JP2009101970A - Parking supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking supporting device of a low cost capable of supporting a parking operation by using existing sensors, while enabling fine adjustments of parking and parking position at a position without a parking frame line by basically following a parking operation of a driver. <P>SOLUTION: This parking supporting device 20 is provided with an electric power steering device 15 for imparting steering assist torque to a steering system 14 of one's own vehicle to support the parking operation when one's own vehicle moves backward. The parking supporting device 20 is provided with a back camera 24 for detecting video images on a rear side of one's own vehicle, a positioning sensor 25 for detecting a distance between one's own vehicle and a surrounding obstacle, and a steering limit means 21 for limiting steering in a caution steering direction to be a steering direction to be cautioned for one's own vehicle based on at least either one of the detected information by the back camera 24 and the detected information by the positioning sensor 25. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a parking assistance device.

Currently, various parking assistance devices have been proposed that assist a driver's parking operation during reverse parking of a vehicle. For example, in recent years, a technique for recognizing a parking frame line based on detection information of a back camera that detects an image behind the host vehicle and parking the vehicle along a target locus to the parking frame line has been proposed. (See Patent Document 1).
JP 2006-21722 A

  However, in the conventional technique described in Patent Document 1 described above, a parking frame line is necessary on the road surface of the parking position, and when there is no parking frame line, the target locus cannot be calculated, and parking operation is supported. There was a possibility that it could not be done. In addition, when the conventional technology is adopted, there is a case where it is difficult to finely adjust the parking position because sufficient parking support cannot be performed when the parking position is shifted from the parking target position (when the parking position is moved to one side, etc.). It was. Further, the conventional parking assistance apparatus as described above has a problem that the control is complicated and the cost is high.

  The present invention has been made in view of such circumstances. Basically, by following the driver's parking operation, it is possible to park in a place where there is no parking frame line and finely adjust the parking position, while using existing sensors. It aims at providing the low-cost parking assistance apparatus which can assist parking operation using.

  In order to achieve the above object, a parking assist device according to the present invention is a parking assist device that includes an electric power steering device that applies a steering assist torque to a steering system of the host vehicle, and supports a parking operation when the host vehicle is moving backward. At least one of a back camera that detects an image behind the host vehicle, a positioning sensor that detects a distance between the host vehicle and a surrounding obstacle, detection information of the back camera, and detection information of the positioning sensor. On the other hand, steering restriction means for restricting steering in a caution steering direction, which is a steering direction that should be noted for the host vehicle, is provided.

  By adopting such a configuration, it is possible to limit steering in a steering direction (attention steering direction) that should be noted for the host vehicle based on detection information from the back camera and the positioning sensor while allowing the driver to perform a parking operation. . Therefore, collision with an obstacle or the like can be avoided in such a manner as to resist the operation of the driver who intends to continue parking in the caution steering direction while basically realizing parking by the driver's operation. Moreover, since the existing sensor (back camera or positioning sensor) is used, the cost for configuring the apparatus can be suppressed.

  The parking assist apparatus may further include a caution steering direction prediction unit that predicts a caution steering direction based on at least one of detection information of a back camera and detection information of a positioning sensor.

  When such a configuration is adopted, the driver's parking operation can be assisted based on the predicted caution steering direction (steering in the caution steering direction can be limited).

  The parking assist device may further include a sound generating means for generating a sound guide for notifying that when steering in the caution steering direction.

  By adopting such a configuration, it is possible to generate a voice guide that notifies that effect when steering in the caution steering direction. Therefore, the driver can be audibly recognized that the steering is in the caution steering direction, so that a collision with an obstacle can be effectively avoided.

  The parking assist device may further include vibration generating means for generating vibration in the steering wheel during steering in the caution steering direction.

  When such a configuration is adopted, vibration can be generated in the steering wheel during steering in the caution steering direction. Accordingly, the driver can be recognized with a certain sense of steering in the caution steering direction, so that collision with an obstacle or the like can be effectively avoided.

