JP5257138B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance device and a parking assistance method for calculating a route for guiding a vehicle to a parking target position and controlling steering of the vehicle so that the vehicle moves along the route.

  Conventionally, as a parking assistance device that supports parking of a vehicle, a route for guiding the vehicle to the parking target position is calculated based on the positional relationship between the current position of the vehicle and the parking target position, and the vehicle moves along the route. A device for controlling the steering of a vehicle is known (see, for example, Patent Document 1). The parking assist device described in Patent Document 1 automatically controls steering of a vehicle when the vehicle is moved backward and guided to a parking target position, and the parking target position is set at the reverse start position. When calculating the route to the position, depending on the positional relationship between the border line of the parking section set as the parking target position and obstacles such as other parked vehicles parked adjacent to the parking target position The route to the parking target position is changed.

JP 2007-290557 A

  However, in the parking assistance device described in Patent Document 1, since the operation of moving the vehicle to the reverse start position is left to the driver, the vehicle is parked adjacent to the target parking position in the process of moving to the reverse start position. It is not always possible to accurately measure the position of obstacles such as other parked vehicles. For this reason, there is a case where the route of the vehicle that reaches the parking target position while avoiding the obstacle cannot be calculated appropriately, and there is a problem that sufficient reliability cannot be obtained.

  The present invention was devised to solve the conventional problems as described above, and is capable of reliably measuring the position of an obstacle existing in the vicinity of the parking target position, thereby improving the reliability of the parking. An object is to provide a support device and a parking support method.

  The present invention relates to a spare path that measures the position of an obstacle existing ahead of the parking target position in the vehicle traveling direction based on information obtained until the target parking position of the vehicle is set. The above-described problem is solved by calculating the route when setting the parking target position and controlling the steering of the vehicle so that the vehicle moves along the preliminary route.

  According to the present invention, since the position of an obstacle existing in the vicinity of the parking target position can be reliably measured in the process of the vehicle moving along the backup route, an appropriate route for reaching the parking target position while avoiding the obstacle. It is possible to guide the vehicle to the parking target position along the road and to perform highly reliable parking assistance.

It is a block diagram which shows the structure of the parking assistance system to which this invention is applied. It is a figure explaining the attachment position with respect to the own vehicle of a vehicle-mounted camera and an ultrasonic sonar. It is a figure which shows the example of a video of the bird's-eye view video displayed on a display. It is a schematic diagram which shows the parking scene which performs garage parking in a parking lot. It is a figure which shows the coordinate system for demonstrating the relationship between steering operation and the behavior of the own vehicle. It is a figure which shows an example of the steering control rule in the case of moving the own vehicle by right turn. It is a figure explaining the inclination of the tire of the own vehicle. It is a figure which shows the behavior of the own vehicle at the time of moving the own vehicle according to the steering control rule shown in FIG. It is a flowchart which shows the specific example of the process performed by a parking assistance controller, when a parking target position is set. It is a schematic diagram which patternizes and shows the attitude | position of the own vehicle at the time of parking target position setting. It is a figure which shows the behavior of the own vehicle after passing the vicinity of the parked vehicle used as an obstruction along a reserve path | route, and reaching | attaining a reverse start position. It is a figure which shows the control rule of steering in the case of moving the own vehicle by the behavior shown in FIG. It is a figure which shows the example which superimposed the reference line which specifies the end point position of a backup path | route on a bird's-eye view image | video.

  Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a configuration diagram showing a configuration of a parking assistance system to which the present invention is applied. This parking assist system calculates a route for guiding the vehicle to the parking target position, and automatically controls the steering of the vehicle so that the vehicle moves along the route, as shown in FIG. Thus, with respect to the parking support controller 10 that forms the core of the present system, four in-vehicle cameras 1a to 1d that capture images around the own vehicle and a pair of left and right that measure the positions of objects on both the left and right sides of the own vehicle. Ultrasonic sonars 2a and 2b, a display 3 for displaying a bird's-eye view around the vehicle, a steering actuator 4 for driving the steering of the vehicle, an operation input device 5 for receiving an operation input by the driver, and a steering angle of the vehicle The steering angle sensor 6 for detecting the vehicle speed and the vehicle speed sensor 7 for detecting the vehicle speed of the host vehicle are connected to each other.

