JP2013241088A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device capable of performing a parking support safely without affecting routes of other vehicles.SOLUTION: A parking support device includes: an outer part detecting sensor input processing part which generates peripheral information based on a sensor input from an outer part detecting sensor for detecting the outer part of a vehicle; a parking position setting part which performs setting of a parking position; a virtual obstacle generating part which generates virtual obstacle information based on the parking position set by the parking position setting part; and a parking route generating part which generates a parking route from the present position of a vehicle to the parking position based on the peripheral information and the virtual obstacle information.

Description

  The present invention relates to a parking assistance device that supports movement of a vehicle to a parking position.

  2. Description of the Related Art Conventionally, an apparatus that assists a driving operation when a vehicle is operated by a driver and parked at a target point has been developed.

  For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2010-18167), a target point for parking a vehicle is set, a route for moving the vehicle to the target point is set, and the surroundings of the vehicle are measured by a millimeter wave radar or an ultrasonic sensor. Describes a parking assist device that obtains the position of an obstacle existing in the vehicle and excludes the position of the obstacle to set a moving route of the vehicle.

  In Patent Document 2 (Japanese Patent Application Laid-Open No. 2004-203365), the side of the vehicle is pulled in parallel with the vehicle front-rear direction at a predetermined distance from the vehicle, and the side required for vehicle movement during parking. A parking assistance device is described that assists when a vehicle is parked in which a side space line representing a space is displayed superimposed on a captured image.

  Patent Document 3 (Japanese Patent Laid-Open No. 2012-25261) discloses a first that is formed on a virtual vertical screen directly facing the rear end of the vehicle by light emitted from a vehicular lamp disposed at the rear end of the vehicle. An optical system configured to irradiate light that forms a second light distribution pattern on a road surface that passes below the light distribution pattern and is spaced a predetermined distance rearward from the rear end of the vehicle. There is described a parking assist device that enables parking in a state where the distance between the rear end of the vehicle and a target set on the road surface is kept at an appropriate interval regardless of whether an object is present.

  Patent Document 4 (Japanese Patent Application Laid-Open No. 2011-46335) acquires one or a plurality of parking frame positions from an on-vehicle camera image, detects the position and posture of the host vehicle from a detection signal of a wheel speed sensor, Parking assistance that evaluates the driver's operation burden on each parking path by generating a parking route to each parking frame position, selects the parking path with the smallest driver's operation burden, and displays it on the in-vehicle monitor An apparatus is described.

  In Patent Document 5 (Japanese Patent Application Laid-Open No. 2004-114879), a signal processing unit displays a virtual pole icon indicating an obstacle on a display surface of an image display unit so as to be superimposed on a bird's-eye view image. A parking assist device provided as a reference when inputting an operation for changing the position and posture of a vehicle icon to a desired parking position and parking posture is described.

JP 2010-18167 A Japanese Patent Laid-Open No. 2004-203365 JP 2012-25261 A JP 2011-46335 A JP 2004-114879 A

  However, in the parking assistance apparatus described in Patent Documents 1-5, setting of a movement path that cannot be recognized as an obstacle when setting the movement path, for example, considering the influence on other vehicles approaching during parking movement I couldn't.

  For example, FIG. 18 is a diagram for explaining a parking path for parallel parking by a conventional parking assist device. Here, tandem parking is a parking method in which a vehicle is parked back and arranged vertically between other vertically parked vehicles.

  In FIG. 18, A1, B1, and X indicate the position of the host vehicle, A and B indicate other vehicles that are parked, and C indicates another vehicle that travels in the opposite lane.

  A case will be described in which the host vehicle is currently parked in parallel at the position B1 between the parked vehicles A and B. The conventional parking assistance device detects the position and size of the parked vehicles A and B with a sensor or the like, and considers the distance between the parked vehicle and the host vehicle and the relationship between the steering angles and the parking path. Are set in the order of A1-> X-> B1. Here, when the host vehicle is at the position A1, there is no vehicle C traveling in the opposite lane. Therefore, when setting the parking route, the relationship with the vehicle C is not taken into account, and there is a possibility that the position of X is set to enter the opposite lane. When such a parking route is set, when the vehicle moves to the position X, there is a problem that the route of the vehicle C traveling in the opposite lane is blocked and obstructed. In addition, there is a case where the overtaking path is obstructed even for a vehicle approaching from behind the same lane (not shown).

  FIG. 19 is a diagram for explaining a parking route for garage parking by a conventional parking assist device. Here, parking in a garage is a parking method in which a vehicle is parked side by side with another vehicle parked side by side.

  In FIG. 19, C1, D1, and Y indicate the position of the host vehicle, D and E indicate other vehicles that are parked, and G indicates another vehicle that travels from the right rear.

  A case will be described in which the vehicle at the current position C1 is parked at the position D1 between the parked vehicles D and E. A conventional parking assistance device detects the position of a vehicle e and d with a sensor or the like, and sets a parking route so as to enter between them. Here, when the host vehicle is at the position C1, there is no vehicle traveling behind. Therefore, since the relationship with the vehicle is not taken into account when setting the parking route, if a parking route is set so that the vehicle moves forward and then parks at the position D1 after moving backward to the Y position, In some cases, the rear part of the vehicle protrudes into the rear passage, and the course of the vehicle traveling behind is obstructed.

