JP2014043153A - Reverse parking guide method of reverse parking instruction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reverse parking guide method of a reverse parking instruction system for guiding a user to simply and exactly park a vehicle and increasing a will of utilization of the user.SOLUTION: In a reverse parking guide method of a reverse parking instruction system for guiding a vehicle to assist a reverse parking operation and comprising: a vehicle side photographing unit 30; a deviation measurement unit 50; a display unit 40; and a CPU 10 in which optimal reverse route calculation software 20 is built, distance between the vehicle and the adjacent vehicle is obtained by direct measurement or an estimate, the optimal reverse parking route is calculated according to a specification of the vehicle and width of a parking space, the vehicle is moved to an exact starting point by guiding a user, the vehicle is turned to be reversed to an inflection point, and a steering wheel is finally reversed to reverse the vehicle. An operation for turning the vehicle is extremely simple since the operation is only to rotate a steering wheel to a limit.

Description

  The present invention relates to a parking guide method, and more particularly, to a reverse parking guide method for a reverse parking command system that can guide a user and park a vehicle easily and accurately, and increase the user's willingness to use.

  Since it is difficult to park the vehicle while reversing the vehicle during the driving of the vehicle, many auxiliary guidance devices for vehicle reversal parking have been developed and are commercially available. Conventional auxiliary parking device for reverse parking of a vehicle can attach a radar detector to the rear of the vehicle to detect obstacles behind the vehicle, or attach a camera to the rear of the vehicle to take a picture of the rear of the vehicle Then, information on the back of the vehicle is notified to the user in the vehicle. A device that can capture an image with a camera can accurately park in a parking space by matching the line displayed on the screen. However, the conventional auxiliary guidance device for vehicle reverse parking only provides information that can be referred to the user, and cannot provide actual help to the user's parking.

  For this reason, a few luxury cars are equipped with an automatic parking system, the parking space is measured by ultrasonic waves, the parking work is left to the vehicle, and the user can complete the parking work simply by depressing the brake. That is, when such an automatic parking system is used, the user can easily ignore the actual driving situation, and the probability of occurrence of a traffic accident increases. Such an automatic parking system has a very complicated configuration and high production costs, so that there are few users who use such an automatic parking system.

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  SUMMARY OF THE INVENTION The main object of the present invention is to provide a reverse parking guide method for a reverse parking command system that can guide a user and park a vehicle easily and accurately, and increase the user's willingness to use.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the vehicle is guided to assist the reverse parking work, and the vehicle side photographing unit, the displacement measuring unit, the display unit, and the optimal reverse path calculation software are built-in. In the reverse parking guide method of the reverse parking command system including the CPU, the reverse parking guide method includes a step of activating the reverse parking command system, and a display unit displaying an image captured by the vehicle side surface shooting unit, and a display unit. Can further display the planned parking position that can be moved, the step of allowing the user to move and select the optimal planned parking position, and the CPU calculates the optimal reverse parking path according to the planned parking position and the specification of the vehicle, The optimal reverse parking path has an inflection point and an end point, and the display unit guides the user. To rotate the steering wheel to the limit and reverse the vehicle, and when the vehicle is moving, the displacement measuring unit can estimate the actual reverse marching path of the vehicle and compare the actual reverse marching path and the reverse parking path. When the vehicle arrives at the refraction point, the display unit allows the user to guide and reverse the handle to the limit to reverse the vehicle, and when the vehicle is moving, the displacement measuring unit Turning the reverse parking command system off when the vehicle arrives at the end point, comparing the actual reverse march path and the reverse parking path to the sustain, with the expectation that the actual reverse march path of the vehicle will be sustained. It is characterized by including.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit detects whether the user is moving the vehicle according to the guide, and if the user is not moving the vehicle according to the guide, the parking unit It is characterized by turning off the command system.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a voice unit, and when the displacement measuring unit detects that the vehicle has arrived at the inflection point, the voice by the voice unit. Occurs to warn the user.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the guide by the display unit is a notice presentation, and the notice presentation notifies the user by counting down a number or decreasing a bar. .

