JP2003246251A - Vehicle having parking-support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform further suitable parking support to a driver by properly changing the detected threshold of a corner sensor at the time of parking support for a vehicle regarding a vehicle having a parking-support apparatus which performs the support for parking operations to the driver at the time of parallel parking or longitudinal parking or the like. <P>SOLUTION: An object location detecting means 16 detects the location of an object which exists in the vicinity of a vehicle 1 relative to the vehicle 1. If a distance to the object which is obtained by an output from an object location detecting means 2 is within a specified threshold, a warning is outputted to the driver by a warning means 35. Then, at the time of a parking support, the specified threshold is changed by a threshold value changing means 34. <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 vehicle with 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, a corner sensor system is known as another device for driving assistance. In this corner sensor system, corner sensors that detect the presence or absence of an object (for example, a parked vehicle, a wall, etc.) and the distance to the object by ultrasonic waves are provided at four corners of the vehicle 1. Then, when these corner sensors detect an object in the vicinity of the vehicle, a warning sound alerts the driver that the vehicle may interfere with the object, and calls attention.

[0004]

By the way, during the parking assistance of the vehicle by the parking assistance device, the vehicle is parked at the target parking position so as to draw a predetermined trajectory. At this time, for example, when an object such as a parked vehicle or a wall exists near the target parking position or in the vicinity of the target parking position, the vehicle inevitably approaches the object, but a predetermined trajectory is taken. If the parking operation is performed as depicted, there is no risk of contact with this object.

However, when a vehicle is equipped with a corner sensor system together with such a parking assist device, the corner sensor is not activated when the vehicle approaches the object during parking assist, although there is no danger of collision with the object. It detects an object and gives an alarm. Further, when the detection range of the corner sensor is wide (that is, when the sensitivity is high), the number of times of this alarm is further increased.

Therefore, despite the fact that the driver carries out the driving operation accurately in accordance with the parking assistance,
The alarm may be output frequently. Of course, the warning is meaningful when it really hits an object during parking assistance, so I want to be able to output the necessary warning during parking assistance. The present invention has been devised in view of such a problem, and appropriately changes the warning threshold value of the corner sensor at the time of parking assistance of the vehicle so that more appropriate parking assistance can be provided to the driver. An object is to provide a vehicle with a device.

[0007]

Therefore, a vehicle with a parking assist device of the present invention is a vehicle equipped with a parking assist device for assisting a driver in a parking operation. If the position of the object existing in the vicinity with respect to the vehicle is detected and the distance to the object obtained by the output from the object position detecting means is within a predetermined threshold,
A warning is given to the driver by the warning means, and the predetermined threshold value is changed by the threshold value changing means at the time of parking assistance. Therefore, in this device, the threshold value of the object position detecting means can be changed and the output of the alarm can be controlled during parking assistance.

Further, the driving operation detecting means detects the driving operation of the driver, the teaching means teaches the driver the necessary driving operation for parking, and the output of the driving operation detecting means and the teaching means. It is preferable that the predetermined threshold value is changed by the threshold value changing means based on the deviation from the output. Therefore, in this device, the threshold value of the object position detecting means is changed based on the deviation between the actual vehicle trajectory (actual trajectory) by the driver's driving operation and the target parking trajectory taught by the teaching means, and an alarm is output. Can be controlled.

Further, it is preferable that the threshold value changing means increases the predetermined threshold value as the deviation increases, and decreases the predetermined threshold value as the deviation decreases. Therefore, in this device, as the deviation between the actual track of the vehicle and the target parking track is larger, the threshold value of the object position detecting means is raised (that is, the detection sensitivity is increased) to detect the object near the vehicle more sensitively. be able to.

Further, it is preferable that the alarm means stops the alarm if the deviation is within a predetermined range. Therefore, in this device, for example, the alarm is 0 to 30 cm, 30 to 60 c.
If the deviation between the actual track of the vehicle and the target parking track is equal to or less than a predetermined value and the warning sound is set to be different for m and 60 to 100 cm, the alarm is set to 0 to 30 cm. It is possible to stop other alarms by limiting to the range of.

