JP2015174531A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking support device capable of reducing loss of parking opportunities with a simple structure.SOLUTION: A parking support device comprises: a surrounding state acquisition part (13) for acquiring a surrounding state of an own vehicle (100); a detection part (11) for detecting vehicular distances between the own vehicle and four parking vehicles respectively, when the surrounding state indicates that four parking vehicles (101, 102, 103, 104) are arranged along a progress direction of the own vehicle; a determination part (11) for determining whether or not the own vehicle can park at a parking object space (S1) formed between a predetermined space between two parking vehicles, among the four vehicles, based on vehicular length (L0) of the own vehicle and the vehicular distances; and an output part (13) for outputting a determination result as parking support information.

Description

  The present invention relates to a parking assistance device.

  In order to assist the driver in parallel parking, the relative position and length of the parking space with respect to the vehicle is measured using an ultrasonic sensor, radar sensor, or in-vehicle camera, or the driving work necessary for parking is instructed, or Techniques for automatic execution are known. For example, a method of obtaining a parking space in which the measured parking space length is classified into three categories, “impossible to park”, “possible to park but difficult”, and “possible and easy to park”, based on a threshold that takes into account the driver's driving skills, and displays it to the driver Has been devised (see Patent Document 1).

  In addition, even if the size of the parking space to be parked is insufficient for parking, the parking space can be expanded by moving other adjacent vehicles quickly and without searching for other parking spaces. A parking assistance device has been devised that enables parking (see Patent Document 2).

Japanese Patent No. 4445926 JP 2009-220614 A

  In patent document 1, since the decision | availability of parking is determined only by the relative relationship of the length of parking object space, and the length of the own vehicle, parking space cannot be ensured in crowded areas, such as a city center part.

  In Patent Document 2, an inter-vehicle communication device is required, and a vehicle not equipped with the device cannot be moved.

  Against the background of the above problems, an object of the present invention is to provide a parking assistance device capable of reducing loss of parking opportunities with a simple configuration.

  The parking assist apparatus for solving the above problems includes a surrounding state acquisition unit (13) that acquires the surrounding state of the host vehicle (100), and four parked vehicles in which the surrounding state is arranged along the traveling direction of the host vehicle. (101, 102, 103, 104) is reflected, the detection unit (11) for detecting the inter-vehicle distances of the four parked vehicles, the inter-vehicle distance and the vehicle length of the host vehicle (L0) ) And a determination unit (11) that determines whether or not the vehicle can be parked in a parking target space (S1) formed between two predetermined parked vehicles out of the four. And an output unit (13) for outputting the result of the determination as parking assistance information.

  With the above configuration, parking with higher density and efficiency than before is possible, and loss of parking opportunities can be reduced. In addition, it is possible to output to the driver of the host vehicle where the vehicle can be parked.

The figure which shows the structure of the parking assistance apparatus of this invention. The flowchart explaining a parking assistance process. The figure explaining parking assistance processing. The figure which shows the example of a display of the display part at the time of parking assistance (forward parking). The figure which shows the example of a display of the display part at the time of parking assistance (backward parking).

  As shown in FIG. 1, the parking assist device 1 of the present invention stores a well-known CPU 11 (detection unit, determination unit, calculation unit of the present invention) and peripheral circuits, a control program executed by the CPU 11 and data necessary for control. The memory 12 includes a signal input / output circuit (I / O) 13 (peripheral state acquisition unit and output unit of the present invention) that exchanges signals with the outside.

  The parking assistance device 1 is connected to a surrounding state detection unit 21, a vehicle state detection unit 22, an operation unit 23, and a display unit 24.

The surrounding state detection unit 21 is for detecting a surrounding state of the host vehicle (for example, a vehicle and an object around the host vehicle, an inter-vehicle distance), and uses at least one of the following.
Camera (including an image processing unit): A known image process is performed on the captured image data to detect a vehicle or an object around the host vehicle.
・ Radar: Detects objects around the vehicle. The vehicle and the object are discriminated from the size of the object and the moving situation (speed, direction).
・ Ultrasonic sensor: Same as radar.
Infrared sensor: Detects vehicles and objects around the vehicle based on the detected temperature of the heat source.

  The parking assistance apparatus 1 acquires a surrounding state from the surrounding state detection unit 21 via the I / O 13. The surrounding state detection unit 21 may detect a parked vehicle and an object, measure the distance between the parked vehicles (details will be described later), and the parking assist device 1 may obtain an execution result. Each detection result in 21 may be acquired, and based on these, the parking assistance device 1 may detect a parked vehicle and an object, and measure the distance between the parked vehicles.