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit is a vehicle speed measuring device or a gyroscope.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit sets the set value when the user does not rotate the handle according to the guide. Beyond that, the reverse parking command system is turned off.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the display unit displays a plurality of planned parking positions, and the user can select one of these planned parking positions.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the planned parking position displayed on the display unit can be moved in the display unit.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the vehicle is guided to assist the reverse parking work, and the vehicle side photographing unit, the displacement measuring unit, the display unit, and the optimal reverse path calculation software are built-in. In the reverse parking guide method of the reverse parking command system including the CPU, the reverse parking guide method includes a step of activating the reverse parking command system, and a display unit displaying an image captured by the vehicle side surface shooting unit, and a display unit. In addition, it is possible to display the planned parking position that can be moved and the obstacle boundary line, the user can move and select the optimal planned parking position, and the CPU is optimal depending on the planned parking position and the specification of the vehicle. The reverse parking path is calculated, and the optimal reverse parking path has a refraction point and an end point, and the display unit The step of displaying the boundary line and after the vehicle arrives at the obstacle boundary line and overlaps the tail of the adjacent vehicle, the user presses the start button, and the display unit guides the user to rotate the handle to the limit Thus, when the vehicle is moving, and when the vehicle is moving, the displacement measuring unit can estimate the actual reverse march path of the vehicle, and compare the actual reverse march path and the reverse reversal parking path. When the refraction point is reached, the display unit allows the user to reverse the vehicle to the limit by being guided and reverse the handle to the limit, and when the vehicle is moving, the displacement measuring unit When the vehicle arrives at the end point, the reverse reversing parking command is given when the actual reversing marching route is expected to be sustained and the actual reversing marching route and reverse reversing parking route are compared with the continuation. Characterized in that it comprises the steps of turning off the stem, the.

  According to the reverse parking guide method of the reverse parking command system of the present invention, when the user moves and selects the optimum planned parking position, the obstacle boundary line should not overlap the rear wheel of the adjacent vehicle. It is characterized by making the user aware of this.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the display unit displays a plurality of planned parking positions, and the user can select one of these planned parking positions.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the planned parking position displayed on the display unit can be moved in the display unit.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit detects whether the user is moving the vehicle according to the guide, and if the user is not moving the vehicle according to the guide, the parking unit It is characterized by turning off the command system.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a voice unit, and when the displacement measuring unit detects that the vehicle has arrived at the inflection point, the voice by the voice unit. Occurs to warn the user.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the guide by the display unit is a notice presentation, and the notice presentation notifies the user by counting down a number or decreasing a bar. .

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit is a vehicle speed measuring device or a gyroscope.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit sets the set value when the user does not rotate the handle according to the guide. Beyond that, the reverse parking command system is turned off.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the vehicle is guided to assist the reverse parking work, the vehicle side surface photographing unit, the displacement measuring unit, the display unit, the distance measuring unit, and the optimal reverse path. In the reverse parking guide method of the reverse parking command system including the CPU with built-in calculation software, the reverse parking guide method includes step 1 of activating the reverse parking command system and an image captured by the vehicle side surface photographing unit with the display unit. And the step 2 for calculating the distance between the vehicle and the adjacent vehicle by the distance measuring unit, and the CPU according to the distance between the vehicle and the adjacent vehicle calculated by the distance measuring unit and the specification of the vehicle. The optimal reverse parking path is calculated and the optimal reverse parking path is determined by the obstacle boundary line, the refraction point, and the end. Step 3 for displaying a fault boundary line on the display unit, and after the vehicle has arrived at the fault boundary line and overlapped with the tail of the adjacent vehicle, the user presses the start button, The user is guided to rotate the steering wheel to the limit and reverses the vehicle in step 4, and when the vehicle is moving, the displacement measuring unit allows the actual reverse path of the vehicle to be anticipated. In contrast to the marching path and the reverse parking path, when the vehicle arrives at the inflection point, the display unit guides the user to reverse the steering wheel to the limit to reverse the vehicle continuously. When the vehicle is moving, the displacement measuring unit can expect the actual reverse march path of the vehicle to be sustained, and the actual reverse march path and the reverse parking path will be compared to the When arriving at the end point, characterized in that it comprises a step 6 to turn off the reverse parking command system, the.

  According to the reverse parking guide method of the reverse parking command system of the present invention, in step 3, the display unit further displays the planned parking position that can be moved, and the user can select and move the optimal planned parking position, and the CPU. Calculates the optimal reverse parking path according to the planned parking position and the vehicle specifications. The optimal reverse parking path has a refraction point, an end point, and a failure boundary line. It is displayed.