Further, it is preferable that the warning means does not give a warning when the object is separated from the vehicle even if the distance to the object is within the threshold value. Therefore, with this device, if there is no risk that the vehicle will interfere with the object,
No alarm is output. A plurality of the object position detecting means are provided in the vehicle, and the threshold value changing means preferably changes the threshold value of each of the object position detecting means separately. Therefore, in this device, the threshold value of each object position detecting means can be changed and the output of the alarm can be controlled for each object position detecting means.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 15 show a vehicle with a parking assist device as an embodiment of the present invention, FIG. 1 is a block diagram showing the configuration thereof, and FIG. 2 is a schematic diagram showing a detection range of the object position detecting means, FIG. 3 is a schematic diagram for explaining the display (display means), FIG. 4 is a schematic diagram for explaining the guide means, FIG. 5 is a diagram for explaining the threshold value changing means, and FIG. 6 is its column. Schematic diagram for explaining parking assistance of parking, FIGS. 7 and 8 are flowcharts for explaining the parking assistance of parallel parking, and FIGS. 9 and 10 are schematic diagrams for explaining the parking assistance of parallel parking. 11, FIG. 11 is a schematic diagram for explaining the parking assistance of the parallel parking, FIG. 12 and FIG. 13 are flowcharts for explaining the parking assistance of the parallel parking, FIG. 14 and FIG.
5 is a schematic diagram for explaining the parking assistance of the parallel parking.

As shown in FIG. 1, a vehicle with a parking assist system according to this embodiment has a corner sensor 16 and a side sensor (ultrasonic sensor) 2 as an object position detecting means, and a steering wheel angle sensor as a steering angle detecting means. 3, wheel speed sensor 4,
A shift position sensor 5 as a shift position detecting means,
Parking guide switch 6 as instruction means, rear view camera 7, ECU (electronic control unit) 8, teaching means 1
3, teaching timing learning means 17, teaching control means 18,
The guide means 16 and the alarm means 35 are provided.

As shown in FIG. 2, the corner sensors 16 are provided at the four corners of the vehicle 1 and detect the positions of objects existing near the four corners of the vehicle 1 with respect to the vehicle 1. That is, the corner sensor 16 detects the presence or absence of an object existing on the side of the vehicle by detecting the response to the transmitted ultrasonic wave or radio wave, and also detects the distance between the vehicle 1 and the object. . Here, the object includes a vehicle and a building, and the corner sensor 16 can be used to recognize the existence of a vehicle or a building that should not be too close when parking. In addition, in FIG.
It has a detection range as shown by.

An ultrasonic sensor 2 is provided at the front end of the vehicle 1 to detect the position of an object existing on the side of the vehicle 1 with respect to the vehicle 1, and the corner sensor 1
Similar to 6, by detecting the response to the transmitted ultrasonic wave, the presence or absence of an object existing on the side of the vehicle is detected, and the distance between the vehicle 1 and the object is detected.

The ultrasonic sensor 2 has a detection range as shown by an area A in FIG. 2, and has a stronger directivity than the corner sensor 16 described above, and the corner sensor 16 has a greater directivity.
Is longer than the detection distance from the vehicle 1 (for example, 1.5
(about m), it is possible to detect objects existing farther. The steering wheel angle sensor 3 detects the steering angle of the steering wheel, and can thereby provide steering angle position information for teaching whether or not the steering angle of the vehicle 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 vehicle is operating, and can be used for controlling the gear stage of the transmission 19.

The parking guide switch 6 is provided in the vicinity of the driver's seat where the driver can easily operate it. By operating the parking guide switch 6 by the driver, the parking assist device is turned on (that is, the parking assist device is turned on). It is possible to instruct start and turn off the parking assist device. Also, parking guide switch 6
Allows the selection of parking assistance, and for example, 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". It is like this.

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 taken 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 includes a moving distance estimating unit 9, a current position estimating unit 10, a target parking position setting unit 11, a shift position control unit 12, a teaching timing learning unit 17, a teaching control unit 18, a driving operation detecting unit 33, and a threshold changing unit 34.
Each function corresponding to is provided.

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 so that the vehicle 1 becomes a reference position (for example, a target parking position). On the other hand, the current position is estimated. A yaw rate sensor is provided in place of the moving 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. May be estimated.

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 so as to limit the shift speed 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
As shown in FIG. 3 and FIG.
b and a display 15 for advancing the vehicle 1 to the driver in order to guide the driver's operation so that the vehicle 1 travels toward the target parking position set by the target parking position setting means 11. , Reverse or stop,
Furthermore, the direction to turn the handle is taught.

Specifically, the speaker 14a shown in FIG.
Through 14b, a guidance sound such as "Pipon", a voice message such as "Please move forward slowly by about 1 meter", "Please turn the steering wheel to the left", etc. are issued. As shown in FIG. 3, on the display 15, a handle icon 30 is displayed in the upper right corner of the screen together with the image captured by the rear view camera 7, and which side should the handle be turned. A right arrow (turns the handle to the right) or a left arrow (turns the handle to the left) is displayed on the handle icon 30 so that it can be understood whether it is good or not.

