JP2013241087A - Parking support device, parking support method, program, and medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device, a parking support method, a program, and a medium which are more user-friendly.SOLUTION: A parking support device 1 includes a searching means for searching a route from parking start to parking end, a setting means for setting the pattern of a car speed along the route, a calculating means for calculating a required time from the parking start to the parking end from the route and pattern, and a displaying means for displaying the required time.

Description

  The present invention relates to a parking assistance device, a parking assistance method, a program, and a medium that assist a driver in moving a vehicle to a target parking space.

  2. Description of the Related Art Conventionally, as a parking assistance device that performs the above-described parking assistance control, for example, a device that generates a guidance sound by a speaker in a vehicle compartment during backward guidance has been proposed. In such a parking assist device, an intermittent sound is generated at the beginning of reverse travel, the interval between intermittent sounds is shortened when the vehicle approaches the target parking position, and the intermittent sound is continuously generated when the vehicle reaches the target parking position. The sound is changed and the vehicle is automatically stopped. In addition, it has been proposed to display the distance between the target parking position and the ring stop position and the vehicle as described in Patent Document 1 below with an image behind the vehicle.

JP 2011-201365 A

  In the parking assistance apparatus as described above, when assisting the driver by automatically controlling steering for steering, vehicle speed control, and shift position control, it is difficult for the driver to fully recognize the progress from parking start to completion. There was a problem that it was insufficient in terms of user friendliness.

  In view of the above problems, an object of the present invention is to provide a more user-friendly parking assistance device, a parking assistance method, a program, and a medium.

  In order to solve the above problem, the parking assist device according to the present invention includes a search unit that searches for a route from parking start to completion, a setting unit that sets a vehicle speed pattern of the route, and the route and the pattern based on the pattern. It includes a calculating means for calculating a required time from parking start to the completion and a display means for displaying the required time.

  Here, the calculating means calculates the elapsed time from the start of parking, calculates the elapsed time and the remaining time from the required time to the completion, and the display means displays the remaining time. The route may include a turnover, and the setting means may set the pattern in which the vehicle speed becomes zero for each turnover, and the calculation means is necessary for stopping, shifting, and starting at the turnover. The required time may be added to the required time.

  The parking assist method according to the present invention includes a search step for searching a route from parking start to completion, a setting step for setting a vehicle speed pattern of the route, and from the parking start to the completion from the route and the pattern. A calculation step for calculating the required time and a display step for displaying the required time are included. Or this invention contains the program which performs the said parking assistance method, and the medium which stored the said program.

  According to the present invention, the driver can know in detail the progress from parking start to completion, and can perform parking support more user-friendly.

It is a block diagram which shows one Embodiment of the parking assistance apparatus 1 of the Example which concerns on this invention. It is a schematic diagram which shows the installation aspect of the aspect which displays a required time and the remaining time in the vehicle C of the parking assistance apparatus 1 of an Example with shift information and a parking condition on a screen. It is a schematic diagram which shows an example of the parking aspect of the vehicle C of the parking assistance apparatus 1 of an Example. It is a schematic diagram which shows an example of the display mode of the required time and remaining time corresponding to the parking mode of the vehicle C of the parking assistance apparatus 1 of an Example. It is a schematic diagram which shows the other example of the display mode of the required time and remaining time corresponding to the parking mode of the vehicle C of the parking assistance apparatus 1 of an Example. It is a schematic diagram which shows the pattern of the vehicle speed in case the vehicle C of the parking assistance apparatus 1 of an Example parks in the target parking position G in one turn (only direction change). It is a schematic diagram which shows the pattern of the vehicle speed in case the vehicle C of the parking assistance apparatus 1 of an Example parks in the target parking position G by turning back twice (turning in a direction change and reverse). It is a flowchart which shows the control content of the parking assistance apparatus 1 of an Example.

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

  As shown in FIG. 1, the parking assist device 1 includes a parking assist system ECU 2 (Electronic Control Unit), a rear recognition camera 3, and a display 4 as basic components.

