JP2001018821A - Automatic steering apparatus for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To always park in an appropriate parking position regardless of deviation of a start position where an automatic steering control is started and regardless of peripheral conditions in the parking position. SOLUTION: A moving locus of a back parking/left mode in an automatic parking control is constituted by a forward travelling part from an optimum start position Pt to an optimum shift change position Ps', and a backward travelling part from the optimum shift change position Ps' to an optimum parking position P2'. When an actual start position Pi is deviated to a right side in the drawing by Δa from the optimum start position P1', an actual parking position P2 is deviated to a right side in the drawing by Δa from the optimum parking position P2'. In order to compensate the deviation, a length of a vehicle forward straight travelling part immediately after the start position P1 is extended by Δa, whereby the parking position P2 is made to correspond with the optimum parking position P2'.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vehicle steering system for parking a vehicle without depending on a driver's steering operation.

[0002]

2. Description of the Related Art An automatic steering apparatus for such a vehicle is disclosed in Japanese Unexamined Patent Publication No. Hei.
No. 74256 and JP-A-4-55168. The automatic steering devices for these vehicles use an actuator of a conventionally known electric power steering device, and control the actuator based on a relationship between a moving distance of the vehicle and a steering angle stored in advance to control the back parking or the like. Parallel parking is performed automatically.

[0003]

However, in the above-mentioned conventional vehicle, the vehicle moves from the start position to the parking position through a movement locus stored in advance, so that if the start position shifts, the parking position also shifts. There is. In addition, since the surrounding situation of the parking position (for example, the position of another vehicle parked on both the left and right sides) is not taken into consideration, the final parking position is deviated from an appropriate parking position determined according to the surrounding situation. In some cases.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and enables to always park at an appropriate parking position irrespective of a deviation of a start position for starting automatic steering control or a situation around the parking position. With the goal.

[0005]

In order to achieve the above object, according to the first aspect of the present invention, a movement for storing or calculating a movement locus of a vehicle from a first position to a second position. Trajectory setting means, a steering actuator for turning wheels, an object detection means for detecting the presence or absence of an object around the vehicle, and a trajectory of the vehicle set by the trajectory setting means and a detection result of the object detection means. In an automatic steering apparatus for a vehicle, comprising: an actuator control unit that controls driving of a steering actuator, the actuator control unit divides a movement trajectory of the vehicle into a plurality of regions based on a steering angle, and includes an object detection unit. An automatic steering apparatus for a vehicle, wherein a movement locus of at least one of the plurality of areas is corrected based on a detection result. It is.

[0006] According to the above configuration, the trajectory of the vehicle is divided into a plurality of areas based on the steering angle, and the trajectory of at least one of the plurality of areas is corrected based on the detection result of the object detection means. By doing so, it is possible to correctly guide the vehicle to the second position by compensating for the effect of the vehicle position shift or angle shift at the first position or the effect of surrounding obstacles.

According to the second aspect of the present invention,
In addition to the configuration of the first aspect, there is proposed an automatic steering apparatus for a vehicle, wherein the movement trajectory is set as a relationship of a steering angle with respect to a movement distance of the vehicle.

[0008] According to the above configuration, since the trajectory is set as the relationship of the turning angle to the moving distance of the vehicle, the vehicle can be correctly guided to the second position even if the vehicle speed changes during the automatic steering control. Can be.

According to the third aspect of the present invention,
In addition to the configuration of claim 1 or 2, the plurality of regions are:
The vehicle according to any one of claims 1 to 3, wherein the steering angle is one of a straight traveling portion in which the steering angle is held at 0, a steering portion in which the steering angle is held at a predetermined value other than 0, and a steering portion in which the steering angle changes. An automatic steering device is proposed.

According to the above configuration, the plurality of areas of the movement trajectory include a straight traveling portion in which the steering angle is held at 0, a steering portion in which the steering angle is held at a predetermined value other than 0, and a steering angle. Since it is one of the steered portions that changes, the correction of the movement trajectory is simplified, and the control is facilitated.

According to the invention described in claim 4,
In addition to the configuration according to any one of claims 1 to 3, the actuator control unit may be configured so that a predetermined position between the first position and the second position and an object detected by the object detection unit have a predetermined relationship. There is proposed an automatic steering apparatus for a vehicle, which is characterized by correcting a moving locus.

According to the above configuration, the first position and the second position
The moving locus is corrected so that the predetermined position between the positions and the object detected by the object detecting means has a predetermined relationship. Therefore, the moving position from the first position to the predetermined position is corrected, and the moving position is corrected. The vehicle can be correctly guided to the second position without correcting the movement trajectory from to the second position. In addition, it is possible to avoid the interference with the object by changing the predetermined position by correcting the movement trajectory.

The control unit 22 of the embodiment corresponds to the actuator control unit of the present invention, the storage unit 23 of the embodiment corresponds to the moving trajectory setting unit of the present invention, and the front wheel Wf of the embodiment corresponds to the wheel of the present invention. Corresponding to