Therefore, the driver is the speaker 14
By teaching from both a and 14b and the display 15, the vehicle 1 can be accurately brought to the target parking position by operating the steering wheel or operating the vehicle forward or backward. Of course, since the driver can receive sufficient instruction only with the speaker 14, it is not necessary to operate the steering wheel while gazing at the display 15, and the driving operation can be performed more safely.

The driving operation detecting means 33 detects the driving operation of the driver based on the steering wheel angle obtained by the steering wheel angle sensor 3 and the moving distance (including the moving direction) of the vehicle 1 obtained by the wheel speed sensor 4. It is supposed to do. That is, the vehicle 1 is actually driven by the driver's driving operation.
You can see the locus (actual locus) that is running.
Therefore, by comparing the actual trajectory of the vehicle 1 with a predetermined target parking trajectory, it is possible to calculate how much the actual trajectory and the target parking trajectory are (deviation).

The threshold value changing means 34 can change the threshold value (warning threshold value) for issuing an alarm based on the detection result of the corner sensor 16 after the parking assistance is started. That is,
If the distance P1 from the vehicle 1 to the object detected by the normal corner sensor 16 is within the warning threshold value P0, the warning "object is approaching" is issued.
You can change 0. Therefore, for example, when the warning threshold value is raised, an object existing further away from the vehicle 1 is warned. On the contrary, when the alarm threshold is lowered, the alarm cannot be issued until an object approaches the vehicle 1 closer.

Particularly, in the threshold changing means 34, the actual trajectory of the vehicle 1 obtained by the driving operation detecting means 33 and the teaching means 1
3, the threshold value of the corner sensor 16 is changed based on the deviation from the target parking locus taught to the driver. That is, when the driver performs the driving operation exactly according to the teaching content of the teaching means 13, that is, the vehicle 1
If the actual locus of is substantially the same as the target parking locus, the vehicle 1 will be accurately guided toward the target parking position. Will not interfere with.

Therefore, if the deviation between the actual locus of the vehicle 1 and the target parking locus is small, the warning threshold value is made lower than in the normal object approach warning control so that the warning by the warning means described later is less likely to be output. . As a result, it is possible to prevent the driver, who is performing an appropriate driving operation for parking, from outputting an alarm unnecessarily, and to provide appropriate parking assistance.

On the other hand, when the driver does not follow the teaching contents of the teaching means 13 to perform the driving operation, that is, the actual locus of the vehicle 1 is slightly deviated from the target parking locus, the vehicle 1 is parked at the target parking lot. On the way to the position, it may interfere with a parked vehicle or a wall. Therefore, if the deviation between the actual locus of the vehicle 1 and the target parking locus is large, the warning threshold value is raised so that the warning by the warning means described later can be easily output. As a result, the driver knows that the driver is performing a driving operation deviating from the target parking locus, and can give an alarm to the driver to prevent the vehicle 1 from interfering with the parked vehicle, the wall, or the like. There is.

For example, when the corner sensor 16 whose maximum detectable range is 100 cm is used, the detection range of the corner sensor 16 is, for example, as shown in FIG.
Divided into three parts such as "near", "middle", and "far" (for example, 0 to 30 cm, 30 to 60 cm, 60 to 100 cm
It can be set so that a different alarm sound is emitted for each range. The alarm sound in this case is set such that the sound becomes gradually higher in the order of “far”, “middle” and “near”, or the cycle of the alarm sound is shortened so that the object comes closer to the object. To let the driver know

As a method of changing the threshold value by the threshold value changing means 34 in this case, for example, the following two methods can be considered. 1. If the deviation (deviation from the locus) is small, limit the detection range to only the "near" initially set, and only if the object is detected within the "near" range, the "near" alarm sound When the object is not detected within the “near” range, the alarm sound is not generated.

If the deviation exceeds the first reference value,
It is limited to two detection ranges, "near" and "medium". When an object is detected in the "middle" range, a "medium" alarm sound is emitted, and when an object is detected in the "near" range, "middle" alarm is generated. An alarm sound of "near" is generated, and if no object is detected within the range of "near" and "middle", the alarm is not generated. Further, when the deviation exceeds the second reference value, which is larger than the first reference value, “near”, “medium”, as in the normal object approach warning control,
Set all ranges of "Far", and when the object is detected in the range of "Far", the alarm sound of "Far", and when the object is detected in the range of "Medium", the alarm sound of "Medium", When an object is detected within the "near" range, a "near" warning sound is generated, and the "near",
If no object is detected within the "medium" or "far" range, the alarm is not issued.

