JP2003246248A - Parking-support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To further easily provide an instruction easy to be understood by a driver under a parking operation by displaying information on driving operations in types as a parking support and an approaching state to obstacles on the same screen regarding a parking-support apparatus which performs a support for the parking operation to the driver at the time of parallel parking or longitudinal parking or the like. <P>SOLUTION: A display means which displays the information on driving operations and an approaching state to objects in types regarding the parking support is provided. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking assist device for assisting a driver in parking operations such as parallel parking and parallel parking.

[0002]

2. Description of the Related Art In recent years, a parking assist device has been developed which assists a driver's parking operation when vehicles are parked in parallel or put in a garage. For example, in Japanese Unexamined Patent Publication No. 2000-118334, a position from a current position to a parking position is considered by regarding a position having a predetermined positional relationship with the position of the vehicle when the driver operates the parking assist switch. A technique is disclosed in which a recommended route is calculated and the driver is instructed by voice with information necessary for traveling along the recommended route.

On the other hand, as another device of the driving support device,
Corner sensor systems are known. In this corner sensor system, corner sensors that detect the presence or absence of an object (parked vehicle, obstacle, etc.) and the distance to the object by ultrasonic waves are provided at the four corners of the vehicle 1, and the object is detected by these corner sensors. In this case, the driver is made aware of which corner sensor has detected the object by a warning sound or a voice message, and the driver is instructed at which of the four corners of the vehicle 1 should be carefully operated.

[0004]

By the way, when the parking assistance is provided, it can be classified into "right side parallel parking", "left side parallel parking", "right side parallel parking" and "left side parallel parking". Information regarding driving operations such as forward movement, backward movement, stop, and steering operation will be provided to the driver by means of guidance sounds and voice messages.

As described above, if the corner sensor system provides the proximity obstacle information to the driver while the driver is being assisted in parking, a more kind guidance can be realized. However, during parking operation, guidance sounds and voice messages are emitted, so if you try to provide proximity obstacle information with warning sounds or voice messages, multiple sounds and voices will be mixed up, rather than a driver. Since it becomes difficult to grasp the information, there is a possibility that the driver cannot be accurately taught the driving operation only with the sound or voice.

Therefore, it is conceivable to visually convey such information to the driver as image information that is easy to understand. The present invention was devised in view of such a problem, and schematically displays on the same screen information on a driving operation for parking assistance and a state of approach to an obstacle, so that the driver during parking operation can It is an object of the present invention to provide a parking assistance device that can be taught more simply and easily.

[0007]

Therefore, the parking assist device of the present invention is a parking assist device for assisting a driver in a parking operation, and the information of the driving operation related to the parking assist and the approach to the object. It is provided with display means for displaying the state and. Therefore, a simple and easy-to-understand display can be provided to the driver.

Further, it is preferable that the apparatus further comprises an object position detecting means for detecting the object, and the display means displays the approaching state based on the detection information of the object position detecting means. Further, it is preferable that the display means schematically display the distance between the vehicle and the object based on the output of the object position detection means when the driving operation for the parking assistance is completed. Therefore, the driver can schematically know the distance between the vehicle and the object.

Further, it is preferable that the display means schematically displays the distance between the vehicle and the object by displaying the opening degree of the door of the vehicle. Therefore, the distance between the vehicle and the object and the degree of opening of the door can be known.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 22 show a parking assistance device as an embodiment of the present invention, FIG. 1 is a block diagram showing its configuration, FIG. 2 is a schematic diagram showing a detection range of its object position detecting means, FIG. 7 is a schematic diagram for explaining the display means, FIG. 8 is a schematic diagram for explaining the guide means, FIG. 9 is a schematic diagram for explaining the parking assistance of the parallel parking, FIG. 10 and FIG. 11 is a flowchart for explaining the parking assistance of the parallel parking, FIGS. 12 and 13 are schematic diagrams for explaining the parking assistance of the parallel parking, and FIG. 14 is a schematic for explaining the parking assistance of the parallel parking. FIGS. 15 and 16 are flow charts for explaining the parking assistance for the parallel parking, and FIGS. 17 and 18 are schematic diagrams for explaining the parking assistance for the parallel parking.
20 and 20 are diagrams for explaining the flow of screen display by the display means when performing parallel parking, and FIGS. 21 and 22 are diagrams for explaining the flow of screen display by the display means when performing parallel parking. is there.

As shown in FIG. 1, the parking assist system according to the present embodiment has a corner sensor 16 as an object position detecting means.
And a side sensor (ultrasonic sensor) 2, a steering wheel angle sensor 3 serving as a steering angle detecting means, a wheel speed sensor 4, a shift position sensor 5 serving as a shift position detecting means, a parking guide switch 6 serving as an indicating means, and a rear view camera 7. ,
An ECU (electronic control unit) 8, a teaching unit 13, a display 15 as a display unit, a teaching timing learning unit 17, a teaching control unit 18, and a guiding unit 20 are provided.

As shown in FIG. 2, the corner sensors 16 are provided at four corners of the vehicle 1 and detect the presence or absence of an object and the distance to the object by ultrasonic waves. It has a wide detection range. These corner sensors 16 are configured as part of a corner sensor system that, when any of the corner sensors 16 detects an object, informs the driver of that fact to call attention.

As shown in FIG. 2, the ultrasonic sensor 2 is provided at the front end of the vehicle 1 and detects the position of an object existing on the side of the vehicle 1 with respect to the vehicle 1. That is, the ultrasonic sensor 2 detects the presence or absence of an object existing on the side of the vehicle by detecting the response to the transmitted ultrasonic wave, and also detects the distance between the vehicle 1 and the object. Here, the objects include vehicles and buildings,
By using the ultrasonic sensor 2, it is possible to recognize the existence of a vehicle, a building, or the like that should not be approached too much at the time of parking.

The ultrasonic sensor 2 has a detection range as shown by a region A in FIG.
The directivity is stronger than that of the vehicle, and the object is longer than the detection distance of the corner sensor 16 from the vehicle 1 (for example, about 1.5 m), and an object existing further away can be detected. The steering wheel angle sensor 3 detects the steering angle of the steering wheel, and thereby can provide steering angle position information for teaching whether or not the steering angle of the vehicle 1 has reached a predetermined steering angle. .

The wheel speed sensor 4 detects the rotational speed of a wheel (not shown), and can provide the travel distance information of the vehicle based on the rotational speed and the circumference of the wheel. The shift position sensor 5 detects the selected shift speed, determines whether the speed detected by the wheel speed sensor 4 corresponds to forward or reverse, and the driver performs a correct operation for guidance. It can be used for confirming whether or not the gear is being operated, and can be used for controlling the gear stage.

The parking guide switch 6 is provided in the vicinity of the driver's seat where the driver can easily operate, and by operating the parking guide switch 6 by the driver, the parking assist device is turned on (that is, the parking assist device is operated). It is possible to instruct start and turn off the parking assist device. Also, parking guide switch 6
Makes it possible to select parking assistance,
The required parking assistance can be selected from "left side parallel parking", "right side parallel parking", "left side parallel parking", and "right side parallel parking".

The rear view camera 7 is provided at the rear end of the vehicle 1 and takes an image of the situation behind the vehicle 1. The image picked up by the rear view camera 7 is displayed on the display 15 mounted in the vehicle compartment. This allows the driver to recognize the situation behind the vehicle. The ECU 8 is provided with respective functions corresponding to the moving distance estimating means 9, the current position estimating means 10, the target parking position setting means 11, the shift position control means 12, the teaching timing learning means 17, and the teaching control means 18.