  According to the reverse parking guide method of the reverse parking command system of the present invention, when the user moves and selects the optimum planned parking position, the obstacle boundary line should not overlap the rear wheel of the adjacent vehicle. It is characterized by making the user aware of this.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the planned parking position displayed on the display unit can be moved in the display unit.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the display unit displays a plurality of planned parking positions, and the user can select one of these planned parking positions.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit detects whether the user is moving the vehicle according to the guide, and if the user is not moving the vehicle according to the guide, the parking unit It is characterized by turning off the command system.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a voice unit, and when the displacement measuring unit detects that the vehicle has arrived at the inflection point, the voice by the voice unit. Occurs to warn the user.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the guide by the display unit is a notice presentation, and the notice presentation notifies the user by counting down a number or decreasing a bar. .

  According to the reverse parking guide method of the reverse parking command system of the present invention, the displacement measuring unit is a vehicle speed measuring device or a gyroscope.

  According to the reverse parking guide system of the reverse parking command system of the present invention, the reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit sets the set value when the user does not rotate the handle according to the guide. Beyond that, the reverse parking command system is turned off.

  According to the reverse parking guide method of the reverse parking command system of the present invention, the user can be guided and the vehicle can be parked easily and accurately, and the user's willingness to use can be increased.

It is a block diagram which shows the system of this invention. It is a screen displayed on a display unit when one Example of the present invention defines a stop situation. It is a schematic diagram which shows the optimal reverse parking path | route planned by one Example of this invention. It is a schematic diagram of another Example of the screen displayed on a display unit, when one Example of this invention has defined the stop condition. FIG. 6 is a schematic view showing a screen displayed on the display unit when the parking situation is defined in one embodiment of the present invention, in which the planned parking position P is not adjusted. FIG. 6 is a schematic view showing a screen displayed on the display unit when an embodiment of the present invention defines a stop condition, in which a planned parking position P is adjusted to a planned state. FIG. 6 is a definition diagram 1 when calculating an optimal reverse parking route according to an embodiment of the present invention. FIG. 3 is a definition diagram 2 for calculating an optimal reverse parking route according to an embodiment of the present invention. FIG. 3 is a definition diagram 3 for calculating an optimal reverse parking route according to an embodiment of the present invention. When one Example of this invention defines the stop condition, it is another Example of the screen displayed on a display unit, Comprising: It is the schematic diagram by which the plan parking position P is not adjusted. It is another Example of the screen displayed on a display unit when one Example of this invention has defined the stop condition, Comprising: It is the schematic diagram by which the plan parking position P was adjusted to the plan state.

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

  The reverse parking guide method for the reverse parking command system according to the first embodiment of the present invention assists reverse parking work by guiding the vehicle a as shown in FIGS. 1, 2, 3, 9 </ b> A, and 9 </ b> B. The reverse parking command system includes a vehicle side surface photographing unit 30, a displacement measuring unit 50, a display unit 40, and a CPU 10 in which optimum reverse path calculation software 20 is built-in. The reverse parking guide method includes the following steps.

  (1) Activate the reverse parking command system.

  (2) The image captured by the vehicle side surface photographing unit 30 is displayed by the display unit 40. The display unit 40 can further display the planned parking position P that can be moved, and the user can move and select the optimal planned parking position P. The display unit 40 displays a plurality of scheduled parking positions P, and the user can select one of these scheduled parking positions P. As shown in FIG. 9, the planned parking position P displayed on the display unit 40 can be moved on the display unit 40. On the display unit 40, an upward movement button 41 and a downward movement button 42 are displayed. The position of the planned parking position P can be adjusted by the upward movement button 41 and the downward movement button 42.

  (3) The CPU 10 calculates the optimum reverse parking path δ based on the planned parking position P and the specification of the vehicle a. The optimal reverse parking path δ has a refraction point Z1 and an end point Z2. The display unit 40 guides the user to rotate the steering wheel to the limit and reverse the vehicle a.

