JP4100026B2 - Start support device - Google Patents

Start support device Download PDF

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Publication number
JP4100026B2
JP4100026B2 JP2002109705A JP2002109705A JP4100026B2 JP 4100026 B2 JP4100026 B2 JP 4100026B2 JP 2002109705 A JP2002109705 A JP 2002109705A JP 2002109705 A JP2002109705 A JP 2002109705A JP 4100026 B2 JP4100026 B2 JP 4100026B2
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Prior art keywords
parking
vehicle
means
driver
side
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JP2002109705A
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JP2003306105A (en
Inventor
高広 前村
哲志 御室
淳史 菅原
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三菱自動車工業株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a start support device that supports a start operation when starting from a parking section.
[0002]
[Prior art]
If you park in the parking area by parallel parking or parallel parking, when you start from this parking area, the driver confirms the safety of the surroundings because other cars are parked in front of and behind your vehicle or on the left and right However, it is necessary to start the vehicle carefully. At this time, the situation of the side and rear of the vehicle that cannot be seen directly by visual inspection is grasped by the indirect visual field of the mirror system such as the side mirror or the rearview mirror, but the limit is limited to the field of view in the indirect visual field of the mirror system. Since it is difficult to sufficiently reduce the blind spot, as disclosed in Japanese Patent Application Laid-Open No. 7-223487, the rear and left and right sides of the vehicle are imaged with a TV camera, and this is monitored in the passenger compartment. Technology to check on the screen has been developed.
[0003]
Further, as disclosed in Japanese Patent Laid-Open No. 2001-83244, the relative position of an object existing close to the side of the vehicle with respect to the own vehicle is detected by an ultrasonic distance detection device, and an image of the object is displayed together with an alarm. There has also been proposed a technique for raising the driver's attention by displaying it on a monitor in the passenger compartment.
[0004]
[Problems to be solved by the invention]
By the way, when starting from the parking section, the area to be noted around the vehicle differs depending on the parking type. In other words, when parking is performed by parallel parking, the driver should pay attention mainly to cars and people traveling across the front passage, and when parking is performed by parallel parking, the driver will start. What is necessary is to pay attention to cars and people approaching from the left and right rear depending on the direction.
[0005]
However, in the conventional technique disclosed in Japanese Patent Application Laid-Open No. 2001-83244, the driver displays a lot of image information because all the information of objects close to each other is displayed on the monitor regardless of the parking type such as parallel parking and parallel parking. Therefore, it is necessary to find a moving object approaching the vehicle by searching for an image of an area to be noted mainly, so it takes time to recognize the surrounding situation and is not convenient.
[0006]
The present invention was devised in view of such problems, and an object of the present invention is to provide a start support device that allows a driver to easily recognize the surrounding situation when starting from a parking section.
[0007]
[Means for Solving the Problems]
  In order to achieve the above object, the start support device of the present invention provides a parking type storage means when starting from a parking section.For driver input operationsTherefore, based on the most recent parking type stored, the imaging meansOf the vehicle surroundings in multiple directions set in advanceA surrounding situation in a predetermined vehicle direction is captured as image information, and this image information is displayed by the display means (claim 1).
[0008]
  At this time, stored in the parking type storage meansLatestWhen the parking type is parallel parking, it is preferable that the surrounding state of the front side of the vehicle is picked up as image information by the image pickup means (claim 2).
  Also, stored in the parking type storage meansLatestWhen the parking type is parallel parking, it is preferable that the surrounding state behind the side of the vehicle is imaged as image information by the imaging means (claim 3). At this time, the parking direction of the parallel parking is stored by the parking type storage means, and the surrounding state on the opposite side to the parking direction of the parallel parking is captured as image information behind the side of the vehicle by the imaging means. Preferred (claim 4). At this time,When starting the vehicleIf a moving body approaching from the rear side of the side opposite to the parking direction of the parallel parking is detected, an alarm may be given by an alarm means (Claim 5).
[0009]
  Further, when the parking type stored in the parking type storage means is parallel parking, the distance detection means detects the distance between the obstacle in the front-rear direction of the vehicle and the vehicle and escapes when starting from the parking section. Judgment means determines whether it is possible to escape from the parking area based on this distanceTell the driver the judgment result(Claim 6). At this time, when it is determined by the escape determining means that the escape is possible, the driving means may be taught to the driver by the teaching means (claim 7).