  The in-vehicle cameras 1a to 1d are, for example, wide-angle CCD cameras or CMOS cameras having an angle of view of about 180 degrees, and these four in-vehicle cameras 1a to 1d can capture images of all areas surrounding the host vehicle. It is installed in the right place of the car. Specifically, for example, as shown in FIG. 2, the in-vehicle camera 1a is attached to the front grille of the own vehicle V0, the in-vehicle camera 1b is attached to the rear finisher, the in-vehicle camera 1c is attached to the right door mirror, and the in-vehicle camera 1d is attached to the left door mirror. An image of an area in a predetermined range around the vehicle is taken in a direction looking down obliquely with respect to the road surface.

  The ultrasonic sonars 2a and 2b transmit ultrasonic waves, receive reflected waves that are reflected back from the object, convert the time from transmission to reception into a distance, and measure the distance to the object It is. As shown in FIG. 2, the ultrasonic sonars 2a and 2b are respectively attached to the right side surface portion and the left side surface portion of the own vehicle V0 so that the detection direction is substantially perpendicular to the traveling direction of the own vehicle V0. Yes. The ultrasonic sonars 2a and 2b are used as obstacle detection means for measuring the position of an obstacle such as another parked vehicle existing in the vicinity of the parking target position of the own vehicle. Any device that can measure the position of the obstacle may be used, and other detection devices such as a laser radar and a millimeter wave radar may be used instead of the ultrasonic sonars 2a and 2b. Good.

  The display 3 is a display device such as a liquid crystal display installed in the passenger compartment of the host vehicle, and displays a bird's-eye view image around the host vehicle generated by the parking support controller 10 and various information for parking support.

  The steering actuator 4 is operation-controlled by the parking assist controller 10 and drives the steering of the host vehicle. As the steering actuator 4, for example, a steering drive motor of an electric power steering system that electrically assists a steering operation by a driver of the own vehicle is used.

  The operation input device 5 receives various operation inputs by the driver of the own vehicle, and includes, for example, direction keys and a touch panel. This operation input device 5 will input the operation signal according to the operation input into the parking assistance controller 10, if operation by a driver is made. Further, the rudder angle sensor 6 and the vehicle speed sensor 7 input information on the rudder angle and the vehicle speed of the host vehicle to the parking assist controller 10 as needed.

  The parking assistance controller 10 includes, for example, a microcomputer that operates according to a predetermined processing program, and implements various functions for parking assistance by the processing program being executed by the CPU of the microcomputer.

  Specifically, the parking assist controller 10 inputs images taken by the four in-vehicle cameras 1a to 1d, and views the images as viewed from a virtual viewpoint above the own vehicle according to a predetermined coordinate conversion algorithm. By converting and connecting them, a bird's-eye view image of the surroundings of the vehicle from above is generated, and the generated bird's-eye view image of the surroundings of the vehicle is displayed on the display 3.

  An example of a bird's-eye view image around the vehicle displayed on the display 3 is shown in FIG. In the example of FIG. 3, the area A1 is an image obtained by changing the viewpoint of an image taken by the in-vehicle camera 1a attached to the front grille, and the area A2 is an image taken by the in-vehicle camera 1b attached to the rear finisher. It is the image which changed the viewpoint. The area A3 is a video obtained by changing the viewpoint of the video shot by the in-vehicle camera 1c attached to the right side camera, and the area A4 is a viewpoint converted from the video shot by the in-vehicle camera 1d attached to the left side camera. It is a picture. The center of the bird's-eye view image is a vehicle position mark representing the vehicle position, and a computer graphics image is superimposed on the vehicle position mark. As shown in the example of FIG. 3, the bird's-eye view image displayed on the display 3 is an image in which the situation around 360 degrees around the own vehicle can be confirmed from above the own vehicle.

  For example, when the driver of the own vehicle performs an operation input for designating an arbitrary position on the overhead view image displayed on the display 3 as the parking target position using the operation input device 5. Then, the designated position is set as the parking target position of the own vehicle. At this time, the parking support controller 10 draws a frame figure (parking frame) having a size corresponding to the own vehicle on the bird's-eye view video displayed on the display 3 so that the driver can move the operation input device 5. It is desirable that the parking target position can be set at an arbitrary position intended by the driver by moving the parking frame to a desired position on the bird's-eye view image using the. If the parking target position of the own vehicle can be set by an operation on such a bird's-eye view video, the operability is improved. The parking target position can be set by performing image processing such as white line recognition on the overhead view image displayed on the display 3 without depending on the operation input of the vehicle driver. You may make it carry out by the method of detecting a parking space and automatically setting the said parking space as a parking target position.

