JP3888180B2 - Vehicle with parking assist device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle with a parking assistance device that assists a driver with parking operation during parallel parking, parallel parking, or the like.
[0002]
[Prior art]
In recent years, parking assistance devices that assist a driver's parking operation when a vehicle is parked in parallel or placed in a garage have been developed.
For example, in Japanese Patent Laid-Open No. 2000-118334, a position having a predetermined positional relationship with respect to the position of the vehicle when the driver operates the parking assist switch is regarded as a parking position, and the position from the current position to the parking position. A technique is disclosed in which a recommended route is calculated, and information necessary for traveling along the recommended route is taught to the driver by voice from a speaker.
[0003]
On the other hand, a corner sensor system is known as another driving support device.
In this corner sensor system, corner sensors that detect the presence / absence of an object (for example, a parked vehicle, a wall, etc.) and the distance to the object by ultrasonic waves are provided at the four corners of the vehicle 1. When these corner sensors detect an object in the vicinity of the vehicle, the driver warns the driver that there is a possibility that the vehicle may interfere with the object, and calls attention.
[0004]
[Problems to be solved by the invention]
By the way, during the parking assistance of the vehicle by the parking assistance device, the vehicle is parked at the target parking position so as to draw a predetermined locus. At this time, for example, if an object such as a parked vehicle or a wall exists in the vicinity of the route to the target parking position or in the vicinity of the target parking position, the vehicle inevitably approaches the object, If you park as you draw, there is no risk of touching this object.
[0005]
However, when a vehicle is equipped with a corner sensor system together with such a parking assistance device, the corner sensor detects an object when the vehicle approaches the object during parking assistance, even though there is no risk of collision with the object. And give an alarm. In addition, when the detection range of the corner sensor is wide (that is, when the sensitivity is high), the number of alarms is further increased.
[0006]
Therefore, there is a possibility that a warning is frequently output even though the driver performs a driving operation accurately according to parking assistance.
Of course, when parking assistance is in progress, an alarm is meaningful if it really collides with an object, so we want to be able to output the necessary alarm during parking assistance.
The present invention was devised in view of such a problem, and it is possible to appropriately change the alarm threshold of the corner sensor at the time of parking support of the vehicle so that the driver can perform more appropriate parking support. An object is to provide a vehicle with a device.
[0007]
[Means for Solving the Problems]
For this reason, the vehicle with a parking assistance device of the present invention is The driving operation detecting means detects the driving operation of the driver, and the teaching means teaches the driving operation necessary for parking to the driver, Parking assistance device for assisting the driver in parking operation The The vehicle has an object position detection means, The Of objects in the vicinity of the vehicle The When the position to the vehicle is detected, and the distance to the object obtained by the output from the object position detection means is within a predetermined threshold, the warning means gives a warning to the driver. Based on the deviation between the output of the driving operation detection means and the output of the teaching means, The predetermined threshold value is changed by a threshold value changing means. Therefore, with this device, during parking assistance, Based on the deviation between the actual vehicle trajectory (actual trajectory) by the driving operation of the driver and the target parking trajectory taught by the teaching means, The alarm output can be controlled by changing the threshold value of the object position detecting means.
[0009]
Further, it is preferable that the threshold value changing means increases the predetermined threshold value as the deviation is larger, and decreases the predetermined threshold value as the deviation is smaller. Therefore, in this apparatus, the larger the deviation between the actual vehicle trajectory and the target parking trajectory, the higher the threshold of the object position detecting means (that is, the detection sensitivity is increased), and the object near the vehicle is detected more sensitively. be able to.
[0010]
Further, it is preferable that the alarm means stops the alarm if the deviation is within a predetermined range. Therefore, in this apparatus, for example, when the alarm is set to emit different alarm sounds for the ranges of 0 to 30 cm, 30 to 60 cm, and 60 to 100 cm, the deviation between the actual locus of the vehicle and the target parking locus Can be limited to a range of 0 to 30 cm, and other alarms can be stopped.
[0011]
Furthermore, the alarm means The When separating from the vehicle, it is preferable not to alarm even if the distance to the object is within the threshold. Therefore, this device does not output an alarm when there is no possibility that the vehicle will interfere with an object.
A plurality of the object position detection means are provided in the vehicle, and the threshold value changing means preferably changes the threshold value of each object position detection means described above separately. Therefore, in this apparatus, it is possible to change the threshold value of each object position detection unit and control the output of an alarm for each object position detection unit.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 15 show a vehicle with a parking assistance device as an embodiment of the present invention, FIG. 1 is a block diagram showing the configuration, and FIG. 2 is a schematic diagram showing a detection range of the object position detection means, 3 is a schematic diagram for explaining the display (display means), FIG. 4 is a schematic diagram for explaining the guide means, FIG. 5 is a diagram for explaining the threshold value changing means, and FIG. FIG. 7 and FIG. 8 are flowcharts for explaining the parking assistance for the parallel parking, and FIGS. 9 and 10 are schematic diagrams for explaining the parking assistance for the parallel parking. FIG. 11 is a schematic diagram for explaining the parking support for the parallel parking, FIGS. 12 and 13 are flowcharts for explaining the parking support for the parallel parking, and FIGS. 14 and 15 show the parking support for the parallel parking. Model for explaining It is.
[0013]
As shown in FIG. 1, the vehicle with a parking assist device of this embodiment includes a corner sensor 16 and a side sensor (ultrasonic sensor) 2 as object position detection means, a handle angle sensor 3 as a steering angle detection means, and wheels. Speed sensor 4, shift position sensor 5 as shift position detection means, parking guide switch 6 as instruction means, rear view camera 7, ECU (electronic control unit) 8, teaching means 13, teaching timing learning means 17, teaching control means 18 , Guide means 16 and alarm means 35 are provided.
[0014]
As shown in FIG. 2, the corner sensors 16 are provided at the four corners of the vehicle 1, and detect the positions of objects existing near the four corners of the vehicle 1 with respect to the vehicle 1. That is, the corner sensor 16 detects a response to the transmitted ultrasonic wave or radio wave, thereby detecting the presence / absence of an object present on the side of the vehicle and detecting the distance between the vehicle 1 and the object. . Here, the object includes a vehicle and a building, and the corner sensor 16 can be used to recognize the presence of a vehicle or a building that should not be too close during parking. It has a detection range as indicated by region B in FIG.
[0015]
Further, an ultrasonic sensor 2 is provided at the front end of the vehicle 1 and detects the position of an object existing on the side of the vehicle 1 with respect to the vehicle 1. By detecting the response to the vehicle, the presence or absence of an object present on the side of the vehicle is detected, and the distance between the vehicle 1 and the object is detected.
[0016]
The ultrasonic sensor 2 has a detection range as indicated by a region A in FIG. 2, has higher directivity than the corner sensor 16, and has a detection distance from the vehicle 1 of the corner sensor 16. Compared to a longer object (for example, about 1.5 m), it is possible to detect an object that exists farther away.
The steering wheel angle sensor 3 detects the steering angle of the steering wheel, and can thereby provide steering angle position information for teaching whether or not the steering angle of the vehicle has reached a predetermined steering angle.
[0017]
The wheel speed sensor 4 detects the rotational speed of a wheel (not shown), and can provide the travel distance information of the vehicle based on the rotational speed and the circumference of the wheel.
The shift position sensor 5 detects the selected gear position, determines whether the speed detected by the wheel speed sensor 4 corresponds to forward or reverse, and the driver performs a correct operation on the guide. It can be used for confirming whether the transmission is being performed, or can be used for controlling the gear position of the transmission 19.
[0018]
The parking guide switch 6 is provided in the vicinity of the driver's seat where the driver can easily operate. The driver operates the parking guide switch 6 to turn on the parking assistance device (that is, instruct to start parking assistance). Or the parking assistance device can be turned off.
In addition, parking assistance switch 6 can be used to select parking assistance. For example, it is necessary to select from “left side parallel parking”, “right side parallel parking”, “left side parallel parking”, and “right side parallel parking”. You can choose the parking assistance you want.
[0019]
The rear view camera 7 is provided at the rear end of the vehicle 1 and captures the situation behind the vehicle 1. The image captured by the rear view camera 7 is displayed on a display 15 installed in the vehicle interior, so that the driver Can recognize the situation behind the vehicle.