[0011]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be described with reference to the drawings.
  1 to 7 show a parking assistance apparatus as an embodiment of the present invention, FIG. 1 is a block diagram showing the configuration, FIG. 2 is a schematic diagram showing a detection range of the object position detection means, FIG. Is a schematic diagram for explaining the display, FIG. 4 is a schematic diagram for explaining the guide means, FIG. 5 is a schematic diagram showing a visual field range of the imaging means, and FIG. 6 is an escape determination method by the escape means. Schematic diagram for illustration, diagram7 isIt is a flowchart for demonstrating the effect | action.
[0012]
The start support device of the present embodiment also has a function as a parking support function, and as shown in FIG. 1, as an input unit, an ultrasonic sensor 2 and a corner sensor 16 as object position detection means, a steering direction detection Handle angle sensor 3 as means, wheel speed sensor 4, shift position sensor 5 as shift position detection means, parking guide switch 6 as instruction means, rear view camera 7 as imaging means, side view camera 40 and nose view camera 41 Thus, the ECU (electronic control unit) 8 performs various controls based on the input signal from the input unit, thereby assisting the driver (driver) in the parking operation and the starting operation.
[0013]
As shown in FIG. 2, the ultrasonic sensor 2 is provided at the front end of the vehicle 1, and detects the position of an object (obstacle) present on the side of the vehicle 1 with respect to the vehicle 1. In other words, the ultrasonic sensor 2 detects the presence or absence of an object existing on the side of the vehicle by detecting a response to the transmitted ultrasonic wave, and detects the distance between the vehicle 1 and the object. Here, the object includes a vehicle and a building, and the ultrasonic sensor 2 can be used to recognize the existence of a vehicle or a building that should not be approached too much at the time of parking.
[0014]
In addition, the ultrasonic sensor 2 has a highly directional detection range as indicated by a region A in FIG. 2, and the detection distance is relatively long (for example, about 1.5 m) and exists farther away. Even objects can be detected.
The corner sensor 16 is a sensor that detects the presence or absence of an object and the distance to the object using ultrasonic waves, as in the ultrasonic sensor 2, for example, and is provided at the four corners of the vehicle 1 and functions as the distance detection means of the present invention. is doing. Further, the corner sensor 16 has a detection range as indicated by a region B in FIG. 2, and when any of the corner sensors 16 detects an object, the corner sensor 16 informs the driver of that fact and calls attention. It is configured as part of the sensor system.
[0015]
The steering wheel angle sensor 3 detects the steering angle and steering direction of the steering wheel so that it can provide steering angle position information for teaching whether or not the steering angle of the vehicle 1 has reached a predetermined steering angle. It has become.
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.
[0016]
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.
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.
[0017]
In addition, the parking type switch 6 can be used to select a parking type. 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”. The type of parking assistance to be selected can be selected. Here, parallel parking means parking on the road side of the passage so that the vehicle body is substantially parallel to the direction of the passage, and left parallel parking means parallel parking such that the left side of the vehicle 1 is the road side, Right-side parallel parking means parallel parking where the right side of the vehicle 1 is the roadside. Parallel parking refers to parking or garage in a posture that is substantially perpendicular to the direction of the aisle, and left side parallel parking refers to side by side parking in the parking section on the left side of vehicle 1, Means parallel parking in the parking area on the right side of the vehicle 1.
[0018]
This parking type is stored by the parking type storage means 60 and is read out at the next start.
As shown in FIG. 5, the rear view camera 7 is installed at the rear end portion of the vehicle 1 toward the rear of the vehicle, and captures the surrounding situation behind the vehicle 1, and has a visual field range indicated by reference numeral 7A. is doing. The video (image information) captured by the rear view camera 7 is displayed on a display (display means) 15 provided in the vehicle interior.
[0019]
The side view camera 40 includes a right side camera 40a installed toward the rear of the vehicle in the right fender portion of the vehicle 1 and a left side camera 40b installed toward the rear of the vehicle in the left fender portion of the vehicle 1. Each has a field-of-view range indicated by reference numerals 40aA and 40bA in FIG. Then, the video (image information) of the surrounding situation behind the right side and the left side of the vehicle 1 captured by the right side camera 40a and the left side camera 40b is displayed on the display 15.
