JP2007290712A - Parking operation support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking operation support device to reduce a burden of parking operation. <P>SOLUTION: A parking area 33 and an obstruction 32 are detected by detecting a distance to the left and right obstructions by ultrasonic wave sensors 21 on both left and right sides in front of a vehicle and are displayed on a parking operation supporting screen of a display with a position of the self-vehicle. An optimum vehicle position to move from a current vehicle position is computed to move the vehicle to the parking area 33 and it is displayed in a picture image as a guiding area 34. It is possible for a driver to find a precise position to move next by displaying the guiding area in the picture image with the self-vehicle position, the parking area and the obstructions. Additionally, a moving locus when the vehicle advances and retreats at a current steering angle is displayed as a guide line. The driver can make an optimum steering angle by carrying out steering operation so that the guide line matches with the guiding area. A vehicle symbol 31 is constantly displayed in a heading up state. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a parking operation support device and, for example, relates to a parking operation support measure for automatically recognizing a parking space and assisting a driving operation when parking in the space.

Conventionally, when a vehicle is parked in parallel in a parking lot or in parallel parking on a road, a driver recognizes an area where parking is possible, and moves the vehicle forward and backward while operating a steering wheel toward the parking area. Retreat and park at the desired location.
Such a parking operation is extremely difficult for a driver who has little driving experience, and as a device capable of assisting the parking operation, there is a vehicle equipped with a corner sonar or a back view camera. .
However, the corner sonar and back view camera functions can recognize the relative positional relationship with obstacles around the vehicle, but cannot know the procedure of parking operation including garage entry.
Therefore, various applications for assisting the parking operation have been made. For example, in the device described in Patent Document 1 proposed as a device for assisting a parking operation, an obstacle around the vehicle is detected by using an obstacle sensor attached to the front, rear, left and right of the vehicle, a vehicle speed sensor, and a steering angle sensor. Measure the distance between an object and a vehicle, calculate the surrounding situation of the vehicle, display the surrounding situation on the display, and display the predicted traveling locus of the vehicle based on the current position and steering angle of the vehicle on the same display It is. And it assists parking operations, such as putting a vehicle in a garage.
JP-A-4-23200

  However, in the conventional device for assisting the parking operation, the relative positional relationship between the vehicle and the object outside the vehicle is visually displayed on the display, or the movement trajectory when moving forward or backward at the current steering angle is displayed on the display. However, when the parking operation is performed, since the movement of the vehicle and the vehicle displayed on the display do not match, how much more the driver should turn the steering wheel and how much to reverse It was sometimes difficult to understand.

  Therefore, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a parking operation support device that can check a steering operation direction in a parking operation.

(1) In the invention according to claim 1, a parking area acquisition means for acquiring a parking area that is positionally associated with the vehicle position based on a detection value signal of a distance sensor attached to the vehicle body, and the acquired Second vehicle position calculation means for calculating a second vehicle position to be routed in order to move the vehicle to the parking area, and a steering operation direction necessary for moving to the calculated second vehicle position In addition, there is provided a parking operation support device comprising a guide means for displaying an image of the rotation direction of the handle.
(2) The invention according to claim 2, further comprising display means for displaying the acquired parking area, the own vehicle position with respect to the parking area, and the calculated second vehicle position. The parking operation support device according to Item 1 is provided.
(3) In the invention according to claim 3, the guide means displays an image of a handle mark imitating a handle and a rotation direction arrow indicating the rotation direction of the handle. A parking operation support device is provided.
(4) In the invention described in claim 4, the steering wheel guide means further displays an optimum steering angle, and performs a steering angle display for displaying the current steering angle to the left and right with the optimum steering angle as a center. A parking operation support device according to claim 3 is provided.

(1) In the invention described in claim 1, in order to move the vehicle to the parking area, the rotation direction of the steering wheel is imaged in accordance with the steering operation direction necessary for moving to the second vehicle position to be routed. Since it is displayed, it is possible to confirm the steering direction.
(2) In the invention according to claim 2, since the parking area, the own vehicle position with respect to the parking area, and the calculated second vehicle position are displayed, the second vehicle position and the steering operation direction are confirmed. Is possible.
(3) In the invention described in claim 3, since the handle mark imitating the handle and the rotation direction arrow indicating the rotation direction of the handle are displayed as images, it is easy to check the handle operating direction.
(4) In the invention according to claim 4, since the steering angle display further displays the optimum steering angle and displays the current steering angle to the left and right with the optimum steering angle as the center, the steering operation direction can be confirmed more easily. Become.

Hereinafter, preferred embodiments of the parking operation support device of the present invention will be described in detail with reference to FIGS. 1 to 13.
(1) Outline of Embodiment In the parking operation support device, a parking area (parkable area) is detected by detecting the distance to the left and right obstacles while traveling at a low speed by the ultrasonic sensors 21 arranged on the left and right sides in front of the vehicle. And surrounding obstacles (other vehicles, walls, pillars, etc.) are detected. Obstacles and parking areas detected as the vehicle moves are displayed on the parking operation support screen of the display together with the vehicle position.
Then, in order to move the vehicle to the parking area, an optimal vehicle position (vehicle guidance position) to be moved from the current vehicle position is calculated, and an image is displayed as the guidance area (second vehicle position). Thus, by displaying the guidance area together with the vehicle position, parking area, and obstacles, the driver can know the exact position to be moved next.

In the parking operation support device, a trajectory that the vehicle moves when the vehicle moves forward or backward at the current steering angle is additionally displayed on the parking operation support screen as a guideline (movement trajectory). The display of the guideline is changed in real time in conjunction with the steering operation.
Therefore, the driver confirms the parking operation support screen and performs the steering operation so that the guide area (a part of the guideline) matches the guidance area.
An optimum steering angle can be obtained. When the guide area and the guidance area match, the driver is informed that the guide area and the guidance area match.
Normally, it is necessary to perform the steering operation so that the vehicle moves to the determined position while moving the vehicle, but the guidance area and guidelines are displayed on the parking operation support screen, so it is appropriate when the vehicle is stopped. Since the steering angle can be made easy, the operation is extremely easy.

The driver moves the vehicle backward or forward while fixing the steering wheel in a state where the guidance area and the guide area coincide with each other. The start and stop of the forward movement, the reverse movement, the direction of the steering operation, and the like are also guided by voice and sound according to each state.
When the moving vehicle stops, the calculation and guidance of the optimum area are repeated again with the stop position (usually coincident with the guidance area) as the current position. For example, after moving backward at a predetermined steering angle and moving to the optimum area, the steering wheel is turned back to calculate the optimum area to be routed forward and displayed on the parking operation support screen together with the guideline.
By repeating the above operation, the driver can easily move the vehicle to the parking area.

There are two types of parking operation support screen display modes, a vehicle fixing mode (first display mode) and a background fixing mode (second display mode), which can be selected by the driver.
The vehicle fixed mode is a mode in which the vehicle display is fixed to the heading up state (the front of the vehicle is directed on the screen) and the background display is moved according to the movement of the vehicle. The background fixed mode is a fixed background display. In this mode, the vehicle display is moved in accordance with the movement of the vehicle.
In the vehicle fixed mode, the vehicle display is always displayed in a heading-up state, so the actual movement of the vehicle matches the movement of the vehicle display on the parking operation support screen. Therefore, it becomes easy to understand the left and right handle operations and the forward and backward operations.

(2) Details of Embodiment FIG. 1 shows the configuration of a parking operation support apparatus according to this embodiment.
The parking operation support device is mounted in the main body of the host vehicle, and includes an ultrasonic sensor 21 that detects a distance from the host vehicle to a surrounding object, and a steering sensor that detects a steering angle and a steering operation direction. 22, a vehicle speed sensor 23 that detects the speed of the host vehicle, and a shift lever position detection device 24 that is installed on the shift lever and detects the shift lever position.
In addition, the parking operation support device includes an ECU (electronic control unit) 25 that performs parking operation support equipment processing based on detection values supplied from the ultrasonic sensor 21, the steering sensor 22, and the vehicle speed sensor 23, and the detected parking area. And a display (display means) 26 for displaying a parking operation support screen for displaying steering operation and driving operation for parking and displaying a relative positional relationship between the vehicle position and the own vehicle position, and a signal sound and driving for supplementing the display content A speaker (sounding means) 27 for transmitting operation guidance sound and an input unit (input means) 28 are provided.

