ignition switch and vehicle begin to travel, minimum swing angle stores among the memory storage 12a continuously.Operating range at vehicle reaches after 7 meters, and memory storage 12a always is in such state, and 14 up-to-date minimum swing angle α of auxiliary ECU 12 storages promptly stop ₁To α ₁₄

When needs estimations deflection angle theta (for example, when vehicle when the parking reference position stops), the auxiliary ECU 12 that stops fetches 14 up-to-date minimum swing angle α from memory storage 12a ₁To α ₁₄, and obtain minimum swing angle α ₁To α ₁₄Sum is to calculate estimation deflection angle theta needed swing angle α (being in the vehicle heading variation that is a bit comprised to the moving of current point from 7 meters after in this case).Corresponding with the symbol of the swing angle α that estimates, auxiliary ECU 12 selectivity of stopping are used formula " deflection angle theta _Est=90-swing angle α " and " deflection angle theta _EstOne of=-90-swing angle α ", to determine deflection angle theta _Est

According to this embodiment, owing in the steering vehicle process, calculate and store minimum swing angle α _i, can realize the state of total energy estimation deflection angle theta.That is to say,, can estimate deflection angle theta, and when stop to have nothing to do with vehicle according to this embodiment.In addition in this embodiment, as mentioned above, swing angle α is calculated as " changing at the vehicle heading that occurs to the process of stop position " after about 7 meters.7 meters numerical value is based on driver's driving characteristics, and promptly when the parking reference position moves, the driver began steering wheel rotation in about 7 meters before the parking reference position.Therefore, according to this embodiment, owing in the calculating of deflection angle theta, reflect driver's driving characteristics, thus need not about the determining of vehicle straight-line travelling state, but pin-point accuracy ground estimation deflection angle theta still.The present invention is not limited to this numerical value, promptly 7 meters.This value can change in 7 meters ± 2 meters scope.Similarly, with minimum swing angle α _iCorresponding 0.5 meter displacement also can be other suitable value, such as 0.25 meter, 1.0 meters etc.

In the aforementioned embodiment, when needs estimation deflection angle theta, by minimum swing angle α with current calculating ₀Add up-to-date 14 the minimum swing angle α that fetch from memory storage 12a to _i, the auxiliary ECU 12 that stops can calculate swing angle α.By displacement (＜0.5 meter) being multiply by the road surface curvature γ of displacement, calculate the current minimum swing angle α that calculates ₀, this displacement is from previous minimum swing angle α ₁₄Calculation level to the distance of stop position.Therefore, if vehicle stops on one point, from this point to up-to-date minimum swing angle α ₁₄Calculation level between less than 5 meters, then can calculate the required swing angle α of estimation deflection angle theta (in this case, being the vehicle heading variation that occurs to the moving process of current point from least 7 meters after) exactly.

Below, with the parking aid of describing according to second embodiment of the invention.Based on the driving condition of vehicle till the parking reference position, the parking aid of this embodiment is estimated deflection angle theta by aforesaid estimating techniques, and estimates aforesaid controlled variable (X _c, Z _c).

Fig. 8 is that expression is estimated controlled variable (X according to this embodiment _c, Z _c) the figure of technology.In this embodiment, controlled variable X _c(being the x coordinate that the central authorities of vehicle rear axle put at target parking position) is calculated as follows:

X _c＝(L1+ΔX+η)·cos -(ΔZ-ζ)·sinα…(4)

Controlled variable Z (being the z coordinate that the central authorities of vehicle rear axle put at target parking position) is calculated as follows:

Z _c＝(L1+ΔX+η)·sinα+(ΔZ-ζ)·cosα…(5)

In the equation above, as shown in Figure 8, L1 is the distance (rice) with vehicle rear axle central authorities on surface level.In addition, η adapts to (adaptation) parameter, and it is corresponding to the lateral separation between the longitudinal axis of forward position of putting (parking stall) when vehicle is vertically put near target parking position at target parking position and vehicle.That is to say, η on the surface level corresponding to the distance (rice) the vehicle front of putting to target parking position from the longitudinal axis of vehicle (driving to the parking reference position substantially as the crow flies) (being the distance on the vehicle y direction that target parking position is put between the two).In this embodiment, consider driver's driving characteristics, adaptation parameter η can be made as definite value, i.e. η=1.5+ vehicle width/2.

