JP5445330B2 - Parking space detection device - Google Patents

Parking space detection device Download PDF

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JP5445330B2
JP5445330B2 JP2010119604A JP2010119604A JP5445330B2 JP 5445330 B2 JP5445330 B2 JP 5445330B2 JP 2010119604 A JP2010119604 A JP 2010119604A JP 2010119604 A JP2010119604 A JP 2010119604A JP 5445330 B2 JP5445330 B2 JP 5445330B2
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vehicle
parking space
unit
data
amplitude intensity
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JP2011245939A (en
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啓子 秋山
充保 松浦
文雅 真金
優 小山
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株式会社日本自動車部品総合研究所
株式会社デンソー
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Description

  The present invention relates to a parking space detection device.

  Conventionally, when passing alongside the parking position, the vehicle is already parked based on the exploration wave transmitted from the distance measuring sensor attached to the left and right of the front of the vehicle toward the side of the vehicle and the reflected wave. There is known a technique for detecting a parking space by detecting a distance from an existing vehicle, specifying a contour shape of the parked vehicle (that is, a position of the parked vehicle) from distance data stored in time series.

  For example, Patent Document 1 discloses that a distance data series (point sequence) to a parked vehicle detected by a distance measuring sensor such as a laser radar is approximated by an ellipse or a parabola, and a triangle is obtained from distance data at a plurality of measurement points. A technique is disclosed in which the contour shape of a parked vehicle is specified by surveying and a parking space in which parking is possible is detected.

JP 2008-21039 A

  Since the corner portion of the vehicle has a curved surface shape, the exploration wave incident on the corner portion from the distance measuring sensor is not easily reflected in the same direction as the incident direction. Therefore, the reflected wave at the corner portion of the parked vehicle of the exploration wave transmitted from the range sensor of the vehicle passing by the side of the parked vehicle to the side of the vehicle often does not reach the range sensor.

  For this reason, as in the technique disclosed in Patent Document 1, in the conventional technique for specifying the contour shape of the parked vehicle based on the distance data point sequence to the parked vehicle detected by the distance measuring sensor, the corner portion of the vehicle is The distance data cannot be obtained well, and the corner portion of the vehicle cannot be specified accurately. That is, the vehicle end position cannot be accurately specified because it can be accurately detected only from the corner of the vehicle to the front. Therefore, in the technique disclosed in Patent Document 1, the vehicle end position of the parked vehicle cannot be accurately specified. Therefore, the distance from the front of the corner portion to the vehicle end position becomes an error, and the parking space is accurately detected. There was a problem that could not be done.

  Further, in the technique disclosed in Patent Document 1, since the vehicle end position cannot be accurately specified, a vehicle having a rounded outer shape, that is, a region having the curved shape of the corner portion described above is greatly expanded. For certain types of vehicles, certain errors in the vehicle end position are more pronounced. Therefore, in the technique disclosed in Patent Document 1, when the vehicle having a rounded outer shape is a parked vehicle, the problem that the parking space cannot be accurately estimated becomes more remarkable.

  The present invention has been made in view of the above-described conventional problems, and an object thereof is to provide a parking space detection device that can detect a parking space more accurately regardless of the shape of the parked vehicle. There is to do.

  The present inventor believes that the value of the amplitude intensity of the reflected wave obtained by reflecting the exploration wave transmitted to the side of the vehicle by the parked vehicle existing on the side of the vehicle becomes the reflection surface of the exploration wave. It has been found that it corresponds very well with the outer shape of the parked vehicle, in particular with the vehicle end.

Here, according to the parking space detection device of claims 1 and 2 , the parking space adjacent to the parked vehicle based on the time series data of the amplitude intensity of the reflected wave with respect to the exploration wave sequentially transmitted to the side of the vehicle. Therefore, it is possible to estimate the vehicle end more accurately and estimate the parking space more accurately regardless of the shape of the parked vehicle.

  Further, the present inventor has the amplitude intensity of the reflected wave obtained by the reflected wave transmitted to the side of the vehicle reflected by the parked vehicle present on the side of the vehicle, It has been found that the vehicle rapidly changes at the end in the traveling direction.

Here, according to the configuration of claims 1 and 2, since the vehicle end (that is, the end of the parked vehicle in the direction of the route that the vehicle has passed) is estimated based on the change in the time-series data of the amplitude intensity, the vehicle The edge can be estimated with higher accuracy. Further, since the vehicle end can be estimated with higher accuracy, the parking space can be detected more accurately regardless of the shape of the parked vehicle.

Further, if the estimated vehicle end based on each differential value of the time series data of the amplitude intensity as Motomeko 2, to determine the point at which the time series data of the amplitude intensity rapidly changes more accurately vehicle The edge can be estimated particularly accurately. In addition, since the vehicle end can be estimated particularly accurately, the parking space can be detected particularly accurately regardless of the shape of the parked vehicle.

  In addition, the present inventor, for each differential value of the time series data of the amplitude intensity of the reflected wave obtained by the reflected wave transmitted to the side of the vehicle is reflected by the parked vehicle that exists on the side of the vehicle, Reflection that obtained the amplitude intensity at which the maximum differential value was calculated among the points that switch to a negative differential value that is less than or equal to a certain value within a range that is continuously negative starting from the data corresponding to the rearmost side in the time series It was found that the wave measurement position corresponds very well to the front vehicle end with respect to the traveling direction of the vehicle among the vehicle ends of the parked vehicle. Furthermore, the present inventor calculated the minimum differential value among the points that are switched to a positive differential value equal to or greater than a certain value in a range that is continuously positive starting from the data corresponding to the forefront in the time series. It has been found that the measurement position of the reflected wave from which the amplitude intensity is obtained corresponds very well to the rear vehicle end with respect to the traveling direction of the vehicle among the vehicle ends of the parked vehicle.

Therefore, when the vehicle end is estimated based on the differential values of the time series data of the amplitude intensity as in claim 2 , the vehicle among the parked vehicles that sandwich the parking space as in claim 3. In the group of time series data of amplitude intensity distributed by the data distribution unit to the rear parked vehicle in the traveling direction of the vehicle, in the range that is negative continuously starting from the data corresponding to the rearmost in the time series, The maximum differential value among the differential values that are equal to or less than the specified value of 1 is specified, and based on the specified differential value, the vehicle end adjacent to the parking space of the parked vehicle on the rear side is estimated, and parking is performed. Of the parked vehicles across the space, the data corresponding to the frontmost in the time series in the group of time series data of the amplitude intensity distributed by the data distribution unit to the front parked vehicle in the traveling direction of the vehicle In the range that is continuously positive as the starting point, the minimum differential value among the differential values that are equal to or greater than the second specified value is specified, and based on the specified differential value, the parking space of the front parked vehicle It is preferable to estimate a vehicle end adjacent to the vehicle.

  In this way, the vehicle end of the parked vehicle adjacent to the parking space can be estimated very accurately, so the parking space can be detected very accurately regardless of the shape of the parked vehicle. become.

  In addition, the inventor has found that the change in the amplitude intensity of the reflected wave obtained by the reflected wave transmitted to the side of the vehicle being reflected by the parked vehicle existing on the side of the vehicle is the extreme data (that is, The measurement position of the reflected wave with the maximum amplitude intensity corresponds very well to the vehicle end in the range in which the amplitude intensity continuously increases starting from the data of the front side and the rearmost side in the time series) I found out.

According to the configuration of the first aspect of the present invention, since the vehicle end is estimated based on data in which the amplitude intensity is maximum in the continuously increasing range of the time series data of the amplitude intensity, Can be estimated particularly accurately, and the parking space can be detected particularly accurately regardless of the shape of the parked vehicle.