  In addition, the parking assist controller 10 has a function of calculating a route for guiding the host vehicle to the parking target position. When such a route is calculated, the host vehicle moves along the route. In addition, the steering of the own vehicle is automatically controlled. Specifically, for example, the parking support controller 10 monitors the detected values of the steering angle sensor 6 and the vehicle speed sensor 7 as needed, and dead reckons the position and posture of the own vehicle, and moves the own vehicle along the calculated route. The target rudder angle for moving is calculated at any time. Then, the steering of the host vehicle is automatically controlled by controlling the operation of the steering actuator 4 so that the deviation between the target rudder angle and the actual rudder angle detected by the rudder angle sensor 6 becomes zero.

  Next, operation | movement of the parking assistance system of this embodiment comprised as mentioned above is demonstrated, assuming a concrete parking scene.

  FIG. 4 is a schematic diagram showing a parking scene in which garage parking is performed in a parking lot. Here, a case is considered in which a parking target position P1 is set in an empty parking section between the parked vehicle V1 and the parked vehicle V2, and the vehicle V0 is parked while the host vehicle V0 is moved backward at the parking target position P1. In this case, the driver of the own vehicle V0 uses the operation input device 5 while temporarily stopping the own vehicle V0 next to the parking section to be set as the parking target position P1 and watching the overhead view image displayed on the display 3. An operation input such as aligning the parking frame with the parking area on the overhead view video is performed. An area A in FIG. 4 is a bird's-eye view display area displayed on the display 3.

  When the parking target position P1 is set according to the driver operation, the parking support controller 10 calculates a route for guiding the host vehicle V0 to the parking target position P1. Here, when parking in the garage while reversing the host vehicle V0 as in the parking scene of FIG. 4, the host vehicle V0 once moves forward from the current position to the reverse start position P2, and shift gear at the reverse start position P2. After switching to reverse, the vehicle moves to the parking target position P1 while retreating from the reverse start position P2. In this case, a route when the host vehicle V0 moves from the reverse start position P2 to the parking target position P1 is an optimal route in which the host vehicle V0 does not interfere with the parked vehicle V1 parked adjacent to the parking target position P1. In order to achieve this, it is necessary to accurately measure the position of the parked vehicle V1 by measuring the position of the parked vehicle V1 with the ultrasonic sonar 2b in the process of moving to the reverse start position P2.

  In the conventional general parking assistance system, in the case of a parking scene as shown in FIG. 4, the movement of the vehicle to the reverse start position P2 is left to the driving operation by the driver, and the own vehicle is moved to the reverse start position P2. When the vehicle arrives, a route from the reverse start position P2 to the parking target position P1 is calculated, and thereafter, the host vehicle is guided to the parking target position P1 by automatic steering control. For this reason, the path to the reverse start position P2 cannot be controlled on the system side, and the position of the parked vehicle V1 may not be accurately measured in the process of moving to the reverse start position P2.

  Therefore, in the parking assistance system of the present embodiment, the parking assistance controller 10 is present on the front side of the host vehicle V0 with respect to the parking target position P1 based on information obtained until the parking target position P1 is set. A path for reliably measuring the position of an obstacle such as the parked vehicle V1 by the ultrasonic sonars 2a and 2b is calculated when the parking target position P1 is set. Then, the automatic steering control of the host vehicle V0 is started immediately after setting the parking target position P1 so that the host vehicle V0 moves along the route. In the following, in order to explain the features of the present invention in an easy-to-understand manner, the position of an obstacle such as the parked vehicle V1 described above is exceeded in a series of routes for guiding the host vehicle V0 to the parking target position P1. A route for measuring with the sonic sonars 2a and 2b is referred to as a “preliminary route”, and a route reaching the parking target position P1 via the reverse start position P2 after passing through the “preliminary route” is referred to as a “parking route”. The two are distinguished from each other. Here, the parking route which is the route after passing through the spare route is calculated by reflecting the measurement result of the obstacle position by the ultrasonic sonars 2a and 2b after the own vehicle V0 passes through the spare route. Alternatively, a provisional parking route is calculated together with the spare route when the parking target position P1 is set, and after the own vehicle V0 passes the spare route, the measurement result of the obstacle position by the ultrasonic sonars 2a and 2b is reflected. You may make it correct | amend a temporary parking route.

