JP2000072019A - Parking aiding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To positively teach the driving operation quantity for parking a vehicle in a desired parking section, to a vehicle driver. SOLUTION: A vehicle rear image obtained by a rear monitor camera 10 is supplied to a parking ECU 16 and displayed on a display 18. The parking ECU 16 recognizes a parking section in the rear of a vehicle and computes a target steering angle required to enter the parking section. In the case of judging the vehicle to be at a stop by a detection signal from a sensor 14, the parking ECU 16 displays the target steering angle and the difference quantity between the target steering angle and an actual steering angle obtained by a steering sensor 12, on the display 18 and teaches the target steering angle to a vehicle driver. The teaching contents are outputted in voice through a speaker 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device, and more particularly, to a device for assisting parking in a parking space by instructing a driver on a driving operation amount necessary for guiding a vehicle to a parking space.

[0002]

2. Description of the Related Art Hitherto, various support devices for parking a vehicle in a desired parking section have been proposed. For example,
Japanese Patent Application Laid-Open No. 4-123945 describes a technique in which a camera installed in a parking lot captures an image of a vehicle entering a parking space from above, and transmits the image to the vehicle via a transmitter. Since the transmitted video signal is received by the receiver in the vehicle and displayed on the display device, the vehicle driver can park while checking the vehicle position in the parking space and the positional relationship with the surrounding objects. .

[0003]

However, in the above prior art, the relative positional relationship between the vehicle and the parking space is only displayed visually to the vehicle driver, and the actual steering amount is displayed by the vehicle driver. The operation must be determined according to the positional relationship, and the burden on the vehicle driver is still large, and there is a problem that effective teaching is not particularly effective for a beginner. A system that not only visually displays the relative positional relationship between the vehicle and the parking stall but also teaches the vehicle driver the amount of operation required to more actively enter the parking stall may be considered. If the driver is not taught at an appropriate timing that does not hinder the driving operation, the vehicle driver will not be able to recognize and judge more smoothly (if the driver is taught during retreat, the vehicle driver will not be able to concentrate on the driving operation), and the parking area will be smooth. Can be difficult to enter.

The present invention has been made in view of the above-mentioned problems of the related art, and an object of the present invention is to teach a vehicle operator at a proper timing a driving operation amount required to enter a parking space. Another object of the present invention is to provide a parking assistance device that allows a vehicle driver to easily enter a parking space.

[0005]

According to a first aspect of the present invention, there is provided a parking assist device for instructing a driver on a driving operation amount to guide a vehicle to a parking section.
It has a calculating means for calculating a driving operation amount required to enter the parking section, and a teaching means for teaching the driving operation amount when the vehicle stops.

In a second aspect based on the first aspect, the driving operation amount is a steering angle, and the teaching means comprises:
The invention is characterized in that a constant steering angle to be held while the vehicle is traveling is taught.

In a third aspect based on the second aspect, the teaching means includes a display means for displaying a difference between the actual steering angle and the target steering angle.

In a fourth aspect based on the first aspect, the teaching means includes a steering assisting means for changing a steering assist force according to a difference between an actual steering angle and a target steering angle. And

According to a fifth aspect of the present invention, in the first aspect, the teaching means teaches a vehicle position at which the vehicle can enter the parking section when the vehicle cannot enter the parking section.

In a sixth aspect based on the first aspect, the computing means computes a driving operation amount in accordance with the set teaching level.

In a seventh aspect based on the first aspect, the teaching means is arranged such that when the vehicle reaches a position where the vehicle cannot enter the parking space due to a difference between an actual steering angle and a target steering angle. A driving operation amount required to reach a vehicle position at which the vehicle can enter the parking section is taught.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment> FIG. 1 is a block diagram showing the configuration of the first embodiment. The parking assistance device of the present embodiment includes a back monitor camera 10, a steering sensor 12, a sensor 14 for detecting a shift position and a vehicle speed, a parking E
It is configured to include a CU (electronic control device) 16, a display 18, and a speaker 20.

The back monitor camera 10 is provided, for example, in the rear cabin of the vehicle, and photographs a predetermined range behind the vehicle.
The obtained image is supplied to the parking ECU 16. The steering sensor 12 detects a steering position and outputs a parking EC.
Supply to U16. The sensor 14 detects a shift position (specifically, whether or not the vehicle is at an R (reverse) position) and a vehicle speed, and supplies them to the parking ECU 16. The shift position is used to confirm the intention of parking, and the vehicle speed is used to determine whether the vehicle is stopped.

