JP2005035315A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device which gives a driver an alarm on an obstacle, while keeping excellent external appearance of a bumper by simple structure, and reduces the number of parts and cost. <P>SOLUTION: This device 2 is provided with sensor mounting parts 33a to 33f provided on an internal surface of the resin bumper 32 provided in longitudinal direction of a vehicle body 1 to transmit microwaves, microwave sensors 3a to 3f mounted on the sensor mounting parts 33a to 33f to detect a distance L up to the obstacle and relative speed V with the obstacle through the bumper 32 by transmission and reception of the microwaves, and an alarm device 4 for giving the driver an alarm according to the distance L and relative speed V detected by the microwave sensors 3a to 3f. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device used when a vehicle is parked.
[0002]
[Prior art]
For example, when an automobile is parked in a garage facing backwards, a blind spot is likely to occur between the rear part of the vehicle body and the wall of the garage. For this reason, when a driver | operator's attention is insufficient, the rear part of a vehicle body may contact the wall of a garage. As a result, recently, automobiles have been equipped with parking assistance devices to prevent contact between the vehicle body and obstacles when entering the garage.
[0003]
The parking assist device has a sensor that detects the distance and relative speed between the vehicle body and the obstacle, for example, on the rear bumper and alerts the driver with an alarm device such as an indicator and a beep sound from the speaker when approaching the obstacle behind the vehicle body. Call attention to.
[0004]
By the way, in general, for example, an ultrasonic sensor is used in such an alarm device. The ultrasonic sensor needs to expose the ultrasonic wave transmission / reception surface of the sensor head to the outside from the outer surface of the bumper in order to prevent malfunction due to absorption of ultrasonic waves by the bumper. For this reason, in general, an ultrasonic sensor is provided with an attachment hole penetrating the bumper inside and outside the bumper, and the ultrasonic sensor is attached to the attachment hole so that the transmission / reception surface is exposed from the outer surface of the bumper. However, such attachment is unsatisfactory because the sensor head is exposed from the outer surface of the bumper.
[0005]
Therefore, a structure has been proposed in which the outer surface of the bumper is covered with a cover that does not absorb ultrasonic waves so that the transmission / reception surface of the sensor head is not exposed to the outside of the bumper (see, for example, Patent Document 1).
[0006]
[Patent Document 1]
Japanese Patent Laid-Open No. 7-267023 (paragraph 10, FIG. 1)
[0007]
[Problems to be solved by the invention]
However, since the parking assist device having the above-described structure has a structure in which the outer surface of the bumper is separately covered with a dedicated cover in order to make the transmission / reception surface of the sensor head inconspicuous, the structure of the bumper becomes complicated and a cover is necessary. Therefore, the number of parts increases and the cost increases.
[0008]
Accordingly, an object of the present invention is to provide a parking assist device that can warn an obstacle while maintaining a good bumper appearance with a simple structure, and can reduce the number of parts and the cost.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, in the parking assist device according to claim 1, the microwave sensor is attached via a sensor attachment portion provided on the inner surface of the bumper of the vehicle body, and the obstacle that the microwave sensor detects through the bumper. It is configured to include an alarm device that performs an alarm according to the distance to the object and the relative speed, so that an alarm is given to an obstacle without changing the outer surface of the bumper using the characteristics of the microwave passing through the bumper. I made it.
[0010]
In the parking assistance device according to claim 2, in order to prevent contact between the vehicle body and the obstacle at a location where a blind spot is likely to be generated from a driver, such as between the corner of the vehicle body and the obstacle, The sensor mounting portion is provided in the vicinity of the end of the bumper in the vehicle width direction.
[0011]
According to a third aspect of the present invention, the microwave sensor employs a two-frequency CW system that transmits and receives two frequencies with a single antenna in order to reduce the size of the microwave sensor while occupying a part. Further, the alarm device continues the alarm state for a predetermined time even when the distance and the relative speed are not measured in order to surely alert the driver.
[0012]
In the parking assistance device according to claim 4, the alarm device stops the alarm when the vehicle body and the obstacle are away from each other in order to suppress unnecessary operation and power consumption.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
1ST EMBODIMENT The parking assistance apparatus which concerns on 1st Embodiment of this invention is demonstrated with reference to FIGS.