  An EPS ECU 5, a brake ECU 6, an EFI ECU 7 (Engine Fuel Injection), and an ECT ECU 8 (Electronic Control Transmission) are connected to the parking assistance system ECU 2 via a communication standard such as CAN (Controller Area Network).

  The parking assist system ECU 2 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs a predetermined process according to a program stored in the ROM and performs parking assist control. is there. The parking assistance system ECU 2 constitutes a search means 2a, a setting means 2b, a calculation means 2c, a display means 2d, and a control means 2e that perform processing described below. A parking assistance start switch (not shown) is connected to the parking assistance system ECU2, and the parking assistance system ECU2 performs parking assistance control when the driver turns on the parking assistance start switch.

  The rear recognition camera 3 is, for example, a CCD camera or a CMOS camera. For example, the rear recognition camera 3 is disposed on the lower surface of the roof of the vehicle interior so that the optical axis coincides with the rear. The image is captured over a wide range, and the captured image data is output to the parking assist system ECU2.

  As shown in FIG. 2, the display 4 is provided on the left side of the meter panel and on the center console, and based on the control of the display means 2d of the parking support system ECU 2, the parking status of the vehicle C, shift information, required The time TN and the remaining time TR (remaining time) are displayed. As shown in FIG. 2, the shift information is displayed on the upper right of the screen, the parking situation is the current position of the vehicle C, the parking path, and the target parking position G (with other vehicles adjacent to the target parking position G depending on the situation) ) Displayed in the center of the screen. The required time TN and the remaining time TR are displayed on the upper left of the screen.

  The EPS ECU 5 includes, for example, a CPU, a ROM, a RAM, and a data bus that interconnects them, and performs the following control according to a program stored in the ROM. The EPS ECU 5 detects an operating force of the driver's steering wheel by a torque sensor (not shown) inside the EPS, and according to the operating force or based on a steering command of the parking assist system ECU 2, the EPS (not shown) The motor is driven to generate a steering force to steer the wheel to assist the driver's operating force or assist during parking operation.

  The brake ECU 6 includes, 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. The brake ECU 6 brakes the vehicle C by controlling a brake device provided on each wheel of the vehicle C based on a braking control command of the parking assist system ECU 2 or based on a driver's operation of a brake pedal. The actual vehicle speed V is detected from a wheel speed sensor (not shown), and the detection result of the actual vehicle speed V is output to the parking assistance system ECU 2 via the CAN.

  The EFIECU 7 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface, and the CPU performs predetermined processing according to a program stored in the ROM. The EFI ECU 7 controls the throttle opening and fuel injection amount of an engine (not shown) based on the drive control command of the parking assist system ECU 2 or the driver's operation of the accelerator pedal, and mainly controls the engine speed. And the acceleration / deceleration of the vehicle C is controlled.

  The ECT ECU 8 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface, and the CPU performs predetermined processing according to a program stored in the ROM. The ECU ECU 8 controls the shift position of the transmission gear ratio (not shown here) based on the shift position control command of the parking assist system ECU 2 or based on the manual operation of the driver's shift lever.

  In addition to this, the search means 2a of the parking assistance system ECU 2 is configured such that, as shown in FIG. 3, after the vehicle C stops at the parking start position S, the driver operates the parking assistance start switch described above. The target vehicle parking position G is recognized by appropriately processing the imaging data transmitted from the rear recognition camera 3 with the vehicle position of C as the origin position of the grid map. Furthermore, the search means 2a searches for the path | route from the parking start which the vehicle C is located in the parking start position S to the completion which reaches | attains the target parking position G using a well-known algorithm.

  The setting means 2b of the parking assist system ECU 2 sets a pattern of the set vehicle speed VS (vehicle speed) from this route and the vehicle performance of the vehicle C. The calculation means 2c of the parking assistance system ECU 2 calculates a required time TN from parking start to completion from the route and pattern. The display means 2d of the parking assistance system ECU 2 displays the required time TN on the display 4 as shown in FIG.

