JP5811965B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device.

  2. Description of the Related Art Conventionally, a technique for assisting an operation of reversing a vehicle and parking in parallel in a parking space is known. For example, in Patent Document 1, the vehicle is moved backward into the parking space along a predetermined parking locus, and the parking locus is corrected according to the shape of the side object in the parking space detected during the backward movement. A driver assistance device that assists a vehicle to park in the center of a space is disclosed.

  Further, in Patent Document 2, a vehicle is arranged at a predetermined distance from a parked vehicle that is closest to the vehicle at the start of the parking process of two parked vehicles adjacent to the parking space. Thus, a parking process support device that determines a target parking position and supports parking at the parking position is disclosed.

Special table 2011-522737 Special table 2011-524298 gazette

  However, in the driver assistance device of Patent Document 1, since assistance is performed so that the vehicle is parked in the center of the parking space, it is possible to meet the request that the driver wants to narrow the parking space to one side in order to secure a passage. There wasn't.

  Further, in the parking process support device of Patent Document 2, since the vehicle is arranged at a predetermined distance from the parked vehicle closest to the vehicle at the start of the parking process, the driver is provided. However, it is difficult to park the vehicle by bringing it to the desired side.

  The present invention has been made in view of the above-described conventional problems, and the purpose of the present invention is to drive more easily when performing parking assistance for reversing the host vehicle and parking in parallel in a parking space adjacent to an obstacle. An object of the present invention is to provide a parking assist device that enables a vehicle to be parked on the side desired by a person.

The invention of the first parking assist device is a parking space detecting means (1, 2, which is mounted on a vehicle and detects a parking space on the side of the route adjacent to an obstacle existing on the side of the route through which the vehicle passes. and S1), the target parking position determining means for determining a target parking position when parking the vehicles the parking space detected in the parking space detecting means and (1, S3), the parallel parking to the target parking position by retracting the vehicle Trigger operation detecting means (1) for detecting a user's operation input to a predetermined operation switch provided in the vehicle, the parking support device (1) including support means (1, S5, S15) for supporting the vehicle running. 1, S8), correction direction determination means (1, S11, S13) for determining the direction to shift the target parking position, and correction direction determination means, triggered by the detection of the user's operation input by the trigger operation detection means. Resetting means for performing a correction to the cross-sectional and direction shifting the target parking position (1, S12, S14) and provided with a correction direction determination means (1, S13) is only on one side of the detected parking space in the parking space detecting means If there is no adjacent obstacle, the direction of the obstacle on the side of the parking space is determined as the direction to shift the target parking position,
The resetting means (1, S14) adjusts the width in the direction determined by the correction direction determining means when there is an obstacle adjacent to only one side of the parking space detected by the parking space detecting means. It is characterized by performing correction for shifting the target parking position .
Further, the invention of the second parking assist device is a parking space detection means (referred to as a parking space detection means) that is mounted on a vehicle and detects a parking space on the side of the route adjacent to an obstacle existing on the side of the route through which the vehicle passes 1, S1), target parking position determining means (1, S3) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means, and reversing the vehicle in parallel with the target parking position. A parking assistance device (1) comprising assistance means (1, S5, S15) for assisting in running a vehicle to be parked, and trigger operation detection means for detecting a user operation input to a predetermined operation switch provided on the vehicle. (1, S8), correction direction determination means (1, S11, S13) for determining the direction of shifting the target parking position, triggered by the detection of the user's operation input by the trigger operation detection means, and correction direction determination Resetting means (1, S12, S14) for performing correction for shifting the target parking position in the direction determined by the stage, and the target parking position determining means is adjacent to only one side of the parking space detected by the parking space detecting means. When there is no obstacle, the target parking position is determined so that the distance between the obstacle at the time of parking and the side surface of the vehicle becomes a preset value, and is corrected. When there is an obstacle adjacent to only one side of the parking space detected by the parking space detecting means, the direction determining means (1, S13) is on the side where the obstacle exists with respect to the parking space. If the direction is determined to be the direction to shift the target parking position, and the resetting means (1, S14) has an obstacle adjacent to only one side of the parking space detected by the parking space detecting means, Judgment by the correction direction judgment means Is characterized by performing a predetermined amount shifted correcting the target parking position in the direction.
Furthermore, the invention of the third parking assist apparatus is a parking space detecting means (which is mounted on a vehicle and detects a parking space on the side of the route adjacent to an obstacle existing on the side of the route through which the vehicle passes). 1, S1), target parking position determining means (1, S3) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means, and reversing the vehicle in parallel with the target parking position. A parking assistance device (1) comprising assistance means (1, S5, S15) for assisting in running a vehicle to be parked, and trigger operation detection means for detecting a user operation input to a predetermined operation switch provided on the vehicle. (1, S8), correction direction determination means (1, S11, S13) for determining the direction to shift the target parking position, triggered by detection of the user's operation input by the trigger operation detection means, correction direction determination The resetting means (1, S23) for performing correction for shifting the target parking position in the direction determined by the means, and the reflected wave of the exploration wave transmitted to the side of the vehicle is an obstacle on the side of the vehicle. A sensor information acquisition means (1, S7) that acquires a detection result of a distance measuring sensor (3, 3a, 3b) that detects a distance to a side obstacle, and a vehicle in the parking space that is acquired by the sensor information acquisition means. In a plane coordinate system based on the ground surface of the vehicle facing surface, which is the surface facing the vehicle side of the side obstacle, based on the point sequence of detection results sequentially detected by the distance measuring sensor when entering Linearity determining means (1, S21) for determining the linearity of the contour shape, and the resetting means (1, S23) sends the vehicle to a side obstacle having a higher linearity determined by the linearity determining means. Perform correction to shift the target parking position so It is characterized.