[0014]
The automobile (vehicle body) 1 has a parking assist device 2 for preventing contact with an obstacle such as a wall when parking in a parking space such as a garage. As shown in FIG. 1, the parking assist device 2 is configured to adjust the distance and relative speed between the plurality of microwave sensors 3 a to 3 f, the alarm device 4, and the vehicle body 1 and the obstacle detected by the microwave sensors 3 a to 3 f. It has ECU6 which controls the alarm device 4 based on, the main switch 7, and the shift position sensor 8. FIG.
[0015]
The microwave sensors 3a to 3f are sensors for measuring the distance and relative speed between the vehicle body 1 and an obstacle, and are a two-frequency CW method using microwaves, and switch two frequencies from one antenna at high speed. It uses a diplex Doppler system for transmitting and receiving.
[0016]
As shown in FIG. 2, the microwave sensors 3 a to 3 f are configured, for example, by incorporating a sensor head 31 in which the above-described antenna or the like is housed inside a rectangular parallelepiped main body 30. The sensor head 31 is fixed in a state where the microwave transmission / reception surface 31 a is exposed from the side surface 39 of the main body 30.
[0017]
Resin bumpers 32 are respectively provided at the front part 1a and the rear part 1b of the vehicle body 1, and the microwave sensors 3a to 3f are arranged in the vehicle width direction of the bumper 32 as shown by circles in FIG. The sensor mounting portions 33a to 33f provided in the vicinity of the end portions are respectively mounted. The resin bumper 32 has a property of transmitting microwaves. The state of the sensor mounting portion is shown as a representative of the sensor mounting portion 33f in FIG. Hereinafter, the sensor mounting portion and the sensor mounting will be described in detail on behalf of the microwave sensor 3f.
[0018]
The sensor attachment portion 33 f is formed by attaching a sensor attachment member 34 to the inner surface 32 a of the bumper 32. As shown in FIG. 2, the sensor mounting member 34 is a rectangular parallelepiped cylinder that can accommodate the microwave sensor 3 f, and the opening 34 a is abutted against the inner surface 32 a of the bumper 32, and the opening 34 b at the other end is the bumper 32. It is attached to the bumper 32 so as to protrude from the inner surface 32a of the bumper 32 so as to face inward. In this case, the opening 34a has a shape along the inner surface 32a of the bumper 32 and is easy to attach.
[0019]
The microwave sensor 3 f is inserted from the opening 34 b of the sensor mounting member 34 so that the side surface 39 where the transmission / reception surface 31 a of the sensor head 31 is exposed faces the inner surface 32 a of the bumper 32. At this time, for example, a convex portion 37 is provided on the side surface 36 of the microwave sensor 3 f, and a recess 38 in which the convex portion 37 is fitted is provided on the side surface 35 of the sensor mounting member 34 facing the side surface 36. . The microwave sensor 3f is fixed by fitting the convex portion 37 into the recess 38 only by being inserted from the opening 34b of the sensor mounting member 34. The sensor attachment portions 33 a to 33 f are formed by attaching the sensor attachment member 34 to the inner surface 32 a of the bumper 32, but the sensor attachment member 34 may be formed integrally with the bumper 32.
[0020]
By the above attachment, the side surface 39 of the microwave sensor 3f from which the transmission / reception surface 31a of the sensor head 31 is exposed is fixed to the vehicle body 1 in a state of facing the inner surface 32a of the bumper 32 as shown in FIG. The same applies to the other microwave sensors 3a to 3e. The microwaves transmitted from the antennas of the microwave sensors 3 a to 3 f pass through the microwave transmission / reception surface 31 a of the sensor head 31, pass through the bumper 32, hit the obstacle, and are reflected, and the reflected wave passes through the bumper 32 and is transmitted / received. The signal is received by the antenna through the surface 31a. Thereby, the distance and relative speed with the site | part of the bumper 32 in which each sensor attaching part 33a-33f is located are detected.
[0021]
Moreover, each microwave sensor 3a-3f has the detection ranges 11-16 as shown, for example in FIG. 5, and each detects the distance and relative speed with the obstacle of a detection range. For example, the detection range 11 of the microwave sensor 3a extends from the left side to the left front side of the sensor mounting portion 33a. The detection range 12 of the microwave sensor 3b extends from the right side of the sensor mounting portion 33b to the right front side. The detection range 13 of the microwave sensor 3c extends from the left of the sensor mounting portion 33c to the left rear. The detection range 14 of the microwave sensor 3d extends rearward from the sensor attachment portion 33d. The detection range 15 of the microwave sensor 3e extends backward from the sensor attachment portion 33e. The detection range 16 of the microwave sensor 3f extends from the right side to the right rear side of the sensor mounting portion 33f. The left-right direction is defined with respect to the front-rear direction of the vehicle body 1.