[0020]
The nose view camera 41 includes a right-side camera 41a installed toward the right side and a left-side camera 41b installed toward the left side at the front end of the vehicle 1, respectively. It has a visual field range indicated by 41aA and reference numeral 41bA. Then, the surrounding image (image information) of the front right side and front left side of the vehicle 1 captured by the right side camera 41a and the left side camera 41b is displayed on the display 15. ing. As the nose view camera 41, a camera that can capture the surrounding situation in the left-right direction through a mirror surface may be used instead of the right side camera 41a and the left side camera 41b.
[0021]
The side view cameras 40a and 40b and the nose view cameras 41a and 41b described above are stereo cameras each composed of two CCD cameras paired on the left and right or top and bottom, and based on the information of these cameras, The distance to the object in the image can be measured.
The ECU 8 is configured to support the driving of the driver based on the input signal from the input unit, and the moving distance estimating means 9, the current position estimating means 10, the target position setting means 11, the shift position control means 12, and the teaching Timing learning means 17, teaching control means 18, movement trajectory setting means 50, parking type storage means 60, escape determination means 70, and moving body detection means 80 are functionally provided.
[0022]
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 estimating means 10 integrates the behavior of the vehicle 1 after the start of parking assistance or after the start of starting assistance based on the output of the movement distance estimating means 9 and the output of the steering wheel angle sensor 3, so that the vehicle 1 becomes a reference position (for example, The current position relative to the parking 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.
[0023]
The target position setting unit 11 sets the target position of the vehicle 1 based on the outputs of the ultrasonic sensor 2 and the corner sensor 16. That is, since the ultrasonic sensor 2 and the corner sensor 16 can know the presence / absence of an object and the position of the object with respect to the vehicle, for example, a position for parking the vehicle 1 is set as a target position with the position where the parked vehicle is detected as a base point. When starting, a predetermined position outside the parking area is set as the target position.
[0024]
Further, the target position setting means 11 can set the target 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 position of the vehicle 1 can be set according to the parking space.
[0025]
Further, the target position setting means 11 can set the target 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 position can be set at a position relative to the position where the vehicle 1 currently exists.
At the time of parking assistance, the movement trajectory setting unit 50 includes a travel route (recommended route) from the current position of the vehicle 1 estimated by the current position estimation unit 10 to the parking position set by the target position setting unit 11, and the travel route. The steering wheel operation and the operation timing for traveling the vehicle are set.
[0026]
Further, at the time of starting support, a travel route (recommended route) from the current position of the vehicle 1 estimated by the current position estimation means 10 to the target position outside the parking area set by the target position setting means 11 and the travel route are determined. The steering wheel operation and operation timing for traveling are set.
The starting travel route can be divided into a straight route to the initial stop position and a turn route from the initial stop position to the target position outside the parking area, in order to perform handle switching operations, shift switching operations, etc. In addition, a stop position is set for each switching operation.
[0027]
The shift position control means 12 functions so as to limit the gear position to the first speed while teaching of the driving operation for parking support and start support is performed. As a result, the vehicle 1 can travel while maintaining a low speed, and the safety at the time of parking and starting is ensured.
The moving body detection means 80 is for detecting a moving body approaching the vehicle 1 and is based on the images input by the side view camera 40 and the nose view camera 41 and the distance information to the object in the image. Thus, the moving body moving toward the host vehicle is identified by determining the moving direction, moving speed, and the like of the object in the image.
[0028]
At this time, the moving body detection means 80 sets the degree of attention required for the moving body according to the distance from the vehicle 1 to the moving body, the approaching speed of the moving body, and the like. The larger the approaching distance or approaching speed of the moving body to the car 1, the larger the setting.
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.
[0029]
The teaching control means 18 controls the contents of teaching by the teaching means 13 to be described later, the timing of teaching, etc. to provide the driver with appropriate teaching contents at the appropriate timing during the parking operation or the starting operation, and also provides the guiding means 20. It is controlled to alert the driver to a predetermined area around the vehicle (a surrounding situation of the predetermined vehicle).