The ultrasonic sensor 21 functions as a distance detection unit. The ultrasonic sensor 21 includes an ultrasonic pulse transmitter and a receiver that receives an ultrasonic pulse reflected by an object. These transceivers measure the propagation time of ultrasonic waves and measure the distance based on the propagation time.
Two ultrasonic sensors 21 are arranged, one on each of the left and right sides of the front end of the host vehicle. In addition, two more, one each on the left and right sides of the rear end of the vehicle,
A total of four distances may be measured. When four ultrasonic sensors 21 are arranged, when the vehicle moves forward, the ultrasonic sensors 21 on both front sides of the vehicle are used,
When the vehicle travels backward, the ultrasonic sensors 21 on both sides of the vehicle rear side are used. In this case, detection accuracy may be increased by using the distance detected by the sensor at the other end.

The steering sensor 22 detects a steering operation amount, that is, a steering movement amount and its direction. From this steering operation amount, it is determined how many times the steering angle is operated from side to side. As the operation amount to be supplied, the position of the steering in the straight traveling state is set to 0, the operation amount to the right is +, and the operation amount to the left is −, and the movement amount is indicated by a numerical value. For example, when a detected value of +150 is supplied, it indicates that the steering operation is performed 150 degrees to the right.
The steering sensor 22 functions as a steering angle detection unit, and functions as a vehicle position detection unit together with the vehicle speed sensor 23.

  In order to detect the vehicle speed, the vehicle speed sensor 23 outputs a vehicle speed pulse, and measures the vehicle speed pulse to calculate the moving distance of the vehicle.

The ECU 25 is constituted by a computer system including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), other devices, and the like (not shown). The CPU of the ECU 25 controls the entire system according to various programs stored in a storage unit including a ROM, and also includes a parking area detection process, a vehicle guidance process, a guidance area calculation / display process, a forward process, and a reverse process according to the present embodiment. Various processes for supporting a parking operation such as the above are performed.
The ROM has programs and data for executing these various processes by the CPU,
Information on a vehicle on which the parking operation support device is mounted is stored. This vehicle information is information for determining the turning performance of the vehicle, and includes the length of the vehicle, the width of the vehicle, the wheel base, the tread length, the maximum snake angle, and the like. The ROM also stores voice data of support guidance voice output from the speaker 27 in the parking operation support process. The audio data may be stored in a storage means other than the ROM.
The RAM is used as a so-called working area in which various data are read and written when the CPU executes various programs. For example, the detection value by each sensor,
The calculated parking area, guidance area, guideline, etc. are stored.
Note that the ECU 25 may include a storage unit for storing various data and programs. The storage units do not have to be the same type of storage medium, and each unit may use a different storage medium. For example, when the parking area is constant and does not change and the surrounding obstacles have been measured in advance, such as a parking space at home, the measured ambient situation data is stored in the IC card. You may make it memorize.

The display 26 includes various display devices such as a CRT display, a liquid crystal screen, and a plasma display, and functions as a display unit.
A parking operation support screen is displayed on the display 26. The parking operation support screen displays the relative positional relationship between the parking area and the vehicle obtained as a result of the calculation, and the predicted movement locus (guideline) of the vehicle. In addition, an appropriate vehicle position (guidance area) to be moved from the current position in order to move the vehicle to the detected parking area is displayed.
Through the parking operation support screen of the display 26, the driver receives assistance for a parking operation such as a position where the vehicle should move and a steering operation.

The speaker 27 emits auditory information representing position information instead of the visual information displayed on the display 26 and auditory information supplementing the visual information. Specifically, auditory information such as a shift lever position guidance voice, forward and backward start guidance voice, steering wheel guidance voice, steering wheel operation, forward and backward completion, and a warning sound to inform the completion. Is output.
The input unit 28 is a touch panel pasted on the screen of the display 26,
It has a wireless or wired remote control device. In this input section,
A parking operation support start button for starting parking operation support is arranged on the dedicated button or the touch panel. A voice recognition device may be arranged in the input unit 28 so that voice input is possible.

Next, the operation of parking operation support by the parking operation support device configured as described above will be described.
2 to 5 show examples of the transition of the parking operation support screen displayed on the display 26 by the parking operation support process.
The parking operation support process starts when the driver selects the parking operation support start button. When the driver operates the parking operation support start button in the vicinity of the area where the vehicle is parked, such as a parking lot, the ECU 25 displays the parking pattern selection screen illustrated in FIG. Voice guidance such as “Please do” is output from the speaker 27.

In the parking pattern selection screen illustrated in FIG. 2, a selection button (“Parallel Parking / Left Side”) selects four patterns of parallel parking to the left side, parallel parking to the right side, parallel parking to the left side, and parallel parking to the right side. And the selection numbers 1 to 4 corresponding to the selection buttons are displayed.
The driver selects a pattern to be parked from the displayed four patterns. To select a pattern, the displayed selection button is pressed, or the corresponding selection numbers 1 to 4 are designated using a numeric keypad. When the input unit 28 includes a voice recognition device, the selection number may be input by voice.
Hereinafter, in this embodiment, the case where the left side parallel parking is selected by the driver will be described as an example.

After storing the selected parking pattern in the RAM, the ECU 25 displays a display mode selection screen (not shown) together with a selection button. On the display mode selection screen, the driver can select either the vehicle fixed mode or the background fixed mode.
The vehicle fixing mode is a mode in which the background display is moved in accordance with the steering operation and the movement of the vehicle while the own vehicle symbol is kept in a fixed display position with the heading up (the front of the vehicle is directed on the screen). In the vehicle fixed mode, the vehicle display is always displayed in a heading-up state, so the actual movement of the vehicle matches the movement of the vehicle display on the parking operation support screen. Therefore, it becomes easy to understand the left and right handle operations and the forward and backward operations.

On the other hand, the background fixing mode is a mode in which the background display is fixed and the own vehicle symbol is moved in accordance with the movement of the vehicle. In the background fixed mode, it is possible to objectively perceive the movement of the host vehicle with respect to surrounding obstacles.
Thus, by preparing two types of display modes, the driver can select a display mode in which parking operation is easier than his / her feeling.
The display mode is selected by pressing the displayed selection button. When the input unit 28 includes a voice recognition device, the selection number may be input by voice.

In the vehicle fixed mode, first, the coordinate system is determined so that the vehicle faces upward when the parking mode is selected. Then, the moving amount and inclination of the vehicle are obtained from the vehicle speed and the steering angle. Then, the screen is moved by the amount of movement of the vehicle, and the screen is rotated by the inclination of the vehicle to turn the vehicle upward.
Hereinafter, in the present embodiment, a case where the vehicle fixing mode is selected by the driver will be described as an example.

The ECU 25 stores the selected display mode in the RAM, and displays the parking operation support screen in the selected display mode thereafter.
FIG. 3A is a diagram illustrating a parking operation support screen displayed on the display 26.
In the parking operation support screen (a) at the beginning of the parking operation support process, a recommended vehicle speed display bar 30 and a host vehicle symbol 31 are displayed.
The host vehicle symbol 31 displays an image of a relative positional relationship (including an angle) of the host vehicle with respect to an object outside the vehicle (an obstacle such as another vehicle or a parking area).
The recommended vehicle speed display bar 30 displays a difficult-to-detect vehicle speed that is too high to be detected by the ultrasonic sensor 21 and an appropriate vehicle speed 32b that can be detected when the vehicle is stopped.
The boundary vehicle speed between the difficult-to-detect vehicle speed and the appropriate vehicle speed depends on the performance of the ultrasonic sensor 21, but in this embodiment, the appropriate vehicle speed is 30 km / h or less.