The ECU 8 includes a moving distance estimating means 9, a current position estimating means 10, a target parking position setting means 11, a shift position control means 12, a teaching timing learning means 17, a teaching control means 18, a driving operation detecting means 33, and a threshold changing means 34. Each function corresponding to is provided.
[0020]
The movement distance estimation means 9 estimates the movement distance of the vehicle 1 from the wheel rotation speed detected by the wheel speed sensor 4 and the wheel circumference.
The current position estimation means 10 integrates the behavior of the vehicle 1 after the start of parking support based on the output of the movement distance estimation means 9 and the output of the handle angle sensor 3, and the vehicle 1 becomes the reference position (for example, the target parking position). In contrast, the current position is estimated. A yaw rate sensor is provided in place of the movement distance estimating means 9 and the handle angle sensor 3, and the yaw angle of the vehicle is calculated by integrating the detected value of the yaw rate sensor, and the current position is calculated from the yaw angle of the vehicle with respect to the reference position. May be estimated.
[0021]
The target parking position setting means 11 is configured to set the target parking position of the vehicle 1 based on the output of the ultrasonic sensor 2. That is, since the presence / absence of an object and the position relative to the vehicle are known by the ultrasonic sensor 2, for example, the target parking position of the vehicle 1 is set based on the position where the parked vehicle is detected.
Further, the target parking position setting means 11 can set the target parking position of the vehicle 1 in consideration of the movement distance of the vehicle 1 estimated by the movement distance estimation means 9. Therefore, since it can be understood how far the vehicle 1 has moved from the position where the parked vehicle is detected by the ultrasonic sensor 2, for example, when the parked vehicle exists on both sides of the target parking area, It can be determined whether or not there is a parking space between these parked vehicles, and the target parking position of the vehicle 1 can be set according to the parking space.
[0022]
Furthermore, the target parking position setting means 11 can set the target parking position of the vehicle 1 in consideration of the current position of the vehicle 1 estimated by the current position estimation means 10. Therefore, the target parking position can be set at a position relative to the position where the vehicle 1 currently exists.
The target parking position setting unit 11 sets the target parking position of the vehicle 1 while the vehicle 1 is guided to the initial stop position by the teaching unit 13 described later.
[0023]
The shift position control means 12 functions so as to limit the gear position to the first speed while the driving operation for parking assistance is being taught. Accordingly, the vehicle 1 can travel while maintaining a low speed, and can perform parallel parking or parallel parking safely and easily under traveling.
The teaching timing learning means 17 learns the teaching timing of stopping by the teaching means 13 described later based on the reaction time of the driver.
[0024]
The teaching control means 18 controls the contents of teaching and the timing of teaching by the teaching means 13 described later, and provides appropriate teaching contents to the driver at an appropriate timing during the parking operation.
As shown in FIGS. 3 and 4, the teaching unit 13 includes speakers 14 a and 14 b and a display 15 so that the vehicle 1 travels toward the target parking position set by the target parking position setting unit 11. In order to guide the operation of the driver, the vehicle 1 is instructed to advance, reverse or stop the vehicle 1 and further turn the steering wheel.
[0025]
Specifically, through the speakers 14a and 14b shown in FIG. 4, a guidance sound such as “Pipong”, “Slowly move forward by about 1 meter”, “Please turn the handle all the way to the left”, etc. Can be emitted.
Further, as shown in FIG. 3, the display 15 displays, for example, a handle icon 30 at the upper right of the screen together with the video imaged by the rear view camera 7, and if the handle is cut to either side A right arrow (turns the handle to the right) or a left arrow (cuts the handle to the left) is displayed on the handle icon 30 so that it can be understood.
[0026]
Therefore, the driver can accurately bring the vehicle 1 to the target parking position by operating the steering wheel or operating forward or backward by teaching from both the speakers 14a and 14b and the display 15. It has become. Of course, since the driver can receive sufficient teaching only with the speaker 14, it is not necessary to operate the steering wheel while staring at the display 15, and the driving operation can be performed more safely.
[0027]
The driving operation detection means 33 detects the driving operation of the driver based on the steering wheel angle obtained by the steering wheel angle sensor 3 and the moving distance (including the moving direction) of the vehicle 1 obtained by the wheel speed sensor 4. It has become. That is, the trajectory (actual trajectory) on which the vehicle 1 actually travels can be known from the driving operation of the driver. Therefore, by comparing the actual locus of the vehicle 1 with a predetermined target parking locus, it is possible to calculate how much (deviation) the actual locus and the target parking locus are.
[0028]
The threshold value changing unit 34 can change the threshold value for alarm transmission (alarm threshold value) based on the detection result of the corner sensor 16 after parking support is started. In other words, if the distance P1 from the vehicle 1 to the object detected by the normal corner sensor 16 is within the alarm threshold value P0, the alarm that “the object is approaching” is issued, but this alarm threshold value P0 can be changed. It has become. Therefore, for example, when the alarm threshold value is increased, an alarm is given to an object that is located farther from the vehicle 1. Conversely, when the alarm threshold is lowered, an alarm is not issued until an object approaches the vehicle 1 closer.
[0029]
In particular, the threshold value changing means 34 changes the threshold value of the corner sensor 16 based on the deviation between the actual locus of the vehicle 1 obtained by the driving operation detection means 33 and the target parking locus taught to the driver by the teaching means 13. It has become.
That is, when the driver performs a driving operation in accordance with the teaching content of the teaching means 13, that is, when the actual locus of the vehicle 1 is substantially the same as the target parking locus, the vehicle 1 accurately guides toward the target parking position. Therefore, the vehicle 1 does not interfere with the parked vehicle or the wall while parking assistance is being performed.
[0030]
Therefore, if the deviation between the actual trajectory of the vehicle 1 and the target parking trajectory is small, the alarm threshold value is lowered from that during normal object approach alarm control so that an alarm by an alarm means described later is not easily output. As a result, it is possible to prevent an alarm from being output unnecessarily to a driver who is performing an appropriate driving operation for parking, and to perform appropriate parking assistance.
[0031]
On the other hand, when the driver performs a driving operation without accurately following the teaching contents of the teaching means 13, that is, the actual trajectory of the vehicle 1 slightly deviates from the target parking trajectory. On the way, you may interfere with parked vehicles and walls.
Therefore, if the deviation between the actual trajectory of the vehicle 1 and the target parking trajectory is large, the alarm threshold is raised so that an alarm by an alarm means described later is easily output. As a result, it can be seen that the driver is performing a driving operation with a deviation from the target parking locus, and an alarm is given to the driver to prevent the vehicle 1 from interfering with a parked vehicle or a wall. Yes.
[0032]
For example, when the corner sensor 16 having a maximum detectable range of 100 cm is used, the detection range of the corner sensor 16 is, for example, “near”, “middle”, and “far” as shown in FIG. Thus, it can be set to divide into three (as an example, it is divided into ranges of 0 to 30 cm, 30 to 60 cm, and 60 to 100 cm), and to emit different alarm sounds for each range. In this case, for example, the sound is gradually increased in the order of “far”, “middle”, and “near”, or the period of the warning sound is reduced so that the object approaches closer. Let the driver know that you are.
[0033]
In this case, as the threshold value changing method by the threshold value changing means 34, for example, the following two methods are conceivable.
1. When the deviation (deviation from the trajectory) is small, it is limited to the detection range set only for “Near” at the beginning, and “Near” alarm sound only when an object is detected within the “Near” range. When an object is not detected within the “near” range, an alarm sound is not generated.
[0034]
If the deviation exceeds the first reference value, it is limited to two detection ranges of “near” and “medium”, and if the object is detected within the “medium” range, a “medium” warning sound is generated. Is detected within the “near” range, a “near” alarm sound is generated. If no object is detected within the “near” and “middle” ranges, no alarm is generated.
Further, when the deviation exceeds the second reference value which is larger than the first reference value, all ranges of “near”, “medium” and “far” are set in the same manner as in the normal object approach warning control. If a far sound is detected within the "far" range, a "far" warning sound is detected. If an object is detected within the "medium" range, a "medium" warning sound is detected. If an object is detected within the "close" range, “Near” alarm sound is generated, and when no object is detected within the range of “near”, “middle”, and “far”, the alarm is not generated.