The moving distance estimating means 9 estimates the moving distance of the vehicle 1 from the rotational speed of the wheel detected by the wheel speed sensor 4 and the circumference of the wheel. The current position estimating means 10 integrates the behavior of the vehicle 1 after the start of parking assistance based on the output of the moving distance estimating means 9 and the output of the steering wheel angle sensor 3 to estimate the current position of the vehicle 1. It is supposed to do. A yaw rate sensor (not shown) is provided in place of the movement distance estimation means 9 and the steering wheel angle sensor 3, and the yaw angle of the vehicle is calculated by integrating the detection value of the yaw rate sensor, and the yaw rate of the vehicle with respect to the reference position is calculated. The current position may be estimated from the corner.

The target parking position setting means 11 is adapted to set the target parking position of the vehicle 1 based on the output of the ultrasonic sensor 2. That is, since the presence or absence of an object and the position with respect to the vehicle can be known by the ultrasonic sensor 2, for example, the target parking position of the vehicle 1 is set with the position where the parked vehicle is detected as the base point. Further, the target parking position setting means 11 can set the target parking position of the vehicle 1 in consideration of the moving distance of the vehicle 1 estimated by the moving distance estimating means 9. Therefore, it is possible to know how far the vehicle 1 has moved from the position where the parked vehicle is detected by the ultrasonic sensor 2. For example, when there are parked vehicles on both sides of the target parking area,
Whether or not there is a parking space between these parked vehicles is known, and the target parking position of the vehicle 1 can be set according to this parking space.

Further, the target parking position setting means 11 can set the target parking position of the vehicle 1 in consideration of the current position of the vehicle 1 estimated by the current position estimating means 10. Therefore, the target parking position can be set at a position relative to the position where the vehicle 1 currently exists.
Further, the target parking position setting means 11 is provided while the vehicle 1 is being guided to the initial stop position by the teaching means 13 described later.
The target parking position of the vehicle 1 is set.

The shift position control means 12 functions to limit the shift speed of the transmission 19 to the first speed while the driving operation for parking assistance is being taught. As a result, the vehicle 1 can travel while maintaining a low speed, and can safely and easily perform parallel parking or parallel parking while traveling. The teaching timing learning unit 17 is configured to learn the teaching timing of the stop by the teaching unit 13 described later based on the reaction time of the driver.

The teaching control means 18 is a teaching means 1 which will be described later.
The teaching content and the teaching timing according to No. 3 are controlled, and an appropriate teaching content is provided to the driver at an appropriate timing during the parking operation. Teaching means 13
3 includes a display (display means) 15 and speakers 14a and 14b as shown in FIGS. 3 and 8, and the vehicle 1 travels toward the target parking position set by the target parking position setting means 11. Forward of the vehicle 1 to guide the driver's operation,
It teaches how to reverse, stop, and turn the steering wheel.

Specifically, the speaker 14a shown in FIG.
Through 14b, a guidance sound such as "Pipon", a voice message such as "Please slowly move forward by one meter", "Please turn the steering wheel to the left", etc. are to be issued. Further, as shown in FIG. 3, a window 15a is provided on the display 15, and together with the image captured by the rear view camera 7, information on a driving operation for parking assistance and proximity obstacle information by a corner sensor system. Is displayed.

Specifically, as shown in FIGS. 4 (a) and 4 (b), the window 15a has eight areas 1-8.
It is divided into two areas. Area 1 has "Parallel (Parallel parking)", "Parallel [Parallel parking (Parking)]",
"Forward", "Back (backward)", "Stop", "Neutral (neutral steering angle)", "(Handle) right-hand drive", "(Handle) left-hand drive", "Left garage (left garage compartment)" , "Right garage (right garage)", "Left column (left column parking)",
Any one of "right column (right column parking)", "end (of parking assistance)", and "SONAR" is displayed. Note that "SONAR" is displayed when parking assistance is not provided and indicates that only the corner sensor system is operating. Also, in area 2, either a "vehicle" or "steering wheel" icon is displayed, and in area 3, "right arrow" or "left arrow".
Is displayed. In each area, if none of the above applies, nothing is displayed.

Areas 4 to 8 correspond to the positions of the corner sensors 16 attached to the vehicle 1. When the corner sensor 16 detects an object, it lights up (or blinks) and nothing is detected. If there is no light, it goes out. The sensor corresponding to the area 8 is an existing back sensor (not shown) or the like. Areas 4 to 8 can always be displayed at the same position when an object is detected. Therefore, areas 4 to 8 can be displayed while teaching the steering wheel operation.
When the sensor corresponding to area 8 detects an object,
It is possible to immediately issue an alarm, and the driver can easily recognize at which position the object exists.

Incidentally, for example, the display screen shown in FIG. 4A shows a state in which the "vertical column" is selected by the parking guide switch 6, and when the driver selects this "vertical column", , “Right column”, or “left column” can be selected. Further, the display screen shown in FIG. 4 (b) shows a state where the steering wheel is taught to be right-handed during parking assistance, and the driver can recognize at a glance in which direction the steering wheel should be operated. ing.

More specifically, the window 15 for parallel parking (left parallel parking) between two parked vehicles.
The specific screen display flow of a is as follows. That is, as shown in FIG. 19, when the driver operates the parking guide switch 6 to select “left column” when the vehicle 1 is in the position of, as shown in FIG. It changes from "SONAR" (G1) to "left column" (G2), the support for left column parking is started, and the driver performs driving operation according to this parking support.

That is, first, in the window 15a,
"Forward" is displayed (G3), and when the driver advances the vehicle 1 and the vehicle 1 reaches a predetermined distance, "Stop" is displayed (G4). At this time, if the vehicle has advanced beyond the predetermined distance, "back" is displayed (G5), and when the driver backs the vehicle 1, "stop" is displayed (G6), and the vehicle 1 Is surely reached to a predetermined position. When the vehicle 1 moves forward, if the vehicle 1 is stopped even though the vehicle has not reached the predetermined distance, the display of "forward" is continued (G3) and the vehicle 1 reaches the predetermined position. Assistance is provided. Similarly, when the vehicle 1 is backing, the display of "back" is continued until the vehicle 1 moves backward to a predetermined position. In addition,
The operation of the displayed contents is completed in each of the subsequent displays, but is continued until another operation is required.

With the support (display) up to this point, the vehicle 1
Moves from the position shown in FIG. After that, as shown in FIG. 20, “Left cut” is displayed (G
7) When the driver turns the steering wheel all the way to the left, "back" is displayed next (G8). Then, when the steering wheel is turned all the way to the left and backing is completed to a predetermined position, "stop" is displayed (G9), and when the vehicle 1 has stopped, "neutral" is then displayed (G10).
When the driver puts the steering wheel in the neutral position, "back"
Is displayed (G11).

When the driver backs a predetermined distance with the steering wheel in a neutral position, "stop" is displayed (G1
2). After that, "Right cut" is displayed (G13), and when the driver turns the handle all the way to the right, "Back" is displayed next (G14). When the driver turns the steering wheel all the way to the right and backs for a predetermined distance, "stop" is displayed (G15), and when the stop is completed, "left column" is displayed (G16), and the parking assistance ends. After that, the display automatically changes to the "SONAR" display in the initial state (G17).

In this way, the vehicle 1 can move to the position shown in FIG. 19 and perform left parallel parking. Further, for example, the flow of the specific screen display of the window 15a when parallel parking (putting into the left garage) between two parked vehicles is as follows. That is, as shown in FIG. 21, when the driver operates the parking guide switch 6 and selects “left garage” when the vehicle 1 is in the position of, as shown in FIG.
The display in 5a changes from "SONAR" (H1) to "left garage"
Instead of (H2), support for parking in the left garage starts, and the driver performs driving operation according to this parking support.

That is, in the window 15a, first,
"Forward" is displayed (H3), and when the driver moves the vehicle 1 forward and the vehicle 1 reaches a predetermined position, "Stop" is displayed (H4). With the support (display) up to this point, the vehicle 1 will move from the position shown in FIG.