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIGS. 1 to 32 show a first embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle provided with a steering control device, and FIG. 2 is a relation of a reference turning angle θref with respect to a movement trajectory X. FIG. 3 is a diagram showing a mode selection switch and an automatic parking start switch. FIG. 4 is a diagram showing a movement trajectory in the back parking / left mode. FIG. 5 is a diagram showing a method of setting an optimum parking position in the back parking / left mode. 6 and FIG. 6 are explanatory diagrams of the operation in the ideal back parking / left mode. FIGS. 7 and 8 are operational explanatory diagrams when the start position is shifted rearward in the back parking / left mode, and FIGS. FIG. 1 is an explanatory view of the operation when the vehicle is tilted left at the start position in the back parking / left mode, FIG.
FIGS. 2 and 13 are explanatory diagrams of the operation when the start position is shifted to the right in the back parking / left mode. FIGS. 14 to 18 are the start positions shifted to the right in the back parking / left mode and an obstacle is present on the right side. FIGS. 19 to 23 are operation explanatory diagrams when an obstacle is present on the front side in the back parking / left mode, FIG. 24 is an explanatory diagram of an ideal parallel parking / left mode, and FIG. FIGS. 26 and 27 are diagrams illustrating a method of setting an optimal parking position in the parallel parking / left mode, FIGS. 26 and 27 are operation explanatory diagrams when the start position is shifted rearward in the parallel parking / left mode, and FIGS. 31/32 are operation explanatory diagrams when the start position is shifted rightward in the / left mode, and FIGS. 31 and 32 are operation explanatory diagrams when the vehicle is tilted right at the start position in the parallel parking / left mode.

As shown in FIG. 1, the vehicle V has a pair of front wheels W
f, Wf and a pair of rear wheels Wr, Wr. The steering wheel 1 and the front wheels Wf, Wf, which are the steered wheels,
A steering shaft 2 that rotates integrally with the steering wheel 1; a pinion 3 provided at the lower end of the steering shaft 2; , 5 are connected by left and right knuckles 6, 6. A steering actuator 7 composed of an electric motor is connected to the steering shaft 2 via a worm gear mechanism 8 in order to assist the driver in operating the steering wheel 1 or to perform automatic steering for garage described later.

The steering control device 21 includes a control unit 22 and a storage unit 2
3 which are composed of, the control unit 22, and the steering angle detecting means S ₁ for detecting the turning angle θ is the rotation angle of the steering wheel 1, a steering torque detecting a steering torque T of the steering wheel 1 Detecting means S ₂ and left and right front wheels W
front wheel rotation angle detecting means S ₃ for detecting the rotation angles f, Wf,
And S _3, a brake operation amount detecting means S ₄ for detecting the operation amount of the brake pedal 9, the shift range ( "D" range selected by the select lever 10, "R" range,
"N" range, the "P" shift range detecting means S ₅ for detecting a range, etc.), the front of the vehicle V, the central part and a total of eight object detecting means S ₈ ... and the signal from which is provided in the rear Is entered. The object detecting means S ₈ comprises a known sonar, radar, television camera or the like. The line connecting the _eight object detection means S ₈ to the control unit 22 is
They are omitted to avoid complication of the drawings.

Referring to FIG. 3 as well, it is clear that
The mode selection switch S ₆ and the automatic parking start switch S ₇ operated by the driver are connected to the control unit 22. The mode selection switch S ₆ has four types of parking modes to be described later: a back parking / right mode, a back parking /
It has four buttons operated when selecting any of the left mode, the parallel parking / right mode, and the parallel parking / left mode. Automatic parking start switch S ₇ is operated to start automatic parking according to any of the mode selected by the mode selection switch S _6.

The storage unit 23 stores the four types of parking modes.
, The reference steering angle with respect to the moving distance X of the vehicle V
The relationship of θref is stored in advance as a table.
You. The moving distance X of the vehicle V is a known circumference of the front wheel Wf.
Front wheel rotation angle detection means S_Three, S _ThreeOf the front wheel Wf
It is obtained by multiplying the rotation angle. In addition, said movement
To calculate the distance X, a pair of left and right front wheel rotation angle detecting means is used.
S_Three, S_ThreeOutput high select value, low select value,
Alternatively, an average value is used.

The control unit 22 includes the detection means S ₁ to S ₁ .
S ₅ , S ₈ … and signals from switches S ₆ , S ₇ ,
Based on the parking mode data stored in the storage unit 23, the operation of the steering actuator 7 and the operation of the operation stage teaching device 11 including a liquid crystal monitor, a speaker, a lamp, a chime, a buzzer, and the like are controlled.

Next, the operation of the embodiment of the present invention having the above configuration will be described.

[0022] Usually when not performing the automatic parking (when the mode selecting switch S ₆ is not operated), the steering control apparatus 21 functions as a general power steering control unit. Specifically, when the driver operates the steering wheel 1 to turn the vehicle V, a steering torque detecting means S ₂ detects the steering torque T that is input to the steering wheel 1, the control unit 22 to the steering torque T The driving of the steering actuator 7 is controlled on the basis of this. As a result, the left and right front wheels Wf, Wf are steered by the driving force of the steering actuator 7, and the steering operation of the driver is assisted.

Next, the contents of the automatic steering control will be described by taking a back parking / left mode (a mode in which the vehicle is parked while backing at a parking position on the left side of the vehicle V) as an example. In this embodiment the start position P ₁ and a first position, a parking position P ₂ is set to the second position.

First, as shown by a solid line in FIG. 4, the vehicle V is moved to the vicinity of the garage to be parked by the driver's own steering operation, and the left side of the vehicle body is brought as close as possible to the garage entrance line. Prescribed standards (for example, marks and side mirrors inside doors)
Stops the vehicle V at the optimum start position P ₁ ′ coincident with the center line of the garage. Then, ON the automatic parking start switch S ₇ with to select the back parking / left mode by operating the mode selection switch S ₆ Then, the automatic steering control is started. During the automatic steering control is performed, the current position of the vehicle in the operating stage teaching device 11, around the obstacle, the optimal shift change position Ps ', the optimum parking position P _2', the shift change position from the start position P ₁ expected movement locus like of the vehicle is displayed parking to the position P ₂ via the ps, various instructions and alarm operation or the like of the select lever 10 in the shift change position ps to the driver is performed by voice from the speaker together .