  Hereinafter, the specific method of the calculation of the preliminary route and the steering control by the parking support controller 10 that is characteristic in the parking support system of the present embodiment will be described in more detail, assuming the parking scene of the garage parking shown in FIG. To do.

  First, the relationship between the steering operation and the behavior of the host vehicle, which are the basis of steering control, will be briefly described. FIG. 5 shows a coordinate system used in the following description. In this coordinate system, the center of the rear wheel axle of the host vehicle V0 is the origin, the right direction of the host vehicle V0 is the positive direction of the X axis, and the forward direction of the host vehicle V0 is the positive direction of the Y axis.

As an example of a rule for automatically controlling the steering of the host vehicle, as shown in FIG. 6, the inclination ρ of the tire of the host vehicle is changed with respect to the moving distance L of the host vehicle. Here, the inclination ρ of the tire of the own vehicle is an angle shown in FIG. That is, if ρ> 0, the vehicle turns to the right, and if ρ <0, the vehicle turns to the left. When the steering of the vehicle is operated according to this rule, the rotation angle Δθ of the vehicle is
Δθ = ∫ρ (L) dL
Can be obtained. At this time, the steering direction of rotation is
dρ / dL> 0 → Steering rotates right dρ / dL <0 → Steering rotates left dρ / dL = 0 → Steering is fixed at a fixed steering angle.

Here, when the steering is operated as shown in the graph of FIG. 6, the steering rotates to the right in the section A, the steering is fixed at a certain angle in the section B, and the steering rotates to the right in the section C. . The behavior of the vehicle V0 at this time is as shown in FIG. That is, if the host vehicle V0 is moved from the position where the host vehicle V0 stops at an angle θ0 with respect to the X axis while operating the steering according to the rules shown in FIG. ,
θ1 = θ0 + Δθ
It moves to the position which turned by angle (theta) 1 calculated | required by.

  Next, specific examples of preliminary route calculation and steering control logic will be described with reference to FIGS. FIG. 9 is a flowchart showing a specific example of processing executed by the parking assist controller 10 when the parking target position P1 is set. FIG. 10 shows a pattern of the posture of the host vehicle V0 when the parking target position P1 is set. FIG. As described above, the parking target position P1 is set by temporarily stopping the vehicle V0 next to the parking section to be set as the parking target position P1 by the driver of the vehicle V0 (see FIG. 4). It is assumed that the operation input device 5 is used while viewing the bird's-eye view video (area A in FIG. 4) displayed on the screen.

  In the case of the parking scene shown in FIG. 4, the spare route calculated when setting the parking target position P1 ensures that the position of the parked vehicle V1 existing in front of the host vehicle V0 with respect to the parking target position P1 is determined by the ultrasonic sonar 2b. This is a route for measurement. The parking assistance controller 10 calculates such a preliminary route when setting the parking target position P1, using information obtained until the parking target position P1 is set. Specifically, the parking assist controller 10 determines the parking target position P1 based on the position information of the parked vehicle V2 that is present in front of the host vehicle V0 with respect to the parking target position P1 and the position information of the parking target position P1. The direction of alignment of the parking section set with the parking section and the parking section adjacent to this parking section is estimated, and passes through the front side of the parking target position P1 (near the parked vehicle V1) in a direction substantially parallel to the arrangement direction of the parking section. The route to be calculated is calculated as a backup route. The position information of the parked vehicle V2 existing on the near side of the host vehicle V0 with respect to the parking target position P1 is obtained by measuring the ultrasonic sonar 2b in the process of moving the host vehicle V0 to the position when the parking target position P1 is set. Information obtained. Further, the position information of the parking target position P1 is information obtained by setting the parking target position P1.

  The estimation of the arrangement direction of the parking sections is performed by the following method, for example.

  First, as shown in FIG. 10, based on the position information of the parked vehicle V2 existing on the near side of the host vehicle V0 from the parking target position P1 and the position information of the parking target position P1, the front end of the parking target position P1. A distance D in the front-rear direction of the parking target position P1 between the current position N1 and the position N2 at the front end of the parked vehicle V2 is obtained (step S1 in the flowchart of FIG. 9). This distance D corresponds to the amount of positional deviation in the front-rear direction between the parking area where the parking target position P1 is set and the parking area adjacent to this parking area.

