JP2014121984A - Pull-out-of-parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pull-out-of-parking support device capable of supporting pull-out-of-parking further appropriately.SOLUTION: A pull-out-of-parking support device 1 includes: forward detection means 4 for detecting a forward distance α to a forward obstacle of a vehicle; rearward detection means 5 for detecting a rearward distance β to a rearward obstacle of the vehicle; support means 6a for computing a vehicle-itself position of the vehicle, computing a pull-out-of-parking route of the vehicle and a target steering angle θt thereof on the basis of the forward distance α and the rearward distance β, and supporting so as to match a steering angle θ with the target steering angle θt; and determination means 6b for performing a first determination as to whether it is possible to pull out of the parking with the steering angle θ, on the basis of the pull-out-of-parking route, the position of the vehicle itself and the steering angle θ. Further, if the first determination is affirmative, the support means 6a performs increased-steering-angle control to provide a support by increasing the target steering angle θt, and then ends the support.

Description

  The present invention relates to a delivery support apparatus that can prevent a vehicle from colliding with an obstacle (particularly, a front parked vehicle) when the vehicle exits after parallel parking in a vehicle such as a passenger car, a truck, or a bus.

  As a technique for preventing a collision with an obstacle when the driver starts without recognizing the steering angle of the vehicle, for example, as described in Patent Document 1, the steering angle in the parking state is set in the parking state. It has been proposed to display to the driver on the condition that the vehicle is detected, or to present the rudder angle information when the vehicle is in a dangerous situation when starting.

JP 2008-137557 A

  However, in such a conventional technique, it is impossible to prevent contact with an obstacle due to the fact that the displayed steering angle does not match the turning amount of the vehicle assumed by the driver. This is especially true for the exit support device that supports the vehicle until it is parked in parallel and starts the vehicle, and realizes appropriate exit support including what timing to end the support and what kind of control is performed at the end. Means difficult to do.

  In view of the above problems, an object of the present invention is to provide a delivery support apparatus that can realize more appropriate delivery support.

  In order to solve the above problem, the exit support apparatus according to the present invention includes a front detection unit that detects a front distance from a front obstacle of a vehicle, a rear detection unit that detects a rear distance from the rear obstacle of the vehicle, Assistance for calculating the vehicle position of the vehicle, calculating the vehicle exit route and the target rudder angle based on the vehicle position, the front distance and the rear distance, and matching the rudder angle with the target rudder angle And a determination means for performing a first determination for determining whether the vehicle can be discharged at the rudder angle based on the shipping route, the host vehicle position, and the rudder angle, and the first determination is affirmative In this case, the support means terminates the support after performing the increasing control for increasing the target rudder angle and performing the support.

  Here, in the rounding-up control, the support means calculates a return amount determined based on the steering characteristics of the wheels of the vehicle, and uses the corrected target rudder angle obtained by adding the return amount to the target rudder angle. The determination unit may perform a second determination to determine whether the corrected target rudder angle is greater than a control maximum rudder angle under the condition that the first determination is affirmative. When the second determination is negative, the support means may perform the round-up control, and the determination means reaches the predetermined position when the second determination is affirmative. When the third determination is performed and the third determination is affirmative, the support means may end the support without performing the increase control, and the predetermined position The left front end of the vehicle is to the right of the front obstacle It may be a position coinciding with the longitudinal direction of the vehicle to the end.

  According to the warehousing support apparatus of the present invention, when performing support for keeping the vehicle along the evacuation route, the steering angle is set to the current rudder angle, i.e., the rudder angle at the rear end of the evacuation route without leaving the vehicle. After the increase, the support control is terminated, and even if the driver releases the steering wheel and the steering angle returns by the return amount according to the steering characteristics of the vehicle, the collision with the front obstacle can be avoided. Therefore, more appropriate delivery support can be realized.

