JP2008213741A - Driving assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving assisting device capable of responding to variation of status of an obstacle. <P>SOLUTION: When information of the obstacle detected by supersonic sensors 40a-40j is memorized in a non-volatile memory while a vehicle is moved from an arbitrary position to a parking position by driving operation of the driver of the vehicle, it is memorized so as to include the kind of the obstacle selected by a user. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device.

  Conventionally, as described in Non-Patent Document 1 and Patent Document 1, there has been proposed one that assists a driving operation when a vehicle is parked. Among them, Non-Patent Document 1 discloses an automatic steering parking assist system (Intelligent parking control system) that performs steering control to move a vehicle to a parking position set and confirmed by a driver on a display when garage parking and parallel parking are retreated. Parking Assist (hereinafter referred to as IPA) is described.

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.
"Automotive Technology, Japan Automobile Technical Association, Vol.60, No.10,2006, P47-52" JP 2006-270777 A

  The above-mentioned IPA estimates the parking space by passing the side of the parking position once, and then performs parking support based on the estimated parking space. Therefore, even if the obstacles such as parked vehicles that existed when passing next to the parking position (before parking) and the obstacles when actually parking differ, Parking assistance is performed on the assumption that the situation of the obstacle is the same. Therefore, there is a problem that parking assistance according to the condition of an obstacle when actually parking can not be performed.

  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 a change in the state of an obstacle.

The driving support device according to claim 1 is provided.
An obstacle detection device for detecting obstacles around the target parking position of the vehicle;
Storage means for storing information on obstacles detected by the obstacle detection device;
Driving at least one of moving the vehicle from an arbitrary point around the parking position to the parking position and moving the vehicle from the parking position to the arbitrary point using the obstacle information stored in the storage means Driving support means for performing support, comprising:
Provided with an obstacle type selection means for selecting the type of obstacle detected by the obstacle detection device,
The storage means stores the obstacle type including the obstacle type selected by the obstacle type selection means as the obstacle information.

  As described above, the present invention classifies the obstacle information into the storage means such as walls, fences, utility poles, etc., which cannot be moved, or parked vehicles, etc., which are movable. And remember. As a result, the driving support means can provide driving support for an obstacle that cannot move, assuming that the situation is the same as when the situation is stored in the storage means. In addition, for obstacles that can be moved, driving assistance can be provided assuming that the situation may have changed from when it was stored in the storage means, so it can respond to changes in the situation of the obstacle. It becomes.

  As described in claim 2, it is preferable that the obstacle type selection means select at least one of a structure that cannot move and a movable object that can move. This is because the storage means can distinguish and store an obstacle (structure) that does not move and an obstacle (movable object) that may move.

  According to the driving support apparatus of the third aspect, the obstacle type selection unit includes an input unit for selecting the type of the obstacle detected by the obstacle detection device by a user input operation. . Thereby, since the kind of obstacle comes to be selected by user's input operation, the kind can be selected appropriately.

The driving support device according to claim 4 is:
Obstacle position determination means for determining whether or not the obstacle detection device has detected an obstacle present at a position different from the obstacle stored in the storage means during execution of the driving support by the driving support means;
When the obstacle position determination means determines that an obstacle existing at a position different from the obstacle stored in the storage means has been detected, a notification means for notifying that an obstacle different from the stored obstacle exists. It is characterized by providing.

  Thereby, the driver | operator (user) of a vehicle can be alerted to the obstacle different from the obstacle memorize | stored previously.

According to the driving support device according to claim 5,
The obstacle detection device detects an obstacle existing around the vehicle by transmitting a transmission wave toward the periphery of the vehicle and receiving the reflected wave.
The storage means stores information on an obstacle detected by the obstacle detection device while moving the vehicle from an arbitrary point to a parking position and from the parking position to at least one of the arbitrary points by a driving operation of the vehicle driver. Is,
The driving support means uses the information on the obstacle stored in the storage means when the vehicle is present at any point and / or at the parking position after the storage means stores the information on the obstacle. It is characterized by performing.