  Therefore, the present invention has been made in view of the problems in the parking support apparatus, and an object thereof is to provide a parking support apparatus that safely supports parking without affecting the course of other vehicles. .

  In view of the above problems, the parking assist device according to the present invention includes an external detection sensor input processing unit that generates peripheral information based on a sensor input from an external detection sensor that detects the outside of the vehicle, and a parking position that sets a parking position. From the current position of the vehicle based on the setting unit, the virtual obstacle generation unit that generates virtual obstacle information based on the parking position set by the parking position setting unit, and the peripheral information and the virtual obstacle information A parking route generation unit that generates a parking route to the parking position.

  According to the embodiment of the present invention, parking assistance can be safely performed without affecting the course of other vehicles.

It is a block diagram of the parking assistance system containing a parking assistance apparatus. It is the block diagram explaining the detail of the parking assistance apparatus. It is a figure explaining the display screen of the initial setting in an operation display apparatus. It is a figure explaining the display screen of the 2nd obstacle setting method in parallel parking. It is a figure explaining the display screen of the 3rd obstacle setting method in parallel parking. It is a figure explaining the display screen of the 4th obstacle setting method in parallel parking. It is a figure explaining the display screen of the 5th obstacle setting method in parallel parking. It is a figure explaining the display screen of the 1st obstacle setting method in garage parking. It is a figure explaining the display screen of the 2nd obstacle setting method in garage parking. It is a figure explaining the display screen of the 3rd obstacle setting method in garage parking. It is a figure explaining the vehicle position in parallel parking. It is a figure explaining the display screen of the periphery map in parallel parking. It is a figure explaining the display screen of the production | generation result of the parking route in parallel parking. It is a figure explaining the vehicle position in garage parking. It is a figure explaining the display screen of the periphery map in garage parking. It is the figure explaining the display screen of the production | generation result of the parking route in garage parking. It is a flowchart explaining operation | movement of a parking assistance system. It is a figure explaining the parking route of the parallel parking by the conventional parking assistance apparatus. It is a figure explaining the parking route of garage parking by the conventional parking assistance apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an example showing a block diagram of a parking assistance system including a parking assistance apparatus of the present invention.

  In FIG. 1, a parking support system 1 includes a parking support system ECU (Electronic Control Unit) 10 shown as an example of a parking support apparatus according to the claims of the present invention, and further includes an external detection sensor 20, a vehicle sensor 30, and an operation display. A device 40, an automatic steering device 51, a brake ECU 52, an engine ECU 53, and a transmission ECU 54 are provided.

  The external detection sensor 20 is a sensor that collects peripheral information such as obstacles and white lines around the vehicle, and illustrates a millimeter wave radar 21, an ultrasonic sensor 22, a camera 23, and a laser radar 24.

  The millimeter wave radar 21 is a radar device that radiates an electromagnetic wave having a millimeter wavelength, receives a reflected wave from an object existing around the vehicle, and detects the position of the object. The millimeter wave radar 21 is arranged in front of and behind the vehicle, such as inside the front grill or rear bumper, detects objects around the vehicle, measures the distance from the vehicle to the detected object, and the direction of the detected object, and parks the measurement result. It outputs to support system ECU10.

  The ultrasonic sensor 22 is a sensor device that radiates ultrasonic waves, receives a reflected wave from an object existing around the vehicle, and detects the position of the object. The ultrasonic sensors 22 are arranged at the front and rear ends of the left and right sides of the vehicle, such as the left and right front fenders and rear fenders, detect objects around the vehicle, and measure the distance from the vehicle to the detected object. A measurement result is output to parking assistance system ECU10. Although it is possible to detect a well-known object by using one ultrasonic sensor, the distance to the detected object and the shape of the detected object can be measured more accurately by using two ultrasonic sensors in stereo. can do.

  The camera 23 is an imaging device such as a CCD camera that captures an image around the vehicle. The cameras 23 are provided in front and rear of the vehicle and take images around the vehicle. The captured image is subjected to image processing to detect an object around the vehicle, measure the distance from the vehicle to the detected object, and the position of the detected object, and output the measurement result to the parking assist system ECU 10.

  Although the camera 23 can detect a well-known object with one image, the distance to the detected object and the shape of the detected object are measured more accurately by using the stereo images of the two cameras. be able to.

  The laser radar 24 is arranged at the front and rear ends of the left and right sides of the vehicle, such as left and right front fenders and rear fenders. The laser radar 24 scans the periphery of the vehicle with a laser beam to detect an object, and from the vehicle to the detected object. The distance is measured and the measurement result is output to the parking assist system ECU10. The laser radar 24 can accurately measure the direction and distance of the detected object in a wide range by horizontally scanning the surroundings with a polygon mirror or the like.

  The external detection sensor 20 can also use other sensors such as an infrared sensor (not shown). Further, these external detection sensors 20 can be shared with, for example, an inter-vehicle automatic control system or a crash prevention system.

  The external detection sensor 20 can detect an object around the vehicle by separately using the millimeter wave radar 21, the ultrasonic sensor 22, the camera 23, and the laser radar 24, but uses two or more sensors in combination. It is also possible to do. For example, while detection by millimeter wave radar is effective at night and in dense fog, the camera shoots an object as an image, so there are advantages and disadvantages such as obtaining more detailed information. It can be supplemented and strengthened.