[0035]
2. Depending on the deviation, the “near”, “middle”, and “far” regions are made variable. That is, regardless of the deviation, three types of alarms are issued: “near”, “middle”, and “far”, but the larger the deviation, the larger the “near”, “middle”, and “far” areas. As shown in FIG. 5B, the smaller the deviation, the smaller the “near”, “middle”, and “far” regions (see FIG. 5C). In this case, most simply, if the deviation is equal to or less than a predetermined reference value, “near”, “middle”, and “far” are set as small areas shown in FIG. 5C, and if the deviation exceeds the predetermined reference value, “Near”, “medium”, and “far” may be set as large areas shown in FIG. 5B (areas similar to those during normal object approach alarm control).
[0036]
Of course, if a region having an intermediate size between the region shown in FIG. 5B and the region shown in FIG. 5C is set and the deviation is within the first reference value, the small region shown in FIG. If the deviation is greater than the first reference value and less than or equal to the second reference value (second reference value> first reference value), the deviation is greater than the second reference value in an intermediate size region. For example, the “near”, “middle”, and “far” areas are set in the large area shown in FIG. 5B, and the objects are “near”, “middle”, and “far” accordingly. If detected in any of the areas, an alarm corresponding to the detected area may be issued. Alternatively, the size of each of the “near”, “middle”, and “far” regions may be set more finely according to the deviation, and an appropriate alarm may be issued based on this.
[0037]
Further, the threshold value changing means 34 can change the alarm threshold value of each corner sensor 16 separately. For example, if an object detected by a certain sensor 16 is moving away, an alarm is considered unnecessary, so the alarm threshold is greatly reduced.
The alarm means 35 gives an alarm to the driver if, for example, the distance between the vehicle 1 and the object obtained by the corner sensor 16 is within a predetermined threshold by speakers 14a, 14b or a buzzer 14c provided in the passenger compartment. It is like that.
[0038]
Further, the warning means 35 is in a case where the deviation between the actual trajectory of the vehicle 1 and the target parking trajectory is within a predetermined range during parking assistance, that is, when the vehicle 1 is traveling on a trajectory substantially the same as the target parking trajectory. The alarm is stopped. As a result, it is possible to prevent an alarm from being output unnecessarily to a driver who is performing an appropriate driving operation for parking, and to perform appropriate parking assistance.
[0039]
Further, when it is determined based on the driving operation detection means 33 that the vehicle 1 is clearly moved away from the object, the alarm means 35 does not cause the vehicle 1 to interfere with the object and does not need to output an alarm. The alarm is not output.
The guide means 20 alerts the driver so that the driver pays attention to the vicinity of the side mirror on the side required during the parking operation. As the guide means 20, here, the speakers 14a and 14b mounted on the driver side and passenger side doors in the passenger compartment and the light mounted in the vicinity of both side mirrors in the passenger compartment or outside the passenger compartment are generated. The light emitters (LEDs) 24a and 24b are used. For example, in the speakers 14a and 14b, a warning sound such as a backward sound is generated from the speaker 14 on the side where the driver must be careful during the parking operation. In addition, the LED 24 on the side that the driver must be aware of during the parking operation emits light (lights up or flashes), thereby alerting the driver.
[0040]
Therefore, for example, when the teaching means 13 instructs the driver to “turn the handle all the way to the left and move backward”, the driver should watch the left side mirror carefully. A backward sound is emitted only from the left speaker 14b and the left LED 24b blinks to alert the driver. Note that only one of the speaker 14 and the LED 24 may be operated.
[0041]
Since the vehicle with a parking assistance device in the present embodiment is configured as described above, parking assistance for parallel parking is performed according to the following procedure. In the vehicle with a parking assistance device of the present embodiment, the parking space necessary for parallel parking is set to 7.5 m, for example, and the parking space necessary for parallel parking is set to 2.5 m, for example. The parking space is set according to the total length and width of the vehicle type.
[0042]
[A] Parking support for parallel parking
As shown in FIGS. 6, 7, and 8, for example, when performing left side parallel parking, first, the parking guide switch 6 is positioned on the front right side of the area to be parked (position of the vehicle 1 indicated by a two-dot chain line in FIG. 6). When is turned on and “left side parallel parking” is selected, a voice message “Please slowly move forward and stop beside the position where you want to park” flows (step S2).
[0043]
Then, the driver stops the vehicle 1 when he / she comes to the side of the area he / she wants to park from the seating position (position of the vehicle 1 shown by a solid line in FIG. 6). At this time, as shown in FIG. 6, when there is a vehicle 21 (hereinafter referred to as a rear vehicle) that is already parked on the front side (lower side in FIG. 6) of the area to be parked, the ultrasonic sensor 2 However, the vehicle travels in the vicinity of a predetermined distance X1 (for example, 1 m) from the rear vehicle 21 so that the rear vehicle 21 can be reliably detected.
[0044]
The output of the ultrasonic sensor 2 shown in FIG. 6 is shown corresponding to the position in the traveling direction of the front end of the vehicle 1. Thereafter, the output of the ultrasonic sensor 2 is similarly displayed in FIGS. 9, 11, and 14, and these also correspond to the front end position of the vehicle 1.
Thereafter, it is determined whether or not the temporary stop is completed (step S4), and when the temporary stop is completed, at this time, the presence or absence of the rear vehicle 21 parked behind the area to be parked is detected by the ultrasonic sensor 2. In some cases, the presence or absence of a vehicle 22 (hereinafter referred to as a forward vehicle) parked in front of an area to be parked is also detected. The next parking assistance varies depending on the detection result.
[0045]
For example, if it is determined in step S6 that “there is a rear vehicle signal and no front vehicle signal” based on the detection result of the ultrasonic sensor 2, a type B flag is set (step S8), and the target parking position setting means 11 The target parking position is set so that the rear end of the vehicle 1 is positioned at a predetermined distance L2 from the front end of the rear vehicle 21 (step S10).
[0046]
That is, as shown in FIG. 9B, when the driver stops the vehicle 1 at the position b1 after turning on the parking guide switch 6, the ultrasonic sensor 2 generally detects only the rear vehicle 21. To do. That is, even if the forward vehicle 22 actually exists in front of the target parking area, the vehicle 1 usually does not advance to a position where the ultrasonic sensor 2 can detect the forward vehicle 22 at the stop position b1. The forward vehicle 22 cannot be detected. Accordingly, in this case, the target parking position setting unit 11 sets the target parking position of the vehicle 1 on the basis of the detection result of the ultrasonic sensor 2 on the assumption that only the rear vehicle 21 exists.
[0047]
Specifically, as shown in FIG. 10B, the initial stop position b2 is set so that the front end of the vehicle 1 is at a position away from the front end of the rear vehicle 21 by a predetermined distance M2. The predetermined distance M2 is obtained by adding the total length N of the vehicle 1 to the parking space length Sp (for example, 7.5 m) in which parallel parking is possible, and further adding a margin α (for example, 1 m). It is. In other words, by setting a value slightly larger than (Sp + N), parking with a little margin (ie, securing a space of a predetermined amount or more) between the rear end of the vehicle 1 after parking and the front end of the rear vehicle 21. I can do it.
[0048]
If it is determined in step S12 that there is no rear vehicle signal and there is a front vehicle signal, the type C flag is set (step S14), and the target parking position setting means 11 The target parking position is set so that the front end of the vehicle 1 is at a position separated by a predetermined distance L3 from the rear end of the front vehicle (step S16).
[0049]
That is, as illustrated in FIG. 9C, when the driver stops the vehicle 1 at the position c <b> 1 after turning on the parking guide switch 6, the ultrasonic sensor 2 detects the front vehicle 22. That is, when the driver finds an empty area for parking the vehicle 1 and intends to stop next to the empty area, but the front end of the host vehicle 1 has advanced to the rear end position of the forward vehicle 22, ultrasonic waves The sensor 2 detects the rear end of the front vehicle 22.
[0050]
Therefore, in such a case, as shown in FIG. 10C, the forward vehicle 22 actually exists in front of the target area, and a predetermined distance M3 (for example, forward) from the rear end of the forward vehicle 22 , 3.5m) The initial stop position c2 is set so that the front end of the vehicle 1 comes to a position away from the vehicle. Since it is known from the ultrasonic sensor 2 that the rear vehicle 21 does not exist, there is a little margin between the front end of the vehicle 1 after parking and the rear end of the front vehicle 22 (that is, a space of a predetermined amount or more is ensured). And a predetermined distance M3 is set so that parking is possible.