  As a result, when parking at the same parking position or when leaving the same parking position after the next time, information on obstacles existing around the parking position can be grasped in advance, so this stored obstacle information , 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.

  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 assistance system 100 will be described with reference to FIGS. 3 to 12. This obstacle storage process is executed in the parking assist ECU 10. In the following description, as shown in FIG. 5, as an example, a case where the vehicle moves forward into the parking lot and moves backward to the parking position PA along the ridge BW is parked.

  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. 3, 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. 5, 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 selection process shown in FIG. 4 is executed. In step S201 in FIG. 4, the obstacles are divided for each obstacle by performing grouping based on the continuity of the obstacle points converted into the coordinate values of the real coordinate system (RX-RY). Thereby, as shown in FIG. 6, the coordinate value for every group of the obstacle point OBP in a real coordinate system (RX-RY) is determined.

  In step S201, as shown in FIG. 7, an obstacle map indicating the positional relationship between the obstacles divided for each group and the parking position PA is displayed on the screen of the display 13, and a message “confirmation” is displayed as a message to the user. “Please select a structure from the obstacles that have been made” is displayed, and the user is allowed to select an obstacle that is a structure that cannot be moved by a touch operation. In other words, the type of obstacle that has been confirmed (detected by the ultrasonic sensors 40a to 40j) and that corresponds to the structure is selected by the user's input operation (touch operation).

  In step S202, as shown in FIG. 8, the color scheme of the obstacle displayed at the location touched by the user is changed and displayed. As a result, the type of obstacle selected by the user is selected as the structure OBF. In step S <b> 203, it is determined whether or not the user has touched the “next” portion displayed on the screen of the display device 13. If an affirmative determination is made in step S203, the process proceeds to step S204. If a negative determination is made, the process proceeds to step S201, and the above-described process is repeated.

  In step S204, as shown in FIG. 9, an obstacle map similar to that in FIG. 8 is displayed on the screen of the display 13, and a message to the user is displayed such as “a car or motorcycle that can be moved from within the confirmed contents”. "Please select" is displayed, and the user is allowed to select an obstacle that is a movable object by a touch operation. In other words, the type of obstacle that has been confirmed (detected by the ultrasonic sensors 40a to 40j) and that corresponds to the moving object is selected by the user's input operation (touch operation).

  In step S205, as shown in FIG. 10, the color scheme of the obstacle displayed at the location touched by the user is changed and displayed. As a result, the type of obstacle selected by the user is selected as the moving object OBM. In step S <b> 206, it is determined whether or not the user has touched the “next” portion displayed on the screen of the display device 13. If an affirmative determination is made in step S206, the process proceeds to step S207. If a negative determination is made, the process proceeds to step S204, and the above-described process is repeated.

  In step S207, as shown in FIG. 11, an obstacle map in which obstacles with types selected and obstacles with no types selected are displayed as a message to the user with “remaining obstacles stored. The message “Is it OK?” Is displayed, and the user determines whether to exclude the remaining obstacles from the obstacles to be stored.

  In step S <b> 208, it is determined whether or not the user has touched the “Yes” portion in FIG. 11 displayed on the screen of the display device 13. If an affirmative determination is made in step S208, the process proceeds to step S209. Thus, even when a passing pedestrian or the like is detected as an obstacle when the vehicle moves to the parking position PA, the pedestrian can be excluded from the obstacle to be stored. On the other hand, if a negative determination is made in step S208, the process proceeds to step S204, and the above-described process is repeated.

  In step S209, the information of the obstacle classified into the structure and the moving object is stored in the nonvolatile memory. In step S209, the obstacle map shown in FIG. 12 is displayed as a message for the user with the content “I have stored the obstacle” to inform the user that the selection of the obstacle type has been completed. In step S210, it is determined whether or not the user has touched the “end” position in FIG. If an affirmative determination is made in step S210, the process ends. If a negative determination is made, the process proceeds to step S209.