  The detection of surrounding objects by the external detection sensor 20 may be always detected while the accessory is on, or may be detected only during parking assistance. Further, the output and the detection range may be changed between normal driving and parking. For example, since it is used only for inter-vehicle measurement with the preceding vehicle during traveling, it is possible to detect a narrow range in front and to a long distance, and to detect the entire periphery of the host vehicle at a short distance during parking assistance.

  The vehicle sensor 30 is a sensor that detects the state of the vehicle, and includes, for example, a steering angle sensor 31, a vehicle speed sensor 32, a shift position sensor 33, and the like. The steering angle sensor 31 measures the steering angle of the steering wheel and outputs the measurement result to the parking assist system ECU 10. The vehicle speed sensor 32 measures the vehicle speed of the host vehicle and outputs the measurement result to the parking assistance system ECU 10. The shift position sensor 33 is a sensor that detects the position of the shift gear set by the driver, and in particular, information on forward / reverse of the gear position is output to the parking assist system ECU 10.

  The operation display device 40 is a device having an HMI (Human Machine Interface), and provides information to the driver and accepts an operation input from the driver. The operation display device 40 includes an operation display unit, a warning light, a sound output device, and the like, and is, for example, a liquid crystal display including a touch panel and hard buttons. The operation display device 40 is connected by an operation display device communication unit 103 of the parking assistance system ECU 10 described in FIG. 2 and provides an information providing function and an operation input function. As an information providing function, a measurement result from the external detection sensor 20 is displayed on a liquid crystal display, or a parking path to be described later is displayed. It also outputs a warning light that warns of approaching other vehicles and a voice guide during parking assistance. As an operation input function, the driver can perform setting of a parking assistance device such as setting of a parking position and selection of a parking route. The operation display unit of the operation display device 40 is installed in the instrument panel portion of the driver's seat, but can also be used as, for example, an operation display unit used in a car navigation system.

  The automatic steering device 51 is a device that drives a steering actuator disposed between a steering wheel and a wheel of the vehicle, and automatically performs steering in accordance with an instruction from the parking assistance system ECU 10. When the driver performs automatic parking by the parking assistance system ECU, the automatic steering device 51 drives the steering actuator to trace the set parking route without the driver steering the steering wheel.

  The brake ECU 52 drives the brake actuator in accordance with an instruction from the parking assist system ECU10. The engine ECU 53 drives the throttle actuator of the engine in accordance with an instruction from the parking assistance system ECU10. The transmission ECU 54 drives the shift gear actuator in accordance with an instruction from the parking assistance system ECU 10, and selects forward or backward of the vehicle.

  The automatic steering device 51, the brake ECU 52, the engine ECU 53, and the transmission ECU 54 are controlled so as to be able to correctly move along the parking route in which the host vehicle is set in accordance with instructions from the parking assistance system ECU 10.

  FIG. 2 is an example of a block diagram illustrating details of the parking support apparatus according to the present invention, and illustrates details of the parking support system ECU 10 as an example of the parking support apparatus.

  In FIG. 2, the parking assist system ECU 10 includes an external detection sensor input processing unit 101, a vehicle sensor input processing unit 102, an operation display device communication unit 103, a vehicle control unit 104, a surrounding map generation unit 105, a parking position setting unit 106, a virtual An obstacle generation unit 107 and a parking route generation unit 108 are provided.

  The external detection sensor input processing unit 101 is a part that processes the sensor information input from the external detection sensor 20 to generate obstacle information. For example, information input from a plurality of ultrasonic sensors 22 is synthesized, and the position and shape of the obstacle are mapped to two-dimensional coordinates. In addition, the type and size of the obstacle is specified by the information input from the camera 23 and is mapped to two-dimensional coordinates.

  In the present embodiment, since it is necessary to accurately grasp the position of the other vehicle being parked, the contour line of the vehicle is obtained by performing image processing such as differentiation on the information input from the external detection sensor 20. Emphasizing and detecting the outline of the vehicle. In addition, for the portion of the parked vehicle that is behind the host vehicle, the shape of the vehicle is estimated based on information input from the external detection sensor. Moreover, the difference between a parked vehicle and obstacles, such as a pillar and implantation, is recognized from the specified shape and size. Furthermore, in order to accurately discriminate between parked parked vehicles and vehicles or pedestrians that pass temporarily, for example, the input information is compared in time series to confirm the stationary state of the detected object. The stationary state of the object is confirmed by referring to the information input from the millimeter wave radar.

  The operation display device communication unit 103 communicates information with the operation display device 40 and functions as an input / output interface of the operation display device 40. The operation display device communication unit 103 outputs, to the operation display device 40, display data of a peripheral map generated by a peripheral map generation unit 105 described later, display data of a parking route generated by a parking route generation unit, and the like. In addition, the operation display device communication unit 103 receives an instruction input by the driver through a touch panel or a hard button of the operation display device 40.

  The vehicle control unit 104 instructs the automatic steering device 51, the brake ECU 52, the engine ECU 53, the transmission ECU 54, and the like to output for parking assistance. The output from the parking support system ECU 10 to the vehicle control unit 104 is feedback-controlled by an input signal from the vehicle sensor 30 based on the generated parking route.

  Here, in the parking assistance by the vehicle control unit 104, the control output for the automatic steering device 51, the brake ECU 52, the engine ECU 53, and the shift ECU 5 may be output for all of them, or only for a part. You may control.

