JP2011100184A - Parking assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assist device that enhances productivity without making a driver feel troublesomeness. <P>SOLUTION: The parking assist device 1 includes: a detection means b that detects a parking space around a vehicle; a guiding means j that determines an initial parking position based on a parking space and guides the vehicle to the initial parking position; a position detection means a that detects a position of the vehicle; and a starting means that makes the detection means b start detecting the parking space when the position is located at a determined area. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parking assistance device capable of improving merchantability without causing a driver to feel bothersome.

  Conventionally, when a condition such as reverse operation of the vehicle shift position is established, the target route of the vehicle is determined based on the positional relationship between the current vehicle position and the target parking position set automatically or manually. 2. Description of the Related Art Parking assistance devices that calculate and display on a monitor are known. More recently, an initial stop position, which is the starting point of reverse operation when parking at a target parking position that is automatically set based on detection and recognition of the parking space, is determined, and from the current position of the vehicle to the initial stop position. For example, there is proposed a parking assist device as described in Patent Document 1 that performs so-called initial stop position guide control that guides a route by vehicle control such as automatic steering or display of an initial position guide image or the like.

JP 2009-190463 A

  The parking assist device as described above has a function start switch that selectively activates the initial stop position guide control and selects the initial stop position guide function. When activated, the parking space located around the vehicle is detected and recognized and the target parking position is automatically determined and automatically determined even though the driver does not intend to park. The guidance to the initial stop position is automatically performed, and the driver feels annoyed, leading to a decline in the merchantability of the parking assistance device.

  In addition, when the driver has the intention to park truly and the driver has the intention to actively use the initial stop position guidance control, the driver has approached the desired parking space. Since it is necessary to turn on the function start switch at the timing, the driver feels bothered at this timing and the merchantability of the parking assistance device is reduced.

  In view of the above problems, an object of the present invention is to provide a parking assist device capable of improving the merchantability without causing the driver to feel bothersome.

In order to solve the above problem, the parking assist device according to the present invention provides:
Detecting means for detecting a parking space around the vehicle;
Guidance means for determining an initial stop position based on the parking space and guiding to the initial stop position;
Position detecting means for detecting the position of the vehicle;
The apparatus includes a start unit that performs a start process for starting detection of the parking space by the detection unit when the position is in a predetermined area.

  According to the parking assist device, when the vehicle is in the predetermined area and the driver has the intention to truly park, the detection is performed at a timing when the driver approaches a desired parking space. The means starts detecting the parking space by the start means, and the guide means determines the initial stop position and guides to the initial stop position based on the parking space recognized accordingly. Will be performed.

  For this reason, guidance to the initial stop position can be performed without causing the driver to select the start of the guidance of the guide means, that is, the selection of the start of the initial stop position guidance function based on a separate switch operation. It is possible to avoid the driver from feeling annoyed. Thereby, the merchantability of the parking assistance device can be improved.

  Further, in the parking assist device, the initial stop position guide function based on the guide means can be selectively activated as necessary. If not, the parking space located around the vehicle is detected and recognized, the target parking position is automatically set, and guidance to the automatically determined initial stop position is automatically performed. This can be prevented. Thereby, it can prevent that a driver | operator feels troublesome and causes the fall of the commercial property as a parking assistance apparatus.

In the parking assistance device,
Speed detection means for detecting the speed of the vehicle,
When the predetermined area is a commercial area or a densely populated area and the speed is equal to or lower than a predetermined value, the start unit preferably performs the start process.

  According to the parking assist device, it is possible to appropriately set a trigger for starting the detection of the detection means when the vehicle is traveling in a commercial area or a densely populated area.

Alternatively, in the parking assist device,
When the predetermined area is a parking lot, the start means may perform the start process.

  According to the parking assist device, it is possible to appropriately set a trigger for starting the detection of the detection means when the vehicle is traveling in the vicinity of the parking lot.

  ADVANTAGE OF THE INVENTION According to this invention, the parking assistance apparatus which can improve merchantability, without making a driver | operator feel troublesome can be provided.

It is a block diagram which shows one Embodiment of the parking assistance apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the parking assistance apparatus which concerns on this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram illustrating an embodiment of a parking assistance device 1 according to the present embodiment.

  As shown in FIG. 1, the parking assistance device 1 includes a navigation device a, a parking space recognition sensor b, a rear camera c, a parking assistance ECU d (Electronic Control Unit), an electric steering device e, a vehicle speed sensor f, , A deceleration sensor g, a brake switch h, a turn signal / hazard signal i, and an initial stop position guide device j.

