JP2014004904A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device for safely performing parking support at a low cost without giving a driver disturbance due to parking support.SOLUTION: The parking support device includes an obstacle detection sensor for detecting an obstacle outside a vehicle, a parking route generation unit for generating a parking route on the basis of an input from the obstacle detection sensor, an objective distance operation unit for calculating the closest approach position of the vehicle at which the vehicle and the obstacle come closest to each other when the vehicle is moved on the parking route generated by the parking route generation unit, the closest approach part of the vehicle approaching closest to the obstacle at the closest approach position, and the closest approach distance between the vehicle and the obstacle at the closest approach position, and a display unit for displaying the closest approach part and the closest approach distance.

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. 2010-47219), an obstacle distance L from a parking frame to an obstacle (for example, a wall) existing in the opposite direction is measured, and vehicle parameters and parking frame width are measured. Based on W and obstacle distance L, when the vehicle goes backward to the target parking frame at the maximum turning angle, it calculates a reverse turning boundary indicating a boundary line that can enter the target parking frame at once. In addition, there is described a parking assist device that displays on a monitor a presentation image that is created by superimposing a reverse-turning boundary on a captured image obtained by capturing the periphery of a vehicle.

  In Patent Document 2 (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 vehicle is present around the vehicle by a millimeter wave radar or an ultrasonic sensor. There is described a parking assist device that acquires the position of an obstacle to be performed and excludes the position of the obstacle and sets a moving route of the vehicle.

  In Patent Document 3 (Japanese Patent Application Laid-Open No. 2004-203365), the side of the vehicle is pulled in parallel with the front-rear direction of the vehicle at a predetermined distance from the vehicle, and the side required for moving the vehicle at the time of 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 4 (Japanese Patent Application Laid-Open No. 2012-25261) discloses a first image formed on a virtual vertical screen facing a rear end of a 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.

  In Patent Document 5 (Japanese Patent Application Laid-Open No. 2011-46335), one or a plurality of parking frame positions are acquired from an image of a vehicle-mounted camera, the position and posture of the host vehicle are detected 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.

JP 2010-47219 A JP 2010-18167 A Japanese Patent Laid-Open No. 2004-203365 JP 2012-25261 A JP 2011-46335 A

  However, in the conventional parking assistance device described in Patent Documents 1-5, it is unclear which part of the host vehicle approaches how far away from the obstacle on the set parking route when the moving route is set. I was worried about the driver.

  In addition, in the conventional parking assistance device that displays the positional relationship between the host vehicle and the obstacle on the grid map of the operation display unit, if the relationship between the host vehicle and the obstacle is accurately expressed on the grid map, a large and high-resolution image is displayed. A display was required and the cost was high.

  Therefore, the present invention has been made in view of the problems in the parking support apparatus, and provides parking support that safely and inexpensively provides parking assistance without giving the driver anxiety associated with parking support by the parking support apparatus. An object is to provide an apparatus.

  In view of the above problems, the parking assist device according to the present invention includes an obstacle detection sensor that detects an obstacle outside the vehicle, a parking path generation unit that generates a parking path based on an input from the obstacle detection sensor, When the vehicle moves on the parking route generated by the parking route generation unit, the vehicle and the obstacle are closest to each other, and the vehicle is closest to the obstacle, and the obstacle is closest to the vehicle. A vehicle closest approach part, an objective distance calculation unit that calculates a closest approach distance between the vehicle and the obstacle at the closest approach position, and a display unit that displays the closest approach part and the closest approach distance. .

  According to the embodiment of the present invention, it is possible to provide a parking assistance device that safely performs parking assistance at low cost without giving the driver anxiety associated with parking assistance.

It is a block diagram of a parking assistance device. The detail of the setting item memorize | stored in a setting memory | storage part is shown. It is a figure explaining the installation position and detection range of a laser radar. It is a figure explaining the positional relationship between a parking route and an obstacle. It is a figure explaining the closest approach distance of the own vehicle and an obstruction. It is a figure explaining distance relation with an obstacle in the proximity of the closest approach distance. It is a flowchart which shows operation | movement of a parking assistance system. It is a flowchart which shows the detailed operation | movement of target parking position determination. It is a figure explaining the display method of an obstacle map, and the determination method of a target parking position. A first display example of the closest approach distance is shown. The 2nd example of a display of the closest approach distance is shown. The 3rd example of a display of the closest approach distance is shown.

  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 apparatus of the present invention.

  In FIG. 1, the parking assistance device 1 includes a parking assistance ECU (Electronic Control Unit) 10, a left side laser radar 21, a right side laser radar 22, a vehicle speed sensor 31, a steering angle sensor 32, and an operation display device 40.

  As an example of the obstacle detection sensor, the laser radar used in the left-side laser radar 21 and the right-side laser radar 22 projects the oscillated pulsed laser light around the own vehicle, and the laser by the detection object. Measures the direction and distance of the object to be detected by detecting the reflected light of the light. For example, by scanning and projecting laser light with a polygon mirror, vibration mirror, etc., in a wide range The scan range can be set in advance. In the present embodiment, obstacle information detected by detecting obstacles around the vehicle by the two laser radars, the left side laser radar 21 and the right side laser radar 22, is input to the parking assist ECU 10. Moreover, you may further provide the front laser radar which is not shown in figure which mainly detects a front obstacle and a preceding vehicle during driving | running | working.

