JP2000128006A - Vehicle contact avoidance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily avoid a vehicle from contacting another vehicle or an obstacle when it is parked parallel or perpendicularly to other vehicles or when it approaches an obstacle by applying a steering force so that wheels orient toward the forward direction on the side opposite to a corner located in a forward direction when a distance in a generally horizontal direction between the corner and obstacle is shorter than a predetermined value. SOLUTION: When the distance between an obstacle and a front left corner 12 of a vehicle, measured with a front left distance measuring unit 32, or the distance between an obstacle and a rear right corner 13 of the vehicle, measured with a rear right distance measuring unit 33 is shorter than a predetermined value while the vehicle moves in a forward direction, a clockwise torque is applied to a steering shaft 46. When the distance between an obstacle and a front right corner 11 of the vehicle, measured with a front right distance measuring unit 31, or the distance between an obstacle and a rear left corner 14 of the vehicle, measured with a rear left distance measuring unit 34 is shorter than a predetermined value, a counterclockwise torque is applied to the steering shaft 46. When the vehicle moves in a backward direction, a clockwise torque is applied if a rear left distance or a front right distance is shorter than the predetermined value, and a counterclockwise torque is applied if a rear right distance or a front left distance is shorter than the predetermined value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle contact avoidance device for preventing a vehicle from coming into contact with an obstacle, and more particularly, to approaching another vehicle or other obstacles to park the vehicle. The present invention relates to a vehicle contact avoidance device for easily avoiding contact between a vehicle and an obstacle when the vehicle is made to travel and safely parking the vehicle.

[0002]

2. Description of the Related Art A driver of a car drives a car (hereinafter, referred to as a vehicle).
It is called own car. In order to park the vehicle, the driver may put his / her own vehicle in the gap between the rows or columns of other vehicles, or may enter the vehicle in a narrow gap surrounded by obstacles. In such a case, the driver
The driver must operate the vehicle so that the vehicle does not come into contact with other vehicles or other obstacles. The driver adjusts the accelerator to increase or decrease the speed of the car, operate the steering device to determine and change the direction of travel of the car while watching the surroundings, and operate the brakes when necessary to stop the car. Let it. To assist the driver in such a driving operation, the car has a side mirror,
Equipped with a rearview mirror. Furthermore, in the corner shape of the car,
It is designed so that the driver can easily guess the position of the corner of the vehicle. Further, a small pillar (fender pole) serving as a mark may be provided at the end of the vehicle so that the driver can visually recognize the position of the corner of the vehicle directly. These assist the driver in confirming the position of the corner of the vehicle from the driver's seat.

[0003] A method of operating a vehicle while using these assists will be described, taking as an example a case where the driver enters his / her vehicle in a backward direction between other vehicles in a row (corresponding to so-called garage entry). . First, the driver moves the own vehicle backward, so that the vehicle enters the middle of the front part of another vehicle in which the rear part of the own vehicle is laid. Next, the distance from the left and right rear corners of the vehicle to other vehicles and other obstacles is estimated by referring to the landscapes seen in the left and right side mirrors and the surrounding landscape viewed from the driver's position. While slowly putting the car between the other cars, turn the steering wheel left and right so that the estimated distance does not become narrower than a certain interval, and then put the car between the other cars. When the front end of the car enters between other vehicles, the driver further refers to the surrounding scenery seen from the driver's position and from the left and right front corners of the car to other vehicles and other obstacles Guess the distance. The driver turns the steering wheel to the left and right so that the estimated distance does not become narrower than a certain interval, and changes the posture of the own vehicle, and puts the car between other vehicles. When the rear end of the car reaches a predetermined position, stop the car, apply the gray, and stop the car.

[0004]

However, it is not always easy to estimate the distance from a corner of a vehicle to another vehicle or another obstacle and avoid interference between the own vehicle and the obstacle. The rear corner of the car cannot be clearly and directly seen with a side mirror or a rearview mirror. If the shape of the car is such that it is difficult to see the corners, it is increasingly difficult to estimate the distance. In addition, when the obstacle is located at a position where it cannot be seen from the driver's position, it is particularly difficult to estimate the distance. These are particularly noticeable when the driver is a beginner. If the estimation of the distance from the corner of the car to the obstacle is too wrong, the car may come into contact with the obstacle and damage the own vehicle and other vehicles.
Also, if the estimation of the distance from the corner of the car to the obstacle is slightly wrong, the distance between the car and the obstacle is unnecessarily widened,
You will not be able to stop the car in the correct position. In particular, since the driver is seated at a position deviated to the left or right from the center line of the car, stopping the vehicle so that the distance between the own vehicle and the other vehicles on the left and right is almost equal to a veteran driver It is surprisingly difficult.

