JP2008207732A - Drive assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive assisting device capable of coping with various parking modes. <P>SOLUTION: By a driving operation of a driver, while a vehicle is being moved from an arbitrary point around a target parking position of the vehicle to a parking position, a position of an obstacle detected by an obstacle detecting device is stored in a non-volatile memory. After the next operation, when the vehicle is parked at the same parking position, parking at the time of moving the vehicle to the parking position is assisted using the position of the obstacle stored in the non-volatile memory. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device.

  In the past, an automatic parking assist system (Intelligent Parking Assist, hereinafter referred to as IPA) that performs steering control to move the vehicle to the parking position set and confirmed by the driver on the display at the time of reverse of garage parking and parallel parking It is described in Non-Patent Document 1.

The IPA detects the distance from the already parked vehicle with the ultrasonic sensors attached to the left and right of the front of the vehicle when passing while moving forward next to the parking position, Distance data from the acoustic wave sensor is stored in time series, and the parking space is estimated by calculating the position of the parked vehicle from the stored distance data. After that, when the host vehicle stops at the reverse start position and the shift is switched to reverse, the driver selects the parking mode of garage parking or parallel parking with the button on the display and is superimposed on the rear image of the host vehicle. After adjusting the target parking position, steering assistance is started. In addition, what recognizes the shape of a parked vehicle is described in patent document 1. FIG.
"Automotive Technology, Japan Automobile Technical Association, Vol.60, No.10,2006, P47-52" JP 2006-234493 A

  In order to estimate the parking space by passing the side of the parking position once, the IPA described above provides parking assistance only to the parking mode in which the vehicle is parked backwards. I can't do it. In addition, since the driver selects the parking mode of garage parking or parallel parking, for example, parking assistance cannot be performed when parking in another parking mode such as oblique parking.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving support device that can cope with various parking modes.

The driving support device according to claim 1, which is made to achieve the above object,
An obstacle detection device that detects an obstacle existing around the vehicle by transmitting a transmission wave toward the periphery of the vehicle and receiving the reflected wave;
The obstacle detected by the obstacle detection device while moving the vehicle from an arbitrary point around the target parking position of the vehicle to the parking position and from the parking position to at least one of the arbitrary points by the driver's driving operation. Storage means for storing the position;
After the storage means stores the position of the obstacle, if the vehicle is present at at least one of the arbitrary position and the parking position, the parking position is determined from the arbitrary position using the position of the obstacle stored in the storage means. Driving assistance means for executing at least one driving assistance when moving the vehicle to the vehicle and moving the vehicle from the parking position to an arbitrary point.

  As a result, when parking at the same parking position or when leaving the same parking position after the next time, the position of the obstacle present around the parking position can be grasped in advance. , Driving assistance such as parking assistance when moving the vehicle from the arbitrary position to the parking position and exit assistance when moving the vehicle from the parking position to the arbitrary position can be executed. As a result, not only parking forms such as garage parking and parallel parking, but various parking forms can be supported.

  According to a second aspect of the present invention, the driving support means displays the obstacle map indicating the position where the obstacle stored in the storage means is present on the indicator mounted in the passenger compartment of the vehicle, so that the driver Can grasp the position of an obstacle existing around the parking position.

According to the driving support apparatus according to claim 3, the driving support means includes:
Provided with a target trajectory calculating means for calculating a target trajectory for moving from an arbitrary point to the parking position or a target trajectory for moving from the parking position to an arbitrary point based on the position of the obstacle stored in the storage means ,
The target trajectory calculated by the target trajectory calculating means is displayed superimposed on the obstacle map.

  Thus, when the vehicle is parked at the parking position or when leaving the parking position, the moving direction of the vehicle can be guided so that the vehicle moves along the target track.

The driving support device according to claim 4 includes a vehicle control device that controls at least one of a moving speed and a moving direction of the vehicle,
Driving assistance means
Provided with a target trajectory calculating means for calculating a target trajectory for moving from an arbitrary point to the parking position or a target trajectory for moving from the parking position to an arbitrary point based on the position of the obstacle stored in the storage means ,
It is characterized in that at least one of a moving speed and a moving direction by the vehicle control device is controlled so that the vehicle moves along the target track.