  The vehicle speed sensor 31 measures the vehicle speed when the host vehicle is moving forward and backward, and inputs the measurement result to the parking assist ECU 10 as vehicle speed information. The steering angle sensor 32 measures the steering angle of the steering wheel and inputs the measurement result to the parking assist system ECU 10 as steering angle information. The vehicle speed and the steering angle are used to calculate the actual moving path of the vehicle when the host vehicle moves on the parking path generated by the parking assist ECU.

  The operation display device 40 provides information on the parking route to the driver and accepts an operation input from the driver. The operation display device 40 is composed of, for example, a liquid crystal touch panel and hard buttons. In this embodiment, an audio output unit (not shown) is provided. 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 operation display device 40 is connected to the parking assist ECU 10 and displays information about approaching an obstacle described later.

  Next, details of the parking assist ECU 10 will be described.

  The parking assist ECU 10 includes an obstacle map generation unit 101, a target parking position determination unit 102, a parking route generation unit 103, an objective distance calculation unit 104, an approach image drawing unit 105, a vehicle position calculation unit 106, and a setting storage unit 107. ing.

  The obstacle map generation unit 101 generates an obstacle map around the vehicle based on the input of obstacle information detected by the left side laser radar 21 and the right side laser radar 22. Since the generated obstacle map has a problem of the presence or absence of interference with the own vehicle, the detection information of the left side laser radar 21 and the right side laser radar 22 detected in the range of the height of the own vehicle is combined. It is expressed as a grid map that represents the vehicle periphery in two-dimensional coordinates.

  In this apparatus, since it is necessary to accurately grasp the position of other vehicles that are parked, the obstacle map generation unit 101 performs image processing such as differentiation processing on the obstacle information input from the laser radar. The outline of the vehicle is detected by emphasizing the outline of the vehicle. The obstacle map generated in a plane expresses the detected outermost part as an obstacle. In many cases of a parked vehicle, the bumper portion is detected as the outermost part and is represented by two-dimensional coordinates on the obstacle map. The detected obstacle may be displayed by color-coding the height of the obstacle and the type of the obstacle. In addition, the detected shape of the parked vehicle to be detected may change depending on the vehicle-mounted object or the accessory device.

  Further, the obstacle map generation unit 101 estimates the shape of the vehicle from the shape and size of the parked vehicle portion that is shaded by the laser radar based on the input obstacle information. Moreover, the difference between a parked vehicle and obstacles, such as a pillar and implantation, is recognized from the specified shape and size. For example, concrete pillars and planting are flat on the side, whereas parked vehicles have a curved shape.

  Further, the obstacle map generation unit 101 compares input information in time series, for example, in order to accurately discriminate between parked parked vehicles and temporarily passing vehicles and pedestrians. It can be determined by the presence or absence. Further, the laser radar can measure the relative speed of the detected object even by single detection, and can distinguish between a parked vehicle and a traveling vehicle.

  The target parking position determination unit 102 automatically determines a parking space based on the obstacle map around the vehicle generated by the obstacle map generation unit 101 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 set by the driver specifying the position from the operation display device 40 based on the obstacle map generated by the obstacle map generation unit 101.

  The target parking position is determined 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. The target parking position determination unit 102 can display a warning on the operation display device 40 when it is determined that parking cannot be performed due to the above positional relationship, or when the parking position cannot be automatically determined based on the obstacle map.

  The parking route generation unit 103 generates a parking route from the current position of the host vehicle to the parking position determined by the target parking position determination unit 102 so as to avoid the obstacle map generated by the obstacle map generation unit 101. . The parking route is generated as a route for moving from the current position of the host vehicle to the parking position with reference to the center position of the rear wheel axle, for example.

  The objective distance calculation unit 104 calculates the closest approach distance between the host vehicle and the obstacle map generated by the obstacle map generation unit 101 in the parking route generated by the parking route generation unit 103. For example, when the parking route is generated with reference to the center position of the rear axle, the projection surface on which the host vehicle projects on the road surface during the parking route movement according to the size of the host vehicle and the direction of the vehicle with respect to the center position. Becomes clear, and the closest approach distance between the host vehicle and the obstacle can be calculated from the line segment that forms the outermost part. The calculation of the distance between the vehicle and the obstacle can be obtained by calculating the point where the perpendicular drawn from the surface of the vehicle is perpendicular to the surface of the obstacle, that is, the shortest of the distances. The distance is the closest approach distance.

  The closest approach distance is calculated once when a parking route is created before parking support is started. However, it is also possible to measure obstacles around the vehicle again with laser radar, for example, while the parking route is moving or at a turn-back point, and recalculate as a new parking route is generated.

  In the case of a parking route that needs to be turned back, the parking route changes at the turn-back point, so there are always a plurality of closest approach distances. There are two types of the closest approach distances: the closest approach distance on the parking route to the turning point and the closest approach distance in all routes. In the following description, for the sake of convenience, the former is referred to as “closest approach distance” and the latter is referred to as “all route closest approach distance”. In the case of a parking route that does not switch back, the meaning of both is the same.