The parking ECU 16 includes the back monitor camera 1
0, based on the signals from the steering sensor 12 and the sensor 14, execute processing necessary for parking assistance. That is, the vehicle recognizes a parking section to enter, calculates a route from the current vehicle position to the parking section, and calculates a driving operation amount required to drive the vehicle along this route,
Specifically, a steering angle required to enter the parking section is calculated, and is taught to the vehicle driver via the display 18 or the speaker 20. The display 18 can be provided, for example, on an instrument panel between a vehicle driver's seat and a passenger seat, and the speaker 20 can also serve as a speaker for car audio. Display 18
Displays a target steering angle to be set by the vehicle driver, as will be described later, or an actual steering angle (that is, a current steering angle) and a target steering angle (entering a parking space calculated by the parking ECU 16). (The steering angle required to perform the operation) is also displayed. The parking ECU 16 can be specifically configured by a microcomputer, and the display 1
Reference numeral 8 can be composed of a CRT or a liquid crystal monitor. The display 18 can be provided not only in the instrument panel described above, but also separately at a position within the field of view of the driver when checking the rear of the vehicle when the vehicle driver enters the parking space. It is. When the display 18 is provided at two places, the instrument panel and the rear part of the vehicle, the target steering angle is displayed on the display 18 in the instrument panel, and the difference between the actual steering angle and the target steering angle is displayed on the display 18 on the rear part of the vehicle. It is desirable to display (difference amount). This makes it possible to confirm the difference between the actual steering angle and the target steering angle (and a change thereof) even when the driver is visually observing the rear of the vehicle while the vehicle is moving backward. However, the teaching in the present embodiment is mainly at the time of stopping the vehicle, not retreating, and the teaching on the display 18 at the rear of the vehicle is auxiliary, and the teaching on the display 18 of the instrument panel is mainly.

2 to 7 show processing flowcharts in the present embodiment. First, in FIG. 2, when the vehicle driver stops the vehicle (S101) and detects that the shift lever has been set to the R (reverse) position by a detection signal from the sensor 14 (S102), the parking ECU starts the parking ECU.
16 displays the vehicle rear image from the back monitor camera 10 on the display 18 and also displays a touch switch as to whether or not to start parking guidance (S103).

FIG. 8 shows a display example of the display 18 in S103. In the figure, an image 100
Is a rear image of the vehicle, and a white line indicating a parking section is 10 in the figure.
It is indicated by 2. In this figure, other vehicles are already parked on both sides of a certain parking section, and only one parking section can be parked in the vehicle rear image. A voice guidance start switch 104 for setting whether to start voice guidance and a parking guidance start switch 106 for setting whether to start parking guidance are displayed below the vehicle rear image. Each of these switches is a touch switch. For example, when the vehicle driver operates the parking guidance start switch 106, the parking guidance start is set. Also, depending on the vehicle driver, voice guidance may be troublesome, but in this case, voice output can be prohibited by not operating the voice guidance start switch. Hereinafter, a description will be given assuming that the voice guidance start switch 104 has also been operated.

Returning to FIG. 2, if it is determined in S103 that parking guidance is to be started, that is, if the vehicle driver (or another occupant) has operated the parking guidance start switch 106 in the screen, the parking ECU 16 proceeds to the next step. Is displayed on the display 18 and the parking mode is determined (S104).

FIG. 9 shows an example of the parking mode selection image displayed in S104. A message 108 "Please select a parking type" is displayed at the top of the image, and two types of parking, reverse parking and parallel parking, are displayed at the center of the image. A reverse parking switch 110 and a parallel parking switch 112 are displayed in each mode, and the vehicle driver operates one of these touch switches 110 and 112 when selecting one of the parking modes.
When entering the parking section behind the vehicle as shown in FIG.
The vehicle driver will select the reverse parking switch 110. Hereinafter, the case where the reverse parking is selected will be described.

Referring again to FIG. 2, when the reverse parking is selected in S104, the parking ECU 16 determines whether or not the parking section is recognized (S105). When there is no parking section separated by two white lines in the image obtained by the back monitor camera 10, or when there are two white lines, another vehicle is already parked and there is no empty section (It is possible to recognize whether the vehicle is already parked by recognizing the vehicle image.) The parking section cannot be recognized, and the determination is NO. On the other hand, when there are two white lines and no other vehicle is parked, the parking section can be recognized as shown in FIG. 8, for example, and YES is determined. If the parking section is being recognized, then the parking ECU 16 displays a screen prompting the user to specify a parking position on the display 18 (S106).

FIG. 10 shows an example of the parking position designation image in S106. In the left area, the image of the back monitor camera 10 is displayed, and in the right area, a message 114 "Touch near the center of the target position", a switch 116 for prompting the next screen, and a switch for returning to the previous screen display are displayed. Is done. When the vehicle driver touches a section desired to be parked in the image of the back monitor camera 10 displayed in the left area of FIG. 10, the parking ECU 16 displays a parking section existing near the touched area in the image, The user is prompted to correct the parking position (S107). Recognition of a parking section is performed by recognizing a rectangular area surrounded by a white line by image processing, and projecting the rectangular area in a displayed image. When only one white line is displayed on the screen, a standard parking section (about 2.3 m × 5) is displayed from the touched position.
m) is displayed.

