JP2003002140A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device which can precisely guide drive operation in parking without imposing a big burden to a driver. SOLUTION: The parking support device comprises a distance meter 2 for measuring a vehicular advancing distance, a controller 1 which preliminarily stores the minimum radius value corresponding to the maximum steering angle and decides the vehicular yaw angle from the minimum radius and the advancing distance and furthermore the vehicular position basing on the yaw angle, and a speaker 6 for providing a sound as proper parking support information to a driver based on the vehicular position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assistance device.

[0002]

2. Description of the Related Art Conventionally, there has been proposed a device for displaying a rear view of a vehicle on a monitor when a driver cannot see a target location due to a blind spot of the vehicle when the vehicle is moving backward. For example, in Japanese Examined Patent Publication No. 2-36417,
A TV camera that shoots the rear of the vehicle, a monitor TV that displays the image captured by this TV camera, a sensor that outputs an information signal related to the tire steering angle, and a marker signal is generated according to the information signal from this sensor, A rear monitoring monitor device for a vehicle is disclosed which includes a circuit for displaying a marker on a television screen in a superimposed manner. In this device, the steering angle data of the tire and the marker position data along the backward direction of the vehicle corresponding to the steering angle are stored in the ROM, and the predicted backward trajectory of the vehicle corresponding to the steering angle at that time is stored in the marker. The image is displayed as a row on the television screen by superimposing it on the image captured by the television camera.

According to such an apparatus, when the vehicle is moving backward, the field of view of the road behind the vehicle and the expected backward movement trajectory of the vehicle according to the steering angle are displayed on the screen of the monitor TV. You can move the vehicle backward by operating the steering wheel while watching the TV screen without turning around.

[0004]

However, for example, when performing parallel parking or parallel parking, the driver looks at the rear view and the expected backward trajectory of the vehicle on the television screen in the conventional rear monitoring monitor device. However, there is a problem in that it is difficult to determine at what timing and at what steering angle the driving operation should be performed for parking, and sufficient assistance during parking cannot be provided. Further, in the conventional rearward monitoring monitor device, the driver needs to perform a driving operation while watching the TV screen, but the driver also has to confirm the safety around the vehicle, which imposes a heavy burden on the driver. There was also a problem. The present invention has been made to solve such problems, and an object of the present invention is to provide a parking assistance device capable of accurately guiding a driving operation during parking without imposing a heavy burden on the driver. And

[0005]

In order to achieve the above-mentioned object, the present invention as set forth in claim 1, wherein the vehicle is moved forward while being maintained at a constant steering angle, and then is reversely driven while being substantially stopped. A parking assist device for steering the vehicle in a state where it is held at a constant steering angle and moving backward, and finally parking in a target parking space, and a rangefinder for measuring a traveling distance of the vehicle and the constant steering wheel. A controller that has information about a turning radius corresponding to an angle, detects a yaw angle of the vehicle from the information about the turning radius and the traveling distance, and specifies the position of the vehicle based on the yaw angle; Guide means for providing parking assistance information to the driver based on the determined vehicle position. Further, according to the present invention for attaining the same object, in the second aspect, the vehicle is moved backward while being kept at a constant steering angle, and then is steered in the reverse direction while being substantially stopped to be kept at a constant steering angle. A parking assist device for reversing in a state where the vehicle is parked and finally parking in a target parking space, which has a rangefinder for measuring a traveling distance of the vehicle and information on a turning radius corresponding to the constant steering angle. Then, a yaw angle of the vehicle is detected from the information on the turning radius and the traveling distance, and a controller for identifying the vehicle position based on the yaw angle, and a driver based on the vehicle position identified by the controller And a guide means for providing parking assistance information. Further, according to the present invention for attaining the same object, in the third aspect, the vehicle is moved forward while being kept at a constant steering angle, and then is steered in the opposite direction while being substantially stopped to be kept at a constant steering angle. A parking assist device for retracting the vehicle in a state where the vehicle is in a stopped state, and then in a substantially stopped state, further steering in the opposite direction to retract the vehicle while maintaining a constant steering angle, and finally parking the vehicle in a target parking space. It has a rangefinder for measuring the traveling distance of the vehicle and information on a turning radius corresponding to the constant steering angle. The yaw angle of the vehicle is detected from the turning radius information and the traveling distance, and the yaw angle is calculated. It is characterized by further comprising: a controller for specifying a position of the vehicle based on the position; and a guide unit for providing the driver with parking assistance information based on the position of the vehicle specified by the controller. According to a fourth aspect of the present invention, in the parking assist apparatus according to any one of the first to third aspects, the constant steering angle is a maximum steering angle, and the turning radius information is a minimum turning radius. It is characterized by being a value.