  As a result, parking assistance for moving the vehicle to the parking position along the target trajectory while avoiding contact with obstacles existing in the vicinity of the parking position, and the above-mentioned arbitrary position from the parking position to the vehicle along the target trajectory Exit support for moving to a point can be executed.

According to the driving support device according to claim 5,
Comprising position detecting means for detecting the current position of the vehicle;
The driving support means is characterized in that execution of driving support is started when the current position detected by the position detecting means is an arbitrary point or a parking position.

  Thereby, execution of driving assistance can be started from an arbitrary point or a parking position.

  As described in claim 6, it is preferable that the storage means stores a parking mode when the vehicle is parked at the parking position. This is because the details of driving assistance differ depending on whether the vehicle is parked forward or backward.

The driving support device according to claim 7 is:
Obstacle position determination means for determining whether the obstacle detection device has detected an obstacle different from the obstacle stored in the storage means (existing at a position) during execution of driving support;
If it is determined by the obstacle position determination means that the obstacle detection device has detected an obstacle that is different from the obstacle stored in the storage means (is present at the position), the driver is notified that the different obstacle exists. And an informing means for performing the operation.

  As a result, the driver's attention can be directed to an obstacle that has moved to a different position than before or an obstacle that did not exist before.

  Hereinafter, an embodiment of a driving support device of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an overall configuration of a parking assistance system 100 to which the present invention is applied. A parking assistance system 100 shown in FIG. 1 is mounted on a vehicle, and includes a camera 11, a speaker 12, and a display 13, a parking assistance ECU 10, a navigation device 20, a steering angle sensor 30, and ultrasonic waves to which these are connected. The sensor 40, the sonar ECU 50, the wheel speed sensor 60, the brake ECU 70, the steering drive device 80, and the speed control device 90 are connected to each other via an in-vehicle LAN conforming to a communication protocol such as CAN (Controller Area Network).

  The camera 11 is an in-vehicle camera using an image sensor such as a CCD (Charge Coupled Device), and captures a rear image of the vehicle at a predetermined time interval. The speaker 12 is disposed at an appropriate location in the vehicle interior of the vehicle, and is used for voice guidance and warning sound output to the driver. The display device 13 is configured by, for example, a liquid crystal display, and displays a rear image captured by the camera 11 or an image of an image signal from the parking assist ECU 10 on the screen of the display device 13. In addition, a touch switch is employed on the screen of the display 13 and is used for various input operations.

  The navigation device 20 is a well-known navigation device having a map display function for displaying a current position of a vehicle and a road map around it, a route guidance function for guiding a route to a destination, and the like. The navigation device 20 includes a position detector (not shown) that detects the current position of the vehicle. The position detector is composed of an azimuth sensor that measures the azimuth in front of the vehicle and a GPS receiver for GPS (Global Positioning System) that measures the position of the vehicle based on radio waves from the satellite. From the vehicle speed pulse signal output from the speed sensor 60, the steering angle signal output from the steering angle sensor 30, and the like, the current position of the vehicle and the azimuth in front of the vehicle are measured.

  The steering angle sensor 30 is a sensor that detects the steering angle of the steering of the vehicle. The steering angle when the vehicle travels in a straight traveling state is a neutral position (0 degree), and the rotation angle from the neutral position is the steering angle. Output. The steering angle is output with a positive (+) sign when rotating right from the neutral position, and is output with a negative (-) sign when rotating left from the neutral position. The

  The ultrasonic sensor 40 is an ultrasonic sensor used for detecting a distance from an obstacle by transmitting an ultrasonic wave and receiving a reflected wave thereof. As shown in FIG. 2, a total of six ultrasonic sensors 40a to 40f are arranged in front of the vehicle, and a total of four ultrasonic sensors 40g to 40j are arranged behind the vehicle. The dotted lines in FIG. 2 indicate the detection ranges of the ultrasonic sensors 40a to 40j. The sonar ECU 50 obtains the distance from the obstacle present in the detection range from the time difference between the time when each of the ultrasonic sensors 40a to 40j transmits the ultrasonic wave and the time when the reflected wave is received.