After that, as shown in FIG. 22, "right-handed"
Is displayed (H5) and the driver turns the steering wheel all the way to the right, and then "forward" is displayed (H6). Then, with the steering wheel turned all the way to the right, the forward movement is completed to the predetermined position (moving from the position shown in FIG. 21).
Then, "Stop" is displayed (H7), when the vehicle 1 completes stopping, then "Left-hand drive" is displayed (H8), and when the driver turns the steering wheel all the way to the left, "Back" is displayed. (H9).

When the driver turns the steering wheel all the way to the left and backs for a predetermined distance, "stop" is displayed (H
10) When the stop is completed, "Left Garage" is displayed (H
11), parking support ends. After that, the initial state "S
The display automatically changes to "ONAR" (H12). In this way, the vehicle 1 moves to the position shown in FIG. 21 and can park in the left garage.

As described above, the driver can easily see what kind of teaching is currently being performed and whether or not there is an object in the vicinity by the simple and easy-to-understand schematic display on the display 15. You can grasp it. Also, the display 15 shows
The approaching state of the vehicle 1 to the object is displayed by a schematic icon.

For example, as shown in FIGS. 5 (a) and 5 (b), when there are objects on both sides of the vehicle 1 at the time when the parallel parking is completed, the driver can set a distance between these objects and the vehicle 1. It is possible to see at a glance how much space exists in the vehicle according to the opening / closing state of the icon door of the vehicle 1. 5A to 5C and FIG. 6 described later.
The hatched portions in (a), (b) and FIGS. 7 (a) to (c) are schematic representations of objects such as vehicles or buildings adjacent to the vehicle 1.

That is, in the case of the display shown in FIG. 5A, there is a sufficient space between both objects and the vehicle 1,
This indicates that the door of the vehicle 1 can be opened and closed greatly with a margin. When the display shown in FIG. 5B is made, there is not enough space between both objects and the vehicle 1, Indicates that caution should be exercised when opening and closing the door.

Further, when the driver parks at the left side of the target parking position without performing the driving operation exactly as instructed by the teaching means 13, as shown in FIG. 5C, for example. As shown, the door on the right side of the vehicle is displayed in a wide open state, and the door on the left side of the vehicle is displayed in a small open state.Therefore, the driver must open and close the door on the left side of the vehicle with care not to touch the object. I understand that there is.

The same applies to the case where the object exists only on one side of the vehicle 1. For example, as shown in FIG. 6A, the object exists only on the right side of the vehicle 1, and there is a space between the vehicle 1 and the object. If there is sufficient space for the vehicle 1, the door of the vehicle 1 is displayed in a wide open state, and if there is not enough space between the vehicle 1 and the object, the door of the vehicle 1 is displayed in a small open state. It has become so.

On the other hand, for example, as shown in FIGS. 7 (a) and 7 (b), when there is an object in front of and behind the vehicle 1 at the time when the left side parallel parking is completed, the driver is required to detect these objects and the vehicle 1. A schematic display shows how much space exists between and. That is, when the display shown in FIG.
It turns out that there is enough space between
In the case of the display shown in FIG. 7B, it can be understood that there is not enough space between these objects and the vehicle 1.

Further, in the case where the driver has parked the vehicle backward from the target parking position without performing the driving operation exactly as instructed by the teaching means 13, as shown in FIG. 7 (c), for example. Thus, the space between the vehicle 1 and the front object is large, and the space between the vehicle 2 and the rear object is small. Similarly, when an object exists only in front of or behind the vehicle 1,
The ultrasonic sensor 2 and the corner sensor 16 or the current position estimating means 10 can identify the space between the object and the vehicle 1, and a schematic display corresponding to this space is displayed.

In this way, the opening / closing state of the door of the vehicle 1 is selectively displayed in a simple and easy-to-understand manner, so that the driver can visually and easily know the distance between the vehicle 1 and the object. Especially, in the case of parallel parking, the door can be opened and closed with care when the space between the vehicle 1 and the object is small. The guide means 20 is designed to call the driver's attention so that the driver pays attention to the vicinity of the side mirror on the side required during the parking operation. As the guide means 20, here, as shown in FIG. 8, speakers 14a and 14b mounted on doors on the driver's seat side and the passenger's side in the vehicle interior, and in the vicinity of both side mirrors inside or outside the vehicle interior The light emitting bodies (LEDs) 24a and 24b for generating light installed in the above are used. For example, in the speakers 14a and 14b, a warning sound such as a backward sound is issued to the driver from the speaker 14 on the side where the driver has to be careful during the parking operation. In addition, the LED 24 on the side that the driver has to pay attention to during the parking operation emits light (lights or blinks) to call the driver's attention.

Therefore, for example, when the teaching means 13 instructs the driver to "turn the steering wheel fully to the left and move backward", the driver pays attention to the left side mirror. As can be seen, the backward sound is emitted only from the left speaker 14a and the left LED 24a blinks to call the driver's attention. Note that only one of the speaker 14 and the LED 24 may be operated.

Since the parking assist system in this embodiment is configured as described above, parking assist for parallel parking is performed in the following procedure. In the parking assistance device of the present embodiment, the parking space required for parallel parking is set to 7.5 m, for example, and the parking space required for parallel parking is set to 2.5 m, for example. The parking space is set according to the total length and width of the vehicle type.

[A] Parking assistance for parallel parking As shown in FIGS. 9, 10 and 11, for example, when performing parallel parking on the left side, first, on the right side in front of the area to be parked (indicated by a chain double-dashed line in FIG. 9). After turning on the parking guide switch 6 at the position of the vehicle 1 shown) and selecting "Column", select "Left column" and the voice message "Please move forward slowly and stop next to the position where you want to park" is displayed. As it flows, "forward" is displayed on the display 15 (step S2).

Then, when the driver comes to the side of the desired parking area (the position of the vehicle 1 shown by the solid line in FIG. 9) from the sitting position, the vehicle 1 is stopped. At this time,
As shown in FIG. 9, a vehicle already parked on the front side (lower side in FIG. 9) of the area to be parked (hereinafter referred to as rear vehicle).
21 is present, the ultrasonic sensor 2 is located behind the vehicle 2
In order to detect 1 assuredly, the vehicle is driven at a position of a predetermined distance X1 (for example, 1 m) from the rear vehicle 21.

The output of the ultrasonic sensor 2 shown in FIG. 9 is shown in correspondence with the position of the front end of the vehicle 1 in the traveling direction. Thereafter, the outputs of the ultrasonic sensors 2 are similarly displayed in FIGS. 12, 14, and 17, but these also correspond to the front end position of the vehicle 1. It is determined whether or not the temporary stop is completed (step S4), and when the temporary stop is completed, at this time, the presence or absence of the rear vehicle 21 parked behind the area to be parked is detected by the ultrasonic sensor 2. Cage,
In some cases, the presence / absence of a vehicle 22 (hereinafter referred to as a front vehicle) parked in front of the area to be parked is also detected. The next parking assistance varies depending on the detection result.

For example, if it is determined in step S6 that "there is a rear vehicle signal and no front vehicle signal" based on the detection result of the ultrasonic sensor 2, a type B flag is set (step S8), and the target parking position setting means is set. 11 sets the target parking position so that the vehicle 1 is located at a position away from the front end of the rear vehicle by a predetermined distance L2 (step S10). That is, as shown in FIG. 12 (b), when the driver stops the vehicle 1 at the position b 1 after turning on the parking guide switch 6, the ultrasonic sensor 2 generally causes the rear vehicle 2 to move.
Only 1 is detected. That is, even if the front vehicle 22 actually exists in front of the target parking area, the vehicle 1 does not normally reach the position where the ultrasonic sensor 2 can detect the front vehicle 22 at the stop position b1. The forward vehicle 22 cannot be detected. Therefore, in this case, the target parking position setting means 11 determines, based on the detection result of the ultrasonic sensor 2,
Assuming that only the rear vehicle 21 exists, the target parking position of the vehicle 1 is set.