[0030]
The parking type storage means 60 is configured, for example, as a non-volatile memory, and stores the parking type selected by the parking guide switch 6 at the start of parking assistance. Further, at the time of departure, this parking type information is output to the teaching control means 18, and if the parking type (parallel parking or parallel parking) and the parking direction (that is, if the parking type is parallel parking) It is a distinction between left side parallel parking and right side parallel parking, and in the case of parallel parking, it can provide information regarding left side parallel parking and right side parallel parking. Note that the parking type information stored by the parking type storage means 60 is erased after the start is completed.
[0031]
The escape determination means 70 determines whether or not the own vehicle 1 can escape from the parking section based on the distance between the object adjacent to the front and rear direction of the own vehicle and the own vehicle 1 when starting from the parallel parking section. Therefore, for example, when turning at the maximum rudder angle with a maximum approach to the vicinity of the rear object, it is determined that the vehicle can escape without touching the front object.
[0032]
That is, as shown in FIG. 6A, the escape determining means 70 detects the distances a and b between the front vehicle 22 and the rear vehicle 21 that are close to each other in the front-rear direction of the host vehicle 1 by the corner sensor 16. The left front end 1a of the host vehicle 1 when the vehicle is turned right at the maximum rudder angle from the state where the rear end of the host vehicle 1 coincides with the X axis (initial stop position) is set with the direction as the Y axis. A turning locus L of (X, Y) is calculated (see FIG. 6B). Here, the symbol c indicates the distance between the X-axis and the front end of the rear vehicle 21, and is set to allow a margin for the start operation.
[0033]
The turning locus L can be defined as a circle centered on D on the rear wheel axle, and the coordinate position (XD, YD) And the turning radius r are uniquely determined by the vehicle length, the maximum steering angle amount, and the like. Further, since it is presumed that the vehicle can escape when the turning locus L and the right rear end portion 22a of the front vehicle 22 do not interfere with each other, the escape determination means 70 detects the right rear end portion of the front vehicle 22 detected by the corner sensor 16. 22a coordinate position (Xtwenty two, Ytwenty two) Determines that it is possible to escape when the condition of the following expression (1) is satisfied.
[0034]
(XXD)2+ (Y-YD)2<(XD-Xtwenty two)2+ (YD-Ytwenty two)2  ... (1)
Note that the escape route (recommended route) R when it is determined that it is possible to escape is set by the movement locus setting means 50.
In the above, the case of exiting by turning right from the parking section has been described, but the same exit determination is performed when exiting by turning left. In this case, the escape determination means 70 calculates the turning trajectory of the right front end portion of the vehicle 1 and the position of the left rear end portion of the front vehicle 22 and determines that it is possible to escape when they do not interfere with each other.
[0035]
As shown in FIGS. 3 and 4, the teaching unit 13 includes a display 15 and speakers 14 a and 14 b, so that the vehicle 1 can travel along the recommended route set by the movement track setting unit 50. The driver is instructed to advance, reverse and stop the vehicle 1 and further to turn the steering wheel.
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.
[0036]
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.
[0037]
Therefore, the driver can accurately bring the vehicle 1 to the target position by operating the steering wheel or moving forward or backward according to the 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.
[0038]
The guide means 20 is for alerting the driver to a part or area to be noted in driving operation, so that the driver pays attention to the vicinity of the side mirror on the side required during parking operation or starting operation. Is designed to call attention. Further, at the time of departure, on the basis of the parking type stored in the parking type storage means 60, an image of a predetermined area (a predetermined situation around the predetermined vehicle) that the driver should pay particular attention to around the vehicle is displayed on the display 15, In this area, the moving body approaching the host vehicle 1 is displayed so that it can be distinguished from others, and the driver 14 informs the driver of the approach of the moving body so that the driver can know the situation around the vehicle. It can be easily recognized.
[0039]
As this guide means 20, here, speakers 14a and 14b equipped on the doors on the driver's seat and passenger's side in the passenger compartment, the display 15 and the light installed in the vicinity of both side mirrors in the passenger compartment or outside the passenger compartment. Emitting light emitters (LEDs) 24a and 24b are used.