  After displaying the parking operation support screen (a) on the display 26, the ECU 26, for example, “Please set the shift position to the drive. Please fix the handle and go straight slowly. Please stop the car at “.” And output the sound from the speaker 27 to guide the operation to be performed next.

When the vehicle starts to travel, the ECU 25 determines from the distance to the obstacle detected by the two ultrasonic sensors 21 arranged at the left and right front ends of the vehicle and the moving distance detected by the vehicle speed sensor 23. Obstacles on both sides of the vehicle are displayed in real time on the parking operation support screen.
FIG. 3B shows a parking operation support screen in the middle of detecting the parking area. On the left and right sides of the host vehicle symbol 31, areas of a parking obstacle 32l and a counter obstacle 32r are displayed as the vehicle moves.
Then, the ECU 25 detects the parking area from the change amount of the obstacle distance L2 on the selected side (in the present embodiment, the left side is selected as described above). On the other hand, for the unselected side (right side in the present embodiment), the obstacle region is displayed from the detection distance of the ultrasonic sensor 21 and the vehicle movement distance.
As shown in FIG. 3 (b), there is a possibility that a parking area exists when a parking depth (Am = (vehicle length + α) m) is detected by a certain distance Bm shorter than the vehicle width in the traveling direction. Therefore, the ECU 25 calculates the expected parking area and displays the virtual parking area 33 ′ on the screen in order to notify the driver of the parking operation early. Furthermore, the ECU 25 virtually imagines parking in the predicted parking area 33 ',
A virtual guidance area 34 'is displayed for the optimum position where the vehicle is to be moved.
The recommended vehicle speed display bar 30 displays the current vehicle speed 30c corresponding to the vehicle speed V detected by the vehicle speed sensor 23.

When the vehicle further moves forward and the detection of the parking area is completed, the ECU 25 displays the regular parking area 33 and the guidance area 34 and the guideline 35 on the parking operation support screen.
The guide line 35 is displayed in a guide area 35a indicating the vehicle position of the moving destination at the current steering angle, and an outer front guide 35b and an inner rear guide 35c indicating the movement trajectory (see FIG. 3 (f)).
The guide area 35a is displayed in the same size as the host vehicle symbol 31, and
Indicates to the driver the future vehicle position expected when he / she drove. Therefore, the driving operation amount (steering operation amount and vehicle movement amount) for moving to the guidance area 34 can be recognized by the driver by overlapping the guide area 35a and the guidance area 34.
The guide area 35a calculates an assumed movement distance from the current vehicle position to the guidance area 34 when it is assumed that the vehicle has moved to the guidance area 34 with a predetermined steering angle fixed, and only the assumed movement distance at the current steering angle. It is displayed at the position on the movement trajectory.

When the vehicle moves forward and approaches the guidance area 34, the ECU 25 notifies the approaching sound by outputting a warning sound such as “pu, pu,...” From the speaker 27, and the vehicle arrives in the guidance area. Is notified that the vehicle is stopped by a notification sound such as “Peep”. Thus, by outputting the warning sound and the notification sound, the driver can reduce the confirmation work on the screen.
FIG. 3 (d) shows a state where the host vehicle has arrived at the guidance area 34.
The ECU 25 detects obstacles on both sides of the vehicle with the ultrasonic sensor 21 until this time (when the parking area 33 is detected and the vehicle arrives at the guidance area 34). This is because the vehicle front end outside (right front end of the vehicle in the example of FIG. 3) hits an obstacle on the opposite side (right side in the drawing) of the parking area 33 when going backward from the guidance area 34 toward the parking area 33. This is to calculate whether or not.

In a state where the vehicle is stopped, the ECU 25 calculates the most appropriate movement position to be routed from the current position in order to move the vehicle from the vehicle position to the parking area 34, and as shown in FIG. The display position of the guidance area 34 is changed.
Then, a sound for guiding a shift operation such as “put the shift lever into the rear” is output from the speaker 27. When the shift operation of the driver based on the guidance voice is detected by the shift lever position detection device 24, the detected shift position is in the direction of the detected shift position (rear of the vehicle symbol 31 when the shift lever position is rear, and forward when it is drive). The guideline 35 when the vehicle travels backward at the current steering angle is displayed.
In FIG. 3 (e), since the vehicle passes by the side of the parking area 33 and stops, the guidance area 34 is displayed behind the host vehicle symbol 31. In addition, since the vehicle goes straight (steering angle = 0) and stops, a guideline 35 when the vehicle goes straight backward is displayed.

Further, the ECU 25 displays a steering rotation direction guide 37 and a steering angle display 39 on the parking operation support screen. The steering rotation direction guide 37 includes
A handle mark 37a imitating the handle and a rotation direction arrow 37b indicating the rotation direction of the handle are displayed as images.
As shown in the figure, the steering angle display 39 is displayed as a horizontally long bar. When the optimum steering angle 39a is displayed at the center position and the left rotation direction arrow 37b is displayed, the current steering is displayed at the right end of the steering angle display 39. Corner 39b is displayed.

In addition, the ECU 25 should turn the handle to the left until the “Peep” signal is given. Is output from the speaker 27 to assist the steering operation.
When the ECU 25 detects that the steering operation has been performed according to this guidance, the ECU 25 displays the guide area 35a on the parking operation support screen. Then, the operated steering angle is detected by the steering sensor 22, the predicted movement trajectory of the vehicle is calculated in real time according to the change of the steering angle, and the display of the guideline 35 on the parking operation support screen is also changed according to the steering operation. (See FIG. 3F).
The ECU 25 also moves the display position of the current steering angle 39b from the end portion toward the center in accordance with the steering operation amount.

Then, the ECU 25 has reached a steering angle at which the guide area 35a of the guideline 35 that is changed by the operation of the steering angle coincides with the guidance area 34, that is, the steering angle at which the vehicle can move to the guidance area 34 with the steering angle fixed. In this state, the ECU 25 outputs a notification sound “Pee” indicating that they match each other from the speaker 27.
The parking operation support image in this state is as shown in FIG.
Then, the ECU 25 says, “Please go backward slowly while checking the rear.
Stop the car with the audible signal. ”And other voice guidance.

As the vehicle moves backward, the ECU 25 obtains a relative position (including an angle) relative to the parking area 33 of the host vehicle from the moving distance detected by the vehicle speed sensor 23 and the steering sensor 22 and the sensor steering angle. Then, based on this, while the host vehicle symbol 31 is fixed at a predetermined position in the heading-up state, displays other than the host vehicle symbol 31 (objects such as the parking side obstacle 32l, the opposite side obstacle 32r, and the parking area) 33, and the position and angle of the guide area 34, guideline 35, etc.) are changed (see FIG. 4H).
In this way, the display of the host vehicle symbol 31 is maintained in a state where the front end of the vehicle faces the upper part of the parking operation support screen, so that the movement of the object outside the vehicle as viewed from the driver and the parking operation support screen are displayed. The movements of the target objects thus made coincide with each other, and the driver can easily perceive the vehicle position.
When the vehicle moves backward and approaches the guidance area 34, the ECU 25 outputs a warning sound such as “pu, pu,...” From the speaker 27, as shown in FIG.
When the vehicle position coincides with the guidance area 34, the notification sound "P" is output.

Next, the ECU 25 calculates the most appropriate position to move next from the current vehicle position (the position shown in FIG. 4 (i)) in order to switch the vehicle, as shown in FIG. 4 (j). The display position of the guidance area 34 is changed.
Then, voice guidance such as “Please put the shift lever position dry” is given and when the driver puts the shift lever into the drive gear by this guidance, the current steering angle (steering angle when the vehicle is stopped) The guideline 35 when moving forward is displayed. These displays are performed while the host vehicle symbol 31 is fixed at a predetermined position in a heading-up state.