  (4) When the vehicle a is moving, the displacement measuring unit 50 can expect the actual reverse traveling path of the vehicle a, and contrasts the actual reverse traveling path with the optimal reverse parking path δ, so that the vehicle a is refracted. When arriving at the point Z1, the display unit 40 allows the user to reverse the vehicle by guiding and reversing the steering wheel to the limit. The displacement measuring unit 50 detects whether the user is moving the vehicle a according to the guide, and turns off the parking command system when the user is not moving the vehicle a according to the guide.

  (5) When the vehicle a is moving, the displacement measuring unit 50 can expect the actual reverse march path of the vehicle a to be sustained, and the actual reverse march path and the reverse parking path are compared with the continuation. When the vehicle arrives at the end point Z2, the reverse parking command system is turned off.

  The reverse parking guide method for the reverse parking command system according to the second embodiment of the present invention assists the reverse parking work by guiding the vehicle a as shown in FIGS. 1, 2, 4 and 5A and 5B. The reverse parking command system includes a vehicle side surface photographing unit 30, a displacement measuring unit 50, a display unit 40, and a CPU 10 in which optimum reverse path calculation software 20 is built-in. The reverse parking guide method includes the following steps.

  (1) Activate the reverse parking command system.

  (2) The image captured by the vehicle side surface photographing unit 30 is displayed by the display unit 40. The display unit 40 can further display the planned parking position P that can be moved and the obstacle boundary line M. The user can move and select the optimum planned parking position P. The CPU 10 records the position of the selected scheduled parking position P. The display unit 40 displays a plurality of scheduled parking positions P, and the user can select one of these scheduled parking positions P. As shown in FIG. 5, an upward movement button 41, a downward movement button 42, and a start button 43 are displayed on the display unit 40. The position of the planned parking position P can be adjusted by the upward movement button 41 and the downward movement button 42. By pressing the start button 43, the reverse parking guide can be started. The fault boundary line M is displayed on the display unit 40. When the user moves and selects the optimum planned parking position P, the obstacle boundary line M makes the user aware that the obstacle boundary line M should not overlap with the rear wheel of the adjacent vehicle.

  (3) The CPU 10 calculates the optimum reverse parking path δ based on the planned parking position P and the specification of the vehicle a. The optimal reverse parking path δ has a refraction point Z1 and an end point Z2. The fault boundary line M is displayed on the display unit 40.

  (4) After the vehicle a arrives at the obstacle boundary line M and overlaps with the tail of the adjacent vehicle, the user presses the start button 43 and the display unit 40 guides the user to rotate the handle to the limit. Reverse the vehicle.

  (5) When the vehicle a is moving, the displacement measuring unit 50 can expect the actual reverse traveling path of the vehicle a, and contrasts the actual reverse traveling path and the optimal reverse parking path δ, so that the vehicle a is refracted. When arriving at point Z1, the display unit 40 guides the user to reverse the steering wheel to the limit and reverse the vehicle continuously.

  (6) When the vehicle “a” is moving, the displacement measuring unit 50 can expect the actual reverse traveling path of the vehicle “a” continuously, and contrast the actual reverse traveling path and the optimal reverse parking path “δ” When the vehicle a arrives at the end point Z2, the reverse parking command system is turned off.

  The reverse parking guide method for the reverse parking command system according to the third embodiment of the present invention assists the reverse parking work by guiding the vehicle a as shown in FIGS. 1, 2, 4 and 5A and 5B. The reverse parking command system includes a vehicle side surface photographing unit 30, a displacement measurement unit 50, a display unit 40, a distance measurement unit 70, and a CPU 10 in which optimum reverse path calculation software 20 is built-in. The reverse parking guide method includes the following steps.

  (1) Activate the reverse parking command system. .

  (2) The image captured by the vehicle side surface photographing unit 30 is displayed by the display unit 40. The distance measurement unit 70 calculates the distance between the vehicle a and the adjacent vehicle.

  (3) The CPU calculates the optimum reverse parking path δ based on the distance between the vehicle a and the adjacent vehicle calculated by the distance measurement unit 70, the specification of the vehicle a, and the width of the parking space. The optimum reverse parking path δ has an obstacle boundary line M, a refraction point Z1, and an end point Z2. The fault boundary line M is displayed on the display unit 40. A start button 43 is displayed on the display unit 40. By pressing the start button 43, the reverse parking guide can be started.