  According to this, if a user (for example, a driver) inputs an operation to a predetermined operation switch provided on the vehicle, the target parking position can be shifted in the direction determined by the correction direction determination means. When the driver wants to change the target parking position, the target parking position can be adjusted. Therefore, when performing parking assistance in which the host vehicle is moved backward and parked in parallel in the parking space adjacent to the obstacle, the vehicle can be parked closer to the side desired by the driver.

1 is a block diagram illustrating a schematic configuration of a parking assistance system 100. FIG. It is a schematic diagram for demonstrating the outline of the parking assistance in the parking assistance system. It is a flowchart which shows an example of the flow of the reverse parking assistance relevant process in parking assistance ECU1 of Embodiment 1. FIG. It is a schematic diagram for demonstrating an example of correction | amendment of a target parking position. It is a flowchart which shows an example of the flow of the reverse parking assistance relevant process in parking assistance ECU1 of the modification 1. It is a schematic diagram for demonstrating the method of determining the linearity. It is a schematic diagram for demonstrating an example of the outline shape of the vehicle opposing surface of a side obstruction.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. A parking assistance system 100 shown in FIG. 1 includes a parking assistance ECU 1, a front distance measuring sensor 2, a rear distance measuring sensor 3, a rear camera 4, a rudder angle sensor 5, a wheel speed sensor 6, a door mirror storage switch 7, a winker switch 8, A navigation device 9, a display device 10, and an audio output device 11 are included.

  For example, parking assist ECU 1, front ranging sensor 2, rear ranging sensor 3, rear camera 4, rudder angle sensor 5, wheel speed sensor 6, door mirror storage switch 7, turn signal switch 8, navigation device 9, display device 10, The audio output device 11 may be connected to each other via an in-vehicle LAN conforming to 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 front distance measuring sensor 2 and the rear distance measuring sensor 3 are sensors used to detect a distance to an obstacle by transmitting an exploration wave and receiving a reflected wave of the exploration wave reflected by the obstacle. It is. The front distance measuring sensor 2 and the rear distance measuring sensor 3 may be any sensors that transmit a search wave and receive a reflected wave of the search wave. Even if a sound wave is used, a light wave is used. Alternatively, radio waves may be used. For example, sensors such as an ultrasonic sensor, a laser radar, and a millimeter wave radar can be used as the front distance measuring sensor 2 and the rear distance measuring sensor 3.

  The front distance measuring sensor 2 is disposed, for example, one on each of the left and right side surfaces of the front bumper of the own vehicle so that the directivity center line is inclined forward from the direction of the own vehicle axle. The directivity center line of the front distance measuring sensor 2 may be disposed so as to be tilted forward of the host vehicle, for example, about 20 ° from the axle direction of the host vehicle. Thereby, the exploration wave is transmitted from the front distance measuring sensor 2 toward the side slightly forward. Hereinafter, the front ranging sensor 2 on the left side of the host vehicle is referred to as a front ranging sensor 2a, and the front ranging sensor 2 on the right side of the host vehicle is referred to as a front ranging sensor 2b.

  In addition, the front distance measuring sensor 2 is not limited to the configuration in which the front distance measuring sensor 2 is disposed one by one on the left and right side surfaces of the front bumper of the own vehicle, for example, two on the surface facing the front of the front bumper of the own vehicle. It is good also as a structure arrange | positioned still more.

  The rear distance measuring sensors 3 are arranged one by one on the left and right side surfaces of the rear bumper of the own vehicle, for example, so that the directivity center line is inclined backward from the own vehicle's axle direction. The directivity center line of the rear distance measuring sensor 3 may be arranged to be inclined rearward of the host vehicle from the axle direction of the host vehicle to about 20 °, for example. As a result, a search wave is transmitted from the rear distance measuring sensor 3 toward the side slightly rearward. Hereinafter, the rear ranging sensor 3 on the left side of the own vehicle is referred to as a rear ranging sensor 3a, and the rear ranging sensor 3 on the right side of the own vehicle is referred to as a rear ranging sensor 3b.