Further, the ECU 25 displays the steering direction guide 37 and the steering angle display 39 on the parking operation support screen.
In the steering direction guide 37, a rightward rotation direction arrow 37c is displayed in accordance with the steering operation direction necessary for moving to the guidance area 34. The steering angle display 39 displays the current steering angle 39b at the left end.
In this state, the ECU 25 should turn the steering wheel to the right until the “Peep” signal is received. ”Or the like is output from the speaker 27 to assist the steering operation.
When the ECU 25 detects that the steering operation has been performed according to this guidance, the ECU 25 displays the guide area 35a on the parking operation support screen. Then, the operated steering angle is detected by the steering sensor 22, the predicted movement trajectory of the vehicle is calculated in real time according to the change of the steering angle, and the display of the guideline 35 on the parking operation support screen is also changed according to the steering operation. (See FIG. 4 (k)).
The ECU 25 also moves the display position of the current steering angle 39b from the end portion toward the center in accordance with the steering operation amount.

Then, the ECU 25 has reached a steering angle at which the guide area 35a of the guideline 35 that is changed by the operation of the steering angle coincides with the guidance area 34, that is, the steering angle at which the vehicle can move to the guidance area 34 with the steering angle fixed. In this state, the ECU 25 outputs a notification sound “Pee” indicating that they match each other from the speaker 27.
Then, the ECU 25 says, “Move forward slowly while checking the front.
Stop the car with the audible signal. ”And other voice guidance.
As the vehicle advances, the ECU 25 obtains a relative position with respect to the parking area 33 of the host vehicle from the moving distance detected by the vehicle speed sensor 23 and the steering sensor 22 and the sensor steering angle, and based on this, the ECU 25 heads the host vehicle symbol 31. The display position and angle other than the host vehicle symbol 31 are changed while being fixed at a predetermined position in the up state. FIG. 4L shows a state where the host vehicle has moved to the guidance area 34.

Similarly, as shown in FIGS. 5 (m) to 5 (r), a guidance area and a guideline that are the optimum positions to be moved next with respect to the stopped vehicle position are calculated and displayed on the parking operation support screen. It displays, provides guidance by voice before forward, reverse, and steering operation, and provides parking operation support by outputting a warning sound and notification sound according to the movement and operation state.
Further, as shown in FIGS. 5 (m) to (r), the host vehicle symbol 31 is fixed at a predetermined position in the heading-up state while the parking assist operation is performed.
And as shown in FIG.5 (r), when parking is completed, ECU25 will output the audio | voice that "parking is complete.
In the present embodiment, the display position of the host vehicle symbol 31 is fixed slightly above the center of the parking operation support screen as an example. However, the display position of the host vehicle symbol 31 is not limited to this. For example, when the vehicle moves forward, it is displayed below the center of the parking operation support screen, and when the vehicle moves backward, the parking operation support screen is displayed. The display position can be changed according to the forward and backward movement of the vehicle, such as displaying above the center of the vehicle. When the parking area is on the left side of the vehicle, the vehicle symbol 31 is displayed on the right side from the center of the parking operation support screen. When the parking area is on the right side of the vehicle, the host vehicle symbol 31 is displayed on the parking operation support screen. It can also be displayed on the left side of the center.
In these display examples, the area of the part that displays the status of the destination of the vehicle is widened,
It becomes easier for the driver to recognize the situation outside the vehicle. Thus, various patterns are conceivable for the display position of the host vehicle symbol 31. However, the angle of the host vehicle symbol 31 is kept in the heading-up state.

Next, the detailed operation of the parking operation support process described above will be described.
FIG. 6 is a flowchart showing parking operation support processing.
As shown in this figure, when the parking operation support start button is selected, the ECU 25 first detects a parking area and an obstacle for the host vehicle by a parking area detection process (step 1).
Next, the ECU 25 performs a vehicle guidance process for guiding the vehicle to the parking area based on the detected parking area and obstacle (step 2), and ends the process.
Hereinafter, both processes will be described in detail.

FIG. 7 defines the distance used in the vehicle area detection process.
L2 represents the distance to the obstacle detected by the ultrasonic sensor 21 (the distance to the obstacle).
A is the length of the host vehicle + α, and C is the width of the host vehicle + 2β. The values of α and β are arbitrary and are determined in consideration of the rear space, the door opening / closing space, and the like, and in this embodiment, α = β = 50 cm. This value may be changed by the driver according to his / her driving operation level.
In addition, the values of A and C can be set to values of A = vertical and C = horizontal using the values of the parking space defined in the regulations.
B is defined as a length that can be predicted to be a parking space, and in this embodiment,
B = 0.5C for parallel parking and B = 0.5A for parallel parking.

FIGS. 8A to 8C are diagrams for explaining coordinate conversion for performing display by heading up. Heading-up coordinate conversion is performed when the vehicle fixed mode is selected on the display mode selection screen.
FIG. 8A shows the drawing origin, coordinate axes, vehicle inclination, and the like when the initial value is set. As shown in the figure, when the initial value is set, the origin is set to O0, the vehicle drawing reference point is O0, and the inclination of the vehicle from the y0 axis is 0 with respect to the coordinate system O0 composed of the x0 axis and the y0 axis. Set to The vehicle drawing reference point is a reference point provided near the center of the vehicle to represent the position of the host vehicle symbol 31. The front of the vehicle is the y-axis direction.
Thereafter, the ECU 25 detects the position of the host vehicle at predetermined time intervals, and each time, the coordinate system is changed from O0 → O1 so that the vehicle drawing reference point is the origin and the inclination of the vehicle from the y-axis is 0 degree. → O2 → ... and update.
Hereinafter, the inclination of the vehicle means an inclination from the y-axis.

Next, the heading-up coordinate transformation from the coordinate system On to the coordinate system On + 1 will be described with reference to FIGS. 8B and 8C.
FIG. 8B shows that the vehicle drawing center is the coordinates (An, Bn) as a result of the movement of the host vehicle after setting the coordinate system On so that the vehicle drawing reference point is the origin On and the vehicle inclination is 0. And the vehicle is tilted by αn from the y-axis. This state represents a state before the coordinate system is updated to the coordinate system On + 1. Here, it is assumed that an obstacle (object outside the vehicle) exists at the coordinates (Cn, Dn).

FIG. 8C shows a coordinate transformation from the coordinate system On to the coordinate system On + 1.
The coordinate system On + 1 is obtained by translating the coordinate system On by (−An, −Bn) and then rotating it by −αn around the origin On + 1.
In the coordinate system On + 1, the vehicle drawing reference point coincides with the origin On + 1, and the inclination of the vehicle is zero.
The coordinates (Cn + 1, Dn + 1) of the obstacle in the coordinate system On + 1 are obtained by translating the coordinates (Cn, Dn) by (−An, −Bn) and rotating by −αn.
By performing coordinate conversion as described above, it is possible to move surrounding obstacles in accordance with the movement of the vehicle while keeping the vehicle drawing reference always at the origin of the coordinate system and further maintaining the vehicle inclination at zero.
By performing the above calculation together with the movement of the vehicle, the coordinate system can be updated as O0 → O1 → O2 →... → On → On + 1 →.

FIG. 9 is a flowchart showing the heading-up initialization process.
When the parking operation support start button is selected, the ECU 25 generates a coordinate system O0 and sets a vehicle drawing reference point at the origin O. Further, the vehicle inclination is set to 0, and the obstacle coordinate values (C0 (0), D0 (0)), (C0 (1), D0 (1)), (C0 ( 2), D0 (2)),... Are set (step 100), and the process is terminated. Note that (C0 (m), D0 (m)) represents the coordinate value of the mth obstacle.

FIG. 10 is a flowchart showing the heading-up coordinate conversion process.
In this flowchart, the vehicle set with the inclination 0 at the origin of the coordinate system On is moved to (An, Bn) in the coordinate system On at the n + 1th coordinate update by the nth coordinate update. The procedure for setting the coordinate system On + 1 so that the later vehicle is set to the coordinate origin with a tilt of 0 is shown.
First, the ECU 25 determines the vehicle drawing reference position in the coordinate system On (An,
Bn) and the vehicle inclination αn are calculated (step 110).