For example, during a parking operation, the speakers 14a and 14b are configured to generate a warning sound such as a backward sound 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 looks carefully at the left side mirror. 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]
On the other hand, when the vehicle starts, if the parking type stored in the parking type storage means 60 is, for example, right side parallel parking or left side parallel parking, the display 15 displays the situation around the vehicle imaged by the imaging means 7, 40, 41. Among them, the surrounding situation of the front side of the vehicle 1 detected by the nose view camera 41 is displayed, and the driver's attention is paid to the moving body traveling across the front passage.
[0042]
Further, when the parking type is right side parallel parking, the display 15 is behind the left side of the vehicle 1 imaged by the left side camera 40b in the situation around the vehicle imaged by the imaging means 7, 40, 41. Is displayed to alert the driver to the moving body approaching from the rear left side of the vehicle 1.
Further, when the parking type is left side parallel parking, the display 15 is located behind the right side of the vehicle 1 imaged by the right side camera 40a among the vehicle surroundings imaged by the imaging means 7, 40, 41. Is displayed, and the driver's attention is drawn to the moving body approaching from the rear of the right side of the vehicle 1.
[0043]
When the image information captured by the imaging means 40 and 41 is displayed on the display 15, the moving object approaching the host vehicle 1 is highlighted in the image, and the highlighted color according to the degree of attention demand is displayed. Luminance, hue, etc. may be changed. For example, if the degree of attention demand is large, the highlight color (for example, red or yellow color) that alerts the driver is lit continuously. When the degree of attention demand is higher than a certain level, it is flashed. It can be considered that the blinking cycle is shortened as the degree of attention demand increases. Further, it is conceivable that the brightness of the highlighted area displayed on the moving object is increased or the hue is changed as the degree of attention demand increases.
[0044]
When a moving body approaching the host vehicle 1 is detected by the moving body detection means 80, an alarm is given by the speaker 14 to notify the driver of the presence of the moving body and to call attention. At this time, in order to make the driver recognize the position and approaching state of the moving body, an alarm may be issued from the speaker 14a or 14b on the side where the obstacle is detected. The frequency or the like may be changed. Further, this alarm may be either a sound or an alarm sound, and the LEDs 24a and 24b may be blinked. In this case, the speaker 14 and the LED 24 function as alarm means of the present invention.
[0045]
  Since the start support device in the present embodiment is configured as described above, the start operation support from the parking area parked with the parking support is illustrated in FIG.7This is performed according to the flowchart shown.
  That is, when the main key of the vehicle 1 is turned ON, the parking type stored in the parking type storage unit 60 is first input to the teaching control unit 18 (step 1). When the parking type is right side parallel parking, the corner sensor 16 detects the distance between the other vehicles 21 and 22 and the own vehicle 1 that are close to each other in the front-rear direction (step S2), and turns at the maximum steering angle. Various parameters necessary for escape determination, such as the turning center D and turning radius r of the trajectory L drawn by the left front end of the host vehicle 1 and the position of the left rear end of the front vehicle 22 are calculated (step S3). Then, using these parameters, escape determination is performed based on the above equation (1) (step S4).
[0046]
If it is determined that it is possible to escape, the video imaged by the left side camera 40b is displayed on the display 15 (step S5), and the driver's attention is drawn to the moving body approaching from the rear of the left side of the vehicle. At this time, if a moving body approaching the host vehicle 1 from behind the left side is detected in the image in step S6, the moving body is highlighted on the image, and the speaker 14 and the LED 24 are displayed in step S7. An alarm is given by, for example, to make sure that the moving object approaching the driver and the approaching state are recognized.
[0047]
If the approach of the moving body is not detected in step S6, the process proceeds to step S20, where the movement trajectory setting means 50 makes the initial backward movement amount D1, the first turning movement amount D2, left turning by the left turn to the initial stop position. Parameters such as the second turning movement amount D3 due to the rotation are calculated, and a recommended route from the current position to the target position outside the parking area and an operation procedure for traveling along the recommended route are set. Then, in step S21, the driver is instructed to perform a start operation by the teaching means 13 and the guiding means 20.
[0048]
If it is determined in step S4 that it is not possible to escape, the voice from the speaker 14 or display display indicates that it is impossible to escape.
On the other hand, if the parking type is left parallel parking at step S1, the corner sensor 16 detects the distance between the other vehicles 21, 22 and the vehicle 1 that are close to each other in the front-rear direction (step S8), and the maximum steering angle. Various parameters necessary for escape determination, such as the turning center D and turning radius r of the trajectory L drawn by the right front end portion of the host vehicle 1 when turning at the vehicle, and the position of the right rear end portion of the front vehicle 22 are calculated (step) S9). Then, using these parameters, escape determination is performed based on the above equation (1) (step S10).