  The wheel speed sensor 60 generates a pulse signal corresponding to the rotation of the vehicle wheel. The brake ECU 70 calculates a vehicle speed and a moving distance based on the pulse signal, and also generates a brake actuator (not shown) for generating a braking force on the vehicle in response to a brake control command from the speed control device 90. Drive).

  The steering drive device 80 includes a motor, a torque sensor, and a steering control device that are not shown. The motor is connected to the steering shaft via a gear, and generates a driving force in accordance with a control signal from the steering control device. The torque sensor detects rotational torque applied to the steering shaft and outputs it to the operation control device. The steering control device controls driving of the motor according to the target steering angle from the parking assist ECU 10.

  The speed control device 90 drives a throttle actuator (not shown) so that the vehicle speed becomes the target speed from the parking assist ECU 10 and outputs a brake control command to the brake ECU 70.

  The parking assist ECU 10 is mainly a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an EEPROM (Electronically Erasable and Programmable Read Only Memory), a bus, and the like. The CPU executes arithmetic processing according to the processing program written in the ROM.

  Next, the operation of the parking assistance system 100 will be described. In this parking assistance system 100, first, when the vehicle is parked in a target parking space (hereinafter, parking position) of the vehicle by the driving operation of the driver, the obstacle detected by the ultrasonic sensors 40a to 40j while moving the vehicle. An object is stored (obstacle storage process). This obstacle information is stored in the nonvolatile memory of the parking assist ECU 10.

  Then, when the vehicle is parked at the same parking position after the next time, the target trajectory for the vehicle to move to the parking position is calculated based on the obstacle information stored in the nonvolatile memory, and the target The moving speed and moving direction of the vehicle are controlled so that the vehicle moves along the track (parking support process). In addition, when moving a vehicle from the parking position, the vehicle exits from the parking position by displaying an obstacle map indicating the position of the obstacle based on the obstacle information stored in the nonvolatile memory. Provide support (exit support processing).

  As described above, by storing the obstacles around the parking position in the nonvolatile memory, it is possible to provide driving support capable of dealing with various parking modes. It is particularly suitable when parking at frequently used parking positions such as a home garage or contract parking lot.

  Hereinafter, the obstacle storage process in the parking support system 100 will be described with reference to FIGS. 3 and 4. This obstacle storage process is executed in the parking assist ECU 10. In the following description, as shown in FIG. 4, as an example, a case where the vehicle moves forward and enters the parking lot surrounded by the bag BW and moves backward to the parking position PA and parks diagonally.

  First, when the vehicle enters the parking lot at the parking position PA, the user (the driver and the passenger including the passenger) touches the touch panel of the display 13 to start execution of the obstacle storage process of FIG. To do.

  In step S <b> 11 shown in FIG. 4, buttons “memory start” and “memory end” are displayed on the screen of the display 13. Then, when the user touches (ON) “memory start”, the process proceeds to step S12. In step S12, the current position of the vehicle when the “memory start” is touch-operated is set as the origin VO of the temporary coordinate system (VX-VY) set on the vehicle. Note that the VX axis (center line in the vehicle longitudinal direction) coincides with the azimuth in front of the vehicle, and the VY axis (center line in the vehicle width direction) is orthogonal to the VX axis.

  In step S13, driving of the ultrasonic sensors 40a to 40j is started, and in step S14, the driver is prompted to start a driving operation (parking operation). In the example of FIG. 4, the driver performs an operation of first moving the vehicle forward and then parking the vehicle at the parking position PA while moving backward. In step S15, it is determined whether the ultrasonic sensors 40a to 40j have detected an obstacle until the vehicle is parked at the parking position PA. If an affirmative determination is made in step S15, the process proceeds to step S16. If a negative determination is made, the process proceeds to step S17.