  For example, an instruction is output to all of the automatic steering device 51, the brake ECU 52, the engine ECU 53, and the transmission ECU 54, and the vehicle can be automatically moved to the parking position without any operation by the driver. It can also be done.

  It is also possible to output an instruction to the automatic steering device 51, the brake ECU 52, and the transmission ECU 54 to cause the driver to perform an accelerator operation so that the host vehicle can be moved to the parking position.

  It is also possible to output an instruction only to the automatic steering device 51 to allow the driver to move the host vehicle to the parking position by performing an accelerator operation, a brake operation, and a gear operation.

  Furthermore, the parking assist system ECU 10 displays, for example, a steering angle and a stop instruction on the display unit of the operation display device 40, and allows the driver to operate the steering wheel, the accelerator, the brake, and the gear to reach the parking position. It is also possible to move the host vehicle.

  For example, the control output as described above can interrupt or stop the parking assist control by a brake operation, an accelerator operation, or a steering wheel operation by a driver for avoiding danger.

  The peripheral map generation unit 105 generates a peripheral map that displays peripheral information such as obstacle information obtained from the sensor information processed by the external detection sensor input processing unit 101 on the display screen of the operation display device 40. The peripheral map generation unit 105 generates peripheral data screen data including information on obstacles such as the position of a parked vehicle, a center line, a utility pole, a guardrail, and the like, and enables designation of a parking position where parking is possible. The range of the surrounding map to be generated can be set in advance, for example, by a distance or direction from the host vehicle, and only a part of the generated surrounding map is displayed on the operation display device 40 to expand the driver. The display range can also be moved by / reduction or scroll operation.

  The parking position setting unit 106 sets a parking position. The parking position is a position where the host vehicle is parked, and includes information on whether the parking is parallel or garage parking with respect to the position of the parked host vehicle. In the parking position, the other parked vehicles that are parked are arranged vertically, and when parked side by side in the meantime, the parking position of the parallel parking is selected, while the other detected vehicles are placed horizontally. When parking side by side during this period, the parking position for garage parking is selected. The parking position setting unit 106 compares the direction of the parked vehicle with the direction of the vehicle at the parking position, and recognizes it as parallel parking if it is the same direction, and recognizes it as garage parking if the direction is 90 degrees different.

  The parking position setting unit 106 automatically determines a parking space based on the surrounding map generated by the surrounding map generation unit 105 and sets the parking position. At this time, when a plurality of parking positions are detected, a plurality of candidates may be switched and displayed.

  The parking position may be specified by the driver from the operation display device 40 based on the surrounding map.

  The parking position is set only when parking is possible based on the size and minimum turning radius of the host vehicle and the positional relationship between obstacles such as a parked vehicle. When parking is impossible, a warning can be displayed on the operation display device 40 to give a warning to the driver.

  The virtual obstacle generation unit 107 includes a vehicle information setting unit 1071, a virtual obstacle setting unit 1072, and a virtual obstacle arrangement storage unit 1073.

  The vehicle information setting unit 1071 sets initial data such as the total length of the vehicle, the total width of the vehicle, the minimum turning radius, the overhang of the vehicle body from the front wheel axle and the rear wheel axle. This setting may be automatically set by selecting a vehicle type.

  The virtual obstacle setting unit 1072 has a function of setting a virtual obstacle in advance. Here, the virtual obstacle is a virtual obstacle set to avoid the virtual obstacle set by the vehicle when generating the parking route, separately from the obstacle detected by the external detection sensor 20. is there. Virtual obstacles can be set separately for parallel parking and garage parking, and a plurality of settings can be made for each.

  The virtual obstacle arrangement storage unit 1073 stores, in addition to the virtual obstacle arrangement set by the virtual obstacle setting unit 1072, a preset initial value of the virtual obstacle arrangement so that it can be read out.

  The virtual obstacle generation unit 107 reads a virtual obstacle stored in the virtual obstacle arrangement storage unit 1073 for the parking position set by the parking position setting unit 106 and generates a virtual obstacle. The obstacle can be generated according to the situation around the vehicle detected by the external detection sensor 20 in addition to the parking position. For example, a virtual obstacle can be generated based on the situation around the vehicle, such as a center line recognized from the camera 23, a white line indicating a parking space, a car stop block, and a road step. Note that the generated virtual obstacle may be displayed on the operation display device 40 while being superimposed on the peripheral map.

  The parking route generation unit 108 generates a parking route from the vehicle position before the start of parking assistance to the parking position set by the parking position setting unit 106, the peripheral information generated by the external detection sensor input processing unit 101, and virtual obstacle generation It is generated so that the vehicle does not contact the virtual obstacle generated by the unit 107. The accessible distance to the obstacle and the accessible distance to the virtual obstacle can be set separately and stored in the virtual obstacle arrangement storage unit or the like. For example, the position of the parked vehicle detected by the external detection sensor 20 is set to be accessible up to 30 cm in consideration of the detection error, and the virtual obstacle is approached to −5 cm (virtual contact). It is possible to avoid the approach to the real obstacle with priority over the approach to the virtual obstacle.

  Although the parking assistance system ECU 10 has been described as a single device, it may be configured by a plurality of peripheral devices such as a system LSI and a memory for mounting.

  FIG. 3 is an example of a diagram illustrating an initial setting display screen in the operation display device 40.