In addition, ζ is an adaptation parameter, vehicle rear axle central point (the promptly minimum swing angle α more accurately, that it occurs when beginning corresponding to the vehicle longitudinal axis of putting at target parking position and steering operation on the surface level ₁₄The calculating starting point) between distance (rice) (the lateral direction of car distance of promptly putting at target parking position).In this embodiment, adaptation parameter ζ is set at the variable value that depends on swing angle α, i.e. ζ=α/90 * (Rmin-2.7)+2.7 (wherein Rmin is the minimal curve radius of vehicle).This is that promptly swing angle α is big more based on driver's driving characteristics, and the driver is far away more before target parking position is put to begin to turn to.Therefore, if swing angle α is big more, the value of adaptation parameter ζ is also big more.

In formula 4 and 5, Δ X and Δ Z calculate according to formula 6 and 7 respectively.

$\mathrm{\ΔX}=0.5\·\underset{i=1}{\overset{14}{\mathrm{\Σ}}}\sin (\underset{K=1}{\overset{i-1}{\mathrm{\Σ}}}{a}_k+\frac{1}{2}\·{\mathrm{\α}}_i)$

$=0.5\·\sin (\frac{1}{2}\·{\mathrm{\α}}_1)+\sin (a_1+\frac{1}{2}\·{\mathrm{\α}}_2)+\sin (a_1+a_2+\frac{1}{2}\·{\mathrm{\α}}_3)+\·\·\·\sin (a_1+a_2+a_3+\·\·\·+a_{13}+\frac{1}{2}\·{\mathrm{\α}}_{14})$

…(6)

$\mathrm{\ΔZ}=0.5\·\underset{i=1}{\overset{14}{\mathrm{\Σ}}}\cos (\underset{K=1}{\overset{i-1}{\mathrm{\Σ}}}{a}_k+\frac{1}{2}\·{\mathrm{\α}}_i)$

$=0.5\·\cos (\frac{1}{2}\·{\mathrm{\α}}_1)+\cos (a_1+\frac{1}{2}{\mathrm{\α}}_2)+\cos (a_1+a_2+\frac{1}{2}{\mathrm{\α}}_3)+\·\·\·\cos (a_1+a_2+a_3\·\·\·+a_{13}+\frac{1}{2}{\mathrm{\α}}_{14})$

…(7)

In formula 6 and 7,0.5 numerical value is corresponding to the preset movement distance of aforementioned 0.5 (rice).

As needs estimation controlled variable (X _c, Z _c) time (for example when vehicle when the parking reference position stops), the auxiliary ECU 12 of the parking of this embodiment fetches 14 up-to-date minimum swing angle α from memory storage 12a ₁To α ₁₄, and according to formula 6 and 7 calculating Δ X and Δ Z.Utilize Δ X and Δ Z and the aforementioned adaptation parameter that calculates then, the auxiliary ECU 12 that stops is by formula 4 and 5 calculation control parameter (X _c, Z _c).

Similar to previous embodiment, when vehicle ', present embodiment calculates and stores minimum swing angle α consistently _iProcessing.Therefore, according to present embodiment, no matter when vehicle stops, controlled variable (X _c, Z _c) estimation all be possible.In the present embodiment, utilization is driven adaptation parameter η, the ζ of characteristics based on the driver, calculation control parameter (X _c, Z _c).Therefore according to present embodiment, driver's driving characteristics are at controlled variable (X _c, Z _c) estimation in obtain reflection, so but pin-point accuracy ground estimation controlled variable (X _c, Z _c).

Be relevant in conjunction with the embodiments above-mentioned target parking position and install surely, (Xc Zc) can be used to be identified for the initial position of the target parking frame of garage parking to Gu Suan controlled variable as mentioned above.That is to say, the auxiliary ECU 12 of the parking of this embodiment display-object parking frame initially on display monitor 22, its position and orientation are corresponding to the controlled variable (X of estimation in the above described manner _c, Z _c, θ _Est).Because the initial position of target parking frame is the estimation of pin-point accuracy ground as mentioned above,, therefore can reduce the required time of target setting parking spot considerably so the user needn't regulate the target parking frame by the multi-pass operations soft-touch control.

Second embodiment can combine effectively with first embodiment.For example, if in first embodiment, based on the controlled variable (X that set in the past _c, Z _c) there be not (promptly when initial setting), then (Xc Zc) can be used to replace default value to the controlled variable of estimating according to second embodiment.

The 3rd embodiment of various details parking aid.

Following specifically described, by detecting the halted state of vehicle, and with a location recognition is that target parking position is put, and this position has predetermined relationship with the vehicle location that occurs when detecting halted state, and this embodiment can put by estimation target parking position in pin-point accuracy ground.Therefore, from the beginning can be in the target parking position of hope be put display-object parking frame initially.