  The parking assist device may further include reverse stopping means for stopping the reverse of the host vehicle when the steering in the caution steering direction or the reverse of the host vehicle in the caution steering direction is continued.

  By adopting such a configuration, when the steering in the caution steering direction or the backward traveling of the host vehicle in the caution steering direction is continued, the backward traveling of the host vehicle can be stopped. Therefore, it is possible to reliably avoid a collision with an obstacle.

  Further, in the parking assistance device, it is possible to employ a steering restricting means for restricting steering in the caution steering direction when the steering in the caution steering direction or the backward movement of the host vehicle in the caution steering direction is continued.

  When such a configuration is adopted, steering in the caution steering direction can be restricted when the steering in the caution steering direction or the backward movement of the host vehicle in the caution steering direction is continued. Therefore, it is possible to reliably avoid a collision with an obstacle.

  According to the present invention, the parking operation using the existing sensors is supported while enabling the parking in a place without the parking frame line and the fine adjustment of the parking position by basically following the parking operation of the driver. Therefore, it is possible to provide a low-cost parking assistance device that can perform the above.

  Hereinafter, a parking assistance device according to an embodiment of the present invention will be described with reference to the drawings.

  First, the configuration of the parking support apparatus 20 according to the present embodiment will be described with reference to FIGS. 1 and 2. The parking assist device 20 (FIG. 2) includes an electric power steering device 15 (FIG. 1) that applies steering assist torque to a steering system of a vehicle mounted on the vehicle (hereinafter referred to as “own vehicle”), and parks when the host vehicle is traveling backward. It supports operation.

  FIG. 1 is a schematic configuration diagram for explaining a mechanical configuration of the electric power steering device 15 of the parking assist device 20. As shown in FIG. 1, the electric power steering device 15 includes a steering system component 14 including a steering wheel 1 and a steering shaft 2, and a steering motor 12 that applies a steering assist torque to the steering system component 14. A steering assist mechanism 10.

  A steering shaft 2 connected to the steering wheel 1 has an input shaft 2a and an output shaft 2b on which a driver's steering force acts, and a torque sensor 3 is interposed between the input shaft 2a and the output shaft 2b. ing. The steering force transmitted to the output shaft 2 b of the steering shaft 2 is transmitted to the lower shaft 5 via the universal joint 4 and further transmitted to the pinion shaft 7 via the universal joint 6. The steering force transmitted to the pinion shaft 7 is transmitted to the tie rod 9 via the steering gear 8 and steers steered wheels (not shown). The steering gear 8 is configured in a rack-and-pinion type having a pinion 8a connected to the pinion shaft 7 and a rack 8b meshing with the pinion 8a, and the rotational motion transmitted to the pinion 8a is converted into a linear motion by the rack 8b. It has been converted.

  A steering assist mechanism 10 for transmitting a steering assist force to the output shaft 2b is connected to the output shaft 2b of the steering shaft 2. The steering assist mechanism 10 includes a reduction gear box 11 connected to the output shaft 2b, and an electric steering motor 12 connected to the reduction gear box 11 and generating a steering assist force. The steering wheel 1, the steering shaft 2, the torque sensor 3, the universal joint 4, the lower shaft 5, the universal joint 6, the pinion shaft 7 and the steering gear 8 constitute a vehicle steering system component 14, and the steering motor 12 The steering assist torque is applied to the output shaft 2b of the steering system component 18.

  The torque sensor 3 detects a steering force applied to the steering wheel 1 and transmitted to the input shaft 2a as a steering torque. In the present embodiment, a torque sensor 3 configured to convert the steering torque into a torsion angle displacement of the torsion bar between the input shaft 2a and the output shaft 2b and detect the torsion angle displacement with a potentiometer is employed. ing.