[0005] As one of the devices for solving these problems, a distance display that measures the distance from the bumper to an obstacle behind and measures the distance on an operation panel or the like using a sensor provided at the end of the bumper of the car. A device has been proposed. However, when the driver puts his / her vehicle in a narrow place, he / she pays his / her gaze to surrounding conditions in order to avoid contact with the vehicle. Therefore, it is difficult to shift the line of sight to the distance display device of the driving panel, and it cannot be said that it is sufficiently useful for the driver's driving.

The present invention has been devised in view of the above-mentioned problems, and is intended to be used when a vehicle is parked by inserting the vehicle in a gap between a row of cars or a row of cars, or when approaching other cars or other obstacles. Sometimes
It is an object of the present invention to provide a vehicle contact avoidance device for easily avoiding contact between the own vehicle and another vehicle or another obstacle.

[0007]

In order to achieve the above object, a vehicle contact avoidance device according to the present invention is mounted on a vehicle and includes a distance measuring device for measuring a distance from a corner of the vehicle to an obstacle, and a front wheel. A steering force urging device for urging a steering force to the steering device to be steered, and when a substantially lateral distance from a corner in an advancing direction to an obstacle is shorter than a predetermined distance, right and left opposite sides of the corner. The steering force urging device applies a steering force to the steering device so that the wheels turn in the direction in which the vehicle turns and advances.

[0008] According to the configuration of the present invention, the distance measuring device can measure the distance from the corner of the vehicle to the obstacle and can know the distance from the corner of the vehicle to the obstacle. The steering force urging device can apply a steering force to a steering device that steers the front wheels to steer the front wheels. When the approximate lateral distance from the left corner in the traveling direction to the obstacle is shorter than a predetermined distance,
The steering force urging device applies a steering force to the steering device so that the wheels turn in a direction in which the vehicle turns right and advances. Also,
When the approximate lateral direction distance from the right corner in the traveling direction to the obstacle is shorter than a predetermined distance, the steering force urging device is provided to the steering device so that the vehicle turns to the left and the wheel turns in the direction of traveling. Energize the steering force.

In order to achieve the above object, a vehicle contact avoiding device according to the present invention is mounted on a vehicle and includes a distance measuring device for measuring a distance from a corner of the vehicle to an obstacle and a steering device for steering front wheels. A steering force urging device for urging the steering force,
When the approximate lateral distance from the corner in the opposite direction to the obstacle to the obstacle is shorter than a predetermined distance, the steering force urging device steers so that the vehicle turns to the left and right sides of the corner and turns in the direction of travel. A steering force is applied to the device.

According to the configuration of the present invention, the distance measuring device can measure the distance from the corner of the vehicle to the obstacle and can know the distance from the corner of the vehicle to the obstacle. The steering force urging device can apply a steering force to a steering device that steers the front wheels to steer the front wheels. When the approximate lateral and backward distance from the left corner in the opposite direction to the obstacle to the obstacle is shorter than a predetermined distance, the steering force urging device steers the steering device so that the wheels turn in the direction in which the vehicle turns to the left and proceeds. Energize the force. Also,
When the approximate lateral distance from the right corner in the opposite direction to the obstacle to the obstacle is shorter than a predetermined distance, the steering force urging device steers the front wheels so that the wheels turn to the right in a direction in which the vehicle turns. To apply torque to the handle shaft.

[0011] More preferably, the vehicle contact avoidance device according to the present invention further comprises a left corner distance measuring unit for measuring a substantially lateral distance from the left corner of the vehicle to the obstacle, and a right corner of the vehicle. And a right corner distance measuring unit for measuring a substantially horizontal distance from the obstacle to the obstacle, and the predetermined distance is a substantially horizontal distance from the right and left opposite corners of the corner to the obstacle.