Fig. 9 is the figure that represents to put according to the target parking position that this embodiment is used for stopping in the garage evaluation method.Put in the evaluation method at the target parking position of this embodiment, as shown in Figure 9, prerequisite (precondition) is that vehicle is vertically put near target parking position, and suspends in central authorities that target parking position is put (center line put of target parking position in Fig. 9 by single-point line expression).Suspending after target parking position is put central authorities, vehicle moves to the parking reference position, and the user carries out the above-mentioned setting that target parking position is put in this parking reference position.

Figure 10 is the figure that target parking position that expression is used for parallel parking according to this embodiment is put evaluation method.Put in the evaluation method at the target parking position of this embodiment, as shown in Figure 10, prerequisite is that vehicle is put near target parking position abreast, and suspends in the central authorities (its central authorities in a longitudinal direction) that target parking position is put.Suspending after target parking position is put central authorities, vehicle moves to the parking reference position, and the user carries out the above-mentioned setting that target parking position is put in this parking reference position.

In case based on the output signal of vehicle speed sensor 18, detect the halted state of vehicle, the auxiliary ECU 12 of the parking of this embodiment determines whether at the steering angle that occurs during the halted state be in the preset range at center with the neutral position.If steering angle is being in the preset range at center with the neutral position, the auxiliary ECU 12 that then stops is that target parking position is put with a location recognition, and the vehicle location that occurs during this position and the halted state (being stop position) has predetermined relationship.Hereinafter, put the vehicle stop position of discerning reference as target parking position and will be called " with reference to stop position ".

In addition, by calculating the amount of movement of vehicle from the reference stop position to the parking reference position, the auxiliary ECU 12 that stops calculates the position relation with reference to stop position and parking reference position.Then, based on the position of reference stop position that calculates and parking reference position relation, (promptly calculate target parking position is put and the position of the reference position of stopping relation) put in auxiliary ECU 12 identifications of stopping with the target parking position that has predetermined location relationship with reference to stop position.In addition, put and the position of the reference position of stopping relation based on the target parking position that calculates, the auxiliary ECU 12 that stops determines the initial display position of target parking frames.Then, the auxiliary ECU 12 of parking initially is presented in the determined display position target parking frame.Incidentally, the predetermined relationship between putting with reference to stop position and target parking position can be stored among the ROM of the auxiliary ECU12 that stops in advance.

Thereby, according to this embodiment, the driver only needs the vehicle time-out is being put (in this embodiment with target parking position, the target parking position that is is in a lateral direction put the central point) have the position of predetermined relationship, thus will discern and suspend the target parking position that position (with reference to stop position) has predetermined relationship and put.Therefore, it is the recognizable object parking spot that this embodiment does not need the driver to carry out switching manipulation, therefore can reduce driver's operation burden.In addition, according to this embodiment, based on above-mentioned predetermined hypothesis, identification/estimating target parking spot is as having the position of predetermined relationship with the reference stop position.Therefore, as long as the user realizes predetermined hypothesis (promptly as long as vehicle stops at target parking position and puts the position with predetermined relationship), just can realize that target parking position puts the very big improvement of estimation accuracy.As a result, can on display monitor 22, the target parking frame initially be presented in the position of putting near the target parking position of wishing from the beginning.Therefore, reduce the required time of position adjustments of target parking frame considerably, and can reduce required T.T. of automatic stopping.That is to say that the user only needs suspension vehicle to satisfy predetermined hypothesis, just can realize the very big improvement of the accuracy that the estimation target parking position is put, so can reduce required T.T. of automatic stopping.

In this embodiment, target parking position is put and is based on that such hypothesis discerns/estimate, i.e. central authorities of putting corresponding to target parking position with reference to stop position (more accurately, with reference to the driver in the vehicle of stop position position).Yet, also can suppose with reference to the position of the driver in the vehicle of stop position corresponding to rear vehicle end etc. in the position that forwards makes progress that target parking position is put.Preferably, such hypothesis or prerequisite be explanation in user manuals etc. with should be understood that, thereby the user will know this hypothesis.These hypothesis or prerequisite can be prepared and are selectable with different types, to satisfy user's various preferences.

Figure 11 is a process flow diagram, and its expression is by the performed concrete handling procedure of the auxiliary ECU of the parking among this embodiment 12, puts with pin-point accuracy ground estimation target parking position as mentioned above.When ignition switch was connected, this handling procedure activated.