According to the parking assistance device of the present invention, the yaw angle of the vehicle is detected from the information on the turning radius and the traveling distance, and the driver can identify the vehicle based on the yaw angle. Parking assistance information is provided according to the position of the vehicle. According to the parking assistance device of the fourth aspect, the value of the minimum radius that is stored in advance by the controller and is known and known to the vehicle is used as the information about the turning radius.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows the configuration of a parking assistance device according to an embodiment of the present invention. The controller 1 is connected to a rangefinder 2 capable of measuring the traveling distance of the vehicle, and the parallel mode switch 3 for informing the controller 1 that the vehicle is parked in parallel and the vehicle being parked in parallel. A switch module 5 including a column mode switch 4 for notifying the controller 1 of the above is connected. Further, the controller 1 is connected to a speaker 6 for guiding the driver of driving operation information.

The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data relating to the minimum turning radius Rc when the vehicle steering wheel is steered to the maximum and the vehicle turns, and also stores a control program for performing parking assistance during parallel parking and parallel parking. . CPU
Operates based on the control program stored in the ROM. The controller 1 determines the steering wheel from the traveling distance (arc) of the vehicle input from the rangefinder 2 and the data (radius) of the above-described minimum turning radius Rc in a manner of obtaining the central angle from the relationship between the arc and the radius. The yaw angle (center angle) of the vehicle when the vehicle turns while being steered to the maximum is calculated. Then, the turning angle of the vehicle is obtained from the yaw angle, and the information about the operating method and the operating timing in each step during the parking operation is output to the speaker 6.

Here, a description will be given of what kind of locus the vehicle draws to assist the parking assist system of this embodiment to assist parking. First, a case where parallel parking is performed will be described with reference to FIG. The origin O is the center point of the entrance of the parking space T where the vehicle 10 is going to park, the Y axis is perpendicular to the road in the backward direction of the vehicle 10 in the parking space T, and is parallel to the road, that is, perpendicular to the Y axis. Take the X axis.
The width of the parking frame of the parking space T is W1. The parking assist device assists the driver so that the vehicle 10 is appropriately parked at the vehicle position H1 where the rear axle center HO is in the center of the parking space T in the width direction and is parallel to the length direction of the parking space T. I shall.

First, as an initial stop position, the rear axle center EO of the vehicle 10 is vertical to the parking space T, is at a distance D from the entrance of the parking space T, and the side portion T1 of the parking space T and the driver's position DR of the vehicle 10. It is assumed that the vehicle 10 is stopped at the vehicle position E1 where Next, the vehicle 10 at the vehicle position E1 turns to the turning angle θ with the steering angle of the steering wheel at the maximum on the left side, moves forward to the turning angle θ, and when the vehicle position becomes F1, the steering angle on the steering wheel to the maximum on the right side. Then, with the turning radius Rc, the vehicle moves backward by the turning angle φ, and at the vehicle position G1 where the vehicle 10 is parallel to the parking space T, the steering wheel is returned to the straight traveling state, and the vehicle 10 is further retracted to the vehicle position H1 within the parking space T. You should park at. Further, the rear axle centers at the vehicle positions E1, F1, G1 are set to EO, FO, GO, respectively.