FIG. 11 shows a display example of the parking position correction image in S107. In the left area, the parking section 118 specified in the above-described process S106 is displayed in a color (for example, blue) different from the white line, and in the right area, a switch 120 for selecting whether to correct the parking position is displayed. The parking position indicates the position of the vehicle in the parking section 118, and specifically specifies whether the vehicle is parked in the center of the parking section 118, parked to the right, parked to the left, or the like. In the default state, parking lot 118
Is set so that the vehicle is parked straight in the center of the vehicle, and the selection switch 1 is provided when the vehicle driver desires such parking.
If "No" is selected for "20", and "Correction" of the parking position is desired, "Yes" is selected. When the vehicle driver selects "Yes" on the selection switch 120, the screen shifts to the next parking position correction screen.

FIG. 12 shows a display example of the display 18 in the parking position correcting process (S108). In FIG. 12, a message 122 "Please set the parking position" is displayed at the top of the image, a switch 124 for selecting a horizontal position, a switch 126 for selecting a direction, and a center straight line which is a default state. A switch 128 for selecting a parking position is displayed. In the left area, the vehicle state image 130 in which the vehicle position with respect to the parking section changes according to the selected parking position.
Is displayed. For example, the vehicle driver selects the selection switch 1
When the “rightward” switch of the 24 is operated, the vehicle image 130 is displayed at the rightward position in the parking section according to the selection switch. In addition, when the vehicle driver selects “leftward” from the direction selection switch 126, the vehicle image 130 is also displayed in the parking space in a leftward state. Therefore, the vehicle driver can easily set the desired parking position in the parking section by operating the lateral position switch 124 and the direction switch 126 while watching the vehicle image 130. If the vehicle driver wants a default, central, straight parking position,
By selecting the switch 128, it is possible to return to the default state. After the correction processing of the parking position is completed as described above, the processing shifts to the processing flowchart of FIG.

In FIG. 3, the parking ECU 16 determines again whether or not the parking section is being recognized (S201). When the parking section is being recognized, it is determined whether or not a route for entering the parking section from the current position of the vehicle can be calculated (S202). This determination is, for example, whether or not the vehicle can reach from the current position of the vehicle to the center of the front end of the parking section by a combination of a straight line and a circle (a circle having a radius equal to or larger than the minimum turning radius of the vehicle). It can be determined by calculating whether or not the vertical center line and the perpendicular passing through the center of the front end of the parking section can be connected with a circle.If the approach route cannot be calculated with a straight line and a circle with a radius greater than the minimum turning radius, the approach It is determined to be impossible. On the other hand, if the approach route can be calculated, the approach route is calculated by the algorithm described above,
Next, it is determined whether or not the vehicle is in a stopped state based on the vehicle speed signal from the sensor 14 (S203).

One of the features of the present embodiment is to teach the steering angle required to enter the parking section when the vehicle is stopped, and when the vehicle is determined to be stopped, the parking ECU 16 determines S20 on the display 18
The target route (estimated course) calculated in the process 2 is displayed (S204).

FIG. 13 shows a screen example of the target route display in S204. Target route 1 for entering the parking section in the image obtained by the back monitor camera 10
30 is displayed, for example, in blue, and at the same time, the course 1 that would be obtained if the vehicle was driven at the current steering angle (actual steering angle).
32 is superimposed on the same image in a color different from the target route, for example, yellow. The vehicle driver operates the steering wheel while the vehicle is stopped so that the path 132 obtained by the actual steering angle matches the target path 130 required to enter the parking section. The current steering angle (actual steering angle)
The path 132 that would be obtained when the vehicle travels at the parking EC based on the detection signal from the steering sensor 12
U16 calculates and projects and displays in the image. A mark 134 indicating the stop position of the vehicle is further displayed on the route for entering the parking section, and it is taught that the vehicle should proceed to the mark 134 position while maintaining the target steering angle. Of course, the position where the mark 134 is displayed is the intersection of the turning circle and the perpendicular of the parking section. FIG. 13 shows an indicator 1 indicating the difference between the actual steering angle and the target steering angle.
36 is also displayed. In the indicator 136,
The central rectangular area 140 indicates a target steering angle (displayed in green, for example), and the rectangular area 138 existing on the left and right of the central display 140 indicates the actual steering angle (blue, for example). It shows that the difference between the actual steering angle and the target steering angle increases as the distance from the central rectangular area 140 increases. Accordingly, the vehicle driver operates the steering wheel so that the actual steering angle display matches the target steering angle display, whereby the actual steering angle can be matched with the target steering angle. Although the indicator 136 is displayed at the lower part of the back monitor image, only the indicator 136 is displayed at the rear of the vehicle, and when the vehicle driver actually visually recognizes the parking section during the retreat of the vehicle, the indicator 136 is visually recognized at the same time. It is desirable to arrange them so that they can be used.