[0025] by the automatic steering control, driver of alone without operating the steering wheel 1, the back parking / left mode selected by the mode selection switch S ₆ to creep drive the vehicle V loosen the brake pedal 9 data , The front wheels Wf, Wf are automatically steered. In other words, between the front wheel Wf the vehicle V moves forward to the start position P _1, et al shift change position Ps, Wf are automatically steered to the right, while the vehicle V moves backward from the shift change position Ps to the parking position P ₂ is the front wheels Wf, Wf is automatically steered to the left.

As is clear from FIG. 2, during the automatic steering, the control unit 22 reads the reference parking angle θref of the back parking / left mode read from the storage unit 23 and the steering angle detecting means S _1. E based on the steering angle θ input from the
(= Θref−θ) is calculated, and the operation of the steering actuator 7 is controlled such that the deviation E becomes zero.
At this time, since the data of the reference turning angle θref is set in accordance with the moving distance X of the vehicle V, the vehicle V always moves on the moving locus even if the vehicle speed of the creep running has some fluctuation. Will be.

Since the automatic steering control is executed while the driver steps on the brake pedal 9 and the vehicle V runs in a creep state, the driver depresses the brake pedal 9 immediately to stop the vehicle V when the driver finds an obstacle. Can be done.

The automatic steering control described above, the driver but is stopped when OFF the mode selecting switch S _6, if the driver also has otherwise takes his foot from the brake pedal 9, the driver operates the steering wheel 1 If so, the operation is stopped and the control returns to the normal power steering control.

When the vehicle V is stopped at the start position in order to start the automatic steering control, the start position P _{1 at} which the vehicle V actually stops may deviate from the optimum start position P ₁ ′. In such a case, the vehicle V, which should reach the optimal parking position P ₂ ′ through the movement locus indicated by the solid line in FIG.
Through a movement trajectory indicated by the broken line in FIG. 4 by _1, thereby guided to the wrong parking position P _2. The optimum parking position P ₂ depends on the surroundings of the parking position (whether another vehicle is parked on both the left and right sides, whether another vehicle is parked on one of the left and right sides, or whether other vehicles are parked on both the left and right sides). 'Will be different. Therefore, when the vehicle V is stopped at the start position P ₁ in the present embodiment, mainly the other vehicle in the case of ambient detected by object detecting means S ₈ ... situation (object detecting means S ₈ ... is sonar and radar Object detection means S ₈
.. Is a television camera, the optimum parking position P ₂ ′ is obtained based on the white line.

FIG. 5 illustrates a method for obtaining the optimum parking position P ₂ ′ in the back parking / left mode.
FIG. 5 (A) shows a case where there are other vehicles serving as obstacles on both left and right sides of the parking position. In this case, the optimum parking position P
₂ 'is set at the center of the interval L between the left and right other vehicles, that is, so that the vehicle body center line is at a distance of α (= L / 2) from the left and right other vehicles. When the interval L is smaller than the interval at which the host vehicle can be parked, it is determined that there is an obstacle on the moving path of the host vehicle, and the operation stage teaching device 11 notifies the driver of the obstacle using images and sounds.

FIG. 5B shows another vehicle on the right side of the parking position.
In this case, the parked vehicle moves to the right
To secure the space to open the door,
Secure the distance A for opening and closing the door with the left side of other vehicles
Optimal parking position P _Two'Is set. Therefore,
If the vehicle width is B, the own vehicle is at the optimal parking position P_Two′
And the distance α between the vehicle center line and the other vehicle is α = A + B / 2
Set to be.

When there is another vehicle on the left side of the parking position, a distance A is secured between the left side of the own vehicle and the right side of the other vehicle in order to secure a space for the other vehicle to open the right door. The distance α between the vehicle center line and the other vehicle is α = A + B
The optimal parking position P ₂ ′ is set at a position where the position becomes / 2. Further, when there are no obstacles on the left and right sides of the parking position, the optimum parking position P ₂ ′ is not set, and the parking position estimated from the start position is adopted as the optimum parking position P ₂ ′.

The optimum parking position P shown in FIGS.
₂ 'is set when the object detecting means S ₆ is a sonar or a radar, and when the object detecting means S ₆ is a television camera, the optimum parking position P ₂ ' is set at the center of the left and right white lines of the parking position. Set. If the left and right white lines cannot be detected, the optimal parking position P ₂ ′ is not set, and the parking position estimated from the start position is adopted as the optimal parking position P ₂ ′.

FIG. 6 shows an optimum parking position P ₂ ′ from an optimum start position P ₁ ′ through an optimum shift change position Ps ′.
The appropriate trajectory of the back parking / left mode for guiding the vehicle V to the vehicle V is shown. An appropriate movement trajectory is a forward straight section a following the optimal start position P ₁ ′, a right steering section following the forward straight section a, a right steering section b following the right steering section, and a right steering section. b
, A forward straight section c that reaches the optimal shift change position Ps' following the left steering section, a left steering section that follows the forward straight section c, and a left steering section that follows the left steering section. Steering unit d
And a right turning section following the left steering section d, and a reverse straight section e following the right turning section to reach the optimum parking position P ₂ ′. Note that this movement trajectory is obtained when the lateral movement distance B of the vehicle V is set to approximately the average parking lot passage width.
The moving distance T of the vehicle V in the front-rear direction is set to be minimum. Further, by dividing the movement trajectory into a plurality of regions according to the turning angle θref, the movement of the vehicle V in each region becomes regular, so that the correction of the movement trajectory is simplified and the control is facilitated.