  In FIG. 3, an operation display unit 401 of the operation display device 40 is, for example, a liquid crystal touch panel, and vehicle information is set by a vehicle information setting unit 1071. As shown in the figure, the vehicle total length 1071a, the vehicle total width 1071b, and the minimum turning radius 1071c are set as shown, but other data such as the amount of overhang of the vehicle body from the front and rear axles, the vehicle height, the minimum ground clearance, etc. It is possible to select which vehicle information is used when generating an obstacle or a virtual obstacle. FIG. 3 shows a case where the vehicle total length 1071a, the vehicle total width 1071b, and the minimum turning radius 1071c are used as vehicle information. When inputting vehicle information numerically, it touches the applicable item of the touch panel of an operation display apparatus, and inputs and sets with the soft keyboard etc. which are not shown in figure.

  On the obstacle setting screen 1072, the virtual obstacle is set on a graphical display. On the screen of the operation display unit 401 shown in FIG. 3, the setting of the obstacle OL1 on a straight line is set as a pattern A as a virtual obstacle in parallel parking. In the pattern A, the virtual obstacle is an infinite straight line OL1 provided only on the right side of the parking position. Further, the distance from the vehicle right end of the parking position to OL1 is set so as to be automatically set according to the center line detected by the camera 23 or the like.

  In order to change the setting, for example, the line type can be changed by touching the OL1 part 1072a. In this example, the straight line OL1 is set substantially parallel to the center line, but it is also possible to give a constant inclination to OL1, for example, depending on the road width. In addition, it is possible to input a numerical value from “center line auto” by touching the portion 1072b. When the “save” button 1072 c is touched, the setting content is saved in the virtual obstacle storage unit 1073. This setting screen can be terminated by a “return” button 1072d. Furthermore, the initial value of pattern A can be returned to the initial value of 1072e. The initial value of the pattern A is the initial value stored in advance in the virtual obstacle storage unit 107. The “display” button 1072f sets the presence or absence of a grid on the display screen. The grid is a display on the grid of a predetermined size, and the driver can confirm the size of the obstacle and the size of the parking position by comparison with the grid. For the setting of patterns other than the pattern A, the setting screen for the pattern can be displayed by touching the portion 1072g. When the right arrow portion 1072g is touched, patterns after the pattern E are displayed. The driver can freely set which virtual obstacle setting is stored in the pattern A, and the pattern setting described below does not correspond to symbols such as the patterns A, B, and C.

  4, 5, 6, and 7 are diagrams illustrating display screens of other pattern obstacle setting methods in parallel parking displayed on the obstacle setting screen 1072.

  FIG. 4 is an example of a diagram illustrating a display screen of a second obstacle setting method in parallel parking. In FIG. 4, the virtual obstacle is a line segment composed of OL2 and OL3. OL2 and OL3 may be a line on a plane coordinate, or may be a belt-like shape having a certain width. Point a indicates the rear wheel axle center position. In this pattern, the line segments OL2 and OL3 exist with a width of W1 on both sides of the point a in the width direction. Further, in the front-rear direction, the distance L1 is set to be ahead from the point at the rear of the vehicle having an offset distance D1 with respect to the point a. This pattern is effective, for example, when there is a passage on the right side of the parking position in a parking lot or the like.

  FIG. 5 is an example of a diagram illustrating a display screen of a third obstacle setting method in parallel parking. In FIG. 5, the virtual obstacle is a line segment composed of OL4 and OL5. The length of each line segment is defined by D2, L2, D3, and L3 expressed by the distance in the front-rear direction from the rear wheel axle center point a of the vehicle. The distance W2 in the width direction from the point a of the line segment OL4 is set independently of OL5. The lateral position of OL5 is set to a predetermined distance with reference to the substantially left end of the parked vehicle. This pattern is effective when, for example, there is a side groove that cannot be detected by the external detection sensor 20 on the left side of the parking position, and a virtual obstacle generated on the left side and a virtual obstacle set on the center line side are to be set separately. .

  FIG. 6 is an example of a diagram illustrating a display screen of a fourth obstacle setting method in parallel parking. In FIG. 6, the virtual obstacle is a point expressed by OD1 to OD6. In this example, the line segment of the obstacle described in FIG. 5 is a point, and the pitch can be set by P. OD1 to OD6 may be points on a plane coordinate or a circle having a certain diameter. In this pattern, OD1 to OD4 and OD5 to OD6 are arranged in a single vertical line, but the positions of the respective points may be individually moved and set by touching and dragging on the screen. it can.

  FIG. 7 is an example of a diagram illustrating a display screen of a fifth obstacle setting method in parallel parking. In FIG. 7, the virtual obstacle is two line segments OL6 and OL7, and shows the case where the distances W4 and W5 are set with reference to the right end of the parking position. Here, OL6 and OL7 are set on the center line side, respectively, but can be set by changing their functions. In the parking route generation to be described later, the virtual obstacle to be set is to generate a route so that the vehicle body does not come in contact with the surrounding information such as the actual obstacle detected by the external detection sensor 20. In some cases, a virtual obstacle may actually have no problem even if it touches the vehicle body, and the handling of the virtual obstacle can be changed from that of an actual obstacle. For example, when the parking space is small, the steering angle of the steering wheel becomes large, and the amount that protrudes to the right side inevitably increases when reversing, and parking may not be possible on the parking route that avoids the set virtual obstacle. In the present embodiment, OL7 is set as a virtual obstacle that cannot be touched, while OL6 is set as a careful virtual obstacle, and if only a route that touches OL6 can be set, the driver is notified. The functions of the two virtual obstacles can be changed and set, for example, by displaying a warning message.