It is a block diagram which shows one Embodiment of the leaving assistance apparatus 1 of the Example which concerns on this invention. It is a schematic diagram which shows the detection aspect of the front vehicle, the back vehicle, and the side obstacle which are the obstacles around the vehicle of the leaving assistance apparatus 1 of an Example. It is a flowchart which shows the control content of one Embodiment of the delivery assistance apparatus 1 of an Example. It is a flowchart which shows the control content of one Embodiment of the delivery assistance apparatus 1 of an Example. It is a schematic diagram which shows the specific example of the positional relationship of the vehicle, the front obstruction, and the back obstruction in the leaving assistance apparatus 1 of an Example. It is a schematic diagram which shows the case where the specific aspect of the delivery path | route is shown in one Embodiment of the delivery assistance apparatus 1 of an Example. It is a schematic diagram which shows the specific aspect of the assistance completion | finish in one Embodiment of the delivery assistance apparatus 1 of an Example. It is a map which shows the relationship between the steering angle and return amount which are decided by the steering characteristic in one Embodiment of the delivery assistance apparatus 1 of an Example.

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

  As shown in FIG. 1, the exit assistance apparatus 1 of this embodiment includes an ultrasonic sensor front 2 (left and right), an ultrasonic sensor rear 3 (left and right), a clearance sonar 4 (front x4), and a clearance sonar 5. (Rear x4) and an ECU 6 (Electronic Control Unit). The EPS 6, the display 8, the wheel speed sensor 9, and the body ECU 10 are connected to the ECU 6 with or without a communication standard such as CAN (Controller Area Network).

  As shown in FIG. 2, the front side 2 of the ultrasonic sensor detects left and right side obstacles at the front of the vehicle, and the rear side 3 of the ultrasonic sensor 3 shows side obstacles at the left and right sides of the rear of the vehicle. Detect objects. The clearance sonar 4 constitutes a front detection means for detecting a front distance α between the front and front ends of the vehicle and a front obstacle (particularly a front vehicle) in the vicinity of the left and right ends, and the clearance sonar 5 is provided at the rear and rear ends of the vehicle. A rear detection means for detecting a rear distance β from a rear obstacle (particularly a rear vehicle) in the vicinity of the left and right ends.

  The ECU 6 includes, for example, a CPU, a ROM, a RAM, a data bus that connects them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM. The ECU 6 constitutes support means 6a that performs processing described below and determination means 6b.

  The EPSECU built in EPS7 (Electronic Power Steering) is composed of, for example, a CPU, ROM, RAM, a data bus connecting them, and an input / output interface, and the CPU performs predetermined processing according to a program stored in the ROM. is there. The EPS ECU controls the steering force generated by the EPS 7 so that the steering angle θ matches the steering force input by a driver to a steering wheel (not shown) or the target steering angle θt included in the steering command of the assist means 6a of the ECU 6. Further, the EPS ECU transmits the steering angle θ detected by the steering sensor 11 to the ECU 6 via the CAN.

  The steering mechanism included in the EPS 7 is, for example, of a rack and pinion type and a pinion assist type, and includes a motor that generates a turning force by driving an electric motor under the control of the EPS ECU.

  The display 8 constitutes a touch panel and a display, and the wheel speed sensor 9 detects vehicle wheel speed pulses and outputs them to the ECU 6. The body ECU 10 outputs vehicle shift information and blinker information to the ECU 6.

  The assist means 6a of the ECU 6 calculates the own vehicle position P from the vehicle travel distance (eg, obtained from the wheel speed pulse) and the steering angle θ by an appropriate known method such as autonomous navigation, and calculates the own vehicle position P and the forward distance α. Based on the rear distance β, the vehicle exit route and the target rudder angle θt are calculated, and the steering command is output to the EPS 7 so that the rudder angle θ coincides with the target rudder angle θt.

  The determination means 6b of the ECU 6 performs a first determination to determine whether or not the vehicle can be discharged at the steering angle θ based on the shipping route, the own vehicle position P, and the steering angle θ. When the first determination is affirmative, the support means 6a increases the target steering angle θt, performs the turning-up control for providing support, and ends the support.

  In this rounding control, the support means 6a calculates a return amount θb that is determined based on the steering characteristics of the vehicle wheels (mainly the torsional rigidity of the tire), and adds the return amount θb to the target steering angle θt. Support is performed using the angle θa. The determination unit 6b performs a second determination to determine whether or not the corrected target steering angle θa is larger than the control maximum steering angle θmax (for example, 98% of the maximum steering angle of EPS7) under the condition that the first determination is affirmative. If the second determination is negative, the support means 6a performs additional control.

  The determination means 6b performs a third determination for determining whether or not the vehicle position P reaches a predetermined position under the condition that the second determination is affirmative. If the third determination is affirmative, the determination unit 6b supports The means 6a ends the support without performing the rounding control. The predetermined position is a position where the left front end of the vehicle coincides with the right rear end of the front obstacle in the front-rear direction of the vehicle, as will be described later.