  (4) After the vehicle a arrives at the obstacle boundary line M and overlaps with the tail of the adjacent vehicle, the user presses the start button 43 and the display unit 40 guides the user to rotate the handle to the limit. Reverse the vehicle.

  (5) When the vehicle a is moving, the displacement measuring unit 50 can expect the actual reverse traveling path of the vehicle a, and contrasts the actual reverse traveling path and the optimal reverse parking path δ, so that the vehicle a is refracted. When arriving at point Z1, the display unit 40 guides the user to reverse the steering wheel to the limit and reverse the vehicle continuously.

  (6) When the vehicle “a” is moving, the displacement measuring unit 50 can expect the actual reverse traveling path of the vehicle “a” continuously, and contrast the actual reverse traveling path and the optimal reverse parking path “δ” When the vehicle a arrives at the end point Z2, the reverse parking command system is turned off.

  In step (3), as shown in FIG. 4, the display unit 40 further displays a planned parking position P that can be moved, and the user can select and move to the optimal planned parking position P. The CPU 10 calculates the optimum reverse parking path δ based on the planned parking position P and the specification of the vehicle a. The optimum reverse parking path δ has a refraction point Z1, an end point Z2, and an obstacle boundary line M. On the display unit 40, an upward movement button 41, a downward movement button 42, and a start button 43 are displayed. The position of the planned parking position P can be adjusted by the upward movement button 41 and the downward movement button 42. By pressing the start button 43, the reverse parking guide can be started. The fault boundary line M is displayed on the display unit 40. When the user moves and selects the optimum planned parking position P, the obstacle boundary line M makes the user aware that the obstacle boundary line M should not overlap with the rear wheel of the adjacent vehicle.

  As apparent from the above description, according to the reverse parking guide method for the reverse parking command system of the present invention, the reverse parking operation can be assisted by guiding the user. The displacement measuring unit 50 detects whether the user is moving the vehicle a according to the guide, and the parking command system is turned off when the moving route of the vehicle a deviates from the planned optimum reverse parking route δ.

  In the guide presentation method described above, the screen is displayed by the display unit, and the user is notified by counting down the number or decreasing the number of bars. In the reverse parking command system, the utterance unit 60 may be further added. When the displacement measuring unit 50 detects that the vehicle a has arrived at the refraction point Z1, a sound is generated by the utterance unit 60 to warn the user. The guide by the display unit 40 is a notice presentation. The advance notice informs the user by counting down the number or decreasing the bar.

  The displacement measuring unit 50 is a gyroscope or a vehicle speed measuring device attached to the vehicle a.

  When the displacement measurement unit 50 is a gyroscope, the CPU 10 measures the rotation angle with the gyroscope and calculates the displacement amount. The method in which the CPU 10 calculates the displacement amount of the vehicle a by the gyroscope is to calculate the displacement amount of the vehicle a by multiplying the rotation angle of the vehicle by the rotation radius.

  When the displacement measuring unit 50 is a vehicle speed measuring device attached to the vehicle a, the CPU 10 can calculate the amount of vehicle displacement by multiplying the speed measured by the vehicle speed measuring device over time.

  The reverse parking guide method for the reverse parking command system of the present invention further includes a handle angle measuring unit electrically connected to the CPU 10. The handle angle measuring unit can obtain a handle rotation angle by acquiring a signal based on the handle rotation angle or adding a vehicle speed to the rotation angle of the vehicle a measured by the gyroscope. When the speed of the vehicle a is zero, the rotation angle of the steering wheel can be obtained by aligning the gyroscope with the acceleration sensor.

  The handle angle measurement unit detects whether the user rotates the handle according to the guide, and turns off the parking command system when the user does not rotate the handle or moves the vehicle a according to the guide.

  Please refer to FIG. FIG. 6 is a definition diagram 1 for calculating an optimal reverse parking route according to an embodiment of the present invention. If the user turns the handle to the left to the limit or turns the handle to the right to the limit, the radius of the marching rotation path is the same. The present invention calculates the optimum reverse parking route δ based on this characteristic.

  Please refer to FIG. 7 and FIG. FIG. 7 is a diagram illustrating a definition for calculating an optimal reverse parking route according to an embodiment of the present invention. FIG. 8 is a definition diagram for calculating an optimal reverse parking route according to an embodiment of the present invention. 3. The definition of the specification of the vehicle a is as follows.