  When both OL6 and OL7 are set as non-contactable virtual obstacles, for example, the approach of the following vehicle or the vehicle in the opposite lane is detected by the external detection sensor 20, and OL6 and OL7 are automatically switched and used properly. be able to. It is also possible for the driver to recognize the difference in traffic volume and switch manually.

  Unlike the actual obstacle detected by the external detection sensor 20, the virtual obstacle does not immediately cause a problem even if the vehicle generates a route in contact with the virtual obstacle, so the flexible setting as described above is possible. It becomes.

  FIGS. 8, 9, and 10 are diagrams illustrating an obstacle setting method display screen in garage parking displayed on the obstacle setting screen 1072. FIG.

  FIG. 8 is an example of a diagram illustrating a display screen of a first obstacle setting method in garage parking. In FIG. 8, OL10 which is a virtual obstacle exists in the U shape behind the parking position. The OL 10 is set uniformly at a width of W6 with respect to the vehicle width of the parked vehicle, has a rear end behind the offset distance D4 from the center point a of the rear wheel axle at the parking target position, and is long in front of both sides of the vehicle. It extends at L4 and exists. Due to the setting of the virtual obstacle, a parking route that protrudes backward from the parking position is not generated even in a parking lot where there is no parking block. In addition, the parking route can be set so that the rear part of the other parked vehicles at both ends does not approach the width of W6 or more when reversing.

  FIG. 9 is an example of a diagram illustrating a display screen of a second obstacle setting method in garage parking. In FIG. 9, OL11, which is a virtual obstacle, can be set with a width of W7 on the right side of the host vehicle, not the intermediate position of other parked vehicles, as compared with OL10 described in FIG. . For example, when it is assumed that the vehicle gets on and off by using a wheelchair, a certain distance is required on the side of the vehicle, and a lifting space can be secured by inputting the necessary distance at W7.

  FIG. 10 is an example of a diagram illustrating a display screen of a third obstacle setting method in garage parking. In FIG. 10, OD7 which is a virtual obstacle is point information set behind the parking position. In the case of parking in a garage, there are many cases where the vehicle moves backward and moves to the parking position, and there is no practical problem even if a virtual obstacle is set as a point as in this embodiment. Note that the OD 7 can be set not to the center of the vehicle but to the left or right depending on the setting.

  Next, the flow of operations when actually performing parallel parking will be described with reference to FIGS. 11, 12, 13, and 17.

  FIG. 11 is an example of a diagram illustrating a vehicle position in parallel parking. FIG. 12 is an example of a diagram illustrating a display screen of a peripheral map in parallel parking. FIG. 13 is an example of a diagram illustrating a display screen of a parking route generation result in parallel parking. FIG. 17 is an example of a flowchart illustrating the operation of the parking support system.

  In FIG. 11, the case where the own vehicle stopped at the position A2 is parked in parallel at the position B2 between the vehicles A and B parked on the left side will be described.

  The driver who has stopped the vehicle at the position A2 performs a parking support start operation in FIG. 17 (S100). This is performed by, for example, an operation button (not shown) on the operation display 40. At this time, for example, a hazard lamp or a left turn signal may be blinked automatically to alert the following vehicle.

  When the parking support start operation is performed, the parking support system 1 detects surrounding information such as surrounding obstacles at the stop position A2 (S101). The detection of the peripheral information is performed by sensor input from the external detection sensor 20 in FIG.

  Next, from the input detection data of the peripheral information, the peripheral map generation unit in FIG. 2 creates a peripheral map and displays the peripheral map on the operation display device 40 (S102). FIG. 12 shows a peripheral map displayed on the operation display device 40.

  In FIG. 12, an operation display unit 401 configured with a liquid crystal touch panel or the like includes a map display area 402 that graphically displays a peripheral map and a parking route, and operation switches 403 to 406 configured with a touch panel.

  In the map display area 402, the host vehicle is displayed as an icon at the position A2. Parked vehicles A and B are displayed as d1 and d2, respectively. The center line is displayed as d3.

  When an obstacle is detected by radiating an ultrasonic wave or laser radar from the position of A2, the part facing the host vehicle is detected with a scattered reflected wave as shown by the diagonal lines. The opposite part is not detected as a shadow of the sensor. Therefore, d1 and d2 display the shape of the vehicle estimated from the detected portion as a portion indicated by a solid rectangle when it is determined that the detected object is a parked vehicle from its shape and size, and the obstacle Set as. In this embodiment, the detection of an obstacle when the host vehicle is stopped at the point A2 is described. For example, the host vehicle further moves forward from the A2 or detects an obstacle while moving forward. For example, the shadow portion of the sensor is reduced, and more accurate obstacle detection is possible.

  The center line d3 is determined by the image from the camera 23 in FIG. The center line in this embodiment represents a white broken line. This parking assistance system discriminates the shape and color of the center line. For this reason, when the center line is a white broken line, when the center line is a white solid line, the difference between the yellow solid line can be determined. In the parking assistance system of the present embodiment, the setting level of the virtual obstacle is changed depending on the type of the center line. For example, when the center line is a white broken line, the level is set so that only a warning is allowed while allowing a part of the parking route to contact the virtual obstacle when the parking route is generated. If the center line is a solid white line, set the parking route so that it does not touch. When the center line is a yellow solid line, the parking route is set a predetermined distance away from the virtual obstacle. By determining the type of the center line in this manner, a safer parking route can be set.