  The navigation device a, the parking assist ECU d, the initial stop position guidance device j, and the electric steering device e are connected to each other via a communication standard such as CAN (Controller Area Network).

  The parking assist ECU d is composed of, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM, and performs the processing described below. It constitutes the starting means to perform.

  The parking space recognition sensor b is, for example, an ultrasonic sensor or an image sensor that is provided at an appropriate location of the vehicle and detects and recognizes a parking space located around the vehicle, and outputs a recognition result to the parking assist ECU d. And constitutes detection means.

  The rear camera c is, for example, a CCD camera or a CMOS camera. For example, the rear camera c is disposed on the lower surface of the roof in the vehicle compartment so that the optical axis is aligned rearward. The image data is captured over a wide area including the side of the image data, and the captured image data is output to the parking assist ECU d as a detection result.

  The vehicle speed sensor f constitutes speed detection means for detecting the speed of the vehicle, and the speed detected by the vehicle speed sensor f is transmitted to the parking assist ECU d.

  The deceleration sensor g detects vehicle deceleration, and the detected deceleration is transmitted to the parking assist ECU d.

  The brake switch h is, for example, a limit switch provided on a brake pedal (not shown). The brake switch h detects whether or not the driver depresses the brake pedal, that is, whether or not the brake is operated, and the detection result is transmitted to the parking assist ECU d.

  The turn signal / hazard signal i is, for example, a body ECU that detects whether a turn signal for turning left or right or a hazard signal for warning is turned on, and transmits the detection result to the parking assist ECU d. It is.

  The electric steering device e is constituted by, for example, EPSECU and EPS, and the EPSECU is constituted by a CPU, a ROM, a RAM, a data bus and an input / output interface for interconnecting them, and is described below according to a program stored in the ROM. Process.

  The EPS ECU detects an operating force of the driver's steering wheel by a torque sensor using a torsion bar provided on a steering shaft (not shown) inside the EPS, and in response to this operating force or the steering of the parking assist ECU d Based on the angle command, an electric motor (not shown) of the EPS is driven to generate a steering force to steer the wheel, thereby assisting the driver in operating force or assisting in parking operation.

  The navigation device a is, for example, a car navigation ECU, and includes a CPU, a ROM, a RAM, a data bus and an input / output interface that connect them, and the CPU performs predetermined processing according to a program stored in the ROM. And performs the processing described below.

  The navigation device a measures the longitude and latitude of the vehicle position based on, for example, the principle of triangulation based on radio waves received by a GPS antenna (not shown) and launched over the earth. Is detected.

  At the same time, the navigation device a detects the yaw rate of the vehicle based on the output of the yaw rate sensor (not shown), and the steering detected by the electric steering device e based on the output of the steering sensor provided in the EPS (not shown). The position of the vehicle when the position of the vehicle cannot be detected based on the principle of triangulation by receiving the radio wave from a plurality of satellites of the GPS antenna by calculating the position of the vehicle by autonomous navigation and detecting the angle via the CAN Complement information. That is, the navigation apparatus a constitutes a position detection unit that detects the position of the vehicle.

  Furthermore, the navigation device a uses a destination map input by a touch panel (not shown) and a current vehicle position to search for a recommended route to the destination from map information for search included in a database (not shown) by appropriate means such as the Dijkstra method. Explore. The navigation device a superimposes the searched recommended route and the map information for display included in the database and displays them on a display (not shown).

  Furthermore, the navigation device a determines whether or not the detected vehicle position exists in a predetermined area (commercial area or densely populated house, parking lot) based on the reference to the position information or attribute included in the database described above. The determination result is transmitted to the parking support ECU d via the CAN, and transmitted to the parking support ECU d via the CAN.

  The parking assist ECU d acquires a determination result of whether or not the position of the vehicle transmitted by the navigation device a exists in the parking lot, and when the position of the vehicle exists in the parking lot, the parking space recognition sensor b A start process for starting detection of the parking space is performed.

  Similarly, the parking assist ECU d obtains the vehicle speed from the vehicle speed sensor f from the determination result of whether the vehicle position transmitted by the navigation device a exists in a commercial area or a residential dense area and the vehicle position. Is present in a commercial area or a densely populated area, and when the vehicle speed is equal to or lower than a certain vehicle speed, a start process for starting detection of the parking space by the parking space recognition sensor b is performed.