  The approach image drawing unit 105 displays the closest approach distance calculated by the objective distance calculation unit 104 based on the parking route generated by the parking route generation unit 103 and the obstacle generated by the obstacle map generation unit on the operation display device 40. Draw an approach image for display. This drawing example will be described later.

  The vehicle position calculation unit 106 calculates the position of the host vehicle based on the amount of movement detected by the vehicle speed sensor 31 and the steering angle sensor 32 based on the current different position of the host vehicle created by the map creation unit. Based on the position of the host vehicle, the distance to the obstacle is subtracted to the closest distance generated by the objective distance calculation unit 104, and the distance to the obstacle at the moving position is calculated. It is displayed on the display unit 40. As a result, the remaining distance up to the closest distance can be notified to the driver, and a sense of security can be given more. Further, by monitoring the vehicle speed sensor 31 and the steering angle sensor 32, a deviation between the calculated parking route generated by the parking route generation unit 103 and the actual parking route is detected, and the result is detected by the parking route generation unit. The parking route can be corrected by inputting.

  The setting device unit 107 stores the setting of the parking assistance device 1. Details of the setting items stored in the setting storage unit 107 will be described with reference to FIG.

  Although the parking assist 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. 2 is an example showing details of setting items of the parking assistance device 1 stored in the setting storage unit 107. The setting storage unit 107 includes setting items for a display range 1071, a closest approach display 1072, a warning distance 1073, a stop distance 1074, a minimum turning radius 1075, a total length 1076, a total width 0177, a rear overhang 1078, and a target parking position determination 1079. I remember it.

  In the display range 1071, switching of the display range of the approach image displayed on the operation display device 40 drawn by the approach image drawing unit 105 in FIG. 1 is set. Examples of display in each setting will be described later. As an initial setting of the display range, the display range should be a wide range including the own vehicle and the parked vehicle as an obstacle, only the periphery of the own vehicle, or the closest approach of the own vehicle. Set whether to enlarge the part. Each display method can be switched by operating the operation display device 40 even after display with any setting.

  In the closest approach 1072, the closest distance displayed on the display screen of the operation display device 40 is displayed only as the closest distance in the route up to the next turning point, or all the closest points in the entire route are displayed. Set whether to display the approach distance. When a plurality of closest approach distances are displayed, the closest approach distance on the currently moving route or the closest approach distance of all routes may be displayed in different colors.

  The warning distance 1073 displays a warning when the closest distance calculated by the objective distance calculation unit 104 or the distance from the current position to the obstacle becomes a predetermined value or less as the first distance setting unit in the present invention. It is a setting for. For example, when the warning distance 1073 is set as “30 cm”, when the parking route is generated with the closest distance calculated by the objective distance calculation unit 104 being 30 cm or less, the operation display device 40 displays a warning regarding the closest distance. Appears and alerts the driver. The timing of the warning display may be the time when the objective distance calculation unit 104 first generates the closest approach distance. If the closest approach distance below the set value occurs after the next return point, the warning display timing is displayed at the return point. Also good. The driver can move the host vehicle safely by reducing the moving speed or paying attention to the side mirror or the like by displaying the warning.

  In conjunction with this warning, an image of a vehicle-mounted television camera (not shown) may be displayed on a part of the display screen of the operation display device 40. In addition to displaying the distance from the obstacle as a numerical value by displaying the TV camera image, the approaching state can be visually confirmed. Moreover, since the portion of the own vehicle that is closest to the vehicle is known in advance, the television camera that photographs the portion of the own vehicle that is closest to the obstacle even when the television camera is installed all around the vehicle. Can be automatically selected and displayed on the operation display device 40. In addition, the approaching portion can be zoomed and displayed. Thereby, even if a driver | operator does not select a vehicle-mounted television camera or zoom operation, the approaching part with an obstruction can be displayed in detail.

  The stop distance 1074 is a setting for canceling parking assistance when the closest approach distance calculated by the objective distance calculator 104 is equal to or less than a predetermined value as the second distance setting unit in the present invention. For example, when the stop distance 1074 is set to “5 cm”, if the closest approach distance is 5 cm or less, the operation display unit 40 displays that the parking support is stopped as the closest approach distance is equal to or less than a predetermined value. By this setting, even if there is no contact with an obstacle on the calculated moving route, the driver can keep the approach to the obstacle within a predetermined distance. In addition, even when there is a shift in the movement path due to measurement errors of the laser radar or road surface irregularities, the parking distance can be set to a safe distance by restricting the approach distance with the obstacle by setting the stop distance 1074.

  Each vehicle data of the minimum turning radius 1075, the total length 1076, the total width 1077, and the rear overhang 1078 is set as an initial setting of the own vehicle. These vehicle data are used as basic data when the parking route generation unit 103 generates a parking route. These data may not always match the actual driving route and the closest approach distance calculated based on the condition of the tires installed and the equipment installed on the vehicle. The parking route may be adjusted by applying a predetermined correction value to these data stored in the setting storage unit 107.