W is the width of the vehicle a.
A is the distance between the center point of the front wheel of the vehicle a and the head portion of the vehicle a.
B is the distance between the center point of the rear wheel of the vehicle a and the tail of the vehicle a.
C is a length obtained by adding the protruding length of the vehicle body to the width of the tire.
D is the distance between the front wheel axis and the rear wheel axis of the vehicle a.
L is the length of the vehicle a.
Rout is the turning radius of the front wheel outside the vehicle a.
Rin is the turning radius of the front wheel inside the vehicle a.
rout is the turning radius of the rear wheel outside the vehicle a.
rin is the turning radius of the rear wheel inside the vehicle a.
Rc is the turning radius of the outer front corner of the vehicle a.

The calculation method of the turning radius of the vehicle a is as follows.
The minimum turning radius of the vehicle a is the turning radius of the outer front wheel, and Rout is the minimum turning radius of the vehicle a. By calculating trigonometric functions,

  When calculated according to the drawing, rin = rout−W, but the wheel has a width, the wheel shaft shrinks inward, and the vehicle body protrudes. Therefore, correction is necessary. = Rout-W + C. By calculating trigonometric functions,

Please refer to FIG.
E is the distance between the vehicle a and the adjacent vehicle.
F is the width of the parking space.
X is a horizontal distance for moving the vehicle a to the parking position.
Y is a vertical distance for moving the vehicle a to the parking position.
θ is the rotation angle of the vehicle a.
c1 is the first rotation center, the right rear wheel path is δ1, and the rotation radius is the inner rear wheel radius rin.
c2 is a second rotation center, the path of the right rear wheel is δ2, and the rotation radius is the radius rout of the outer rear wheel.

The calculation method for planning the optimal reverse parking path, refraction point and end point is as follows.
As is apparent from FIG. 8, the horizontal distance X = E + F = X1 + X2 for moving the vehicle a to the parking position.
X1 = rin (1-cos θ),
X2 = rout (1-cos θ),
X = X1 + X2 = rin (1-cos θ) + rout (1-cos θ) = (rin + rout) (1-cos θ).

  As is apparent from FIG. 7, the vertical distance for moving the vehicle a to the parking position is Y. According to the calculation of the trigonometric function, Y = (rin + rout) sin θ,

  θ varies according to the horizontal distance at which the vehicle a is moved to the parking position. When the horizontal distance for moving the vehicle a to the parking position is determined, θ can be calculated by the above formula, and the optimal reverse parking path δ, the refraction point Z1, and the end point Z2 can be determined.

  Please refer to FIG. 6 to FIG. When the vehicle a is parked on the shoulder according to the present invention, the obstacle boundary line calculation method for planning a marching route for reverse parking is as follows.

  B is the distance between the center point of the rear wheel of the vehicle a and the tail of the vehicle a, F is the width of the parking space, Rc is the turning radius of the outer front corner of the vehicle a, and S is the turning radius Rc It is the distance between the intersection with the parking space and the tail end of the adjacent vehicle, and rout is the turning radius of the rear wheel outside the vehicle a.

  By calculating trigonometric functions,

  S is a distance to move the vehicle a forward, and the vehicle a does not collide with an adjacent vehicle by this reverse parking path. When a corrected value of 5 to 10 cm is added to the obtained S, it is possible to further prevent the vehicle a from colliding with the tail end of the adjacent vehicle.

  As is clear from the above description, according to the reverse parking guide method of the reverse parking command system of the present invention, the optimal reverse parking route δ is planned by looking at the parking situation, and the user follows the guide to handle the steering wheel. Rotate to the limit in one direction, reverse to the limit in the other direction, and the displacement measuring unit 50 measures the marching distance and contrasts with the optimal reverse parking path δ, thereby following the optimal reverse parking path δ The vehicle a can be reversely parked accurately, and the reverse parking operation becomes extremely simple.

  The present invention can be applied to a reverse parking command system.