With the configuration of the present invention, the left corner distance measuring section of the distance measuring device can measure the distance from the left corner of the car to the obstacle and can know the distance from the left corner of the car to the obstacle. . The right corner distance measuring unit of the distance measuring device measures the distance from the right corner of the car to the obstacle, and can know the distance from the right corner of the car to the obstacle. When the approximate lateral distance from the left corner in the traveling direction to the obstacle is shorter than the approximate lateral distance from the right corner to the obstacle, the steering force urging device:
Steering force can be applied to the steering device so that the wheels turn in the direction in which the vehicle turns to the right and proceeds. Also, when the distance from the right corner in the traveling direction to the obstacle is shorter than the substantially lateral distance from the left corner to the obstacle, the steering force urging device is
Steering force can be applied to the steering device so that the wheels turn in the direction in which the car turns left and travels. When the distance from the left corner in the opposite direction to the obstacle to the obstacle is shorter than the approximate lateral distance from the right corner to the obstacle, the steering force urging device will rotate the vehicle in the direction in which the vehicle turns to the left and proceeds. , The steering force can be applied to the steering device. Also, when the distance from the right corner in the opposite direction to the obstacle to the obstacle is shorter than the distance from the left corner to the obstacle, the steering force urging device:
Steering force can be applied to the steering device so that the wheels turn in the direction in which the vehicle turns to the right and proceeds.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. In each of the drawings, common portions are denoted by the same reference numerals, and redundant description will be omitted. FIG. 1 is a conceptual diagram of a vehicle steering system to which a vehicle contact avoidance device according to an embodiment of the present invention is added. The front wheel suspension system of the car 10 includes left and right wheels 21, 25, suspensions 22, 26, and a wheel axle (knuckle arm).
23 and 27 are provided. The vehicle steering system includes a steering wheel 30, a steering shaft 46, a steering gear box 29, a left tie rod 28, and a right tie rod 2
4 is provided. The right tie rod 24 is on the right knuckle arm 23, and the left tie rod 28 is on the left knuckle arm 27.
Are rotatably fixed to each other. The front wheel suspension system and the steering system have a known structure.

The vehicle contact avoiding device includes a distance measuring device, a steering force urging device, a forward / backward determining device, and a control device. The distance measuring device includes a right front distance measuring unit 31 and a left front distance measuring unit 3
2. It includes a right rear distance measuring unit 33, a left rear distance measuring unit 34, and a rear distance measuring unit 35. Each distance measuring unit 3
Reference numerals 1, 32, 33, 34, and 35 each include a laser, ultrasonic, or other type distance measuring sensor. The control device includes a calculation unit 47 and a signal line. The signal line is
It includes a right front distance signal line 36, a left front distance signal line 37, a right rear distance signal line 38, a left rear distance signal line 39, a rear distance signal line 40, a forward / reverse signal line 42, and a control signal line 45. The right front distance signal line 36, the left front distance signal line 37, the right rear distance signal line 38, the left rear distance signal line 39, and the rear distance signal line 40 are respectively a right front distance measurement unit 31, a left front distance measurement unit 32, and a right rear distance measurement. Unit 33, left rear distance measuring unit 34 and rear distance measuring unit 35
To the control unit 47. Forward / reverse determination device 41
Determines whether the vehicle is moving forward or backward. The forward / reverse signal line 42 transmits a signal from the forward / reverse determination device 41 to the control unit 47.
Tell The control signal line 45 transmits a control signal from the control unit 47 to the steering force urging device. The steering force urging device includes a servomotor 43 and a torque transmission pulley 44. The servo motor 43 urges a steering force to a steering shaft 46 via a torque transmission pulley 44.