Next, the ECU 25 determines the obstacle coordinate values (Cn (0), Dn (0)), (Cn (1), Dn (1)), (Cn (2), Dn (2)) for all obstacles. ,... Are calculated (step 111).
Next, the ECU 25 translates the vehicle drawing reference by (−An, −Bn) and sets it as the origin of the coordinate system On + 1, and rotates the vehicle by −αn around the origin On + 1 to The inclination is set to 0 (step 112).
Next, the ECU 25 translates the coordinate values of all the obstacles by (−An, −Bn) and rotates them by −αn around the origin On + 1 to obstruct the obstacles in the coordinate system On + 1. Coordinate values Cn + 1 (0), Dn + 1 (0)),
(Cn + 1 (1), Dn + 1 (1)), (Cn + 1 (2), Dn + 1 (2)),
Are calculated (step 113).
Next, the ECU 25 increments the counter n to n + 1 (step 114) and ends the process.

At the next coordinate update, the same processing is performed on the incremented n, and thereafter the same processing is repeated. With the above processing, the host vehicle symbol 31 can always be displayed in a heading-up state on the parking operation support screen.
The coordinate update time interval is set to such an extent that the driver can see the display on the parking operation support screen continuously moving as the host vehicle moves, for example, 0.1 seconds.

FIG. 11 is a flowchart showing the contents of the parking area detection process.
When the parking operation support start button is selected by the driver, the ECU 25 starts the parking area detection process and displays the parking pattern selection screen, the display mode selection screen, and the like shown in FIG. 2, and the selected parking pattern and display. The mode is acquired and stored in the RAM (step 9). In the following description, it is assumed that the vehicle fixing mode is selected on the display mode selection screen.
Next, the ECU 25 sets the parking area depth detection flag, the virtual parking area flag, and the parking area detection flag to 0 by initial setting, and further sets the obstacle distance L1 to 100 m and stores it in the RAM. (Step 10).
Next, the ECU 25 initializes the position of the vehicle, the coordinate system, and the like by a heading-up initialization process (step 11).

  The ECU 25 receives detection data from the vehicle speed sensor 23, the steering sensor 22, and the ultrasonic sensor 21 (step 12). The received detection data is continuously stored in the RAM in order to display the parking side obstacle 32l and the opposing side obstacle 32r on the parking operation support screen.

Next, the ECU 25 performs a heading-up coordinate conversion process to convert the position of the host vehicle and the positions of all obstacles into a coordinate system in which the position of the host vehicle is the origin and the tilt of the host vehicle is 0 ( Step 13). Here, the obstacle is a physical obstacle such as a parking obstacle or an opposite obstacle.
Next, the ECU 25 displays the host vehicle and the obstacle on the parking operation support screen so that the host vehicle symbol 31 is in a heading-up state (step 14).
Next, the distance to the obstacle detected by the ultrasonic sensor 21l on the selected side (assuming that the left side is selected in the description of this embodiment) is set to L2 (step 15).

Further, the ECU 25 determines whether (L2-L1) is greater than or equal to Am (step 16). Since the initial setting of the parking area detection process is L1 = 100 m, since it is less than Am (step 16; N), the parking area depth detection flag and the virtual parking area flag are set to 0, and the distance to the obstacle L1 is set to L2 (step 17), the process returns to step 12, and measurement is continued until a parking depth is detected.
When (L2−L1) ≧ Am and the parking depth is detected (step 16; Y), the ECU 25 determines whether or not the parking area depth detection flag is 1.

  Immediately after the initial setting (step 10) and immediately after step 17, since the parking area depth detection flag = 0 (step 18; N), the ECU 25 sets the parking area depth detection flag to 1 (step 19). And, by setting the vehicle moving distance = 0, the position where (L2−L1) ≧ Am is set to the width in the traveling direction of the parking area (B and C in the case of parallel parking or in the case of parallel parking) Is a reference position for measuring A) (step 20).

  Then, the ECU 25 returns to step 12 to acquire detection data, sets the obstacle distance to L2 (step 15), and determines whether (L2-L1) is greater than or equal to Am compared with L1 set in step 17 (step 2). 16). Here, the determination is whether or not the detected depth of Am or more is maintained. If (L2−L1) ≧ Am (step 16; Y), the parking area depth detection flag = 1 in step 19 (Step 18; Y), the ECU 25 next determines whether or not the vehicle travel distance is Bm based on the data from the vehicle speed sensor 23 (step 21).

If the vehicle moving distance is not greater than or equal to Bm (step 21; N), the process returns to step 12, and the processes from step 12 to step 21 are repeated until a depth greater than Am continues to Bm in the traveling direction.
If (L2−L1) <Am is satisfied in step 16 before the vehicle travel distance becomes Bm or Cm (step 16; Y), a depth greater than Am detected until then is parallel parking. Since it can be determined that the space is between the vehicles that have been set, the parking area depth detection flag = 0, the virtual parking area flag = 0, and L1 = L2 (step 17), and the process returns to step 12.

  When the vehicle moving distance is equal to or longer than Bm (step 21; Y), the ECU 25 determines whether or not the virtual parking area flag is 1 (step 22). In the first judgment after the initial setting in step 10 or after the setting in step 17, since the virtual parking area flag = 0 (step 22; N), the ECU 25 sets the virtual parking area flag = 1 (step 23).

Then, the ECU 25 calculates a virtual parking area (step 23). That is, the ECU 25 calculates the virtual parking area on the assumption that there is a parking area with Cm and depth Am in the traveling direction of the vehicle from the point where the vehicle moving distance = 0 in step 20.
Then, the ECU 25 displays the calculated virtual parking area 34 'on the parking operation support screen of the display 26 (step 25).

Further, when assuming that the vehicle is parked in the virtual parking area, the ECU 25 calculates the most appropriate position from the current position as the virtual guidance area (step 26) and displays it on the parking operation support screen (step 27: FIG. 2). (See (b)).
The calculation of the virtual guidance area may be performed by forward processing (FIG. 16), which will be described later, but the point in the direction (C + n) m that travels straight from the position of the vehicle movement distance = 0 is simply the virtual guidance area. You may calculate so that it may become a rear-end part. In the present embodiment, n is set to n = 1 m, but may be changed according to vehicle information (vehicle length, vehicle width, wheelbase, tread length, maximum steering angle, etc.).

Thereafter, the ECU 25 returns to step 12, and when determining the virtual parking area flag (step 22), since it is set to 1 in step 23 (; Y), whether or not the vehicle moving distance is equal to or greater than Cm. Is determined (step 28). The judgment here is
If it is determined whether or not the detected depth of Am or more is maintained by the width Cm of the parking space, if the vehicle moving distance is not Cm or more (Step 28; N), the process returns to Step 12, and the depth of Am or more is the traveling direction. Steps 12 to 28 are repeated until Cm continues.
When the vehicle moving distance is equal to or greater than Cm, the ECU 25 determines and displays the virtual parking area 34 'as the parking area 34, and also confirms and displays the virtual guidance area 33' as the guidance area. Obstacles are detected by the ultrasonic sensor 21 until the vehicle advances toward 33 and the vehicle stops (step 29).
Finally, the ECU 25 sets the parking area detection flag to 1 in order to perform the vehicle guidance process (step 27) and ends the process.

FIG. 12 is a flowchart showing the contents of the vehicle guidance process.
The ECU 25 determines whether or not the detection of the parking area is completed based on whether or not the parking area detection flag is 1, and if it is 1 (step 30; Y), the guidance area update flag is set to 0 (step) 31).
Then, the ECU 25 performs guidance area calculation and display processing, which will be described in detail later (step 32).

The ECU 25 receives data from the vehicle speed sensor 23 and the steering sensor 22 (step 33).
Next, the ECU 25 performs a heading-up coordinate conversion process to convert the position of the host vehicle and the positions of all obstacles into a coordinate system in which the position of the host vehicle is the origin and the tilt of the host vehicle is 0 ( Step 34).
Next, the ECU 25 displays the host vehicle and the obstacle on the parking operation support screen so that the host vehicle symbol 31 is in a heading-up state (step 35).
Further, the ECU 25 calculates the guideline 35 from the information received in step 33 and the vehicle information and displays it on the parking operation support screen (see step 36, FIGS. 3E and 3F).
The ECU 25 determines whether the guidance area update flag is 0 (step 37).
Initially, since the guidance area update flag is set to 0 in step 31 (step 37; Y), the ECU 25 gives an instruction to move the vehicle and a warning sound “pu, pu” indicating that the vehicle has approached the guidance area. A notification sound “Pie” indicating that the vehicle has reached the guidance area is output according to the vehicle position to guide the vehicle movement (step 38).