Specifically, as shown in FIG. 13 (b),
The front end of the vehicle 1 is a predetermined distance M2 forward from the front end of the rear vehicle 21.
The initial vehicle stop position b2 is set so as to come to a distant position.
The predetermined distance M2 is obtained by adding the total length N of the vehicle 1 to the parking space length Sp (for example, 7.5 m) that allows parallel parking, and further adding the allowance α (for example, 1 m). Is. That is, by setting the value slightly larger than (Sp + N), there is some margin between the rear end of the vehicle 1 and the front end of the rear vehicle 21 after the parking is completed (that is, a space larger than a predetermined amount is secured). I am able to do it.

Further, according to the detection result of the ultrasonic sensor 2,
When it is determined in step S12 that "there is no rear vehicle signal and there is a front vehicle signal", a type C flag is set (step S14), and the target parking position setting means 11 causes the front end of the vehicle 1 to be predetermined from the rear end of the front vehicle. The target parking position is set so that the target parking position is located at a distance L3 (step S1).
6).

That is, as shown in FIG. 12C, the driver turns on the parking guide switch 6 and then the vehicle 1
When the vehicle is stopped at the position c1, the ultrasonic sensor 2 detects the front vehicle 22. That is, although the driver intends to find an empty area to park the vehicle 1 and stop next to this empty area, if the front end of the own vehicle 1 has advanced to the rear end position of the front vehicle 22, ultrasonic waves are generated. Sensor 2 is ahead vehicle 22
Detect the trailing edge.

Therefore, in such a case, FIG.
As shown in (c), the front vehicle 2 is in front of the target area.
2 actually exists, and the initial stop position c2 is set so that the front end of the vehicle 1 comes to a position a predetermined distance M3 (for example, 3.5 m) away from the rear end of the front vehicle 22. Since it is known from the ultrasonic sensor 2 that the rear vehicle 21 does not exist, the front end of the vehicle 1 and the front vehicle 22 after the parking is completed.
The predetermined distance M3 is set so that the vehicle can be parked with some margin (that is, a space equal to or more than a predetermined amount is secured) from the rear end.

Further, according to the detection result of the ultrasonic sensor 2,
When it is determined in step S18 that “there is a rear vehicle signal and a front vehicle signal exists”, a type A flag is set (step S20), and the target parking position setting means 11 sets the rear vehicle 21 rear end and the front vehicle 22 front end. Parking space S between
p1 is calculated (step S22). That is, FIG.
As shown in (a), when the vehicle 1 is behind the rear vehicle 21, the driver turns on the parking guide switch 6 and then moves the vehicle 1 forward to detect the rear end of the front vehicle 22. When stopped at a1, the ultrasonic sensor 2 detects the rear vehicle 21 and the front vehicle 22. The situation in which the front vehicle 22 is detected is similar to that described above, but the driver intends to find a vacant area to park the vehicle 1 and stop next to the vacant area. If the vehicle has reached the end position, the ultrasonic sensor 2 will
Detect the trailing edge.

In such a case, as shown in FIG. 13 (a), since the front vehicle 22 actually exists in front of the area to be parked, it is only possible to park between the front vehicle 22 and the rear vehicle 21. It is necessary to determine whether or not there is space. Therefore, the parking space length Sp1 is the predetermined length Sp
(For example, 7.5 m) or more is determined (step S24), and if the parking space length Sp1 is greater than or equal to the predetermined length Sp, the vehicle is located on the straight line L1 between the rear end of the front vehicle 22 and the front end of the rear vehicle 21. The target parking position a3 is set so that the center of 1 in the front-rear direction comes (step S26).

Specifically, the initial stop position a2 is set so that the front end of the vehicle 1 is located at a position a predetermined distance M1 (for example, 4 m) away from the current position. The predetermined distance M1
Is a distance that allows the vehicle 1 to be parked at an intermediate position between the rear end of the front vehicle 22 and the front end of the rear vehicle 21 (that is, the target parking position a3) when the parking operation is performed according to the parking assistance described later. .

On the other hand, the parking space length Sp1 is the predetermined length Sp.
If it is less than the above, proceed to J1 shown in FIG. 11, and display the voice message "There is not enough parking space. The parking guide will be terminated" and the message "End" to indicate that there is not enough space for parking. After instructing, the parking assistance is ended. As a result, the driver can know that it is difficult to park in the empty space to be parked, and can guide the driver to avoid a difficult parking operation and search for another parking space.

Further, when it is determined from the detection result of the ultrasonic sensor 2 that "no rear vehicle signal and no front vehicle signal" (step S28), a type D flag is set (step S30), and the target parking position setting means is set. 11 is a vehicle 1
Sets the target parking position just beside the position where the vehicle is currently stopped (step S32). That is, as shown in FIG. 12D, when the driver stops the vehicle 1 at the position d1 after turning on the parking guide switch 6, the ultrasonic sensor 2 does not detect anything. That is, even if the forward vehicle 22 actually exists in front of the target parking area, the vehicle 1
At the stop position d1 of the
The vehicle ahead cannot be detected because the vehicle 22 has not reached a position where the vehicle can be detected. Therefore, in this case, the target parking position setting means 11 assumes that there is no parked vehicle before and after the space to be parked, based on the detection result of the ultrasonic sensor 2, and sets the target parking position of the vehicle 1. To set.

Specifically, as shown in FIG.
The initial stop position d2 is set so that the front end of the vehicle 1 is located a predetermined distance M4 (for example, 6 m) away from the current position. The predetermined distance M4 allows the vehicle 1 to be parked right next to the position where the vehicle 1 is present (that is, the target parking position d3) when the parking operation is performed according to the parking assistance described below. Is the distance to

When the target parking position is set as described above, the traveling route of the vehicle 1 to the target parking position is calculated (step S40). That is, when performing parallel parking, first, the vehicle 1 is moved forward by a predetermined distance from the side of the target parking position (here, substantially right next to it), and then the vehicle 1 is moved backward toward the target parking position. At the time of this backward movement, first, the steering operation is performed so that the rear side of the vehicle 1 faces the direction of the target parking position. Then, when the vehicle moves backward in this state and the rear side of the vehicle 1 faces the required direction (first backward turning), the steering is neutralized. In this state, the vehicle is further moved backward (neutral reverse), and finally, the steering operation is performed in the opposite direction to move backward to the target parking position so that the direction of the vehicle 1 is also adjusted (second reverse turning).

Therefore, the required travel distance D1 from the current position of the vehicle 1 to the forward drive positions (initial stop positions) a2, b2, c2, d2, and further the initial stop positions a2, b2, c2.
The first backward turning distance Db1, the neutral backward moving distance Dc, and the second backward turning distance Db2 from d2 to the target parking positions a3, b3, c3, d3 are calculated (step S40). here,
The vehicle 1 is a predetermined distance from the rear vehicle 21 (inter-vehicle distance in the width direction) X
When the traveling line when traveling at a position 1 away is used as a reference, when the vehicle 1 is traveling along this reference,
The first backward turning distance Db1, the neutral backward moving distance Dc, and the second backward turning distance Db2 are fixed to constant values, and when the vehicle 1 is running deviating from the reference in the width direction, it is determined according to the width direction inter-vehicle distance. , The first backward turning distance Db1, the neutral backward moving distance Dc, and the second backward turning distance Db2.