Next, in order to guide the vehicle V from the erroneous start position P ₁ to the optimum parking position P ₂ ′, a method of correcting the movement trajectory is described in the case where there are obstacles on both sides of the parking position in the back parking / left mode. An example will be described. 7 to 3 below.
In FIG. 2, unless otherwise specified, the broken lines indicate the optimal start position P ₁ ′, the optimal shift change position Ps ′, and the optimal parking position P ₂ ′ that do not need to be corrected, and the movement trajectory of the vehicle V connecting them. And the solid line represents the start position P ₁ before and after the correction and the shift change position P
and s and the parking position P _2, shows the movement locus of the vehicle V connecting them.

FIGS. 7 and 8 show that the start position P ₁ is behind the optimum start position P ₁ ′ by Δa (right side in the figure).
Is shown. As shown by the solid line in FIG. 7, when shifted to the right in the drawing by Δa than the start position P ₁ is the best starting position P ₁ ', deviates gearshift position Ps and the parking position P ₂ also Δa only right side of the drawing . Therefore, as shown in FIG. 8, by extending only Δa forward straight portion a after the start position P _1, the shift change position Ps and the parking position P _2, the optimal shift change position Ps' and the optimum parking position P ₂ '.

Conversely, when the start position P ₁ is shifted to the left side in the figure by Δa from the optimum start position P ₁ ′, the forward straight portion a immediately after the start position P ₁ is shortened by Δa to shift. Change position Ps and parking position P
_2, can be matched to the optimum shift change position Ps 'and the optimum parking position P _2'. However, when Δa is longer than the forward straight portion a is uncorrectable by the above method, so as to shift the start position P ₁ to the rear (right side in the drawing), the image and audio by operating stage teaching device 11 Notify the driver. If the start position P ₁ is shifted to the right side in the drawing Δa than the optimum starting position P ₁ 'also, only if it exceeds a threshold Δa is preset, the start position P ₁ on the front side (the left side in the drawing) The driver may be notified to shift.

[0038] FIGS. 9 and 10 is the start position P ₁ coincides with the optimum start position P ₁ ', the vehicle V is shown an example in which inclined by an angle β to the left. As shown by the solid line in FIG. 9, the vehicle V at the start position P ₁ is the angle β
Only when tilted to the left, in the drawing with with the vehicle V at a shift change position Ps is inclined to the left by an angle β deviates to the lower side in the drawing, and the vehicle V at the parking position P ₂ is tilted to the left by an angle β It shifts to the right.

In this case, two types of correction methods can be considered. The first approach, as shown in FIG. 10, is to extend in the course of the automatic steering control from the start position P ₁ to the gearshift position Ps to Migihokaji section b only [Delta] b. As a result, the right turning amount of the vehicle V increases by the angle β, and the moving amount of the vehicle V to the upper side in the drawing increases. Therefore, the shift change position Ps including the angle of the vehicle V is changed to the optimal shift change position Ps ′. Can be matched. Therefore, from the optimal shift change position Ps' to the optimal parking position P
_The vehicle V can be correctly guided to the optimum parking position P ₂ ′ only by performing the automatic steering control based on the movement trajectory stored in advance up to ₂ ′.

The second approach, as shown in FIG. 11, after performing the automatic steering control from the start position P ₁ to the gearshift position Ps on the basis of the previously stored movement locus, shift change position Ps after In the process of the automatic steering control, the left steering portion d is extended by Δd. As a result, the left turning amount of the vehicle V increases by the angle β, and the parking position P ₂ including the inclination angle of the vehicle V is changed to the optimal parking position P ₂ ′.
Can be matched.

[0041] Conversely, when the vehicle V is inclined by an angle β to the right in the starting position P _1, contrary to the above, the right holding in the course of the automatic steering control from the start position P ₁ to the gearshift position Ps It is only necessary to shorten the steering portion b by Δb, or to shorten the left steering portion d by Δd in the process of the automatic steering control after the shift change position Ps. However, when Δb is longer than the right steering section b or when Δd is longer than the left steering section d, the angle cannot be corrected by the above-described method. Therefore, the angle of the vehicle V at the start position P ₁ is straightened. The driver is notified by an image and a sound by the operation stage teaching device 11 so as to be corrected. Even when the vehicle V is inclined by an angle β to the left at the start position P _1, only if it exceeds a threshold angle β is preset, be informed to the driver so that straight fix the angle of the vehicle V good.

FIGS. 12 and 13 show the start position P ₁
Is shifted to the right (upper side in the figure) by Δe from the optimum start position P ₁ ′. As shown by the solid line in FIG. 12, when the start position P ₁ is shifted upward by Δe from the optimal start position P ₁ ′, the shift change position Ps
And parking position P ₂ also Δe only shifted upward in the drawing. Therefore, as shown in FIG. 13, by the parking position P ₂ immediately before the reverse rectilinear portion e is extended by .DELTA.e, a parking position P ₂ it can be matched to the optimum parking position P ₂ '.

Conversely, when the start position P ₁ is shifted downward by Δe from the optimum start position P ₁ ′, the reverse straight portion e immediately before the parking position P ₂ is shortened by Δe. the parking position P ₂ can be matched to the optimum parking position P ₂ '. However, if Δe is longer than the reverse rectilinear portion e is uncorrectable by the above method, so as to shift the start position P ₁ on the right side (upper side in the drawing), the driver in the image and audio by operating stage teaching device 11 To inform. When shifted to the upper side in FIG Δe than the start position P ₁ is the best starting position P ₁ 'also, only if it exceeds a threshold Δe is preset, the start position P ₁ the left (lower side in the drawing) The driver may be notified so as to shift to the next.