  Hereinafter, the control content of the delivery assistance apparatus 1 of a present Example is demonstrated using the flowchart of FIG. 3AB. 3A shows step S1 to step S23, and FIG. 3B shows step S24 and subsequent steps. In S1, the support means 6a of the ECU 6 activates the “shipping system”. In step S2, the support means 6a detects the front distance α and the rear distance β from the clearance sonar 4 and clearance sonar 5 to detect the distance α + β which is the space in front of and behind the vehicle, as shown in FIG.

  In step S3, the support means 6a determines whether the distance α + β is smaller than the minimum support distance X (for example, 60 cm), which is the sum of the shortest alarm distances of the clearance sonar 4 and the clearance sonar 5, as shown in FIG. If the answer is affirmative, the process proceeds to step S4 and the support means 6a determines that the vehicle cannot be delivered. The process proceeds to step S5, and the support means 6a cancels the system. Display a message to the driver. In this case, the driver waits for the front vehicle or the rear vehicle to leave or be removed.

  In step S6, the support means 6a has a distance α + β larger than the maximum support distance Y (> X: 2 m, for example), which is the sum of the longest warning distances of the clearance sonar 4 and the clearance sonar 5, as shown in FIG. If it is affirmative, the process proceeds to step S7. The support means 6a determines that the support, that is, the exit function is unnecessary, proceeds to step S8, and the support means 6a cancels the system. In this case, the driver performs right steering from the state of FIG.

  In step S9, the support means 6a guides the driver to select the delivery direction on the display 8. When the driver operates the blinker switch in the vehicle in response to this guidance, the body ECU 10 transmits either right or left blinker information to the ECU 6, and the support means 6a responds to the guidance based on the received blinker information in step S10. Then, it is determined whether or not there is a winker operation. If the determination in step S10 is affirmative, the process proceeds to step S11. If the determination is negative, the process returns to step S9 and the support means 6a performs guidance again.

  In step S11, the support means 6a searches for a side obstacle in the exit direction with the ultrasonic sensor front 2 and the ultrasonic sensor post 3 or side sonar, and if the situation shown in FIG. If the driver selects the left as the exit direction and the winker information is left, the process proceeds to step S12, and the support means 6a notifies the driver on the display 8 that the exit direction is incorrect. In step S13, the support means 6a cancels the system. Instead of the warning and the system cancellation, the support means 6a can automatically set the exit direction in the direction opposite to the side where the side obstacle is detected. After performing the system cancellation in step S5, step S8, and step S13, the process proceeds to RETURN.

  In step S14, the support means 6a calculates a delivery route from the steering characteristics of the vehicle, the forward distance α, the backward distance β, and the own vehicle position P (the initial position P0 is a position after the forward distance α from the preceding vehicle). In the present embodiment, considering the ease of delivery and efficiency, the exit route is set to X / ½ of the above-mentioned minimum support distance X from the initial position P0 shown in FIG. 4A to the rear vehicle shown in FIG. An initial path that recedes straight toward a rear end position close to 2 (for example, 30 cm) is included. If the distance α + β is greater than or equal to a certain threshold, the shipping route does not include reversal, and if it is less than a certain threshold, it includes reversal. Moreover, the target steering angle θt increases as the distance α + β decreases.

  In step S15, the support means 6a determines whether or not the backward distance β is greater than X / 2. If the result is affirmative, the process proceeds to step S16, and if not, the process proceeds to step S21. In step 16, the support means 6a determines whether or not the shift information acquired from the body ECU 10 is reverse R and equal. If the determination is negative and reverse R is selected, the process proceeds to step S17 and the support means. 6a performs a guidance display on the display 8 to ask the driver to perform the backward operation.

  If the determination in step S16 is affirmative, in step S19, the soot support means 6a gives the driver a guidance display on the display 8 to select the shift position as reverse R. In step S20, the shift position information is displayed. It is determined whether or not the change has been completed. If the determination is affirmative, the process proceeds to step S17. If the determination is negative, the process returns to step S19 to perform guidance again. The backward guidance in step S17 is continued until the vehicle moves backward to a position where the backward distance β becomes X / 2 as shown in step S18, and the process proceeds to step S24.