[0022]
As shown in FIG. 1, the alarm device 4 employs a structure in which two types of alarm means, for example, an indicator 41 and a speaker 42 are combined. The indicator 41 visually alerts the driver under the control of the ECU 6, and is provided at a position that is easy for the driver to see. The indicator 41 schematically shows the vehicle body 1, and lamps 43 a to 43 f, for example, are provided at locations corresponding to the sensor mounting portions 33 a to 33 f of the vehicle body 1.
[0023]
The lamps 43a to 43f are controlled by the ECU 6 so that the corresponding microwave sensors 3a to 3f detect the distances and relative speeds of the bumper 32 and the obstacles with the corresponding sensor mounting portions 33a to 33f. It is designed to flash or light accordingly. By flashing or lighting the lamps 43a to 43f, the driver can be informed that the part of the bumper 32 where the sensor mounting portions 33a to 33f are located is in an approaching state with an obstacle.
[0024]
The indicator 41 has a level lamp 44 that indicates the degree of distance between the vehicle body and the obstacle. The level lamp 44 includes level lamps 44a to 44c, and blinks or lights up according to the degree of distance under the control of the ECU 6.
[0025]
The speaker 42 audibly alerts the driver under the control of the ECU 6. The speaker 42 continuously beeps or sounds according to the distance and relative speed between the part of the bumper 32 where the corresponding sensor mounting portions 33a to 33f are located and the obstacles detected by the microwave sensors 3a to 3f. It is generated periodically. Thus, the driver can be informed that the part of the bumper 32 where the sensor attachment portions 33a to 33f are located is close to the obstacle. For example, among the parts of the bumper 32 where the sensor attachment portions 33a to 33f are present, a beep sound is generated when it is determined that any one of the sensor attachment portions 33a to 33f is in an approaching state with the obstacle based on the distance and relative speed with the obstacle. appear.
[0026]
The main switch 7 is connected to the ECU 6. When the main switch 7 is turned on, the parking support device 2 is activated, and when the main switch 7 is turned off, the parking support device 2 is stopped. The shift position sensor 8 is connected to the ECU 6 and transmits the shift position to the ECU 6.
[0027]
The operation of the parking support apparatus 2 having the above-described configuration is shown in the flowchart of FIG. In addition, the flowchart based on the distance and relative speed of the site | part of the bumper 32 with which each corresponding sensor attachment part 33a-33f with which each microwave sensor 3a-3f detects is located, and an obstruction is the same. Here, as shown in FIG. 7, when the vehicle is parked rearward in a garage 9 surrounded by a wall other than the entrance 91, the distance L and the relative speed V with respect to the rear wall 92 of the garage 9 detected by the microwave sensor 3 e. Based on the above description.
[0028]
In this case, the distance L and the relative speed V indicate the distance and the relative speed between the bumper 32 where the sensor mounting portion 33e is located and the rear wall 92 of the garage 9, but here, the rear portion 1b of the vehicle body 1 (sensor mounting) The bumper 32 where the portion 33e is located is the rear portion 1b of the vehicle body 1.) The distance between the rear wall 92 of the garage 9 and the relative speed will be described.
[0029]
It is assumed that the driver turns on the main switch 7 of the parking assist device 2 and now enters the garage with the vehicle facing backward. Then, the parking assist device 2 is activated, microwaves are transmitted from the antenna of the sensor head 31 of the microwave sensor 3e, and microwaves that are transmitted through the bumper 32 and reflected by the rear wall 92 of the garage 9 are received by the antennas. The distance L between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 and the relative speed V are detected at any time.
[0030]
In step ST1, for example, an average distance L _ave and an average relative speed V _{ave which} are average values of a plurality of distances L and relative speeds V detected at that moment are obtained. In step ST2 to step ST4, the average distance L _ave and the average relative speed V _ave are compared with specified values. By comparison with the specified value, the ECU 6 activates the alarm device 4 according to the degree of risk that the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 come into contact with each other.