FIGS. 14 to 18 show the start position P₁Is the best
Suitable start position P₁'To the right of Δ' (upper side in the figure)
And the start position P₁There is an obstacle to the right of
Vehicle V is obstructed at shift change position Ps due to existence
The example which interferes with an object is shown. In this case, as shown in FIG.
So, start position P₁And shift change position P
If the lateral movement distance B between s
The vehicle V interferes with an obstacle at the flange position Ps. That
For this reason, as shown in FIG. ₁and
The right steering part b between the shift change positions Ps is shortened by Δb
And the shift change position Ps is changed to b '.
Move it to the left (lower side in the figure) so that it does not interfere with obstacles
To

However, when the right steering portion is shortened from b to b ', the amount of turning of the vehicle V in the right direction decreases. Therefore, as shown in FIG. It turns to the left by the angle β rather than the direction. Therefore, when the reverse is causing the vehicle V from the gearshift position Ps to the parking position P _2, in the parking position P ₂ orientation of the vehicle V becomes left by an angle beta. Therefore, as shown in FIG. 16, by extending the left steering hold portion d between the shift change position Ps and the parking position P ₂ only [Delta] d, the vehicle at the parking position P ₂ by the turning amount of the vehicle V is increased by an angle β Make the direction of V parallel to the garage.

However, since the shift position Ps is shifted to the right by a distance Δa from the optimum shift position Ps ′, the parking position P ₂ is shifted to the optimum parking position Ps.
₂ 'to the right side in the figure by a distance Δa (FIG. 1
6). Therefore, as shown in FIG. 17, by extending the forward straight portion a after the start position P ₁ only .DELTA.a, a parking position P ₂ can be positioned on the garage centerline. Even with the above correction, the initial start position P ₁
Is shifted to the right (upper side in the figure) from the optimal start position P ₁ ′, so that the parking position P _{2 in} FIG. 17 is also shifted to the front side (upper side in the figure) by the distance Δe. Therefore, as shown in FIG. 18, by the parking position P ₂ immediately before the reverse rectilinear portion e is extended by .DELTA.e, the final parking position P ₂ it can be matched to the optimum parking position P ₂ '. Since the shift change position Ps is set according to the situation of the obstacle, it is possible to prevent the vehicle V from interfering with the obstacle at the shift change position Ps.

If the vehicle V cannot be guided to the optimum parking position P ₂ ′, no matter how the movement trajectory is corrected, the operation stage teaching device 11 informs the driver of the vehicle V by images and sounds.

[0048] FIGS. 19 to 23, the vehicle V at a shift change position Ps due to the presence of obstacles in front of the start position P ₁ indicates an interfering example with an obstacle. in this case,
As shown in FIG. 19, when no small longitudinal movement distance T between the start position P ₁ and a shift change position Ps, the vehicle V may interfere with the obstacle shift change position Ps. Therefore, as shown in FIG. 20, Migihokaji portion b between the start position P ₁ and a shift change position Ps
Is extended by Δb to b + Δb, thereby shifting the shift change position Ps to the right (upper side in the figure) so as not to interfere with an obstacle.

However, if the right steering portion b is extended by Δb, the amount of turning of the vehicle V in the right direction increases.
As shown in FIG. 0, the direction of the vehicle V at the shift change position Ps becomes rightward by an angle β from the original direction. Therefore, when the reverse is causing the vehicle V from the gearshift position Ps to the parking position P _2, in the parking position P ₂ orientation of the vehicle V becomes right angle beta. Therefore, as shown in FIG. 21, the left steering hold portion d between the shift change position Ps and the parking position P ₂ by shortening only [Delta] d d '
To be parallel to the garage the orientation of the vehicle V at the parking position P ₂ by the turning amount of the vehicle V is decreased by the angle beta.

However, due to the above correction, the parking position P ₂ is shifted from the optimal parking position P ₂ ′ by Δa to the left in the figure and by Δe to the upper side in the figure (see FIG. 21). Therefore, as shown in FIG. 22, the start position P ₁
By the a 'by reducing the forward rectilinear section a right after only .DELTA.a, a parking position P ₂ can be positioned on the garage centerline. Furthermore, as shown in FIG. 23, the parking position P ₂
By extending the reverse rectilinear portion e of the immediately preceding only .DELTA.e, the final parking position P ₂ can be matched to the optimum parking position P ₂ '. Since the shift change position Ps is set according to the situation of the obstacle, the shift change position Ps is set.
s can prevent the vehicle V from interfering with an obstacle.

If the vehicle V cannot be guided to the optimum parking position P ₂ ′, no matter how the movement locus is corrected, the operation stage teaching device 11 informs the driver of the vehicle V by images and sounds.

[0052] Having described the modification technique of the moving track back parking / left mode as an example, if the presence of the deviation and obstacles start position P ₁ occurs more at the same time, combining the respective modification technique To deal with.
The start position P ₁ and a first position, after a shift change position Ps fixes a movement trajectory as a second position, newly shift change position Ps to the first position,
If the parking position P ₂ can correct the movement trajectory as the second position it is possible to further enhance the accuracy.

Hereinafter, a method of correcting the movement locus in the parallel parking / left mode will be described.

First, the operation of the ideal parallel parking / left mode will be described with reference to FIG. Optimal start position P ₁ '
The forward path from to the optimum shift change position Ps' is constituted by a forward straight portion a, and the optimum shift change position P
The reverse path from s ′ to the optimum parking position P ₂ ′ includes a left steering portion, a left steering portion b following the left steering portion, a right steering portion following the left steering portion b, and a right steering portion. A reverse straight section c following the steering section;
A right steering section following the reverse straight section c, a right steering section d following the right steering section, a left steering section following the right steering section d, and a reverse straight section e following the left steering section. Consists of By the automatic steering control, the vehicle V is guided to the optimum parking position P ₂ ′ shifted leftward from the optimum start position P ₁ ′ by the lateral movement distance Y.

