JP5064892B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that supports parking in a parking area using wireless communication with an RFID.

Conventionally, a plurality of radio wave markers that are installed in and around a parking space and each have position information corresponding to the installed location, and perform radio communication with the radio wave marker and are installed in a vehicle and placed in the target parking space. There is known an automatic parking system including an automatic guidance device that guides the vehicle (see, for example, Patent Document 1).
JP 2006-72431 A

  However, in the invention described in Patent Document 1 described above, in order to guide the vehicle to a certain parking space (parking section), a plurality of radio wave markers provided for the parking space are used. For this reason, the invention described in Patent Document 1 has a problem that the communication load and the information processing load are increased by the number of radio wave markers, and the infrastructure equipment investment is increased.

  Therefore, an object of the present invention is to provide a parking assistance device that supports parking in a parking area using wireless communication with an RFID with a relatively inexpensive configuration.

In order to achieve the above object, the parking support apparatus according to the first invention performs wireless communication with a single RFID that holds information on the position of a parking lot in a parking lot and information on the direction of the parking lot, thereby Wireless communication means for obtaining the position information of the sections;
A controller for performing parking support control for assisting parking in the parking space based on the position information of the parking space and information on the direction of the parking space acquired by the wireless communication unit , and the RFID includes a parking space The controller is provided at the entrance position of the parking section, and the controller associates with the RFID when instructed to start parking after traveling within a predetermined distance from the wireless communication position with the RFID by the wireless communication means. The determined parking section is determined as a parking section to be subjected to the parking support control . Here, a single RFID only means that a plurality of RFIDs are not used for one parking section, and of course, in a parking lot where there are a plurality of parking sections, it corresponds accordingly. Thus, wireless communication with a plurality of RFIDs can be performed.

2nd invention is the parking assistance apparatus which concerns on 1st invention,
The controller is
Vehicle position estimating means for estimating the position of the vehicle;
Target parking position determining means for determining a target parking position and a target parking direction based on the position information of the parking section acquired by the wireless communication means and information on the direction of the parking section ;
A target for calculating a target locus from the vehicle position estimated by the vehicle position estimating means to the target parking position determined by the target parking position determining means in the target parking direction determined by the target parking position determining means. Trajectory calculation means;
Control means for performing parking support control for guiding the vehicle along the target trajectory to the target parking position based on the target trajectory calculated by the target trajectory calculating means.

  ADVANTAGE OF THE INVENTION According to this invention, the parking assistance apparatus which assists the parking to a parking area using radio | wireless communication with RFID with a comparatively cheap structure is obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment of a parking assistance apparatus 10 according to the present invention. As shown in FIG. 1, the parking assistance device 10 is configured around an electronic control unit 12 (hereinafter referred to as “parking assistance ECU 12”). Parking assistance ECU12 is comprised as a microcomputer which consists of CPU, ROM, RAM, etc. which were mutually connected via the bus | bath which is not shown in figure. The ROM stores programs and data executed by the CPU.

  The parking assist ECU 12 includes a steering angle sensor 16 that detects a steering angle of a steering wheel (not shown) and a motor 32 of a power steering device via an appropriate bus such as a CAN (Controller Area Network) or a high-speed communication bus. The EPS / ECU 30 that controls the brake ECU 40 and the brake ECU 40 that controls the brake actuator are connected. The motor 32 may be provided in a steering column or a steering gear box, and may rotate the steering shaft by rotation thereof. A vehicle speed sensor 18 that detects the speed of the vehicle is connected to the brake ECU 40.

  As shown in FIG. 1, the parking assist ECU 12 is connected to a display 22 arranged in the vehicle interior. A speaker 24 is connected to the display 22. A reverse shift switch 50 and a parking switch 52 are connected to the parking assist ECU 12. The reverse shift switch 50 outputs an ON signal when the shift lever is operated to the reverse position (reverse), and maintains the OFF state in other cases. Moreover, the parking switch 52 is provided in the vehicle interior and can be operated by the user. The parking switch 52 is normally maintained in an off state, and is turned on by a user operation. The parking assistance ECU 12 determines whether or not the user needs parking assistance based on the output signal of the parking switch 52.

  As shown in FIG. 1, a navigation ECU 60 is connected to the parking assist ECU 12. The navigation ECU 60 is connected to a GPS receiver 62 that receives satellite radio waves and generates vehicle position information. The GPS receiver 62 measures the position and direction of the vehicle every predetermined observation period (for example, 10 ms) based on satellite radio waves received via a GPS antenna (not shown). The positioning method may be any method such as single positioning or relative positioning (including interference positioning), but an interference positioning method with high accuracy is preferably used. In the case of interference positioning, the position of the vehicle may be subjected to interference positioning based on correction data from a base station received via the communication device 20 described later.