  Note that the rear distance measuring sensors 3 are not limited to being arranged one by one on the left and right side surfaces of the rear bumper of the own vehicle, but are arranged, for example, two on the surface facing the rear bumper of the own vehicle. Further, a configuration in which more are arranged may be employed. The rear distance measuring sensor 3 (3a, 3b) corresponds to the distance measuring sensor recited in the claims.

  The directivity of the front distance measuring sensor 2 and the rear distance measuring sensor 3 should be narrower as long as it has a width that allows satisfactory transmission and reception in use in the assumed vehicle speed range. preferable.

  Here, an explanation will be given of an example of a detection mode of a parking space and an obstacle such as a parked vehicle and a wall adjacent to the parking space using the front distance measuring sensor 2. Here, for the sake of convenience, the case where a parking space sandwiched between obstacles exists on the left side of the own vehicle will be described as an example. Hereinafter, the description will be continued based on the example of FIG.

  A in FIG. 2 indicates the own vehicle, a black arrow indicates the traveling direction of the own vehicle A, B1 is an obstacle on the far side with respect to the traveling direction when the own vehicle is moving forward, B3 indicates the obstacle on the near side. It is assumed that the obstacle B3 is an accessory of the obstacle B2, such as a carport pillar with respect to the fence. Moreover, C in FIG. 2 shows a parking space sandwiched between an obstacle B1 and obstacles B2 and B3.

  The own vehicle A transmits obstacles B2 and B3, and the parking space C while sequentially transmitting exploration waves from the front distance measuring sensor 2a arranged on the left side of the own vehicle A toward the left side slightly forward of the own vehicle A. The reflected waves from the obstacles B2 and B3 and the obstacle B1 are sequentially received while passing through the side of the obstacle B1. And the obstacle which exists on the left side of the path | route which the own vehicle A passed, and the path | route which the own vehicle A passes from now on the basis of the reflected wave sequentially received by the front ranging sensor 2a while the own vehicle A is traveling The parking assist ECU 1 detects the parking space C adjacent to the object B1 and the obstacles B2 and B3.

  The rear camera 4 is installed above the rear bumper of the host vehicle A, for example, and captures an area extending in a predetermined angular range behind the host vehicle. The rear camera 4 is installed such that the optical axis faces the road surface at the rear of the vehicle body. For example, the rear camera 4 may be configured to use a CCD camera. Image information around the rear of the host vehicle captured by the rear camera 4 is supplied to the parking assist ECU 1.

  The steering angle sensor 5 is a sensor that detects the steering angle of the steering of the host vehicle A. The steering angle when the host vehicle A travels in a straight traveling state is set to a neutral position (0 degree), and the rotation angle from the neutral position. Is output as the steering angle. 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 6 is a sensor that detects the speed of the host vehicle A from the rotational speed of each rolling wheel.

  The door mirror storage switch 7 is a switch for detecting an operation instructing the driver to store and return the door mirror. When the door mirror storage switch 7 is operated to the storage side, a signal indicating that the door mirror storage switch 7 is operated to the storage side is output to the in-vehicle LAN.

  The blinker switch 8 is a switch for detecting a lamp lighting operation of the direction indicator by the driver (that is, a blinking lamp lighting operation), and is provided so as to detect the lighting operation of the left and right blinker lamps. Yes. Hereinafter, the winker switch 8 for detecting the lighting operation of the left winker lamp is referred to as a left winker switch 8a, and the winker switch 8 for detecting the lighting operation of the right winker lamp is referred to as a right winker switch 8b.

For example, when the left turn signal lamp is turned on, that is, when the left turn signal switch 8a is turned on by the driver, a signal indicating that the left turn signal switch 8a is on is output to the in-vehicle LAN. To do. Further, when the lighting operation of the right turn signal lamp is performed, that is, when the right turn signal switch 8b is turned on by the driver, a signal indicating that the right turn signal switch 8b is turned on is output to the in-vehicle LAN. To do.

  The navigation device 9 is a navigation device similar to a known device, and is obtained from sensors such as a GPS receiver for a GPS (global positioning system) that detects the current position of the vehicle based on radio waves from a satellite. Based on the information, the current position of the vehicle is sequentially detected. The navigation device 9 may be a vehicle-mounted device or a mobile terminal with a GPS function. When the navigation device 9 is configured to use a mobile terminal with a GPS function, the parking assist ECU 1 acquires information on the current position of the vehicle through wireless communication using a communication standard such as Bluetooth (registered trademark). What is necessary is just composition.