Here, the distance in the X-axis direction between the driver's position DR at the vehicle position E1 and the rear axle center EO is L.
Then, from the vehicle position E1 to the vehicle position F1, the vehicle 10
Coordinates (C1x, C1y) of the turning center C1 when turning
Is represented by C1x = L−W1 / 2 C1y = − (D + Rc). Vehicle 1 from vehicle position F1 to vehicle position G1
Coordinates (C2x, C2 of the turning center C2 when 0 turns)
y) is expressed by C2x = − (Rc + Rc) · sin θ + C1x = −2Rc · sin θ + L−W1 / 2 C2y = (Rc + Rc) · cos θ + C1y = 2Rc · cos θ− (D + Rc), of which the X coordinate C2x is C2x = Also expressed as -Rc.

From the two relational expressions of the X coordinate C2x, sin θ
Is represented by sin θ = (Rc + L−W1 / 2) / 2Rc, and the value of this θ can be calculated using known Rc, L and W1, and this value of θ is set by the controller 1 as the set value θ. I remember. Further, the turning angle φ at which the vehicle 10 turns from the vehicle position F1 to the vehicle position G1 is represented by φ = π / 2−θ.

Next, the operation of the parking assist system according to this embodiment during parallel parking will be described. First, when the driver stops the vehicle 10 at the vehicle position E1 and actuates the parallel mode switch 3 here, the controller 1 sets the vehicle position E1 as the position where the yaw angle of the vehicle is 0 degree and the parallel parking is performed. Start the program. Next, the driver
The steering wheel is steered to the left side to the full cut state, and the vehicle 10 is advanced as it is.

The controller 1 calculates the yaw angle of the vehicle from the traveling distance of the vehicle measured by the distance meter 2 and the minimum turning radius when the vehicle is fully turned, which is peculiar to the vehicle, and sets the yaw angle as a set value θ. Compare. As the vehicle 10 approaches the vehicle position F1 from the vehicle position E1, the controller 1 arrives at the vehicle position F1 and approach information notifying that the vehicle position F1 is approached based on the difference between the yaw angle and the set value θ. The driver is notified via the speaker 6 of the arrival information notifying that the driver has done so. For example, as the approach information, an intermittent sound “beep, blip” is emitted from the speaker 6, and the cycle of this intermittent sound becomes shorter as the difference between the yaw angle and the set value θ decreases. When the difference between the yaw angle and the set value θ disappears, the speaker 6 emits a continuous sound as the arrival information. The driver stops the vehicle 10 at the vehicle position F1 according to the arrival information. Next, the driver steers the steering wheel to the right to the maximum and fully cuts it, and then the vehicle 10 is moved backward. The controller 1 determines that the yaw angle of the vehicle 10 is 9
As the vehicle 10 approaches 0 degrees, approaching information notifying that the vehicle 10 has approached the vehicle position G1 parallel to the parking space T and arrival information notifying that the vehicle has reached the vehicle position G1 are output via the speaker 6. Let us know. After stopping the vehicle 10 at the vehicle position G1 according to the arrival information, the driver returns the steering wheel to the straight traveling state and then moves the vehicle 10 backward. When the vehicle 10 is stored in the parking space T, the parking is completed.

Next, the case of performing parallel parking will be described with reference to FIG. It is assumed that the vehicle 10 is parked in the parking space T so that the left end of the rear of the vehicle 10 coincides with the rear corner S2 of the parking space T. With the rear axle center MO of the vehicle 10 at the vehicle position M1 in this state as the origin, the Y axis is set in the backward direction of the vehicle 10 in parallel with the road,
Take the X axis at right angles to the Y axis. Further, the coordinates of the corner at the back of the parking space T are S2 (W2 / 2, a2). Here, a2 and W2 indicate the rear overhang and the vehicle width of the vehicle 10, respectively. The vehicle 10 located at the vehicle position J1 moves forward with the steering angle of the steering wheel maximized to the right while turning at the radius Rc, and when the vehicle position K1 is reached, the steering angle is maximized to the left while moving backward at the radius Rc. When the vehicle position reaches the vehicle position L1, the steering angle is maximized to the right and the vehicle moves backward at a radius Rc while moving backward and the vehicle is properly parked at the vehicle position M1 in the parking space T.