In step S400, determine whether vehicle becomes halted state from transport condition.In step S400,, detect the variation of vehicle from the transport condition to the halted state based on the output signal of vehicle speed sensor 18.Continue if determine the transport condition of vehicle in step S400, then this handling procedure finishes, and does not carry out any further processing.On the contrary, if detect the halted state (speed of a motor vehicle is zero state) of vehicle in step S400, then this handling procedure proceeds to step S410.

In step S410, determine that the steering angle that occurs is whether in the preset range that with the neutral position is the center (for example 0 ± 15 (degree)) when step S400 detects halted state.If the steering angle when detecting halted state is being outside the preset range at center with the neutral position, think that then detected stop position can be used as aforesaid with reference to stop position in step S400.This processing proceeds to step S420 then.

In step S420, carry out a pre-service, be used for calculating the relation of current vehicle location and the detected stop position of step S400.If detect the halted state that detected from step S400 to the variation the transport condition, the then processing of execution in step S420.In step S420, calculate the minimum swing angle α of vehicle _iMinimum swing angle α _iBe caused vehicle heading variable quantity in the driving process of preset distance (being 0.5 meter in this embodiment), and can calculate by formula 8 and 9.Minimum swing angle α _iPositive sign be defined as vehicle heading clockwise change (therefore, with situation is opposite as shown in Figure 10 situation under, if promptly put near target parking position in the middle left side of vehicle from Figure 10, on such direction, move then towards the parking reference position, put then minimum swing angle α to leave target parking position _iSymbol for negative).

$\mathrm{\α}=\underset{i=1}{\overset{k}{\mathrm{\Σ}}}{\mathrm{\α}}_i\·\·\·\left(8\right)$

${\mathrm{\α}}_i={\∫}_{-0.5}^0\mathrm{\γ}\·\mathrm{ds}\·\·\·\left(9\right)$

Because describe the curvature of face γ that passes by on one's way in conjunction with first embodiment, omit the explanation of road surface curvature γ at this.

In step S420, the minimum swing angle α that will calculate for each displacement of 0.5 meter _iBe written to suitable manner among the RAM of the auxiliary ECU 12 that stops.Therefore, in step S420, when the stop position that is detected from step S400 whenever vehicle moves 0.5 meter, calculate minimum swing angle α _i, i.e. caused vehicle heading variable quantity in 0.5 meter moving process, and with minimum swing angle α _iWrite among the RAM of the auxiliary ECU 12 that stops.

In step S430, determine the displacement D whether vehicle is being scheduled to after step S400 detects halted state subsequently _Thr1Become halted state in (for example 6.5 meters), and whether reverse gear switch 50 and shutdown switch 52 is connected all.If in step S430, determine the preset movement distance D of vehicle after step S400 detects halted state _Thr1In do not become halted state (if i.e. vehicle continue to travel at least 6.5 meters but do not stop) as yet, think that then the detected stop position of step S400 is not with reference to stop position.Then, with the minimum swing angle data dump that writes among the RAM that assists ECU 12 that stops, and this handling procedure finishes.On the contrary, if in step S430, determine the displacement D of vehicle after halted state _Thr1In become halted state, and reverse gear switch 50 and shutdown switch 52 all connect, then this processing proceeds to step S440.

In step S440, the detected stop position of determining step S400 is with reference to stop position, and definite current vehicle location (promptly with reference to the stop position after the stop position) is the parking reference position, and calculates that target parking position is put and the relation of the reference position of stopping.In step S440, at first calculate the parking reference position with reference to the relation of stop position.Subsequently, the hypothetical reference stop position is the central authorities (its central authorities in a lateral direction) that target parking position is put, with one with the location recognition that has a predetermined relationship with reference to stop position be that target parking position is put.At last, calculate that target parking position is put and the relation of the reference position of stopping.

More specifically, under the situation of stopping in the garage, as shown in Figure 8, target parking position is put and the relation of the reference position of stopping, and promptly target parking position is put the coordinate (X about the parking reference position _c, Z _c) calculate

As follows:

X _c＝(L1+ΔX+η)·cosα-(ΔZ-ζ)·sinα…(10)

Z _c＝(L1+ΔX+η)·sinα+(ΔZ-ζ)·cosα…(11)

As shown in Figure 8, the coordinate (X that puts of target parking position _c, Z _c) determine that in two-dimensional coordinate system initial point is in the central authorities of rear axle, X-axis is corresponding to the horizontal direction of vehicle, and the Z axle is corresponding to the longitudinal direction of vehicle.In formula 10 and 11, L1 is the distance (rice) of the part from the central authorities of vehicle rear axle to vehicle front on surface level.In addition, α is a caused vehicle heading variable quantity (swing angle α) moving from the reference stop position to the parking reference position, and the minimum swing angle α by step S420 is calculated _i(participating in formula 8,9) calculated in summation.