10: CPU
20: Optimal reverse path calculation software 30: Vehicle side photographing unit 40: Display unit 50: Displacement measurement unit 60: Speech unit 70: Distance measurement unit a: Vehicle b: Adjacent vehicle M: Obstacle boundary line P: Scheduled parking position Z1: Refraction point Z2: End point δ: Optimal reverse parking path

Claims (27)

A reverse parking guide method for a reverse parking command system, which includes a vehicle side-viewing unit, a displacement measurement unit, a display unit, and a CPU in which optimum reverse path calculation software is built-in. In
The reverse parking guide method includes:
Activating the reverse parking command system;
The display unit displays an image captured by the vehicle side surface photographing unit, the display unit can further display a planned parking position that can be moved, and a user can move and select an optimal planned parking position;
The CPU calculates an optimal reverse parking path according to the scheduled parking position and the vehicle specifications, and the optimal reverse parking path has a refraction point and an end point, and the display unit is used to guide the user. Rotating the steering wheel to the limit and reversing the vehicle;
When the vehicle is moving, the displacement measuring unit allows the vehicle to expect an actual reverse march path, and compares the actual reverse march path and the reverse parking path so that the vehicle arrives at the refraction point. The display unit allows the user to guide and reverse the steering wheel to the limit to reverse the vehicle;
When the vehicle is moving, the displacement measuring unit allows the actual reverse march path of the vehicle to be sustained, and compares the actual reverse march path and the reverse parking path to the continuation. Turning off the reverse parking command system when arriving at the end point, and a reverse parking guide method for the reverse parking command system.   The displacement measuring unit detects whether a user is moving the vehicle according to a guide, and turns off the parking command system when the user is not moving the vehicle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 1.   The reverse parking command system further includes an utterance unit, and when the displacement measurement unit detects that the vehicle has arrived at the inflection point, a sound is generated by the utterance unit to warn the user. The reverse parking guide method of the reverse parking command system according to claim 1, wherein   The reversal of the reverse parking command system according to claim 1, wherein the guide by the display unit is a notice presentation, and the notice presentation notifies the user by counting down a number or decreasing a bar. Parking guide method.   The reverse parking guide method of the reverse parking command system according to claim 1, wherein the displacement measuring unit is a vehicle speed measuring device or a gyroscope.   The reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit turns off the reverse parking command system when a set value is exceeded when the user does not rotate the handle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 1.   The reverse parking guide of the reverse parking command system according to claim 1, wherein the display unit displays a plurality of planned parking positions, and the user can select one of the planned parking positions. Method.   The reverse parking guide method for a reverse parking command system according to claim 1, wherein the scheduled parking position displayed on the display unit can be moved in the display unit. A reverse parking guide method for a reverse parking command system, which includes a vehicle side-viewing unit, a displacement measurement unit, a display unit, and a CPU in which optimum reverse path calculation software is built-in. In
The reverse parking guide method includes:
Activating the reverse parking command system;
The image taken by the vehicle side surface photographing unit is displayed by the display unit, the display unit can further display a planned parking position that can be moved and an obstacle boundary line, and the user can move the optimum planned parking position. Selectable steps,
The CPU calculates an optimal reverse parking path according to the planned parking position and the vehicle specification, the optimal reverse parking path has a refraction point and an end point, and displays the obstacle boundary line on the display unit. And steps to
After the vehicle arrives at the obstacle boundary line and overlaps with the tail of an adjacent vehicle, the user presses a start button, and the display unit guides the user to rotate the handle to the limit, Reversing the vehicle;
When the vehicle is moving, the displacement measuring unit allows the vehicle to expect an actual reverse march path, and compares the actual reverse march path and the reverse parking path so that the vehicle arrives at the refraction point. The display unit allows the user to guide and reverse the steering wheel to the limit to reverse the vehicle continuously,
When the vehicle is moving, the displacement measuring unit allows the actual reverse march path of the vehicle to be sustained, and compares the actual reverse march path and the reverse parking path to the continuation. Turning off the reverse parking command system when arriving at the end point, and a reverse parking guide method for the reverse parking command system.   10. When the user moves and selects an optimal scheduled parking position, the obstacle boundary line makes the user aware that the obstacle boundary line should not overlap with the rear wheel of the adjacent vehicle. A reverse parking guide method for the reverse parking command system according to claim 1.   The reverse parking guide of the reverse parking command system according to claim 9, wherein the display unit displays a plurality of planned parking positions, and the user can select one of the planned parking positions. Method.   