[0051]
If it is determined in step S18 that there is a rear vehicle signal and a front vehicle signal based on the detection result of the ultrasonic sensor 2, a type A flag is set (step S20), and the target parking position setting means 11 A parking space length Sp1 between the front end of the rear vehicle 21 and the rear end of the front vehicle 22 is calculated (step S22).
That is, as shown in FIG. 9A, when the vehicle 1 is behind the rear vehicle 21, the driver turns on the parking guide switch 6 and then advances the vehicle 1 so that the rear end of the front vehicle 22. The ultrasonic sensor 2 detects the rear vehicle 21 and the front vehicle 22 when the vehicle is stopped at the position a1 where the vehicle can be detected. The situation in which the forward vehicle 22 is detected is the same as described above. The driver intends to find an empty area in order to park the vehicle 1 and stops next to the empty area. When the vehicle has advanced to the end position, the ultrasonic sensor 2 detects the rear end of the front vehicle 22.
[0052]
In such a case, as shown in FIG. 10 (a), the front car 22 actually exists in front of the area to be parked, so that there is enough space for parking between the front car 22 and the rear car 21. It is necessary to determine whether or not there is.
Therefore, it is determined whether or not the parking space length Sp1 is equal to or longer than a predetermined length Sp (for example, 7.5 m) (step S24). If the parking space length Sp1 is equal to or longer than the predetermined length Sp, the rear end of the front vehicle 22 and the rear vehicle 21 are determined. The target parking position a3 is set so that the front-rear center of the vehicle 1 is positioned on a straight line L1 intermediate from the front end (step S26).
[0053]
Specifically, the initial stop position a <b> 2 is set so that the front end of the vehicle 1 is positioned at a predetermined distance M <b> 1 (for example, 4 m) ahead of the current position. Note that the predetermined distance M1 allows the vehicle 1 to be parked in the middle (that is, the target parking position a3) between the rear end of the front vehicle 22 and the front end of the rear vehicle 21 when a parking operation is performed according to parking assistance described later. It is the distance to make.
[0054]
On the other hand, if the parking space length Sp1 is less than the predetermined length Sp, proceed to J1 shown in FIG. 8, and there is not enough space to park by the voice message “Parking space is insufficient. Parking guide will be terminated.” After instructing the driver, parking assistance is terminated. As a result, the driver knows that it is difficult to park in the empty space to be parked, and can guide the driver to search for another parking space while avoiding the difficult parking operation.
[0055]
Furthermore, if it is determined from the detection result of the ultrasonic sensor 2 that there is no rear vehicle signal and no front vehicle signal (step S28), a type D flag is set (step S30), and the target parking position setting means 11 The target parking position is set so that the vehicle 1 is directly beside the position where the vehicle is currently stopped (step S32).
That is, as shown in FIG. 9D, when the driver stops the vehicle 1 at the position d1 after turning on the parking guide switch 6, the ultrasonic sensor 2 detects nothing. That is, even if the forward vehicle 22 actually exists in front of the target parking area, the vehicle 1 usually does not advance to a position where the ultrasonic sensor 2 can detect the forward vehicle 22 at the stop position d1. The vehicle 22 cannot be detected. Therefore, in this case, the target parking position setting means 11 assumes that there is no parked vehicle before and after the space to be parked based on the detection result of the ultrasonic sensor 2, and the target parking position of the vehicle 1 Set.
[0056]
Specifically, as shown in FIG. 10 (d), the initial stop position d2 is set so that the front end of the vehicle 1 is at a predetermined distance M4 (for example, 6 m) away from the current position. Note that the predetermined distance M4 allows the vehicle 1 to be parked right next to the position where the vehicle 1 currently exists (that is, the target parking position d3) when a parking operation is performed according to parking assistance described below. It is the distance to make.
[0057]
As described above, when the target parking position is set, the travel route of the vehicle 1 to the target parking position is calculated (step S40).
That is, when performing parallel parking, first, the vehicle 1 is moved forward by a predetermined distance from the side of the target parking position (here, substantially right side), and then the vehicle 1 is moved backward toward the target parking position. At the time of the reverse, first, the steering operation is performed so that the rear of the vehicle 1 is directed toward the target parking position. Next, when the vehicle is moved backward in this state and the rear of the vehicle 1 is directed in the required direction (first reverse turn), the steering is neutralized. In this state, the vehicle further moves backward (neutral backward), and finally, the vehicle is steered in the opposite direction to move backward to the target parking position so as to match the direction of the vehicle 1 (second backward turn).
[0058]
Therefore, the required moving distance D1 from the current position of the vehicle 1 to the forward positions (initial stop positions) a2, b2, c2, d2, and further, from the initial stop positions a2, b2, c2, d2 to the target parking positions a3, b3, The first reverse turning distance Db1, the neutral reverse turning distance Dc, and the second reverse turning distance Db2 up to c3 and d3 are calculated (step S40).
Here, when the vehicle 1 is traveling along the reference when the vehicle 1 is traveling a position away from the rear vehicle 21 by a predetermined distance (distance in the width direction) X1 as a reference. The first reverse turning distance Db1, the neutral reverse turning distance Dc, and the second reverse turning distance Db2 are fixed to a constant value. When the vehicle 1 is traveling in the width direction away from this reference, the width-direction inter-vehicle distance is set. Accordingly, the first reverse turning distance Db1, the neutral reverse turning distance Dc, and the second reverse turning distance Db2 are calculated.
[0059]
There is a relative positional relationship between the target parking positions a3, b3, c3, d3 and the initial stop positions a2, b2, c2, d2 according to the predetermined distance X1, and the target parking positions a3, b3, c3. , D3 are determined, the initial stop positions a2, b2, c2, d2 are inevitably determined according to the predetermined distance X1.
When each distance is calculated, in step S42, based on the estimation result of the current position estimating means 10, it is determined whether or not the current vehicle 1 has reached the initial stop position. If the initial stop position has not been reached, Guide to the initial stop position. At this time, for example, when the required moving distance D1 from the current position of the vehicle 1 to the initial stop position is “+5 m”, the teaching means 13 sends a driver a voice message “Please move forward slowly by about 5 meters”. Teach you to move forward. In the case of parking support for parallel parking, from the current position of the vehicle 1 to the initial stop position, it is basically a forward driving operation, but after performing this forward operation, the initial stop position has passed. A reverse driving operation is required. Accordingly, in this case, for example, when it is necessary to move backward by 1 m to the initial stop position, the teaching means 13 teaches the driver “slow back about 1 meter” (step S44).
[0060]
Further, it is determined whether or not the ultrasonic sensor 2 has detected the front vehicle 22 while the taught driver is moving forward or backward (step S46). Return to S42.
On the other hand, when the front vehicle 22 is detected, it is determined whether or not the vehicle is type B (step S48). If it is type B, the process proceeds to J2 shown in FIG.
[0061]
That is, since the ultrasonic sensor 2 detects “with rear vehicle signal and no front vehicle signal” (type B), it is determined that “the rear vehicle 21 exists and the front vehicle 22 does not exist” Actually, the forward vehicle 22 exists at a position that cannot be detected by the ultrasonic sensor 2. Accordingly, the type B is corrected to the type A “with rear vehicle signal and front vehicle signal”, and the parking space length Sp1 between the rear vehicle 21 and the front vehicle 22 is calculated to determine whether there is a parking space. In addition to determining whether or not there is a space where parking is possible, the type A target parking position a3 is set again. After that, the type A procedure is performed.
[0062]
On the other hand, if it is determined in step S48 that it is not type B, it is determined whether or not it is type D (step S50). If it is not type D, the process returns to step S42, and if it is type D, J3 in FIG. Move on.
That is, since the ultrasonic sensor 2 detects “no rear vehicle signal and no front vehicle signal” (type D), it is determined that “the rear vehicle 21 and the front vehicle 22 do not exist”. The front vehicle 22 was present at a position that could not be detected by the acoustic wave sensor 2. Therefore, the type D is corrected to the type C of “no rear vehicle signal and front vehicle signal”, and the initial stop position c2 of the type C is set again. After that, the type C procedure is performed.
[0063]
When the vehicle 1 reaches the initial stop position, the driver is instructed to stop by a guide sound (for example, a sound “pipong”) (step S50), and then it is determined whether or not the stop is completed (step S52).