  Specifically, among the parked vehicles that sandwich the parking space, the amplitude intensity is continuous for the cluster that is sorted by the data sorting unit to the rear parked vehicle in the traveling direction of the vehicle, starting from the rearmost data in the time series. Thus, by specifying the data having the maximum amplitude intensity in the increasing range, it is possible to accurately estimate the vehicle end adjacent to the parking space of the rear parked vehicle. In addition, for a group distributed to the parked vehicle on the front side by the data distribution unit, the data having the maximum amplitude intensity is specified in a range in which the amplitude intensity continuously increases starting from the most front data in the time series. Thus, the vehicle end adjacent to the parking space of the front parked vehicle can be estimated with high accuracy.

  As described above, the change in the amplitude intensity of the reflected wave obtained when the exploration wave transmitted to the side of the vehicle is reflected by the parked vehicle present on the side of the vehicle becomes the reflection surface of the exploration wave. Since it corresponds very well to the outer shape of the parked vehicle, it is possible to more accurately determine the area where the parked vehicle exists and the area of the parking space with a certain amplitude intensity as a boundary.

Further, the moving average process may be performed on the time series data of the amplitude intensity as in the fourth aspect. For example, when the vehicle end is estimated based on each differential value of the time series data of amplitude intensity as in claim 2 or 3 , moving average processing is performed on the time series data of amplitude intensity as in claim 4. By applying and smoothing, each differential value of time series data of amplitude intensity is also smoothed. Therefore, it is possible to more stably determine the point at which the time series data of the amplitude intensity changes rapidly, and it becomes possible to more easily estimate the vehicle end more accurately.

Furthermore, when as claim 1 for estimating the vehicle end based on the peak amplitude intensity, by smoothing by performing moving average processing on the time-series data of the amplitude intensity as claimed in claim 4 The maximum value in the range in which the amplitude intensity continuously increases can be more easily discriminated, and the accurate vehicle end can be estimated more stably.

Moreover, according to the structure of Claim 5 , since the magnitude | size of the parking space displayed on a display part is determined according to the magnitude | size of the parking space detected based on the vehicle end estimated in the vehicle end estimation part, The user can intuitively know how much parking space is available.

Moreover, according to the structure of Claim 6, since the display which shows the vehicle of the magnitude | size according to the data of the magnitude | size of a vehicle with the display which shows the parking space mentioned above is performed on a display part, By comparing the display indicating the vehicle, the user can intuitively know whether or not the own vehicle can be parked in the parking space.

According to the configuration of claim 7 , the vehicle can be parked in the parking space based on the size of the parking space detected based on the vehicle end estimated by the vehicle end estimation unit and the vehicle size data. Therefore, the result of the determination is presented, so that the user can know more accurately whether or not the host vehicle can be parked in the parking space.

1 is a block diagram illustrating a schematic configuration of a parking assistance system 100. FIG. It is a schematic diagram for demonstrating the detection aspect of the parked vehicle and parking space by the ranging sensor 2. FIG. It is a block diagram which shows the schematic structure of parking assistance ECU1. It is a figure which shows an example of the display on the indicator. It is a flowchart which shows the flow of the detection of the parking space C in parking assistance ECU1. (A) is a figure explaining an example of the reflected intensity of the reflected wave in the corner part of a square vehicle, (b) demonstrates an example of the reflected intensity of the reflected wave in the corner part of a round vehicle. FIG. (A) is a figure for demonstrating the estimation result of the vehicle end by this invention, (b) is a figure for demonstrating the estimation result of the vehicle end by a prior art. It is a figure for demonstrating the relationship between the peak in the change of the time series data of amplitude intensity | strength, and the vehicle end of a parked vehicle. It is a figure for demonstrating the relationship between the value of time series data of amplitude intensity | strength, and the vehicle end of a parked vehicle. It is a block diagram which shows the schematic structure of parking assistance ECU1a.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a parking assistance system 100 to which the present invention is applied. A parking support system 100 shown in FIG. 1 detects a parking space that is mounted on a vehicle and is adjacent to a parked vehicle that is present on the side of a route through which the host vehicle passes, and includes a parking support ECU 1, a distance measuring sensor 2, A steering angle sensor 3, a wheel speed sensor 4, a display 5, and an audio output device 6 are included. The parking assist ECU 1, the distance measuring sensor 2, the steering angle sensor 3, and the wheel speed sensor 4 are connected to each other via an in-vehicle LAN that complies with a communication protocol such as CAN (controller area network). Hereinafter, a vehicle equipped with the parking assist system 100 is referred to as a host vehicle.

  The distance measuring sensor 2 is a sensor used for detecting a distance to an obstacle by transmitting a survey wave and receiving a reflected wave of the search wave reflected by the obstacle. Therefore, the distance measuring sensor 1 corresponds to the exploration wave transmission / reception unit in the claims. The distance measuring sensor 2 may be any sensor that transmits an exploration wave and receives a reflected wave of the exploration wave, and uses a radio wave regardless of whether it uses a sound wave or a light wave. There may be. For example, as the distance measuring sensor 2, a sensor such as an ultrasonic sensor, a laser radar, or a millimeter wave radar can be used.

  In addition, the distance measuring sensor 2 is arranged, for example, on the left and right side surfaces of the bumper of the own vehicle so that the exploration wave is transmitted toward the side, for example, the directional center line is parallel to the axle direction of the own vehicle. One by one. Note that the directivity center line of the distance measuring sensor 2 may be arranged to be inclined to, for example, about 20 ° from the axle direction of the host vehicle. Further, the directivity of the distance measuring sensor 2 is preferably narrower as long as it is wide enough to transmit and receive waves satisfactorily when used in an assumed vehicle speed range.

  Here, an example of a detection mode of the parked vehicle and the parking space by the distance measuring sensor 2 will be described with reference to FIG. FIG. 2 is a schematic diagram for explaining how the distance measurement sensor 2 detects a parked vehicle and a parking space. In addition, A and B in FIG. 2 show parked vehicles that are parked in parallel, and a region represented by a broken line C shows a parking space sandwiched between the parked vehicles A and B. Further, D in FIG. 2 indicates the host vehicle, and a black arrow indicates the traveling direction of the host vehicle D. Further, it is assumed that the rear side is the parked vehicle A and the front side is the parked vehicle B in the traveling direction of the host vehicle. A region indicated by a dotted line indicates the directivity of the distance measuring sensor 2. Here, for the sake of convenience, only the distance measuring sensor 2 arranged on the left side surface of the host vehicle D is shown and described.

  The own vehicle D transmits the exploration wave sequentially from the distance measuring sensor 2 arranged on the left side surface of the own vehicle D toward the left side of the own vehicle D, and the side of the parked vehicle A, the parking space C, and the parked vehicle B. The reflected waves from the parked vehicle A and the parked vehicle B are sequentially received while passing through the vehicle. Based on the reflected wave sequentially received by the distance measuring sensor 2 while the host vehicle D is traveling, the parking space C adjacent to the parked vehicles A and B existing on the left side of the route through which the host vehicle D has passed is determined. Parking assistance ECU1 will detect. Hereinafter, the description will be continued based on the example of FIG.

  The steering angle sensor 3 is a sensor that detects the steering angle of the steering of the vehicle. The steering angle when the vehicle travels in a straight traveling state is a neutral position (0 degree), and the rotation angle from the neutral position is the steering angle. Output. The steering angle is output with a positive (+) sign when rotating right from the neutral position, and is output with a negative (-) sign when rotating left from the neutral position. The The wheel speed sensor 4 is a sensor that detects the speed of the vehicle from the rotational speed of each rolling wheel.