  FIG. 2 is a block diagram for explaining a functional configuration of the parking assistance apparatus 20 according to the present embodiment. The parking assist device 20 includes a parking position control unit 21 that includes a shift position sensor 23 that detects a shift position of an automatic transmission mounted on the host vehicle, a back camera 24 that detects an image behind the host vehicle, and the host vehicle. A positioning sensor 25 that detects the distance between the vehicle and the surrounding obstacle, a vehicle speed sensor 26 that detects the traveling speed of the host vehicle, the steering motor 12 of the electric power steering device 15, and a brake system 27 that generates a braking force on the host vehicle. And a voice guide system 28 that generates a voice guide toward the driver in the passenger compartment of the host vehicle, and an in-vehicle monitor 29 that can display video information toward the driver in the passenger compartment of the host vehicle. It is configured.

  The parking assistance control unit 21 includes a rear image capturing unit 31 that captures an image of the back camera 24. The rear video capture unit 31 outputs the captured video information to the in-vehicle monitor 29 for display.

  The parking support control unit 21 also includes video information captured by the rear video capture unit 31, distance information between the host vehicle and surrounding obstacles detected by the positioning sensor 25, and a vehicle speed detected by the vehicle speed sensor 26. , Based on the calculation result of the region calculation unit 33 and the steering control unit 34 for controlling the steering motor 12 based on the calculation result of the region calculation unit 33. And a control value command unit 35 that outputs various control values.

  The parking assist control unit 21 calculates a steering reaction force from the control value output from the control value command unit 35, and controls the steering motor 12 together with the steering control unit 34, and a control value command. A vehicle speed control unit 37 that controls the brake system 27 from the control value output from the unit 35, and a voice control unit 38 that controls the voice guide system 28 from the control value output from the control value command unit 35. Yes.

  Next, the control content of the parking assistance apparatus 20 according to the present embodiment will be described using the flowchart of FIG.

  In step S1, the parking assistance control unit 21 of the parking assistance device 20 refers to the shift position sensor 23 to determine whether or not the transmission shift position has been switched from the D range (drive range) to the R range (reverse range). If the D range is not switched to the R range, step S1 is repeated.

  On the other hand, when the shift position is switched from the D range to the R range in step S1, the parking support control unit 21 turns on the back camera 24 and the positioning sensor 25 in step S2. Thereby, as for the parking assistance control part 21, the back image | video capture | acquisition part 31 starts the input of the data from the back camera 24 and the positioning sensor 25, and starts the parking assistance control of the own vehicle.

  Following step S2, in step S3, the parking assist control unit 21 uses the data from the back camera 24, the positioning sensor 25, and the vehicle speed sensor 26 to confirm information around the host vehicle. Based on the information, it is determined in step S4 whether or not the host vehicle is traveling in a direction to be watched.

  If the host vehicle has not advanced in the direction to be noted in step S4, the parking assist control unit 21 refers to the shift position sensor 23 in step S5 so that the shift position is N from the R range. It is determined whether the range (neutral range) or D range has been changed. In step S5, when the shift position is changed from the R range to the N range or the D range, the parking assist control unit 21 proceeds to step S6 and determines whether or not an ignition switch (not shown) is turned off. If the ignition switch is OFF, the control logic is turned OFF to end the control. If the ignition switch is not OFF, the control from step S1 is continued. On the other hand, if the shift position is not changed from the R range to the N range or the D range in step S5, the parking assist control unit 21 continues the control after step S3.

  On the other hand, if the vehicle is proceeding in a direction that should be noted for the host vehicle in step S4 (that is, the vehicle is traveling in the direction in which there is an obstacle), the parking operation control unit 21 determines that the area calculation unit 33 is Based on detection information of at least one of the detection information of the positioning sensor 25 and the detection information of the back camera 24, which of the steering information should be taken care of for the own vehicle (attention steering direction) when further steering is performed Predict. That is, the parking assist control unit 21 (the area calculation unit 33) corresponds to the caution steering direction predicting means in the present invention.