2. Depending on the deviation, “near”, “medium”,
Make the "far" area variable. In other words, regardless of the deviation, three types of alarms of "near", "medium", and "far" are issued, but the larger the deviation, the larger the "near", "medium", and "far" areas. 5 (b)], the smaller the deviation, the smaller the "near", "middle", and "far" regions [FIG. 5].
(See (c)]. In this case, the simplest is
If the deviation is less than or equal to the predetermined reference value, "near", "middle", "far"
Is a small area shown in FIG. 5 (c), and when the deviation exceeds a predetermined reference value, "near", "middle", and "far" are large areas shown in FIG. 5 (b) (normal object approach alarm control). The same area as the time).

Of course, the area shown in FIG.
Set a region of intermediate size to the region shown in (c),
If the deviation is within the first reference value, then in the small area shown in FIG. 5C, if the deviation is greater than the first reference value and less than or equal to the second reference value (second reference value> first reference value), the intermediate If the deviation is larger than the second reference value in a region of a typical size, then FIG.
In the large area shown in (b), "near", "middle", and "far" areas are set, and accordingly, the object is "near",
If detected in any of the "medium" and "far" areas, an alarm may be issued accordingly. Alternatively,
The sizes of the "near", "middle", and "far" regions may be set more finely according to the deviation, and an alarm may be appropriately issued based on this.

Further, the threshold value changing means 34 can change the alarm threshold value of each corner sensor 16 separately. For example, if an object detected by a certain sensor 16 is far away, it is considered that the alarm is unnecessary.
It is designed to significantly lower the alarm threshold. Alarm means 3
5 is, for example, speakers 14a, 1 provided in the vehicle compartment.
4b or buzzer 14c gives an alarm to the driver if the distance between the vehicle 1 and the object obtained by the corner sensor 16 is within a predetermined threshold value.

Further, the alarm means 35, during parking assistance, when the deviation between the actual trajectory of the vehicle 1 and the target parking trajectory is within a predetermined range, that is, the vehicle 1 travels on a trajectory substantially the same as the target parking trajectory. If so, the alarm is canceled. As a result, it is possible to prevent the driver, who is performing an appropriate driving operation for parking, from outputting an alarm unnecessarily, and to provide appropriate parking assistance.

Further, when it is determined based on the driving operation detection means 33 that the vehicle 1 will obviously move away from the object, the alarm means 35 does not have a risk of the vehicle 1 interfering with the object and it is necessary to output an alarm. There is no alarm, so no alarm is output. 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 guiding means 20, here, the speakers 14a, 1 installed on the doors on the driver's seat side and the passenger's seat side in the vehicle interior are installed.
4b, and light-emitting bodies (LEDs) 24a, 2 that are provided near the both side mirrors inside or outside the vehicle.
4b is 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 14b, and the left LED 24b blinks to call the driver's attention. Note that only one of the speaker 14 and the LED 24 may be operated.

Since the vehicle with the parking assistance device according to the present embodiment is configured as described above, parking assistance for parallel parking is performed in the following procedure. In the vehicle with the parking assistance device of the present embodiment, the parking space required for parallel parking is set to 7.5 m, 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. 6, 7 and 8, 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 two-dot chain line in FIG. 6). When the parking guide switch 6 is turned on at the position of the vehicle 1 shown) and "left side parallel parking" is selected,
A voice message "Please move forward slowly and stop beside the position where you want to park" is played (step S
2).

Then, when the driver comes to the side of the area where he / she wants to park when looking sideways from the seated position (the position of the vehicle 1 shown by the solid line in FIG. 6), the vehicle 1 is stopped. At this time,
As shown in FIG. 6, a vehicle already parked on the front side (lower side in FIG. 6) of the area to be parked (hereinafter referred to as a rear vehicle).
21 is present, the ultrasonic sensor 2 is
In order to detect 1 assuredly, the vehicle is driven in the vicinity of a predetermined distance X1 (for example, 1 m) from the rear vehicle 21.

The output of the ultrasonic sensor 2 shown in FIG. 6 is shown in correspondence with the position of the front end of the vehicle 1 in the traveling direction. Thereafter, the ultrasonic sensor 2 is also similarly shown in FIGS. 9, 11, and 14.
Are displayed, which also correspond to the front end position of the vehicle 1. After that, it is determined whether or not the temporary stop is completed (step S4), and when the temporary stop is completed, at this time, the ultrasonic sensor 2 detects the presence or absence of the rear vehicle 21 parked behind the area to be parked. In some cases, the presence or 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 there is 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 such that the rear end of the vehicle 1 is at a position separated from the front end of the rear vehicle 21 by a predetermined distance L2 (step S1).
0).

That is, as shown in FIG. 9B, when the driver stops the vehicle 1 at the position b1 after turning on the parking guide switch 6, the ultrasonic sensor 2 generally determines that the rear vehicle 21 Only detect. That is, even if the front vehicle 22 actually exists in front of the target parking area, at the stop position b1 of the vehicle 1, since the ultrasonic sensor 2 normally does not reach the position where the front vehicle 22 can be detected, The forward vehicle 22 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 rear vehicle 21 exists.