In formula 10 and 11, η is the horizontal spacing between the forward position that the vehicle longitudinal axis and the target parking position of reference stop position are put.In this embodiment, set η=1.5+ vehicle width/2.In addition, ζ is a constant, the aforementioned predetermined relationship between it determines to put with reference to stop position and target parking position, and determine by aforementioned hypothesis.In this embodiment, constant ζ on the longitudinal direction of car direction of surface level corresponding to the distance (rice) between the center line of putting at the vehicle rear axle of reference stop position central authorities and target parking position.Therefore, the position of the driver in the vehicle of hypothetical reference stop position is positioned at the central authorities that target parking position is put, and constant ζ is defined as ζ=L1-L2, and wherein L2 is the distance (referring to Fig. 8) from the vehicle front to the position of driver.

In addition, Δ X in the formula 8 and 9 and Δ Z are calculated as follows according to formula 12 and 13 respectively:

$\mathrm{\ΔX}=0.5\·\underset{i=1}{\overset{m}{\mathrm{\Σ}}}\sin (\underset{k=1}{\overset{i-1}{\mathrm{\Σ}}}{\mathrm{\α}}_k+\frac{1}{2}\·{\mathrm{\α}}_i)\·\·\·\left(12\right)$

$\mathrm{\ΔZ}=0.5\·\underset{i=1}{\overset{m}{\mathrm{\Σ}}}\cos (\underset{k=1}{\overset{i-1}{\mathrm{\Σ}}}{\mathrm{\α}}_k+\frac{1}{2}\·{\mathrm{\α}}_i)\·\·\·\left(13\right)$

In formula 12 and 13,0.5 numerical value is corresponding to the preset movement distance of aforementioned 0.5 (rice).In addition, α _kAnd α _iBe the minimum swing angle α i that step S420 calculates, and subscript k, i are the natural numbers that is assigned to result of calculation with the ascending order that starts from " 1 " (giving first result of calculation).Therefore, for travelling at interval of 0.5m, the minimum swing angle that starts from reference to stop position is α ₁In addition, minimum swing angle α _m(at D _Thr1Under=6.5 the situation, m≤13) being up-to-date result of calculation, also can be the result of calculation at interval of travelling that was right after before the parking reference position less than 5 meters.Thereby in step S440, among the Δ X and Δ Z substitution formula 10 and 11 that will be calculated by formula 12 and 13, to calculate the coordinate (X that target parking position is put _c, Z _c).

Under the situation of parallel parking, the coordinate (X that target parking position is put _c, Z _c) be calculated as follows:

X _c＝δ…(14)

Z _c＝ΔZ+ε…(15)

In formula 14, constant δ is the horizontal spacing between the vehicle longitudinal axis that the vehicle longitudinal axis and the target parking position of reference stop position are put.In this embodiment, similar to aforementioned constant η, constant δ is set at δ=1.5+ vehicle width/2.In formula 15, the aforementioned predetermined relationship between constant ε determines to put with reference to stop position and target parking position, and definite by aforementioned hypothesis.In this embodiment, the central authorities that put corresponding to target parking position the vehicle central position of hypothetical reference stop position, constant ε is set at zero.In formula 15, Δ Z is the displacement (time integral of the output signal (wheel velocity pulse) that it can be by vehicle speed sensor 18 is calculated) from the reference stop position to the parking reference position.If aforementioned hypothesis comprises a plurality of supposition items, then constant ε and constant δ correspondingly prepare with polytype.

In step S450, the target parking frame initially is presented on the position of display monitor 22, the coordinate (X that the target parking position that this position and step S440 are calculated is put subsequently _c, Z _c) corresponding.If system is designed to impel the user to select the parking type of wanting, then can realize the initial demonstration of target parking frame by utilizing and the corresponding aforementioned result of calculation of selected parking type (garage stops or parallel parking).Also can be according to the swing angle α value that calculates, the parking type that expection is wanted (for example,, then expecting parallel parking) if swing angle α is zero substantially.In this case, can be used for realizing the initial demonstration of target parking frame with the corresponding aforementioned result of calculation of expection parking type.Should be noted that at this coordinate of target parking frame on display monitor 22 is corresponding one by one with the coordinate that target parking position is put owing to predetermined transformation for mula.When the processing of step S450 finished, this handling procedure finished.After the processing of step S450 finished, the target parking frame initially was presented on the display monitor 22.Because the initial position of pin-point accuracy ground estimation target parking frame so the user becomes easy or unnecessary in order to the subsequent operation of regulating target parking frame position, thereby reduces required T.T. of automatic stopping as mentioned above.