  As described above, with the obstacle selection process shown in FIG. 4, the obstacle detected by the ultrasonic sensors 40 a to 40 j is either a structure that cannot be moved or a kind of movable object that can be moved. Therefore, the information including the type of the obstacle can be stored in the nonvolatile memory as the obstacle information. That is, the structure and the moving object can be distinguished and stored. Further, as described above, since the type of the obstacle is selected by the user's input operation (touch operation), the type is appropriately selected.

  As described above, by the obstacle storage process described above, the non-volatile memory stores the classified obstacle information (obstacle information including obstacle type, shape and size, coordinate value), real coordinate system (RX− (RY) origin RO, azimuth of RX axis, and each coordinate value of origin VO of temporary coordinate system (VX-VY) are stored.

  Next, parking support processing will be described with reference to FIGS. First, in step S21 shown in FIG. 13, 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. 14, a target trajectory for the vehicle to move from the origin VO (near) of 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 existing at a position different from the obstacle stored in the nonvolatile memory 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, it is determined whether there is an obstacle corresponding to the moving object as the type of the obstacle stored in the nonvolatile memory. If an affirmative determination is made in step S27, the process proceeds to step S28. If a negative determination is made, the process proceeds to step S26. In step S28, it is determined whether other objects (pedestrians, etc.) have been detected. If the determination is affirmative, the parking support being executed is stopped in step S29, and the process proceeds to step S30. On the other hand, if a negative determination is made, the process proceeds to step S26.

  In step S30, the driver is notified that there is an obstacle different from the obstacle stored in the nonvolatile memory. For example, as shown in FIG. 15, an obstacle map indicating the positions of the structure OBF and the moving object OBM stored in the nonvolatile memory is displayed on the screen of the display unit 13, and the obstacle map NBP different from the previous one is displayed on the obstacle map. The position of is also displayed. 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 has not existed before.

  In step S <b> 30 a, 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, the obstacle map indicating the position where the obstacle is present is displayed based on the obstacle information stored in the non-volatile memory, thereby supporting the exit from the parking position. The exit support process for performing is described with reference to FIGS. 16 and 17.

  In step S31 of FIG. 16, the current position (latitude and longitude) of the vehicle is acquired. In step S32, 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 ( Whether or not the current position of the vehicle is in the vicinity of the origin RO). 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. 17, an obstacle map indicating the positions of the structure OBF and the moving object OBM is displayed on the screen of the display unit 13. At the same time, the virtual shape of the host vehicle is also displayed based on the current position of the vehicle. 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 S37. If a negative determination is made, the process proceeds to step S40. In step S37, it is determined whether there is an obstacle corresponding to the moving object as the type of the obstacle stored in the nonvolatile memory. If an affirmative determination is made in step S37, the process proceeds to step S38. If a negative determination is made, the process proceeds to step S40. In step S38, it is determined whether there is an obstacle that is not stored in the nonvolatile memory (an obstacle that is not stored in the nonvolatile memory is detected). If the determination is affirmative, the process proceeds to step S39. If the determination is negative, the process proceeds to step S36. In step S39, a point of caution according to the vehicle exit progress status is displayed together with the obstacle map, and the position of the obstacle different from the obstacle stored in the nonvolatile memory is displayed superimposed on 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 S40, an attention point corresponding to the progress status of the vehicle exit is highlighted together with the obstacle map. In step S41, it is determined whether 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 assist system 100 according to the present embodiment is configured to store the obstacle information detected by the ultrasonic sensors 40a to 40j while moving the vehicle from an arbitrary point to the parking position by the driving operation of the vehicle driver. When storing in the memory, the type of obstacle selected by the user is stored. Then, after the obstacle information is stored, when the vehicle is present at at least one of an arbitrary point and a parking position, driving assistance is executed using the obstacle information stored in the nonvolatile memory.

