JP5751424B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device, and more particularly to a parking assistance device capable of preventing a vehicle stop from slipping through.

  In recent years, parking assist technologies for various vehicles have been developed. For example, the following Patent Document 1 discloses a technique for issuing a warning when there is no vehicle stop (wheel stop) or when a vehicle wheel moves along a trajectory that does not hit the vehicle stop.

JP 2010-205078 A

  By the way, in the technique disclosed in Patent Document 1 above, the predicted trajectory of both wheels of the vehicle is calculated, and based on the predicted trajectory, it is determined whether either of the two wheels of the vehicle hits the vehicle stop. For this reason, in the above technique, it is necessary to perform complicated calculations in order to predict the trajectory of both wheels of the vehicle.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a parking assistance device that can prevent a vehicle stop from slipping through with a simple configuration.

  In order to achieve the above object, the parking assist device of the present invention includes a vehicle stop detection means for detecting a center position in a vehicle width direction of a pair of vehicle stops on a road surface behind the vehicle, and the pair of vehicle stops while the vehicle is moving backward. The center position of the vehicle and the center position of the vehicle in the vehicle width direction are provided with support means for performing parking support by at least one of notification to the driver and vehicle control.

  According to the parking assist device of the present invention configured as described above, the vehicle wheel is easily brought into contact with the vehicle stop by matching the center position of the pair of vehicle stops with the center position of the vehicle in the vehicle width direction. be able to. As a result, according to the present invention, it is possible to prevent the vehicle stopper from slipping through with a simple configuration.

  In the present invention, it is preferable that the vehicle stop detection means has a reference length when the vehicle stop of one of the pair of vehicle stops is not present, or the length along the vehicle width direction of one of the pair of vehicle stops is a reference length. The center position in the vehicle width direction of the other one of the pair of vehicle stops is detected, and the support means detects the center position of the other vehicle stop and the side of the other vehicle stop of the vehicle. Parking assistance is provided by at least one of notification to the driver and vehicle control so that the center position of the rear wheel in the vehicle width direction matches.

  If there is an abnormality in one of the pair of car stops, the rear wheel of the vehicle can be easily stopped by matching the center position of the other car stop with the center position in the vehicle width direction of the rear wheel on the other car stop side. It can be made to contact. According to the present invention, even if one of the pair of vehicle stops has an abnormality, the vehicle stop can be prevented from slipping through with a simple configuration.

  In the present invention, it is preferable that the support means has a reference length when a length of one of the pair of vehicle stops along the vehicle width direction is not a reference length. If it is less, the support means warns the driver that there is a high risk of slipping through the car stop.

  If there is something wrong with one of the car stops, the risk of slipping through the car stops increases. Therefore, by notifying the driver of such danger, it is possible to prevent the vehicle stop from slipping through.

  According to the parking assist device of the present invention, it is possible to prevent the vehicle stop from slipping through with a simple configuration.

It is a block diagram which shows the structure of the parking assistance apparatus by embodiment of this invention. It is a flowchart explaining operation | movement of the parking assistance apparatus by embodiment of this invention. It is a flowchart explaining operation | movement of the parking assistance apparatus by embodiment of this invention following FIG. FIG. 4 is a flowchart for explaining the operation of the parking assistance device according to the embodiment of the present invention, following FIG. 3. (A)-(c) is explanatory drawing of parking assistance in case there exists a pair of vehicle stop. (A)-(c) is explanatory drawing of parking assistance in case there is no right side vehicle stop. (A)-(c) is explanatory drawing of parking assistance in case there is no left side vehicle stop.

Hereinafter, an embodiment of a parking assistance device of the present invention will be described with reference to the accompanying drawings.
With reference to the block diagram of FIG. 1, the structure of the parking assistance apparatus by 1st Embodiment is demonstrated. The parking assist device according to the present embodiment includes a vehicle stop detection means 1 for detecting a center position in the vehicle width direction of a pair of vehicle stops on the road surface behind the vehicle, a center position of the pair of vehicle stops, Support means 2 for providing support by at least one of notification to the driver and vehicle control so as to coincide with the center position in the vehicle width direction may be provided. The parking assist device according to the present embodiment further includes a vehicle speed sensor 3, a steering angle sensor 4, a speaker 5, a display 6, and a brake actuator 7.