  The display 5 displays text and images according to instructions from the parking assist ECU 1. For example, the display 5 is capable of full-color display and can be configured using a liquid crystal display, an organic EL display, a plasma display, or the like. The display 5 may be configured to use a display provided in the in-vehicle navigation device, or may be configured to use a display provided in an instrument panel or the like separately from the display of the in-vehicle navigation device. Good.

  The audio output device 6 is constituted by a speaker or the like, and outputs audio according to an instruction from the parking assistance ECU 1. In addition, as the audio | voice output apparatus 6, it is good also as a structure which utilizes the audio | voice output apparatus provided in the vehicle-mounted navigation apparatus, for example.

  The parking assist ECU 1 is mainly composed of a microcomputer (hereinafter referred to as a microcomputer) including a CPU, a ROM, a RAM, a backup RAM, and the like, and receives various information input from the distance measuring sensor 2, the steering angle sensor 3, and the wheel speed sensor 4. Based on this, various processes are executed by executing various control programs stored in the ROM. The parking assist ECU 1 and the distance measuring sensor 2 correspond to a parking space detection device in claims.

  Here, a schematic configuration of the parking assist ECU 1 will be described with reference to FIG. FIG. 3 is a block diagram illustrating a schematic configuration of the parking assist ECU 1. As shown in FIG. 3, the parking assist ECU 1 includes a vehicle information acquisition unit 11, a transmission control unit 12, an amplitude intensity acquisition unit 13, a distance calculation unit 14, a storage processing unit 15, a temporary storage unit 16, a measurement position calculation unit 17, and a front A processing unit 19, a vehicle end estimation unit 20, a parking space calculation unit 21, a parking availability determination unit 22, and a presentation control unit 23 are provided.

  The vehicle information acquisition unit 11 acquires vehicle information detected by various sensors provided in the host vehicle D. For example, the vehicle information acquisition unit 11 acquires information on the steering angle of the steering of the host vehicle D detected by the steering angle sensor 3 as vehicle information. Further, the vehicle information acquisition unit 11 acquires vehicle speed information of the host vehicle D detected by the wheel speed sensor 4 as vehicle information.

  The transmission control unit 12 controls transmission of the exploration wave from the distance measuring sensor 2. For example, the transmission control unit 12 performs control so that a search wave is transmitted from the distance measuring sensor 2 at a predetermined interval. The predetermined interval mentioned here can be arbitrarily set, and for example, may be configured every 100 ms. Further, the transmission control unit 12 sets the interval short as the vehicle speed of the host vehicle D acquired by the vehicle information acquisition unit 11 increases, and transmits the exploration wave every time the host vehicle D travels a predetermined distance. It is good also as a structure.

  Further, for example, the transmission control unit 12 may be configured to control the search wave to be transmitted from the distance measuring sensor 2 only during traveling. The fact that the vehicle is traveling means that the vehicle speed of the host vehicle D acquired by the vehicle information acquisition unit 11 is larger than the vehicle speed detection limit value (that is, substantially 0 km / h) by the wheel speed sensor 4. What is necessary is just to be the structure judged based on.

  The amplitude intensity acquisition unit 13 sequentially acquires information on the amplitude intensity of the reflected wave sequentially received by the distance measuring sensor 2. Hereinafter, the amplitude intensity data sequentially acquired by the amplitude intensity acquisition unit 13 is referred to as amplitude intensity time-series data. The distance calculation unit 14 determines an obstacle (specifically, an obstacle from the arrangement position of the distance measuring sensor 2 from the time difference between the time when the distance measuring sensor 2 transmits the exploration wave (hereinafter referred to as transmission timing) and the time when the reflected wave is received. The distance to the reflection point of the object is calculated.

  The storage processing unit 15 includes information on the amplitude intensity of the reflected wave sequentially obtained by the amplitude intensity obtaining unit 13, information on the transmission timing of the exploration wave from which the reflected wave is obtained, and the vehicle when the reflected wave is obtained. The vehicle information acquired by the information acquisition unit 11 and the information on the distance to the reflection point calculated by the distance calculation unit 14 when the reflected wave is obtained (hereinafter referred to as distance information) are associated with the temporary storage unit 16. Store. The transmission timing may be obtained from the transmission control unit 12 or may be obtained from the distance calculation unit 14. The storage processing unit 15 stores the information on the amplitude intensity of the reflected wave, the transmission timing, the vehicle information, and the distance information as described above in the order in which the reflected wave is obtained, that is, in time series. To store.

  The temporary storage unit 16 is a memory in which the information on the amplitude intensity of the reflected wave, the transmission timing, the vehicle information, and the distance information are stored in association with each other as described above. In addition, after storing a certain amount of information, the temporary storage unit 16 secures a memory capacity for storing new information by erasing the oldest information every time new information is stored.

  Based on vehicle information such as the vehicle speed and steering angle of the host vehicle D stored in the temporary storage unit 16 and information on transmission timing, the measurement position calculation unit 17 detects the sensor position at each transmission timing of the distance measuring sensor 2. (Hereinafter, measured position) is calculated.

  The preprocessing unit 19 performs a moving average process on the time-series data of the amplitude intensity acquired by the amplitude intensity acquisition unit 13 to smooth the data. Therefore, the preprocessing unit 19 corresponds to a moving average processing unit in claims. For example, the moving average process may be performed by sequentially obtaining a simple moving average of three points including data before and after the time series (amplitude intensity). In this way, the moving average process is performed on the time series data of the amplitude intensity and the data is smoothed, so that the subsequent process can be stably performed. Therefore, the moving average process may be performed by the preprocessing unit 19. preferable.

  In addition, it is preferable that the preprocessing unit 19 is configured to remove obvious noise. For example, as a method for removing noise, a configuration in which data having clearly different amplitude intensities compared to previous and subsequent data along a time series is determined as noise by using a predetermined threshold and removed. In addition, when data is removed, for example, linear interpolation may be performed on the removed data based on previous and subsequent data.

  Further, the preprocessing unit 19 performs a data distribution process that distributes the time-series data of the amplitude intensity subjected to the moving average process for each parked vehicle. Therefore, the preprocessing unit 19 corresponds to a data distribution unit in claims. In the data distribution process, for example, time series data of amplitude intensity corresponding to a parked vehicle is a set of data in which a predetermined number or more of data whose amplitude intensity is substantially larger than 0 (specifically, larger than measurement error or noise) is arranged. As a unit, it is sorted for each parked vehicle.

  Further, the preprocessing unit 19 performs a differential value calculation process for calculating each differential value of the time series data of the amplitude intensity distributed for each parked vehicle by the data distribution process. In the differential value calculation process, each differential value of the time series data of the amplitude intensity is calculated for each group of the time series data of the assigned amplitude intensity. That is, in the differential value calculation process, each differential value of the time-series data of the amplitude intensity is calculated for each parked vehicle. Therefore, the preprocessing unit 19 corresponds to a differential value calculation unit in claims.

  The vehicle end estimation unit 20 is based on the differential value for each parked vehicle calculated in the differential value calculation process of the preprocessing unit 19 and the measurement position calculated by the measurement position calculation unit 17. A first vehicle end estimation process for estimating the end is performed. The term “vehicle end” as used herein refers to the end of the parked vehicle in the route direction through which the host vehicle has passed (the direction parallel to the route through which the host vehicle has passed, the traveling direction of the host vehicle). If it demonstrates based on the example of FIG. 2, the edge part of the parked vehicles A and B in the column direction of the parked vehicles A and B will be shown. The first vehicle end estimation process will be described in detail later.