The target parking positions a3, b3, c3, d
3 and the initial stop positions a2, b2, c2, d2 have a relative positional relationship according to the predetermined distance X1, and when the target parking positions a3, b3, c3, d3 are determined, the predetermined distance X1.
Therefore, the initial stop positions a2, b2, c2, d2 are inevitably determined according to. Once each distance is calculated, step S
At 42, it is determined whether or not the current vehicle 1 has reached the initial stop position based on the estimation result of the current position estimation means 10. If the current vehicle 1 has not reached the initial stop position, guidance to the initial stop position is performed. . At this time, for example, the vehicle 1
When the required movement distance D1 from the current position of the vehicle to the initial stop position is “+5 m”, the teaching means 13 “slowly,
The driver is instructed to move forward by the voice message "Please move forward about 5 meters" and the character display "forward". In the case of parking assistance for parallel parking, basically, from the current position of the vehicle 1 to the initial stop position, a forward driving operation is performed, but after performing this forward operation, if the initial stop position is exceeded, A backward driving operation is required. Therefore, in this case, for example, 1 m to the initial stop position
When it is necessary to move backward, the teaching means 13 teaches the driver to "back slowly by about 1 meter" (step S44).

While the driver who has been instructed is moving forward or backward, the ultrasonic sensor 2 turns on the front vehicle 22.
Is detected (step S46), and if the forward vehicle 22 is not detected, the process returns to step S42.
On the other hand, when the forward vehicle 22 is detected, it is determined whether it is type B (step S48).
Move to J2 shown in 0.

That is, since the ultrasonic sensor 2 detects "there is a rear vehicle signal and there is no front vehicle signal" (type B), it is determined that "the rear vehicle 21 exists and the front vehicle 22 does not exist". However, in reality, the forward vehicle 22 is present at a position that cannot be detected by the ultrasonic sensor 2. Therefore, the type B is corrected to the type A of “with rear vehicle signal and front vehicle signal”, and the rear vehicle 21 and the front vehicle 22 are corrected.
A parking space length Sp1 between and is determined to determine whether or not there is a parking space, and when there is a parking space, the target parking position a3 of type A is set again. After that, the procedure of type A is performed.

On the other hand, in step S48, type B
If not, it is determined whether it is type D (step S50). If it is not type D, the process returns to step S42. If it is type D, J3 in FIG.
Move to. In other words, since the ultrasonic sensor 2 detected "no rear vehicle signal and no front vehicle signal" (type D), it was determined that "the rear vehicle 21 and the front vehicle 22 do not exist", but in reality, This means that the forward vehicle 22 was present at a position that cannot be detected by the sound wave sensor 2. Therefore, the type D is corrected to the type C of "there is no rear vehicle signal and the front vehicle signal exists", and the initial stop position c2 of the type C is set again. After that, the procedure of type C is performed.

When the vehicle 1 reaches the initial stop position, the driver is instructed to stop by the guide sound (for example, the sound of "pipon") (step S50), and then it is determined whether or not the stop is completed (step S50). S52). When the stop is completed, the process proceeds to step S56 shown in FIG. 11. After the vehicle 1 stops at the initial stop position, the driver is instructed to operate the steering wheel by the voice message “Please turn the steering wheel to the left” and the display 15 "Left cut" and the left arrow are displayed on, and the driver is instructed to operate the steering wheel.

Then, it is determined whether or not the steering wheel has reached the left maximum steering angle (step S58), and when it reaches the maximum left steering angle, a guidance sound and a voice message "Please back about Db1 meter", The driver is instructed to retreat by displaying the character "back" (step S60). Then, it is determined whether or not the vehicle has moved backward by Db1 (step S62), and when the backward movement of Db1 is completed, the driver is instructed to stop by the guidance sound and the character display "stop" (step S64).

Then, it is judged whether or not the stop is completed (step S66), and when the stop is completed, a voice message "Please make the steering wheel neutral" and "Neutral" are displayed.
The driver is instructed to operate the steering wheel by the display of characters (step S68). It is determined whether or not the steering wheel has reached the neutral steering angle (step S70). When the steering angle has reached the neutral steering angle, a guidance sound, a voice message "Please move back as much as Dc meter" and a message "back" are displayed. Thus, the driver is instructed to retreat (step S72).

Thereafter, it is determined whether or not the vehicle has moved backward by Dc (step S74), and when the backward movement of Dc is completed, the driver is instructed to stop by the guidance sound and the character display "stop" (step S76). It is determined whether the stop is completed (step S78), and when the stop is completed,
The driver is instructed to operate the steering wheel by the voice message "Please turn the steering wheel all the way to the right", the letters "Right cut" and the right arrow (step S8).
0).

Then, it is judged whether or not the steering wheel has reached the maximum steering angle to the right (step S82). When the maximum steering angle to the right has been reached, a guidance sound is displayed and "Please confirm safety and move back about Db2 meters." Voice message,
The driver is instructed to retreat by displaying the character "back" (step S84). Then, it is determined whether or not the vehicle has moved backward by Db2 (step S86). When the backward movement of Db2 is completed, the driver is instructed to stop by the guidance sound and the character display "stop" (step S88).

Then, it is judged whether or not the stop is completed (step S90), and when the stop is completed, the parking assistance is ended. In this way, the vehicle 1 can be stopped at the parking position set by the target parking position setting means 11. At this time, even if the vehicle 1 stops before reaching the target parking position, the distance between the center point of the target parking position and the front and rear center points of the vehicle 1 is within a predetermined distance (for example, 50 cm). If there is, the parking support is ended assuming that the parking is completed.

Even when the vehicle 1 has reached the target parking position but has not stopped, a predetermined time (for example, 1.5
After a lapse of seconds, it is considered that parking has been completed and the parking assistance is ended. Then, after the parking assistance is completed, the display 1
5 schematically displays the space (spacing) between the vehicle 1 and a parked vehicle adjacent to the vehicle 1 with an icon.

According to the above procedure, the parking assistance for the left side parallel parking is performed. However, the parking assistance for the right side parallel parking is only opposite to the case of the left side parallel parking except that the steering wheel is turned in the opposite direction. The procedure of is the same as the procedure of left side parallel parking. In the present embodiment, the vehicle length direction parking space that can be used for parallel parking is set to 7.5 m, but it is of course possible to set a value other than that.

[B] Parking assistance for parallel parking As shown in FIGS. 14, 15 and 16, for example, when performing left-sided parallel parking, first, the front right side of the area to be parked (indicated by a chain double-dashed line in FIG. 14). At the position of the vehicle 1 shown), the driver turns on the parking guide switch 6 (step T
2) If you select "Parallel" and then "Left garage", the voice message "Please move forward slowly and stop next to the position where you want to park" is played, and "Forward" is displayed on the display 15. It

Then, the driver stops the vehicle 1 when the driver comes to the side of the desired parking area (the position of the vehicle 1 shown by the solid line in FIG. 14) from the sitting position. At this time, as shown in FIG. 14, when there is a vehicle 31 (hereinafter, referred to as a right adjacent vehicle) 31 already parked on the front side (right side in FIG. 14) of the area to be parked, the ultrasonic sensor 2 So that the right adjacent vehicle 31 can be reliably detected by the right adjacent vehicle 3
The vehicle is caused to travel in the vicinity of a predetermined distance X1 from 1.

After that, it is judged whether or not the temporary stop is completed (step T4), and when the temporary stop is completed, the ultrasonic sensor 2 at this time, the right adjacent vehicle 31 parked on the right side of the area to be parked 31 The presence or absence of the vehicle is detected, and in some cases, the presence or absence of a vehicle 32 (hereinafter, referred to as a left adjacent vehicle) parked on the left side of the area to be parked is also detected. The next parking assistance varies depending on the detection result.