[0031]
For example, when the average relative speed V _ave is greater than 0, that is, when the vehicle body 1 is moving toward the rear wall 92 of the garage 9 and the average distance L _ave is less than 0.2 m, the degree of risk is highest. The process proceeds from step ST2 to step ST5, and the situation can be reported. For example, the ECU 6 blinks the lamp 43e of the indicator 41 and the level lamps 44a to 44c, further generates beep sounds from the speaker 42, and proceeds to step ST8.
[0032]
_{Alternatively} , when the average relative speed V _ave is greater than 0 and the average distance L _ave is 0.2 m or more and less than 0.4 m, it is determined that the risk is moderate, and the process proceeds from step ST3 to step ST6. I can tell you. For example, the ECU 6 blinks the lamp 43e and the level lamps 44a and 44b, further generates a beep sound with a cycle of 5 Hz, and proceeds to step ST8.
[0033]
_{Alternatively} , when the average relative speed V _ave is greater than 0 and the average distance L _ave is 0.4 m or more and less than 0.6 m, it is determined that the degree of danger is small, and the process proceeds from step ST4 to step ST7. I can tell you. For example, the ECU 6 blinks the lamp 43e and the level lamp 44a, further generates a beep sound with a cycle of 2.5 Hz, and proceeds to step ST8.
[0034]
In step ST8, the value of the average distance L _ave is stored in, for example, a memory constituting the ECU 6, and the process returns to step ST1.
[0035]
When the driver notices an alarm and stops the vehicle body 1 moving backward, the process proceeds from step ST9 to step ST10, and the previously obtained average distance L _ave stored in the memory is compared with a specified value (vehicle body 1 Is stopped and the average relative speed V _ave becomes 0, the average distance L _ave cannot be detected.) Since the average relative speed V _ave is 0, the value stored in the memory is the current average distance L _ave .
[0036]
At this time, if the distance that may come into contact with the obstacle, for example, the average distance L _ave is less than 0.6 m, the process proceeds to step ST11. Since this state is a state in which the shift position is R (reverse) and the vehicle is stopped, the alarm by the microwave sensor 3e is interrupted, but the alarm is continued for a predetermined time T in order to compensate for the interruption, and attention is given to the driver. Prompt. After elapse of the predetermined time T, it is determined that the driver has received attention, and the process proceeds to step ST12 where the warning by the blinking of the lamp 43e and the level lamp 44 and the beep sound is stopped and the process returns to step ST1.
[0037]
In step S11, if the shift position is changed, that is, if the shift is changed from R to 1st gear, it is determined that the operation of moving the vehicle body 1 away from the rear wall 92 of the garage 9 is performed, and the process proceeds to step ST1. Return. At this time, when the vehicle body 1 moves, the vehicle body 1 moves away from the rear wall 92 of the garage 9, so the average relative speed V _ave becomes negative. That is, assuming that the possibility of contact between the rear part 1b of the vehicle body 1 and the rear wall 92 of the garage 9 has been avoided, the process proceeds to step ST12, and the warning by the blinking of the lamp 43e and the level lamp 44 and the beep sound is stopped. Return to step ST1.
[0038]
Since the parking assist device 2 configured as described above has a property that the microwave passes through the resin bumper 32, the microwave transmission / reception surface 31 a of each sensor head 31 is used as the outer surface 32 b of the bumper 32. There is no need to expose from. Therefore, a dedicated cover that covers the outer surface 32b of the bumper 32 is not used. Therefore, an alarm can be given according to the state of the obstacle while maintaining a good appearance of the bumper 32 with a simple structure, and the number of parts can be reduced and the cost can be reduced.
[0039]
In addition, since the sensor mounting portions 33a to 33f are provided in the vicinity of both ends in the vehicle width direction of the bumper 32, the driver is likely to become a blind spot, such as between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9. Contact between the vehicle body 1 and the garage 9 can be prevented.
[0040]
In addition, the microwave sensor employs a diplex Doppler method that uses one antenna of the two-frequency CW method as a method for detecting the distance to the obstacle and the relative speed, so that the area occupied by the components can be reduced. The size can be reduced. Furthermore, even if the relative speed V (average relative speed V _ave ) between the vehicle body 1 and the obstacle is 0 and the distance L (average distance L _ave ) cannot be detected, the average distance L _ave detected last time is set. Based on this, the alarm state is continued for a predetermined time T, so that the driver can be surely cautioned.