  The parking space calculation unit 21 calculates the size of the parking space based on the position of the vehicle end of the parked vehicle estimated by the vehicle end estimation unit 20. The size of the parking space mentioned here indicates the length of the parking space in the direction of the route through which the host vehicle passes. Moreover, it is good also as a structure which calculates not only the length of the parking space in the path | route direction which the own vehicle passes, but the depth as a magnitude | size of a parking space. In this case, the depth may be calculated based on the distance information stored in the temporary storage unit 16.

  The parking availability determination unit 22 compares the size of the parking space calculated by the parking space calculation unit 21 with the size of the host vehicle, and determines whether the host vehicle can be parked in the parking space. Specifically, when the size of the host vehicle is smaller than the size of the parking space, it is determined that the host vehicle can park in the parking space, and the size of the host vehicle is greater than or equal to the size of the parking space. It is determined that the host vehicle cannot park in the parking space. Here, the size of the host vehicle may be the vehicle length when the size of the parking space is the length described above, and the size of the parking space is the length and depth described above. The vehicle length and vehicle width may be used. Further, the size information of the host vehicle may be stored in advance in a non-volatile memory such as a ROM of the parking assist ECU 1. In this case, a non-volatile memory such as a ROM of the parking assist ECU 1 corresponds to a data storage unit in the claims.

  Further, the parking availability determination unit 22 acquires vehicle information such as the vehicle speed and the steering angle from the vehicle information acquisition unit 11 or acquires the distance information calculated by the distance calculation unit 14 to obtain the vehicle information and the distance information. The configuration may be such that the position of the host vehicle relative to the parking space and the minimum turning radius of the host vehicle are obtained. In addition to the size of the parking space and the size of the host vehicle, the configuration of determining whether or not the host vehicle can be parked in the parking space by considering the position of the host vehicle and the minimum turning radius is also possible. Good.

  As shown in FIG. 4, the presentation control unit 23 causes the display 5 to display a parking space such as a display of an area surrounded by a frame (hereinafter, parking space display). Therefore, the display 5 corresponds to a display unit in claims. In addition, as shown in FIG. 4, the presentation control unit 23 may be configured to display “X.Xm” or the like indicating the size of the parking space calculated by the parking space calculation unit 21.

  The presentation control unit 23 is preferably configured to determine the size of the parking space display to be displayed on the display device 5 according to the size of the parking space calculated by the parking space calculation unit 21. According to this, the user can more intuitively understand how much parking space is available. The presentation control unit 23 corresponds to a display control unit in claims.

  In addition, the presentation control part 23 is good also as a structure which makes the indicator 5 also perform the display which shows a parked vehicle or the own vehicle, as shown in FIG. Further, the presentation control unit 23 displays a display indicating the own vehicle having a size corresponding to the information on the size of the own vehicle on the display 5 together with the parking space display based on the information on the size of the own vehicle. It is preferable to make it the structure to perform. According to this, the user can intuitively know whether or not the own vehicle can be parked in the parking space by comparing the parking space display and the display indicating the own vehicle.

  In addition, the presentation control unit 23 presents the determination result of the parking availability determination unit 22 to the user by displaying the determination result on the display 5. For example, when the parking possibility determination unit 22 determines that the host vehicle can be parked in the parking space, a comment or an icon indicating that parking is possible is displayed on the display 5 and the host vehicle is not parked in the parking space. When it is determined by the parking permission / non-permission determining unit 22 that the parking is possible, the display 5 may display a comment, an icon, or the like indicating that parking is impossible. In addition, the presentation control part 23 is good also as a structure which shows to a user by making the audio | voice output apparatus 6 output the determination result in the parking availability determination part 22 by audio | voice output. Therefore, the display 5 and the audio output device 6 correspond to the determination result presentation unit in the claims. According to the above configuration, since the determination result as to whether or not the own vehicle can be parked in the parking space is presented, the user can more accurately know whether or not the own vehicle can be parked in the parking space.

  Next, the flow of detection of the parking space C described above in the parking assistance ECU 1 will be described with reference to FIG. FIG. 5 is a flowchart showing a flow of detection of the parking space C in the parking assist ECU 1. This flow is started when the parking assist ECU 1 detects a predetermined start trigger.

  Here, an example of a predetermined start trigger will be described. For example, the start trigger may be detected when it is detected that the shift position is the reverse position “R” based on the shift position information obtained from a shift position sensor (not shown). Further, based on the vehicle speed information obtained from the wheel speed sensor 4, a start trigger is detected when it is detected that the stop state where the vehicle speed is substantially 0 km / h has continued for a predetermined time such as several seconds. It is good also as a structure. Furthermore, it is good also as a structure which detects a start trigger, when it detects that the operation input which shows parking start was performed with respect to the operation switch group which is not shown in figure. The operation switch group described above may be a touch switch integrated with the display unit 5.

  Moreover, before this flow is started, the own vehicle D has finished passing the side of the parked vehicle A, the parked space C, and the parked vehicle B while sequentially transmitting exploration waves from the distance measuring sensor 2. It is assumed that the information on the amplitude of the reflected wave, the transmission timing, the vehicle information, and the distance information obtained during the passage have already been stored in the temporary storage unit 16.

  First, in step S1, the amplitude intensity acquisition unit 13 performs the amplitude intensity acquisition process described above, and proceeds to step S2. In step S2, a moving average process is performed on the time-series data of the amplitude intensity acquired by the amplitude intensity acquisition unit 13, and the process proceeds to step S3.

In step S3, the preprocessing unit 19 performs a data distribution process for distributing the time series data of the amplitude intensity subjected to the moving average process to the parked vehicles A and B, and the process proceeds to step S4. Further, the n data distributed to the parked vehicle A is indicated as X iA (i = 1 to n), and the m data allocated to the parked vehicle B is indicated as X iB (i = 1 to m). And Incidentally, the rearmost data in the traveling direction of the X 1A is the vehicle D of the data distributed to the parked vehicle A (that is, when data on the most rear side in sequence) shall become, allocated to the parked vehicle B Of these data, X1B is the rearmost data in the traveling direction of the host vehicle D (that is, the rearmost data in the time series).

In step S4, the pre-processing unit 19 performs a differential value calculation process for calculating each differential value of the time series data of the amplitude intensity distributed to the parked vehicles A and B by the data distribution process, and the process proceeds to step S5. In addition, each differential value of the time series data X 1A to X nA of the amplitude intensity distributed to the parked vehicle A is indicated as P (X 1A ) to P (X nA ), and the amplitude intensity allocated to the parked vehicle B The differential values of the time series data X 1B to X mB are represented as P (X 1B ) to P (X mB ).

In step S5, the vehicle end estimation unit 20 starts the first vehicle end estimation process for the parked vehicle A, and proceeds to step S6. In step S6, the subsequent processing is sequentially performed in a range in which the differential value is continuously negative from the differential value P (X nA ) of i = n.

In step S <b> 7, the vehicle end estimation unit 20 determines whether or not the differential value P (X iA ) is equal to or less than the negative specified value P mst . Note that P mst is a value that can be arbitrarily set. P mst is a value that is smaller (large as an absolute value) than a negative differential value caused by, for example, a measurement error or noise, and a value that is as close as possible to 0 may be set. And when it determines with it being below Pmst (it is YES at step S7), it moves to step S8. If it is determined that it is equal to or less than P mst and a value of P max described later is not stored in a memory such as a RAM, the differential value at that time is stored as P max in the memory. Shall. On the other hand, if it is not determined that it is equal to or less than P mst (NO in step S7), the process proceeds to step S11.

In step S8, the vehicle end estimation unit 20 determines whether or not the differential value P (X iA ) is greater than or equal to P max stored in the memory. And when it determines with it being more than Pmax (it is YES at step S8), it moves to step S9. On the other hand, if it is not determined that it is equal to or greater than P max (NO in step S8), the process proceeds to step S11. In step S9, the differential value determined to be equal to or greater than Pmax in step S8 is newly stored in the memory as Pmax , and the process proceeds to step S10. The old value may be deleted.