  Then, the ECU 25 determines whether or not the vehicle has stopped (step 39). If the vehicle is moving (step 39; N), the vehicle position is determined while repeating the processing of step 33 to step 36 until the vehicle stops. The guideline display change (step 36) and the vehicle movement guide (step 38) are repeated.

  When the vehicle stops (step 39; Y), the ECU 25 determines whether or not the vehicle is within the guidance area (step 40). When the vehicle is not within the guidance area (step 40; N), the shift lever position is detected. The guidance area is calculated again from the same direction (same gear direction) as the current shift lever detected by the device 24 and displayed (step 41). And after changing a guidance area update flag to 1 (step 42), it returns to step 33.

When the vehicle is in the guidance area (step 40; Y), the ECU 25 further determines whether or not the current position of the host vehicle is in the parking area (step 43).
If not within the parking area (step 43; N, see FIGS. 4 (i) and (l)),
The ECU 25 calculates the guidance area again from the direction opposite to the current shift lever detected by the shift lever position detection device 24 (opposite gear direction) and displays it (step 44). And after changing a guidance area update flag to 1 (step 45), it returns to step 33.

After changing the guidance area update flag to 1 in steps 42 and 45, the ECU 25 displays the guideline at the current vehicle position for the guidance area calculated and displayed after heading-up coordinate conversion after data reception ( Step 33 to Step 36).
Since the guidance area update flag is not 0 (step 37; N), the ECU 25 determines whether or not the vehicle has started moving (step 46). When the vehicle is stopped (step 46; N), the ECU 25 guides the steering operation until the guide area 35a of the guideline 35 coincides with the guidance area 34. Further, the shift lever position (gear) operation guidance is performed by voice and the steering direction guide 37 and the steering angle display 39 (see FIGS. 3E and 3F) on the parking operation support screen (step 47). Then, the process returns to step 33.

  When the vehicle starts to move (step 46; Y), the ECU 25 changes the guidance area update flag to 0 (step 48), and performs guidance during vehicle movement (step 38).

  When the current position of the host vehicle has moved into the parking area by the series of vehicle guidance processes described above (step 43; Y), the ECU 25 ends the vehicle guidance process.

Next, guidance area calculation and display processing that is processed as a subroutine in the vehicle guidance processing will be described.
FIG. 13 is a flowchart showing the contents of guidance area calculation and display processing.
In this process, the ECU 25 first determines whether or not the current position of the vehicle is within the guidance area and whether or not the current shift lever position detected by the shift lever position detection device is a back gear (step 50, 51, 52).
When the vehicle position is not within the guidance area (step 50; N) and is in the back gear (step 51; Y), the ECU 25 performs a reverse process (step 53).
Further, when the vehicle position is within the guidance area (step 50; Y) and not the back gear (step 52; N), it is assumed that the vehicle is in the back gear (step 54), and the reverse processing (step 53) is performed. .
On the other hand, when the vehicle position is within the guidance area (step 50; Y) and the vehicle is in the back gear (step 52; Y), it is assumed that the vehicle is a drive gear (step 55), and forward processing (step 56) is performed. .

FIG. 14 explains values used in the backward process and the forward process.
In FIG. 14, (a) and (b) are the values in the reverse processing, and the turning radius at the current steering angle is L1, and from the rotation center O by this turning radius L1 to the rear outer edge of the vehicle at the current vehicle position. The distance is R1. The distance from the rotation center O to the entrance end on the rotation center side of the parking area 33 is L2, and the distance from the rotation center O to the entrance end opposite to the rotation center side of the parking area 33 is R2.
FIGS. 14C and 14D are values in the forward processing, and the turning radius at the steering angle when a vehicle located in the guidance area 34 moves to the parking area 33 is L1, and the rotation by this turning radius L1. The distance from the center O to the vehicle outer rear end at the current vehicle position is R1. The distance from the rotation center O to the entrance end on the rotation center side of the parking area 33 is L2, and the distance from the rotation center O to the entrance end opposite to the rotation center side of the parking area 33 is R2.

FIG. 15 is a flowchart showing the contents of the backward process.
In this reverse process, the ECU 25 reads the maximum steering angle Smax from the vehicle information, and sets the reverse steering angle Sb = Smax (step 60).
Then, the ECU 25 determines whether or not the front end of the rotating outer side of the vehicle collides with an obstacle on the side opposite to the parking area when the vehicle reverses at the reverse steering angle Sb (step 61).
When the vehicle hits an obstacle (step 61; N), the ECU 25 changes the reverse steering angle Sb to Sb-1 (ie, reduces the reverse steering angle Sb), and returns to step 61.
Then, when the steering angle becomes small enough to prevent the outer front end of the vehicle from hitting an obstacle (step 61; Y), the ECU 25 calculates the rotation radius L1 and the rotation center O based on the steering angle when reverse (step 63). ).

  Next, the ECU 25 compares L1 and L2, and determines whether the rear wheel portion of the vehicle at the rotation center O side (referred to as the inside) does not hit the entrance end of the rotation center side parking area (step 64). . When L2 ≧ L1 (step 64; N), the vehicle inner rear wheel hits the parking area, so that the steering angle Sb = Sb-1 during reverse is reduced (step 65), and the process returns to step 63.

When L2 <L1 and the rear steering wheel angle Sb decreases to such an extent that the inner rear wheel of the vehicle does not hit the parking area (step 64; Y), the ECU 25 further compares R1 and R2, It is determined whether or not the rear end of the side opposite to the rotation center O (referred to as the outside) hits the entrance end outside the parking area (step 66).
When R1 <R2 (step 66; Y), the rear end of the vehicle outside does not collide, so the ECU 25 calculates the guidance area 34 parallel to the parking area 33 (step 67), and the thick line in FIG. Is displayed on the parking operation support screen (step 68), and the process ends.

On the other hand, when R1 ≧ R2 (step 66; N), the vehicle outer rear end collides, so the ECU 25 initializes the reverse distance Db (step 69). Here, for example, Db = 0.3 m.
Then, the ECU 25 calculates, as a guidance area, the vehicle position after the vehicle has moved backward by the backward distance Db at the backward steering angle Sb in which neither the outer front end portion nor the inner rear wheel portion of the vehicle hits an obstacle (step 70). Then, it is determined whether or not the calculated guidance area collides with the rear end portion of the outside position of the parking area, that is, whether or not the calculated guidance area collides when retreated by the retreat distance Db (step 71).
If it does not collide (step 71; N), there is still room behind, so the ECU 25 adds a predetermined distance Dx to the current retraction distance Db to set Db = Db + Dx (step 72), and returns to step 70. Here, the value of Dx is fixed to Dx = 0.2 m in the present embodiment. In addition, about the value of Db and Dx, a driver | operator may be made to change to a value for own according to a driver | operator's driving | operation level.

On the other hand, when it collides with retreating by the retreating distance Db (step 71; Y), the ECU 25 calculates a guidance area when retreating by a distance obtained by subtracting (Dx + 0.2 m) from the retreating distance Db (step 73). Here, subtracting 0.2 m instead of the receding distance Db-Dx should not collide with Db-Dx,
This takes into account measurement errors and the case where there is a case where there is only a very short distance.
The ECU 25 displays the calculated guidance area on the parking operation support screen (step 74) and ends the process.

FIG. 16 is a flowchart showing the contents of the forward process.
In this forward process, a guidance area is temporarily set at a different position in the forward direction of the vehicle,
Assuming that the vehicle has moved to each temporary guidance area, when the vehicle is retracted in the same way as the reverse process toward the parking area, the vehicle outer front end, inner rear wheel, and outer rear end This is a process of searching for a guidance area where none of the three locations collide.
In any temporary guidance area, when any of the three locations hits an obstacle, the position immediately before the outer front end collides is defined as the guidance area.