After teaching the target steering angle required to enter the parking section, the vehicle driver operates the steering wheel so that the actual steering angle matches this target steering angle (S2).
05). It should be noted that this steering operation is performed when the vehicle stops. That is, in the present embodiment, the target steering angle for entering the parking section is taught when the vehicle is stopped, and when the vehicle is stopped, the vehicle driver operates so that the actual steering angle matches the taught target steering angle. I do. By teaching at a stop instead of teaching to enter the parking section, the vehicle driver can concentrate on steering operation only, making it easy to match the actual steering angle to the target steering angle. In addition, while the vehicle is moving backward, the set steering angle is merely maintained constant, so that the driver can pay attention to the surrounding situation when the vehicle is moving backward. When the actual steering angle matches the taught target steering angle, the vehicle driver operates the accelerator pedal to start retreating at a low speed (S206).

FIGS. 14 and 15 show a screen display example in which the actual steering angle matches the target steering angle and a screen display example in which the vehicle is moving backward. As shown in FIG. 14, the route 13 obtained at the actual steering angle (current steering angle)
2 corresponds to the calculated path 130 required to enter the parking section, and the actual steering angle 138 also matches the target steering angle 140 in the indicator 136. When the vehicle starts reversing while maintaining this steering state, that is, when the vehicle speed reaches a finite value, the parking ECU 16 erases the target route display necessary to enter the parking section as shown in FIG. Only the obtained image is displayed. This is because a simple display as shown in FIG. 15 is sufficient because the driver of the vehicle does not gaze at the display 18 in the instrument panel and looks directly at the rear of the vehicle while the vehicle is moving backward. It is in view of.

When the retreat is started as described above, the process proceeds to the processing flowchart shown in FIG. That is, based on the vehicle speed signal from the sensor 14, the parking ECU 16 determines whether the vehicle speed at the time of retreat is a predetermined speed (for example, 10 km / h) (S301). This determination is for determining whether the vehicle is moving backward at a sufficiently low speed. If the vehicle speed is lower than a predetermined speed, it is determined that the condition is satisfied, and then an error between the approach road and the current position is determined. That is, it is determined whether or not the difference generated based on the difference between the target steering angle and the current steering angle is equal to or smaller than a predetermined amount (S302). If the difference between the target route and the current position is smaller than the predetermined amount, that is, if the vehicle driver is retreating at a steering angle substantially equal to the target steering angle, the vehicle driver may further cause some cause (for example, obstruction during the retreat). It is determined whether or not the steering has been largely performed (S303). If the vehicle driver does not steer the steering wheel significantly during the retreat, it is determined whether the vehicle has reached the vicinity of the steering position next, that is, whether the vehicle has reached the target stop position mark 134 shown in FIG. Yes (S30
4). This determination is for teaching the steering angle necessary for traveling along the next target route. When the vehicle reaches around the steering position, the parking ECU 16 informs the vehicle driver via the speaker 20. The vehicle driver is instructed to stop the vehicle, and the vehicle driver stops the vehicle according to the instruction (S31).
4). The contents of the teaching via the speaker 20 include:
For example, when the vehicle reaches the steering position, the following message will be heard: "You will soon be in the operating position. Retreat slowly. When the guidance sound (ping-pong) sounds, stop the vehicle and operate the steering wheel." A guide sound (ping-pong) is emitted from the speaker 20 to instruct the vehicle driver to stop.

FIG. 16 shows a screen example of the display 18 in a state where the vehicle has reached the steering position and the vehicle has stopped. From this state, the processing from S201 onward is repeated again, the target steering angle is taught to the vehicle driver, and the vehicle driver operates the steering wheel so as to match the target steering angle, and starts retreating again. In the present embodiment, the target steering angle is the neutral position, and teaching is performed so as to retreat straight. It should be noted again that both the teaching and the driver's steering operation are performed when the vehicle is stopped.

If NO in S304, that is, if the vehicle has started retreating and has not reached the vicinity of the steering position, that is, if all necessary steering has been completed and the vehicle can then retreat as it is and can enter the parking space. The parking ECU 16
Confirms the target position and posture (S305). When the vehicle is present near the target position and posture set by the vehicle driver in S108, the parking ECU 16 performs target posture guidance via the speaker 20 (S306). In particular,
An image as shown in FIG. 17 is displayed on the display 18,
A sound such as "The target attitude is about to be reached. If the vehicle stops, information will be displayed" is output from the speaker 20. When the vehicle driver stops the vehicle according to the content of the voice instruction, the vehicle position 142 with respect to the parking section is displayed in the right area of the screen as shown in FIG. A sound is played to urge the vehicle driver to correct the current steering angle. When the vehicle driver does not stop the vehicle without following the teaching content from the speaker 20, the vehicle display 142 for the parking section is not performed.
A message such as "You're leaning to the right" or "Central" is sent from the speaker 20 by voice to urge the vehicle driver to make corrections. Of course, if the vehicle driver does not stop the vehicle, it is possible to output no message, and it is needless to say that teaching is preferably performed only when the vehicle stops.