First, with the vehicle 20 parked at a predetermined position in front of the parking space T as a guide, the vehicle 10 is moved to the vehicle position J.
It is assumed that parallel parking is started with the state where the vehicle is stopped at 1 as the initial stop position. The vehicle position J1 is a position where the Y coordinate of the position DR of the driver of the vehicle 10 matches the Y coordinate of the rear end 20a of the parked vehicle 20 and is parallel to the parking space T, and the vehicle 10 and the vehicle 20. And are positions where the predetermined vehicle distance d is. Therefore, the coordinates (JOx, JOy) of the rear axle center JO at the vehicle position J1 are
It is uniquely determined from the coordinates of the rear end portion 20a of 0, the relationship between the driver's position DR and the rear axle center JO, and the vehicle distance d. The vehicle 10 at the vehicle position J1 advances to the vehicle position K1 while turning at the steering wheel steering angle to the maximum on the right side with a radius Rc. The turning center at that time is C3, and the turning angle is β. Further, the vehicle 10 at the vehicle position K1 moves backward with the steering angle to the maximum on the left side while turning at the radius Rc to the vehicle position L1. The turning center at that time is C4, and the turning angle is δ. Further, at the vehicle position L1, the steering wheel is turned back in the opposite direction to maximize the steering angle to the right and the radius Rc.
While turning, the vehicle moves backward to the vehicle position M1. The turning center at that time is C5, and the turning angle is α. Further, the rear axle center at the vehicle positions K1 and L1 is set to KO,
Let it be LO.

The turning angles α, β and δ have a relation of δ = α-β. Coordinates of turning center C5 (C5x, C5y)
Is represented by C5x = -Rc C5y = 0. Coordinates of turning center C4 (C4x, C4y)
Is represented by C4x = C5x + (Rc + Rc) * cos [alpha] =-Rc + 2Rc * cos [alpha] C4y = C5y- (Rc + Rc) * sin [alpha] =-2Rc * sin [alpha]. Coordinates of turning center C3 (C3x, C3y)
Is C3x ＝ C4x− (Rc + Rc) ・ cosβ ＝ −Rc ＋ 2Rc ・ cosα−2Rc ・ c
osβ C3y ＝ C4y ＋ (Rc + Rc) ・ sinβ ＝ −2Rc ・ sinα ＋ 2Rc ・ sin
It is represented by β. Also, the rear axle center J at the vehicle position J1
The coordinates (JOx, JOy) of O are JOx = -Rc- (1-cosα) -Rc- (1-cosα-1 + cosβ) + Rc- (1-cosβ) = 2Rc- (cosα-cosβ) ............ (1) JOy = -Rc * sin [alpha] -Rc * (sin [alpha] -sin [beta]) + Rc * sin [beta] = 2Rc * (sin [beta] -sin [alpha]) ... (2)

Here, when the equations (1) and (2) are transformed by using the trigonometric formula, tan (α / 2 + β / 2) = JOx / JOy sin ² (α / 2-β / 2) = (JOx ² + JOy ² ) / (16R
c ² ), α and β can be calculated using the known coordinates (JOx, JOy) of the rear axle center JO, and these values are stored in the controller 1 as set values α and β. In the present embodiment, the coordinates (JOx, JOy) of the rear axle center JO are values that allow the vehicle 10 to be parked behind the vehicle 20 with reasonable operation, for example, JO.
The values of x = 2.3 m and JOy = 4.5 m are used, and the vehicle distance d is 50 to 60 cm.
However, the present invention is not limited to these values and the coordinates JOx and J of the rear axle center JO are not limited to these values.
Oy and the like can be set according to the vehicle grade of the vehicle 10, steering characteristics, and the like.