  The target parking position determination 1079 sets whether to automatically determine the target parking position set by the target parking position determination unit 102 or manually by the driver. A specific procedure for determining the target parking position will be described later.

  Next, the detection range of the left side laser radar 21 and the right side laser radar 22 described in FIG. 1 will be described with reference to FIG.

  FIG. 3 is an example of a diagram illustrating the installation position and detection range of the laser radar. In FIG. 3, the left side laser radar 21 is installed on the left side mirror and detects an obstacle or the like in the range of the left side laser radar detection range 201. The right side laser radar 22 is installed on the right side mirror and detects an obstacle in the range of the right side laser radar detection range 202. Here, the left side laser radar detection range 201 and the right side laser radar detection range 202 can be detected within a maximum scan range of approximately 180 degrees. However, when an obstacle is found, it is possible to increase the resolution of the laser radar by narrowing the scan range in the direction of the obstacle, and perform more accurate ranging. In addition, there may be a non-detection area as shown in FIG. 3 in front of and behind the vehicle in which the own vehicle is in the shadow and the laser radar cannot emit, but in many cases the target parking position is set in parallel parking or Since it is parking in the garage, even if only the side of the host vehicle is used as the detection area, it does not cause a big problem. However, this non-detection area can be eliminated, for example, by using in combination with other laser radars that measure the inter-vehicle distance and relative speed between the preceding vehicle and the following vehicle that are installed before and after the vehicle.

  The detection distance of the laser radar is determined by the output of the laser radar and the like, and an obstacle of several tens of meters can be detected. However, in the parking assistance device, it is not necessary to detect an obstacle at a far distance. Even a detection distance of about m can be used. Since the laser radar measures the detection distance to the detected object using the return time of the reflected light, the detection distance within a predetermined range can be set as the detection range if a detection is made with a threshold in the return time of the reflected light. Can do. This makes it possible to narrow down the target of the detected obstacle and cut detection information from the laser radar that is unnecessary for parking assistance.

  Next, the parking route of the vehicle when the parking assistance apparatus 1 is used will be described with reference to FIG.

  FIG. 4 is an example of a diagram illustrating the positional relationship between a parking route and an obstacle.

  In FIG. 4, A, B, and C respectively show the position of the own vehicle in a parking path, and Z has shown the parked vehicle as an obstruction. A case will be described in which the vehicle at the A position is switched back to the B position in order to move the vehicle to the C position that is the parking position. Ma, Mb, and Mc indicate the center points of the rear axles of the respective vehicles at positions A to C. In this embodiment, the parking route is calculated using the rear wheel axle center point as a vehicle reference point.

  s1 and s2 indicate paths Ma to Mb from the A position to the B position, and paths Mb to Mc from the B position to the C position.

  l1 and r1 indicate the left and right trajectories of the outermost vehicle projected by the vehicle on the road surface when the vehicle moves from the A position to the B position. That is, the distance closest to the obstacle can be obtained based on this locus. Similarly, l2 and r2 are the outermost trajectories of the vehicle on the left and right of the vehicle when the vehicle moves from the B position to the C position. As for l1, l2, r1, and r2, assuming that the rear wheel axle center points follow the trajectory of s1 and s2, the vehicle data of the total length 1076, the total width 1077, and the rear overhang 1078 described in FIG. It can be uniquely determined by the turning angle.

  p1 is the closest point of the vehicle that is closest to the obstacle Z when moving from the A position to the B position, and p2 is closest to the obstacle Z when moving from the B position to the C position. It is the closest point of your vehicle. In this way, the closest approach distance is generated in each route in the parking route including turning back. In this example, since the turn-back is one time, there are two closest points, but when the turn-back is two times, the closest point is three points.

  Next, details of the closest approach distance between the host vehicle and the obstacle occurring in the parking route described in FIG. 4 will be described with reference to FIG.

  FIG. 5 is an example of a diagram illustrating the closest approach distance between the host vehicle and the obstacle. In FIG. 5, p <b> 1 is a point on l <b> 1 and forms the closest distance x with z <b> 1 of the obstacle Z. On the other hand, p2 is a point on l2, and forms the closest distance y to z2 of the obstacle Z. That is, when the turn-over is performed once, two closest approach distances x and y are generated. In this example, y is the closest approach distance of all routes closest to the obstacle in all parking routes. Details of the distance relationship with the obstacle before and after the closest point p1 on l1 will be further described with reference to FIG.

  FIG. 6 is an example of a diagram illustrating a distance relationship with an obstacle in the vicinity of the closest approach distance. In FIG. 6, when considering the neighboring points p1a and p1b before and after the closest point p1 on l1, the shortest distance from p1a to the obstacle Z is xa with respect to z1a of the obstacle Z. Similarly, The shortest distance from p1b to the obstacle Z is xb with respect to z1b. The shortest distance to the obstacle at each point on l1 is the radius when the circle first touches the obstacle when a circle with a predetermined radius is drawn from each point on l1, that is, the obstacle. The upper z1a, z1, and z1b points are points that are perpendicular to the line segments xa, xb, and xc drawn from the closest distances. The objective distance calculation unit 104 in FIG. 1 calculates the distance to the obstacle by the above calculation method.