  Next, it is determined whether or not the distance D obtained as described above is smaller than a predetermined distance d1 set in advance (step S2 in the flowchart of FIG. 9). Here, the predetermined distance d1 is a threshold for determining whether or not the distance D is close to zero, and absorbs an error between the calculated distance D and the amount of positional deviation in the front-rear direction of the actual parking section. Set to a value. Therefore, if the distance D is smaller than the predetermined distance d1, the parking sections are arranged side by side for parallel parking, and the arrangement direction of the parking sections is a direction substantially perpendicular to the front-rear direction of the parking target position P1. It can be estimated that. On the other hand, if the distance D is greater than the predetermined distance d1, the parking section is obliquely arranged for oblique parking, and the arrangement direction of the parking sections is a direction substantially perpendicular to the front-rear direction of the parking target position P1. Therefore, it can be estimated that the direction is inclined at a certain angle (a general oblique parking angle).

  In the parking support system according to the present embodiment, the parking support controller 10 generates an overhead view image around the own vehicle using the images taken by the in-vehicle cameras 1a to 1d. When a plurality of white lines partitioning the parking area can be recognized by image processing on the video, the arrangement direction of the parking area may be estimated using the information. That is, when a plurality of white lines partitioning the parking area are recognized on the bird's-eye view video, the direction of the line segment connecting the end points of each white line may be estimated as the arrangement direction of the parking areas.

  After estimating the alignment direction of the parking areas as described above, the parking support controller 10 considers the posture of the own vehicle V0 with respect to the alignment direction of the parking areas, and the direction in which the own vehicle V0 is substantially parallel to the alignment direction of the parking areas The preliminary route is calculated so as to pass near the parked vehicle V1.

  Specifically, first, the host vehicle V0 at the time of setting the parking target position P1 with respect to the line segment representing the front end position N1 of the parking target position P1 (or the line segment representing the front end position N2 of the parked vehicle V2). Is determined (steps S3 and S4 in the flowchart of FIG. 9). When the parking sections are arranged side by side and the arrangement direction of the parking sections is determined to be a direction substantially perpendicular to the front-rear direction of the parking target position P1 (in the case of YES determination in step S2). Then, it is determined whether or not the angle θ is smaller than a preset predetermined angle θ1 (step S5 in the flowchart of FIG. 9). Here, the predetermined angle θ1 is a threshold value for determining whether or not the direction of the host vehicle V0 is substantially parallel to the arrangement direction of the parking sections, and is a value enough to absorb the calculation error of the angle θ. Set to

  Further, the parking sections are diagonally arranged, and the direction in which the parking sections are arranged is an angle from a direction substantially perpendicular to the front-rear direction of the parking target position P1 (a general oblique parking angle, hereinafter referred to as an angle θ2). 9 (in the case of NO determination in step S3 in the flowchart of FIG. 9), the absolute value (| θ−θ2 |) of the difference between the angle θ and the angle θ2 is a predetermined angle. It is determined whether it is smaller than θ1 (step S6 in the flowchart of FIG. 9).

  Based on the above determination, the posture of the host vehicle V0 with respect to the arrangement direction of the parking sections at the time of setting the parking target position P1 can be classified into four patterns shown in FIGS. 10 (a) to 10 (d). That is, in the case of YES determination in step S5, as shown in FIG. 10 (a), the parking target position P1 is set in the horizontally arranged parking section, and the direction of the own vehicle V0 is the arrangement of the parking section. It can be estimated that the direction substantially coincides with the direction. In the case of NO determination in step S5, as shown in FIG. 10 (b), the parking target position P1 is set in the parking area arranged side by side, and the direction of the host vehicle V0 is the alignment of the parking area. It can be estimated that the directions do not match. In the case of YES determination in step S6, as shown in FIG. 10 (c), the parking target position P1 is set in the obliquely arranged parking section, and the direction of the own vehicle V0 is the alignment of the parking section. It can be estimated that the direction substantially coincides with the direction. Further, in the case of NO determination in step S6, as shown in FIG. 10D, the parking target position P1 is set in the obliquely arranged parking section, and the direction of the own vehicle V0 is the arrangement of the parking section. It can be estimated that the directions do not match.