  Following step S7, the parking assist control unit 21 causes the steering control unit 34 and the steering reaction force control unit 36 to reduce the steering assist torque by the steering motor 12 in the caution steering direction below the normal value in step S8. By restricting steering in the caution steering direction, it becomes difficult to steer in the caution steering direction, and when steering in the caution steering direction, the steering motor 12 generates vibrations in the steering wheel 1 to alert the driver. Further, in step S8, the parking assist control unit 21 generates a voice guide for the driver by the voice guide system 28 when the voice control unit 38 steers in the caution steering direction to urge the driver to pay attention. . That is, the parking assist control unit 21 (the steering control unit 34 and the steering reaction force control unit 36) and the steering motor 12 constitute the steering limiting unit and the vibration generating unit in the present invention. Further, the parking assist control unit 21 (the voice control unit 38) and the voice guide system 28 constitute voice generation means in the present invention.

  Next, in step S9, the parking assist control unit 21 determines whether or not the area calculation unit 33 refers to the shift position sensor 23 to change the shift position from the R range to the N range or the D range. When the position is changed from the R range to the N range or the D range, the process returns to step S1, and the control after step S1 is continued. On the other hand, if the shift position is not changed from the R range to the N range or the D range in step S9, the parking assist control unit 21 determines that the area calculation unit 33 receives the vehicle speed information of the vehicle speed sensor 26 in step S10. From the detection information of the left and right positioning sensors 25 and the detection information of the back camera 24, it is determined whether or not the distance between the host vehicle and the obstacle has changed in a direction approaching each other.

  In step S10, when there is no change in the approaching direction, the parking assistance control unit 21 continues the control after step S8. On the other hand, when there is a change in the direction approaching the distance between the host vehicle and the obstacle in step S10 (that is, steering in the caution steering direction determined in step S7 or backward driving of the host vehicle is continued). In the case), in step S11, the parking assist control unit 21 controls the brake system 27 so that the vehicle speed control unit 37 stops the reverse so that the vehicle speed detected by the vehicle speed sensor 26 becomes zero, and The steering control unit 34 and the steering reaction force control unit 36 control the steering motor 12 to lock and restrict further steering in the caution steering direction. In other words, the parking assistance control unit 21 (the vehicle speed control unit 37) and the brake system 27 constitute reverse stop means in the present invention. In step S11, the parking assist control unit 21 controls the voice guide system 28 to generate a voice guide for the driver to alert the driver.

  Following step S11, the parking support control unit 21 determines whether or not the region calculation unit 33 refers to the shift position sensor 23 and the shift position is changed from the R range to the N range or the D range in step S12. If the shift position is not changed from the R range to the N range or the D range, the control in step S11 is continued. On the other hand, in step S12, when the shift position is changed from the R range to the N range or the D range, the parking assist control unit 21 determines whether or not the ignition switch is turned off. If the ignition switch is off, the control logic is turned off and the control is terminated. If the ignition switch is not off, the control from step S1 is continued.

  In the parking assistance device 20 according to the above embodiment, the parking assistance control unit 21 and the steering motor 12 (steering restriction means) are permitted based on detection information from the back camera 24 and the positioning sensor 25 while allowing the driver to perform the parking operation. ) Can limit the steering in the steering direction (caution steering direction) to which the host vehicle is to be careful, and when the steering in the attention steering direction or the backward movement of the host vehicle is continued, Steering can be restricted. Therefore, it is possible to reliably avoid collisions with obstacles in a form that resists the operation of the driver who intends to continue parking in the caution steering direction while basically realizing parking by the driver's operation. it can. Moreover, since the existing sensors (back camera 24 and positioning sensor 25) are used, the cost for configuring the device can be suppressed.

  In the parking assistance device 20 according to the above embodiment, the attention steering direction can be predicted by the area calculation unit 33 (attention steering direction prediction unit) of the parking assistance control unit 21. Based on the predicted caution steering direction, the driver's parking operation can be assisted (steering in the caution steering direction is limited).