[0041]
The alarm device 4 stops the alarm when the vehicle body 1 leaves the garage 9 or when it is determined that the driver has paid attention, such as when the situation where the possibility of contact between the vehicle body 1 and the garage 9 is avoided. Therefore, it is possible to suppress power consumption for operating the alarm device 4.
[0042]
2ND EMBODIMENT The parking assistance apparatus which concerns on 2nd Embodiment of this invention is demonstrated with reference to FIG. 7 and FIG.
[0043]
In the operation of the parking support apparatus 2 performed in the first embodiment, the second embodiment is configured such that even if it is determined in step ST11 that the driver has received attention by continuing the warning for a predetermined time, the rear portion 1b of the vehicle body 1 Control which continues a part of alarm according to average distance _Lave with the rear wall 92 of the garage 9 was employ _| adopted. Since the parking assistance device used in the second embodiment may be the same as the parking assistance device 2 used in the first embodiment, the description is omitted using the same reference numerals.
[0044]
The effect | action of the parking assistance apparatus 2 of 2nd Embodiment is shown by the flowchart of FIG. Assuming the case where the vehicle is parked rearward in the garage 9, the flowchart shown in FIG. 8 is based on the distance L and the relative speed V from the rear wall 92 of the garage 9 detected by the microwave sensor 3e as in the first embodiment. explain. Steps ST1 to ST11 are the same as the steps having the same names described in the first embodiment, and the description is omitted using the same reference numerals.
[0045]
In step ST11, when the alarm is continued for a predetermined time T without changing the shift position, the process proceeds to step ST13 and only the beep sound is stopped. Subsequently, it progresses to step ST14 and it is determined whether _Lave is 0.4 m or less. Here, when L _ave is 0.4 m or less, the process proceeds to step ST15, the blinking of the lamp 43e and the level lamp 44 is switched to lighting, and the process returns to step ST1.
[0046]
That is, although it is determined in step ST11 that the driver has received attention, since the distance between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 is still short, the lamp 43e and the level lamp 44 are turned on. The alarm by the indicator 41 is continued to alert the driver.
[0047]
In step ST14, if the average distance L _ave is greater than 0.4 m, it is determined that the possibility of contact between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 has been sufficiently avoided, the process proceeds to step ST16, where the lamp 43e Stops flashing or lighting, that is, stops all alarms and returns to step ST1.
[0048]
Even when the average relative speed V _ave becomes negative, the beep sound is similarly stopped in step ST13, and then in step ST14, if the average distance L _ave is 0.4 m or less, the process proceeds to step ST15, where the lamp 43e and the level lamp 44 Is switched to lighting and the process returns to step ST1.
[0049]
That is, even when the vehicle body 1 moves forward and the risk of contact with the rear wall 92 of the garage 9 is avoided, the distance between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 is short, The driver is alerted by turning on the lamp 43e and the level lamp 44 and continuing the alarm by the indicator 41. If the average distance L _ave is greater than 0.4 m, it is determined that the risk of contact between the vehicle body 1 and the rear wall 92 of the garage 9 has been sufficiently avoided, and the process proceeds to step ST16 where the lamp 43e and the level lamp 44 blink. And the lighting is stopped, that is, all alarms are stopped, and the process returns to step ST1.
[0050]
According to the second embodiment, even when the possibility of contact between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 is avoided, the distance between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 is short. Continues only some alerts. For example, if the average distance L _ave is 0.4 m or less, the lamp 43e and the level lamp 44 are turned on and the alarm by the indicator 41 is continued, so that the driver can be surely alerted. Here, the alarm by the speaker 42 is stopped and the alarm by the indicator 41 is continued. However, for example, the alarm by the indicator 41 may be stopped and the alarm by the speaker 42 may be continued.
[0051]
In the first and second embodiments, the description has been made only for the distance L and the relative speed V between the rear portion 1b of the vehicle body 1 detected by the microwave sensor 3e and the rear wall 92 of the garage 9, but the microwave sensor 3c. The distance L and the relative speed V between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 and the control associated therewith are simultaneously performed.
[0052]
That is, when the vehicle body 1 has entered obliquely rearward, it is not in an approaching state based on the distance L and the relative speed V between the rear portion 1b of the vehicle body 1 and the rear wall 92 of the garage 9 detected by the microwave sensor 3e. Even if it is determined, there may be an approaching state based on detection by the microwave sensor 3c. In such a case, the lamp 43c and the level lamp 44 are flashed or lit to generate a beep sound to call attention.