The front right distance measuring unit 31 is installed on the right side 11 of the front bumper (hereinafter referred to as a front right corner). The front right distance measuring unit 31 measures the distance from the front right corner 11 of the car to the substantially right obstacle (hereinafter, referred to as the front right distance), converts the front right distance into a front right distance signal, and converts the front right distance signal into the front right distance. The signal is sent to the control unit 47 via the distance signal line 36. The front left distance measuring unit 32 is installed on the left side 12 (hereinafter, referred to as a front left corner) of the front bumper. The front left distance measuring unit 32 measures the distance from the front left corner 12 of the car to the substantially left obstacle (hereinafter, referred to as front left distance), converts the front left distance into a front left distance signal, and converts the front left distance signal. It is sent to the control unit 47 via the front left distance signal line 37. The right rear distance measuring unit 33 is installed on the right side 13 of the rear bumper (hereinafter, referred to as a right rear corner). This right rear distance measuring unit 33
Measures the distance from the right rear corner 13 of the car to the obstacle on the substantially right side (hereinafter referred to as right rear distance), converts the right rear distance into a right rear distance signal, and converts the right rear distance signal into the right rear distance signal. The signal is sent to the control unit 47 via the distance signal line 38. In addition, the left rear distance measuring unit 34 is provided on the left side 14 of the rear bumper (hereinafter referred to as a left rear corner).
It is installed in The rear left distance measuring unit 34 measures the distance from the rear left corner 14 of the car to the obstacle on the substantially left side (hereinafter referred to as left rear distance), converts the left rear distance into a rear left distance signal, The rear left distance signal is sent to the control unit 47 via the rear left distance signal line 39. Further, the rear distance measuring unit 35 is installed at the center 15 of the rear bumper (hereinafter, referred to as rear center). The rear distance measuring unit 35 measures the distance from the rear center 15 of the car to the substantially rear obstacle (hereinafter, referred to as a rear distance), converts the distance into a rear distance signal, and then converts the distance signal into the rear distance. The signal is sent to the control unit 47 via the signal line 40. The forward / reverse determination device 41 is installed in a transmission section of the engine 20. The forward / reverse determination device 41 determines whether the traveling direction of the vehicle is forward or backward, and sends the result (forward / backward signal) to the control unit 47 via the forward / backward signal line 42.

The control unit 47 processes the right front distance signal, left front distance signal, right rear distance signal, left distance signal, rear distance signal, and forward / backward traveling signal by a predetermined signal processing procedure to urge the steering shaft. A torque value (hereinafter, referred to as a torque command value) is generated, and the torque command value is sent to the steering force urging device via a control signal line. The steering force urging device is
According to the torque command value, a predetermined steering force (axial torque) is applied to the steering shaft 46 by the servo motor 43.

Generally, the distance measuring sensor of each distance measuring unit has a characteristic that the output is saturated when the distance from each corner to the obstacle exceeds a certain distance. here,
When a vehicle is steered by applying a clockwise torque (hereinafter referred to as a right steering wheel torque) to a steering shaft of a car when viewed from the steering wheel side, the car turns right when moving forward and turns left when moving backward. When the vehicle is steered by applying a counterclockwise torque (hereinafter referred to as a left steering wheel torque) to the steering shaft of the vehicle as viewed from the steering wheel, the vehicle turns left when moving forward and turns right when moving backward. The control device determines whether the vehicle is moving forward or backward from the forward / reverse signal.

The magnitude of the right steering wheel torque is proportional to the predetermined right steering angle and the current steering angle, and the magnitude of the left steering wheel torque is proportional to the difference between the predetermined left steering angle and the current steering angle. It is size. The magnitudes of the predetermined right rudder angle and the predetermined left rudder angle are magnitudes that are inversely proportional to the outputs of the respective distance sensors.

Hereinafter, a signal processing procedure of the control unit according to the first embodiment will be described. FIG. 2 is a schematic flowchart of the signal processing procedure. When the vehicle is moving forward, the following signal processing procedure is performed. When the front left distance is shorter than the predetermined distance, a torque command value is output so as to urge the right steering wheel torque to the steering shaft. Further, when the right front distance is shorter than the predetermined distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Next, when the rear left distance is shorter than the predetermined distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Further, when the rear right distance is shorter than a predetermined distance, a torque command value is output so as to bias right steering wheel torque to the steering shaft. When the right front distance and the right rear distance are simultaneously shorter than the predetermined distance, the right front distance is determined first, so that a torque command value is output so as to bias the left steering wheel torque to the steering shaft. When the left front distance and the left rear distance are both shorter than the predetermined distance at the same time, the left front distance is determined first, so that a torque command value is output so as to bias the right steering wheel torque to the steering shaft.

If the vehicle is moving backward, the following signal processing procedure is performed. When the rear left distance is shorter than a predetermined distance, a torque command value is output so as to urge right steering wheel torque to the steering shaft. Further, when the rear right distance is shorter than the predetermined distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Next, when the front left distance is shorter than the predetermined distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Further, when the right front distance is shorter than the predetermined distance, a torque command value is output so as to bias right steering wheel torque to the steering shaft. When the right front distance and the right rear distance are simultaneously shorter than the predetermined distance, the right rear distance is determined first, so that a torque command value is output so as to bias the left steering wheel torque to the steering shaft. When the left front distance and the left rear distance are both shorter than the predetermined distance at the same time, the left rear distance is determined first, so that a torque command value is output so as to bias the right steering wheel torque to the steering shaft.