FIG. 25A shows the optimum parking position P ₂ ′ when there are obstacles before and after. In this case, the optimum parking position P ₂ ′ is an obstacle that protrudes toward the center of the road among obstacles before and after (an obstacle on the rear side of the own vehicle in the figure).
Is set to a position where the right side of the vehicle coincides with the right side of the vehicle and a distance C enough to allow the vehicle to escape from an obstacle in front of the vehicle is secured. FIG. 25B shows the optimum parking position P ₂ ′ when an obstacle exists only on the rear side of the own vehicle. In this case, the optimal parking position P ₂ ′ is determined by considering that the right side of the own vehicle coincides with the right side of the rear obstacle and that the rear obstacle is a vehicle. Is set to a position at which the distance C that can escape without interfering with the distance is secured. In any of the above cases, the optimum parking position P ₂ ′ is of course set on the center line of the vehicle width B.

FIGS. 26 and 27 show the start position P ₁
Is shifted rearward (downward in the figure) by Δa with respect to the optimum start position P ₁ ′. In this case, Without modification of the movement trajectory, as shown in FIG. 26, it deviates only Δa the rear side (lower side in the figure) with respect to the parking position P ₂ also optimal parking position P ₂ '. Therefore, as shown in FIG.
By extending the start position P ₁ forward straight portion a right after only .DELTA.a, it can match 'the parking position P ₂ to match the optimum parking position P _2' shift change position Ps optimal shift change position Ps in .

If the start position P ₁ is shifted forward (upward in the figure) by Δa with respect to the optimum start position P ₁ ′, the forward straight portion a immediately after the start position P _{1 is} shortened by Δa. by the parking position P ₂ can be matched to the optimum parking position P ₂ '. However, when Δa is longer than the forward rectilinear section and a is the uncorrectable by the above method, so as to shift the start position P ₁ to the rear (lower side in the figure), the image and audio by operating stage teaching device 11 To inform the driver. If the start position P ₁ is shifted to the optimum start position Δa only rear side of the P ₁ '(lower side in the figure) is also only if it exceeds a threshold Δa is preset, the start position P ₁ front ( The driver may be notified to shift to the lower side in the figure).

FIGS. 28 to 30 show that the start position P ₁ is ΔY on the right side (right side in the figure) with respect to the optimum start position P ₁ ′.
FIG. In this case, if the movement locus is not corrected, as shown in FIG. 28, the parking position P ₂
Also on the right side (right side in the figure) with respect to the optimal parking position P ₂ ′.
Only shifts. Therefore, as shown in FIG. 29, extending the reverse rectilinear portion c of the process of reverse running from the shift change position Ps to the parking position P ₂ only .DELTA.c. The Δc is set so that its left-right component is equal to the initial left-right deviation amount ΔY. Therefore, at the parking position P ₂ , the left-right position of the vehicle V is the left-right position of the optimal parking position P ₂ ′. Matches the direction position.

However, in the course of the above correction, Δc
Before and after a deviation of Δa is the direction component is generated, the parking position P ₂ is shifted to Δa only rear (lower side in the figure) with respect to the optimum parking position P ₂ '(see FIG. 29). Therefore,
As shown in FIG. 30, matching the forward straight portion a after the start position P ₁ by extending only .DELTA.a, a parking position P ₂ front is moved through .DELTA.a in (in the drawing upper) to the optimum parking position P ₂ ' Can be done.

Conversely, if the start position P ₁ is shifted to the left (left side in the figure) by ΔY with respect to the optimum start position P ₁ ′, the reverse straight portion c is shortened by Δc and the forward straight portion is reduced. by reducing the a just .DELTA.a, a parking position P ₂ can be matched to the optimum parking position P ₂ '. However, if Δc is longer than the backward straight portion c, or because when Δa is longer than the forward straight portion a is uncorrectable by the above method, so as to shift the start position P ₁ on the right side (right side in the drawing) The driver is notified of the image and sound by the operation stage teaching device 11. Start position P ₁
Only Δa than the optimum starting position P ₁ 'right when shifted in (right side in the drawing) is also only if it exceeds a threshold value Δc or Δa is set in advance, the start position P ₁ the left side (left side in the drawing) The driver may be notified so as to shift to the next.

FIGS. 31 and 32 show the start position P ₁
Although coincides with the optimum start position P ₁ ', shows an example in which the orientation of the vehicle V at the start position P ₁ is shifted to the right by an angle beta. In this case, Without modification of the movement trajectory, as shown in FIG. 31, it deviated to the front (upper side in the drawing) with respect to the parking position P ₂ is the optimum parking position P ₂ ', moreover in the parking position P ₂ Of the vehicle V is shifted to the right by the angle β. Therefore, as shown in FIG. 32, to extend the Migihokaji portion d of the process of reverse running from the shift change position Ps to the parking position P ₂ by [Delta] d. As a result, the right turning amount of the vehicle V in the extended right steering portion d + Δd increases, and the reversing distance of the vehicle V increases, so that the vehicle V is correctly guided to the optimal parking position P ₂ ′ without leaning left and right. Be frightened.

On the other hand, when the direction of the vehicle V at the start position P ₁ is shifted to the left by an angle β, the right steering portion d during the reverse traveling from the shift change position Ps to the parking position P ₂ is moved. By shortening by Δd, the vehicle V is guided to the optimal parking position P ₂ ′ without leaning left and right and without shifting right and left. However, when Δd is longer than Migihokaji portion d is uncorrectable by the above method, so as to correct the inclination of the vehicle V at the start position P _1, the image and audio by operating stage teaching device 11 Notify the driver. Even when the start position P ₁ is shifted to the right by the angle β at the optimal start position P ₁ ′, the angle β of the vehicle V is limited only when Δd exceeds a preset threshold value.
The driver may be notified to correct the error.