  When detection of the parking space by the parking space recognition sensor b is started when the position of the vehicle exists in the parking lot, the initial stop position guide device j determines the initial stop position based on the detected and recognized parking space. Then, guidance from the current vehicle position to the initial stop position is performed by image display on a display (not shown) or sound by a speaker.

  When the position of the vehicle exists in a commercial area or a densely populated area, after the parking space detection sensor b starts detecting the parking space, the parking assist ECU d determines whether the brake is being operated or not. Determine whether the speed history is above a certain value and whether the turn signal or hazard signal is on, and if all of these are positive, the driver is willing to park, The initial stop position guide device j determines an initial stop position based on the detected and recognized parking space, and performs guidance from the current vehicle position to the initial stop position by image display on a display (not shown) or sound by a speaker.

  After the vehicle stops at the initial stop position and the initial stop position guidance control ends, the parking assist ECU d starts the parking support control, and from the initial stop position to the target parking position based on the detection result of the rear camera c. , The steering angle is calculated so that the vehicle traces the backward trajectory, and a steering angle command is transmitted to the steering device e via the CAN to perform the steering angle control.

  Hereinafter, the control content, that is, the algorithm of the parking assistance apparatus 1 according to the present embodiment will be described in detail using a flowchart. FIG. 2 is a flowchart showing the control contents of the parking assistance apparatus 1 of the present embodiment.

  At start 100 shown in FIG. 2, the parking assistance device 1 starts control, and at step 110, the parking assistance ECU d determines whether or not the current position of the vehicle is in the parking lot based on information from the navigation device a. If the determination is affirmative, the process proceeds to step 120. If the determination is negative, the process proceeds to step 200.

  In step 120, the parking assist ECU d starts the measurement, that is, detection of the parking space by the parking space recognition sensor b. In step 130, the parking assist ECU d determines whether the parking space exists and recognizes it. If there is, proceed to step 140, and if not, return to the step before step 120.

  In step 140, the parking assist ECU d causes the initial stop position guidance device j to activate the initial stop position guidance control. In step 150, the parking assist ECU d determines whether the vehicle has stopped at the initial stop position based on the vehicle speed. If the determination is affirmative, the process proceeds to step 160. If the determination is negative, the process returns to the position before step 150. In step 160, the parking assist ECU d calculates a backward trajectory from the initial stop position to the target parking position, calculates a steering angle so that the vehicle traces the backward trajectory, and sends a steering angle command to the steering device e. On the other hand, a series of parking assistance systems which transmit via CAN and perform steering angle control are started.

  In step 200, the parking assist ECU d determines whether or not the position of the vehicle is in a commercial area or a densely populated area. If the result is affirmative, the process proceeds to step 210. If the result is negative, the process returns to step 110.

  In step 210, the parking assist ECU d determines whether or not the speed of the vehicle is equal to or lower than a certain vehicle speed. If the result is affirmative, the process proceeds to step 220. If the result is negative, the process returns to step 110.

  In step 220, the parking assist ECU d starts measuring or detecting the parking space around the vehicle by the parking space recognition sensor b, proceeds to step 230, and determines whether or not the parking space exists and is recognized in step 230. If the result is affirmative, the process proceeds to step 240. If the result is negative, the process returns to step 220.

  In step 240, the parking assist ECU d determines whether or not the brake is operating based on the detection result from the brake switch h, and proceeds to step 250 if affirmative, proceeds to step 270 if negative. In step 270, the parking assist ECU d determines whether or not a fixed time has elapsed since the end of step 240. If the determination is affirmative, the parking assist ECU d returns to the step before step 110, and if the determination is negative, the step proceeds to step 240. Return.

  In step 250, the parking assistance ECU d determines whether or not the latest deceleration history is equal to or greater than a certain value based on the detection result from the deceleration sensor g. If there is, the process proceeds to step 280. In step 280, the parking assist ECU d determines whether or not a fixed time has elapsed after the end of step 250. If the result is affirmative, the process returns to the front of step 110 and the result is negative. Return to the position before step 250.

  In step 260, the parking assistance ECU d determines whether or not the turn signal or the hazard signal brake is on based on the detection result from the turn signal / hazard signal i. If so, the process proceeds to step 290. In step 290, the parking assist ECU d determines whether or not a fixed time has elapsed after the end of step 260. If the result is affirmative, the process returns to the front of step 110 and is negative. In this case, the process returns to the step before step 260.