Specifically, as shown in FIG.
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 a distance L3 away (step S1).
6).

That is, as shown in FIG. 9C, when the driver stops the vehicle 1 at the position c1 after turning on the parking guide switch 6, 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 the vehicle 1 next to the empty area, if the front end of the own vehicle 1 advances 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, as shown in 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 front end and the front vehicle 22 rear end. The parking space length Sp1 between the two is calculated (step S22). That is, FIG.
As shown in (a), the driver determines that the vehicle 1 is the rear vehicle 21.
When the parking guide switch 6 is turned on and the vehicle 1 is moved forward and stopped at a position a1 where the rear end of the front vehicle 22 can be detected at a position behind the ultrasonic sensor 2,
The rear vehicle 21 and the front vehicle 22 are detected. 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
2 Detect the trailing edge.

In such a case, as shown in FIG. 10 (a), since the front vehicle 22 actually exists in front of the area to be parked, it is 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 less than, proceed to J1 shown in Fig. 8 and tell the driver that there is not enough space for parking by the voice message "There is not enough parking space. The parking guide will be terminated." finish. 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
The target parking position is set so as to be right next to the position where is currently stopped (step S32). That is, FIG. 9 (d)
As shown in, when the driver turns on the parking guide switch 6 and then stops the vehicle 1 at the position d1, the ultrasonic sensor 2 does not detect anything. That is, even if the front vehicle 22 actually exists in front of the target parking area, at the stop position d1 of the vehicle 1, since the ultrasonic sensor 2 does not normally reach the position where the front vehicle 22 can be detected, The car 22 cannot be detected. So 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 on the assumption that no parked vehicle exists before and after the space to be parked.

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 moving 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,
Teach the driver to move forward with a voice message saying "Please move forward about 5 meters." 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, when it is necessary to move backward by 1 m to the initial stop position, the teaching means 13 teaches the driver, "Please slowly back about 1 meter" (step S).
44).

Further, while the driver who is instructed is performing the forward or backward operation, the ultrasonic sensor 2 moves 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.

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, and if it is type D, the process proceeds to J3 in FIG. 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 “no rear vehicle signal and front vehicle signal”, 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 a guide sound (for example, a 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. 8, and 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 is displayed. A left arrow is displayed on 15, and the driver is instructed to operate the steering wheel.

Then, it is judged whether or not the steering wheel has reached the left maximum steering angle (step S58), and when the steering wheel reaches the maximum left steering angle, the guidance sound and the voice message "Please back about Db1 meter" are used. The driver is instructed to move backward (step S60). After that, 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 (step S64).

Then, it is judged whether or not the stop is completed (step S66), and when the stop is completed, the driver is instructed to operate the handle by the voice message "Please set the handle to neutral" (step S6).
8). It is determined whether or not the steering wheel has reached the neutral steering angle (step S70).
The driver is instructed to retreat by the voice message "Please move back as much as Dc meter" (step S72).

After that, it is determined whether or not Dc has retreated (step S74). When the Dc retreat is completed, the driver is instructed to stop by the guidance sound (step S7).
6). It is determined whether the stop is completed (step S7).
8) When the stop is completed, the driver is instructed to operate the steering wheel by the voice message "Please turn the steering wheel to the right all the way" (step S80).

Then, it is judged whether or not the steering wheel has reached the right maximum steering angle (step S82), and when the steering wheel reaches the maximum right steering angle, a guidance sound is displayed and "Please check safety and move back about Db2 meters." The driver is instructed to move backward (step S84).
After that, it is determined whether or not Db2 has retreated (step S
86), when the Db2 backward movement is completed, the driver is instructed to stop by the guidance sound (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 front-rear center point of the target parking position and the front-rear center point of the vehicle 1 is within a predetermined distance (for example, 50 cm). If so, 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. Further, during parking assistance, the corner sensor system also operates, the driving operation detecting means 33 calculates the actual locus of the vehicle 1, obtains the deviation between this actual locus and the target parking locus, and obtains the actual locus and the target parking locus. If the deviation is within a predetermined range (close to 0), the alarm output by the alarm means 35 is stopped.

On the other hand, as the deviation between the actual locus and the target parking locus becomes larger than the predetermined range, the threshold changing means 34 raises the warning threshold of the corner sensor 16, that is, the sensitivity of the corner sensor 16 is raised, and the warning means. The alarm by 35 is frequently output. As a result, the vehicle 1
Prevents the vehicle 1 from interfering with an object by recognizing that the driving operation is performed with a large deviation from the target parking locus and that the vehicle 1 is likely to interfere with a parked vehicle, a wall, or the like. it can.