[0063] Having described the modification technique of the movement trajectory parallel parking / left mode as an example, when the shift of the start position P ₁ occurs more at the same time, be addressed by combining the respective modification technique. The start position P ₁ and a first position, the shift change position Ps second
After the correction of the movement locus as a position, it is possible to shift change position Ps to the first position, further increasing the accuracy by performing the correction of the movement locus of the parking position P ₂ as the second position.

Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, the start position P ₁ constitutes the first position, and the shift change position P
s constitutes the second position.

[0065] In FIG. 33 (A), when the vehicle V is stopped at the start position P _1, the first embodiment similarly to the optimum parking position P based on the objects around the garage detected by the obstacle detecting means S ₈ ... Determine ₂ '. Subsequently, an optimal shift change position P for guiding the vehicle V to the optimal parking position P ₂ ′.
'and a distance L from the object Z around the garage, the optimum parking position P _2' s and the distance T from the optimum gearshift position P
This is set by the inclination angle β ₀ of the vehicle V at s ′. This optimum shift change position Ps' is the reference steering angle θr in FIG.
By executing the backward part of ef as it is,
This is a position where the vehicle V can be guided to the optimum parking position P ₂ ′. Therefore, even if the shift start position P _1, Shirubebikeba the vehicle V by modifying the forward portion of the first half of the norm steering angle θref from the start position P ₁ to the optimum gearshift position Ps', subsequent modifications The vehicle V can be guided to the optimal parking position P ₂ ′ without requiring the vehicle V.

Incidentally, instead of setting the optimum shift change position Ps' based on the distance L from the object Z, FIG.
As shown in (B), the distance can be set based on the distance L 'from the object Y on the opposite side of the garage.

Next, a specific method of correcting the movement locus will be described.

[0068] Figure 34 is shows a norm steering angle θref to 'optimum gearshift position Ps from' best start position P _1, and the forward rectilinear section a right after the optimum start position P ₁ ', the forward rectilinear section a The following right turning portion, right turning portion b following the right turning portion, left turning portion following the right turning portion b, and the optimal shift change position Ps' following the left turning portion. And a forward straight section c.

[0069] As shown in FIG. 35 (A), the optimum shift change position Ps' relative start position P _1, and the front-rear direction at a distance X apart and are in the horizontal direction distance Y apart. First, as shown in FIG. 35 (B), assuming the vehicle V is directly right turn from the start position P _1, and Migihokaji section b, the right turn of the vehicle V at its front and rear steering unit The length of the right steering portion b is determined so that the sum of the amounts coincides with the angle β ₀ . Subsequently, as shown in FIG. 35 (C), a moving distance Y ₁ in the lateral direction with the right turning of the vehicle V, the distance sum of the travel distance Y ₂ in the lateral direction by the forward straight portion c is the lateral direction The length of the forward rectilinear portion c is determined so as to coincide with Y. Subsequently, as shown in FIG. 35 (D), a movement distance X ₁ in the longitudinal direction with the right turning of the vehicle V, the forward straight portion c
A moving distance X ₂ direction of the front and rear by the sum of the travel distance X ₃ in the longitudinal direction by the forward straight portion a is to match the longitudinal direction of the distance X, determines the length of the forward straight portion a.

As described above, the reference turning angle θref from the start position P ₁ to the optimum shift change position Ps ′ is obtained.
By setting, the by performing automatic steering control based on the norms steering angle .theta.ref, optimal shift change position Ps of the vehicle V regardless of the variation in the start position P ₁ '
At the correct angle β ₀ . Therefore, after the optimum shift change position Ps', the reference turning angle θr in FIG.
The vehicle V can be reliably guided to the optimal parking position P ₂ ′ simply by executing the rearward portion of the second half of ef as it is.

Although the embodiments of the present invention have been described above, the present invention is capable of various design changes without departing from the gist thereof.

For example, in the embodiment, the vehicle V
Is stored in the storage unit 23 in advance, but it is also possible to calculate the movement trajectory from the current position and the target position of the vehicle V.

[0073]

As described above, according to the first aspect of the present invention, the trajectory of the vehicle is divided into a plurality of areas based on the steering angle, and the movement of at least one of the plurality of areas is performed. By correcting the trajectory based on the detection result of the object detection means, the vehicle can be correctly moved to the second position by compensating for the effect of the vehicle position shift or angle shift at the first position or the influence of surrounding obstacles. Can be guided.

According to the second aspect of the present invention,
Since the trajectory is set as a relationship between the turning angle and the moving distance of the vehicle, the vehicle can be correctly guided to the second position even if the vehicle speed changes during the automatic steering control.

According to the third aspect of the present invention,
A plurality of regions of the movement trajectory are any of a straight traveling section in which the steering angle is held at 0, a steering section in which the steering angle is kept at a predetermined value other than 0, and a steering section in which the steering angle changes. As a result, the correction of the movement trajectory is simplified and the control becomes easier.

According to the fourth aspect of the present invention,
Since the movement trajectory is corrected so that a predetermined position between the first position and the second position and the object detected by the object detection means have a predetermined relationship, the movement trajectory from the first position to the predetermined position is corrected. The vehicle can be correctly guided to the second position only by making the correction without correcting the movement trajectory from the predetermined position to the second position. In addition, it is possible to avoid the interference with the object by changing the predetermined position by correcting the movement trajectory.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle including a steering control device.

FIG. 2 is a diagram showing a relationship between a reference trajectory angle θref and a movement trajectory X;

FIG. 3 is a diagram showing a mode selection switch and an automatic parking start switch.

FIG. 4 is a diagram showing a movement trajectory in the back parking / left mode.

FIG. 5 is a diagram showing a technique for setting an optimal parking position in the back parking / left mode.