  As shown in FIG. 1, a communication device 20 is connected to the parking assist ECU 12. The communication device 20 performs wireless communication with the RFID seal 70 as an infrastructure facility, and acquires parking section information held by the RFID seal 70. The parking section information acquired by the communication device 20 is temporarily stored in a predetermined memory 21.

  The RFID seal 70 is provided in association with one parking section in a parking lot such as a home parking lot or a time rental parking lot. In addition, when there are a plurality of parking sections, the RFID seal 70 may be set for each parking section. In this example, as shown in FIG. 2, the RFID seal 70 is disposed near the entrance position of one corresponding parking section and outside the parking section. However, the RFID seal 70 may be disposed in any location as long as it is disposed in a place where it can communicate with the communication device 20 of the vehicle that passes when attempting to park in the corresponding parking section. Further, the RFID seal 70 is not necessarily arranged on the road surface, and may be arranged on a wall, a pole, or the like.

  The RFID seal 70 stores parking section information of a corresponding parking section. The parking area information includes, for example, information on the position (latitude / longitude) of the corresponding parking area and the direction of the corresponding parking area (the parking direction corresponding to the front-rear axis direction of the vehicle parked in the parking area). In addition to this, the parking area information includes the width of the corresponding parking area (the width along the left-right direction of the vehicle parked in the parking area) and the type of the corresponding parking area (a parking area or garage for parallel parking). It may also include information relating to types such as parking spaces for parking. In addition, the information regarding the position and direction of a corresponding parking area does not necessarily need to be information that directly represents the position and direction of the parking area, and may be information that indirectly represents the position and direction of the parking area. . Hereinafter, as an example, the parking area information includes information on the position (latitude / longitude) of the corresponding parking area, the direction (azimuth) of the corresponding parking area, and the type of the corresponding parking area. In addition, as shown in FIG. 2, the position of the parking area related to the parking area information corresponds to a position P where the rear axle center of the vehicle when parked in the parking area is located.

  FIG. 3 is a flowchart showing an example of parking support control executed by the parking support ECU 12.

  In step 100, the parking assist ECU 12 determines whether the communication device 20 has performed wireless communication with the RFID seal 70. For example, as shown in FIG. 4, when the vehicle passes near the installation position of the RFID seal 70 in the process of going to the parking start position (reverse running start position), the communication device 20 performs wireless communication with the RFID seal 70. Will be. When the communication device 20 performs wireless communication with the RFID seal 70, the parking section information stored in the RFID seal 70 is acquired and stored by the wireless communication. If the determination in step 104 is affirmative, the process proceeds to step 102. If the determination is negative, the processing of the current cycle is terminated as it is, and the process returns to step 100.

  In step 102, the parking assist ECU 12 stores a vehicle position (hereinafter referred to as “communication position”) where the communication device 20 has performed wireless communication with the RFID seal 70.

In step 104, the parking assist ECU 12 monitors the moving distance of the vehicle from the communication position based on the amount of vehicle movement calculated from the output signal of the vehicle speed sensor 18, and within a predetermined distance (for example, 6.5 m) from the communication position. It is determined whether or not there is an instruction to start parking. Parking assist ECU12 determines for example, the vehicle becomes stopped state stops, and, when the reverse shift switch 50 and a parking switch 52 are both turned on, and an instruction to the parking start. If the determination in step 104 is affirmative, the process proceeds to step 106. If the determination is negative, the processing of the current cycle is terminated as it is, and the process returns to step 100.

  In step 106, the parking assistance ECU 12 determines the parking area associated with the RFID seal 70 that has been communicated in step 100 as a target parking area that is subject to parking assistance control.

  In step 108, the parking assist ECU 12 analyzes the parking section information acquired from the RFID seal 70 through the communication in step 100, and grasps the parking mode (whether it is a tandem or a garage) that is the target of the parking assist control. At the same time, a position (target parking position) at which the rear axle center of the vehicle should be located when parking is completed is determined, and a direction (target parking direction) that the vehicle should face when parking is completed is determined. In this example, the target parking position is determined as the position (latitude / longitude) of the parking area obtained from the parking area information, and the target parking direction is determined as the direction (azimuth) of the parking area obtained from the parking area information. The

  In this step 108, if the parking area information includes information on the width of the parking area, the parking assist ECU 12 can compare the width of the parking area with the width of the vehicle and can park in the parking area. It may be determined whether or not there is. In this case, if the width of the vehicle is larger than the width of the parking area, the parking support ECU 12 cannot support because the width of the parking area is too small. Please search for another parking area. The guide announcement may be output via the display 22 and / or the speaker 24.