  The vehicle stop detection means 1 can be configured by any suitable device such as a camera that captures an image behind the vehicle, a stereo camera, a millimeter wave radar, or a laser irradiation device. Moreover, you may use combining two or more of these apparatuses.

Only one vehicle stop detection means 1 may be arranged near the center in the vehicle width direction at the rear end of the vehicle, or two or more vehicle stop detection means 1 may be arranged along the vehicle width direction at the rear end of the vehicle. For example, the vehicle stop detection means 1 may be attached near both ends in the vehicle width direction at the rear end of the vehicle.
The vehicle stop detection means 1 is not necessarily arranged at the rear end of the vehicle, but is preferably arranged at a position where the vehicle stop on the ground behind the vehicle can be seen.

  And the car stop detection means 1 is good to detect the length of the car stop in the vehicle width direction, for example by carrying out image processing of the image of a camera. Note that the distance to the vehicle stop may be obtained by, for example, a millimeter wave radar.

  Furthermore, the vehicle stop detection means 1 detects the center position in the vehicle width direction of the other vehicle stop when there is no vehicle stop of the pair of vehicle stops. Further, the vehicle stop detection means 1 detects the center position of the other vehicle stop in the vehicle width direction even when the length of one vehicle stop along the vehicle width direction is less than the reference length. The reference length can be set to any suitable value.

  The support means 2 performs support by at least one of notification to the driver and vehicle control so that the center position of the pair of vehicle stops coincides with the center position of the vehicle in the vehicle width direction. For example, when the center position of the vehicle is shifted to the left side with respect to the center position of the pair of car stops, the support means 2 may notify the driver by voice from the speaker 5, or display the image on the display 6. May be displayed and notified. Further, it may be instructed to turn the steering wheel to the right by voice or an image, or a rightward rotational load may be applied to the steering wheel.

  Further, the support means 2 is configured such that when one of the pair of car stops does not have a car stop, or when the length of the one car stop along the vehicle width direction is less than the reference length, the other car stop of the pair of car stops. The center position of the vehicle and the center position of the rear wheel on the other stop side of the vehicle in the vehicle width direction are matched by at least one of notification to the driver and vehicle control. For example, when there is no right side stop, parking assistance is performed so that the center position of the left side stop in the vehicle width direction matches the center position of the left rear wheel in the vehicle width direction. Therefore, when the center position of the left rear wheel is shifted to the left side with respect to the center position of the left car stop, the support means 2 may inform the driver by voice from the speaker 5, An image may be displayed on the display 6 for notification. Further, the driving support means 2 may instruct the steering to be turned to the right by sound from the speaker 5 or an image from the display 6. Further, the driving support means 2 may apply a clockwise rotational load to the steering wheel by a steering actuator.

  Further, the support means 2 is configured such that when the length along the vehicle width direction of one of the vehicle stops is less than a reference length, or when there is no one vehicle stop, the support means Warning that there is a high risk of slipping through.

Next, with reference to FIGS. 2-4, operation | movement of the parking assistance apparatus by this embodiment is demonstrated.
First, when the switch of the parking assist device (system) is turned on (S201 in FIG. 2), the display 6 starts displaying an image of the detection result by the vehicle stop detection means 1 (sensor) (S202). Until a vehicle stop (wheel stop) is detected, only the flat road surface is displayed.

  When the vehicle starts to reverse (S203) and a vehicle stop is detected (S204), an image showing the positional relationship between the vehicle 10 and the vehicle stops 8a and 8b is displayed on the display 6 as shown in FIG. (S205).