The halted state of vehicle not only can detect when vehicle stops at reference to stop position, and can detect (for example when vehicle stops owing to traffic signals or suspend in the crossroad) in various other situations.Therefore, if each detected vehicle halted state is identified as the candidate who is used for reference to stop position, then need from many candidates, only to select a suitable reference stop position.Yet in such structure, the switching manipulation or the resulting testing result of sensor special (distance measurement sensor) that promptly do not rely on the user and carried out are difficult to select suitable reference stop position from many candidates.If from many candidates, select inappropriately with reference to stop position, then inconvenience can appear, and promptly the target parking frame can initially be presented at the target parking position of wishing and put in the diverse position.

Yet in this embodiment, though detected each vehicle halted state is identified as the candidate who is used for reference to stop position, but the last reference stop position of selecting (promptly when vehicle arrives the parking reference position) is such stop position, and this stop position is present in the preset movement distance D before the parking reference position _Thr1In (being 6.5 meters in this embodiment).Preset movement distance D _Thr1Set like this, the stop position except that the above-mentioned reference stop position (especially, the stop position when vehicle stopped before reality is with reference to stop position) is got rid of with reference to the candidate of stop position from being used for, and with preset movement distance D _Thr1Be set at the higher limit that allows safety and realize stopping auxiliary control suitably.Therefore according to this embodiment, can from many candidates, only select a suitable reference stop position.Therefore, will improve the accuracy and the auxiliary reliability of controlling of stopping that the estimation target parking position is put.

In addition, in this embodiment, the stop position when steering angle is neutral gear substantially is identified as the candidate who is used for reference to stop position.Therefore, particularly under the situation of garage parking, if vehicle stop at actual with reference between near stop position and the parking reference position (in this case, the driver is the direction of operating dish, thereby when vehicle stops, steering angle can depart from neutral position considerably), then can be from being used for getting rid of this stop position with reference to the candidate of stop position.

If under the situation of parallel parking, vehicle stops at actual between near stop position and the parking reference position, and then steering angle can be positioned at neutral position substantially, thereby this stop position is identified as the candidate who is used for reference to stop position.In this case, the handling procedure shown in Figure 11 can walk abreast and carry out simultaneously, to provide at least two stop positions as the candidate who is used for reference to stop position.Also can adopt a kind of like this structure, preset movement distance D before the reference position of promptly stopping _Thr2Stop position in (for example 2 meters) is got rid of with reference to the candidate of stop position from being used for, and should make the optional stop position for referencial use of stop position (2.0 meters to 6.5 meters scope in minimum value) of the displacement minimum that arrives the parking reference position.

Even under the situation of garage parking, the phenomenon of repeated detection to halted state can appear, and the processing meeting of the step S420 of handling procedure shown in Figure 11, S430 is carried out concurrently simultaneously, thereby two or more stop positions are determined as the candidate who is used for reference to stop position.In this case, can followingly carry out and above-mentioned similar operation.That is to say preset movement distance D before the parking reference position _Thr2Stop position within (for example 2 meters) is got rid of with reference to the candidate of stop position from being used for, and this has the optional stop position for referencial use of stop position of the minimum displacement that arrives the parking reference position (i.e. minimum value in 2.0 meters to 6.5 meters scopes).

That is to say, in this embodiment, if before the parking reference position at displacement D _Thr1Within do not detect the halted state of vehicle as yet, then, determine the initial position of target parking frame based on default value or based on by the estimated value that different evaluation method obtained.

According to the 3rd embodiment, the initial position of target parking frame is estimated based on the driving condition that vehicle arrives till the parking reference position.Yet the relation that parking reference position and target parking position are put can change according to single driver's driving characteristics.Above-mentioned evaluation method can't realize reflecting fully single driver's driving characteristics; In some cases, the parking frame position (comprising its orientation) wanted of the initial position of target parking frame and user is complementary.In this case, when needs make the target parking frame meet the parking stall that the user wants, user's soft-touch control of having to operate in a similar manner.Therefore, the defective of complicated operation is regulated in the location.