The vehicle state detection unit 22 is for detecting the state of the host vehicle, and uses at least one of the following.
-Vehicle speed sensor: detects the speed of the vehicle.
Steering angle sensor: Detects the steering angle of the steering wheel of the host vehicle.
Shift position sensor: Detects the position of the shift lever of the vehicle.
Navigation device: Searches for a guidance route from the current position of the host vehicle to a set destination, and performs route guidance.
-Direction indicator: Based on the state of the direction indicator, the traveling direction of the host vehicle is detected.
Camera (including image processing unit): At least the driver's face can be photographed, and the photographed image data is subjected to known image processing to detect the driver's line-of-sight direction.

  The operation unit 23 uses a known mechanical switch or a touch panel formed on the display screen of the display unit 24. The parking assistance device 1 acquires the operation state of the operation unit 23 via the I / O 13.

  The display unit 24 uses a well-known LCD. Moreover, you may use the display part of a navigation apparatus or a meter apparatus (not shown). The parking assistance device 1 outputs parking assistance information (data indicating whether or not parking is possible in the parking target space, a recommended traveling direction, and a recommended parking start position) to the display unit 24 via the I / O 13.

  A parking assistance process included in the control program stored in the memory 12 and executed by the CPU 11 at a predetermined timing in the host vehicle 100 will be described with reference to FIGS. 2 and 3.

  As shown in FIG. 3, parking is performed in parallel at the left end of the road in the order of parked vehicles (hereinafter abbreviated as “vehicles”) 104, 101, 102, and 103 from the top. The host vehicle 100 is moving forward on the right side of these parked vehicles.

  The inter-vehicle distance between the vehicle 104 (the fourth parked vehicle of the present invention) and the vehicle 101 (the first parked vehicle of the present invention) is L3 (the third inter-vehicle distance of the present invention), and the vehicle 101 and the vehicle 102 (the second of the present invention). The inter-vehicle distance between the vehicle 102 and the vehicle 103 (the third parked vehicle of the present invention) is L2 (the second inter-vehicle distance of the present invention). .

  In addition, a space formed between the vehicle 104 and the vehicle 101 is S3, a space formed between the vehicle 101 and the vehicle 102 is S1 (parking target space of the present invention), and the space between the vehicle 102 and the vehicle 103 is set. Let S2 be the space formed in.

  The configuration of FIG. 3 indicates that “the four parked vehicles are arranged in the order of the fourth parked vehicle (104), the first parked vehicle (101), the second parked vehicle (102), and the third parked vehicle (103) from the top. The inter-vehicle distance includes a third inter-vehicle distance (L3) between the fourth parked vehicle and the first parked vehicle, a first inter-vehicle distance (L1) between the first parked vehicle and the second parked vehicle, The second inter-vehicle distance (L2) between the second parked vehicle and the third parked vehicle, and the parking target space is formed between the first parked vehicle and the second parked vehicle, and is determined When the first inter-vehicle distance is larger than the second inter-vehicle distance and the third inter-vehicle distance, the unit determines whether or not parking is possible in the parking target space.

  With the above configuration, the four parked vehicles make a determination only when the central space (that is, the parking target space) is wider than the other two spaces among the three spaces formed between the vehicles. When the vehicle 100 parks, the effort which expands parking object space back and forth can be reduced.

In FIG. 2, first, it is determined whether or not the driver of the host vehicle 100 is willing to park. For example, when a predetermined operation on the operation unit 23 is detected, it is determined that the driver has an intention to park. Alternatively, the vehicle state may be acquired, and when the vehicle is in any of the following states, it may be determined that the driver has an intention to park.
-When the vehicle speed is below a predetermined value for a predetermined time (slowing down looking for a parking place).
・ When driving near the destination on the guide route.
・ When you are using a direction indicator at a point other than a right or left turn point on the guide route.
-A camera (which may be included in the vehicle state detection unit 22) that can photograph the driver's face is provided, and the frequency at which the driver's line of sight faces the roadside direction (approximately the left front in the traveling direction when left-handed). When big.