The ECU 25 sets the forward steering angle Sd = 0, initializes the forward travel distance Dd, and further sets Lm = 1000 (mm) (step 80). Here, the initialized value of Dd is, for example, 0.3 m.
Next, the ECU 25 calculates the vehicle position when the vehicle travels a distance Dd at the current forward steering angle Sd as the guidance area (step 81). Then, it is determined whether or not the calculated outer front end portion of the guidance area hits an obstacle on the opposite side of the parking area (step 82).

  If the vehicle does not hit an obstacle (step 82; Y), the ECU 25 assumes that the vehicle is located in the guidance area calculated in step 81 and the shift lever is in the back gear (step 83).

Then, the ECU 25 performs the same determination and processing from Step 60 to Step 66 in the reverse processing from the assumed vehicle position in Step 84 to Step 90.
That is, the ECU 25 sets the reverse steering angle Sb to the maximum value Smax (step 84), the vehicle outer front end does not hit the obstacle on the opposite side of the parking area (step 85; Y), and the vehicle inner rear wheel portion Without hitting the inner entrance end of the parking area (step 88; Y), the value of the reverse steering angle Sb is gradually decreased until the reverse steering angle Sb is reached (steps 86 and 89).
Then, it is determined whether or not the outer rear end collides with the outer entrance end of the parking area when retreating from the assumed guidance area at the reverse steering angle Sb where the outer front end of the vehicle does not collide with the inner rear wheel. (Step 90).

When the outer rear end collides (step 90; N), the ECU 25 checks whether or not three places including the outer rear end do not collide with an obstacle when the vehicle is advanced by Dx. = Dd + Dx (step 95), the process returns to step 81.
However, when Sd = 0 and Sb = Smax (step 91; Y), Lt = L1-L2 (the shortest distance from each position of the reversing vehicle to the inner edge of the parking area) (step 92), and further , Lt <Lm (step 93; Y), Lm = Lt and Dm = Dd (step 94).
In addition, although the value of Dx in step 95 is 0.2 m, the driver may be able to set it.

Next, the ECU 25 calculates a guidance area when the vehicle is further advanced forward by Dx (step 81), and the vehicle front front end is made an obstacle on the opposite side of the parking area by advancing the guidance area by Dx. If there is no collision (step 82; Y), the determination and processing from step 83 to step 95 are repeated.
On the other hand, if the outer front end of the vehicle collides (step 82; N), that is, even if the temporary guidance area is gradually advanced until the outer front end hits the opponent obstacle at the current forward steering angle Sd. When there is no guidance area where the other two locations (the inner rear wheel portion and the outer rear end portion) do not collide, the ECU 25 determines whether or not the current forward steering Sd is the maximum angle (step 96).

If Sd is not the maximum angle (step 96; N), the ECU 25 sets Sd = Sd + 1 in order to change the forward steering angle to the larger side, and further initializes the forward distance Dd (step 97). Return.
Thereafter, the ECU 25 repeats the determination and processing from Step 81 to Steering 95 for the forward steering angle Sd after the increase, and if there is no guidance area where none of the three locations collide with this angle (Step 82). N),
The forward steering angle Sd is gradually increased until Sd reaches the maximum value (step 97), and steps 81 to 95 are repeated.
In this way, while gradually increasing the forward steering angle Sd and the forward distance Dd (steps 97 and 95), all three points of the vehicle outer front end, the inner rear wheel, and the outer rear end are hit by an obstacle. Look for no induction area.

In the process of gradually increasing Sd and Dd, when there is a guidance area where none of the above three locations of the vehicle hits an obstacle (step 90; Y), the ECU 25
Parking operation for the guidance area (the guidance area calculated in step 81 with respect to the Sd and Dd, refer to the circled number 3 in FIG. 14C) after traveling forward by the forward travel angle Dd at the forward steering angle Sd at that time The information is displayed on the support screen (step 98), and the process ends.

  On the other hand, even if the forward steering angle Sd is increased to the maximum value, if there is no guidance area that does not collide with any of the three locations (step 96; Y), the ECU 25 performs the guidance area when the forward steering angle Sd = 0 and the vehicle travels Dm forward. (Refer to the circled number 4 in FIG. 14D) is displayed on the parking operation support screen (step 99), and the forward process is terminated.

As described above, according to the parking operation support device of the present embodiment, the most important position in the actual parking operation is surely recognized which vehicle should be moved from the current position in order to reach the final parking position. In addition, the vehicle can be easily moved to the optimum position.
That is, according to the present embodiment, the driver can know the optimum vehicle position to be moved next by displaying the guidance area together with the own vehicle position, the parking area, and the obstacle.
Furthermore, since the guideline that is changed in real time in conjunction with the movement of the vehicle and the steering operation is displayed, the driver can perform the steering operation so that the guideline matches the guidance area. It is possible to reliably move to the guidance area that is the optimum position.
Since the steering operation for moving the vehicle to the guidance area is an operation for matching the guideline and the guidance area, the steering operation can be performed with the vehicle stopped. Therefore, it is not necessary to perform the steering operation while moving the vehicle, and this can be done easily.

As mentioned above, although 1 embodiment in the parking operation assistance apparatus of this invention was described, this invention is not limited to embodiment described, Various deformation | transformation is possible in the range described in each claim. is there.
For example, in the described embodiment, the case where the driver selects one of the four parking patterns at the beginning of the parking operation support process and the parking operation support device recognizes this is described. You may make it select only parking. In this case, the parking operation support device determines whether the parking space exists on the left or right while detecting the left and right obstacles using the left and right ultrasonic sensors 21l and 21r.
Further, the parking operation support device may automatically detect whether the driver does not need to select a parking pattern and whether it is parallel parking or parallel parking, or whether it is left or right. In this case, whether the parking is parallel parking or parallel parking is determined from the distance in the vertical direction (vehicle traveling direction) and the horizontal direction of the parking space detected in the parking area detection process.

Further, in the present embodiment, an operation of moving the vehicle to the parking area detected by repeatedly moving forward and backward toward the guidance area at the current position of the vehicle is supported. However, depending on the driver, there may be a case where the movement is started in a state where the guidance area 34 and the guide area 35a do not coincide with each other, or the steering angle is changed during the movement of the vehicle and the guidance area is not reached. In this embodiment, even in such a case, the optimum guidance area at the position where the vehicle is stopped is detected again (in the case of Step 38; N).
However, if you repeat the turn over and over again, you may not be able to park unless you move forward and backward in small increments.
Therefore, in the present invention, when the number of times of turnover exceeds the predetermined number p, or when it is predicted that the predetermined number r is exceeded and the predetermined number p is exceeded, redo processing may be performed.
In the redo process, the vehicle is moved to a position away from the parking area (a position where the parking area becomes rear left or rear right), and a guidance area for that purpose is calculated and displayed.

  In the described embodiment, the parking operation support processing for the left side parallel parking has been described, but the right side parallel parking and the left and right parallel parking can be similarly performed.

Although the guide area 35a and the guidance area 34 are made to coincide with each other by the steering operation, the driver has moved forward and backward toward the guidance area while fixing the optimum steering angle. In the present embodiment, the ECU 25 On the condition that the parking operation support process is being performed and that the steering angle is optimal, the steering rotation resistance may be increased (steering resistance changing means) to make it difficult for the steering angle to change.
In addition, as a condition for increasing the steering resistance, a constant speed (for example, a speed of 20 km or less per hour) may be added.

In the described embodiment, in the parking area detection process, the virtual parking area and the virtual guidance area are calculated and displayed when the depth of Am or more is Bm continuous in the traveling direction. The guidance area may not be displayed.
In this case, in the parking area detection processing, the setting of the virtual parking area flag in steps 10 and 14 and the processing from step 18 to step 24 are not required, and the parking area depth detection flag is 1 in step 15 (; Y ), The process proceeds to step 25.