  The display device 10 displays text and images in accordance with instructions from the parking assistance ECU 1. For example, the display device 10 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. In addition, as the display device 10, for example, a display provided in the in-vehicle navigation device 9 may be used, or a display provided in an instrument panel or the like separately from the display of the in-vehicle navigation device 9. It is good also as a structure to use.

  The audio output device 11 is composed of 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 11, it is good also as a structure using the audio | voice output apparatus provided in the vehicle-mounted navigation apparatus 9, for example.

  The parking assist ECU 1 is mainly configured as a microcomputer, and each includes a well-known CPU, a memory such as a ROM / RAM / EEPROM, an I / O, and a bus connecting them. The parking assist ECU 1 includes various information input from the front distance sensor 2, rear distance sensor 3, rear camera 4, steering angle sensor 5, wheel speed sensor 6, door mirror storage switch 7, turn signal switch 8, and navigation device 9. Based on the above, various control programs stored in the ROM are executed. For example, the parking assist ECU 1 executes various processes such as a process related to vehicle travel support (that is, parking assist) for reversing the host vehicle and parking in parallel in the parking space C (hereinafter referred to as reverse parking assist related process). To do. The parking assistance ECU 1 corresponds to the parking assistance device in the claims.

  Here, with reference to the flowchart of FIG. 3, the backward parking support-related process in the parking support ECU 1 will be described. This flow is started when the parking assist ECU 1 detects a predetermined start trigger. Examples of the start trigger include an operation input for turning on a parking assistance start switch (not shown).

  First, in step S1, a parking space detection process is performed and the process proceeds to step S2. In the parking space detection process, when passing along the obstacles B2 and B3, the parking space C, and the obstacle B1, while traveling forward, the obstacle B1 and the obstacles B2 and B3 obtained sequentially from the front distance measuring sensor 2a Are sequentially acquired (for example, every 100 msec). And the parking space C is detected by specifying the contour shape of the obstacle B1 and the obstacles B2 and B3 from the distance data series (point sequence) in which the distances to the obtained obstacles are stored in time series. Therefore, the process of step S1 corresponds to the parking space detecting means in the claims.

  Here, the contour shapes of the obstacle B1 and the obstacles B2 and B3 identified from the distance data series are contour shapes in a plane coordinate system with respect to the ground surface of the surface facing the route side through which the vehicle A has passed. It is. Here, since the obstacle B3 is an accessory of the obstacle B2, it is assumed that the contour shapes of the obstacle B2 and the obstacle B3 are specified as being integrated.

  As an example, the distance data series (dot sequence) is approximated by an ellipse or a parabola by a known method similar to that disclosed in Japanese Patent Application Laid-Open No. 2008-21039, and then the obstacle B1 and the obstacles B2 and B3 Specify the contour shape. And the parking space C sandwiched between the obstacle B1 and the obstacles B2 and B3 is detected from the specified contour shape.

  In step S2, it is determined whether or not the host vehicle A is a parking space C in which parking is possible. Whether or not the host vehicle A is a parking space C that can be parked is determined based on the size of the parking space C and the size of the host vehicle A. Here, the size of the parking space C is the length of the parking space C in the direction of the route through which the vehicle A has passed. In addition, the size of the host vehicle A may be stored in advance in a nonvolatile memory such as an EEPROM of the parking assist ECU 1.

  And when it determines with the own vehicle A parking possible (it is YES at step S2), it moves to step S3. If it is determined that the vehicle A cannot be parked (NO in step S2), the process returns to step S1, and an obstacle existing further in the traveling direction of the vehicle A than the obstacle B1. Repeat the flow with detection.

  In step S3, a target initial position calculation process is performed, and the process proceeds to step S4. In the target initial position calculation process, a target parking position (hereinafter referred to as a target parking position) and a target parking angle (hereinafter referred to as a target parking angle) when the host vehicle A is parked in the parking space C detected by the parking space detection process. ) Is set. Therefore, the process of step S3 corresponds to the target parking position determining means in the claims.

  For example, when obstacles are adjacent to both sides of the parking space C, the target parking position is set so that the own vehicle A is located in the middle between these obstacles, and only on one side of the parking space C. When the obstacle is not adjacent, it is set at a position separated from the obstacle on one side by a preset set value (for example, 1 m). For example, the target parking angle is set to be parallel to the direction perpendicular to the route when passing through the parking space C among the routes passed when the host vehicle A is moving forward.

  The both sides of the parking space C mentioned here mean both sides in the left-right direction with respect to the own vehicle A when the own vehicle A is parked in the parking space C while being retracted. Whether the obstacle is adjacent to both sides of the parking space C or whether the obstacle is adjacent to only one side of the parking space C is determined by the obstacle adjacent to the parking space C specified during the parking space detection process. It is assumed that the parking assist ECU 1 makes a determination based on the contour shape of the vehicle.