Next, the operation of the parking assist system according to this embodiment during parallel parking will be described. First, the driver
The Y coordinate of the driver's position DR is the rear end 2 of the parked vehicle 20.
The vehicle 10 is stopped at the vehicle position J1 so that the vehicle 10 coincides with the Y coordinate of 0a and has the vehicle distance d with respect to the vehicle 20. Here, when the parallel mode switch 4 is actuated, the controller 1 sets the vehicle position J1 as the position where the yaw angle of the vehicle is 0 degree and activates the program for parallel parking. Next, the driver steers the steering wheel of the vehicle 10 to the right side to the full cut state, and advances the vehicle 10 as it is. The controller 1 calculates the yaw angle of the vehicle from the traveling distance of the vehicle measured by the distance meter 2 and the minimum turning radius when the vehicle is fully turned, which is peculiar to the vehicle, and calculates the yaw angle and the set value β. Compare. As the vehicle 10 approaches the vehicle position K1 from the vehicle position J1, the controller 1
Based on the difference between the yaw angle and the set value β, as in parallel parking,
The driver is notified via the speaker 6 of approach information notifying that the vehicle position K1 has been approached and arrival information notifying that the vehicle position K1 has been reached.

The driver stops the vehicle 10 at the vehicle position K1 according to the arrival information. Next, the driver steers the steering wheel to the left to the full cut state, and then the vehicle 10 is moved backward. The controller 1 compares the yaw angle of the vehicle with the set value α (= β + δ). Vehicle 10
As the vehicle position K1 approaches the vehicle position L1, that is, as the yaw angle of the vehicle approaches the set value α,
Based on the difference between the yaw angle and the set value α, the controller 1 provides approach information notifying that the vehicle position L1 has been approached and arrival information notifying that the vehicle position L1 has been reached, as in parallel parking. Notify the driver via the speaker 6.

The driver stops the vehicle 10 at the vehicle position L1 according to the arrival information. Next, the driver
At 1, the steering wheel is turned in the opposite direction, and the steering wheel is steered to the right to the full cut state, and the vehicle 10 is moved backward. As the yaw angle of the vehicle 10 approaches 0 degrees, the controller 1 determines that the vehicle position M of the vehicle 10 is within the parking space T.
1 and the vehicle position M1
The arrival information notifying that the vehicle has arrived is notified to the driver via the speaker 6. Thereby, the driver can stop the vehicle 10 at the vehicle position M1 and complete the parking.

As described above, the parking assist system according to the present embodiment enables proper parking assist even in a vehicle not equipped with a camera, a monitor or the like, so that the parking assist system does not impose a heavy burden on the driver. It is possible to accurately guide the driving operation at the time.

Further, in the present invention, since the yaw angle of the vehicle can be detected by the range finder, the yaw angle of the vehicle can be detected by using the existing vehicle range finder, that is, without newly providing a means for detecting the yaw angle. Angle detection can be performed, or more accurate yaw angle detection can be performed by providing a dedicated rangefinder that is more accurate than existing rangefinders installed in the vehicle and suitable for arc distance measurement. It is also possible to provide more accurate parking assistance.

The present invention is not limited to the above-mentioned embodiment, and the following modifications can be made. In other words, the vehicle is not limited to traveling at the maximum steering angle, and the final steering angle is set in a state of a constant steering angle (for example, one steering wheel rotation or two steering wheel rotations) that is easy for the driver to understand. It broadly includes a mode of moving a vehicle to a target parking space. Then, according to this aspect, by using a turning radius that is unique and known to the vehicle at a constant steering angle (in the embodiment, the minimum turning radius at the maximum steering angle), the direct measurement means of the information about the yaw direction can be obtained. It is possible to detect the yaw angle of the vehicle by using a distance meter other than the above, and by using only one measuring means called a distance meter. Further, in both parallel parking and parallel parking, the vehicle is not limited to being completely stopped at the time of steering the steering wheel, and the steering wheel may be steered while slightly moving. In addition, the parking start position (position E
1, J1) when moving the vehicle forward and then backward, in the above-described embodiment, the forward movement from the start position is on the side opposite to the target parking space (left side in FIG. 2, right side in FIG. 3), that is, the side away from the target parking space. Although the vehicle is turned forward, instead of this mode, the vehicle is once turned forward from the start position to the side approaching the target parking space (right side in FIG. 2, left side in FIG. 3) and then steered in the opposite direction. And turn to the side away from the target parking space (left side in FIG. 2, right side in FIG. 3), that is, forward turning so as to meander from the start position, and then move backward as in the above-described embodiment. The target parking space may be reached. Further, in the above-described embodiment, the vehicle position is adjusted to the parking start position (positions E1, J1) while moving forward, but the present invention is not limited to this, and the vehicle is adjusted to the parking start position while moving backward. You may