  As described above, when storing information on obstacles in the nonvolatile memory, the information is classified and stored into structures that cannot be moved, such as walls, fences, and utility poles, and movable objects that can be moved such as parked vehicles. To do.

  As a result, when parking at the same parking position or when leaving the same parking position after the next time, information on obstacles existing around the parking position can be grasped in advance, so this stored obstacle information , 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.

  And in the case of parking assistance or leaving assistance, it is possible to provide assistance for structures that cannot be moved, assuming that the situation is not different from that stored in the nonvolatile memory. In addition, for moving objects that can move, it can be supported that the situation may have changed from when it was stored in non-volatile memory, so it can respond to changes in the situation of obstacles It becomes.

  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 obstacle storage process of this embodiment, an obstacle that actually exists is stored, and an obstacle that does not actually exist cannot be stored. Therefore, even an obstacle that does not actually exist may be stored. For example, it is assumed that there is a structure or a moving object at a place where the user traces the touch panel with a finger, and the type of the obstacle is added and stored. Thereby, the obstacle which does not exist when memorizing an obstacle can be memorized.

  Further, in the obstacle storage processing of the present embodiment, the obstacle is detected using the ultrasonic sensors 40a to 40j, but the obstacle present around the parking position by image recognition using a stereo camera or the like. May be detected.

  Further, in the present embodiment, the obstacles are grouped based on the continuity of the obstacle points to divide each obstacle, but 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 structure OBF or the moving object OBM on 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 flowchart of an obstacle selection process. It is a figure for demonstrating the example in the case of moving forward into the parking lot enclosed by で BW, and retreating to the parking position PA and parking. It is a figure which shows the positional relationship for every group of the obstruction point OBP in a real coordinate system (RX-RY). It is an obstacle map at the time of selecting a structure. It is an obstacle map when structure OBF is selected. It is an obstacle map at the time of selecting a moving object. It is an obstacle map when a moving object OBM is selected. It is an obstacle map at the time of judging whether to exclude the remaining obstacle from the obstacle which should be memorized. It is an obstacle map in which the stored obstacle is displayed. 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 (5)

An obstacle detection device for detecting obstacles around the target parking position of the vehicle;
Storage means for storing information on obstacles detected by the obstacle detection device;
Using the obstacle information stored in the storage means, when moving the vehicle from an arbitrary point around the parking position to the parking position, and from the parking position to the arbitrary point Driving support means for executing at least one driving support when performing driving support,
An obstacle type selection means for selecting the type of obstacle detected by the obstacle detection device;
The storage means stores the obstacle information including the obstacle type selected by the obstacle type selection means as the obstacle information.   The driving support apparatus according to claim 1, wherein the obstacle type selection means selects at least one of a structure that cannot move and a movable object that can move.   The driving support apparatus according to claim 1 or 2, wherein the obstacle type selection means includes an input means for selecting an obstacle type detected by the obstacle detection device by a user input operation. Obstacle position determination means for determining whether or not the obstacle detection device has detected an obstacle present at a position different from the obstacle stored in the storage means during execution of the driving support by the driving support means;
Notification means for notifying that there is an obstacle different from the stored obstacle when the obstacle position determination means determines that an obstacle existing at a position different from the obstacle stored in the storage means is detected. The driving support apparatus according to any one of claims 1 to 3, further comprising: The obstacle detection device detects an obstacle existing around the vehicle by transmitting a transmission wave toward the periphery of the vehicle and receiving the reflected wave.
The storage means is detected by the obstacle detection device while moving the vehicle from the arbitrary position to the parking position and from the parking position to at least one of the arbitrary positions by a driving operation of the vehicle driver. Information about the obstacles
The driving support means stores the obstacle stored in the storage means when the vehicle exists at at least one of the arbitrary point and the parking position after the storage means stores the information on the obstacle. The driving support device according to any one of claims 1 to 4, wherein the driving support is executed using the information.

Images