  Regarding the fact that the obstacle is adjacent to only one side of the parking space C, the contour shape of the obstacle can be specified only on one side of the parking space C, and the obstacle can be detected only on one side of the parking space C. It may be configured to make a determination based on this.

  In step S4, a parking route calculation process is performed, and the process proceeds to step S5. In the parking route calculation process, a reverse start position is set based on the current position of the host vehicle A, and a parking route for parking at the target parking position and the target parking angle is determined. Since the method for determining the parking route is known as disclosed in Japanese Patent Application Laid-Open No. 2003-34206 and Japanese Patent Application Laid-Open No. 2009-83806, details are omitted.

  In step S5, parking support processing is started, and the process proceeds to step S6. In the parking assistance process, steering assistance and automatic steering are performed so that the host vehicle A travels along the parking route calculated in the parking route calculation process. Therefore, the processing in step S5 corresponds to the support means in the claims.

  Here, as the steering assist, for example, a predicted backward trajectory that is expected to pass when the own vehicle A moves backward is displayed on the display device 10 on the rear image of the own vehicle A captured by the rear camera 4. To do. The predicted backward trajectory may be calculated by a known method based on the steering angle obtained from the rudder angle sensor 5 or the vehicle speed obtained from the wheel speed sensor 6. In addition, the voice output device 11 may output a guidance voice of steering timing and steering amount.

  If it is detected in step S6 that the own vehicle A has started to reverse (YES in step S6), the process proceeds to step S7. On the other hand, when it is not detected that the own vehicle A has started to reverse (NO in step S6), the flow in step S6 is repeated. The parking assist ECU 1 may detect that the host vehicle A has started to reverse based on a signal indicating that the shift position has become the reverse position from a shift position sensor (not shown).

  In step S7, a side obstacle detection process is started, and the process proceeds to step S8. In the side obstacle detection process, when the vehicle moves backward and enters the parking space C, the obstacle B1 and the obstacle B2, which are located on the left and right of the own vehicle A sequentially obtained from the rear ranging sensors 3a and 3b. The distance to B3 is acquired sequentially (for example, every 100 msec).

  In step S8, trigger detection processing is performed. In the trigger detection process, a user operation input to a predetermined operation switch is detected as a trigger. Therefore, the process in step S8 corresponds to the trigger operation detecting means in the claims.

  In the trigger detection process, the operation input to the dedicated operation switch for requesting the correction of the target parking position or the operation input to operate the door mirror storage switch 7 to the storage side may be detected as a trigger. It is more preferable that an operation input for operating 7 on the storage side is detected as a trigger.

  The details are as follows. When the driver intends to park the vehicle in parallel by moving the vehicle to an obstacle adjacent to the parking space, the driver tends to store the door mirror. Therefore, a configuration in which an operation input for operating the door mirror storage switch 7 to the storage side is detected as a trigger, so that the driver desires the correction of the target parking position is a special case compared with the case of normal parking. It can be estimated accurately without requiring any operation. In the present embodiment, the following description will be continued on the assumption that an operation input for operating the door mirror storage switch 7 to the storage side is detected as a trigger.

  In step S8, when a trigger is detected (YES in step S8), the process proceeds to step S10. If no trigger is detected (NO in step S8), the process proceeds to step S9.

  In step S9, when it is detected that the own vehicle A has completed parking (YES in step S9), the flow ends. For example, the parking assistance ECU 1 may detect that the own vehicle A has completed parking based on the fact that a signal indicating that the shift position has become the parking position is obtained from a shift position sensor (not shown). . On the other hand, if it is not detected that the vehicle A has completed parking (NO in step S9), the flow returns to step S8 and the flow is repeated.

  In step S10, when an obstacle is adjacent to both sides of the parking space C (“both sides” in step S10), the process proceeds to step S11. On the other hand, when the obstacle is adjacent to only one side of the parking space C (“one side” in step S10), the process proceeds to step S12.

  In step S11, a direction designation detection process is performed, and the process proceeds to step S11. In the direction designation detection process, for example, when a signal indicating that the left turn signal switch 8a is in the on state is detected, it is detected that the left direction with respect to the host vehicle is designated, and the right turn signal switch 8b is in the on state. When a signal indicating this is detected, it is detected that the right direction with respect to the host vehicle is designated. Therefore, the processing in step S11 corresponds to the left / right designation operation detection means in the claims.

  Also, in the direction designation detection process, if it is detected that the left direction is designated, it is determined that correction is performed to shift the target parking position to the left direction, whereas if it is detected that the right direction is designated, the target parking position is determined. It is determined that correction is performed to shift the parking position to the right. Therefore, the processing in step S11 corresponds to the correction direction determination means in the claims.