The threshold value changing means 34 can change the alarm threshold value of each corner sensor 16 separately, and when it is determined that the vehicle 1 is clearly moving away from the object, the alarm can be stopped for each corner sensor 16. . Further, during the above parking assistance, by the teaching timing learning means 17,
The teaching timing for stopping is learned based on the reaction time of the driver. Then, the teaching control means 18 corrects the teaching timing of the subsequent stop based on the learning of the teaching timing learning means 17. For example, the response time from when the driver stops the vehicle 1 when the driver depresses the brake to stop the vehicle 1 is accumulated and evaluated, and the teaching is performed at the teaching timing according to the driver response time. The simplest way is to teach "stop" at the timing according to the average response time for which the cumulative time is simply averaged, or at the timing for the response time obtained by weighted averaging with more emphasis placed on the latest response time. . With this, if the driver operates according to the instruction, the vehicle moves along a predetermined locus and is reliably parked at the target parking position.

Further, for example, when the vehicle is turning leftward and backwards, the driver needs to pay attention to the left side of the vehicle 1. In this case, a backward sound is emitted from the left speaker 14b in the passenger compartment, By blinking the LED 24b, the driver is informed of where to focus on the operation. Thereby, safer parking assistance can be provided.

Also, here, the gear position is limited to the first speed by the gear shift position control means 12 during parking assistance. 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. Since the image captured by the rear view camera 7 and the icon 30 for teaching the steering wheel operation are displayed on the display 15, particularly when the vehicle 1 moves backward, the driver can display the image behind the vehicle 1 and a schematic operation display. It is possible to perform a driving operation while confirming. Therefore, the driver can perform a safe and appropriate driving operation.

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 the direction in which the steering wheel is turned opposite to the case of the left side parallel parking, and other parking assistance is not provided. 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 FIG. 11, FIG. 12 and FIG. 13, for example, when performing left-side parallel parking, first, the front right side of the area to be parked (indicated by a two-dot chain line in FIG. 11). When the driver turns on the parking guide switch 6 and selects "Parallel parking on the left side" at the position of the vehicle 1 shown), a voice message "Please move forward slowly and stop beside the position where you want to park" is played (step T2). .

Then, when the driver comes to the side of the area where he / she wants to park from the seated position (the position of the vehicle 1 shown by the solid line in FIG. 11), the vehicle 1 is stopped. At this time, as shown in FIG. 11, 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. 10) 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.

Thereafter, 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 point in time, the right adjacent vehicle 31 parked on the right side of the area to be parked. 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. 14 (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. 15 (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 a position separated by a predetermined distance L20 to the left. 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, right adjacent vehicle 3
When there is only one, the vehicle 1 can be parked with a space having 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 sets the target parking position so that the vehicle 1 is located at a position separated from the left adjacent vehicle end by a predetermined distance L30 (for example, 1.5 m) (step T).
16).

That is, as shown in FIG. 14C, the driver turns on the parking guide switch 6 and then the vehicle 1
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. 15 (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, 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. It is set large. That is, when only the left adjacent vehicle 32 exists, the vehicle 1 can be parked with a space larger than a predetermined amount 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 length Sp2 between the left adjacent vehicle 32 and the right adjacent vehicle 31 (step T22).

That is, as shown in FIG. 14A, at the time 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 vehicle adjacent to the left adjacent vehicle 32. When stopped at the position a10 where the right end of 32 can be detected, the ultrasonic sensor 2 detects the right adjacent vehicle 31 and the left adjacent vehicle 32. 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. 15 (a), 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 length Sp2 is less than the predetermined length Sp ', FIG.
Proceed to K1 shown in No. 3, and with the voice message "There is not enough parking space. The parking guide will be terminated."
After instructing the driver that there is not enough space to park, the parking assistance ends. 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 reached. 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. 14D, 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, normally, the ultrasonic sensor 2 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 the parked vehicle does not exist on the left and right of 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 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 D1 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.

When 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 determined whether or not the ultrasonic sensor 2 has detected the left adjacent vehicle 32 while the driver who has received the instruction is performing the forward or backward operation (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 or not 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 a2 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.
If the type is D, the process goes 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 of "pipon") (step T50), and then it is determined whether or not the stop is completed (step T50). T52). When the stop is completed, the process proceeds to step T56 shown in FIG.
After stopping 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 right all the way", and the right arrow is displayed on the display 15 to instruct the driver to operate the steering wheel. .