  In the parking assistance device 20 according to the above embodiment, the parking assistance control unit 21 and the voice guide system 28 (voice generation means) provide a voice guide that notifies the user when steering in the caution steering direction. Can be generated. Therefore, the driver can be audibly recognized that the steering is in the caution steering direction, so that a collision with an obstacle can be effectively avoided.

  In the parking assistance device 20 according to the above embodiment, the steering wheel 1 can be vibrated by the parking assistance control unit 21 and the steering motor 12 (vibration generating means) during steering in the caution steering direction. . Accordingly, the driver can be recognized with a certain sense of steering in the caution steering direction, so that collision with an obstacle or the like can be effectively avoided.

  Moreover, in the parking assistance apparatus 20 according to the above embodiment, when the steering in the caution steering direction or the backward movement of the host vehicle in the caution steering direction is continued, the parking assistance control unit 21 and the brake system 27 (reverse stop) By means), the reverse of the host vehicle can be stopped. Therefore, it is possible to reliably avoid a collision with an obstacle.

  In the above embodiment, in addition to restricting the steering in the caution steering direction, an example is shown in which the steering wheel 1 is vibrated and cautioned by voice guidance when steering in the caution steering direction. However, it is also possible to implement only one of the generation of vibration in the steering wheel 1 and the voice guide. Further, only the steering limitation in the caution steering direction may be performed without performing both the generation of vibration and the voice guide in the steering wheel 1.

  In the above embodiment, when the steering in the caution steering direction or the reverse of the host vehicle is continued, the parking support control unit 21 controls the brake system 27 to stop the reverse of the host vehicle, and The parking support control unit 21 controls the steering motor 12 to restrict further steering in the caution steering direction. However, when the steering in the caution steering direction or the backward movement of the host vehicle is continued, Only one of the vehicle reverse stop and the steering restriction can be implemented.

It is a schematic block diagram of the electric power steering device which comprises the parking assistance apparatus which concerns on embodiment of this invention. It is a control block diagram of the parking assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the control content of the parking assistance apparatus which concerns on embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 12 ... Steering motor (steering restriction means, vibration generating means), 14 ... Steering system components, 15 ... Electric power steering device, 20 ... Parking assistance device, 21 ... Parking assistance control unit (steering restriction means, caution steering direction prediction means) , Voice generating means, vibration generating means, reverse stop means), 24 ... back camera, 25 ... positioning sensor, 27 ... brake system (reverse stop means), 28 ... voice guide system (voice generating means).

Claims (6)

A parking assist device that includes an electric power steering device that applies steering assist torque to the steering system of the host vehicle, and supports a parking operation when the host vehicle is moving backward,
A back camera that detects the image behind the vehicle,
A positioning sensor that detects the distance between the vehicle and the surrounding obstacle,
Steering restricting means for restricting steering in a caution steering direction that is a steering direction that should be noted for the host vehicle based on at least one of the detection information of the back camera and the detection information of the positioning sensor;
Comprising
Parking assistance device. Caution steering direction prediction means for predicting the caution steering direction based on at least one of detection information of the back camera and detection information of the positioning sensor;
The parking assistance device according to claim 1. A voice generating means for generating a voice guide for notifying that when steering in the caution steering direction;
The parking assistance device according to claim 1 or 2. A vibration generating means for generating vibration in the steering wheel during steering in the caution steering direction;
The parking assistance device according to any one of claims 1 to 3. Comprising reverse stopping means for stopping backward movement of the own vehicle when the steering in the caution steering direction or the backward movement of the own vehicle in the caution steering direction is continued;
The parking assistance device according to any one of claims 1 to 4. The steering restriction means restricts the steering in the caution steering direction when the steering in the caution steering direction or the backward movement of the host vehicle in the caution steering direction is continued.
The parking assistance device according to any one of claims 1 to 5.

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