Next, a signal processing procedure of the control unit according to the second embodiment will be described below. FIG. 3 is a schematic flowchart of the signal processing procedure. When the vehicle is moving forward, the following signal processing procedure is performed. When the front left distance is shorter than the front right distance, a torque command value is output so as to bias the right steering wheel torque to the steering shaft. Further, when the right front distance is shorter than the left front distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Next, when the rear left distance is shorter than the rear right distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Further, when the right rear distance is shorter than the left rear distance, a torque command value is output so as to bias right steering wheel torque to the steering shaft. At the same time, when the right front distance is shorter than the left front distance and the right rear distance is shorter than the left rear distance, the right front distance is determined first, so that a torque command value is output so as to bias the left steering wheel torque to the steering shaft. At the same time, when the left front distance is shorter than the right front distance and the left rear distance is shorter than the right rear distance, the left front distance is determined first, so that a torque command value is output so as to bias the right steering wheel torque to the steering shaft. .

If the vehicle is moving backward, the following signal processing procedure is performed. When the rear left distance is shorter than the rear right distance, a torque command value is output so as to urge right steering wheel torque to the steering shaft. Further, when the rear right distance is shorter than the front left distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Next, when the left front distance is shorter than the right front distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. Also,
When the front right distance is shorter than the front left distance, a torque command value is output so as to bias the right steering wheel torque to the steering shaft. At the same time, when the right front distance is shorter than the left front distance and the right rear distance is shorter than the left rear distance, the right rear distance is determined first, so a torque command value is output so as to bias the left steering wheel torque to the steering shaft. . At the same time, when the left front distance is shorter than the right front distance and the left rear distance is shorter than the right rear distance, the left rear distance is determined first, so a torque command value is output so as to bias the right steering wheel torque to the steering shaft. I do.

The operation and behavior of the vehicle will be described below, taking as an example a case where a vehicle equipped with the vehicle contact avoidance device of the present embodiment is parked between cars in a row (so-called garage parking). FIG. 4 and FIG. 5 show a procedure in which the vehicle moves backward and parks. (A) First, the driver moves the vehicle backward, and the rear part of the vehicle enters between the two vehicles that are in a row. (B) When the car moves further backward, the rear left corner of the car approaches the left car. When the rear left distance d4 becomes shorter than a predetermined distance, a torque command value is output so as to bias right steering wheel torque to the steering shaft. The wheels are steered to avoid a collision. As the vehicle moves further backward, the left rear distance d4 increases. (C) When the car moves further backward, the right rear corner of the car approaches the right car. When the rear right distance d3 becomes shorter than the predetermined distance, a torque command value is output so as to bias the left steering wheel torque to the steering shaft. The wheels are steered to avoid a collision. As the vehicle moves further backward, the left rear distance d3 increases. (D) When both the rear left distance d4 and the rear right distance d3 are larger than a predetermined distance, the wheels move backward in a straight-ahead state.

(E) When the car moves further backward, the front right corner of the car approaches the right-hand car. When the right front distance d1 is shorter than the predetermined distance, the torque command value is output so as to bias the right steering wheel torque to the steering shaft. The axle is steered to avoid a collision. When the car moves further backward, the left rear distance d1
Becomes larger. (F) When the car moves further backward, the front left corner of the car approaches the left car. When the front left distance d2 becomes shorter than the predetermined distance, the torque command value is output so as to bias the left steering wheel torque to the steering shaft. The wheels are steered to avoid a collision. As the vehicle moves further backward, the left rear distance d3 increases. (G) When the car moves further backward, the rear left corner of the car approaches the left car. When the left front distance and the left rear distance are simultaneously shorter than a predetermined distance, a torque command value is output so as to urge the right steering wheel torque to the steering shaft. The wheels are steered to avoid a collision. (H) The car moves further backward, and the rear center of the car approaches an obstacle behind. When the rear distance d5 becomes smaller than the predetermined distance, the driver is notified by voice or the like. The driver stops the car and the parking between the rows of cars is completed.