  In step S16, the coordinate value of the obstacle point in the temporary coordinate system (VX-VY) is calculated from the current position of the vehicle, the mounting position of the ultrasonic sensor 40 that detected the obstacle, and the distance to the obstacle. Memorize temporarily. In step S <b> 17, it is determined whether or not the “memory end” button displayed on the screen of the display 13 has been touched (ON).

  If an affirmative determination is made in step S17, the process proceeds to step S18 assuming that the vehicle is parked at the parking position PA. If a negative determination is made, it is assumed that the vehicle has not reached the parking position PA, the process proceeds to step S15, and the above-described process is repeated. That is, whether or not the vehicle has reached the parking position PA and is parked is determined based on whether or not the user has touched the “memory end” button.

  In step S18, the absolute position (latitude and longitude) of the vehicle parked at the parking position PA, the absolute direction of the vehicle, and the parking mode (forward parking or reverse parking) of the vehicle parked at the parking position PA are stored in the nonvolatile memory. . Here, the reason why the parking mode is stored is that the assistance contents of the driving assistance are different depending on whether the parking mode of the vehicle is forward parking or backward parking.

  In step S19, the coordinate value of the obstacle point temporarily stored as the coordinate value on the temporary coordinate system (VX-VY) is used as the origin RO, and the absolute value stored in the nonvolatile memory in step S18 is stored as the origin RO. The absolute azimuth of the vehicle is converted into a coordinate value of an actual coordinate system (RX-RY) having the RX axis as the axis orthogonal to the RY axis. Further, the origin VO of the temporary coordinate system (VX-VY) is also converted into the coordinate value of the real coordinate system (RX-RY).

  In step S20, the obstacle is divided into obstacles by grouping from the continuity of the obstacle points converted into the coordinate values of the real coordinate system (RX-RY). Thereby, as shown in FIG. 5, the coordinate value for every obstacle OBP in a real coordinate system (RX-RY) is determined, and this is memorize | stored in a non-volatile memory as obstacle information.

  As described above, by the obstacle storage process described above, the non-volatile memory has the obstacle information, the origin RO of the real coordinate system (RX-RY), the direction of the RX axis, and the origin VO of the temporary coordinate system (VX-VY). Each coordinate value is stored.

  Next, parking support processing will be described with reference to FIGS. First, in step S21 shown in FIG. 6, when the vehicle reaches the origin VO (near) of the temporary coordinate system (VX-VY) stored in the nonvolatile memory, the process proceeds to step S22. Note that the process may proceed to step S22 also when the user performs a touch operation to start execution of parking assistance.

  In step S22, the obstacle information stored in the nonvolatile memory is read out, and driving of the ultrasonic sensors 40a to 40j is started. In step S23, a button “automatic parking” is displayed on the screen of the display 13. Then, when the user touches (ON) “automatic parking”, the process proceeds to step S24.

  In step S24, as shown in FIG. 7, a target trajectory for the vehicle to move from the origin VO (near) in the temporary coordinate system (VX-VY) to the parking position PA is calculated, and the vehicle is moved along the target trajectory. The vehicle is guided to the parking position PA by controlling the moving speed and moving direction of the vehicle so as to move. Thereby, parking assistance for moving the vehicle to the parking position along the target track can be executed while avoiding contact with obstacles existing around the parking position PA.

  In this embodiment, the movement speed control (speed control) and the movement direction control (steering control) are performed. However, the vehicle speed adjustment is performed by the driving operation of the driver, and the movement direction control is performed. May be executed only.

  Here, the target trajectory is a target trajectory for the vehicle to park in the parking mode stored in the nonvolatile memory without colliding with the obstacle based on the obstacle information stored in the nonvolatile memory. Calculate. The calculation of the target trajectory is omitted because the vehicle trajectory can be calculated if the vehicle steering method such as the vehicle body size or the Ackermann-Jantho method is determined.

  In step S25, it is determined whether an obstacle different from the obstacle stored in the nonvolatile memory (existing at a position) is detected. If an affirmative determination is made in step S25, the process proceeds to step S27. If a negative determination is made, the process proceeds to step S26. In step S26, it is determined whether or not the vehicle is parked at the parking position PA. If an affirmative determination is made in step S26, the process ends. If a negative determination is made, the process proceeds to step S25, and the above-described process is repeated.