Next, it is determined whether or not the vehicle has entered the parking section (S401 in FIG. 5). If it is determined from the image from the back monitor camera 10 that the vehicle has entered the parking section, Teaching for caution is performed (S402). FIGS. 19 and 20 show examples of the image display in S402. In FIG. 19, the image from the back monitor camera 10 is displayed on the display 18, and the speaker 20 indicates "soon to be a parking position. Please move back slowly. Information will be displayed if the vehicle stops. " FIG. 20 is an example of an image displayed when the vehicle driver stops the vehicle in response to this message, and the position of the vehicle with respect to the parking section is displayed in the right area. Then, a message "Please correct referring to the figure" is sent via the speaker 20. In addition,
If the vehicle driver did not respond to the message and did not stop the vehicle, the speaker 20 "tilted right"
And give a message such as "I'm straight". Then, it is determined whether or not the vehicle has entered the parking space (S403). If parking has been completed, the process proceeds to a process of ending parking support (S404). Specifically, FIG.
As shown in FIG. 1, when the vehicle arrives at the parking position, a message "Please pay attention to the surroundings" is sent from the speaker 20, and when the vehicle driver stops the vehicle, "parking" is displayed in the right area as shown in FIG. Message 144 will end! "
Is displayed, and a message “parking guidance ends” is sent from the speaker 20. After that, the parking guidance start switch 146 as shown in FIG. 23 is displayed, and the parking guidance ends.

On the other hand, if the parking section cannot be recognized in the processing of S105 in FIG. 2, that is, if the parking section cannot be recognized in the initial state after the parking mode is selected, one of the causes is that the vehicle position is determined by the parking section. May be located at an inappropriate position with respect to
There is no parking space at all in the viewing angle of
Instruct the vehicle driver to that effect. It is preferable that the teaching content is changed according to the teaching level, and the teaching level is set so that the driver can select it in advance. For example, if the teaching level is set in two levels, high and low, and the vehicle driver selects the high teaching level in advance (YES in S109).
S), the parking position is unknown, and a message prompting the vehicle driver to move is displayed on the display 18 and taught (S110).

FIG. 24 shows an example of the screen display in S110. This image is displayed on the display 18 and the message “Cannot recognize the parking section. May be possible "prompts the vehicle driver to move the vehicle to the shaded area in the figure. The shaded area in the figure is an area where the angle formed by the vehicle with respect to the parking section is not large (an angle within ± 45 degrees when the perpendicular direction of the parking section is 0 degree), and the parking section can be easily recognized by the back monitor camera 10. It is. On the other hand, when the vehicle driver selects the low teaching level (NO in S109),
Without performing the display shown in FIG. 24, a message 148 indicating "parking section cannot be recognized" is simply displayed on display 18 as shown in FIG. Note that when displaying this image, only the first time, a message "parking section cannot be recognized" is sent via the speaker 20, and from the second time on, only the message shown in FIG. Preferably, no guidance is provided. The reason for continuing the voice guidance via the speaker 20 after the second time is that it is considered that there is a high possibility that the vehicle driver who has selected the low teaching level will feel annoying. The vehicle driver moves the vehicle to a position where the parking section can be recognized in accordance with the teaching content that does not recognize the parking section (different teaching content according to the teaching level) (S
112). Thereafter, the processing of S105 and thereafter is repeated, and the processing of S109 to S112 is repeated until the parking section is recognized.

If the determination in S201 in FIG. 3 is NO, that is, if the parking section cannot be recognized halfway, the process shifts to the processing flowchart shown in FIG. 6, the parking ECU 16 first guides the vehicle driver to stop the vehicle (S501). FIG. 26 shows a screen display example of the display 18 in S501. A message 150 indicating that the parking space cannot be recognized is displayed in the right area of the screen.
A message “parking section cannot be recognized” is played along with a “peep” sound through “0”. Then, it is determined based on the vehicle speed signal from the sensor 14 whether or not the vehicle driver has stopped the vehicle according to the above-described vehicle stop guidance (S5).
02). When the vehicle driver stops the vehicle according to the teaching contents, the teaching level is determined next (S50).
3) Perform teaching according to the teaching level. Specifically, when the teaching level is high, a screen that guides the vehicle to a position where there is a possibility that the parking section can be recognized is displayed on the display 18 as shown in FIG. You may be able to recognize if you move to the location of "". On the other hand, when the teaching level is low, the image from the back monitor camera 10 is simply displayed on the display 18 without displaying the screen as shown in FIG. A message stating that the parking space cannot be recognized is displayed. FIG. 28 shows an image display example in this case (S505).