The sound output from the speaker is not limited to the intermittent sound or the continuous sound, and may be a sound simulating a human voice, for example. Further, the parking assistance information such as approach information and arrival information to be notified to the driver is not limited to auditory information such as sound output from the speaker, but also LE information.
It may be visual information such as D, a buzzer, an LCD, a lamp, or characters or marks displayed on the display.
In addition, the approach information and arrival information may be changed in output mode for each vehicle position that is a target of approach or arrival. For example, the volume and tone of the sound emitted from the speaker may be changed,
You may make it sound a different content.

[0026]

As described above, according to the parking assist system of the present invention, it is possible to properly assist parking even in a vehicle without a camera, monitor, etc., and it imposes a heavy burden on the driver. Without this, it is possible to accurately guide the driving operation when parking.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a parking assistance device according to an embodiment of the present invention.

FIG. 2 is a diagram showing stepwise and schematically the position of the vehicle during parallel parking according to the embodiment of the present invention.

FIG. 3 is a diagram schematically and stepwise showing the position of a vehicle during parallel parking according to the embodiment of the present invention.

[Explanation of symbols]

1 ... Controller, 2 ... Distance meter, 6 ... Speaker.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B62D 113: 00 B62D 113: 00 137: 00 137: 00 (72) Inventor Satoshi Yamada Toyota Town, Kariya City, Aichi Prefecture 2 chome 1 stock company F-term in Toyota Industries Corporation (reference) 3D032 CC20 DA02 DA32 EC34 5H180 AA01 CC04 LL02 LL07 LL11 LL17

Claims (4)

[Claims] 1. A vehicle is moved forward while being kept at a constant steering angle, then is steered in a reverse direction while being substantially stopped, and is moved backward while being kept at a constant steering angle, and finally the target parking space is reached. A parking assistance device for parking a vehicle, including a rangefinder for measuring a traveling distance of the vehicle, and information on a turning radius corresponding to the constant steering angle, and information on the turning radius and the traveling distance. A controller that detects the yaw angle of the vehicle from the vehicle and specifies the position of the vehicle based on the yaw angle; and a guide unit that provides parking assistance information to the driver based on the position of the vehicle specified by the controller. Parking assistance device characterized by the above. 2. The vehicle is moved backward while maintaining a constant steering angle, and then is steered in the reverse direction while being substantially stopped to move backward while maintaining a constant steering angle, and finally the target parking space. A parking assistance device for parking a vehicle, including a rangefinder for measuring a traveling distance of the vehicle, and information on a turning radius corresponding to the constant steering angle, and information on the turning radius and the traveling distance. A controller that detects the yaw angle of the vehicle from the vehicle and specifies the position of the vehicle based on the yaw angle; and a guide unit that provides parking assistance information to the driver based on the position of the vehicle specified by the controller. Parking assistance device characterized by the above. 3. The vehicle is moved forward while being kept at a constant steering angle, then is steered in the opposite direction while being substantially stopped, is moved backward while being kept at a constant steering angle, and is then almost stopped. A parking assist device for steering the vehicle in the opposite direction and retracting the vehicle while maintaining a constant steering angle, and finally parking the vehicle in a target parking space, and a rangefinder for measuring a traveling distance of the vehicle, A controller that has turning radius information corresponding to a constant steering angle, detects a yaw angle of the vehicle from the turning radius information and the traveling distance, and specifies the position of the vehicle based on the yaw angle; A parking assistance device comprising: a guide unit that provides parking assistance information to a driver based on the position of the vehicle specified by the controller. 4. The parking assistance according to claim 1, wherein the constant steering angle is a maximum steering angle, and the turning radius information is a value of a minimum turning radius. apparatus.