  If the determination in step S15 is negative, the process proceeds to step S21, and the support means 6a determines whether or not the shift state is not drive D. If the determination is negative, the process proceeds to step S24. If the determination is affirmative, the process proceeds to step S22. Proceed. In step S22, the support means 6a gives guidance to the driver to select the shift position by the drive D on the display 8, and in step S23, it is determined whether or not the shift position has been changed. If the answer is NO, the process returns to step S22 to provide guidance again.

  In step S24, the support means 6a starts support with control of the steering angle θ. In step S25, the support means 6a calculates the target steering angle θt from the shipping route. In the situation shown in FIG. 4, when the shift position is changed to drive D, right side steering is supported, and when the shift position is changed to reverse R, left side steering is supported. Selected by means 6a.

  In the case of a delivery route that can be delivered without including a turn-back from the rear end of the initial path of the straight line receding, the support means 6a calculates the target steering angle θt that can be delivered from the steering characteristics of the vehicle as shown in FIG. To do. When turning back is included, the support means 6a sets the target rudder angle θt to the right control maximum rudder angle θmax (for example, 98% of the maximum rudder angle of the steering mechanism of EPS7) as shown in FIG. Is set to the left maximum control steering angle θmax (for example, 98% of the maximum steering angle of EPS7). In the case of a delivery route that can be delivered without including another return in the forward advance after the reverse after the return, the support means 6a calculates a target steering angle θt that can be output as shown in FIG. 5 (a). To do.

  Subsequently, in step S26, the determination means 6b of the ECU 6 makes a first determination as to whether or not (the product can be delivered (without turning over)). Regardless of whether or not switching is performed, it is determined that the last rear end position corresponds to FIG. 5A and that the case corresponds to FIG. 5B is negative. If the determination is affirmative, in step S27, the determination means 6b calculates the return amount θb using the map shown in FIG. 7, and calculates the corrected target steering angle θa = θt + θb. FIG. 7 shows an example of representative values. When the target rudder angle θt deviates from the representative value and is positioned between the adjacent representative values, linear interpolation is performed. Subsequently, in step S28, the determination means 6b determines whether or not the target rudder angle θt is larger than the above-described maximum control rudder angle θmax. If this second determination is negative, the process proceeds to step S29.

  In step S29, the support means 6a performs control to increase the steering angle θ so that the corrected target steering angle θa = θt + θb, and in step S30, the support means 6a ends the support control. If the second determination is affirmative in step S28, the process proceeds to step S31, and the vehicle position of the vehicle is calculated and the vehicle position is set to a predetermined position while performing the assist control with the steering angle θ as the target steering angle θt. Judge whether to reach. As shown in FIGS. 6A and 6B, the predetermined position is the vehicle position of the vehicle in which the left end P1 at the front end of the vehicle coincides with the right end P2 at the rear end of the front vehicle in the front-rear direction. In the case where the road is one-way and the vehicle is parked on the right shoulder, the direction shown in FIG. 6 is reversed. That is, the predetermined position is the vehicle position of the vehicle in which the right end of the front end of the vehicle coincides with the left end of the rear end of the front vehicle in the front-rear direction.

  When it is determined affirmative in the third determination in step S31, the process proceeds to step S30, and the support unit 6a ends the support control. When it is determined negative in the third determination in step S31 or the first determination in step S26, the turn-back control in steps S32 to S41 is executed.

  In step S32, the support means 6a sets the target steering angle θt to the right θmax, proceeds to step S33, performs automatic steering of the vehicle and calculation of the own vehicle position in accordance with the forward operation of the vehicle by the driver, and step S34. In step S33, step S33 is continued until it is determined that the vehicle position has reached the turning position (front side). If it is determined that the vehicle position has reached, the process proceeds to step S35. In step S35, the support means 6a uses the display 8 to guide the shift position from D to R, and proceeds to step S37 when the change is confirmed in step S36.

  In step S37, the support means 6a sets the target rudder angle θt to the left θmax, proceeds to step S38, performs automatic steering of the vehicle and calculation of the own vehicle position in accordance with the driver's backward operation of the vehicle, and step S39. In step S38, step S38 is continued until it is determined that the vehicle position has reached the turning position, and if it is determined that the vehicle position has reached, the process proceeds to step S40. In step S40, the support means 6a uses the display 8 to guide the shift position from R to D, and proceeds to step S26 when the change is confirmed in step S41.