Therefore, if it is determined in step T6 that "the right adjacent vehicle signal is present and the left adjacent vehicle signal is not present" based on the detection result of the ultrasonic sensor 2, the type B flag is set (step T8), and the target parking position is set. Setting means 11
However, the target parking position is set so that the vehicle 1 is located at a position L20 (for example, 1.5 m) away from the left side of the right adjacent vehicle 31 (step T10).

That is, as shown in FIG. 17 (b), the driver turns on the parking guide switch 6 and then the vehicle 1
When the vehicle is stopped at the position b10, the ultrasonic sensor 2 generally reliably detects the right adjacent vehicle 31. However, even if the left adjacent vehicle 32 actually exists on the left side of the parking area, when the vehicle 1 stops at the stop position b10, the ultrasonic sensor 2 advances to a position where the left adjacent vehicle 32 can be detected. Therefore, the left adjacent vehicle 32 cannot be detected. Therefore, in this case, the target parking position setting means 11 sets the target parking position of the vehicle 1 based on the detection result of the ultrasonic sensor 2, assuming that only the right adjacent vehicle 31 exists.

Specifically, as shown in FIG. 18 (b),
If only the right adjacent vehicle 31 exists, this right adjacent vehicle 31
The target parking position b30 is set so that the vehicle can be parked at the position leftward by a predetermined distance L20. The predetermined distance L20 is set to be slightly larger than a general vehicle distance between the vehicle 1 and the adjacent vehicles 31 and 32 when the right adjacent vehicle 31 and the left adjacent vehicle 32 are present. That is, the right adjacent vehicle 31
If there is only one, the vehicle 1 can be parked with a space with a predetermined amount or more from the right adjacent vehicle 31 secured.

Further, the target parking position setting means 11 has an initial stop position b2 at a position relative to the target parking position b30.
Set to 0. That is, if the predetermined driving operation is performed with the initial stop position b20 as the starting point, the vehicle 1
Can be parked at the target parking position b30. Also,
When it is determined in step T12 that "the right adjacent vehicle signal is absent and the left adjacent vehicle signal is present" based on the detection result of the ultrasonic sensor 2, a type C flag is set (step T1).
4), the target parking position setting means 11 is L from the left adjacent vehicle end
The target parking position is set at a position separated by 30 (for example, 1.5 m) (step T16).

That is, as shown in FIG. 17C, after the driver turns on the parking guide switch 6,
When the vehicle is stopped at the position c10, the ultrasonic sensor 2 detects only the left adjacent vehicle 32. That is, when the driver finds an empty area to park the vehicle 1 and stops next to the empty area, if the tip of the vehicle 1 advances to the right end position of the left adjacent vehicle 32, the ultrasonic sensor 2 moves to the left. The right end of the adjacent vehicle 32 is detected.

Therefore, in such a case, the target parking position setting means 11 determines that only the left adjacent vehicle 32 exists based on the detection result of the ultrasonic sensor 2 and the vehicle 1
Set the target parking position of. Specifically, FIG. 18 (c)
When only the left adjacent vehicle 32 exists, the target parking position c30 is set so that the vehicle can be parked at a position away from the left adjacent vehicle 32 by a predetermined distance L30 to the right, as shown in FIG. The predetermined distance L30 is, like the predetermined distance L20, larger than a general vehicle distance between the vehicle 1 and the right adjacent vehicles 31 and 32 when the right adjacent vehicle 31 and the left adjacent vehicle 32 are present. Set slightly larger. That is, when only the left adjacent vehicle 32 is present, the vehicle 1 can be parked while ensuring a space with a predetermined amount or more from the left adjacent vehicle 32.

Further, the target parking position setting means 11 has an initial stop position c2 at a position relative to the target parking position c30.
Set to 0. That is, if the predetermined driving operation is performed with the initial stop position c20 as the starting point, the vehicle 1
Can be parked at the target parking position c30. Also,
When it is determined in step T18 that "there is a signal of a right adjacent vehicle and a signal of a left adjacent vehicle" based on the detection result of the ultrasonic sensor 2, a type A flag is set (step T2).
0), the target parking position setting means 11 calculates the parking space Sp2 between the left adjacent vehicle 32 and the right adjacent vehicle 31 (step T22).

That is, as shown in FIG. 17A, when the vehicle 1 is on the right side of the right adjacent vehicle 32, the driver turns on the parking guide switch 6 and then advances the vehicle 1 to move the left adjacent vehicle 32. When the ultrasonic sensor 2 is stopped at a position a10 where the right end of the vehicle can be detected, the ultrasonic sensor 2 determines that the right adjacent vehicle 31 and the left adjacent vehicle 3
2 and are detected. The situation in which the left adjacent vehicle 32 is detected is similar to the above, when the driver finds an empty area for parking the vehicle 1 and stops next to this empty area, the tip of the host vehicle 1 is located at the left adjacent vehicle 32. This is the case when reaching the right end position.

In such a case, as shown in FIG. 18A, since the left adjacent vehicle 32 actually exists on the left side of the parking area, a space between the left adjacent vehicle 32 and the right adjacent vehicle 31 is set. You need to determine whether there is enough space to park in. Therefore, it is determined whether or not the parking space length Sp2 is greater than or equal to the predetermined length Sp '(for example, 2.5 m) (step T24), and the parking space length Sp2 is determined to be the predetermined length S.
If it is greater than or equal to p ', the target parking position a30 is set so that the front-rear center of the vehicle 1 is located on the intermediate L10 between the left adjacent vehicle 32 and the right adjacent vehicle 31 (step T26).

Further, the target parking position setting means 11 has an initial stop position a2 at a position relative to the target parking position a30.
Set to 0. That is, if the predetermined driving operation is performed with the initial stop position a20 as the starting point, the vehicle 1
Can be parked at the target parking position a30. on the other hand,
When the parking space Sp2 is less than the predetermined length Sp ', FIG.
Proceed to K1 shown in (4), and after instructing the driver that there is not enough space to park by the voice message "There is not enough parking space. The parking guide will be ended." As a result, the driver can know that parking is difficult in the empty space in which he / she intends to park, and the driver can be guided to search for another parking space by avoiding the difficult parking assist operation.

Further, when it is determined from the detection result of the ultrasonic sensor 2 that "no right adjacent vehicle signal and no left adjacent vehicle signal" (step T28), a type D flag is set (step T30), and the target parking position is set. The setting means 11 sets the target parking position right next to the position where the vehicle 1 is currently stopped (step T32). That is, as shown in FIG. 17D, when the driver stops the vehicle 1 at the position d10 after turning on the parking guide switch 6, the ultrasonic sensor 2 does not detect the parked vehicle. That is, even if the left adjacent vehicle 32 actually exists on the left side of the target parking area, at the stop position d10 of the vehicle 1, the ultrasonic sensor 2 normally does not advance to a position where the left adjacent vehicle 32 can be detected. Therefore, the left adjacent vehicle 32 cannot be detected. Therefore,
In this case, the target parking position setting means 11 assumes that there is no parked vehicle on the left and right of the space to be parked, based on the detection result of the ultrasonic sensor 2, and the vehicle 1
Set the target parking position of.

Specifically, as shown in FIG. 18 (d),
The target parking position setting means 11 sets the target parking position d30 right next to the position where the vehicle 1 is currently stopped, and sets the initial stop position d20 at a position relative to the target parking position d30. That is, this initial stop position d20
The vehicle 1 can be parked at the target parking position d30 by performing a predetermined driving operation with the starting point set to.