  In the example shown in FIG. 5A, a pair of left and right car stops 8a and 8b are detected ("yes" in S206). When one left and right car stops 8a and 8b are detected, the center position c0 of the pair of car stops 8a and 8b in the vehicle width direction is detected, and the center position c0 and the center position c1 of the vehicle in the vehicle width direction are detected. A deviation width is detected (S207).

  In the example shown in FIG. 5A, the center position c1 of the vehicle is shifted to the left (offset) with respect to the center position c0 of the pair of car stops 8a and 8b (“yes” in S208). In this case, the image shown in FIG. This display image indicates that the center position c1 of the vehicle is shifted to the left with respect to the center position c0 of the pair of car stops 8a and 8b (S209), and an arrow instruction is displayed to turn the steering wheel to the right. (S210). Furthermore, a rightward rotational load can be applied to the steering (S211).

  In the example shown in FIG. 5B, the center position c1 of the vehicle is shifted to the left side (offset) with respect to the center position c0 of the pair of car stops 8a and 8b (“no” in S208 and S212de “yes”). In this case, the image shown in FIG. The display image indicates that the center position c1 of the vehicle is shifted to the right side with respect to the center position c0 of the pair of car stops 8a and 8b (S213), and an arrow instruction to turn the steering wheel to the left is displayed. (S210). Furthermore, a leftward rotational load is applied to the steering (S211).

  In the example shown in FIG. 5C, the center position c1 of the vehicle is not shifted to the left or right with respect to the center position c0 of the pair of car stops 8a and 8b (no offset) (“no” in S212 and S216). In this case, the image shown in FIG. From this image, it is displayed that the center position c0 of the pair of car stops 8a and 8b and the center position c1 of the vehicle coincide with each other (S217). Then, the vehicle moves backward as it is (S219), and the rear wheel of the vehicle comes into contact with the vehicle stops 8a and 8b, thereby completing the parking assist operation (S219).

Next, the operation of the parking assist device when one of the pair of car stops 8a and 8b is not provided will be described.
In addition, it operates similarly when the length along the vehicle width direction of one of the vehicle stops of the pair of vehicle stops 8a and 8b is less than the reference length.

  If one of the pair of car stops 8a and 8b does not have a car stop (in the case of “no” in S206 in FIG. 2), the support device 2 warns the driver that there is a high risk that the vehicle will slip through the car stop. (S301 in FIG. 3). This warning may be performed by voice through the speaker 5 or may be performed by image display on the display 6. By this warning, the driver can recognize that there is a high risk of slipping through the car stop because there is an abnormality in the car stop.

  If there is no right-side stop 8b and only the left-side stop 8a is detected (in the case of “yes” in S302), the center position ca of the left-side stop 8a in the vehicle width direction is detected. Then, a deviation width between the center position ca and the center position c2 in the vehicle width direction of the rear wheel on the left side of the vehicle is detected (S303).

  In the example shown in FIG. 6A, the center position c2 of the left rear wheel of the vehicle in the vehicle width direction is shifted to the left side (offset) with respect to the center position ca of the left side stop 8a (in S304). “Yes”). In this case, the image shown in FIG. This display image indicates that the center position c2 of the left rear wheel of the vehicle in the vehicle width direction is shifted to the left side with respect to the center position ca of the left car stop 8a (S305), and turns the steering wheel to the right. An arrow instruction is displayed (S306). Further, a rotational load in the right direction is applied to the steering (S307).

  Further, in the example shown in FIG. 6B, the center position c2 of the left rear wheel of the vehicle in the vehicle width direction is shifted to the right (offset) with respect to the center position ca of the left car stop 8a ( “No” in S304 and “yes” in S308). In this case, the image shown in FIG. This display image indicates that the center position c2 of the left rear wheel of the vehicle in the vehicle width direction is shifted to the right side with respect to the center position ca of the left side stop 8a (S309), and turns the steering to the left. An arrow instruction is displayed (S310). Furthermore, a leftward rotational load can be applied to the steering (S311).