  In the present embodiment, the calculating means 2c further calculates an elapsed time TP from the start of parking, calculates an elapsed time TP and a remaining time TR from the required time TN to completion (remaining time: TR = TN-TP). As shown in FIG. 4, the display means 2d displays the remaining time TR. In FIG. 4, the required time TN is 10 seconds, for example, and as the vehicle C moves toward the target parking position G with the forward path F and the reverse start position T (turnback) of the path shown in FIG. The time TR goes from 10 seconds to 5 seconds and becomes 0 seconds.

  Here, as described above, when the route includes turning back, the setting unit 2b sets a pattern in which the set vehicle speed VS becomes zero for each turning back. The calculation means 2c adds the necessary time required for stopping, shifting, and starting to the required time TN when switching back. This required time is a value determined in advance by the vehicle performance of the vehicle C.

  Furthermore, the control means 2e of the parking assist system ECU 2 appropriately controls the brake ECU 6, EFI ECU 7, and ECT ECU 8 so that the actual vehicle speed V of the vehicle C becomes the set vehicle speed VS, and the vehicle position of the vehicle C traces the route. Thus, the EPS ECU 5 is appropriately controlled.

  In FIG. 4, the required time TN and the remaining time TR are displayed in text. At the same time, as shown in FIG. 5, a graph display with the parking start position S as the left end and the target parking position G as the right end is displayed. You may go. In FIG. 5, in order from the top, after the vehicle C's own vehicle position departs from the parking start position S and reaches the reverse start position T (point where turning and turning), the end of the reverse path B, the target The arrival time of the parking position G is shown.

  In the description using FIGS. 3 to 5 described above, the case where the turn-back is only the reverse start position T is shown, but a pattern in which the horizontal axis of the set vehicle speed VS in this case is time t is shown in FIG. A Vt diagram like this is made. In other words, the pattern is the first vehicle that decelerates before the reverse start position T after the set vehicle speed VS starts to increase from the parking start position S and reaches a predetermined constant speed and then continues forward operation at a constant speed. Includes shape. Furthermore, the pattern switches the shift position from D (Drive) to R (Reverse) at the reverse start position T, starts reverse, and after the set vehicle speed VS reaches a predetermined constant speed again, continues the reverse operation at a constant speed. After that, the second trapezoidal shape reaching the target parking position G is included.

  When the parking space is smaller than the total length of the vehicle C, the turn-back points K1 and K2 may be inserted in the reverse path B as shown in FIG. In this case, the pattern has a form as shown in FIG. In other words, after starting the reverse from the reverse start position T, after reaching a constant speed, the vehicle starts decelerating toward the turn-back point K1, temporarily stops at the turn-back point K1, and then changes the shift position from R to D again. Then, after moving forward by the necessary distance, the vehicle stops once at the turn-back point K2, changes the shift position from D to R again, performs a reverse operation, and reaches the target parking position G.

  Hereinafter, the control content of the parking assistance apparatus 1 of a present Example is demonstrated in detail using a flowchart. FIG. 8 is a flowchart showing the control contents of the parking assistance system ECU 2 of the parking assistance apparatus 1 according to the present invention.

  In step S1 shown in FIG. 8, when the vehicle C reaches the parking start position S and the driver turns on the parking support start switch, the parking support system ECU 2 sets the vehicle position to the origin position of the grid map. specify.

  From the obstacle, the parking frame, and the user's parking frame instruction detected by the various sensors (rear recognition camera 3 in this embodiment) in step S2, the parking support system ECU 2 determines the target parking position G and puts it on the grid map. An obstacle and a target parking position G are set.

  In step S3, the search means 2a of the parking assistance system ECU 2 searches for a route to the target parking position G by a known method A * algorithm. At the same time, the setting means 2b sets a pattern of the set vehicle speed VS corresponding to the route, and the calculation means 2c calculates the required time TN from the parking start position S to the target parking position G.