According to first and second embodiment, as mentioned above, utilize the in the past setting of user to the target parking frame, determine the reference position of target parking frame.Particularly, when the target setting parking spot, the result of user's target setting parking frame can in time store among the memory storage 12a in the mode of upgrading in step S230 or S330, therefore, the relation of putting of the controlled variable among the memory storage 12a corresponding to the peculiar parking reference position of user and target parking position.Therefore,, in step S210 and S310, from memory storage 12a, fetch controlled variable, the relation that they are put corresponding to the peculiar parking reference position of user and target parking position according to this embodiment.Therefore, can initially show and the corresponding display-object parking frame of single user's driving characteristics.As a result, these embodiment can eliminate the needs that the user is used for carrying out repeatedly the similar adjusting of target parking frame, and can reduce the required time of target setting parking spot considerably.

Although described the present invention with reference to its preferred embodiment, the present invention is not limited to the foregoing description.On the contrary, do not deviate from the spirit and scope of the present invention, the setting of various remodeling and equivalence also can be applicable to previous embodiment.

For example, though in first and second embodiment, for each scope of deflection angle theta, memory storage 12a stores one group of controlled variable (X in the mode of upgrading _c, Z _c), but each range storage that also can be deflection angle theta is organized controlled variable (X more _c, Z _c) (promptly arrange controlled variable (X in the mode of database _c, Z _c, θ)).In this case, organize controlled variable (X more _c, Z _c) mean value (X _Ave, Z _Ave) can fetch by the auxiliary ECU 12 that stops, be used for the initial position of determining that target parking position is put.

In addition, though in first and second embodiment, at calculation control parameter (X _c, Z _c, θ) after, controlled variable (X _c, Z _c) can store in the mode of upgrading according to deflection angle theta, but also can be according to deflection angle theta, updated stored comprises the controlled variable (X of deflection angle theta _c, Z _c, θ).In this case, in step S210, controlled variable (X _c, Z _c, θ) can be according to the deflection angle theta of estimation _Est(θ in this case _Est≠ θ is possible) from memory storage 12a, fetch.In step S220, it is suitable carrying out such processing subsequently, promptly calculates and controlled variable (X _c, Z _c, θ) corresponding display parameter (X _m, Z _m, θ _m), and on display monitor 22 the display-object parking frame, its position and orientation display parameter (X to calculate _m, Z _m, θ _m) be the basis.That is to say, in this structure, the deflection angle theta of estimating based on vehicle driving state _EstOnly be used for coming from memory storage 12a and fetch controlled variable (X _c, Z _c, θ), and the orientation for the treatment of the initial target parking frame that shows is determined by the controlled variable θ that fetches (i.e. the deflection angle theta that calculates when determining the operating of target parking frame) in the past.

In addition, in first and second embodiment, controlled variable (X _c, Z _c) according to controlled variable X _cSymbol store in the mode of upgrading, be used for the target parking frame in next time or the initial demonstration when operating later on.Naturally, also can be according to deflection angle theta or controlled variable X _cSymbol, with display parameter (X _m, Z _m, θ _m) store among the memory storage 12a in the mode of upgrading.

For example, in the 3rd embodiment, what target parking position was put determines that finally leaving the user for finishes, the intention that can adapt to the user thus neatly, for example and since various environment such as barrier is arranged near putting at target parking position, for ease of opening and close entrance door etc., the user plans vehicle parking in a position, this position from realistic objective parking spot center line to the right or to left avertence, perhaps on well azimuth about center line.Yet in another possible structure, Gu Suan target parking position is put and can be defined as the final objective parking spot as mentioned above.

In addition, though in the 3rd embodiment,, calculate minimum swing angle α based on the output signal of vehicle speed sensor and steering angle sensor _i, but also can calculate minimum swing angle α based on the output signal of vehicle speed sensor and yaw rate sensor _i

According to first and second embodiment, the target parking frame can initially be presented in the corresponding position of driving characteristics (comprising the orientation) with single driver.

According to the 3rd embodiment, can put by estimation target parking position in pin-point accuracy ground, and do not need the user to carry out switching manipulation, do not need additional sensor yet.Therefore, can reduce the required time of target setting parking spot, and improve the usability of the auxiliary control of stopping.

Claims (14)

1. parking aid, it allows to move the target parking frame that the real image together with vehicle environmental shows by the user and comes the target setting parking spot, and the target parking position that vehicle is directed to setting is automatically put, and this device is characterised in that:

By the setting in the past that utilizes the user that target parking position is put, initially show this target parking frame.