Although the parking space can be recognized, FIG.
If it is determined that the target route (entering route) cannot be calculated in the process of S202 in (2) (for example, the calculation can be performed only with a circle having a radius smaller than the minimum turning radius of the vehicle), the process shown in FIG. Move to the flowchart. That is, first, the display 18 is displayed to the vehicle driver.
And the vehicle stop guidance is performed using the speaker 20 (S60).
1). FIG. 29 shows a display example of the display 18 in the process of S601. Back monitor camera 10
Is displayed, an expected trajectory 152 obtained by rotating the vehicle from the current vehicle position with a minimum turning radius is displayed, and a message 154 indicating that the vehicle cannot be parked at the target position is displayed. In the right area, a relative position of the vehicle with respect to the parking section is displayed as a plan view.
At this time, the speaker 20 outputs a “peep-peep” sound and a message “Cannot park at the target position. Then, it is determined whether or not the vehicle driver has stopped the vehicle according to the vehicle stop guidance (S602). If the vehicle has stopped, the next operation is taught to the vehicle driver according to the teaching level (S603). ). Specifically, when the teaching level is high, an image as shown in FIG. 30 is displayed on the display 18, and the vehicle is guided to a position where the vehicle can be parked in the parking space.
At this time, a message saying "there is a possibility of parking if you move to the position shown in the figure" is sent from the speaker 20. On the other hand, when the teaching level is low, the back monitor camera 10 does not need to teach such a redo screen.
Is displayed on the display 18 (S60).
5). Regardless of whether the teaching level is high or low, S601
The vehicle driver is informed that the vehicle cannot be parked at the target position in the processing of the above. Therefore, the vehicle driver performs an operation such as temporarily stopping parking in the parking space and moving forward, or turning back, and then again performing the parking space operation. Try parking.

If the result of step S301 in FIG. 4 is NO, that is, if the retreat speed at the time of parking in the parking section is higher than a predetermined speed, the parking ECU 16 causes the vehicle to slowly retreat via the display 18 and the speaker 20. The vehicle driver is instructed (S307). FIG. 31 shows a display example of the processing in S307, in which an image from the back monitor camera 10 is displayed on the display 18, and a message "Please retreat a little more slowly" is played from the speaker 20 to prompt deceleration. . Then, it is determined whether the number of times the vehicle speed at the time of retreat is equal to or higher than the predetermined vehicle speed is three times or more, or whether the reverse speed equal to or higher than the predetermined speed occurs continuously for several seconds or more (S308). It is determined that the vehicle cannot enter the parking section, and the guidance is stopped (S309). FIG. 32 shows an example of a screen display of the guidance stop processing in S309, in which an image from the back monitor camera 10 is displayed, a sound “peep-peep” is output from the speaker 20, and “the speed is too fast. Stop the parking guidance with the message "Cancel parking guidance." At this time, a parking guidance restart switch 156 is displayed on the display 18, and when the vehicle driver desires to restart the parking guidance, the switch 156 is operated to repeat the processing of S101 and thereafter to provide the parking guidance. To resume.

If the number of times the vehicle speed at the time of retreat is not less than the predetermined speed is not more than three times or is not continuous for more than several seconds, the parking guidance is continuously performed without stopping the guidance (NO in S308). ).

Also, in the process of S302 in FIG. 4, when the error between the target route (entering road) and the current position is large, or the error is small, but the number of times that the driver steers afterwards for some reason is two or less. In (S303, S310), since it is necessary to quickly return the vehicle to the target route, the vehicle driver is informed of the course deviation (S31).
2). FIG. 33 shows a screen example of the display 18 in S312. In addition to displaying the image from the back monitor camera 10, outputting a “peep-peep” sound through the speaker 20, and further outputting “slightly left (or right)”
I am close to Stop and correct the vehicle "and instruct the vehicle driver to stop the vehicle and adjust the current steering angle to the target steering angle. Whether the vehicle is leaning left or right can be determined based on the difference between the actual steering angle and the target steering angle. (For example, if the target steering angle is 45 degrees to the right, (Left to the left, excessive steering to the right.) If the vehicle stops according to this teaching (S31
3), the image shown in FIG. 34 is displayed on the display 18, and the target route 158 in the case of the target steering angle and the route 160 in the case where the vehicle travels at the current steering angle are displayed again. It is taught to match the path 158 according to the target steering angle. When the vehicle driver does not stop the vehicle in accordance with the teaching in S312, without displaying the image shown in FIG.
The teaching of the speaker 20 in 2, that is, the situation of the course deviation of the vehicle is continuously taught to the vehicle driver. Of course, it is also preferable to prohibit any teaching when the vehicle is not stopped. In FIG. 34, when the vehicle driver stops the vehicle and matches the current steering angle with the target steering angle, the processing from S201 onward is repeated again.