With the use of the vehicle contact avoidance device having the first or second control unit according to the present embodiment, when the driver operates the steering wheel and parks, the distance between the vehicle and the obstacle is reduced. , A torque in a direction to avoid contact is applied to the steering shaft. Since the driver experiences the torque through the steering wheel, the driver can easily know that there is a risk of contact. Further, the driver can easily know which way to turn the steering wheel to avoid contact. In addition, when the driver releases the steering wheel from the hand during parking work, when the distance between the car and the obstacle approaches, torque is applied to the steering shaft in the direction to avoid contact, and the contact is avoided. The steering shaft is turned in the direction If the driver operates the accelerator and the brake while leaving the operation of the steering wheel to the vehicle contact avoidance device, the driver can park the vehicle while avoiding contact with the vehicle and other obstacles. Therefore, when the own vehicle approaches other vehicles or other obstacles, or when the own vehicle is inserted between cars in parallel for parking, contact between the own vehicle and the obstacle can be easily avoided. Furthermore, if the driver operates the steering wheel and parks using the vehicle contact avoidance device having the second embodiment,
When the center line of the own vehicle deviates from the middle of the obstacles such as cars on both sides and the distance between the car and the obstacle approaches, avoid the contact and move the center line of the own vehicle to the obstacles such as the cars on both sides. Is applied to the steering shaft. Since the driver experiences the torque through the steering wheel, the driver can easily know that the center line of the own vehicle is shifted from the middle of an obstacle such as a vehicle on both sides and there is a risk of contact. Further, the driver can easily know which way to turn the steering wheel to avoid the contact and return the center line of the own vehicle to the middle of the obstacle such as the vehicle on both sides. Also, if the driver releases the steering wheel from the hand during parking work, if the center line of the own vehicle deviates from the middle of obstacles such as cars on both sides and the distance between the car and the obstacle approaches,
A torque is applied to the steering shaft in such a direction as to return the center line of the own vehicle to an intermediate position between obstacles such as vehicles on both sides while avoiding contact, and the steering shaft is turned in that direction. If the driver operates the accelerator and brake while leaving the steering wheel operation to the vehicle contact avoidance device,
The vehicle can be parked by returning the center line of the own vehicle to the middle of the obstacle such as the vehicle on both sides while avoiding contact with the vehicle and other obstacles. Therefore, when the vehicle is placed between vehicles that are in a row or in a row for parking, or between obstacles, it is easy to avoid contact between the vehicle and the obstacles and place the vehicle on both sides of the vehicle or other obstacles. Can be easily guided to almost the center of the

The present invention is not limited to the embodiment described above, and various changes can be made without departing from the gist of the invention. For example, the steering force urging device is not limited to a servomotor. For example, a direct-acting actuator that directly drives a tie rod may be used. In the case of power steering, an auxiliary circuit having an equivalent function may be provided in a power servo circuit. Further, the operation of the vehicle contact avoidance device having the control unit of the first embodiment and the behavior of the vehicle in the case where the vehicle is parked by inserting the vehicle between the rows of vehicles have been described, but the present invention is not limited to this. For example, the vehicle contact avoidance device having the control unit according to the second embodiment exhibits the same vehicle behavior.
Also, when parking between cars parallel to the left side, the same behavior by control using the signals of the left front distance measurement unit and the left rear distance measurement unit, the same vehicle and parallel parked car or edge dam etc. The vehicle can be parked while avoiding contact with obstacles.

[0027]

As described above, according to the configuration of the vehicle contact avoidance device according to the first or second aspect of the present invention, when the driver operates the steering wheel to perform parallel parking or horizontal parking, the vehicle and the vehicle are avoided. When the distance to the obstacle approaches, a steering force in a direction to avoid the contact is applied to the steering device. Since the driver experiences the steering force through the steering device, the driver can easily know that there is a risk of contact. Furthermore, the driver can easily know how to operate the steering device to avoid the contact. In addition, when the driver releases the steering device from the hand during parking work, when the distance between the vehicle and the obstacle approaches, the steering force in the direction to avoid the contact is urged by the steering device, and The wheel is turned in the direction to avoid. If the driver operates the accelerator and the brake while leaving the operation of the steering device to the vehicle contact avoidance device according to the present invention, the driver can park the vehicle while avoiding contact with the vehicle and other obstacles. . Therefore, when the own vehicle approaches another vehicle or other obstacles, or when the own vehicle is placed between other vehicles in a row or in a row, contact between the own vehicle and the obstacles can be easily avoided.