FIG. 6 is an explanatory diagram of an operation of an ideal back parking / left mode.

FIG. 7 is an explanatory diagram of an operation when the start position is shifted rearward in the back parking / left mode (part 1);

FIG. 8 is a view for explaining an operation when the start position is shifted rearward in the back parking / left mode (part 2);

FIG. 9 is a view for explaining the operation when the vehicle is tilted left at the start position in the back parking / left mode (part 1);

FIG. 10 is a view for explaining the operation when the vehicle is tilted to the left at the start position in the back parking / left mode (part 2);

FIG. 11 is an operation explanatory view (part 3) when the vehicle leans left at the start position in the back parking / left mode;

FIG. 12 is a view for explaining an operation when the start position is shifted to the right in the back parking / left mode (part 1);

FIG. 13 is a view for explaining the operation when the start position is shifted to the right in the back parking / left mode (part 2).

FIG. 14 is a view for explaining an operation when the start position is shifted to the right side and an obstacle is present on the right side in the back parking / left mode (part 1).

FIG. 15 is a view for explaining an operation when the start position is shifted to the right side and an obstacle is present on the right side in the back parking / left mode (part 2).

FIG. 16 is a view for explaining the operation when the start position is shifted to the right side and an obstacle is present on the right side in the back parking / left mode (part 3).

FIG. 17 is a view for explaining an operation when the start position is shifted to the right side and an obstacle is present on the right side in the back parking / left mode (part 4);

FIG. 18 is a view for explaining the operation when the start position is shifted to the right side and an obstacle is present on the right side in the back parking / left mode (part 5).

FIG. 19 is an operation explanatory view when an obstacle is present on the front side in the back parking / left mode (part 1);

FIG. 20 is an explanatory diagram of an operation when an obstacle is present on the front side in the back parking / left mode (part 2);

FIG. 21 is an explanatory diagram of an operation when an obstacle is present on the front side in the back parking / left mode (part 3);

FIG. 22 is an operation explanatory view when an obstacle is present on the front side in the back parking / left mode (part 4);

FIG. 23 is an explanatory diagram of an operation when an obstacle is present on the front side in the back parking / left mode (part 5);

FIG. 24 is an explanatory diagram of an ideal parallel parking / left mode.

FIG. 25 is a diagram showing a technique for setting an optimal parking position in the parallel parking / left mode.

FIG. 26 is an explanatory diagram of an operation when the start position is shifted rearward in the parallel parking / left mode (part 1);

FIG. 27 is a view for explaining the operation when the start position is shifted rearward in the parallel parking / left mode (part 2).

FIG. 28 is an explanatory diagram of an operation when the start position is shifted to the right in the parallel parking / left mode (part 1);

FIG. 29 is a view for explaining the operation when the start position is shifted to the right in the parallel parking / left mode (part 2);

FIG. 30 is a view for explaining the operation when the start position is shifted to the right in the parallel parking / left mode (part 3).

FIG. 31 is a view for explaining the operation when the vehicle leans right at the start position in the parallel parking / left mode (part 1);

FIG. 32 is a view for explaining the operation when the vehicle leans right at the start position in the parallel parking / left mode (part 2)

FIG. 33 is an explanatory diagram of a method for setting an optimum shift change position according to the second embodiment of the present invention.

FIG. 34 is a diagram showing a reference steering angle from a start position to a shift change position.

FIG. 35 is an explanatory diagram of a method of correcting a reference steering angle from a start position to a shift change position.

[Explanation of symbols]

7 steering actuator 22 the control unit (actuator control means) 23 storing section (movement locus setting means) S ₈ object detecting means V vehicle Wf front (wheel) moving distance θ turning angle of the X vehicle

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 119: 00 B60R 21/00 628Z (72) Inventor Kenichi Takishita 1-4-1 Chuo, Wako-shi, Saitama 3D032 CC20 DA03 DA15 DA22 DA24 DA76 DA88 DA91 DA93 DA95 DB03 DB07 DC04 DC33 EA01 EB04 EB11 EC22 GG01 3D033 CA03 CA11 CA13 CA16 CA17 CA21 CA33 5H301 AA01 BB20 CC03 CC06 DD02GG12 GG28 GG29 HH02 HH04 HH18 JJ02

Claims (4)

[Claims] 1. A trajectory setting means (23) for storing or calculating a trajectory of a vehicle (V) from a first position to a second position; and a steering actuator (7) for turning a wheel (Wf). Object detection means (S ₈ ) for detecting the presence or absence of an object around the vehicle (V); and the vehicle (V) set by the movement trajectory setting means (23).
In the detection result based actuator control means for controlling the driving of the steering actuator (7) and (22), an automatic steering device for the vehicle with a movement trajectory and object detecting means (S _8), said actuator control means ( 22) is the steering angle (θ)
And dividing the movement trajectory of the vehicle (V) into a plurality of regions based on the detection result and correcting the movement trajectory of at least one of the plurality of regions based on the detection result of the object detection means (S ₈ ). Vehicle automatic steering device. 2. The automatic steering apparatus for a vehicle according to claim 1, wherein the trajectory is set as a relationship between a steering angle (θ) and a travel distance (X) of the vehicle (V). . 3. The plurality of regions include a straight traveling section in which a steering angle (θ) is maintained at 0, a steering section in which a steering angle (θ) is maintained at a predetermined value other than 0, and a steering angle ( The automatic steering device for a vehicle according to claim 1, wherein the steering device is any one of the turning units whose θ) changes. 4. The actuator control means (22).
Correcting the movement trajectory so that a predetermined position between the first position and the second position and the object detected by the object detection means have a predetermined relationship. An automatic steering device for a vehicle according to any one of the preceding claims.