  Note that the direction designation detection process is not limited to the configuration in which the designation in the left-right direction is detected according to the signal from the winker switch 8, but the left and right in-vehicle electrical components provided on the left and right sides of the vehicle other than the winker switch 8. It is good also as a structure which detects designation | designated of the left-right direction according to the signal of the operation switch for designating and operating. For example, the configuration may be such that designation in the left-right direction is detected according to signals from a power window switch for left and right windows, a mirror selection switch for left and right door mirrors, and the like. In addition, when a dedicated switch for designating the left and right direction with respect to the host vehicle is provided, the designation of the left and right direction may be detected according to the signal of the dedicated switch.

  In step S12, a first correction process is performed, and the process proceeds to step S15. In the first correction process, the target parking position is corrected so as to be closer to the direction detected in the direction designation detection process. Then, the parking route is recalculated in accordance with the correction of the target parking position. Therefore, the process in step S12 corresponds to a resetting unit in the claims.

  As an example, a predetermined distance, such as a preset minimum clearance, from an obstacle located in the direction detected by the direction designation detection process with respect to the own vehicle that has entered the parking space C backward. The target parking position is corrected to a position separated by a distance. In addition, the distance to the obstacle on the side located in the direction detected in the direction designation detection process among the distances from the own vehicle that has entered the parking space C backward to the left and right obstacles is more The target parking position may be corrected to a position that is shorter than a predetermined distance.

  In step S13 in the case of “one side” in step S10, a first correction direction determination process is performed, and the process proceeds to step S14. In the first correction direction determination process, it is determined that the direction on the side where the obstacle is present is the direction in which the target parking position is corrected with respect to the own vehicle that has moved backward into the parking space C. Therefore, the processing in step S13 corresponds to the correction direction determination means in the claims.

  In the first correction direction determination process, as in the first direction designation detection process in step S11 described above, the target parking position is detected by detecting designation in the left-right direction according to signals from the turn signal switch 8 and the dedicated switch. It is also possible to determine the direction in which correction for shifting is performed.

  In step S14, the second correction process is performed, and the process proceeds to step S15. In the second correction process, the target parking position is corrected so as to be closer to the direction in which the obstacle is present than the preset target parking position. Then, the parking route is recalculated in accordance with the correction of the target parking position. Therefore, the process of step S14 also corresponds to the resetting means in the claims. As an example, the target parking position is corrected to a position separated from the obstacle by a predetermined distance such as a preset minimum clearance.

  In step S15, the post-correction support process is started, and the process proceeds to step S16. In the post-correction support process, steering support and automatic steering are performed so that the vehicle A travels along the recalculated parking route. Therefore, the process of step S15 also corresponds to the support means of a claim.

  In step S16, when it is detected that the own vehicle A has completed parking (YES in step S16), the flow ends. On the other hand, if it is not detected that the vehicle A has completed parking (NO in step S16), the post-correction support process is continued, and the flow of step S16 is repeated.

  According to the above configuration, when there is an obstacle only on one side in the left-right direction of the host vehicle that is moving backward into the parking space C, an operation input for operating the door mirror storage switch 7 to the storage side is given to the driver. If this is done, the obstacle will be closer to the obstacle than the preset target parking position (see FIG. 4). Note that D in FIG. 4 is a preset target parking position, and E is an obstacle B2 and B3 identified from a distance data series (point sequence) of obstacles B2 and B3 detected by the side obstacle detection process. The outline shape is shown.

  As described above, when the driver performs side-by-side parking with the driver moving closer, the door mirror is stored so as not to rub against an obstacle. Therefore, the driver's intention as to whether or not the driver wants to adjust the width can be determined based on whether or not the door mirror is stored. Therefore, based on the presence or absence of the door mirror retracting operation, it is accurately determined that the driver desires width adjustment, and the target parking position is shifted in the direction in which normal width adjustment is performed when there is an obstacle on only one side. It becomes possible to make it closer. Therefore, when performing parking assistance in which the host vehicle is moved backward and parked in parallel in the parking space C adjacent to the obstacle, the vehicle can be parked closer to the side desired by the driver.

  In addition, when there are obstacles on both sides in the left-and-right direction of the vehicle that has entered the parking space C, the winker switch 8 or the dedicated switch is operated following the operation input for operating the door mirror storage switch 7 to the storage side. If the driver performs an operation input for designating the left-right direction by an operation such as the above, the width will be closer to the designated direction than the center position.

  Therefore, also in this respect, it is possible to park the vehicle closer to the driver's desired side more easily when performing parking assistance in which the host vehicle is moved backward and parked in parallel in the parking space C adjacent to the obstacle. become.