  The parking assist controller 10 determines the position of the parked vehicle V1 that is an obstacle ahead of the host vehicle V0 from the parking target position P1 according to the posture pattern of the host vehicle V0 with respect to the parking section estimated by the above determination. Is calculated as a spare path for reliably measuring by the ultrasonic sonar 2b.

  That is, when the parking support controller 10 estimates that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10A, the current direction of the host vehicle V0, that is, when the parking target position P1 is set. While maintaining the direction of the host vehicle V0, the vehicle advances along the arrangement direction of the parking sections arranged side by side, and a route passing through the vicinity of the parked vehicle V1 is calculated as a backup route (step S7 in the flowchart of FIG. 9).

  In addition, when the parking support controller 10 estimates that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10B, the current direction of the host vehicle V0 is aligned in the side-by-side arrangement direction of the parking sections. A route that includes a section that is steered so as to coincide with the vehicle and a section that moves forward in the direction of the side-by-side parking sections while maintaining the steering in a substantially neutral state and passes through the vicinity of the parked vehicle V1. (Step S8 in the flowchart of FIG. 9).

  Further, when the parking support controller 10 estimates that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10C, the current direction of the host vehicle V0, that is, when the parking target position P1 is set. While maintaining the direction of the host vehicle V0 in FIG. 9, the vehicle travels along the direction in which the obliquely arranged parking sections are arranged and passes through the vicinity of the parked vehicle V1 as a spare route (step S9 in the flowchart of FIG. 9).

  In addition, when the parking support controller 10 estimates that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10D, the current direction of the host vehicle V0 is the direction in which the parking sections are arranged obliquely. A route including a section for steering control so as to match with a section, and a section that advances in the direction in which the parking sections are arranged obliquely and passes near the parked vehicle V1 while maintaining the steering in a substantially neutral state. (Step S10 in the flowchart of FIG. 9). In addition, since the arrangement direction of the diagonally arranged parking sections is obtained with reference to a general oblique parking angle θ2, in particular, in the case of the pattern shown in FIG. A case where the direction of the vehicle V0 is different from the estimated direction is also assumed. Therefore, if it is estimated that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10D, for example, the driver selects the traveling direction of the host vehicle V0 on the overhead view image displayed on the display 3. For example, the driver can specify the traveling direction of the vehicle V0 by some method such as superimposing an icon for the vehicle, and reserves a route through which the vehicle V0 moves forward in the direction specified by the driver and passes near the parked vehicle V1. It may be calculated as a route.

  When the parking assist controller 10 calculates the reserve route according to the above logic, the parking assist controller 10 automatically controls the steering of the vehicle V0 so that the vehicle V0 moves along the calculated reserve route (step S11 in the flowchart of FIG. 9). .

  Here, taking as an example a case where the preliminary route is calculated by assuming that the posture of the own vehicle V0 with respect to the parking section is the pattern shown in FIG. 10B, the own vehicle V0 is moved along the preliminary route. A specific method of steering control for this will be described with reference to FIGS. 11 and 12. FIG. 11 is a diagram illustrating the behavior of the host vehicle V0 from passing through the vicinity of the parked vehicle V1 along the calculated preliminary route until reaching the reverse start position P2, and FIG. 12 illustrates the host vehicle V0. FIG. 11 is a diagram illustrating a steering control rule when the vehicle is moved according to the behavior shown in FIG.

  In the example shown in FIG. 11 and FIG. 12, the section P and the section Q represent a section in which the host vehicle V0 moves along the backup route for measuring the position of the parked vehicle V1, and the section Q is a parked vehicle. This represents a section in which the host vehicle V0 moves to the reverse start position P2 after measuring the position of V1. That is, in the section P, steering control is performed so that the direction of the own vehicle V0 coincides with the arrangement direction of the parking sections arranged side by side, and in the section Q, the parking of the side-by-side arrangement is performed while maintaining the steering of the own vehicle V0 in a substantially neutral state. The own vehicle V0 is moved forward along the sectioning direction. Thereafter, in the section R, the steering control is performed so that the direction of the host vehicle V0 matches the direction of the reverse start position P2.