  Here, by continuously moving from p1a to P1a, an arc t that forms the shortest distance to the obstacle Z can be obtained. In FIG. 6, since the steering wheel is turned to the right, the arc t is curved to the right as a part of l1. On the other hand, before and after the closest point p2 described with reference to FIG. 5, the vehicle retreats while turning the steering wheel to the left, so that the similar arc has a curved shape to the left. By displaying the shapes of these arcs on the operation display device 40, whether the driver approaches the closest approach point with the steering wheel turned to the right or with the steering wheel turned to the left. Can know in advance.

  The calculation of the closest approach distance in the present embodiment is calculated based on the shape of the obstacle Z detected by the left laser radar 21 at the position A in FIG. When the host vehicle approaches the distance, the shape of the obstacle Z may be measured again by the laser radar, and the closest approach distance may be corrected. At that time, the scanning range and the detection distance can be adjusted according to the obstacle Z. This makes it possible to measure the closest approach distance with high accuracy.

  Next, operation | movement of the parking assistance apparatus 1 shown in FIG. 1 is demonstrated based on the flowchart of FIG.7 and FIG.8.

  FIG. 7 is an example of a flowchart showing the operation of the parking support system. FIG. 8 is an example of a flowchart showing the detailed operation of determining the target parking position in FIG.

  7, the driver who stops at the position A in FIG. 4 starts parking assistance by inputting a parking assistance start instruction using the touch panel of the operation display device 40 (S10). However, the start of parking assistance does not require the host vehicle to stop, and a start instruction may be given during traveling.

  When the parking assistance is started, the parking assistance ECU 10 confirms that the vehicle is stopped by the vehicle speed sensor 31 and detects an obstacle within a predetermined range by the left laser radar 21 and the right laser radar 22. Perform (S11).

  The detected obstacle is plotted on the grid map of the plane coordinates by the obstacle map generation unit 101 and is generated as an obstacle map (S12). The generated obstacle map may be displayed on the operation display device 40.

  Next, the target parking position determination unit 102 determines a parking position from the generated obstacle map (S13). For example, the parking position may be automatically determined so that the detected obstacles are arranged at an appropriate interval, and a white line or a car stop drawn on the road surface is not shown. It may be automatically determined based on the image taken in step (b). Moreover, you may determine manually by a driver | operator. Details of the target parking position determination step S13 will be described with reference to FIG.

  In FIG. 8, the target parking position determination unit 102 determines whether or not the setting of the target parking position determination 1079 described in FIG. 2 is an automatic setting (S1301). When the setting is automatic (Y in S1301), the target parking position determination unit 102 automatically determines the parking position and inputs the position to the obstacle map generated by the obstacle map generation unit 101. . The input result is displayed on the operation display device 40. The automatic determination of the target parking position may be a plurality of positions. In that case, the driver can switch and display a plurality of target positions by operating the operation display device 40, and can select one of the target parking positions.

  The driver checks one or a plurality of target parking positions displayed on the operation display device 40, and determines whether or not the target parking position needs to be corrected (S1303). Here, when there is no correction of the target parking position (N in S1303), the target position determination unit determines the target parking position (S1304).

  On the other hand, when the setting of the target parking position determination 1079 is manual (S1301 is N), an obstacle map is displayed on the operation display device 40 (S1306), and the parking position can be manually input (S1307). Even when the target parking position determination 1079 is automatically set, when the automatically determined target parking position is manually corrected (Y in S1303), the parking position can be manually input in the same manner. (S1307). In this manual input of the parking position, the driver touches the obstacle map displayed on the touch panel of the operation display device 40 to input the parking position. Alternatively, the driver may select a plurality of displayed parking positions by touching them. An icon having the same size as that of the host vehicle may be displayed at a position touched by the person in charge.

  When the target parking position is manually input, the target parking position determination unit 102 checks whether or not there is a space in which the host vehicle is parked (S1308). The target parking position determination unit 102 can park the host vehicle at the parking position designated by the driver based on the positional relationship with the obstacle input in the obstacle map from the vehicle data of the total length 1076 and the total width 1077 in FIG. Check if there is space. For example, if the distance between the host vehicle and the parked vehicle at the target parking position is larger than the distance set as the stop distance 1074 in FIG. 2, it is determined that there is a parking space (Y in S1308), and the target parking position is determined (S1304). ). On the other hand, if the distance is equal to or less than the distance set in the stop distance 1074, it is determined that there is no parking space (N in S1308), and an error display indicating that there is no parking space is displayed on the operation display device 40 (S1309). Is input to the driver (S1307).

  Here, a specific operation display example of display of the obstacle map and determination of the target parking position will be described with reference to FIG.

  FIG. 9 is an example of a diagram illustrating how to display an obstacle map and determine a target parking position. In FIG. 9, the operation display device 40 includes operation display units 400 and 405 formed of a touch panel. The operation display unit 400 displays a host vehicle 4001 that is an icon indicating the host vehicle generated by the obstacle map generation unit 101 and a parked vehicle 4002 that is an icon indicating a parked vehicle detected by the laser radar. Has been. The operation display unit 405 includes an automatic determination 4051 which is a button for automatically determining a target parking position, a manual determination 4052 which is another button for manually determining a target parking position, and a button for canceling parking assistance. And a setting 4054 which is a button for setting a target parking position and generating a parking route.