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

Then, it is judged whether or not the stopping is completed (step T66), and when the stopping 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 left" (step T68). . It is determined whether or not the steering wheel has reached the left maximum steering angle (step T70), and when the steering wheel reaches the maximum left steering angle, the driver is instructed to retreat by the guidance sound and the voice message "Db3 meters, please back". Is performed (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 guide sound (step T7).
6). 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 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 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.

Further, during parking assistance, the corner sensor system is also operating, the driving operation detecting means 33 calculates the actual locus of the vehicle 1, finds the deviation between this actual locus and the target parking locus, and calculates the actual locus and the target. If the deviation from the parking locus is within the predetermined range (close to 0), the alarm output by the alarm means 35 is stopped. As a result, it is possible to prevent the alarm from being frequently output even though the driver is appropriately performing the driving operation according to the instruction by the teaching means 13.

On the other hand, as the deviation between the actual locus and the target parking locus increases beyond a predetermined range, the threshold changing means 34 raises the warning threshold of the corner sensor 16, that is, the sensitivity of the corner sensor 16 is raised, and the warning means. The alarm by 35 is frequently output. As a result, the vehicle 1
Prevents the vehicle 1 from interfering with an object by recognizing that the driving operation is performed with a large deviation from the target parking locus and that the vehicle 1 is likely to interfere with a parked vehicle, a wall, or the like. it can.

As described above, an unnecessary warning is surely output according to the deviation while the unnecessary warning is suppressed as much as possible, so that the driver can be appropriately guided without any discomfort. be able to. The threshold changing means 3
4, the alarm thresholds of the corner sensors 16 can be changed separately, and when it is determined that the vehicle 1 is clearly distant from the object, the alarm thresholds are reduced or set to 0 for each corner sensor 16. As a result, the alarm can be canceled, and in this respect also, frequent alarm output can be prevented.

Further, during the above parking assistance, the teaching timing learning means 17 learns the teaching timing for stopping based on the reaction time of the driver. Then, the teaching control means 18 corrects the teaching timing of the subsequent stop based on the learning of the teaching timing learning means 17.
For example, the response time from when the driver stops the vehicle 1 when the driver depresses the brake to stop the vehicle 1 is accumulated and evaluated, and the teaching is performed at the teaching timing according to the driver response time. The simplest is to teach "stop" at a timing according to the average response time for which the cumulative time is simply averaged, or at a timing for the response time obtained by weighted averaging with more emphasis placed on the latest response time. . This allows
If the driver operates according to the instruction, the vehicle moves along a predetermined locus and is reliably parked at the target parking position.

Furthermore, for example, when the vehicle is turning leftward and backwards, the driver needs to be careful of the left side of the vehicle 1. In this case, the driver can make a backward sound from the left speaker 14b in the passenger compartment, By blinking the LED 24b, the driver is informed of where to focus on the operation. Thereby, safer parking assistance can be provided.

Further, here, during the parking assistance, the shift position is limited to the first speed by the shift position control means 12. 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. Since the image captured by the rear view camera 7 and the icon for teaching the steering wheel operation are displayed on the display 15, the driver can display the image behind the vehicle 1 and the schematic operation display especially when the vehicle 1 moves backward. It is possible to perform a driving operation while checking. Therefore, the driver can perform a safe and appropriate driving operation.

According to the procedure described above, 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 addition, in this embodiment, although the vehicle width direction parking space which can be parked in parallel was set to 2.5 m and demonstrated, of course, it is also possible to set it to other numerical values.

As described above, in the vehicle with the parking assistance device of the present embodiment, when parking assistance is started by the parking guide switch 6, the ultrasonic sensor 2 detects the parked vehicle in the vicinity of the parking area. 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
Thus, the current position of the vehicle 1 can be estimated 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 current 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.

A guide sound for teaching the stop of the vehicle 1,
The guide sound for teaching that the steering wheel has reached the predetermined steering angle may be different sounds. As a result, the driver can be clearly taught the driving operation. 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 the present 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. However, in particular, the step may not be the stepped transmission 19. For example, in the case of CVT, it may be limited to the gear ratio region corresponding to the low speed stage.

During parking assistance, when the position of the vehicle deviates from the required trajectory based on the estimation result of the current position estimating means 10, the first reverse turning distance Db1, the neutral reverse distance Dc,
The deviations of the second backward turning distance Db2, the forward turning distance Df, and the backward turning distance Db3 may be corrected according to the current position (including direction) of the host vehicle.

[0117]

As described above in detail, according to the vehicle with the parking assistance device of the present invention as set forth in claim 1, during parking assistance,
Since the threshold value changing means can change the threshold value of the object position detecting means, the warning given by the warning means to the driver can be appropriately controlled. That is, more appropriate parking assistance can be provided to the driver.