  The above-described configuration includes “a vehicle state acquisition unit that acquires the state of the host vehicle, and an intention determination unit that determines whether or not the driver intends to park based on the state of the host vehicle. It is determined whether or not parking is possible in the parking space when there is an intention to park. Further, the configuration for determining the presence or absence of parking intention based on the driver's line-of-sight direction is the roadside direction “the vehicle state acquisition unit includes a line-of-sight direction detection unit that detects the line-of-sight direction of the driver of the host vehicle, and an intention determination unit. Is based on the line-of-sight direction of the driver of the host vehicle, and determines whether or not the driver of the host vehicle is willing to park. " According to this configuration, it is possible to avoid unnecessary parking assistance and annoying the driver when the vehicle is slowly traveling beside the parked vehicle.

  When the driver's intention to park is detected (S11: Yes), the driver moves the host vehicle 100 forward, and therefore detects the advance of the host vehicle 100 from the vehicle speed sensor and the shift position sensor (S12). Next, an ambient state is acquired (S13). Then, based on the surrounding state, it is confirmed whether there are four parked vehicles arranged along the traveling direction of the host vehicle, that is, whether the four vehicles are parked in parallel. When there are no four parked vehicles (S14: No), the process returns to step S12.

  On the other hand, when four parked vehicles exist as shown in FIG. 3 (S14: Yes), 3 formed between these parked vehicles based on the surrounding state reflecting whether or not an object exists in each space. It is confirmed whether or not an object (such as a pedestrian) exists in one space (S1 to S3) and around the parked vehicle. As shown in FIG. 3, when the object (110, 111) exists (S15: Yes), the process returns to step S12 because it is inappropriate as a parking target space.

  On the other hand, when no object is present (S15: No), the bumper height of the vehicle 101 and the vehicle 102 is compared with the bumper height of the host vehicle 100 based on the surrounding state reflecting the shape of the parked vehicle. As a result, when the difference in bumper height between the parked vehicle and the host vehicle 100 exceeds a predetermined value (S16: Yes), it is determined that the space between the vehicle 101 and the vehicle 102 is inappropriate as a parking target space, and the process returns to step S12. .

  The configuration of step S15 is “the ambient state reflects whether or not the object (110, 111) exists in each of the spaces (S1, S2, S3) formed between the four parked vehicles. The determination unit determines that the host vehicle cannot be parked in the parking target space when an object is present in at least one of the spaces. According to this configuration, the space where pedestrians, bicycles, and luggage are present is not set as the parking target space, so that it is possible to output parking support information that allows safe parking without causing danger to the surroundings.

  On the other hand, when the difference in bumper height between the parked vehicle and the host vehicle 100 does not exceed a predetermined value (S16: No), the inter-vehicle distances (L1 to L3) of the four parked vehicles are measured (S17).

  The configuration of step S16 includes: “Ambient conditions include at least a reflection of the height of the bumper of the parked vehicle that forms the parking space, and the determination unit includes the height of the bumper of the parked vehicle and the height of the bumper of the own vehicle. When the difference between the values exceeds a predetermined value, it is determined that parking in the parking target space is not possible. With this configuration, even if the host vehicle comes into contact with the parked vehicle, the impact can be mitigated by both bumpers.

  From the surrounding state reflecting the shape of the parked vehicle, the type or size of the parked vehicle (larger or smaller than the own vehicle 100) is determined. For example, when the own vehicle 100 is a sedan type ordinary passenger car, When it is any one of a bus, a truck, an SUV (Sport Utility Vehicle), and a light vehicle, it may be determined that it is inappropriate as a parking target space.

  The above-mentioned configuration is that “the surrounding state includes at least a shape that reflects the shape of the parked vehicle that forms the parking target space, and the determination unit is configured to enter the parking target space when the shape of the parked vehicle is different from a predetermined shape. It is determined that parking is not possible. A space formed by a vehicle larger than the own vehicle or a vehicle smaller than the own vehicle is more difficult to expand than a space formed by a vehicle of the same size. With this configuration, it is possible to make an appropriate parking determination. Further, when the types or sizes of all four parked vehicles and the host vehicle 100 are not substantially the same, it may be determined that the vehicle cannot be parked in the parking target space.

  The height of the bumper of the parked vehicle or the shape of the parked vehicle is compared for at least the own vehicle 100 and the vehicles 101 and 102 (that is, the parked vehicle forming the parking target space). Further, the height or shape of the bumper may be compared between the vehicles 101 and 104 and the vehicles 102 and 103, and if they are different, it may be determined that the vehicle cannot be parked in the parking target space. That is, it is determined that parking cannot be performed in the parking target space except when the difference in bumper height between all four parked vehicles and the host vehicle 100 does not exceed a predetermined value.