  In step S27, the parking support being executed is stopped, and in step S28, the driver is notified that there is an obstacle different from the obstacle stored in the nonvolatile memory. As a result, the driver's attention can be directed to an obstacle that has moved to a different position than before or an obstacle that did not exist before.

  For example, as shown in FIG. 8, an obstacle map indicating the position of the obstacle OBP stored in the non-volatile memory is displayed on the screen of the display unit 13, and the position of the obstacle NBP different from the previous one is combined with the obstacle map. To display. As a result, the driver can grasp the position of the obstacle present around the parking position.

  In step S <b> 29, buttons “restart parking support” and “end parking support” are displayed on the screen of the display 13. Then, when the user performs a touch operation (ON) on “resume parking assistance”, the process proceeds to step S23 and the above-described process is repeated. On the other hand, when the user performs a touch operation (ON) of “parking support end”, the process is terminated, and thereafter, the driver performs a driving operation to the parking position PA.

  Next, when moving the vehicle from the parking position, assistance to exit from the parking position is displayed by displaying an obstacle map indicating the position where the obstacle exists based on the obstacle information stored in the nonvolatile memory. The exit support process for performing the above will be described with reference to FIGS. 9 and 10.

  In step S31 of FIG. 9, the current position (latitude and longitude) of the vehicle is acquired. In step S32, it is determined whether or not the current position is substantially the same as the origin RO of the real coordinate system (RX-RY) stored in the nonvolatile memory. judge. If an affirmative determination is made in step S32, the process proceeds to step S33, and if a negative determination is made, this process ends.

  In step S33, the obstacle information stored in the nonvolatile memory is read. In step S34, as shown in FIG. 10, an obstacle map indicating the position of the obstacle OBP is displayed on the screen of the display 13, and the vehicle The shape of the host vehicle is also displayed based on the current position. Accordingly, the driver can perform a driving operation for exiting the parking position while grasping the position of the obstacle existing around the parking position. In step S35, driving of the ultrasonic sensors 40a to 40j is started.

  In step 36, it is determined whether an obstacle different from the obstacle stored in the nonvolatile memory is detected during the exit from the parking position. If an affirmative determination is made in step S36, the process proceeds to step S38. If a negative determination is made, the process proceeds to step S37.

  In step S37, a caution point corresponding to the progress status of the vehicle exit is displayed together with the obstacle map. For example, the direction in which the obstacle exists, the distance from the obstacle, and the like may be highlighted. In step S38, in addition to the display in step S37, the position of the obstacle different from the obstacle stored in the nonvolatile memory is displayed superimposed on the obstacle map. In step S39, it is determined whether or not the vehicle has reached the origin VO of the temporary coordinate system (VX-VY). If an affirmative determination is made here, the process ends. If a negative determination is made, the process proceeds to step S36, and the above-described process is repeated.

  As described above, the parking support system 100 according to the present embodiment is detected by the obstacle detection device while moving the vehicle from an arbitrary point around the target parking position of the vehicle to the parking position by the driving operation of the driver. When the position of the obstacle is stored in the non-volatile memory and the vehicle is parked at the same parking position next time, the position of the obstacle stored in the non-volatile memory is used to move the vehicle to the parking position. Car parking assistance.

  As a result, when parking at the same parking position or after leaving the same parking position after the next time, the position of the obstacle existing around the parking position can be grasped in advance, so the obstacle stored in the nonvolatile memory Parking assistance when moving the vehicle to the parking position can be executed using the position of the object. As a result, not only parking forms such as garage parking and parallel parking, but various parking forms can be supported.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the present embodiment, the obstacle points are grouped based on the continuity of the obstacle points to divide each obstacle. However, the edge portion of the obstacle is corrected in combination with the image captured by the camera 11. It may be.