  In step 110, the parking assist ECU 12 grasps the vehicle position and the vehicle direction (the direction of the vehicle) based on the vehicle position information supplied from the GPS receiver 62. In addition, the own vehicle position may be grasped as a relative position with respect to the vehicle position at the start of parking (parking start position). In this case, the parking start position is grasped based on the vehicle position information supplied from the GPS receiver 62, and the vehicle position relative to the parking start position is calculated based on the vehicle movement amount calculated from the output signal of the vehicle speed sensor 18 and the steering angle sensor. It may be estimated and grasped using the rudder angle position obtained from 16. Similarly, the vehicle direction is determined by using the steering angle position obtained from the steering angle sensor 16 and the amount of vehicle movement from the vehicle speed sensor 18 based on the vehicle direction at the parking start position. It may be grasped by estimating.

  In step 112, the parking assist ECU 12 determines whether or not the vehicle has reached the target parking position based on the own vehicle position grasped in step 110. When the vehicle reaches the target parking position, it is determined that the warehousing is completed, and the parking support for the current parking section ends. At this time, the parking assist ECU 12 may output a guide announcement to the effect of “Please reach the target parking position and operate the brake to stop the vehicle” via the display 22 and / or the speaker 24. Good. If the vehicle has not reached the target parking position, the process proceeds to step 114.

In step 114, the parking assist ECU 12 calculates a target movement locus from the current vehicle position to the target parking position. Specifically, as shown in FIG. 5, the parking assist ECU 12 first compares the vehicle position and the vehicle direction determined in step 110 with the target parking position and target parking direction determined in step 108. Based on the relationship, the movement amount (X _c , Z _c ) of the vehicle to be moved from the own vehicle position to the target parking position and the angle θ of the vehicle to be inclined from the own vehicle direction to the target parking direction are calculated (hereinafter referred to as (X _c , Z _c , θ) are referred to as “control parameters”). As shown in FIG. 5, the control parameters (X _c , Z _c , θ) are two-dimensional actual two-dimensional directions with the center of the rear axis of the vehicle as the origin, the vehicle width direction as the X axis, and the vehicle longitudinal direction as the Z axis. It is defined in the coordinate system. When the control parameters (X _c , Z _c , θ) for the target parking position are determined in this way, the parking assist ECU 12 determines the current host vehicle based on the control parameters (X _c , Z _c , θ). A target movement locus that guides the vehicle from the position to the target parking position is calculated, and a target turning angle of a wheel to be steered at each position on the target movement locus is calculated. It should be noted that the generation of the target movement trajectory leaves a margin for correcting the target movement trajectory later, so that the turning curvature is somewhat smaller than the maximum turning curvature of the vehicle (for example, turning curvature up to 90% of the maximum turning curvature). ) May be used.

  In step 116, the parking assist ECU 12 determines whether or not the target movement locus can be generated in step 114 described above. For example, if the target movement trajectory can be generated with a turning curvature up to 90% of the maximum turning curvature in step 114 above, the present step 116 is affirmative and the process proceeds to step 118. On the other hand, when the target movement trajectory can be generated only with a turning curvature exceeding 90% of the maximum turning curvature, this step 116 is negative, and the parking support for the current parking section is ended. In this case, the parking assistance ECU 12 outputs, via the display 22 and / or the speaker 24, a guide announcement indicating that “a proper movement trajectory cannot be generated, so please advance again and park again”. Also good.

  In step 118, the parking assistance ECU 12 displays an operation guide announcement on the display 22 and the display 22 as necessary so that the vehicle movement locus follows the target movement locus based on the target movement locus generated in step 114. Output via the speaker 24. The operation guide announcement may relate to a steering operation, an accelerator / brake operation, and a shift operation. For example, when a section with a certain turning curvature arrives, a guide announcement indicating that “maintain the steering position of the steering wheel as it is” is output. Further, for example, when the current steering angle is deviated from the target steering angle based on the steering angle position obtained from the steering angle sensor 16, "turn the steering handle a little to the right (or left). Please output a guide announcement to the effect. Also, for example, based on the vehicle speed information obtained from the vehicle speed sensor 18, if the current vehicle speed is higher than the specified vehicle speed, please reduce the speed a little more, ”a guide announcement is output. When the processing of step 118 in the current cycle is completed, the process returns to step 110.