[0049]
If it is determined that it is possible to escape, the video imaged by the right side camera 40a is displayed on the display 15 (step S11), and the driver's attention is drawn to the moving body approaching from the rear of the right side of the vehicle. At this time, if a moving body approaching the host vehicle 1 from the rear of the right side is detected in the image in step S12, the moving body is highlighted on the image, and the speaker 14 and the LED 24 are displayed in step S13. An alarm is given by, for example, to make sure that the moving object approaching the driver and the approaching state are recognized.
[0050]
If the approach of the moving body is not detected in step S12, the process proceeds to step S20, where the movement trajectory setting means 50 performs the initial backward movement amount to the initial stop position, the first turning movement amount by the right turn, and the left turning action. Parameters such as the second turning movement amount are calculated, and a recommended route from the current position to the target position outside the parking area and an operation procedure for traveling along the recommended route are set. Then, in step S21, the driver is instructed to perform a start operation by the teaching means 13 and the guiding means 20.
[0051]
If the parking type is right side parallel parking or left side parallel parking in step S1, an image captured by the nose view camera 41 is displayed on the display 15 (step S14) and approaches from the front side of the vehicle. Raise driver's attention to moving objects. At this time, if a moving body approaching from the right side or the left side of the vehicle 1 is detected in the image in step S15, the moving body is highlighted on the image, and the speaker 14 or the LED 24 is used. An alarm is issued (step S16).
[0052]
If the approach of the moving body is not detected in step S15, the process proceeds to step S20, and parameters such as the forward movement amount and the turning movement amount are calculated by the movement trajectory setting means 50 and recommended from the current position to the outside of the parking area. A route and an operation procedure for traveling along the recommended route are set. In step S21, the driver is instructed to start using the sound from the speaker 14 and the icon displayed on the display based on the operation procedure.
[0053]
As described above, in the start support device of the present embodiment, the detected surrounding situation of the vehicle 1 is set based on the parking type stored by the parking type storage means 60. A predetermined area that the person should pay particular attention to (i.e., the area on the front side of the vehicle 1 when starting from the parallel parking section, and the area behind the left side of the vehicle 1 when starting from the right side parallel parking section, When starting from the left side parallel parking section, it is possible to effectively alert the driver to the rear area of the right side of the vehicle 1).
[0054]
That is, the area around the vehicle 1 that the driver should pay attention to when starting from the parking area depends on the start direction, start operation, etc., but such start direction, start operation, etc. Depends on the parking type at the time of parking. For this reason, based on the parking type at the time of parking, only the predetermined area which should be noted among the surrounding conditions of the vehicle 1 is detected, and the image information is provided to the driver. The situation can be easily grasped, and the driver's attention can be focused on a predetermined area requiring attention.
[0055]
Specifically, when the parking type is parallel parking, the surrounding situation of the predetermined vehicle 1 that requires attention is set as the surrounding situation of the front side of the vehicle 1, so that the driver By providing the image information on the side of the vehicle, the driver's attention to a person who crosses the front passage or a moving body such as another vehicle can be alerted when starting straight running from the parallel parking section.
[0056]
In addition, when the parking type is parallel parking, the surrounding situation of a predetermined vehicle 1 requiring attention is set as the surrounding situation behind the side of the vehicle 1 and image information behind the side of the vehicle 1 is provided to the driver. By doing so, when starting from a parallel parking section by turning, it is possible to alert the driver to a moving body approaching from the rear side.
When the parking type is parallel parking, the surrounding situation of the predetermined vehicle 1 requiring further attention is set in a region opposite to the parking direction of the parallel parking in the surrounding situation behind the side of the vehicle 1. Thus, the driver can more easily grasp the surrounding situation of the vehicle 1. That is, when the parallel parking is performed by the right parallel parking, the vehicle starts by turning left from the parking section, and therefore, the driver may pay attention to the moving body approaching mainly from the left side rear side. Conversely, when parallel parking is performed by left side parallel parking, the vehicle starts by turning right from the parking section, so the driver mainly pays attention to the moving body approaching from the right side rear side. It is.