  As described above, the case where the parking operation support screen is displayed in the vehicle fixed mode has been described. The information processing content in the background fixed mode is the same as that in the vehicle fixed mode except that heading-up coordinate conversion is not performed. That is, the processing contents are the same except that Step 11, Step 13, and Step 14 are excluded in the flowchart of FIG. 11 and Step 34 and Step 35 are excluded in the flowchart of FIG.

Below, the example of a display of a parking operation assistance screen is shown in background fixed mode.
Each display shown in FIG. 3 is common to both the vehicle fixed mode and the background fixed mode.
Each of FIGS. 17 (g) to 17 (l) corresponds to FIGS. 4 (g) to 4 (l).
As shown in the figure, in the vehicle fixing mode shown in FIGS. 4 (g) to 4 (l), the vehicle symbol 31 is fixed, and the areas of the parking obstacle 32l and the opposing obstacle 32r are as follows. In contrast to the movement with the movement of the vehicle, in the background fixing mode shown in FIGS. 17 (g) to 17 (l), the areas of the parking-side obstacle 32l and the opposing-side obstacle 32r are fixed, The own vehicle symbol 31 moves as the vehicle moves.

  FIGS. 18 (m) to 18 (r) are diagrams corresponding to FIGS. 5 (m) to 5 (r), respectively. In the vehicle fixing mode shown in FIGS. 5 (m) to 5 (r), the vehicle symbol 31 is fixed, and the areas of the parking-side obstacle 32l and the opposing-side obstacle 32r move as the vehicle moves. On the other hand, in the background fixing mode shown in FIGS. 18 (m) to 18 (r), the areas of the parking-side obstacle 32l and the opposing-side obstacle 32r are fixed, and the host vehicle symbol 31 is displayed on the vehicle. Move with movement.

Thus, by providing the vehicle fixing mode and the background fixing mode in the screen display mode, the driver can select a display mode more suitable for his / her driving feeling.
For example, a vehicle fixing mode is suitable for a driver who feels that the vehicle is stopped and the environment outside the vehicle moves during parking operation, and conversely the environment outside the vehicle is stopped and the vehicle moves. The background fixing mode is suitable for the driver who feels.

  In addition to the embodiment described above, in the parking operation, it is possible to match the position of the vehicle and the vehicle position displayed on the display, and to present the optimal position to be moved from the current position to the driver for parking. A second object of the present invention is to provide a parking operation support device, and a third object is to provide a parking operation support device capable of presenting a driving operation necessary for moving the vehicle to the presented optimal position. As an object, the parking operation support device can be configured as follows.

(A) based on a detection value signal of a distance sensor attached to the vehicle body, a parking area acquisition means for acquiring a parking area that is positionally associated with the vehicle position;
Second vehicle position calculation means for calculating a second vehicle position to be routed in order to move the vehicle to the acquired parking area;
Display means for displaying the acquired parking area, the own vehicle position relative to the parking area, and the calculated second vehicle position;
Comprising
The display means displays the front of the vehicle at the vehicle position upward on a display screen, and displays the parking area and the second vehicle position while moving in accordance with the movement of the vehicle. Parking operation support device.
(2) Parking area acquisition means for acquiring a parking area that is positionally associated with the vehicle position based on a detection value signal of a distance sensor attached to the vehicle body;
Second vehicle position calculation means for calculating a second vehicle position to be routed in order to move the vehicle to the acquired parking area;
Display means for displaying the acquired parking area, the vehicle position relative to the parking area, and the calculated second vehicle position in the first display mode or the second display mode;
Mode selection means for selecting a first display mode or a second display mode by the display means;
Comprising
In the first display mode, the display means displays the front of the vehicle at the vehicle position upward on the display screen, and moves the parking area and the second vehicle position as the vehicle moves. In the second display mode, the parking area and the second vehicle position are fixed and displayed, and the vehicle position is displayed while moving in accordance with the movement of the vehicle. Special parking operation support equipment.

The parking operation support apparatus according to (a) or (b) further includes a movement trajectory calculating unit that calculates an expected movement trajectory when the vehicle moves at a current steering angle, and the display unit includes a steering unit. The calculated movement trajectory may be displayed in accordance with a change in corner (Modification 1).
The parking operation support device according to the first modification may further include first guidance means for guiding the positional relationship between the movement locus and the second vehicle position, which changes with a change in the steering angle, by sound. Good (deformation 2).
Further, in the case of (a), (b), Modification 1 or Modification 2, the positional relationship between the own vehicle position and the calculated second vehicle position, which changes as the vehicle moves, is guided by sound. Two guiding means may be provided (Modification 3).
In the case of (a), (b), modification 1, modification 2, or modification 3, the vehicle guidance area calculation means calculates the second vehicle position while the vehicle is stopped. May be.

According to this embodiment (a), (b), the driver can easily move the vehicle in an optimal manner by presenting the optimal position to be routed from the current position to the driver. Parking is possible, and the burden of parking operation can be reduced.
Further, by presenting the driving operation necessary for moving the vehicle to the presented optimal position, it is possible to further reduce the burden of the driver's parking operation.

It is a lineblock diagram of the parking operation support device in one embodiment of the present invention. It is explanatory drawing which illustrated the parking pattern selection screen in embodiment same as the above. It is explanatory drawing showing the transition example of the parking operation assistance screen by the vehicle fixed mode displayed on a display by the parking operation assistance process by embodiment same as the above. It is explanatory drawing showing the transition example following FIG. 3 of the parking operation assistance screen by the vehicle fixed mode displayed on a display by the parking operation assistance process by embodiment same as the above. It is explanatory drawing showing the transition example following FIG. 4 of the parking operation assistance screen by the vehicle fixed mode displayed on a display by the parking operation assistance process by embodiment same as the above. It is a flowchart showing the parking operation assistance process in embodiment same as the above. It is explanatory drawing defined about the distance used by the vehicle area detection process in embodiment same as the above. It is a figure for demonstrating the coordinate transformation for displaying by heading up. It is a flowchart showing the heading-up initialization process. It is a flowchart showing heading-up coordinate conversion processing. It is a flowchart which also represented the content of the parking area detection process in embodiment same as the above. It is a flowchart showing the content of the vehicle guidance process in embodiment same as the above. It is a flowchart showing the content of the guidance area calculation and display process in embodiment same as the above. The values used in the backward process and the forward process in the embodiment are described above. It is a flowchart showing the content of the backward process in embodiment same as the above. It is a flowchart showing the content of the advance process in embodiment same as the above. It is explanatory drawing showing the transition example of the parking operation assistance screen by background fixed mode displayed on a display by the parking operation assistance process by embodiment same as the above. It is explanatory drawing showing the example of a transition following FIG. 17 of the parking operation assistance screen by the background fixed mode displayed on a display by the parking operation assistance process by embodiment same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 21 Ultrasonic sensor 22 Steering sensor 23 Vehicle speed sensor 24 Shift lever position detection apparatus 25 ECU (electronic control part)
26 Display 27 Speaker 28 Input Unit 30 Recommended Vehicle Speed Display Bar 31 Own Vehicle Symbol 32l Parking Side Obstacle 32r Opposing Side Obstacle 33 Parking Area 34 Guidance Area 35 Guideline 35a Guide Area 37 Steering Direction Guide 39 Steering Angle Guide 39

Claims (4)

Based on the detection value signal of the distance sensor attached to the vehicle body, a parking area acquisition means for acquiring a parking area that is positionally associated with the vehicle position;
Second vehicle position calculation means for calculating a second vehicle position to be routed in order to move the vehicle to the acquired parking area;
Guide means for displaying an image of the rotation direction of the steering wheel in accordance with the steering operation direction necessary for moving to the calculated second vehicle position;
A parking operation support device comprising:
The parking operation support apparatus according to claim 1, further comprising display means for displaying the acquired parking area, the own vehicle position with respect to the parking area, and the calculated second vehicle position. .
The parking operation support device according to claim 1 or 2, wherein the guide means displays a handle mark imitating a handle and a rotation direction arrow indicating the rotation direction of the handle.
The steering wheel guide means further displays an optimum steering angle, and performs a steering angle display for displaying the current steering angle on the left and right with the optimum steering angle as a center.
The parking operation support device according to claim 3, wherein:

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