Further, according to the configuration of the vehicle contact avoiding device according to the third aspect of the present invention, when the driver operates the steering device and parks, the center line of the own vehicle is located on both sides of the obstacle such as the vehicle. When the distance between the car and the obstacle approaches from the middle,
Steering force is applied to the steering device in a direction to avoid contact and return the center line of the own vehicle to the middle of obstacles such as vehicles on both sides. Since the driver experiences the steering force through the steering device, the driver can easily know that the center line of the own vehicle is shifted from the middle of an obstacle such as a vehicle on both sides and there is a risk of contact. Further, the driver can easily know which one to operate the steering device to avoid the contact and return the center line of the own vehicle to the middle of the obstacle such as the vehicle on both sides. Also, if the driver releases the steering device from the hand during parking work, the center line of the own vehicle is shifted from the middle of obstacles such as cars on both sides, and the distance between the car and the obstacle approaches. Then, a steering force in a direction of avoiding the contact and returning the center line of the own vehicle to an intermediate position between obstacles such as vehicles on both sides is urged by the steering device, and the wheels are turned in that direction. If the driver operates the accelerator and the brake while leaving the operation of the steering device to the vehicle contact avoidance device according to the present invention, the driver can move the center line of the own vehicle while avoiding contact with the vehicle and other obstacles. The vehicle can be parked by returning to the middle of an obstacle such as a side car. Therefore, when the vehicle is placed between other vehicles in a row or in a row or between obstacles, it is easy to avoid contact between the vehicle and the obstacle, It can be easily guided to almost the center.

[Brief description of the drawings]

FIG. 1 is a structural diagram of a vehicle equipped with a vehicle contact avoidance device according to an embodiment of the present invention.

FIG. 2 is a signal processing flowchart according to the first embodiment of the present invention.

FIG. 3 is a flowchart of signal processing according to a second embodiment of the present invention.

FIG. 4 is a first flowchart showing a procedure for putting a vehicle equipped with the vehicle contact avoidance device according to the embodiment of the present invention into a garage.

FIG. 5 is a second flowchart illustrating a procedure for putting a vehicle equipped with the vehicle contact avoidance device according to the embodiment of the present invention into a garage.

[Explanation of symbols]

 10 Car 11 Right front corner 12 Left front corner 13 Right rear corner 14 Left rear corner 15 Rear 20 Engine 21 Right front wheel 22 Right front suspension 23 Right knuckle arm 24 Right tie rod 25 Left front wheel 26 Left front suspension 27 Left knuckle arm 28 Left tie rod Reference Signs List 30 steering wheel 31 right front distance measurement part 32 left front distance measurement part 33 right rear distance measurement part 34 left rear distance measurement part 35 rear distance measurement part 36 right front distance signal line 37 left front distance signal line 38 right rear distance signal line 39 left rear distance Signal line 40 Rear distance signal line 41 Forward / backward traveling determination device 42 Forward / backward traveling signal line 43 Servo motor 44 Torque transmission pulley 45 Control signal line 46 Steering shaft 47 Control unit

Claims (3)

[Claims] 1. A vehicle contact avoidance device mounted on a vehicle for avoiding contact between the vehicle and an obstacle, comprising: a distance measuring device for measuring a distance from a corner of the vehicle to the obstacle; A steering force urging device for urging a steering force to a steering device for steering a vehicle, wherein when a substantially lateral distance from a corner in an advancing direction to an obstacle is shorter than a predetermined distance, left and right of the corner is reversed. A vehicle contact avoidance device, wherein the steering force urging device applies a steering force to the steering device so that the wheel turns in a direction in which the vehicle turns toward the side. 2. A vehicle contact avoidance device mounted on a vehicle for avoiding contact between the vehicle and an obstacle, comprising: a distance measuring device for measuring a distance from a corner of the vehicle to the obstacle; A steering force urging device that applies a steering force to a steering device that steers the vehicle; when a substantially lateral distance from the corner in the opposite direction to the obstacle to the obstacle is shorter than a predetermined distance, the left and right sides of the corner are the same. A vehicle contact avoidance device, wherein the steering force urging device applies a steering force to the steering device so that the wheel turns in a direction in which the vehicle turns toward the side. 3. A distance measuring device for measuring a substantially lateral distance from the left corner of the car to the obstacle and a substantially horizontal distance from the right corner of the car to the obstacle. The vehicle according to claim 1 or 2, further comprising a right corner distance measuring unit, wherein the predetermined distance is a substantially lateral distance from an opposite corner of the corner to the obstacle. Contact avoidance device.