When the target parking position is set as described above, the traveling route of the vehicle 1 to the target parking position is calculated (step T40). That is, when parallel parking is performed, first, the vehicle 1 is moved forward or backward by a predetermined distance from the current position and is guided to the initial stop position. Then, when moving forward or backward from this initial stop position to the target parking position,
First, the steering operation is performed such that the rear of the vehicle 1 faces the target parking position. In this state, when the vehicle 1 turns forward to a predetermined position, the steering operation is performed in the opposite direction to turn the vehicle 1 backward to the target parking position. Let

Therefore, from the current position of the vehicle 1 to the forward or backward position (initial stop position) a20, b20, c20, d.
Required travel distance D2 up to 20 and initial stop position a
Target parking position a3 from 20, b20, c20, d20
Forward turning distance Df to 0, b30, c30, d30,
The backward turning distance Db3 is calculated (step T40). Here, when the traveling line when the vehicle 1 is traveling a predetermined distance (inter-vehicle distance in the width direction) X1 from the adjacent vehicle 31 to the right is used as a reference, the vehicle 1 is traveling along this reference. At this time, the forward turning distance Df and the backward turning distance Db3 are fixed to constant values, and when the vehicle 1 is running with a deviation from this reference in the width direction, the forward turning distance Df, The backward turning distance Db3 is calculated.

The target parking positions a30, b30, c3
0, d30 and initial stop positions a20, b20, c20, d
There is a relative positional relationship between the target parking positions a30, b30, c30, d30 according to the predetermined distance X1.
Is determined, the initial stop position a2 is determined according to the predetermined distance X1.
0, b20, c20, d20 are inevitably determined.

After each distance is calculated, in step T42, based on the estimation result of the current position estimating means 10,
It is determined whether the vehicle 1 has reached the initial stop position at present (step T42), and if it has not reached the initial stop position, guidance to the initial stop position is performed. At this time, for example, when the required moving distance D1 from the current position of the vehicle 1 to the initial stop position is “−1 m”, the teaching means 13
Instruct the driver to retreat with the voice message "Please back slowly, about 1 meter",
When the required movement distance D1 is "+0.5 m", the teaching means 13 instructs the driver to move forward by a voice message "Please move forward slowly, about 50 cm" (step T44).

Further, it is judged whether or not the ultrasonic sensor 2 has detected the left adjacent vehicle 32 while the driver who has been instructed is moving forward or backward (step T46).
When the left adjacent vehicle 32 is not detected, the process returns to step T42. On the other hand, when the left adjacent vehicle 32 is detected, it is determined whether it is type B (step T48), and if it is type B, the process proceeds to K2 shown in FIG.

That is, since the ultrasonic sensor 2 has detected that "the right adjacent vehicle signal is present and the left adjacent vehicle signal is not present" (type B), "the right adjacent vehicle 31 exists and the left adjacent vehicle 32 does not exist". However, in reality, the left adjacent vehicle 32 is present at a position that cannot be detected by the ultrasonic sensor 2. Therefore, the type B is corrected to the type A of “with right adjacent vehicle signal and left adjacent vehicle signal”, and the initial stop position a20 of the type A is set again. After that, the procedure of type A is performed.

On the other hand, in step T48, type B
If not, it is determined whether it is type D (step T50), and if it is not type D, step T42.
Returning to, in the case of type D, the process proceeds to K3 in FIG. That is, since the ultrasonic sensor 2 detects "no right adjacent vehicle signal and no left adjacent vehicle signal" (type D), it is determined that "the right adjacent vehicle 31 and the left adjacent vehicle 32 do not exist". Actually, it means that the left adjacent vehicle 32 is present at a position that cannot be detected by the ultrasonic sensor 2. Therefore, the type D is corrected to the type C of "no right adjacent vehicle signal and left adjacent vehicle signal", and the target parking position c30 of the type C is set again. After that, the procedure of type C is performed.

When the vehicle 1 reaches the initial stop position, the driver is instructed to stop by the guide sound (for example, the sound "pipon") and the character display "stop" (step T).
50) Then, it is determined whether the stop is completed (step T52). When the stop is completed, the process proceeds to step T56 shown in FIG. 16, and the driver is instructed to operate the steering wheel by the voice message "Please turn the steering wheel to the right all the way" and the display of "Right cut" and the right arrow ( Step T56).

Then, it is determined whether or not the steering wheel has reached the right maximum steering angle (step T58), and when the steering wheel reaches the maximum right steering angle, a guidance sound and a voice message "Please move forward as much as Df meter" are displayed. The driver is instructed to move forward by displaying the character "forward" (step T60). After that, it is determined whether or not the Df forward movement is completed (step T62). When the Df forward movement is completed, a guidance sound is given,
The driver is instructed to stop by the character display "stop" (step T64).

Then, it is judged whether or not the stop is completed (step T66), and when the stop is completed, the voice message "Please turn the steering wheel to the left" and the display of "Left cut" and the left arrow are displayed. The driver is instructed to operate the steering wheel (step T68). It is determined whether the steering wheel reaches the left maximum steering angle (step T
70) When the maximum left steering angle is reached, the driver is instructed to back using the guidance sound, the voice message "Please back about Db3 meters," and the character display "back" (step T72).

After that, it is judged whether or not Db3 has retreated (step T74), and when the Db3 retreat is completed, the driver is instructed to stop by the guidance sound and the character display "stop" (step T76). Then, it is determined whether or not the stop is completed (step T78), and when the stop is completed, the parking assistance is ended. In this way, the vehicle 1
Can stop at the parking position set by the target parking position setting means 11.

At this time, even if the vehicle 1 stops before reaching the target parking position, the distance between the center point of the target parking position and the front and rear center points of the vehicle 1 is a predetermined distance (for example, 50 cm). If it is within the range, it is considered that the parking is completed and the parking support is ended. Even when the vehicle 1 has reached the target parking position but has not stopped, the vehicle 1 is parked after a predetermined time (for example, 1.5 seconds) has elapsed after reaching the target parking position. The parking support is ended assuming that it is completed.

In this embodiment, the parking space available for parallel parking is set to 2.5 m.
Of course, it is also possible to set it to other numerical values. According to the above procedure, parking assistance for left-sided parallel parking is performed, but for parking assistance for right-sided parallel parking, the direction in which the steering wheel is turned is opposite to that for left-sided parallel parking, and other parking assistance procedures are the same. It is similar to the procedure for left side parallel parking.

The parking assist system of this embodiment performs parking assist for parallel parking and parallel parking as described above.
Furthermore, during the parking assistance, particularly when the vehicle is turning backwards, it is necessary for the driver to emit a backward sound from the vehicle interior speaker 14a or 14b on the side that the driver needs to pay attention to, or the driver needs to be careful. LED 2 on one side
By blinking 4a or 24b, the driver is informed of where to focus on the operation. Thereby, safer parking assistance can be provided.

Further, while the parking assist is being performed, the shift position control means 12 limits the shift speed of the transmission 19 to the first speed. Therefore, even if the driver unintentionally depresses the accelerator pedal during driving operation, safe parallel parking or parallel parking can be performed at an extremely low speed. Further, since the teaching timing learning means 17 learns the teaching timing of the stop based on the reaction time of the driver and the teaching control means 18 corrects the teaching timing of the stop based on the learning of the teaching timing learning means 13, the driver In consideration of the reaction time (for example, the rising time of the brake pressure) of the vehicle 1, the vehicle 1 has a predetermined time (for example,
(0.8 seconds), when a corresponding position is passed, a guidance sound or a voice message for teaching stop is output. Therefore,
Drivers can get more natural parking assistance.

During parking assistance, the display 15 displays the image taken by the rear view camera 7 and the driving operation and the approaching state to the object (parked vehicle). At the time of 1 retreat, the driver
The display 15 allows the operator to know the necessary steering wheel operation while checking the situation behind the vehicle 1.
During driving operation, it is possible to know whether the vehicle 1 is likely to interfere with an object. Therefore, the driver can perform a safe and accurate driving operation.