In step S10, when the process proceeds to a point where the differential value becomes 0 or more for the first time (YES in step S10), the process proceeds to step S12. If the differential value has never become 0 or more (NO in step S10), the process proceeds to step S11. In step S11, the process proceeds to the next differential value P (X (i-1) A ) that has not been processed yet, and the process returns to step S7 to repeat the flow.

In step S12, based on the measurement position calculated by the measurement position calculation unit 17, the measurement position of the reflected wave from which the amplitude intensity from which the differential value that finally became P max was obtained was specified, and Based on the specified measurement position, the measurement position is estimated as a vehicle end (hereinafter referred to as Edge1) directly adjacent to the parking space C of the parked vehicle A. Specifically, for the parked vehicle A on the rear side in the traveling direction of the host vehicle, the front vehicle end in the traveling direction of the host vehicle is estimated. This is because the exploration wave of the distance measuring sensor 2 is transmitted substantially beside the own vehicle D, and therefore the measurement position and reflection point for the same exploration wave are substantially the same in the traveling direction of the own vehicle D. Because it exists in the position.

  Moreover, it is good also as a structure which estimates the vehicle end in the actually parked vehicle A based on a measurement position. In this case, it goes without saying that the vehicle end in the actual parked vehicle A may be estimated based on the measurement position and the distance information.

  Then, in step S13, the vehicle end estimation part 20 starts the 1st vehicle end estimation process about the parked vehicle B, and moves to step S14. In step S14, the subsequent processing is sequentially performed in a range where the differential value is continuously positive.

In step S15, the vehicle end estimation unit 20 determines whether or not the differential value P (X iB ) is greater than or equal to the positive specified value P pst . Note that P pst is a value that can be arbitrarily set. P pst is a value that is larger than a positive differential value caused by, for example, a measurement error or noise, and may be set to a value as close to 0 as possible. And when it determines with it being more than Ppst (it is YES at step S15), it moves to step S16. If it is determined that the value is greater than or equal to P pst and a value of P min described later is not stored in a memory such as a RAM, the differential value at that time is stored as P min in the memory. Shall. On the other hand, if it is not determined that it is equal to or greater than P pst (NO in step S15), the process proceeds to step S19.

In step S16, the vehicle end estimation unit 20 determines whether or not the differential value P (X iB ) is equal to or less than P min stored in the memory. And when it determines with it being below Pmin (it is YES at step S16), it moves to step S17. On the other hand, if it is not determined that it is equal to or less than P min (NO in step S16), the process proceeds to step S19. At step S17, and stores in the memory a differential value equal to or less than P min in step S16 as a new P min, the procedure proceeds to step S18. The old value may be deleted.

In step S18, when the process proceeds to a point where the differential value becomes 0 or less for the first time (YES in step S18), the process proceeds to step S20. If the differential value has never become 0 or less (NO in step S18), the process proceeds to step S19. In step S19, the process proceeds to the next differential value P (X (i + 1) B ) that has not yet been processed, and the process returns to step S15 to repeat the flow.

In step S20, based on the measurement position calculated by the measurement position calculation unit 17, the measurement position of the reflected wave from which the amplitude intensity from which the differential value that finally became Pmin was obtained was specified, and Based on the specified measurement position, the measurement position is directly estimated as a vehicle end (hereinafter referred to as Edge2) adjacent to the parking space C of the parked vehicle B. Specifically, for the parked vehicle B on the front side in the traveling direction of the host vehicle, the rear vehicle end is estimated in the traveling direction of the host vehicle. Moreover, it is good also as a structure which estimates the vehicle end in the actually parked vehicle B based on a measurement position. In this case, it is needless to say that the vehicle end in the actual parked vehicle B may be estimated based on the measurement position and the distance information.

  In step S21, the parking space calculation unit 21 calculates the size of the parking space C (the length of the parking space C in the route direction through which the host vehicle passes) based on Edge1 and Edge2. Specifically, the distance from Edge 1 to Edge 2 is the size of the parking space C. When the measurement position is estimated as the vehicle end, the distance from Edge1 to Edge2 may be obtained from the vehicle speed information and the transmission timing information.

  In addition, although the structure which performs the process about the parked vehicle B after performing the process about the parked vehicle A was shown in this flow, not only this but the parked vehicle after performing the process about the parked vehicle B It is good also as a structure which performs the process about A.

  Here, the effect in this invention is demonstrated. First, the reflection intensity of the reflected wave at the corner portion of the parked vehicle will be described with reference to FIGS. FIG. 6A is a diagram for explaining an example of the reflection intensity of the reflected wave at the corner portion on the front side of a rectangular vehicle having an angular outer shape. FIG. 6B is a diagram for explaining an example of the reflection intensity of the reflected wave at the corner portion on the front side of the round vehicle having a rounded outer shape. In addition, the vertical axis | shaft of the graph of Fig.6 (a) and FIG.6 (b) has shown the amplitude intensity of the reflected wave, and the horizontal axis has shown the measurement position. Here, it is assumed that the exploration wave is transmitted from the distance measuring sensor 2 toward the parked vehicle while the host vehicle passes through the side of the parked vehicle.

  Generally, the shape of the corner portion of a parked vehicle is roughly divided into two types. The first is a shape composed of a horizontal straight line portion (hereinafter referred to as E surface) and a curved portion (hereinafter referred to as F surface) having a steep slope as seen in a square vehicle. The second is a horizontal straight line portion (hereinafter referred to as “E surface”), a straight line portion inclined toward the side surface (hereinafter referred to as “G surface”), and a gently curved portion (hereinafter referred to as “H surface”). ).

  In the shape of the corner portion of the square vehicle, the inclination of the reflection surface with respect to the incident direction of the exploration wave increases sharply at the portion where the E surface is switched to the F surface, so that the reflected wave reaching the distance measuring sensor 2 is drastically reduced. Or greatly affected by the distance attenuation, the reflection intensity of the reflected wave suddenly decreases. Thus, in the square vehicle, the reflection intensity of the reflected wave suddenly decreases on the F plane corresponding to the vehicle end. That is, in a square vehicle, the vehicle end and the position where the reflection intensity sharply decreases substantially coincide.

  In addition, in the shape of the corner of a round vehicle, even when the plane is switched from the E-plane or G-plane to the H-plane, the state where the reflection surface is slightly inclined with respect to the incident direction of the exploration wave continues for a while. The reflected wave that reaches the distance sensor 2 does not decrease rapidly, and the amount of decrease in the reflection intensity of the reflected wave is small. However, when the inclination of the reflection surface with respect to the incident direction of the exploration wave suddenly increases thereafter, the reflection intensity of the reflected wave rapidly decreases. Thus, in the round vehicle, the reflection intensity of the reflected wave suddenly decreases at the most distal portion of the H surface corresponding to the vehicle end. That is, even in a round vehicle, the end of the vehicle coincides with the position where the reflection intensity rapidly decreases.

  When trying to estimate the vehicle edge from the distance information at multiple reflection points by triangulation, the distance information about the vehicle edge itself is good because the reflected wave cannot be received or it is greatly affected by the distance attenuation. In some cases, the vehicle end cannot be accurately estimated. This tendency is particularly noticeable in a round vehicle in which the curved area of the corner portion is greatly expanded. On the other hand, according to this embodiment, the vehicle end estimation unit 20 generates a reflected wave corresponding to the position of the vehicle end based on the change in the time series data of the amplitude intensity acquired by the amplitude intensity acquisition unit 13. The measurement position is obtained, and the vehicle end is estimated based on the measurement position.