  In the example shown in FIG. 6C, the center position c2 of the left rear wheel of the vehicle in the vehicle width direction is not shifted to the left or right with respect to the center position ca of the left car stop 8a (no offset) (S308). "No", and S312). In this case, an image shown in FIG. 6C is displayed on the display 6. From this image, it is displayed that the center position c0 of the pair of car stops 8a and 8b is coincident with the center position c1 of the vehicle (S313). Then, the vehicle is moved backward as it is (S314), and the rear wheel of the vehicle comes into contact with the vehicle stops 8a and 8b, thereby completing the parking assist operation (S315).

  On the other hand, when there is no left side stop 8a and only the right side stop 8b is detected (in the case of “no” in S302), the center position cb of the right side stop 8b in the vehicle width direction is detected. , And a deviation width between the center position cb and the center position c3 in the vehicle width direction of the right rear wheel of the vehicle is detected (S401 in FIG. 4).

  In the example shown in FIG. 7A, the center position c3 of the right rear wheel of the vehicle in the vehicle width direction is shifted to the left side (offset) with respect to the center position cb of the right side stop 8b (in S402). “Yes”). In this case, the image shown in FIG. The display image indicates that the center position c3 of the right rear wheel of the vehicle in the vehicle width direction is shifted to the left side with respect to the center position cb of the right stop 8b (S403), and turns the steering wheel to the right. An arrow instruction is displayed (S404). Furthermore, a rotational load in the right direction can be applied to the steering (S405).

  In the example shown in FIG. 7B, the center position c3 in the vehicle width direction of the right rear wheel of the vehicle is shifted to the right (offset) with respect to the center position cb of the right side stop 8b. “No” in S402 and “yes” in S406). In this case, the image shown in FIG. This display image indicates that the center position c3 of the right rear wheel of the vehicle in the vehicle width direction is shifted to the right side with respect to the center position cb of the right stop 8b (S407), and turns the steering to the left. An arrow instruction is displayed (S408). Furthermore, a leftward rotational load can be applied to the steering (S409).

  Further, in the example shown in FIG. 7C, the center position c3 of the right rear wheel of the vehicle in the vehicle width direction is not shifted left or right with respect to the center position cb of the right side (no offset) (S406). "No", and S410). In this case, an image shown in FIG. 7C is displayed on the display 6. From this image, it is displayed that the center position cb of the right vehicle stop 8b matches the center position c3 of the right rear wheel of the vehicle in the vehicle width direction (S411). Then, the vehicle moves backward as it is (S412), and the right rear wheel of the vehicle comes into contact with the right side stop 8b, thereby completing the parking assist operation (S413).

  In the above-mentioned embodiment, although the example which comprised this invention on the specific conditions was demonstrated, this invention can perform a various change and combination, and is not limited to this.

DESCRIPTION OF SYMBOLS 1 Car stop detection means 2 Support means 3 Vehicle speed sensor 4 Accelerator opening sensor 5 Speaker 6 Display 7 Brake actuator 8a, 8b Car stop

Claims (2)

Vehicle stop detection means for detecting a center position in the vehicle width direction of a pair of vehicle stops on the road surface behind the vehicle during reverse of the vehicle;
Support means for performing parking support by at least one of notification to the driver and vehicle control so that the center position of the pair of vehicle stops and the center position in the vehicle width direction of the vehicle coincide with each other ,
The vehicle stop detection means, when there is no one vehicle stop of the pair of vehicle stops, or when the length along the vehicle width direction of one vehicle stop of the pair of vehicle stops is less than a reference length, Detecting the center position in the vehicle width direction of the other one of the pair of vehicle stops;
The support means is based on at least one of notification to the driver and vehicle control so that the center position of the other vehicle stop and the center position of the rear wheel on the other vehicle stop side in the vehicle width direction coincide with each other. A parking assistance device that performs parking assistance. Said support means, when there is no one bollard of the pair of bollard, or when one of the length along the vehicle width direction of the bollard of the pair of wheel stopping is less than the reference length, the driver parking assist apparatus according to claim 1, wherein the warning that there is a high risk that slip through bollard on.

Images