When the stop is completed, the process proceeds to step S56 shown in FIG. 8, and after the vehicle 1 stops at the initial stop position, the driver is instructed to operate the steering wheel by a voice message “Please turn the handle all the way to the left”. A left arrow is displayed at 15, and the driver is instructed to operate the steering wheel.
[0064]
Then, it is determined whether or not the steering wheel has reached the maximum left rudder angle (step S58), and when it reaches the maximum left rudder angle, the driver retreats with a guidance sound and a voice message “Db1 meter back please”. Is taught (step S60).
Thereafter, it is determined whether or not Db1 has moved backward (step S62). When the Db1 has moved backward, the driver is instructed to stop by the guidance sound (step S64).
[0065]
Then, it is determined whether or not the stop is completed (step S66). When the stop is completed, the driver is instructed to operate the handle by a voice message “Please make the handle neutral” (step S68).
It is determined whether or not the steering wheel has reached a neutral rudder angle (step S70). When the steering wheel has a neutral rudder angle, the driver is instructed to move backward by a guidance sound and a voice message “Please back as much as Dc meter”. (Step S72).
[0066]
Thereafter, it is determined whether or not Dc has moved backward (step S74). When the Dc backward movement is completed, the driver is instructed to stop by the guidance sound (step S76).
It is determined whether or not the stop is completed (step S78). When the stop is completed, the driver is instructed to operate the handle by a voice message “Please turn the handle all the way to the right” (step S80).
[0067]
Then, it is determined whether or not the steering wheel has reached the maximum right steering angle (step S82). When the steering wheel reaches the maximum right steering angle, a guidance sound and a voice saying "Check back for safety and back about 2 meters". The backward instruction is given to the driver by the message (step S84).
Thereafter, it is determined whether or not Db2 has moved backward (step S86). When Db2 has been moved backward, the driver is instructed to stop by a guide sound (step S88).
[0068]
Then, it is determined whether or not the stop is completed (step S90). When the stop is completed, the parking support is ended. In this way, the vehicle 1 can stop at the parking position set by the target parking position setting means 11.
At this time, even if the vehicle 1 stops before reaching the target parking position, the distance between the front and rear center points of the target parking position and the front and rear center points of the vehicle 1 is within a predetermined distance (for example, 50 cm). If so, it is considered that parking has been completed, and parking support is terminated.
[0069]
Even when the vehicle 1 has reached the target parking position, even if a situation has occurred where the vehicle 1 has not stopped, the vehicle 1 is parked after a predetermined time (for example, 1.5 seconds) has elapsed after reaching the target parking position. It is considered that the parking has been completed.
In addition, the corner sensor system is also operating during parking assistance, and the driving operation detection means 33 calculates the actual trajectory of the vehicle 1 to obtain a deviation between the actual trajectory and the target parking trajectory. If the deviation is within a predetermined range (close to substantially 0), the alarm means 35 stops outputting the alarm.
[0070]
On the other hand, as the deviation between the actual trajectory and the target parking trajectory increases beyond a predetermined range, the threshold changing unit 34 increases the alarm threshold of the corner sensor 16, that is, increases the sensitivity of the corner sensor 16, and the alarm by the alarm unit 35. Is output frequently. This allows the driver to recognize that the vehicle 1 is driving with a large deviation from the target parking locus, and that the vehicle 1 is highly likely to interfere with a parked vehicle, a wall, etc. It is possible to prevent the vehicle 1 from interfering with an object.
[0071]
Note that the alarm threshold value of each corner sensor 16 can be changed separately by the threshold value changing unit 34, and the alarm can be stopped for each corner sensor 16 when it is determined that the vehicle 1 is clearly moved away from the object.
Further, during the parking assistance described above, the teaching timing learning means 17 learns the stopping teaching timing based on the response time of the driver. Then, the teaching control unit 18 corrects the teaching timing of the subsequent stop based on the learning of the teaching timing learning unit 17. For example, the response time from when the “stop” is taught until the driver steps on the brake and the vehicle 1 stops is accumulated and evaluated, and the teaching is performed at the teaching timing according to the response time of the driver. In the simplest case, “stop” is taught at a timing according to the average response time obtained by simply averaging the accumulated time, or at a timing according to the response time obtained by a weighted average that emphasizes the latest response time. . Thereby, if a driver operates according to teaching, a vehicle will move by a predetermined locus and will be parked at a target parking position reliably.
[0072]
Further, for example, when the vehicle is turning backward on the left side, the driver needs to drive while paying attention to the left side of the vehicle 1. In this case, the driver sounds a backward sound from the left speaker 14b in the vehicle compartment or blinks the LED 24b. To guide the driver where to focus on the operation. Thereby, safer parking assistance can be performed.
[0073]
Here, the gear position is limited to the first speed by the shift position control means 12 during parking assistance. Therefore, even if the driver accidentally steps on the accelerator pedal during the driving operation, safe parallel parking or parallel parking can be performed at extremely low speed.
The display 15 displays an image captured by the rear view camera 7 and an icon 30 that teaches a steering operation. In particular, when the vehicle 1 moves backward, the driver displays an image of the rear of the vehicle 1 and a schematic operation display. The driving operation can be performed while confirming the above. Therefore, the driver can perform a safe and appropriate driving operation.
[0074]
Parking assistance for left-side parallel parking is performed according to the above procedure, but parking assistance for right-side parallel parking is only the direction of turning the steering wheel is opposite to that for left-side parallel parking. The procedure is the same as that of the left side parallel parking.
In the present embodiment, the vehicle length direction parking space capable of parallel parking is set to 7.5 m, but it is of course possible to set other values.
[0075]
[B] Parking support for parallel parking
As shown in FIGS. 11, 12, and 13, for example, when performing left side parallel parking, first, the driver guides a parking guide on the right side before the area to be parked (the position of the vehicle 1 indicated by a two-dot chain line in FIG. 11). When the switch 6 is turned on and “left side parallel parking” is selected, a voice message “slowly move forward and stop beside the position where you want to park” flows (step T2).
[0076]
Then, the driver stops the vehicle 1 when he / she comes to the side of the area he / she wants to park from the seating position (position of the vehicle 1 indicated by a solid line in FIG. 11). At this time, as shown in FIG. 11, when there is a vehicle 31 (hereinafter referred to as a right adjacent vehicle) that is already parked on the near side (right side in FIG. 10) of the area to be parked, the ultrasonic sensor 2. However, the vehicle travels in the vicinity of a predetermined distance X1 from the right adjacent vehicle 31 so that the right adjacent vehicle 31 can be reliably detected.
[0077]
Thereafter, it is determined whether or not the temporary stop is completed (step T4). When the temporary stop is completed, at this time, the presence or absence of the right adjacent vehicle 31 parked on the right side of the area to be parked is detected by the ultrasonic sensor 2. In some cases, the presence / absence of a vehicle 32 (hereinafter referred to as a left adjacent vehicle) parked on the left side of an area to be parked is also detected. The next parking assistance varies depending on the detection result.
[0078]
Therefore, if it is determined in step T6 that “the right adjacent vehicle signal is present and the left adjacent vehicle signal is absent” based on the detection result of the ultrasonic sensor 2, a type B flag is set (step T8), and the target parking position setting means 11 is set. However, the target parking position is set so that the vehicle 1 is located at a position L20 (for example, 1.5 m) away from the left side of the right adjacent vehicle 31 (step T10).
[0079]
That is, as shown in FIG. 14B, when the driver stops the vehicle 1 at the position b10 after turning on the parking guide switch 6, the ultrasonic sensor 2 is generally used for the right adjacent vehicle 31. Detect reliably. However, even if the left adjacent vehicle 32 actually exists on the left side of the area to be parked, if the vehicle 1 stops at the stop position b10, the vehicle advances to a position where the ultrasonic sensor 2 can detect the left adjacent vehicle 32. Therefore, the left adjacent vehicle 32 cannot be detected. Therefore, in this case, the target parking position setting unit 11 sets the target parking position of the vehicle 1 on the basis of the detection result of the ultrasonic sensor 2 on the assumption that only the right adjacent vehicle 31 exists.