  Thus, according to this embodiment, since the vehicle end is estimated based on the amplitude intensity without depending on the distance information, the vehicle end can be accurately estimated regardless of the shape of the parked vehicle. . In addition, this makes it possible to more accurately detect the parking space adjacent to the parked vehicle regardless of the shape of the parked vehicle.

  6A and 6B, the reflection intensity of the reflected wave at the front corner portion of the parked vehicle is described as an example, but the rear corner portion of the parked vehicle is also described. It is the same. This is because, in the same parked vehicle, the shape of the rear corner portion has the same tendency as the shape of the front corner portion, so that the reflected wave reflected intensity at the rear corner portion of the parked vehicle is also parked. This is to show the same tendency as the reflection intensity of the reflected wave at the front corner of the vehicle.

  Furthermore, in this embodiment, the differential value of the time series data of the amplitude intensity is used so that the change of the amplitude intensity can be more easily discriminated. Here, as described with reference to FIGS. 6A and 6B, the amplitude intensity of the reflected wave changes abruptly at the vehicle end.

On the other hand, the inventor has calculated the amplitude intensity at which the maximum differential value is calculated among the points at which the differential value of the time series data of the amplitude intensity of the reflected wave is switched to a negative differential value equal to or less than the specified value P mst. It was found that the measurement position of the reflected wave obtained in the above corresponds very well to the front vehicle end with respect to the traveling direction of the vehicle among the vehicle ends of the parked vehicle. Further, the present inventor has determined that the measurement position of the reflected wave from which the amplitude intensity at which the minimum differential value among the points where the positive differential value is equal to or greater than the specified value P pst is obtained is obtained is the vehicle end of the parked vehicle. It was found that it corresponds very well to the rear vehicle end with respect to the traveling direction of the vehicle.

  In the present embodiment, by using the differential value of the time series data of the amplitude intensity, it is possible to accurately identify the change point of the amplitude intensity corresponding to the vehicle end of the actual parked vehicle as described above. Thus, it is possible to accurately estimate the vehicle end of the actually parked vehicle.

  Here, the results when the vehicle end of the parked vehicle is estimated using the differential value of the time series data of the amplitude intensity will be described with reference to FIG. 7A and FIG. 7B. FIG. 7A is a diagram for explaining the estimation result of the vehicle end according to the present invention. FIG. 7B is a diagram for explaining the estimation result of the vehicle end according to the prior art as disclosed in Patent Document 1. In addition, the vertical axis | shaft of the graph of Fig.7 (a) has shown the differential value of the time series data of an amplitude strength, and the horizontal axis has shown the measurement position. Moreover, the vertical axis | shaft of the graph of FIG.7 (b) has shown the distance to the parked vehicle detected with the ranging sensor, and the horizontal axis has shown the measurement position.

  Further, the position indicated by I in FIGS. 7A and 7B is a position corresponding to the front vehicle end (that is, the front end) of the parked vehicle, and the position indicated by J is the rear vehicle of the parked vehicle. This is the position corresponding to the end (that is, the rear end). Further, the range indicated by K in FIG. 7A indicates the vehicle length of the parked vehicle calculated based on the estimation result of the vehicle end according to the present invention, and the range indicated by L in FIG. The vehicle length of the parked vehicle calculated based on the estimation result of the vehicle end by the prior art is shown.

Actually, the measurement position of the reflected wave from which the amplitude intensity at which the maximum differential value is calculated among the points that switch to the negative differential value less than the specified value P mst is obtained is estimated as the front end, and is greater than or equal to the specified value P pst . If the measurement position of the reflected wave from which the amplitude intensity at which the minimum differential value among the points to be switched to the positive differential value is calculated is estimated as the rear end, the estimation result is also obtained as shown in FIG. The calculated vehicle length K of the parked vehicle is very close to the actual parked vehicle length calculated from the actual front end I and the rear end J. Specifically, the error of the estimation result with respect to the actual length of the parked vehicle was +18 cm. Note that the measurement position corresponding to the data surrounded by the circle indicated by the dotted line in FIG. 7A is the position estimated as the vehicle end.

  On the other hand, as shown in Patent Document 1, when the vehicle end is estimated by triangulation from distance information at a plurality of reflection points, as shown in FIG. 7B, the parked vehicle calculated based on the estimation result is shown. The vehicle length L is a value deviated from the actual vehicle length of the parked vehicle. Specifically, the error of the estimation result with respect to the actual length of the parked vehicle was −55 cm.

  As described above, according to the present embodiment, each vehicle end of the parked vehicle adjacent to the parking space is very accurately estimated by estimating the vehicle end based on each differential value of the time series data of the amplitude intensity. The parking space can be estimated very accurately regardless of the shape of the parked vehicle.

  Further, in the present embodiment, the configuration in which the data distribution process is performed after the moving average process is performed has been described. However, the present invention is not necessarily limited to this, and the moving average process may be performed after the data distribution process is performed.

  Further, in the present embodiment, the configuration in which the differential value calculation process is performed after the moving average process is performed is not necessarily limited thereto, and the moving average process may be performed after the differential value calculation process is performed.

  Moreover, although this embodiment showed the structure which estimates the vehicle end adjacent to parking space based on the data distributed for every parked vehicle by the data distribution process, it does not necessarily restrict to this. For example, without performing the data distribution process, the vehicle end is estimated based on the time series data of the total amplitude intensity, and the vehicle end adjacent to the parking space is determined based on the order of the estimated vehicle end in the traveling direction of the host vehicle. It is good also as a structure to estimate.

  In addition, in this embodiment, although the structure which estimates a vehicle end based on each differential value of the time series data of amplitude intensity was shown, it does not necessarily restrict to this. For example, the vehicle end may be estimated based on a peak in a change in time series data of amplitude intensity. Hereinafter, other embodiments will be described with reference to the drawings. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  First, the relationship between the peak in the change in the time series data of the amplitude intensity and the vehicle end of the parked vehicle will be described with reference to FIG. FIG. 8 is a diagram for explaining the relationship between the peak in the change in amplitude intensity time-series data and the vehicle end of the parked vehicle. The graph in FIG. 8 shows changes in time-series data of amplitude intensity, where the vertical axis indicates the amplitude intensity and the horizontal axis indicates the measurement position.

  The inventor has shown that the change in the amplitude intensity of the reflected wave obtained when the exploration wave transmitted from the distance measuring sensor 2 to the side of the host vehicle is reflected by the parked vehicle existing on the side of the host vehicle is shown in FIG. As shown in FIG. 5, it has been found that there may be a steep peak that continuously increases from the most extreme data point and then once decreases. Further, the present inventor has shown that the measurement position of the reflected wave from which the amplitude intensity corresponding to the narrow steep peak surrounded by a circle indicated by the dotted line in FIG. 8 is obtained is the vehicle end of the parked vehicle as shown in FIG. I found it very well.

  Therefore, in this other embodiment, when showing a steep peak that continuously increases from the most extreme data point and then once decreases, the parking assist ECU 1 specifies this steep peak by specifying the steep peak. The vehicle end of the parked vehicle is estimated. Specifically, it is the same configuration as the embodiment described above except that the processing in the preprocessing unit 19 and the vehicle end estimation unit 20 is different.

  In this other embodiment, the pre-processing unit 19 performs moving average processing and data distribution processing, but does not perform differential value calculation processing. Further, in the vehicle end estimation unit 20, the parked vehicle is based on each amplitude intensity for each parked vehicle and each measurement position calculated by the measurement position calculation unit 17 distributed in the data distribution process of the preprocessing unit 19. A second vehicle end estimation process for estimating the vehicle end of the vehicle is performed.