  The parking position setting unit 106 in FIG. 2 determines the position of B2 as the parking position from the detected positional relationship between d1 and d2, and sets the parking position at an intermediate position between d1 and d2 (S103). If the distance between d1 and d2 is narrow and it is difficult to park the vehicle in parallel, a warning to that effect is displayed on the operation display unit 401. If the distance between d1 and d2 is narrow and parking is impossible, B2 is not displayed as a parking position.

  On the other hand, when the driver wants to manually set the parking position for parallel parking between d1 and d2, the driver touches the position B2 on the map display area 402 to set the parking position (S103).

  When the parking position is set, the parking position setting unit 106 in FIG. 2 displays on the map display area 402 a broken line B2 corresponding to the full length and full width of the host vehicle registered in advance described in FIG. When the parking position is set manually, the display position of B2 is set to a position centered on the point touched by the driver. For example, after the positions of d1 and d2 are grasped, they are arranged vertically between them. The position may be automatically corrected so that This position can also be moved by a drag operation on the touch panel by the driver. Even if the parking position setting unit 106 manually sets the parking position, the parking position of the subject vehicle cannot be parallelly parked from the detected positions d1 and d2, or approaches a predetermined distance from the parked vehicle. If it is determined, some warning may be displayed on the operation display unit 401.

  The route generation switch 403 is a switch for generating a virtual obstacle based on the peripheral map displayed in the map display area 402. By pressing this switch, the parking route described in FIG. 13 is generated.

  The peripheral map redrawing switch 404 is a switch for redrawing the displayed peripheral map. When this switch is pressed, the sensor input from the external detection sensor 20 is acquired again and the peripheral map is redrawn. The For example, when the stop position A2 is not suitable for detecting the surrounding information and the parked vehicle is not correctly recognized in the displayed surrounding map, by moving the host vehicle and pressing the surrounding map redrawing switch 404, The parked vehicle is correctly recognized and the surrounding map is displayed. Further, when the stop position A2 needs to be switched several times to generate a parking route, for example, if the stop position A2 is not an appropriate position for starting parking support, the host vehicle is moved and the surrounding map redrawing switch 404 is pressed.

The obstacle correction switch 405 is a switch for moving or deleting the position of the peripheral information displayed on the peripheral map. The external detection sensor 20 may detect an obstacle with a height that does not interfere with the host vehicle, in which case the driver manually corrects the obstacle.
The initial setting switch 406 is a switch for changing the initial setting described with reference to FIG. For example, the input value of the total length can be changed when a load exceeding the total length of the vehicle is mounted, or the obstacle setting method pattern in the parallel parking described with reference to FIGS. 4 to 7 can be changed.

  When the route generation switch 403 is pressed, the parking route generation unit 108 of FIG. 2 determines whether the parking is parallel parking or garage parking according to the set parking position (S104). A virtual obstacle for a parking lot is set (S105), a parking route is generated, and a display screen of a parking route generation result in parallel parking described in FIG. 13 is displayed on the operation display unit 401 (S107).

  In FIG. 13, OL1 set as a virtual obstacle is displayed in a map display area 402, and a parking route is displayed so as to avoid this virtual obstacle. P1 represents the rear wheel axle center position at the stop position of the host vehicle. The parking route is set and displayed so that point P1 moves as P1 → P2 → P3 → P4 as a turning point between forward and backward.

  The parking route includes vehicle information set by the vehicle information setting unit 1071 such as the total length, full width and minimum turning radius of the own vehicle, obstacles detected by the external detection sensor 20, and virtual obstacles generated by the virtual obstacle generation unit 107. The optimum route is set depending on the object. For example, a parking route that has the smallest number of turns, a parking route that has the longest approaching distance to an obstacle, or a parking route that does not have a too large steering angle is set. These settings can be set on the operation display unit 401 by condition settings (not shown).

  The route regeneration switch 410 is a switch for regenerating the parking route. When this switch is pressed, for example, a plurality of parking paths generated by the parking path generation unit 108 can be switched and displayed. Moreover, the other virtual obstacle demonstrated in FIGS. 4-7 may be set, and a parking route may be produced | generated again.

  The route correction switch 411 performs fine adjustment of the displayed parking route. For example, the position of P3 can be dragged to the upper left of the screen in order to expand a little more with other cars parked on the parking route. In that case, the position of P2 which is the previous turning point and the parking route indicated by the broken line are also changed. As a result, the driver can make fine adjustments while confirming the parking route first generated by the parking route generation unit 108.

  The automatic parking switch 412 is a switch for automatically parking the vehicle along the generated parking route. When this switch is pressed, the vehicle control unit 104 in FIG. 2 controls the automatic steering device 51, the brake ECU 52, the engine ECU 53, and the shift ECU while confirming the input from the vehicle sensor 30 in FIG. The vehicle is moved (S108). As a result, the driver does not perform a driving operation such as a steering wheel operation or an accelerator operation, and the rear image of the camera 23 displayed on the rearview mirror or the operation display unit 401 and further the movement displayed on the operation display unit 401. The vehicle can be automatically moved to a predetermined parking position while confirming safety on the inside route. During the movement, the movement route may be explained by a speaker (not shown). Even if the driver is automatically moving the vehicle, the steering wheel and the brake operation are possible. When the driver's operation is detected by the vehicle sensor in FIG. 1, the parking assist system ECU 10 interrupts or stops the automatic movement. be able to.