  Next, L1 is compared with the vehicle length L0 of the host vehicle 100 to determine whether or not L1> L0 + α (α is a threshold value). When L1> L0 + α (S18: Yes), it is determined that normal parking (so-called parallel parking) is possible in S1 (S25). And the parking assistance information for parking in S1, such as performing parking guidance like patent document 2, for example, is output (S23).

  The threshold value α is a constant determined based on the specifications of the host vehicle 100, such as vehicle dimensions and minimum turning radius. That is, L0 + α is an inter-vehicle distance necessary for the host vehicle 100 to perform parallel parking. The threshold value α may be different between forward parking and reverse parking. This configuration is “the threshold is determined according to the traveling direction when the host vehicle is parked in the parking target space”. In parallel parking, forward parking requires more space than reverse parking due to the structure of the vehicle. With this configuration, it is possible to make an appropriate parking determination.

  On the other hand, when L1> L0 + α is not satisfied (S18: No), L1, L2, and L3 are compared. When L1 is smaller than L2 and L3 (S19: No), it returns to step S12 noting that S1 is unsuitable as a parking object space.

  On the other hand, when L1 is larger than L2 and L3 (S19: Yes), it is determined whether or not L1 + L2 + L3 (inter-vehicle total value of the present invention)> L0 + α. When L1 + L2 + L3> L0 + α is not satisfied (S20: No), it is determined that S1 is inappropriate as a parking target space, and the process returns to step S12.

  The configuration of step S20 includes a calculation unit (11) that calculates an inter-vehicle total value obtained by adding up the inter-vehicle distances, and the determination unit determines a difference between the inter-vehicle total value and the vehicle length of the host vehicle in advance. When the threshold value is exceeded, it is determined that parking is possible in the parking target space. With this configuration, even if the inter-vehicle distance of the parking target space is shorter than the vehicle length of the host vehicle, if the inter-vehicle distance between the front and rear vehicles of the two parked vehicles forming the parking target space is sufficient, the vehicle is parked in the parking target space. It can be determined that it is possible.

  On the other hand, when L1 + L2 + L3> L0 + α (S20: Yes), L2 and L3 are compared. When L2> L3 (S21: Yes), it is determined that backward parking is possible in S1 (S24). On the other hand, when L2 <L3 (S21: No), it is determined that forward parking is possible in S1 (S22). Finally, parking support information is output so as to park at S1 by a method capable of parking (S23).

  The above-described configuration is “the recommended traveling direction is determined based on the magnitude relationship between the second inter-vehicle distance and the third inter-vehicle distance”. The longer the inter-vehicle distance, the easier it is to expand the parking space. With this configuration, it is possible to output parking support information that enables parking in a shorter time.

In this parking method, it is necessary to move the vehicle 102 forward or move the vehicle 103 backward to widen the inter-vehicle distance L1 (shrink L2 and L3). Therefore, it is assumed that the parked vehicle can be easily moved. The following methods can be used to move the parked vehicle.
When the driver of the vehicle 101 or 102 is in or near each vehicle, ask the drivers to shorten L2 and L3.
-Ask pedestrians near the vehicles 101 and 102 to help reduce L2 and L3. In this case, it is premised that the parked vehicle can be easily moved, such as having a custom of parking without operating the parking brake with the shift lever at the neutral position and the road surface being suitable for moving the vehicle.
-In the own vehicle 100, the vehicles 101 and 102 are pushed and moved. In this case, in addition to being able to move the above-mentioned parked vehicle easily, it is premised that it is an area where parking is permitted by pushing the other vehicle with the host vehicle.

  In FIG. 3, L1 <L0 + α, L1> L2, L1> L3, L1 + L2 + L3> L0 + α, and L2 <L3. Therefore, expanding L1 by shortening L3 is output as parking assistance information. The recommended parking method is forward parking. However, when L1 + L3> L0 + α is not satisfied, it is included in the parking support information that L2 is reduced after L3 is reduced. That is, after retracting L3, the vehicle moves backward from S1, moves forward to the right side of the vehicle 101, and performs backward parking from that position toward S1.

  In FIG. 4, the example of a display of the parking assistance information in the display part 24 in the state of FIG. 3 is shown. In the state of FIG. 3, the host vehicle 100 is considered to be traveling near the right rear side (P 1 ′) of the vehicle 104. Therefore, the host vehicle 100 is once moved backward to the right rear side P1 (recommended parking start position of the present invention) of the vehicle 102, and then guided and displayed so as to advance forward to S1 (recommended traveling direction of the present invention). . The parking assistance device 1 outputs parking assistance information including data and information that can be displayed.