The reverse parking guide method for a reverse parking command system according to claim 9, wherein the scheduled parking position displayed on the display unit is movable in the display unit.   The displacement measuring unit detects whether a user is moving the vehicle according to a guide, and turns off the parking command system when the user is not moving the vehicle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 9.   The reverse parking command system further includes an utterance unit, and when the displacement measurement unit detects that the vehicle has arrived at the inflection point, a sound is generated by the utterance unit to warn the user. 10. The reverse parking guide method of the reverse parking command system according to claim 9,   The reversal of the reverse parking command system according to claim 9, wherein the guide by the display unit is a notice presentation, and the notice presentation informs the user by counting down a number or decreasing a bar. Parking guide method.   10. The reverse parking guide method for a reverse parking command system according to claim 9, wherein the displacement measuring unit is a vehicle speed measuring device or a gyroscope.   The reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit turns off the reverse parking command system when a set value is exceeded when the user does not rotate the handle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 9. A reverse parking command system that assists reverse parking work by guiding a vehicle, and includes a vehicle side-viewing unit, a displacement measurement unit, a display unit, a distance measurement unit, and a CPU that has built-in optimal reverse path calculation software. In the reverse parking guide method of
The reverse parking guide method includes:
Activating the reverse parking command system 1;
Displaying the video imaged by the vehicle side surface photographing unit by the display unit, and calculating a distance between the vehicle and an adjacent vehicle by the distance measuring unit;
The CPU calculates an optimal reverse parking path according to a distance between the vehicle and the adjacent vehicle calculated by the distance measurement unit and a specification of the vehicle, and the optimal reverse parking path includes an obstacle boundary line, A step 3 having a refraction point and an end point, and displaying the obstacle boundary line on the display unit;
After the vehicle arrives at the obstacle boundary line and overlaps with the tail of an adjacent vehicle, the user presses a start button, and the display unit guides the user to rotate the handle to the limit, Step 4 to reverse the vehicle;
When the vehicle is moving, the displacement measuring unit allows the vehicle to expect an actual reverse march path, and compares the actual reverse march path and the reverse parking path so that the vehicle arrives at the refraction point. And when the display unit guides the user to reverse the steering wheel to the limit and reverse the vehicle continuously,
When the vehicle is moving, the displacement measuring unit allows the actual reverse march path of the vehicle to be sustained, and compares the actual reverse march path and the reverse parking path to the continuation. And a step 6 for turning off the reverse parking command system when arriving at the end point.   In step 3, the display unit further displays a planned parking position that can be moved, and the user can select and move to the optimal planned parking position, and the CPU can perform the operation according to the planned parking position and the specifications of the vehicle. Calculating an optimal reverse parking path, wherein the optimal reverse parking path has a refraction point, an end point, and an obstacle boundary line, and the obstacle boundary line is displayed on the display unit. The reverse parking guide method for the reverse parking command system according to claim 18.   When the user moves and selects an optimal planned parking position, the obstacle boundary line makes the user aware that the obstacle boundary line should not overlap with a rear wheel of an adjacent vehicle. Item 20. The reverse parking guide method for the reverse parking command system according to item 19.   The reverse parking guide method of the reverse parking command system according to claim 19, wherein the planned parking position displayed on the display unit is movable in the display unit.   The reverse parking guide of the reverse parking command system according to claim 19, wherein the display unit displays a plurality of planned parking positions, and the user can select one of the planned parking positions. Method.   The displacement measuring unit detects whether a user is moving the vehicle according to a guide, and turns off the parking command system when the user is not moving the vehicle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 18.   The reverse parking command system further includes an utterance unit, and when the displacement measurement unit detects that the vehicle has arrived at the inflection point, a sound is generated by the utterance unit to warn the user. 19. The reverse parking guide method of the reverse parking command system according to claim 18,   19. The reversal of the reverse parking command system according to claim 18, wherein the guide by the display unit is a notice presentation, and the notice presentation notifies the user by counting down a number or decreasing a bar. Parking guide method.   19. The reverse parking guide method of the reverse parking command system according to claim 18, wherein the displacement measuring unit is a vehicle speed measuring device or a gyroscope.   The reverse parking command system further includes a handle angle measuring unit, and the handle angle measuring unit turns off the reverse parking command system when a set value is exceeded when the user does not rotate the handle according to the guide. The reverse parking guide method of the reverse parking command system according to claim 18.