  When the driver confirms the own vehicle 4001 and the parked vehicle 4002 displayed on the operation display unit 400 and presses automatic determination 4051, the target parking position determination unit 102 parks by parking in the garage using the parked vehicle 4002 as a reference. Positions arranged at appropriate intervals next to the vehicle 4002 are automatically set as target parking positions 4003. As a target parking position candidate, in addition to the garage parking shown in the figure, a plurality of target parking positions are automatically calculated, such as a method of arranging them in a tandem relationship with a parked vehicle. The position can be changed and displayed.

  Further, when the driver manually sets the target parking position, a manual determination 4052 is pressed, and then an appropriate part of the operation display unit 400 is touched to install an icon of the target parking position on the operation display unit 400. can do. Also at this time, the position of the icon may be automatically corrected so as to be arranged in parallel to the side of the parked vehicle 4002. The driver can adjust the position of 4003 by rotating or dragging the icon.

  When the target parking position is determined, the driver presses setting 4103. The target parking position determination unit 102 writes the target parking position determined by the determination method as described above to the coordinates of the obstacle map, and determines the parking position.

  Returning again to FIG. 7, a parking route from the stop position of the host vehicle is generated for the determined target parking position (S14). As described with reference to FIG. 4, the generation of the parking route is calculated together with the turning point of the host vehicle so that the host vehicle and the parked vehicle moving along the route have a predetermined distance or more.

  Next, the closest approach distance at which the host vehicle is closest to the parked vehicle in the generated parking route is displayed on the operation display device (S15). As described with reference to FIG. 4, in the case of a parking route in which turnover occurs, a plurality of closest approach distances always occur. According to the setting of the closest approach display 1072 in FIG. 2, the closest approach distance displayed on the operation display device is displayed only between the current position and the next turning point, or whether the closest approach distance of all routes is displayed. Selected. The closest approach distance can be displayed by a numerical value as well as by a bar graph, and the display can be color-coded according to the distance to the obstacle. Further, the distance to the obstacle at the current position of the host vehicle may be displayed together with the closest approach distance while the parking route is moving. As described above, the display of the closest approach distance to be displayed can be switched to the next closest approach distance by passing the point of the closest approach distance when displaying until the next turning point. In addition, when displaying the closest approach distance of all routes, the display of the points that have passed can be deleted or grayed out.

  In addition to displaying the closest approach distance, it displays which part of the four corners of the front, rear, left and right of the host vehicle is closest. As a result, it is possible to know the portion of the own vehicle that the driver should be particularly careful during the movement of the parking route, and the burden of visual confirmation can be reduced and parking can be performed safely.

  The calculation of the closest approach distance described above is exemplified only once at the parking support start position. However, after the parking support starts, the closest approach distance is calculated while the vehicle is moving or when the turnover position arrives. The display can be corrected.

  In addition, when the parking assistance is started, a television camera (not shown) may be activated to display a portion including the position of the host vehicle that is the closest part on the operation display device.

  Here, a specific example of the method for displaying the closest approach distance will be described with reference to FIGS. 10, 11, and 12. The display of the closest approach distance described with reference to FIGS. 10 to 12 is a display example when the parking route from the position A to the position B described with reference to FIG. 4 is moving, and is drawn by the approach image drawing unit 105 described with reference to FIG. Are displayed on the operation display device 40.

  FIG. 10 shows a first display example of the closest approach distance. In FIG. 10, the touch panel of the operation display device 40 includes an operation display unit 401 that displays the closest approach distance in the first display example, and an operation display unit 410 in which operation buttons are arranged. The display of FIG. 10 described in the first display example is a case where the setting of the display range 1071 described in FIG.

  In the first display example, the display unit 401 displays an icon 4011 of the host vehicle, an icon 4012 that displays the closest approach unit of the host vehicle that is closest to the obstacle, and an icon 4012, and a numerical display that numerically indicates the closest approach distance. A part 4013 and a numerical value display part 4015 are displayed.

  The own vehicle icon 4011 is arranged at a substantially central portion of the operation display unit 401 and displays the front side of the own vehicle on the upper side. The speed (2.3 km / h) and the shift position (D) of the host vehicle are displayed at the center of the host vehicle icon 4011. The driver needs to switch the shift position between forward and backward at the turning point during parking assistance. By displaying the current speed and shift positioner on the operation display section, the driver can change the speed position. It is possible to prevent excessive release. Note that this display may alert the driver if the shift position is wrong or if the speed during the parking route movement is too fast.