[0053]
For example, when the rear part 1b of the vehicle body 1 and the rear wall 92 of the garage 9 are in an approaching state, and the right part 1c of the vehicle body 1 and the right wall 93 of the garage 9 are in an approaching state, for example, the lamps 43b to 43f Flashes or lights up at the same time, and a beep sounds. In this case, the level lamp 44 blinks and lights up in accordance with the closest distance, for example.
[0054]
In the first and second embodiments, the specified value by which the average distance L _ave and the average relative speed V _ave are compared in step ST2 to step ST4, step ST10, and step ST14 can be changed. Needless to say, the cycle of the beep sound and the predetermined time T in step ST11 can also be changed.
[0055]
【The invention's effect】
According to the parking assist device of the first aspect, it is not necessary to expose the surface of the microwave sensor that transmits and receives the microwave from the outer surface of the bumper by using the property of the microwave that passes through the resin bumper. Therefore, a dedicated cover that covers the bumper is not used. Therefore, while maintaining a good bumper appearance with a simple structure, an alarm can be given according to the situation of the obstacle, and the cost can be reduced along with the reduction of the number of parts.
[0056]
According to the parking assist device of the second aspect, the microwave sensor is attached in the vicinity of both ends in the vehicle width direction of the bumper provided on the front and rear of the vehicle body. For this reason, it is possible to prevent the vehicle body and the obstacle from coming into contact with each other at a place where the driver is likely to become a blind spot, such as between the corner of the vehicle body and the obstacle.
[0057]
According to the parking assist device of the third aspect, the microwave sensor detects the distance between the vehicle body and the obstacle and the relative speed using a two-frequency CW method in which two frequencies are transmitted and received by one antenna. For this reason, the area occupied by the components can be reduced and the size can be reduced. Furthermore, even when the distance and the relative speed are not detected by the microwave sensor, the driver can be surely cautioned by continuing the alarm state for a predetermined time.
[0058]
According to the parking assist device of the fourth aspect, the alarm device stops the alarm when the vehicle body and the obstacle are moving away. That is, the alarm device is stopped when the possibility of contact between the vehicle body and the obstacle is avoided, so that power consumption due to useless operation of the alarm device can be suppressed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a parking assistance device according to first and second embodiments of the present invention.
FIG. 2 is a perspective view showing attachment of a microwave sensor according to first and second embodiments of the present invention.
FIG. 3 is a plan view showing an attachment location of the microwave sensor according to the first and second embodiments of the present invention.
FIG. 4 is a perspective view showing a sensor mounting portion according to the first and second embodiments of the present invention.
FIG. 5 is a plan view showing a detection range of each microwave sensor according to the first and second embodiments of the present invention.
FIG. 6 is a flowchart showing the operation of the parking assistance device according to the first embodiment.
FIG. 7 is a plan view showing a state in which the vehicle body is parked in the garage in the first and second embodiments of the present invention.
FIG. 8 is a flowchart showing the operation of the parking assistance device according to the second embodiment.
[Explanation of symbols]
2 ... Parking assistance device, 3a-3f ... Microwave sensor, 32 ... Bumper, 32a ... Inner surface, 33a-33f ... Sensor mounting part, 4 ... Alarm device, L ... Distance, V ... Relative speed.

Claims (4)

A sensor mounting portion provided on an inner surface of a resin bumper capable of transmitting microwaves provided on the front and rear of the vehicle body;
A microwave sensor attached to the sensor mounting portion, for transmitting and receiving microwaves through the bumper, and detecting a distance to the obstacle and a relative speed with the obstacle;
A parking assistance device comprising: an alarm device that issues an alarm according to the distance detected by the microwave and the relative speed. The parking support device according to claim 1, wherein the sensor mounting portion is provided in the vicinity of an end portion of the bumper in a vehicle width direction. The microwave sensor includes a sensor that transmits and receives two frequencies using a single antenna and detects the distance and the relative speed by a two-frequency CW method, and the alarm device is configured to detect the relative speed and the distance. The parking assistance device according to claim 1 or 2, wherein the alarm state is continued for a predetermined time when it is not detected. The parking assist device according to any one of claims 1 to 3, wherein the alarm device stops an alarm when the vehicle body and the obstacle are away from each other.

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