[0057]
Accordingly, by setting the detected surroundings of the vehicle 1 based on the parking direction, it is possible to appropriately narrow down the area that the driver should be careful of, and to the driver with a minimum amount of information without waste. The surrounding situation of the vehicle 1 can be grasped quickly and accurately.
Further, when the objects 22 and 21 are close to each other in the front-rear direction of the vehicle 1, whether or not the vehicle can be escaped by turning from the parallel parking section is calculated based on the distance between the front and rear objects 22, 21 and the vehicle 1. Since the determination is made, whether or not to escape can be objectively determined without relying on visual observation or intuition, and convenience can be improved.
[0058]
Furthermore, since only the approach information of the moving body detected in a predetermined area around the vehicle 1 to be noted is notified to the driver by the speaker 14 or the LED 24, the driver can provide information on the moving body on the start direction side. It can be easily recognized.
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.
[0059]
For example, although the ultrasonic sensor 2 as the object position detecting means has been described as detecting a parked vehicle, of course, not only the parked vehicle but also a wall and other objects can be detected. Parking assistance and start assistance can also be performed by detecting the vehicle.
In this embodiment, the starting direction, the starting operation, and the like are determined based on the parking type stored in the parking type storage unit 60. In addition to this, based on the steering direction when starting forward. The same effect as that of the above-described embodiment can also be obtained by determining such a starting direction and a starting operation.
[0060]
For example, when the vehicle 1 is parked by right side parallel parking, the driver steers the steering wheel to the left side from the initial stop position and starts by turning left, so the driver mainly moves from the rear side of the left side of the vehicle 1. Pay attention to. Further, when the vehicle 1 is parked by left side parallel parking, the driver steers the handle to the right side from the initial stop position and starts by turning right, so that the driver moves mainly from the rear side of the right side of the vehicle 1. Pay attention to your body. Furthermore, when the vehicle 1 is parked by parallel parking, the driver starts straight by moving the steering wheel in a neutral position, so the driver mainly pays attention to the moving body that crosses the front passage.
[0061]
Thus, since there is a correspondence between the steering direction at the time of start and the area around the vehicle 1 that the driver should pay attention to, the situation around the vehicle 1 detected by the imaging means is based on the steering direction. This makes it possible to more appropriately narrow down the image information provided to the driver.
This also has the advantage that it is possible to reliably provide appropriate image information to the driver when starting from the parking area without separately providing the parking type storage means 60 for storing the parking type.
[0062]
【The invention's effect】
As described above in detail, according to the parking assistance device of the present invention, the detected vehicle surroundings are set based on the parking type stored by the parking type storage means, so that driving is performed around the vehicle when starting. It is possible to effectively alert the driver to a predetermined area that the driver should pay particular attention to.
[0063]
In other words, the area around the vehicle that the driver should pay attention to when starting from the parking area depends on the start direction, start operation, etc., but such start direction, start operation, etc. are the current parking state, i.e. It depends on the type of parking at the time of parking. For this reason, based on the parking type at the time of parking, only the predetermined area to be noted is detected from the surrounding conditions of the vehicle, and the image information is provided to the driver, so that the driver can be informed of the surrounding condition of the vehicle. While being able to grasp easily, a driver | operator's attention with respect to the predetermined | prescribed area | region which requires attention can be alerted | focused (Claim 1).
[0064]
For example, when the parking type is parallel parking, the surrounding situation of a predetermined vehicle requiring attention is set as the surrounding situation of the front side of the vehicle, and image information on the front side of the vehicle is provided to the driver Thus, when starting straight from the parallel parking section, it is possible to alert the driver to a moving object such as a person who crosses the front passage or another vehicle (claim 2).
[0065]
In addition, when the parking type is parallel parking, the surrounding situation of a predetermined vehicle requiring attention is set as the surrounding situation behind the side of the vehicle, and the image information behind the side of the vehicle is provided to the driver. When starting from a parallel parking section by turning, the driver's attention can be alerted to a moving body approaching from the rear of the side (claim 3).