  In addition, when it is not detected that the own vehicle A has completed parking in step S16, and when designation in the left-right direction is detected in response to a signal from the turn signal switch 8 or the dedicated switch within a certain time. The target parking position may be further shifted and corrected in the detected direction by a predetermined amount (for example, 30 cm). If it is necessary to switch back, which is a repetitive operation of a plurality of backwards and forwards, according to the correction of the target parking position, the parking route for performing this switching is recalculated. And it is good also as a structure which recalculates a parking route according to the correction | amendment of the target parking position, and restarts parking assistance.

  According to this, even if the vehicle is positioned at the corrected target parking position and the parking assistance is once ended, if the driver desires further width adjustment, the winker switch 8 or the dedicated switch or the like By operating an operation switch that specifies the left-right direction with respect to the vehicle, it is possible to resume parking support that further increases the width in the specified direction.

  When there are obstacles on both sides of the parking space C, the target parking position is corrected by the operation input of the operation switch for designating the left and right direction with respect to the own vehicle such as the turn signal switch 8 and the dedicated switch, and parallel parking is performed. In this case, the correction direction and the parking position are stored in association with each other, and the next correction is automatically performed in the same correction direction when parking at the same position.

  When setting it as the above structure, what is necessary is just to set it as the structure which parking assistance ECU1 acquires from the navigation apparatus 9 the present position of the own vehicle. Therefore, parking assistance ECU1 is equivalent to the position information acquisition means of a claim.

  Moreover, what is necessary is just to perform the correlation with the above-mentioned correction | amendment direction and a parking position as follows. First, the direction detected by the direction designation detection process (hereinafter referred to as the designated direction) is determined as the direction in which the target parking position is shifted, and then the target parking position is adjusted so that the host vehicle A is brought closer to that direction by the first correction process. When the correction for shifting is performed, the parking assist ECU 1 stores the specified direction in association with the current position (hereinafter, registered position) of the vehicle A in the memory. Therefore, the parking assist ECU 1 corresponds to the position registration means in the claims.

  The registered position may be the current position of the host vehicle A acquired from the navigation device 9 when the correction is performed, and the memory is an electrically rewritable nonvolatile memory such as an EEPROM of the parking assist ECU 1. The memory may be used.

  Then, the parking assistance ECU 1 detects the user's operation input in the trigger detection process, and there is an obstacle adjacent to both sides of the parking space C, and the current acquired from the navigation device 9 When the position matches the registered position stored in the memory, the target parking position is automatically corrected to shift the vehicle A in the specified direction associated with the registered position.

  The correction amount of the target parking position may be configured to be the same as the previous correction amount by storing the previous correction amount at the registration position in the memory, or the correction amount of the correction amount and the correction direction. By storing only the direction in the memory, the correction amount of the target parking position may be newly determined.

  According to the above configuration, by storing the designated direction and the registered position in association with each other in the memory, the next time the host vehicle A performs the reverse parking support related process at the same position as the registered position, In addition, it is possible to perform parking support by performing a correction for shifting the target parking position in the same designated direction as the previous time. As a result, at the registration position where the width-shifting direction is determined each time, such as a parking lot at home, the driver does not perform operation input of the operation switch for designating the left / right direction with respect to the own vehicle such as the turn signal switch 8 or the dedicated switch. However, the vehicle A can be shifted in the direction in which the vehicle is always shifted, and the convenience is further improved.

  Moreover, although the structure which determines the direction which shifts a target parking position by the operation input which designates right and left when the obstacle exists in both sides was shown, it does not necessarily restrict to this. For example, it is good also as a structure (henceforth modification 1) which shifts a target parking position in the direction where the obstacle with high linearity exists, and width-shifts.

  Here, with reference to the flowchart of FIG. 5, the backward parking support-related process in the parking support ECU 1 of the first modification will be described. For convenience of explanation, the description of the contents already described in the description of the flow of FIG. 3 is omitted.

  First, the processing of step S1 to step S6 is performed in the same manner as the processing of step S1 to step S6 described above. In step S7, a side obstacle detection process is started in the same manner as in step S7 described above, and the process proceeds to step S8. The process in step S7 corresponds to the sensor information acquisition unit in the claims. The processing from step S8 to step S10 is performed in the same manner as the processing from step S8 to step S10 described above.

  In step S21, linearity determination processing is performed, and the process proceeds to step S22. In the linearity determination process, the distance data series (point sequence) of the left and right obstacles of the vehicle that are stored in time series in the side obstacle detection process are divided into several segments, for example, In each case, linear approximation is performed (see F in FIG. 6). Then, a section (that is, a set of sections) in which the difference between the slopes of the approximate straight lines of adjacent sections falls within a predetermined value is specified as a straight section (see G in FIG. 6), and the length of this straight section is determined by the vehicle. The straightness of the contour shape of the opposing surface is determined. Therefore, the process of step S21 corresponds to the linearity determining means in the claims.