2. parking aid as claimed in claim 1, its auxiliary shut-down operation that is used for the garage parking is characterized in that also comprising:

Controlled variable calculation element (12) is used to calculate vehicle amount of movement and vehicle heading variable quantity as controlled variable, and this amount of movement and this variable quantity are required the target parking position that vehicle is directed to setting from the parking reference position is put;

Memory storage (12a) is used to store the controlled variable of the calculating that is associated with the variable quantity of amount of movement that calculates and calculating; And

Estimating device (12), be used for based on vehicle until the driving condition till this parking reference position, estimate that this target parking position puts, and be used for estimating vehicle is being put required amount of movement and variable quantity from the target parking position that this parking reference position is directed to estimation, wherein from this memory storage (12a), fetch with the amount of movement of estimation and the corresponding controlled variable of variable quantity of estimation, and based on the controlled variable of fetching, this target parking frame initially is presented on this real image.

3. parking aid as claimed in claim 2 is characterized in that, in the steering vehicle process, this estimating device (12) is every predetermined travel distance, calculate consistently and the variation in store car orientation, and, estimate this variable quantity based on the variation of the vehicle heading of being stored.

4. one kind is used for the parking aid that auxiliary garage stops, and it allows the user to come the target setting parking spot by the mobile target parking frame that shows together with the real image of vehicle environmental, and this device is characterised in that and comprises:

Estimating device (12), be used for based on vehicle until the driving condition till the parking reference position, estimating vehicle amount of movement and vehicle heading variable quantity be as controlled variable, and this amount of movement and this variable quantity are in that vehicle is directed to this target parking position from this parking reference position required putting; And

Initial position is determined device (12), be used for based on the controlled variable of being estimated, determine the initial display position of this target parking frame, wherein in the steering vehicle process, this estimating device (12) is every predetermined travel distance, calculate consistently and the variation in store car orientation, and, estimate described controlled variable based on the variation of the vehicle heading of being stored.

5. parking assistance method, wherein move the target parking frame that the real image together with vehicle environmental shows and come the target setting parking spot by the user, and the target parking position that vehicle is directed to automatically this setting is put, and the method is characterized in that to comprise step:

By the setting in the past that utilizes the user that target parking position is put, initially show this target parking frame.

6. one kind is used for the parking assistance method that auxiliary garage stops, and it allows the user to come the target setting parking spot by the mobile target parking frame that shows together with the real image of vehicle environmental, the method is characterized in that to comprise step:

In the steering vehicle process, every predetermined travel distance, the variation in calculating and store car orientation consistently;

Based on arrive the vehicle driving state that is obtained before the parking reference position at vehicle, estimating vehicle amount of movement and vehicle heading variable quantity be as controlled variable, and this amount of movement and this variable quantity are in that vehicle is directed to target parking position from this parking reference position required putting; And

Based on the controlled variable of being estimated, determine the initial display position of this target parking frame.

7. one kind is used for the auxiliary parking aid that parks cars, it is characterized in that, if the pick-up unit (12) that is used to detect the vehicle halted state detects the halted state of vehicle, then a position is identified as target parking position and puts, and this position has predetermined relationship with first stop position of the vehicle that occurs when detecting this halted state.

8. parking aid as claimed in claim 7, it is characterized in that, if except that this halted state of vehicle, also detect the steering angle that is in neutral position substantially, then a position is identified as this target parking position and puts, and this stop position of this position and vehicle has predetermined relationship.

9. as claim 7 or 8 described parking aid, it is characterized in that, this position that has a predetermined relationship with this first stop position is identified as and is used at least one candidate that this target parking position is put, and the candidate among described at least one candidate is identified as this target parking position and puts, this candidate discerns about second stop position, this second stop position with have predetermined relationship away from the current vehicle location of this first stop position.

10. parking aid as claimed in claim 9, it is characterized in that, if there are a plurality of candidates, candidate among then described a plurality of candidates is identified as this target parking position and puts, this candidate discerns about this second stop position, and this second stop position is with nearest away from this current vehicle location of this first stop position.

11. parking aid as claimed in claim 9, it is characterized in that, if this candidate does not exist, then a predeterminated position is identified as this target parking position and puts, and vehicle can be directed into this predeterminated position about this current vehicle location away from this first stop position.

12., it is characterized in that also comprising display device (22) as each described parking aid of claim 7 to 11, be used for real image together with vehicle environmental, the target parking position that demonstration is discerned is put.

13. parking aid as claimed in claim 12 is characterized in that also comprising hand-operating device, this hand-operating device moves and regulates the display position that this target parking position is put according to switching manipulation.

14. an auxiliary parking assistance method that parks cars is characterized in that comprising step: discern a position and put as target parking position, this position has predetermined relationship with the vehicle stop position that occurs when detecting the halted state of vehicle.

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