If the number of times that the vehicle driver has largely steered for some reason during retreat exceeds two times (NO in S310), it is determined that it is no longer possible to enter the parking section, and the guidance is stopped (S311). ). FIG. 35 shows a screen example of the display 18 in the process of S311.
The image from the back monitor camera 10 is displayed, the parking guidance restart switch 162 is displayed, and the speaker 2 is displayed.
A beep sound is output from 0, and a message "The course is greatly deviated. Parking guidance is stopped." Is played to instruct the vehicle driver of parking guidance. When the vehicle driver operates the parking guidance restart switch 162 in this situation, the process returns to the processing after S201 and the parking guidance is restarted.

In the process of S311, the guidance is not stopped uniformly, but the image from the back monitor camera 10 is displayed on the display 18 as shown in FIG. It is also conceivable to send a message such as "Please turn" or "Turn further to the left (or right)" and give instructions to return to the original guidance route. However, such teaching is performed while the vehicle driver operates the steering wheel, and is desirably limited to the case where the vehicle driver is skilled in driving operation or the case where the driver particularly desires.

The case where the reverse mode is selected as the parking mode has been described above. However, when the vehicle driver selects the vertical mode as the parking mode, the vehicle is similarly taught when the vehicle is stopped, and the driver adjusts the steering angle in accordance with the content of this instruction. Set (S1
13) Teach the vehicle to stop again at the steering angle change point,
The next target steering angle is taught and guided to the parking section. When the vehicle enters the parking space, the parking guidance is completed (S11).
4).

As described above, in this embodiment, the parking section is recognized. If the parking section cannot be recognized, the position where the parking section can be recognized is taught. If the parking section can be recognized, the vehicle enters the parking section. Since the required target steering angle is calculated and taught to the vehicle driver when the vehicle is stopped, the vehicle driver sets the steering angle when the vehicle is stopped according to the teaching contents, and only moves backward while maintaining the steering angle. You can park in the desired parking stall.

In this embodiment, although the parking section can be recognized, the target route (entering route) cannot be calculated.
That is, when it is not possible to enter the parking section through the straight route and the circular route having the minimum turning radius or more, the presence or absence of the display of the redo screen is determined according to the teaching level (S6 in FIG. 7).
01 to S605), it is also conceivable to recalculate the target route (entry route) that allows the turning back when the teaching level is high and to teach the vehicle driver. In this case, the vehicle driver does not need to move the vehicle to a position where the approach route can be calculated, and can enter the parking section more efficiently. Further, when the teaching level is high, a route that can enter the recognition parking section with the shortest route although the steering operation amount is large is calculated and taught, and when the teaching level is low, the route length is long although the steering operation amount is small. It is also desirable to teach the target route and the target steering angle based on different criteria (algorithms) such as calculating and teaching a route that requires the following.

<Second Embodiment> FIG. 37 is a block diagram showing the configuration of the present embodiment. The first shown in FIG.
The difference from the embodiment is that a computer 22 for controlling the drive motor 24 of the electric power steering based on a signal from the parking ECU 16 is provided. In the above-described first embodiment, the target steering angle and the actual steering angle are displayed on the display 18 to teach the vehicle driver to easily adjust the target steering angle to the target steering angle. In addition to visually displaying the difference between the target steering angle and the actual steering angle, the electric power steering computer 22 controls the motor 24 of the electric power steering based on the difference between the target steering angle and the actual steering angle. The steering assist force is changed according to the difference from the actual steering angle.

FIG. 38 shows a change in the steering assist force controlled by the computer 22. In the figure, the horizontal axis is the difference between the target steering angle and the actual steering angle, and 0 indicates that the actual steering angle matches the target steering angle. The vertical axis indicates the steering assist amount (assisting force) by the motor 24, and 0 indicates the steering assist force of 0, that is, the power steering is invalidated and almost locked. As shown in the figure, the steering assist amount increases as the difference amount increases, and the steering assist amount decreases sharply when the difference amount is near zero, and becomes zero at the position where the difference amount is zero. Therefore, when the vehicle driver performs the steering operation, the steering can be easily operated when the actual steering angle deviates from the target steering angle, but the steering is gradually performed as the actual steering angle approaches the target steering angle. Becomes heavier, and the steering is heaviest at a position where the actual steering angle matches the target steering angle, and is substantially locked in that state. Therefore, such a change in the steering assist force makes it easier for the vehicle driver to match the actual steering angle with the target steering angle, and it becomes easier to follow the teaching contents.

The change in the steering assist force shown in FIG. 38 is an example, and it is possible to decrease the steering assist force as the difference increases, and the change according to the difference is not linear but secondary. It can be curvilinear or any functional form.

[0048]

As described above, according to the present invention, it is possible to teach a vehicle driver a steering operation for surely entering a parking space.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of a first embodiment of the present invention.

FIG. 2 is a processing flowchart (part 1) of the first embodiment of the present invention.