  The manual parking switch 413 is a switch for manually parking the vehicle along the generated parking route. When this switch is pressed, the vehicle control unit 104 in FIG. 2 controls only the automatic steering device 51 while confirming the input from the vehicle sensor 30 in FIG. 1 so that the driver can perform accelerator, brake, and shift operations. To move the vehicle to the parking position (S108). The driver performs an accelerator or brake operation using the distance to the switching position displayed on the operation display unit 401 as a guideline. When the driver reaches the turn-back position, the driver switches the forward / backward movement of the gear to move the parking route. While the route is moving, the driver may be notified of the remaining distance to the return position by a speaker (not shown).

  The return switch is a switch for returning the display from the display of the parking route to the display of the surrounding map of FIG.

  Next, the flow of operations when actually parking in a garage will be described with reference to FIGS. 14, 15, 16, and 17. FIG.

  FIG. 14 is an example of a diagram illustrating a vehicle position in garage parking. FIG. 15 is an example of a diagram illustrating a display screen of a peripheral map in garage parking. FIG. 16 is an example of a diagram illustrating a display screen of a parking route generation result in garage parking. Although the operation of the parking support system in the parallel parking has been described with reference to the flowchart of FIG. 17, the operation is the same in the garage parking, and only the portion where the virtual obstacle for garage parking is set in S106. Is different.

  Here, the switches having the same reference numerals used in the description of the parallel parking will be omitted.

  In FIG. 14, the case where the own vehicle stopped at the position C2 is parked in the garage at the position D2 between the vehicle D and the vehicle parked on the right rear side will be described.

  The driver who stops the vehicle at the position of C2 performs a parking support start operation (S100), detects an obstacle by the external detection sensor 20 (S101), and a surrounding map is generated based on this result. As shown in FIG. 15, a peripheral map is displayed on the operation display unit 401 (S102).

  In FIG. 15, parked vehicles d3 and d4 are detected as obstacles with respect to the position C2 of the host vehicle and displayed in the map display area 402. The parking position setting unit 106 sets D2 as the parking position (S103). The determination of whether or not the set parking position is permitted and the correction of the parking position are the same as in the case of the parallel parking described above. The switches arranged in the lower part of the map display area 402 have the same functions as the switches described in FIG.

  When the route generation switch 403 in FIG. 15 is pressed, the parking route generation unit 108 in FIG. 2 determines whether it is parallel parking or garage parking according to the set parking position (S104), and is garage parking. In this case, a virtual obstacle for a garage parking lot is set (S106), a parking route is generated, and a display screen of a parking route generation result in garage parking described with reference to FIG. 16 is displayed on the operation display unit 401. (S107).

  In FIG. 16, OL10 is set and displayed as a virtual obstacle behind the parking position. P5 → P6 → P7 is set so that the parking route does not contact this virtual obstacle.

  The operation when the automatic parking switch 412 or the manual switch 413 is pressed is the same as the operation described in the parallel parking, and the other switches arranged below the map display area 402 are the same as the switches described in FIG. It is a function.

  As mentioned above, although the form for implementing this invention was explained in full detail, this invention is not limited to such specific embodiment, In the range of the summary of this invention described in the claim, Various modifications and changes are possible.

1 Parking support system 10 Parking support system ECU
20 External detection sensor 21 Millimeter wave radar 22 Ultrasonic sensor 23 Camera 24 Laser radar 30 Vehicle sensor 31 Steering angle sensor 32 Vehicle speed sensor 33 Shift position sensor 40 Operation display device 51 Automatic steering device 52 Brake ECU
53 Engine ECU
54 Transmission ECU
101 External detection sensor input processing unit 102 Vehicle sensor input processing unit 103 Operation display device communication unit 104 Vehicle control unit 105 Peripheral map generation unit 106 Parking position setting unit 107 Virtual obstacle generation unit 108 Parking route generation unit 1071 Vehicle information setting unit 1072 Virtual obstacle setting unit 1073 Virtual obstacle arrangement storage unit

Claims (5)

An external detection sensor input processing unit that generates peripheral information based on sensor input from an external detection sensor that detects the outside of the vehicle;
A parking position setting unit for setting a parking position;
A virtual obstacle generating unit that generates virtual obstacle information based on the parking position set by the parking position setting unit;
The parking assistance apparatus provided with the parking route production | generation part which produces | generates the parking route from the present position of a vehicle to the said parking position based on the said surrounding information and the said virtual obstacle information. The parking position set by the parking position setting unit includes information on whether parallel parking or parking in a garage,
2. The parking assistance device according to claim 1, wherein the virtual obstacle information generated by the virtual obstacle generation unit is generated separately when the parking position is parallel parking and when parking is in a garage.   The parking assistance device according to claim 1 or 2, wherein the virtual obstacle information generated by the virtual obstacle generation unit is generated in anticipation of a course of another vehicle that is running.   The parking assist device according to any one of claims 1 to 3, wherein the parking position is set by the parking position setting unit based on the peripheral information. Further comprising a surrounding map generator for generating a surrounding map of the vehicle based on the surrounding information;
The parking assist device according to any one of claims 1 to 3, wherein the parking position is input by a driver instructing from the surrounding map displayed on the operation display unit.

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