  Here, the direction of the host vehicle V0 with respect to the arrangement direction of the parking sections when the parking target position P1 is set is θ, and the area of the triangle 0-L1-L2 representing the change in the tire inclination ρ in the section P in FIG. Assuming SP, in the section P, the steering of the host vehicle V0 may be controlled so that the relationship SP = θ is established. Further, when the direction of the reverse start position P2 with respect to the arrangement direction of the parking sections is θ2, and the area of the trapezoid L3-L4-L5-L6 representing the change in the tire inclination ρ in the section R in FIG. May control the steering of the host vehicle V0 so that the relationship SR = θ2 is established. Since the section Q is a section in which the steering is maintained in a substantially neutral state, the tire inclination ρ remains zero.

  The above is an example of the steering control in the case where the preliminary route is calculated by estimating that the posture of the host vehicle V0 with respect to the parking section is the pattern shown in FIG. 10B. By performing the steering control according to the same concept as the control rule, the host vehicle V0 can reach the reverse start position P2 after passing the vicinity of the parked vehicle V1 along the backup route.

  By the way, as described above, the preliminary route calculated when the parking target position P1 of the host vehicle V0 is set is a fault such as the parked vehicle V1 existing ahead of the parking target position P1 in the traveling direction of the host vehicle V0. Although it is a route for measuring the position of the object with the ultrasonic sonars 2a and 2b, it is naturally conceivable that there is no obstacle such as the parked vehicle V1 in front of the parking target position P1. Therefore, if this spare route is a route until an obstacle such as the parked vehicle V1 is detected, the vehicle V0 continues to move forward along the parking area when there is no such obstacle. It is assumed that the driver of the own vehicle V0 not only feels uncomfortable but also hinders appropriate parking assistance. Therefore, the preliminary route is calculated in advance as a route having a constant distance, and if an obstacle such as the parked vehicle V1 is not detected until the end point position, the reserve route moves from the end point position toward the reverse start position P2. It is desirable to perform steering control. At this time, for example, as shown in FIG. 13, if a mark such as a reference line M clearly indicating the end point position of the backup route is superimposed on the bird's-eye view video and displayed on the display 3, The section that advances along the route can be recognized by the driver, which increases convenience.

  In addition, a parking route that is a route after the host vehicle V0 passes the spare route, that is, a route that reaches the parking target position P1 via the reverse start position P2, reflects the measurement result of the obstacle position such as the parked vehicle V1. To optimize. As described above, the timing for calculating such a parking route may be calculated when the measurement result of the obstacle position is obtained by passing the vehicle V0 through the backup route. In order to make the transition from the route to the parking route smoothly, the temporary parking route is calculated together with the calculation of the spare route when the parking target position P1 is set, and the obstacle position after the host vehicle V0 passes the spare route. It is effective to correct the temporary parking route by reflecting the measurement result. Further, at this time, when the backward start position P2 is clearly shown on the overhead view video displayed on the display 3 and the parking route is corrected by reflecting the measurement result of the obstacle position, the overhead view video is accordingly adjusted. If the display position of the reverse start position P2 is changed, the driver can recognize the behavior of the vehicle V0 moving along the parking route, and convenience is increased.

  As described above in detail with specific examples, in the parking support system of the present embodiment, the parking support controller 10 is based on information obtained until the parking target position of the host vehicle is set. The spare path for measuring the position of an obstacle existing ahead of the parking target position in the traveling direction of the own vehicle with the ultrasonic sonars 2a and 2b is calculated at the time of setting the parking target position. Then, immediately after the parking target position is set, the automatic steering control of the own vehicle is started, and the steering of the own vehicle is controlled so that the own vehicle passes near the obstacle along the backup route. Therefore, according to the parking assistance system of the present embodiment, the position of the obstacle is reliably measured in the process of moving along the spare route, and the vehicle is positioned so as to avoid the obstacle and reach the parking target position. The vehicle can be guided and highly reliable parking assistance can be performed.

  Further, the parking support controller 10 estimates the alignment direction of the parking areas where the parking target positions are set, and calculates a path through which the vehicle passes through the vicinity of the obstacle in a direction substantially parallel to the alignment direction of the parking areas. Therefore, the obstacle position can be reliably measured by the ultrasonic sonars 2a and 2b.