  In step S26, the first determination is performed again, and if it is determined that “can be left (without reversion)”, the process proceeds to step S27, and the second determination and the third determination related to the above-described rounding control are performed. If the first determination is affirmative and the second determination is negative, the control is increased and the support is terminated. In the case of negative in the first determination and in the case of negative in the third determination, the switching control in steps S32 to S41 is performed again.

  According to the delivery support apparatus 1 of the present embodiment realized by the control contents described above, the following operational effects can be obtained. In other words, when performing steering support to trace the vehicle position of the vehicle on the exit route, if the exit can be performed as it is at the rudder angle immediately before exiting, that is, the rudder angle at the rear end of the exit route, regardless of whether there is turning back, After the angle is increased, the control of the support is terminated, and even if the driver releases the steering wheel and the steering angle returns by the return amount according to the steering characteristics of the vehicle, the collision with the front obstacle can be avoided.

  In addition, even when the corrected target rudder angle θa = θt + θb exceeding the control maximum rudder angle θmax cannot be increased due to the target rudder angle θt added to the target rudder angle θt in the rounding control, the delivery is completed based on the own vehicle position. It can be determined whether or not the support can be appropriately terminated. Therefore, more appropriate delivery support can be realized.

  In addition, when the total value α + β of the front distance α and the rear distance β is smaller than the minimum support distance X and it is not possible to leave the car from the original, and when it is not necessary to perform the leaving support larger than the maximum support distance Y, the system is canceled. The convenience of the driver can be improved. In addition, even if the driver's recognition is wrong with respect to the exit direction, safety can be improved by canceling the system.

  Further, based on the rear distance β, whether the vehicle position of the vehicle is at the rear end of the exit space is divided into cases, and the vehicle is moved to the rear end of the exit space by appropriately performing backward guidance and shift position change guidance. It is possible to improve the convenience of the driver by guiding it appropriately and making the delivery operation easier.

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

  The present invention relates to a delivery support apparatus, and even when there are a front vehicle and a rear vehicle in parallel parking, the front vehicle at the time of delivery is particularly accompanied by the end of the support after performing additional control at the time of delivery. Therefore, the present invention is useful when applied to various vehicles such as passenger cars, trucks, and buses.

1 Outgoing support device 2 In front of ultrasonic sensor (left, right)
3 After ultrasonic sensor (left, right)
4 Before clearance sonar 5 After clearance sonar 6 ECU
6a Support means 6b Judgment means 7 EPS
8 Display 9 Wheel speed sensor 10 Body ECU
11 Steering sensor α Forward distance β Rear distance X Minimum support distance Y Maximum support distance θ Steering angle θt Target steering angle θb Return amount (return angle)
θa Corrected target steering angle θmax Maximum control steering angle

Claims (5)

  A front detection means for detecting a front distance from a front obstacle of the vehicle, a rear detection means for detecting a rear distance from a rear obstacle of the vehicle, a position of the vehicle by calculating the vehicle position of the vehicle, and the vehicle position Support means for assisting in calculating the vehicle exit route and the target rudder angle based on the front distance and the rear distance to match the rudder angle with the target rudder angle, the exit route, the vehicle position, and the vehicle Determination means for performing first determination for determining whether or not leaving can be performed at the steering angle based on the steering angle, and when the first determination is affirmative, the support means increases the target steering angle. The support is ended after the additional control for performing the support is performed.   In the rounding-up control, the support means calculates the return amount determined based on the steering characteristics of the wheels of the vehicle and performs the support using a corrected target steering angle obtained by adding the return amount to the target steering angle. The shipping support apparatus according to claim 1, wherein:   The determination means performs a second determination to determine whether or not the corrected target rudder angle is greater than a control maximum rudder angle on the condition that the first determination is affirmative, and the second determination is negative. The delivery support apparatus according to claim 2, wherein the support means performs the additional control.   The determination means performs a third determination to determine whether or not the vehicle position reaches a predetermined position under a condition in which the second determination is affirmative, and when the third determination is affirmative, The exit support apparatus according to claim 3, wherein the support means ends the support without performing the rounding control.   The said predetermined position is a position where the left front end of the said vehicle corresponds to the right rear end of the said front obstacle in the front-back direction of the said vehicle, The leaving support apparatus of Claim 4 characterized by the above-mentioned.

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