  An icon 4012 and an icon 4014 that display the closest approach part of the host vehicle that is closest to the obstacle represent the arc t described in FIG. The icon 4012 is arranged and displayed at the left front portion of the host vehicle and indicates the shape of the right curve. Accordingly, when the vehicle is moving forward, the vehicle approaches the obstacle with the steering wheel turned to the right, and the driver is informed of the approach situation in which the left front of the vehicle constitutes the closest point to the obstacle. it can. On the other hand, the icon 4014 indicates the approach situation at the closest point p2 described in FIG. The icon 4014 is arranged and displayed on the left rear side of the vehicle and indicates the shape of the left curve. That is, when the host vehicle is moving backward, the left rear of the host vehicle is the closest point with the left handle turned off. In this example, when the closest approach display 1072 in FIG. 2 is “all routes”, two closest approach points that occur on all routes are displayed in a parking route with one turn. On the other hand, when the closest approach display 1072 in FIG. 2 is “until the next turn-back”, only the icon 4012 is displayed and the position B is moved from the position B to the position B that is the turn-back position in FIG. Only the icon 4014 is displayed while the route to C is being moved. In addition, the driver may be alerted by changing the color of an icon to be displayed or blinking the closest approach distance of all routes that are closest to an obstacle in all routes. In this example, the icon 4012 and the icon 4014 are expressed by arcs. However, for example, other shapes may be displayed, or part of the icon 4011 of the host vehicle may be colored. For these settings, the approach image drawing unit 105 reads settings (not shown) stored in the setting storage unit 107, and drawing is executed.

  A numerical value display unit 4013 and a numerical value display unit 4015 that indicate the closest approach distance in numerical values display the closest approach distance and the distance from the current position calculated by the vehicle position calculator 106 described with reference to FIG. For example, when the display of the numerical value display unit 4013 is “95/213”, it means that the closest approach distance is 95 cm and the distance from the current position is 213 cm. The distance from the current position is displayed in real time as the current position of the host vehicle is calculated by information input from the vehicle speed sensor 31 and the steering angle sensor 32 in FIG. By displaying the closest approach distance (“95” cm) before moving the parking route, it is possible to alert the driver to approaching the obstacle in advance and by performing subtraction display from the current position (“ 213 "cm), the distance to the closest distance can be accurately grasped, and the vehicle can be moved more safely by visual observation or the like. In this example, the actual distance to the obstacle is displayed, but the remaining distance to the closest distance may be displayed. Further, the distance to the obstacle or the remaining distance to the closest approach distance may be displayed on the operation display device, and the driver may be notified by voice. In particular, when moving the parking route in the back, the driver can concentrate on attention to the obstacles by visual observation of the distance by voice.

  Here, handling of the distance set as the warning distance 1073 described in FIG. 2 will be described. In FIG. 2, the warning distance 1073 is set to “30 cm”. In the above example, since the calculation result of the closest approach distance is “95 cm”, in this case, a warning to the operation display unit 401 is not displayed. However, when the closest approach distance is calculated as 30 cm or less, the first warning is displayed on the operation display unit 401 as being the warning distance or less. The warning may blink the display distance, change the color, or display a separate warning dialog. Further, when the distance from the current position becomes equal to or less than the set value of the warning distance 1073 due to the movement of the host vehicle, the second warning is notified by the same method as the first warning. As a result, even when the route is moving, the driver can be informed of an approach to the obstacle within a predetermined distance.

  In this example, the numerical value display portion 4015 is displayed as “35 / −”, but this is the closest approach distance is 35 cm, and the distance from the current position is not counted until the turn-back position B is reached. It expresses that.

  The display of the closest approach distance is a calculation result at the position A which is the parking support start position.For example, when the parking route deviates from the initial schedule by a subsequent steering operation, or the obstacle is again detected by the laser radar. When the distance is corrected, the latest numerical value can be displayed. Similarly to the icons 4012 and 4014, the numerical display unit 4013 and the numerical display unit 4015 display both or only one of the numerical display units 4013 and 4015 according to the setting of the closest display 1072 in FIG. be able to. Also, the display color can be changed and the display can be blinked. Further, the display position may be another position of the operation display unit 401.

  In the first display example, the display of the obstacle detected by the laser radar is omitted, and information about the approach to the obstacle with the host vehicle as the center is mainly displayed. For this reason, even when the display resolution and size of the operation display device 40 are not large, it is possible to easily notify the driver of necessary information on which part of the host vehicle is approaching the obstacle at what distance. A safe parking assistance device can be provided.

  In the operation display unit 410, operation buttons configured by a touch panel are arranged. A display switching 4101 is a button for switching the display of the operation display unit. By pressing this button, the operation display unit, which will be described later, is sequentially switched. A cancel 4102 is a button for canceling parking support. A setting 4103 is a button for performing various settings described with reference to FIG. Next, display switching when the display switching 4101 is pressed will be described with reference to FIGS.

  FIG. 11 shows a second display example of the closest approach distance. In FIG. 11, the touch panel of the operation display device 40 includes an operation display unit 402 that displays the closest approach distance in the second display example, and an operation display unit 410 in which operation buttons are arranged. The display of FIG. 10 described in the second display example is a case where the setting of the display range 1071 described in FIG. Note that the operation display unit 410 with the same reference numeral is the same as in the case of FIG.

  In the second display example, the operation display unit 402 includes an icon 4021 in which the host vehicle is enlarged, a numerical value display unit 4022, and an icon 4023 in which a portion constituting the closest approach distance in the obstacle is enlarged. The second display example is displayed by pressing the display switch 4101.