[0080]
Specifically, as shown in FIG. 15 (b), when only the right adjacent vehicle 31 exists, the target parking position b30 is set so that the vehicle can be parked at a predetermined distance L20 from the right adjacent vehicle 31 to the left side. Set. The predetermined distance L20 is set to be slightly larger than the general vehicle interval between the vehicle 1 and the adjacent vehicles 31 and 32 when the right adjacent vehicle 31 and the left adjacent vehicle 32 exist. That is, when only the right adjacent vehicle 31 exists, the vehicle 1 can be parked while ensuring a space with a predetermined amount or more from the right adjacent vehicle 31.
[0081]
Moreover, the target parking position setting means 11 sets the initial stop position b20 at a position relative to the target parking position b30. That is, the vehicle 1 can be parked at the target parking position b30 by performing a predetermined driving operation with the initial stop position b20 as a starting point.
If it is determined in step T12 that there is no right adjacent vehicle signal and left adjacent vehicle signal based on the detection result of the ultrasonic sensor 2, a type C flag is set (step T14), and the target parking position setting means 11 is set. However, the target parking position is set so that the vehicle 1 is at a position separated from the left adjacent vehicle edge by a predetermined distance L30 (for example, 1.5 m) (step T16).
[0082]
That is, as shown in FIG. 14C, when the driver stops the vehicle 1 at the position c10 after turning on the parking guide switch 6, the ultrasonic sensor 2 detects only the left adjacent vehicle 32. That is, when the driver finds an empty area for parking the vehicle 1 and stops next to the empty area, if the front end of the host vehicle 1 advances to the right end position of the left adjacent vehicle 32, the ultrasonic sensor 2 is moved to the left. The right end of the adjacent vehicle 32 is detected.
[0083]
Therefore, in such a case, the target parking position setting unit 11 sets the target parking position of the vehicle 1 on the basis of the detection result of the ultrasonic sensor 2 assuming that only the left adjacent vehicle 32 exists.
Specifically, as shown in FIG. 15C, when only the left adjacent vehicle 32 exists, the target parking position c30 is set so that the vehicle can be parked at a predetermined distance L30 from the left adjacent vehicle 32 to the right side. Set. The predetermined distance L30 is slightly larger than the general vehicle interval between the vehicle 1 and the adjacent vehicles 31, 32 when the right adjacent vehicle 31 and the left adjacent vehicle 32 exist, as in the predetermined distance L20. It is set large. That is, when only the left adjacent vehicle 32 exists, the vehicle 1 can be parked with a sufficient space from the left adjacent vehicle 32 with a predetermined amount or more.
[0084]
Moreover, the target parking position setting means 11 sets the initial stop position c20 at a position relative to the target parking position c30. That is, the vehicle 1 can be parked at the target parking position c30 by performing a predetermined driving operation with the initial stop position c20 as a starting point.
If it is determined in step T18 that “the right adjacent vehicle signal is present and the left adjacent vehicle signal is present” based on the detection result of the ultrasonic sensor 2, a type A flag is set (step T20), and the target parking position setting means 11 is set. However, the parking space length Sp2 between the left adjacent vehicle 32 and the right adjacent vehicle 31 is calculated (step T22).
[0085]
That is, as shown in FIG. 14A, when the vehicle 1 is on the right side of the right adjacent vehicle 32, the driver turns on the parking guide switch 6 and then advances the vehicle 1 to move the right end of the left adjacent vehicle 32. The ultrasonic sensor 2 detects the right adjacent vehicle 31 and the left adjacent vehicle 32 when the vehicle is stopped at the position a10 where the vehicle can be detected. The situation where the left adjacent vehicle 32 is detected is the same as described above. When the driver finds an empty area to park the vehicle 1 and stops next to the empty area, the front end of the own vehicle 1 This is a case where the vehicle proceeds to the right end position.
[0086]
In such a case, as shown in FIG. 15A, the left adjacent vehicle 32 actually exists on the left side of the area to be parked, so that parking can be performed between the left adjacent vehicle 32 and the right adjacent vehicle 31. It is necessary to determine whether there is any space.
Therefore, it is determined whether the parking space length Sp2 is equal to or longer than a predetermined length Sp ′ (for example, 2.5 m) (step T24). If the parking space length Sp2 is equal to or longer than the predetermined length Sp ′, the left adjacent vehicle 32 and the right adjacent vehicle The target parking position a30 is set so that the front-rear center of the vehicle 1 is on L10 in the middle of 31 (step T26).
[0087]
Moreover, the target parking position setting means 11 sets the initial stop position a20 at a position relative to the target parking position a30. That is, the vehicle 1 can be parked at the target parking position a30 by performing a predetermined driving operation with the initial stop position a20 as a starting point.
On the other hand, if the parking space length Sp2 is less than the predetermined length Sp ′, the process proceeds to K1 shown in FIG. 13, and there is not enough space for parking by the voice message “Parking space is insufficient. Parking guide will be terminated”. After instructing the driver to do so, the parking assistance is terminated. As a result, the driver knows that it is difficult to park in the empty space to be parked, and can guide the driver to search for another parking space while avoiding a parking assist operation that is difficult for the driver.
[0088]
Further, if it is determined from the detection result of the ultrasonic sensor 2 that there is “no right adjacent vehicle signal and no left adjacent vehicle signal” (step T28), a type D flag is set (step T30), and the target parking position setting means 11 However, the target parking position is set directly beside the position where the vehicle 1 is currently stopped (step T32).
That is, as shown in FIG. 14D, when the driver stops the vehicle 1 at the position d10 after turning on the parking guide switch 6, the ultrasonic sensor 2 does not detect the parked vehicle. In other words, even if the left adjacent vehicle 32 actually exists on the left side of the target parking area, the vehicle 1 usually does not advance to a position where the ultrasonic sensor 2 can detect the left adjacent vehicle 32 at the stop position d10. Therefore, the left adjacent vehicle 32 cannot be detected. Therefore, in this case, the target parking position setting means 11 assumes that there are no parked vehicles on the left and right of the space to be parked based on the detection result of the ultrasonic sensor 2, and the target parking position of the vehicle 1. Set.
[0089]
Specifically, as shown in FIG. 15 (d), the target parking position setting means 11 sets the target parking position d30 directly beside the position where the vehicle 1 is currently stopped, and the target parking position d30 and An initial stop position d20 is set at a relative position. That is, the vehicle 1 can be parked at the target parking position d30 by performing a predetermined driving operation with the initial stop position d20 as a starting point.
[0090]
When the target parking position is set as described above, the travel route of the vehicle 1 to the target parking position is calculated (step T40).
That is, when performing parallel parking, first, the vehicle 1 is moved forward or backward by a predetermined distance from the current position and guided to the initial stop position.
Then, when moving forward or backward from the initial stop position to the target parking position, the steering operation is first performed so that the rear of the vehicle 1 is directed toward the target parking position. In this state, when the vehicle 1 turns forward to a predetermined position, Then, the vehicle 1 is turned in the reverse direction to turn the vehicle 1 back to the target parking position.
[0091]
Therefore, the required travel distance D1 from the current position of the vehicle 1 to the forward or backward position (initial stop position) a20, b20, c20, d20, and further, from the initial stop position a20, b20, c20, d20 to the target parking position a30, The forward turning distance Df and the backward turning distance Db3 up to b30, c30, and d30 are calculated (step T40).
Here, when the vehicle 1 is traveling at a position away from the right adjacent vehicle 31 by a predetermined distance (width direction inter-vehicle distance) X1 as a reference, the vehicle 1 is traveling along this reference. At this time, the forward turning distance Df and the backward turning distance Db3 are fixed to constant values, and when the vehicle 1 is traveling in the width direction away from the reference, the forward turning distance Df, The reverse turning distance Db3 is calculated.
[0092]
There is a relative positional relationship between the target parking positions a30, b30, c30, d30 and the initial stop positions a20, b20, c20, d20 according to the predetermined distance X1, and the target parking positions a30, b30, c30. , D30 are determined, the initial stop positions a20, b20, c20, d20 are inevitably determined according to the predetermined distance X1.
[0093]
When each distance is calculated, in step T42, it is determined whether the current vehicle 1 has reached the initial stop position based on the estimation result of the current position estimating means 10 (step T42), and the initial stop position is reached. If not, guide to the initial stop position. At this time, for example, when the required moving distance D1 from the current position of the vehicle 1 to the initial stop position is “−1 m”, the teaching means 13 sends a voice message “Please slowly back about 1 meter”. When the driver is instructed to move backward and the required moving distance D1 is “+0.5 m”, the teaching means 13 teaches the driver to advance by a voice message “Please move forward slowly by about 50 cm”. (Step T44).