In this case, by setting the surrounding situation of the predetermined vehicle requiring attention in the area opposite to the parking direction of the parallel parking in the surrounding situation behind the side of the vehicle, the surrounding situation of the vehicle is indicated to the driver. This makes it easier to grasp. That is, when the parallel parking is performed by the right parallel parking, the vehicle starts by turning left from the parking section, and therefore, the driver may pay attention to the moving body approaching mainly from the left side rear side. Conversely, when parallel parking is performed by left side parallel parking, the vehicle starts by turning right from the parking section, so the driver mainly pays attention to the moving body approaching from the right side rear side. .
[0066]
Therefore, by setting the detected vehicle surroundings based on the parking direction, it is possible to appropriately narrow down the area that the driver should be aware of, and to the driver with the minimum amount of information without waste. Can be grasped quickly and accurately (claim 4).
It should be noted that the driver's attention can be further aroused by issuing an alarm when a moving body approaching from the rear side of the side opposite to the parking direction of the parallel parking is detected (Claim 5). .
[0067]
  In addition, when an object is close to the vehicle in the front-rear direction, whether or not it is possible to escape is determined by calculating whether or not it is possible to escape from the parallel parking section by turning based on the distance between the front and rear objects and the vehicle. Can be objectively determined without relying on visual or intuition, and convenience is improved.).
[Brief description of the drawings]
FIG. 1 is a functional block diagram illustrating a configuration of a start support apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic diagram showing a detection range of an object position detection unit, showing a start support device as one embodiment of the present invention.
FIG. 3 is a schematic view for explaining a display support when teaching a start support device as one embodiment of the present invention.
FIG. 4 is a schematic diagram for explaining a guide means, showing a start support device as one embodiment of the present invention.
FIG. 5 is a schematic diagram for explaining an image pickup unit, showing a start support device as an embodiment of the present invention.
FIG. 6 is a schematic diagram for explaining a start support from parallel parking, showing a start support device as one embodiment of the present invention.
FIG. 7 is a flowchart for explaining the operation of the start support device as one embodiment of the present invention.
[Explanation of symbols]
1 vehicle
3 Handle angle sensor (steering direction detection means)
14, 14a, 14b Speakers as teaching means, guiding means and alarm means
15. Display as teaching means, guiding means and display means
16 Corner sensor (distance detection means)
40 Side view camera (imaging means)
41 Nose view camera (imaging means)
60 Parking type storage means
70 Escape judgment means
80 Moving object detection means

Claims (7)

  1. A parking type storage means for storing , based on the driver's input operation, whether the parking type is parallel parking or parallel parking when parking in the parking area;
    When starting from the parking section, based on the latest parking type stored in the parking type storage unit, an imaging unit that captures, as image information, surrounding conditions in a predetermined direction among preset vehicle surroundings in a plurality of directions When,
    A start support apparatus, comprising: display means for displaying image information picked up by the image pickup means.
  2. The said imaging means memorize | stores the surrounding condition of the front side of the said vehicle as image information, when the said parking classification memory | storage means memorize | stored parallel parking as the latest parking classification, The image information is characterized by the above-mentioned. Start support device.
  3. The start of claim 1, wherein when the parking type storage means stores parallel parking as the latest parking type, the imaging means takes an image of the surrounding situation behind the side of the vehicle as image information. Support device.
  4. The parking type storage means further stores the parking direction of the parallel parking,
    The start assisting device according to claim 3, wherein the imaging means captures, as image information, a surrounding situation in a direction opposite to the parking direction at a rear side of the vehicle.
  5. When the parking type storage means stores the latest parallel parking as the parking type , when the vehicle starts, the moving body approaching from the rear side of the side opposite to the parking direction of the vehicle is detected and alarmed. 5. The starting support apparatus according to claim 4, further comprising alarm means for performing the following.
  6. Further comprising distance detecting means for detecting the distance between the vehicle and the obstacle in the front-rear direction of the vehicle;
    An escape determining means for determining whether or not it is possible to escape from the parking section based on the distance detected by the distance detecting means when starting from the parking section;
    6. The starting support apparatus according to claim 3, further comprising teaching means for teaching a driver a determination result by the escape determination means.
  7. The teaching means, when it is determined to be escaped by the escape decision means and Turkey to teach the driving operation to a driver, the starting assist system of claim 6 wherein.
JP2002109705A 2002-04-11 2002-04-11 Start support device Active JP4100026B2 (en)

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