  The icon 4021 enlarges the left front of the host vehicle. This can inform the driver that the left front of the host vehicle is approaching the obstacle. Moreover, by displaying a part of the host vehicle, even if the display unit is smaller than the first display example, the necessary information on which part of the host vehicle is approaching the obstacle at what distance can be obtained. The driver can be notified in advance, and a safe parking assistance device can be provided.

  In the second display example, a part of the host vehicle and a part of the obstacle are enlarged and displayed. Thereby, compared with the case where only the numerical value of the approach distance is displayed, the situation of the approach can be visually notified by comparison with the size of the host vehicle.

  Here, the icon 4023 in which the obstacle is enlarged can be fixedly displayed as the position with respect to the closest approach position. It can also be displayed dynamically in conjunction with the movement of the parking route. For example, when the icon 4023 in which the obstacle is enlarged is fixedly displayed as the position with respect to the closest approach position, the degree of approach of the own vehicle to the obstacle at the closest approach distance to the driver in advance is visually confirmed. Can be informed. In addition, when the icon 4023 is dynamically displayed in accordance with the movement of the parking route, the approach to the obstacle can be visually expressed in the same manner as the display when the approaching situation is captured by the TV camera. The relative positional relationship with the obstacle can be notified to the driver in more detail. However, in order to simplify the display unit, the display of obstacles can be omitted.

  FIG. 12 shows a third display example of the closest approach distance. In FIG. 12, the touch panel of the operation display device 40 includes an operation display unit 402 that displays the closest approach distance in the third display example, and an operation display unit 410 in which operation buttons are arranged. The display of FIG. 12 described in the third display example is a case where the setting of the display range 1071 described in FIG.

  In the third display example, the operation display unit 402 displays own vehicle icons 4031, 4032, 4033, and 4034, a numerical value display unit 4015, and an obstacle icon 4036. The third display example is displayed by pressing the display switch 4101.

  The icon 4031 represents the parking assistance start position A described in FIG. 4, the icon 4032 represents the current position of the vehicle, the icon 4033 represents the turn-back position B, the icon 4034 represents the target parking position C, and the icons other than the current position are A broken line is displayed. In the icon of the host vehicle, a circle mark 4032a is filled and displayed as the closest approach portion on the left front portion of the icon 4032, and the closest approach portion is the front left side of the vehicle until the next turning point currently in progress. Represents that. In addition, a round mark 4032b is displayed without filling as an indication of the closest part on the left rear part of the vehicle 4032 of the icon, indicating that the left rear part of the vehicle becomes the closest part after the turning point on the parking route. . When the host vehicle moves to position B, the circle mark 4032a disappears, this time the circle mark 4032b is filled, and the display indicates that the closest part is the left rear of the vehicle.

  The third display example displays the entire parking route. For this reason, in addition to the driver being able to easily grasp the parking route, since the closest approach part and the closest approach distance of the host vehicle are displayed, the displayed map itself does not require an accurate scale display and is a small display part. It can be used even if it exists. Further, the icon size of the vehicle can be reduced according to the displayed area.

  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.

  For example, a millimeter wave radar, an ultrasonic sensor, a television camera, or the like can be used as an obstacle detection sensor instead of a laser radar.

1 Parking support device 10 Parking support ECU
31 Vehicle speed sensor 32 Steering angle sensor 40 Operation display device 101 Obstacle map generation unit 102 Target parking position determination unit 103 Parking route generation unit 104 Objective distance calculation unit 105 Approach image drawing unit 106 Vehicle position calculation unit 107 Setting storage unit

Claims (7)

An obstacle detection sensor for detecting an obstacle outside the vehicle;
A parking route generation unit that generates a parking route based on an input from the obstacle detection sensor;
When the vehicle moves on the parking route generated by the parking route generation unit, the vehicle and the obstacle are closest to each other, and the vehicle is closest to the obstacle, and the obstacle is closest to the vehicle. An objective distance calculation unit that calculates the closest approach part of the vehicle, and the closest approach distance between the vehicle and the obstacle at the closest position;
A parking assistance device comprising: a display unit that displays the closest approach part and the closest approach distance. The objective distance calculation unit calculates a current distance between the vehicle and the obstacle at a current position that is moving along the parking route,
The parking support device according to claim 1, wherein the display unit displays the current distance. A first distance setting unit that presets the first distance;
The parking assistance device according to claim 1 or 2, wherein a first warning is displayed on the display unit when the closest distance is equal to or less than the first distance. A first distance setting unit that presets the first distance;
The parking assistance device according to claim 2, wherein a second warning is displayed on the display unit when the current distance is equal to or less than the first distance. A second distance setting unit that presets a second distance shorter than the first distance;
The parking assistance device according to claim 3 or 4, wherein a third warning is displayed on the display unit when the closest approach distance is equal to or less than the second distance.   The parking support device according to any one of claims 1 to 5, wherein the display unit displays the vehicle by changing a scale of a part of the vehicle according to a preset display setting. The objective distance calculation unit calculates a plurality of closest positions of the vehicle at which the vehicle and the obstacle are closest to each other in the parking route generated by the parking route generation unit,
The parking support device according to any one of claims 1 to 6, wherein the display unit displays a closest approach portion and a closest approach distance of the plurality of vehicles at the plurality of closest approaches.

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