[0094]
Further, while the driver who has been taught is moving forward or backward, it is determined whether or not the ultrasonic sensor 2 has detected the left adjacent vehicle 32 (step T46), and the left adjacent vehicle 32 has not been detected. If so, the process returns to step T42.
On the other hand, if the left adjacent vehicle 32 is detected, it is determined whether or not it is type B (step T48). If it is type B, the process proceeds to K2 shown in FIG.
[0095]
That is, since the ultrasonic sensor 2 detects “with right adjacent vehicle signal and no left adjacent vehicle signal” (type B), it is determined that “the right adjacent vehicle 31 exists and the left adjacent vehicle 32 does not exist”. However, the left adjacent vehicle 32 actually exists at a position that cannot be detected by the ultrasonic sensor 2. Therefore, the type B is corrected to the type A “with right adjacent vehicle signal and left adjacent vehicle signal”, and the type A initial stop position a2 is set again. After that, the type A procedure is performed.
[0096]
On the other hand, if it is determined in step T48 that it is not type B, it is determined whether it is type D (step T50). If it is not type D, the process returns to step T42, and if it is type D, the process proceeds to K3 in FIG. .
That is, since the ultrasonic sensor 2 detects “no right adjacent vehicle signal and no left adjacent vehicle signal” (type D), it is determined that “the right adjacent vehicle 31 and the left adjacent vehicle 32 do not exist”. Actually, the left adjacent vehicle 32 exists at a position that cannot be detected by the ultrasonic sensor 2. Therefore, the type D is corrected to the type C of “no right adjacent vehicle signal and left adjacent vehicle signal”, and the type C target parking position c30 is set again. After that, the type C procedure is performed.
[0097]
When the vehicle 1 reaches the initial stop position, the driver is instructed to stop by a guidance sound (for example, a sound “pipong”) (step T50), and then it is determined whether or not the stop is completed (step T52).
When the stop is completed, the process proceeds to step T56 shown in FIG. 13. After the vehicle 1 stops at the initial stop position, the driver is instructed to operate the steering wheel by a voice message “Please turn the handle all the way to the right”, and the display A right arrow is displayed at 15 and the driver is instructed to operate the steering wheel.
[0098]
Then, it is determined whether or not the steering wheel has reached the maximum right steering angle (step T58). When the steering wheel reaches the maximum right steering angle, the driver advances based on the guidance sound and a voice message “Please move forward about Df meter”. Is taught (step T60).
Thereafter, it is determined whether or not Df has advanced (step T62). When the Df advance has been completed, the driver is instructed to stop by the guidance sound (step T64).
[0099]
Then, it is determined whether or not the stop is completed (step T66). When the stop is completed, the driver is instructed to handle the vehicle by a voice message “Please turn the handle all the way to the left” (step T68).
It is determined whether or not the steering wheel has reached the maximum left steering angle (step T70). When the steering angle reaches the maximum left steering angle, the driver is instructed to reverse by using a guidance sound and a voice message "Please back about Db3 meters". Is performed (step T72).
[0100]
Thereafter, it is determined whether or not the Db3 has moved backward (step T74). When the Db3 has moved backward, the driver is instructed to stop by the guidance sound (step T76). Then, it is determined whether or not the stop is completed (step T78). When the stop is completed, the parking support is ended. In this way, the vehicle 1 can stop at the parking position set by the target parking position setting means 11.
[0101]
At this time, even if the vehicle 1 stops before reaching the target parking position, the distance between the center point of the target parking position and the front and rear center points of the vehicle 1 is within a predetermined distance (for example, 50 cm). If there is, it is considered that parking has been completed, and parking support is terminated.
Even when the vehicle 1 has reached the target parking position, even if a situation has occurred where the vehicle 1 has not stopped, the vehicle 1 is parked after a predetermined time (for example, 1.5 seconds) has elapsed after reaching the target parking position. It is considered that the parking has been completed.
[0102]
In addition, the corner sensor system is also operating during parking assistance, and the driving operation detection means 33 calculates the actual trajectory of the vehicle 1 to obtain a deviation between the actual trajectory and the target parking trajectory. If the deviation is within a predetermined range (close to substantially 0), the alarm means 35 stops outputting the alarm. Thus, it is possible to prevent the alarm from being frequently output even though the driver is accurately performing the driving operation according to the teaching by the teaching means 13.
[0103]
On the other hand, as the deviation between the actual trajectory and the target parking trajectory increases beyond a predetermined range, the threshold changing unit 34 increases the alarm threshold of the corner sensor 16, that is, increases the sensitivity of the corner sensor 16, and the alarm by the alarm unit 35. Is output frequently. This allows the driver to recognize that the vehicle 1 is driving with a large deviation from the target parking locus, and that the vehicle 1 is highly likely to interfere with a parked vehicle, a wall, etc. It is possible to prevent the vehicle 1 from interfering with an object.
[0104]
As described above, since it is possible to reliably output an alarm that seems to be necessary while suppressing the unnecessary output of an alarm as much as possible according to the deviation, it is possible to realize appropriate guidance without a sense of incongruity to the driver. .
In addition, the threshold value change means 34 can change the warning threshold value of each corner sensor 16 separately, and when it is judged that the vehicle 1 clearly moves away from the object, the warning threshold value is decreased for each corner sensor 16, Alternatively, since the alarm can be stopped by setting it to 0, it is possible to prevent the alarm from being frequently output in this respect.
[0105]
Further, during the parking assistance described above, the teaching timing learning means 17 learns the stopping teaching timing based on the response time of the driver. Then, the teaching control unit 18 corrects the teaching timing of the subsequent stop based on the learning of the teaching timing learning unit 17. For example, the response time from when the “stop” is taught until the driver steps on the brake and the vehicle 1 stops is accumulated and evaluated, and the teaching is performed at the teaching timing according to the response time of the driver. In the simplest case, “stop” is taught at a timing according to the average response time obtained by simply averaging the accumulated time, or at a timing according to the response time obtained by a weighted average that emphasizes the latest response time. . Thereby, if a driver operates according to teaching, a vehicle will move by a predetermined locus and will be parked at a target parking position reliably.
[0106]
Further, for example, when the vehicle is turning backward on the left side, the driver needs to drive while paying attention to the left side of the vehicle 1. In this case, the driver sounds a backward sound from the left speaker 14b in the vehicle compartment or blinks the LED 24b. To guide the driver where to focus on the operation. Thereby, safer parking assistance can be performed.
[0107]
Here, during parking assistance, the gear position control means 12 limits the gear position to the first speed. Therefore, even if the driver accidentally steps on the accelerator pedal during the driving operation, safe parallel parking or parallel parking can be performed at extremely low speed.
The display 15 displays an image captured by the rear view camera 7 and an icon that teaches a steering operation. In particular, when the vehicle 1 moves backward, the driver displays a schematic operation display and an image behind the vehicle 1. Operation can be performed while checking. Therefore, the driver can perform a safe and appropriate driving operation.
[0108]
Parking assistance for left side parallel parking is performed according to the above procedure, but parking assistance for right side parallel parking only reverses the direction of turning the handle from that for left side parallel parking. The procedure is the same as the left side parallel parking procedure.
In the present embodiment, the vehicle width direction parking space that can be parked in parallel is described as being set to 2.5 m, but it is of course possible to set other values.
[0109]
As described above, in the vehicle with a parking assistance device according to the present embodiment, when parking assistance is started by the parking guide switch 6, a parked vehicle near the area to be parked is detected by the ultrasonic sensor 2. Therefore, the presence / absence of the parked vehicle and the position of the parked vehicle relative to the vehicle 1 can be known.
Further, the moving distance estimating means 9 estimates the moving distance of the vehicle 1. Therefore, it can be estimated how much the vehicle 1 has moved from the position where the parked vehicle is detected by the ultrasonic sensor 2. On the other hand, the handle angle during driving operation is detected by the handle angle sensor 3. Therefore, the current position estimating means 10 can estimate the current position of the vehicle 1 based on the travel distance and the steering wheel angle of the vehicle 1 described above.
[0110]
The target parking position setting unit 11 can set the target parking position of the vehicle 1 based on the current position of the vehicle 1.