  In FIG. 5, the example of a display of the parking assistance information in the display part 24 in reverse parking is shown. That is, L1 <L0 + α, L1> L2, L1> L3, L1 + L2 + L3> L0 + α, and L2> L3. It is considered that the host vehicle 100 is traveling in the vicinity of the right rear side P <b> 2 ′ of the vehicle 104. Accordingly, the host vehicle 100 is moved backward to the right side P2 of the vehicle 101 (recommended parking start position according to the present invention), and then, guidance is displayed so as to cause the vehicle to retreat into S1 (recommended traveling direction according to the present invention).

  The configuration of FIGS. 4 and 5 is “the parking support information includes at least one of a recommended traveling direction and a recommended parking start position when parking in the parking target space”. With this configuration, parking assistance information required by the driver of the host vehicle can be output.

  Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these embodiments, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

1 Parking support device 11 CPU (detection unit, determination unit, calculation unit)
13 Signal input / output circuit (I / O, ambient state acquisition unit, output unit)
100 own vehicle 101, 102, 103, 104 parked vehicle 110, 111 object L0 vehicle length L1-L3 inter-vehicle distance S1 space (parking target space)

Claims (10)

A surrounding state acquisition unit (13) for acquiring a surrounding state of the host vehicle (100);
When the surrounding state reflects that there are four parked vehicles (101, 102, 103, 104) arranged along the traveling direction of the host vehicle, the distance between the four parked vehicles is A detection unit (11) for detecting each;
Based on the inter-vehicle distance and the vehicle length (L0) of the host vehicle, the host vehicle is in a parking target space (S1) formed between two predetermined parked vehicles among the four units. A determination unit (11) for determining whether or not parking is possible;
An output unit (13) for outputting the result of the determination as parking support information;
A parking assistance device comprising: A vehicle state acquisition unit for acquiring the state of the host vehicle;
An intention determining unit that determines whether or not the driver of the host vehicle intends to park based on the state of the host vehicle;
The parking determination device according to claim 1, wherein the determination unit determines whether or not parking is possible in the parking target space when the driver intends to park. The four parked vehicles are arranged in the order of the fourth parked vehicle (104), the first parked vehicle (101), the second parked vehicle (102), and the third parked vehicle (103) from the top.
The inter-vehicle distance is
A third inter-vehicle distance (L3) between the fourth parked vehicle and the first parked vehicle;
A first inter-vehicle distance (L1) between the first parked vehicle and the second parked vehicle;
A second inter-vehicle distance (L2) between the second parked vehicle and the third parked vehicle,
The parking target space is formed between the first parked vehicle and the second parked vehicle,
The said determination part determines whether it can park in the said parking object space, when the said 1st inter-vehicle distance is larger than the said 2nd inter-vehicle distance and the said 3rd inter-vehicle distance. Parking assistance device. A calculation unit (11) for calculating an inter-vehicle total value obtained by adding the inter-vehicle distances;
The parking assist device according to claim 3, wherein the determination unit determines that parking is possible in the parking target space when a difference between the inter-vehicle total value and a vehicle length of the host vehicle exceeds a predetermined threshold. .   The parking assistance device according to claim 4, wherein the threshold is determined according to a traveling direction when the host vehicle parks in the parking target space.   The parking assistance device according to any one of claims 1 to 5, wherein the parking assistance information includes at least one of a recommended traveling direction when parking in the parking target space and a recommended parking start position. .   The parking assist device according to claim 6, wherein the recommended traveling direction is determined based on a magnitude relationship between the second inter-vehicle distance and the third inter-vehicle distance. . The ambient state includes at least a reflection of the shape of the parked vehicle that forms the parking space.
The parking support device according to any one of claims 1 to 7, wherein the determination unit determines that the parking target space cannot be parked when a shape of the parked vehicle is different from a predetermined shape. The ambient state includes at least a height of a bumper of a parked vehicle that forms the parking target space,
The said determination part determines that it cannot park in the said parking object space, when the difference of the bumper height of the said parked vehicle and the bumper height of the said own vehicle exceeds a predetermined value. Item 10. The parking assistance device according to any one of item 8. The ambient state includes a reflection of whether an object (110, 111) exists in each of the spaces (S1, S2, S3) formed between the four parked vehicles,
The parking support according to any one of claims 1 to 9, wherein the determination unit determines that the host vehicle cannot be parked in the parking target space when the object is present in at least one of the spaces. apparatus.

Images