  In step S4, the parking assistance system ECU 2 sets a waypoint on the grid map to travel along the route, and holds the vehicle speed information, that is, the corresponding set vehicle speed VS, at the waypoint.

  In step S5, the calculation means 2c of the parking assist system ECU 2 determines whether or not there is a turnback on the route. If there is, the process proceeds to step S6, and the time required for stopping, shifting, and starting is calculated as the required time TN. Add to. In step S7, the display means 2d displays the required time TN (initial value of the remaining time TR) using the display 4.

  In step S8, the control means 2e of the parking assist system ECU 2 controls acceleration, braking, and steering of the vehicle C so that the actual vehicle speed V becomes the set vehicle speed VS for each waypoint on the route.

  In step S9, the calculation means 2c of the parking assistance system ECU 2 calculates the elapsed time TP and the remaining time TR from the start of parking, and starts counting down the required time, displaying the remaining time TR as text or a graph.

  In step S10, the control means 2e continues to control the vehicle C and passes the waypoint on the grid map to the vehicle C. At each waypoint, position coordinates, posture angle, curvature (steer), and speed (driving force) are designated.

  In step S11, the parking assistance system ECU 2 determines whether there is a delay in the progress of parking from a preset route and pattern, and if so, in step 12, corrects the remaining time count, Proceed to S13.

  In step S13, it is determined whether or not the vehicle C has reached the target parking position G. If the result is negative, the process returns to the front of step S10. If the result is positive, the process proceeds to step S14. In step S15, the parking itself is terminated.

  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, the driver can grasp the required time TN until completion at the start of parking. That is, the driver can know in advance the time required for parking. Further, the remaining time TR until completion with the required time TN as an initial value can be known in a time series in the course of traveling the parking route. Thereby, a driver | operator's troublesomeness can be reduced and the user friendliness with respect to a parking assistance system can be improved.

  Moreover, since the required time TN and the remaining time TR are displayed using the display 4, it is possible to eliminate the inconvenience that it is difficult for the driver to recognize the intermittent sound or the continuous sound due to the sound field environment of the parking lot. Further, since the necessary time required for switching is added to the required time TN and displayed, the driver can recognize the more accurate required time TN and the remaining time TR. In addition, since the exact required time TN and the remaining time TR can be calculated regardless of the number of turns in the route, the driver can more accurately grasp the progress of parking.

  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.

  The present invention relates to a parking assistance device, and can realize more comfortable parking assistance for a driver, and is useful when applied to various vehicles such as passenger cars, trucks, and buses.

1 Parking assistance device 2 Parking assistance system ECU
2a Search means 2b Setting means 2c Calculation means 2d Display means 2e Control means 3 Back recognition camera 4 Display 5 EPSECU
6 Brake ECU
7 EFIECU
8 ECTECU

Claims (7)

  Search means for searching for a route from the start of parking to completion, a setting means for setting a vehicle speed pattern of the route, a calculation means for calculating a required time from the start of parking to the completion from the route and the pattern, A parking assistance apparatus comprising display means for displaying the required time.   The calculation means calculates an elapsed time from the start of parking, calculates the remaining time from the elapsed time and the required time to the completion, and the display means displays the remaining time. Item 10. The parking assistance device according to item 1.   The parking assistance device according to claim 1 or 2, wherein the route includes turning back, and the setting unit sets the pattern in which the vehicle speed becomes zero for each turning back.   The parking support device according to claim 3, wherein the calculating unit adds a necessary time required for stopping, shifting, and starting at the turn-back to the required time.   A search step for searching a route from parking start to completion, a setting step for setting a vehicle speed pattern of the route, a calculation step for calculating a required time from the parking start to the completion from the route and the pattern, The parking assistance method characterized by including the display step which displays the said required time.   The program which performs the parking assistance method of Claim 5.   A medium storing the program according to claim 6.

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