Here, the second vehicle end estimation process will be described. Here, the description will be made based on the example of FIG. 2, and the data of n amplitude strengths distributed to the parked vehicle A is denoted as X iA (i = 1 to n) and is allocated to the parked vehicle B. The data of m amplitude intensities are represented as X iB (i = 1 to m). Further, X 1A among the data distributed to the parked vehicle A is the rearmost data in the traveling direction of the host vehicle D, and X 1B of the data allocated to the parked vehicle B is the progress of the host vehicle D. It is assumed that it becomes the rearmost data in the direction.

In the second vehicle end estimation process, among the n data strings X iA assigned to the parked vehicle A, a mountain shape that starts to decrease after continuously increasing from the rearmost data in the traveling direction of the host vehicle D (That is, data having the maximum amplitude intensity in a range where the amplitude intensity continuously increases starting from the rearmost data in the time series) is detected. A specific method for detecting the peak may be configured in the same manner as a known method for detecting a peak from waveform data.

Subsequently, among the peaks detected from the n data strings X iA , the frontmost peak in the traveling direction of the host vehicle D is selected, and the amplitude intensity is the largest among the amplitude intensity data included in the peak. (That is, peak apex) data is specified. Based on the measurement position calculated by the measurement position calculation unit 17, the measurement position of the reflected wave from which the amplitude intensity corresponding to the maximum data is obtained is specified, and the parked vehicle is determined based on the specified measurement position. A vehicle end adjacent to the parking space C of A is estimated.

Further, in the second vehicle end estimation process, the mth data row X iB distributed to the parked vehicle B is a mountain that continuously decreases from the most front data in the traveling direction of the host vehicle D and then starts to decrease. The peak of the type (that is, the data having the maximum amplitude intensity in the range in which the amplitude intensity continuously increases starting from the forefront data in the time series) is detected.

Subsequently, among the peaks detected from the m data strings X iB, the peak at the rearmost side in the traveling direction of the host vehicle D is selected, and the amplitude intensity is included in the amplitude intensity data included in the peak. Identify the largest data. Based on the measurement position calculated by the measurement position calculation unit 17, the measurement position of the reflected wave from which the amplitude intensity corresponding to the maximum data is obtained is specified, and the parked vehicle is determined based on the specified measurement position. The vehicle end adjacent to the parking space C of B is estimated. Therefore, the vehicle end estimation part 20 is equivalent to the data specification part of a claim.

  And the parking space calculation part 21 parks based on the vehicle end adjacent to the parking space C of the parked vehicle A estimated by the 2nd vehicle end estimation process, and the vehicle end adjacent to the parking space C of the parked vehicle B. The size of the space C (the length of the parking space C in the direction of the route through which the host vehicle passes) is calculated.

  According to the above configuration, the vehicle end can be estimated particularly accurately based on the above-mentioned narrow and sharp peak, and the parking space can be detected particularly accurately regardless of the shape of the parked vehicle. Is possible.

  In the above-described embodiment, the configuration in which the vehicle end is estimated based on the change in the time series data of the amplitude intensity is shown, but the present invention is not necessarily limited thereto. For example, it is good also as a structure which detects parking space based on the value of the time series data of amplitude intensity. Hereinafter, still another embodiment will be described with reference to the drawings. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  First, the relationship between the value of time series data of amplitude intensity and the vehicle end of the parked vehicle will be described with reference to FIG. FIG. 9 is a diagram for explaining the relationship between the value of time series data of amplitude intensity and the vehicle end of the parked vehicle. The graph in FIG. 9 shows changes in time-series data of amplitude intensity, the vertical axis indicates the amplitude intensity, and the horizontal axis indicates the measurement position.

  As described above, the change in the amplitude intensity of the reflected wave obtained when the exploration wave transmitted from the distance measuring sensor 2 to the side of the own vehicle is reflected by the parked vehicle that is present on the side of the own vehicle. Since it corresponds very well to the outer shape of the parked vehicle that becomes the wave reflecting surface, as shown in FIG. 9, there is a parked vehicle with a certain amplitude intensity (threshold value M in FIG. 9) as a boundary. It is possible to more accurately determine the area and the area of the parking space.

  Therefore, in this further embodiment, the parking assist ECU 1a obtains a data range in which the amplitude intensity is equal to or less than a predetermined threshold from the time series data of the amplitude intensity, and the parking space is based on the obtained data range. It is set as the structure which detects.

  Here, a schematic configuration of the parking assist ECU 1a will be described with reference to FIG. FIG. 10 is a block diagram showing a schematic configuration of the parking assist ECU 1a. As shown in FIG. 10, the parking assist ECU 1a includes a vehicle information acquisition unit 11, a transmission control unit 12, an amplitude intensity acquisition unit 13, a distance calculation unit 14, a storage processing unit 15, a temporary storage unit 16, a measurement position calculation unit 17, and a front A processing unit 19, a parking space calculation unit 21, a parking availability determination unit 22, and a presentation control unit 23 are provided.

  The parking assistance ECU 1a has the same configuration as the parking assistance ECU 1 except that the processing in the preprocessing unit 19 and the parking space calculation unit 21 is different and the vehicle end estimation unit 20 is not provided.

  The pre-processing unit 19 of the parking assist ECU 1a performs the moving average process, but does not perform the data distribution process and the differential value calculation process. In addition, the pre-processing unit 19 of the parking assist ECU 1a obtains a data range in which the amplitude intensity is equal to or less than a predetermined threshold value from the time-series data of the amplitude intensity subjected to the moving average process. Note that the predetermined threshold here is a value that can be arbitrarily set, and, for example, a configuration that sets a value of an amplitude intensity at which the above-described maximum differential value or minimum differential value is obtained. do it.

  Further, the pre-processing unit 19 includes data corresponding to the frontmost measurement value and data corresponding to the rearmost measurement value in the traveling direction of the host vehicle in the time series data of the amplitude intensity included in the obtained data range. And specify. Then, on the basis of the measurement position calculated by the measurement position calculation unit 17, the measurement position of the reflected wave (hereinafter referred to as the first measurement position) from which the amplitude intensity corresponding to the frontmost data is obtained is specified, and the most The measurement position (hereinafter, second measurement position) of the reflected wave from which the amplitude intensity corresponding to the rear data is obtained is specified. In addition, if it demonstrates based on the example of FIG. 9, since the right direction of a figure corresponds to the advancing direction of the own vehicle D, a 1st measurement position corresponds to the vehicle end adjacent to the parking space C of the parked vehicle A, The second measurement position corresponds to the vehicle end adjacent to the parking space C of the parked vehicle B.

  Subsequently, in the parking space calculation unit 21 of the parking assist ECU 1a, the distance from the first measurement position specified by the preprocessing unit 19 to the second measurement position is determined based on the size of the parking space C (parking in the route direction through which the host vehicle passes). The length of the space C) is calculated. The distance between the measurement positions may be determined from the vehicle speed information and the transmission timing information. According to the above configuration, it is possible to more accurately determine the area where the parked vehicle is present and the area of the parking space, and more accurately detect the parking space regardless of the shape of the parked vehicle. .

  In addition, as a configuration combining the configuration for estimating the vehicle end based on the peak in the change of the time series data of the amplitude intensity described above and the configuration for detecting the parking space based on the value of the time series data of the amplitude intensity described above. Also good. Specifically, when the above-mentioned steep peak cannot be detected by the second vehicle end estimation process in the vehicle end estimation unit 20, the amplitude intensity is less than a predetermined threshold value from the time series data of the amplitude intensity. What is necessary is just to set it as the structure which calculates | requires a range and calculates parking space as mentioned above.