As described above, in the parking assistance system of this embodiment, when parking assistance is started by the parking guide switch 6, the ultrasonic sensor 2 detects a parked vehicle near the area to be parked. Therefore, the presence or absence of a parked vehicle and the position of the parked vehicle with respect to the vehicle 1 can be known. Further, the moving distance estimating means 9 estimates the moving distance of the vehicle 1. Therefore, it can be estimated how much the vehicle 1 has moved from the position at which the parked vehicle is detected by the ultrasonic sensor 2. on the other hand,
The steering wheel angle sensor 3 detects the steering wheel angle during the driving operation. Therefore, the current position estimating means 10 can estimate the current position of the vehicle 1 based on the moving distance of the vehicle 1 and the steering wheel angle.

Then, the target parking position setting means 11 can set the target parking position of the vehicle 1 based on the present position of the vehicle 1. Also, the teaching means 13
Teaches the driver the driving operation to the initial stop position of the parking operation, and the target parking position setting means 11
As a result, the target parking position is set during the teaching of the driving operation to the initial stop position, so that it is not necessary to set the initial stop position by visual inspection of the driver himself. That is, since there is no error in the initial stop position of the vehicle 1, it is possible to prevent the target parking position from deviating, and to reliably guide the driver toward the target position. In this way, it is possible to assist the driving operation to the initial stop position for the parking operation.

Further, since the teaching means 13 teaches the parking operation based on the target parking position, the parking assistance can be appropriately provided according to the current position of the vehicle 1. When two parked vehicles are adjacent to each other on the left or right or front and back of the area to be parked, if the space between the two parked vehicles is equal to or more than a predetermined amount, the vehicle 1 is the two parked vehicles. The target parking position can be set to be in the middle of.

Further, if the space between the two parked vehicles is smaller than a predetermined amount, the target parking position is not set and the teaching means 13 teaches that the parking assistance is stopped, so that the driver can park. It can be seen that there is no space and the driver can be prevented from trying to park the vehicle forcibly. Therefore, safer parking assistance can be provided to the driver.

When an object (obstacle) is detected by the corner sensor 16 during parking assistance, the approaching state of the vehicle 1 to the object is displayed on the display means 15, so that the driver does not know where the vehicle 1 is. It is possible to visually know whether or not the part is likely to interfere with the object by the schematic display. It should be noted that the guide sound for teaching the stop of the vehicle 1 and the guide sound for teaching that the steering wheel has reached the predetermined steering angle may be different sounds. In other words, for example, by making the guidance sound for teaching stop a sound of “pipon” and the guidance sound for teaching that the steering wheel has reached the predetermined steering angle, a sound of “pon” can be provided to drive the driver more clearly. The operation can be taught.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, the target parking position may be set by the target parking position setting means 11 simply with the time point when the ultrasonic sensor 2 detects an object as a base point.
Then, based on the target parking position, the teaching means 13 can also teach the driver a necessary driving operation. Therefore, with a simple configuration, the setting of the target parking position can be mechanically appropriately set, and more appropriate parking assistance can be provided to the driver.

The ultrasonic sensor 2 as the object position detecting means has been described as detecting a parked vehicle.
Of course, not only the parked vehicle but also the wall and other objects can be detected, and the parking assist can be performed by the ultrasonic sensor 2 detecting these objects. Further, in this embodiment, when the transmission 19 has a step, it is explained that the shift position control means 12 limits the shift step to the first speed, but in particular, the step does not have to be the step transmission 19. For example, in the case of CVT, it may be limited to the gear ratio region corresponding to the low speed stage.

Further, it is possible to switchably display a display screen showing a driving operation during parking support and a state of approach to an object, and a display screen showing a distance between the vehicle 1 and the object after the parking support ends, Alternatively, it may be displayed on another screen.

[0112]

As described in detail above, according to the parking assistance apparatus of the present invention as set forth in claim 1, the driver is instructed during parking assistance by a simple and easy-to-understand schematic display. It is easy to know whether there is an object in the vicinity or not. That is, more accurate parking assistance can be provided to the driver.

Further, according to the parking assistance apparatus of the present invention as defined in claim 2, it is possible to display the approaching state to the obstacle based on the object position detecting means. Further, according to the parking assistance device of the present invention as set forth in claim 3, the driver can easily know the distance between the vehicle and the object by the simple and easy-to-understand display. The door can be opened and closed with care when the space between the vehicle and the object is small.

Further, according to the parking assistance apparatus of the present invention as defined in claim 4, the distance between the vehicle and the object is schematically displayed by the opening degree display of the door, so that the driver has a space to open and close the door. You can visually see how much you have.

[Brief description of drawings]

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

FIG. 2 is a schematic plan view showing a detection range of an object position detection means of the parking assistance device as the embodiment of the present invention.

FIG. 3 is a schematic front view for explaining a display unit of the parking assistance device according to the embodiment of the present invention.

FIG. 4 is a schematic diagram for explaining a display unit of the parking assistance device according to the embodiment of the present invention.

FIG. 5 is a schematic plan view for explaining a display unit of the parking assistance device according to the embodiment of the present invention.

FIG. 6 is a schematic plan view for explaining a display unit of the parking assistance device according to the embodiment of the present invention.

FIG. 7 is a schematic plan view for explaining a display unit of the parking assistance device according to the embodiment of the present invention.

FIG. 8 is a schematic perspective view for explaining guide means of the parking assistance device according to the embodiment of the present invention.

FIG. 9 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 10 is a flowchart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 11 is a flowchart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 12 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 13 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 14 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 15 is a flowchart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 16 is a flowchart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 17 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 18 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 19 is a schematic plan view for explaining the flow of screen display by the display means when performing parallel parking by the parking assistance device as one embodiment of the present invention.

FIG. 20 is a diagram for explaining the flow of screen display by the display means when performing parallel parking with the parking assistance device according to the embodiment of the present invention.

FIG. 21 is a schematic plan view for explaining the flow of screen display by the display means when parallel parking is performed by the parking assistance device as one embodiment of the present invention.

FIG. 22 is a diagram for explaining the flow of screen display by the display unit when parallel parking is performed by the parking assistance device according to the embodiment of the present invention.

[Explanation of symbols]

1 vehicle 2 Side sensor (ultrasonic sensor, object position detection means) 3 Steering wheel angle sensor (steering angle detection means) 4 Wheel speed sensor 5 Shift position sensor (shift position detecting means) 6 Parking guide switch (instruction means) 7 Rear view camera 8 ECU (electronic control unit) 9 Moving distance estimation means 10 Current position estimation means 11 Target parking position setting means 12 Shift position control means 13 Teaching means 14,14a, 14b Speaker 15 Display means 16 Corner sensor (object position detection means) 17 Teaching timing learning means 18 Teaching control means 19 transmission 20 Guide means 21 Rear car 22 forward car 24, 24a, 24b LED (light emitter) 31 Right adjacent car 32 Adjacent left car A Ultrasonic sensor detection range B Corner sensor detection range

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 626D 626G 1/00 1/00 A (72) Inventor Tetsushi Muro Tokyo Port 5-33-8, Shiba, ward Within Mitsubishi Motors Corporation

Claims (4)

[Claims] 1. A parking assistance device for assisting a parking operation to a driver, comprising a display means for schematically displaying information on a driving operation relating to parking assistance and a state of approach to an object. A parking assistance device. 2. An object position detecting means for detecting the object is provided, and the display means displays the approaching state based on detection information of the object position detecting means. Parking assistance device. 3. The display means schematically displays the distance between the vehicle and the object based on the output of the object position detecting means when the driving operation for the parking assistance is completed. The parking assistance device according to claim 2. 4. The parking assistance device according to claim 3, wherein the display means schematically displays a distance between the vehicle and the object by displaying an opening of a door of the vehicle.