  Also, for example, in the exit support process of the present embodiment, an obstacle map is displayed, but using the obstacle information stored in the nonvolatile memory, a target trajectory for exiting the vehicle from the parking position PA is calculated. The calculated target trajectory may be displayed so as to be superimposed on the obstacle map. In the parking support process, the obstacle map may be displayed and the target trajectory may be displayed in an overlapping manner. Thus, when the vehicle is parked at the parking position or when leaving the parking position, the moving direction of the vehicle can be guided so that the vehicle moves along the target track. Further, in the exit support process, the moving speed and moving direction of the vehicle may be controlled so that the vehicle moves along the target trajectory when leaving the vehicle from the parking position PA.

  The obstacle map may be an image obtained by converting an image captured by the camera 11 into a bird's-eye view image and displaying the obstacle OBP so as to overlap the bird's-eye view image.

1 is a block diagram showing an overall configuration of a parking assistance system 100. FIG. It is a figure which shows arrangement | positioning of the ultrasonic sensors 40a-40j mounted in the front part of a vehicle, and a rear part, and its detection range. It is a flowchart of an obstacle memory | storage process. It is a figure for demonstrating the example in the case of approaching and approaching the parking lot enclosed with 塀 BW, and retreating to the parking position PA and carrying out diagonal parking. It is a figure which shows the positional relationship of each obstruction OBP in a real coordinate system (RX-RY). It is a flowchart of a parking assistance process. It is the figure which showed the target track | orbit in parking assistance processing. It is a figure which shows the example which displayed the position of obstacle NBP different from before on the obstacle map. It is a flowchart of a leaving support process. It is a figure which shows the example which displayed the shape of the own vehicle together on the obstacle map.

Explanation of symbols

10 Parking assistance ECU
11 Camera 12 Speaker 13 Display 20 Navigation Device 30 Steering Angle Sensor 40 Ultrasonic Sensor 50 Sonar ECU
60 Wheel speed sensor 70 Brake ECU
80 steering drive device 90 speed control device 100 parking support system

Claims (7)

An obstacle detection device that detects an obstacle existing around the vehicle by transmitting a transmission wave toward the periphery of the vehicle and receiving the reflected wave;
The obstacle detection device while moving the vehicle from an arbitrary point around the target parking position of the vehicle to the parking position and from the parking position to at least one of the arbitrary points by a driver's driving operation Storage means for storing the position of the obstacle detected by
After the storage means stores the position of the obstacle, when the vehicle is present at at least one of the arbitrary point and the parking position, the position of the obstacle stored in the storage means is used. Driving support means for executing at least one driving support when moving the vehicle from the arbitrary position to the parking position and when moving the vehicle from the parking position to the arbitrary position; A featured driving support device.   2. The driving according to claim 1, wherein the driving support means displays an obstacle map indicating a position where the obstacle stored in the storage means is present on a display mounted in a cabin of the vehicle. Support device. The driving support means includes
A target for calculating a target trajectory for moving from the arbitrary position to the parking position or a target trajectory for moving from the parking position to the arbitrary point based on the position of the obstacle stored in the storage means Orbital calculation means,
3. The driving support apparatus according to claim 2, wherein the target trajectory calculated by the target trajectory calculating means is superimposed on the obstacle map and displayed. A vehicle control device for controlling at least one of the moving speed and the moving direction of the vehicle;
The driving support means includes
A target for calculating a target trajectory for moving from the arbitrary position to the parking position or a target trajectory for moving from the parking position to the arbitrary point based on the position of the obstacle stored in the storage means Orbital calculation means,
The driving support device according to claim 1, wherein at least one of the moving speed and the moving direction by the vehicle control device is controlled so that the vehicle moves along the target track. A position detecting means for detecting a current position of the vehicle;
The driving support means starts execution of the driving support when the current position detected by the position detection means is the arbitrary point or the parking position. The driving support device according to claim 1.   The driving support apparatus according to claim 1, wherein the storage unit stores a parking mode when the vehicle is parked at the parking position. Obstacle position determination means for determining whether the obstacle detection device has detected an obstacle different from the obstacle stored in the storage means during execution of the driving support;
When the obstacle position determination means determines that the obstacle detection device has detected an obstacle different from the obstacle stored in the storage means, a notification that informs the driver that the different obstacle exists The driving support apparatus according to claim 1, further comprising: means.

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