  Processing from the start 100 to the end 170 is repeatedly executed at a predetermined cycle.

  According to the parking assistance apparatus 1 of the present embodiment realized by the control contents described above, the following operational effects can be obtained. That is, according to the parking assistance apparatus 1 of the present embodiment, when the vehicle is in a predetermined area defined by a parking lot, a commercial area, or a densely populated area, and the driver has an intention to truly park. The parking assistance ECU d can start the parking space recognition sensor b from detecting the parking space at the timing when the driver approaches the desired parking space. Based on the parking space recognized based on the start of the detection, the initial stop position guide device j determines the initial stop position, and performs the initial stop position guide control for prompting the vehicle to move to the initial stop position. To begin to do.

  Thus, since the initial stop position guidance control can be automatically executed, it is possible to eliminate the driver from selecting the start of the initial stop position guidance control based on a separate switch operation. For this reason, it can be avoided that the driver feels troublesome in a series of operations from driving to parking. Thereby, in the parking assistance apparatus 1 of a present Example, merchantability can be improved.

  Furthermore, in the parking assistance apparatus 1 of the present embodiment, the initial stop position guide function based on the initial stop position guide apparatus j is selectively activated as necessary only when the driver has an intention to park. be able to. For this reason, the state where the parking space recognition sensor b and the initial stop position guide device j are always activated can be prevented from being continued.

  Thus, when the driver does not have the intention to park, the parking space located around the vehicle is detected and recognized by the parking space recognition sensor b, and the target parking position is automatically detected by the initial stop position guide device j. Thus, it is possible to prevent the guidance to the initial stop position set automatically and automatically determined from being performed automatically. For this reason, in the parking assistance apparatus 1 of a present Example, it can avoid that a driver | operator feels bothersome and can improve merchantability.

  Moreover, in the parking assistance apparatus 1 of a present Example, the vehicle speed sensor f is included as a speed detection means which detects the speed of a vehicle, a predetermined area | region is a commercial area or a residential crowded area, and speed is a predetermined value, ie, below a fixed vehicle speed. In this case, since the parking support ECU d performs the start processing of the parking space recognition sensor b and the initial stop position guide device j, the following advantageous effects can be obtained.

  In other words, when the vehicle is traveling in a commercial area or a densely populated area, a more versatile trigger can be obtained by using the vehicle speed acquired in the normal vehicle as a trigger for starting the detection of the parking space recognition sensor b. Can be set appropriately. In addition, whether or not the brake is being applied, whether or not the latest deceleration history is above a certain value, and whether or not the turn signal or hazard signal is on are added, Since the intention is confirmed, it is possible to realize the start of the initial stop position guidance control that respects the intention of the driver.

  Furthermore, in the parking assistance apparatus 1 of the present embodiment, when the predetermined area is a parking lot, the parking assistance ECUd performs the initial stop position guidance control start process. When the vehicle is traveling, it is possible to appropriately set a trigger for starting the initial stop position guide control.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, in the parking assistance device 1 of the present embodiment, the parking assistance ECU d performs the initial stop position guidance control start process, but this may be performed by the initial stopping position guidance control device j, or the initial stop The position guidance control device j may be set as one of processing routines included in the parking assistance ECU d.

  The present invention relates to a parking assistance device, and can provide a parking assistance device capable of improving the merchantability without making the driver feel bothered by adding a relatively simple logic. It is useful when applied to various vehicles such as trucks and buses.

1 Parking support device a Navigation device (position detection means)
b Parking space recognition sensor (detection means)
c Rear camera d Parking support ECU (starting means)
e Electric steering device f Vehicle speed sensor (speed detection means)
g Deceleration sensor h Brake switch i Turn signal / hazard signal j Initial stop position guide device (guide means)

Claims (3)

  Detection means for detecting a parking space around the vehicle; guidance means for determining an initial stop position based on the parking space and guiding to the initial stop position; and position detection means for detecting the position of the vehicle; A parking support device comprising start means for performing a start process for starting detection of the parking space by the detection means when the position is in a predetermined area.   It includes speed detection means for detecting the speed of the vehicle, and the start means performs the start process when the predetermined area is a commercial area or a densely populated area and the speed is not more than a predetermined value. The parking assistance device according to claim 1.   The parking support apparatus according to claim 1, wherein the start unit performs the start process when the predetermined area is a parking lot.

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