  According to this, even when the change in the amplitude intensity of the reflected wave does not show a change showing a steep peak, such as a continuous increase from the endmost data as shown in FIG. The parking space can be detected more accurately regardless of the shape of the parked vehicle.

  Further, in the above-described embodiment, the configuration in which the parking assist ECU 1 includes the parking permission / inhibition determination unit 22 is shown, but the configuration is not necessarily limited thereto. For example, the parking support ECU 1 may not include the parking availability determination unit 22 and the determination result in the parking availability determination unit 22 may not be displayed on the display 5.

  In the above-described embodiment, the configuration in which the parking assist ECU 1 includes the distance calculation unit 14 is shown, but the configuration is not necessarily limited thereto. For example, when it is set as the structure which does not need to obtain | require the position of the own vehicle with respect to parking space, such as setting it as the structure which does not provide the parking assistance ECU1 in the parking assistance ECU1, the distance calculation part 14 is not provided in the parking assistance ECU1, The distance information described above may not be handled by the parking assist ECU 1.

  Moreover, although the above-mentioned embodiment described the structure which detects the parking space pinched | interposed into the parking vehicle parked in parallel, it does not necessarily restrict to this. The shape of the corner portion of the parked vehicle is the same in that it is sharply curved in front of the edge portion both when viewed from the front and rear direction of the parked vehicle and when viewed from the left and right direction of the parked vehicle. The present invention can also be applied to a configuration for detecting a parking space sandwiched between parked vehicles that are parked in parallel. Furthermore, the present invention can be similarly applied to a configuration for detecting a parking space sandwiched between a parked vehicle and a structure such as a wall.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Parking assistance ECU (parking space detection apparatus, data storage part), 2 Ranging sensor (parking space detection apparatus, exploration wave transmission / reception part), 3 Steering angle sensor, 4 Wheel speed sensor, 5 Display (display part, determination result) Presentation unit), 6 voice output device (determination result presentation unit), 11 vehicle information acquisition unit, 12 transmission control unit, 13 amplitude intensity acquisition unit, 14 distance calculation unit, 15 storage processing unit, 16 temporary storage unit, 17 measurement position Calculation unit, 19 Pre-processing unit (moving average processing unit, data distribution unit, differential value calculation unit), 20 vehicle end estimation unit (data specifying unit), 21 parking space calculation unit, 22 parking availability determination unit, 23 presentation control unit (Display control unit), 100 Parking support system

Claims (7)

  1. Mounted on the vehicle,
    A search wave transmitting and receiving unit that sequentially transmits a search wave to the side of the vehicle and sequentially receives a reflected wave of the search wave,
    A parking space detection device that detects a parking space adjacent to a parked vehicle other than the vehicle that is present on the side of the route through which the vehicle has passed,
    An amplitude intensity acquisition unit for acquiring the amplitude intensity of each reflected wave sequentially received by the exploration wave transceiver unit ;
    A vehicle end estimation unit that estimates a vehicle end that is an end of the parked vehicle in a route direction that the vehicle has passed, based on a change in time-series data of the amplitude intensity acquired by the amplitude intensity acquisition unit;
    A data distribution unit that distributes the time series data of the amplitude intensity acquired by the amplitude intensity acquisition unit for each parked vehicle sandwiching the parking space based on the amplitude intensity ;
    The vehicle end estimation unit is
    Of the parked vehicles sandwiching the parking space, the amplitude intensity of the cluster distributed by the data distribution unit to the rear parked vehicle in the traveling direction of the vehicle starts from the rearmost data in time series In a range in which continuously increases, the data that maximizes the amplitude intensity is specified,
    Among the parked vehicles sandwiching the parking space, the amplitude intensity is continuous from the frontmost data in the time series for the group that is sorted by the data sorting unit to the front parked vehicle in the traveling direction of the vehicle. And a data specifying unit that specifies data having the maximum amplitude intensity in a range that increases,
    Based on the data specified by the data specifying unit, the vehicle end is estimated,
    A parking space detection device that detects a parking space adjacent to the parked vehicle based on the vehicle end estimated by the vehicle end estimation unit .
  2. Mounted on the vehicle,
    A search wave transmitting and receiving unit that sequentially transmits a search wave to the side of the vehicle and sequentially receives a reflected wave of the search wave,
    A parking space detection device that detects a parking space adjacent to a parked vehicle other than the vehicle that is present on the side of the route through which the vehicle has passed,
    An amplitude intensity acquisition unit for acquiring the amplitude intensity of each reflected wave sequentially received by the exploration wave transceiver unit ;
    A vehicle end estimation unit that estimates a vehicle end that is an end of the parked vehicle in a route direction that the vehicle has passed, based on a change in time-series data of the amplitude intensity acquired by the amplitude intensity acquisition unit;
    A differential value calculation unit that calculates each differential value of the time series data of the amplitude intensity acquired by the amplitude intensity acquisition unit ,
    The vehicle end estimation unit estimates the vehicle end based on each differential value calculated by the differential value calculation unit,
    A parking space detection device that detects a parking space adjacent to the parked vehicle based on the vehicle end estimated by the vehicle end estimation unit .
  3. In claim 2 ,
    The parking space detection device detects a parking space sandwiched between parked vehicles other than the vehicle existing on the side of a route through which the vehicle has passed,
    A data distribution unit that distributes the time series data of the amplitude intensity acquired by the amplitude intensity acquisition unit for each parked vehicle across the parking space, based on the amplitude intensity,
    The differential value calculation unit calculates each differential value for each group of time-series data of the amplitude intensity distributed for each parked vehicle,
    The vehicle end estimation unit is
    Based on each differential value calculated for each unit by the differential value calculation unit,
    Of the parked vehicles that sandwich the parking space, starting from the data corresponding to the most rear side in the time series in the unit distributed to the rear parked vehicle in the traveling direction of the vehicle by the data distribution unit, In the range in which the differential value is continuously negative, the maximum differential value is specified among the differential values that are equal to or less than the first specified value, and based on the specified differential value, the parked vehicle on the rear side is identified. While estimating the vehicle end adjacent to the parking space,
    Of the parked vehicles sandwiching the parking space, the differential value starting from the data corresponding to the most front side in the time series in the group distributed to the front parked vehicle in the traveling direction of the vehicle by the data distribution unit In the range in which is continuously positive, the smallest differential value among the differential values equal to or greater than the second specified value is specified, and the parking space of the parked vehicle on the front side is determined based on the specified differential value. A parking space detection device, wherein the vehicle end adjacent to the vehicle is estimated.
  4. In any one of claims 1 to 3,
    A parking space detection device comprising: a moving average processing unit that applies a moving average process to the time series data of the amplitude intensity acquired by the amplitude intensity acquisition unit.
  5. In any one of Claims 1-4 ,
    A display unit for displaying the parking space;
    A display control unit that determines the size of the parking space to be displayed on the display unit according to the size of the parking space detected based on the vehicle end estimated by the vehicle end estimation unit. A parking space detection device.
  6. In claim 5 ,
    A data storage unit storing data on the size of the vehicle;
    The display control unit is configured to display the parking space based on the vehicle size data stored in the data storage unit and display the vehicle having a size corresponding to the vehicle size data. A parking space detecting device that causes the display unit to perform a display indicating
  7. In any one of Claims 1-6 ,
    A data storage unit storing data on the size of the vehicle,
    Based on the size of the parking space detected based on the vehicle end estimated by the vehicle end estimation unit and the size data of the vehicle stored in the data storage unit, A parking availability determination unit that determines whether the vehicle can be parked;
    A parking space detecting device comprising: a determination result presenting unit that presents a determination result in the parking permission / inhibition determining unit.
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