According to the vehicle with a parking assist device of the present invention as defined in claim 2, the threshold value changing means and the necessary driving operation (that is, the target parking locus) and the driver taught to the driver by the teaching means. Based on the deviation (deviation) from the actual driving operation (that is, the actual trajectory of the vehicle),
Since the threshold value of the object position detecting means is changed, the alarm given to the driver can be appropriately controlled according to this deviation. Therefore, more appropriate parking assistance can be provided to the driver.

According to the vehicle with a parking assist device of the present invention as defined in claim 3, when the deviation between the actual track of the vehicle and the target parking track is small, that is, the driver drives in accordance with the teaching content of the teaching means. When the operation is performed, the threshold value of the object position detecting means is lowered, so that it is difficult to output the alarm. Therefore, it is possible to prevent the alarm from being output unnecessarily to the driver who is performing an accurate driving operation for parking,
Appropriate parking assistance can be provided.

On the other hand, when the deviation between the actual locus of the vehicle and the target parking locus is large, that is, when the driver performs a driving operation without exactly following the teaching content of the teaching means, the threshold value of the object position detecting means is increased. Therefore, an alarm is easily output. Therefore, it is possible to prevent the driver from interfering with the parked vehicle, the wall, or the like by making the driver recognize that the vehicle is deviating from the target parking locus and performing the driving operation.

According to the vehicle with a parking assistance device of the present invention as defined in claim 4, when the deviation between the actual locus of the vehicle and the target parking locus is within a predetermined range during the parking assistance, that is, the vehicle is the target. If the vehicle is traveling on the same locus as the parking locus, the alarm is canceled. As a result, it is possible to prevent an unnecessarily alarm from being output to the driver who is performing an appropriate driving operation for parking, and to provide appropriate parking assistance.

According to the vehicle with a parking assistance device of the present invention as defined in claim 5, when the object is separated from the vehicle,
Since there is no risk of the vehicle interfering with the object, in this case,
The alarm can be turned off. Further, according to the vehicle with a parking assistance device of the present invention as set forth in claim 6, since the threshold value changing means changes the threshold values of the plurality of object position detecting means provided in the vehicle separately, it is possible to detect a necessary point. An alarm can be output for each object position detecting means.

[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 schematic plan view showing a detection range of an object position detection means of the parking assistance apparatus according to the embodiment of the present invention.

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

FIG. 4 is a schematic perspective view for explaining guide means of the parking assistance apparatus according to the embodiment of the present invention.

FIG. 5 is a schematic diagram for explaining threshold changing means of the parking assistance apparatus according to the embodiment of the present invention.

FIG. 6 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. 7 is a flowchart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 8 is a flowchart for explaining parking assistance for parallel parking by the parking assistance apparatus 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 schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 11 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. 12 is a flow chart for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.

FIG. 13 is a flowchart 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 schematic plan view for explaining parking assistance for parallel parking 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 (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) 30 handle icon 31 Right adjacent car 32 Adjacent left car 33 Driving operation detection means 34 Threshold changing means 35 Alarm means A Ultrasonic sensor detection range B Corner sensor detection range

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 626 B60R 21/00 626B 626C 626E 626G 630 630C (72) Inventor Tetsushi Omuro Shiba, Minato-ku, Tokyo 5 chome 33-8 Mitsubishi Motors Corporation

Claims (6)

[Claims] 1. A vehicle equipped with a parking assistance device for assisting a driver in parking operation, comprising object position detecting means for detecting a position of an object existing in the vicinity of the vehicle with respect to the vehicle, and the object position detecting means. If the distance to the object obtained from the output from the vehicle is within a predetermined threshold, it is equipped with a warning means for giving a warning to the driver, and a threshold changing means for changing the above predetermined threshold during parking assistance. A vehicle with a parking assist device. 2. A driving operation detecting means for detecting a driving operation of a driver, and a teaching means for teaching a driving operation required for parking to a driver, wherein the threshold value changing means comprises the driving operation detecting means. The vehicle with a parking assist device according to claim 1, wherein the predetermined threshold value is changed based on a deviation between an output of the above-mentioned teaching means and an output of the teaching means. 3. The threshold changing means increases the predetermined threshold as the deviation increases, and decreases the predetermined threshold as the deviation decreases.
Vehicle with the parking assistance device described. 4. The alarm means stops the alarm if the deviation is within a predetermined range.
Vehicle with the parking assistance device described. 5. The alarm means does not issue an alarm when the object is separated from the vehicle even if the distance to the object is within the threshold value. A vehicle with a parking assistance device according to item 1. 6. The object position detecting means is provided in plural, and the threshold value changing means changes the threshold value of each of the object position detecting means separately. A vehicle with a parking assistance device according to item 1.