  According to the parking assistance apparatus 10 according to the present embodiment described above, the following excellent effects are achieved, among others.

  First, as described above, parking section information necessary for parking support is acquired from the RFID seal 70 by wireless communication, and parking support control is executed based on the acquired parking section information. For example, a clearance sonar or an image sensor (camera Compared to a configuration in which parking support control is executed using (), an inexpensive configuration can be realized.

  Further, as described above, since the RFID seal 70 stores all the parking section information necessary for parking in the corresponding parking section, there is only one RFID seal 70 for one parking section. What is necessary is just to set, and compared with the structure which sets the some RFID seal | sticker 70 with respect to one parking area, an infrastructure capital investment can be restrained cheaply.

  In the parking assist device 10 described above, the parking assist control is realized mainly by a guide announcement via the display 22 and / or the speaker 24, and the vehicle steering operation, accelerator / brake operation, etc. are entrusted to the driver. ing. However, the steering operation of the vehicle and the accelerator / brake operation may be partially or completely automated. For example, when the driver loosens the brake pedal and the creep force is generated and the vehicle starts to move backward, the parking assist ECU 12 is operated by the motor 32 via the EPS / ECU 30 at each vehicle position up to the target parking position. The wheels may be automatically steered by the target turning angle, or the vehicle may be automatically stopped via the brake ECU 40 when the vehicle finally reaches the target parking position.

  Moreover, in the parking assistance apparatus 10 described above, parking information related to one parking section is held in one RFID seal 70 (that is, one RFID seal is set for each parking section). For example, in a parking lot where a plurality of parking spaces exist, parking information regarding two or more parking spaces may be held in one RFID seal 70. The parking area information may include a parking area ID for identifying the parking area in addition to the various types of information described above. The parking section ID may correspond to a number (parking section number) given to the parking section. In this case, the parking assist ECU 12 causes the driver to select (input) a desired parking section number of the driver via a user interface (for example, a touch input switch on the display 22), so that the driver can enter which parking section. You just have to decide whether you want to park.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

1 is a system configuration diagram showing an embodiment of a parking assistance device 10 according to the present invention. It is a top view which shows an example of the RFID seal | sticker 70 set corresponding to the parking area. It is a flowchart which shows an example of the parking assistance control performed by parking assistance ECU12. It is a figure showing roughly the state where a vehicle is located in a parking start position. FIG. 5A is an explanatory diagram of control parameters in the case of parallel parking, and FIG. 5B is an explanatory diagram of control parameters in the case of parking in a garage.

Explanation of symbols

10 Parking assistance device 12 Parking assistance ECU
16 Steering angle sensor 18 Vehicle speed sensor 20 Communication device 22 Display 24 Speaker 30 EPS / ECU
32 Motor 40 Brake ECU
50 Reverse shift switch 52 Parking switch 60 Navigation ECU
62 GPS receiver 70 RFID seal

Claims (3)

Wireless communication means for acquiring position information of the parking section by performing wireless communication with a single RFID that holds information on the position of the parking section of the parking lot and the direction of the parking section;
A controller for performing parking support control for assisting parking in the parking space, based on the position information of the parking space acquired by the wireless communication means and information on the direction of the parking space ;
The RFID is provided for each parking section at the entrance position of the parking section,
When there is an instruction to start parking after traveling within a predetermined distance from the wireless communication position with the RFID by the wireless communication means, the controller selects a parking section associated with the RFID as a target of the parking support control. The parking assistance device is characterized by being determined as a parking section . The controller is
Vehicle position estimating means for estimating the position of the vehicle;
Target parking position determining means for determining a target parking position and a target parking direction based on the position information of the parking section acquired by the wireless communication means and information on the direction of the parking section;
A target for calculating a target locus from the vehicle position estimated by the vehicle position estimating means to the target parking position determined by the target parking position determining means in the target parking direction determined by the target parking position determining means. Trajectory calculation means;
The parking support apparatus according to claim 1, further comprising: a control unit that performs parking support control that guides a vehicle along the target locus to the target parking position based on the target locus calculated by the target locus calculating unit. When there is an instruction to start parking after traveling within the predetermined distance from the wireless communication position with the RFID during forward traveling, the controller sets the parking section associated with the RFID as the target of the parking support control. The parking assistance device according to claim 1, wherein the parking assistance device is determined as a parking section.

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