  The embodiment of the present invention described above is merely an example of application of the present invention, and the technical scope of the present invention is intended to be limited to the contents disclosed as the above-described embodiment. Not what you want. That is, the technical scope of the present invention is not limited to the specific technical matters disclosed in the above-described embodiments, but includes various modifications, changes, alternative techniques, and the like that can be easily derived from this disclosure.

2a, 2b Ultrasonic sonar 3 Display 4 Steering actuator 10 Parking support controller V0 Own vehicle V1, V2 Parked vehicle (obstacle)
P1 parking target position

Claims (12)

Parking target position setting means for setting the parking target position of the vehicle;
Obstacle detection means for measuring the position of an obstacle present in the vicinity of the parking target position;
Steering control means for calculating a route for guiding the vehicle to the parking target position and controlling the steering of the vehicle so that the vehicle moves along the route;
The steering control means uses the obstacle detection means to determine the position of an obstacle existing ahead of the parking target position in the vehicle traveling direction based on information obtained until the parking target position is set. A parking assistance device, characterized in that a spare route, which is a route for measurement, is calculated when the parking target position is set, and steering of the vehicle is controlled so that the vehicle moves along the spare route.   The steering control means estimates an arrangement direction of a parking section where the parking target position is set and a parking section adjacent to the parking section based on information obtained until the parking target position is set. 2. The parking assist device according to claim 1, wherein a route that passes in front of the parking target position in a direction substantially parallel to the arrangement direction of the parking sections is calculated as the backup route.   The steering control means estimates the alignment direction of the parking sections based on the position information of an obstacle existing on the near side of the vehicle traveling direction from the parking target position and the position information of the parking target position. The parking assistance device according to claim 2, wherein:   The steering control means calculates a distance in the front-rear direction of the parking target position between a position of a front end of the parking target position and a position of a front end of an obstacle existing on the near side of the parking target position, When the distance is less than a predetermined value, it is estimated that the direction substantially perpendicular to the front-rear direction of the parking target position is the arrangement direction of the parking sections, and is substantially perpendicular to the front-rear direction of the parking target position. The parking assistance device according to claim 3, wherein a route that passes in front of the parking target position while traveling in a direction is calculated as the backup route.   The steering control means calculates a distance in the front-rear direction of the parking target position between the position of the front end of the parking target position and the position of the front end of an obstacle existing in front of the parking target position. Is greater than or equal to a predetermined value, it is estimated that a direction inclined by a predetermined angle from a direction substantially perpendicular to the front-rear direction of the parking target position is the alignment direction of the parking sections, and the front-rear direction of the parking target position is The parking assist device according to claim 3, wherein a route that passes forward from the parking target position while traveling in a direction inclined by a predetermined angle from a substantially perpendicular direction is calculated as the backup route. .   The steering control means proceeds while maintaining the direction of the vehicle at the time of setting the parking target position when the direction of the vehicle at the time of setting the parking target position substantially coincides with the arrangement direction of the parking sections. The parking assistance device according to any one of claims 2 to 5, wherein a route is calculated as the backup route.   The steering control means performs steering control so that the direction of the vehicle coincides with the arrangement direction of the parking sections when the direction of the vehicle at the time of setting the parking target position does not coincide with the arrangement direction of the parking sections. 6. The route including a section and a section that travels substantially parallel to the arrangement direction of the parking sections while maintaining steering in a substantially neutral state is calculated as the backup route. The parking assistance device according to item.   The parking assist device according to any one of claims 1 to 7, wherein the steering control unit calculates the preliminary route as a route having a constant distance.   9. The parking assist apparatus according to claim 8, further comprising display means for displaying an image clearly indicating an end point position of the preliminary route.   The steering control means calculates a parking route, which is a route after passing the preliminary route, together with the preliminary route when the parking target position is set, and moves the front side of the parking target position along the preliminary route. The parking according to any one of claims 1 to 9, wherein the parking path is corrected according to the position of the obstacle measured by the obstacle detection means while the vehicle is passing. Support device.   The parking assist device according to claim 10, wherein the parking route is a route that reaches the parking target position via a reverse start position where the vehicle is switched from forward to backward.   Based on information obtained until the parking target position of the vehicle is set, a spare path that is a path for measuring the position of an obstacle existing ahead of the parking target position in the vehicle traveling direction is A parking support method, characterized in that the steering of the vehicle is controlled so that the vehicle moves along the preliminary route, which is calculated when the parking target position is set.

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