Further, the teaching means 13 teaches the driver about the driving operation up to the initial stop position of the parking operation, and the target parking position is set by the target parking position setting means 11 while teaching the driving operation to the initial stop position. Therefore, it is not necessary to set the initial stop position by visual observation of the driver. That is, since an error does not occur in the initial stop position of the vehicle 1, it is possible to prevent the target parking position from being deviated, and the driver can be reliably guided toward the originally targeted position. In this way, it is possible to assist the driving operation to the initial stop position for the parking operation.
[0111]
In addition, since the teaching unit 13 teaches the parking operation based on the target parking position, the parking support can be appropriately performed according to the current position of the vehicle 1.
And when two parked vehicles exist adjacent to the left or right or front and rear of the area to be parked, if the space between the two parked vehicles is a predetermined amount or more, the vehicle 1 is the above two parked vehicles. The target parking position can be set so as to be in the middle.
[0112]
Furthermore, if the space between the two parked vehicles is smaller than a predetermined amount, the target parking position is not set and the teaching means 13 teaches that parking assistance is stopped, so the driver has no space for parking. This can prevent the driver from trying to park the vehicle forcibly. Therefore, safer parking assistance can be provided to the driver.
[0113]
Note that the guide sound for teaching the stop of the vehicle 1 and the guide sound for teaching that the steering wheel has reached a predetermined steering angle may be different from each other. Thereby, it is possible to clearly teach the driving operation to the driver.
Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.
[0114]
For example, the target parking position may be set by the target parking position setting unit 11 simply based on the time point when the ultrasonic sensor 2 detects the object. Based on the target parking position, the teaching means 13 can also teach the driver about the necessary driving operation. Therefore, with a simple configuration, the target parking position can be set appropriately mechanically, and more appropriate parking assistance can be provided to the driver.
[0115]
Further, the ultrasonic sensor 2 as the object position detecting means has been described as detecting a parked vehicle, but of course, not only the parked vehicle but also walls and other objects can be detected. Parking assistance can also be performed by detecting an object.
Furthermore, in the present embodiment, when the transmission 19 is a stepped gear, the shift position control means 12 has been described to limit the gear position to the first speed. For example, in the case of CVT, it may be limited to the gear ratio region corresponding to the low speed stage.
[0116]
During parking assistance, when the position of the host vehicle deviates from the required trajectory based on the estimation result of the current position estimating means 10, the first reverse turning distance Db1, the neutral reverse turning distance Dc, the second reverse turning distance Db2, and the forward movement The deviation of the turning distance Df and the reverse turning distance Db3 may be corrected according to the current position (including direction) of the host vehicle.
[0117]
【The invention's effect】
As described above in detail, according to the vehicle with the parking assist device of the present invention described in claim 1, the threshold value changing means is used during the parking assist. However, based on the deviation (deviation) between the necessary driving operation (that is, the target parking locus) taught to the driver by the teaching means and the driving operation that is actually performed by the driver (that is, the actual locus of the vehicle). Change the threshold of the object position detection means Ru so, Depending on this deviation, The alarm given to the driver by the alarm means can be appropriately controlled. That is, more appropriate parking assistance can be provided to the driver.
[0119]
Claims 2 According to the vehicle with a parking assist device of the present invention described above, when the deviation between the actual trajectory of the vehicle and the target parking trajectory is small, that is, when the driver performs a driving operation according to the teaching content of the teaching means, Since the threshold value of the detection means is lowered, it is difficult to output an alarm. Therefore, it is possible to prevent an alarm from being output unnecessarily to a driver who is performing an appropriate driving operation for parking, and perform appropriate parking assistance.
[0120]
On the other hand, if the deviation between the actual trajectory of the vehicle and the target parking trajectory is large, that is, if the driver performs a driving operation without accurately following the teaching contents of the teaching means, the threshold of the object position detecting means is raised, Is easy to output. Therefore, it is possible to make the driver recognize that the vehicle is driving while deviating from the target parking locus, and to prevent the vehicle from interfering with the parked vehicle or the wall.
[0121]
Claims 3 According to the described vehicle with a parking assist device of the present invention, during parking assistance, when the deviation between the actual locus of the vehicle and the target parking locus is within a predetermined range, that is, the vehicle travels on the same locus as the target parking locus. If so, stop the alarm. As a result, it is possible to prevent the driver who is performing an appropriate driving operation for parking from being output unnecessarily, and perform appropriate parking assistance.
[0122]
Claims 4 According to the vehicle with a parking assist device of the present invention described above, when the object moves away from the vehicle, there is no possibility that the vehicle interferes with the object. In this case, it is possible not to output an alarm.
Claims 5 According to the vehicle with a parking assist device of the present invention described above, the threshold value changing means separately changes the threshold values of the plurality of object position detecting means provided in the vehicle, so that it is possible to detect a necessary place and the object position detecting means. An alarm can be output every time.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic plan view showing a detection range of an object position detection unit of the parking assistance apparatus according to the embodiment of the present invention.
FIG. 3 is a schematic front view for explaining a display of the parking assistance device according to the embodiment of the present invention.
FIG. 4 is a schematic perspective view for explaining the guide means of the parking assistance apparatus according to the embodiment of the present invention.
FIG. 5 is a schematic diagram for explaining threshold change means of the parking assistance apparatus according to the embodiment of the present invention.
FIG. 6 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.
FIG. 7 is a flowchart for explaining parking support for parallel parking by the parking support device according to the embodiment of the present invention;
FIG. 8 is a flowchart for explaining parallel parking parking assistance by the parking assistance device according to the embodiment of the present invention;
FIG. 9 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.
FIG. 10 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.
FIG. 11 is a schematic plan view for explaining parallel parking parking assistance by the parking assistance device according to the embodiment of the present invention.
FIG. 12 is a flowchart for explaining parking support for parallel parking by the parking support device according to the embodiment of the present invention;
FIG. 13 is a flowchart for explaining parking support for parallel parking by the parking support device according to the embodiment of the present invention;
FIG. 14 is a schematic plan view for explaining parking assistance for parallel parking by the parking assistance device according to the embodiment of the present invention.
FIG. 15 is a schematic plan view for explaining parallel parking support by the parking support apparatus according to the embodiment of the present invention.
[Explanation of symbols]
1 vehicle
2 Side sensor (ultrasonic sensor, object position detection means)
3 Handle angle sensor (steering angle detection means)
4 Wheel speed sensor
5 Shift position sensor (shift position detection means)
6 Parking guide switch (instruction means)
7 Rear view camera
8 ECU (Electronic Control Unit)
9 Moving distance estimation means
10 Current position estimation means
11 Target parking position setting means
12 Shift position control means
13 Teaching means
14, 14a, 14b Speaker
15 Display (display means)
16 Corner sensor (object position detection means)
17 Teaching timing learning means
18 Teaching control means
19 Transmission
20 Guide means
21 Car behind
22 Car ahead
24, 24a, 24b LED (light emitter)
30 handle icon
31 Right adjacent car
32 Left adjacent car
33 Driving operation detection means
34 Threshold value changing means
35 Alarm means
A Ultrasonic sensor detection range
B Corner sensor detection range

Claims (5)

It includes a driving operation detecting means for detecting a driver's driving operation, and a teaching means for teaching the required driving operations to park the driver, includes a parking assist system for performing support of the parking operation to the driver Vehicle,
An object position detecting means for detecting the position relative to the vehicle of the object existing in the vicinity of the vehicle,
Alarm means for giving an alarm to the driver if the distance to the object obtained by the output from the object position detection means is within a predetermined threshold;
A vehicle with a parking assistance device, comprising: a threshold value changing means for changing the predetermined threshold value based on a deviation between the output of the driving operation detection means and the output of the teaching means during parking assistance. Threshold value changing means, as the deviation is larger to increase the predetermined threshold value described above, characterized by reducing the predetermined threshold value of the higher deviation is small, the parking assist apparatus with a vehicle according to claim 1, wherein. The vehicle with a parking assistance device according to claim 1 or 2 , wherein the warning means stops the warning if the deviation is within a predetermined range. Said alarm means when said object is spaced from the vehicle, characterized in that the distance to said object is not an alarm even within the threshold, according to any one of claims 1 to 3 Vehicle with parking assistance device. A plurality of the object position detecting means are provided,
The vehicle with a parking assistance device according to any one of claims 1 to 4 , wherein the threshold value changing means changes the threshold value of each object position detecting means separately.

Images