FIG. 3 is a processing flowchart (part 2) of the first embodiment of the present invention.

FIG. 4 is a processing flowchart (part 3) of the first embodiment of the present invention.

FIG. 5 is a processing flowchart (part 4) of the first embodiment of the present invention.

FIG. 6 is a processing flowchart (part 5) of the first embodiment of the present invention.

FIG. 7 is a processing flowchart (part 6) of the first embodiment of the present invention.

FIG. 8 is an explanatory diagram of a screen display when the shift lever is set to a reverse position.

FIG. 9 is an explanatory diagram of a screen display when a parking mode is selected.

FIG. 10 is an explanatory diagram of a screen display when a parking position is designated.

FIG. 11 is an explanatory diagram of a screen display when a parking position is corrected.

FIG. 12 is an explanatory diagram of a screen display for correcting a parking position.

FIG. 13 is an explanatory diagram of a screen display for displaying an estimated course.

FIG. 14 is an explanatory diagram of a screen display at the time of steering operation.

FIG. 15 is an explanatory diagram of a screen display during vehicle retreat.

FIG. 16 is an explanatory diagram of a screen display near the next operation position.

FIG. 17 is an explanatory diagram of a screen display when the operation position is reached.

FIG. 18 is an explanatory diagram of a screen display when the operation position is reached and the vehicle stops.

FIG. 19 is an explanatory diagram of a screen display near a parking position (part 1).
It is.

FIG. 20 is an explanatory diagram of a screen display near a parking position (part 2)
It is.

FIG. 21 is an explanatory diagram of a screen display near the parking position (part 3).
It is.

FIG. 22 is an explanatory diagram of a screen display when a parking position is reached.

FIG. 23 is an explanatory diagram of a screen display after the parking guidance is completed after reaching the parking position.

FIG. 24 is an explanatory diagram (1) of a screen display when a parking section cannot be recognized.

FIG. 25 is an explanatory diagram (2) of a screen display when a parking section cannot be recognized.

FIG. 26 is an explanatory diagram (3) of a screen display when a parking section cannot be recognized.

FIG. 27 is an explanatory view (4) of a screen display when a parking section cannot be recognized.

FIG. 28 is an explanatory view (5) of a screen display when a parking section cannot be recognized.

FIG. 29 is an explanatory diagram of a screen display when a route to a parking section cannot be calculated.

FIG. 30 is an explanatory diagram of a screen display when a route cannot be calculated.

FIG. 31 is an explanatory diagram of a screen display when the speed is excessive.

FIG. 32 is an explanatory diagram of a screen display when the speed is excessive.

FIG. 33 is an explanatory diagram of a screen display in the case of off-course.

FIG. 34 is an explanatory diagram of a screen display after the vehicle stops when the vehicle is off course.

FIG. 35 is an explanatory diagram of a screen display when parking guidance is stopped.

FIG. 36 is an explanatory diagram of a screen display when a large steering occurs.

FIG. 37 is a configuration block diagram of a second embodiment of the present invention.

FIG. 38 is a graph illustrating a relationship between a difference amount and a steering assist amount according to the second embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 10 back monitor camera, 12 steering sensor, 14 sensor, 16 parking ECU, 18 display, 20 speaker, 22 electric power steering computer, 24 steering motor.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Osamu Okazaki, Inventor 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Jun Sakugawa 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation F Terms (reference) 3D032 CC01 DA03 DA23 DA88 DA95 DB03 DB07 DC33 DC34 DC38 DD02 DE09 EA01 EB04 EB11 EC22 GG01

Claims (7)

[Claims] 1. A parking assist device for instructing a driver on a driving operation amount to guide a vehicle to a parking section, and a calculating means for calculating a driving operation amount necessary to enter the parking section. A parking assist device comprising a teaching unit for teaching the driving operation amount when the vehicle stops. 2. The parking assist system according to claim 1, wherein the driving operation amount is a steering angle, and the teaching unit teaches a constant steering angle to be maintained while the vehicle is traveling. 3. The parking assist device according to claim 2, wherein said teaching means includes a display means for displaying a difference between an actual steering angle and a target steering angle. 4. The parking assist system according to claim 1, wherein said teaching means includes a steering assist means for changing a steering assist force according to a difference between an actual steering angle and a target steering angle. 5. The parking assist device according to claim 1, wherein the teaching unit teaches a vehicle position at which the vehicle can enter the parking section when the vehicle cannot enter the parking section. 6. The parking assist device according to claim 1, wherein said calculating means calculates a driving operation amount according to the set teaching level. 7. When the vehicle reaches a position where the vehicle cannot enter the parking section due to a difference between an actual steering angle and a target steering angle, the teaching section is configured to reach a vehicle position at which the vehicle can enter the parking section. The parking assist device according to claim 1, wherein a driving operation amount necessary for the vehicle is taught.