  The vehicle-facing surface is a surface facing the vehicle side of an obstacle in the left-right direction (hereinafter referred to as a side obstacle) of the vehicle that has entered the parking space C backward. In addition, the contour shape of the vehicle facing surface here is a shape connecting approximate straight lines of adjacent sections. Further, the straightness is determined for each of the vehicle facing surfaces of the left and right side obstacles (obstacle B1, obstacles B2 and B3) of the vehicle A.

  Further, the method of determining the linearity is not limited to that described above. For example, it is good also as a structure which determines the linearity by the following methods.

  In the first other method, a segment in which the difference in slope is within a predetermined value among the line segments sequentially connecting the distance data series (point sequence) stored in time series in the side obstacle detection process is selected. Specify a straight line. Then, linear approximation is performed on the point sequence included in the straight line portion, and the length of the obtained approximate straight line is determined as the straightness of the contour shape of the vehicle facing surface.

  In any of the above-described methods, when a plurality of straight portions are specified on one vehicle facing surface, the length of each straight portion may be determined as the straightness, but this embodiment Then, the length of the longest straight line portion is determined as the straightness.

  In the second method, the correlation coefficient is calculated from the distance data series (point sequence) stored in time series in the side obstacle detection process, and the calculated correlation coefficient is used as the contour shape of the vehicle facing surface. It is good also as a structure which determines with the straightness of this. The closer the correlation coefficient is to 1, the higher the linearity.

  In step S22, a second correction direction determination process is performed, and the process proceeds to step S23. In the second correction direction determination process, the direction on the side where the side obstacle having a higher linearity determined in the linearity determination process is determined as a direction in which correction for shifting the target parking position is performed.

  In step S23, a third correction process is performed, and the process proceeds to step S15. In the third correction process, the target parking position is corrected so as to be closer to the direction determined by the second correction direction determination process than the preset target parking position. Then, the parking route is recalculated in accordance with the correction of the target parking position. Therefore, the process of step S23 also corresponds to the resetting means in the claims.

  The parking assist ECU 1 protrudes when the parallel parking is completed when there is a portion that protrudes more than a predetermined value on the vehicle A side with respect to the longest straight line portion in the contour shape of the vehicle facing surface. It is good also as a structure which correct | amends a target parking position so that the space | interval (for example, minimum clearance) set beforehand between the protrusion part of the part which exists, and the side surface of the own vehicle A may leave.

  In addition, a predetermined interval is provided between the protruding end and the side surface of the own vehicle A, and a region (hereinafter referred to as a door region) in which the door is disposed on the side surface of the own vehicle A is provided. The target parking position may be corrected so as to be positioned next to the longest straight line portion (hereinafter, the longest straight line portion) of the vehicle facing surface, or the parking route may be recalculated in accordance with the correction. . According to this, it becomes possible to make it easier for the passenger of the own vehicle A to get on and off the vehicle by taking more space in which the door of the own vehicle A can be opened.

  The processes in steps S13 to S16 are performed in the same manner as the processes in steps S13 to S16 described above.

  According to the configuration of the first modification, when there is an obstacle on both sides in the left-right direction of the host vehicle that has entered the parking space C backward, an operation input for operating the door mirror storage switch 7 to the storage side is operated. If a person performs, the width will be increased in the direction in which the obstacle on the side where the straightness is higher than the center position.

  When a side obstacle that is detected by tilting a part of the contour shape due to the presence of an accessory, etc., the occupant gets on and off the vehicle A when getting on and off due to the presence of the accessory or the like. It is likely that the driver will often want to narrow the direction in the direction of the obstacle with the higher linearity, which is unlikely to have such an accessory. It is done.

  Therefore, according to the configuration of the first modification, when performing parking assistance for reversing the host vehicle and parking in parallel in the parking space C adjacent to the obstacle, the vehicle is brought closer to the side desired by the driver. It becomes possible to park.

  The parking assist ECU 1 may be configured to correct the target parking angle in a direction along the vehicle facing surface that is more likely to be linear. Then, the parking route is recalculated in accordance with the correction of the target parking angle. As an example, the target parking angle is corrected in a direction along the longest straight line portion of the contour shape of the vehicle facing surface that is more likely to be straight.

  If the straight line portion is not a straight line, an approximate straight line may be obtained and the target parking angle corrected in the direction along the approximate straight line. Further, when the correlation coefficient calculated from the point sequence is determined to be a straight line, the target parking angle is corrected in a direction along the approximate straight line of each point sequence for the vehicle-facing surface having a higher linearity. What is necessary is just composition.

  According to the above configuration, among the side obstacles of the own vehicle A when the own vehicle A moves backward into the parking space C, the contour shape of the vehicle facing surface is along the side of the vehicle facing surface that seems to be more straight. In this direction, the vehicle A is parked in parallel in the parking space C. Therefore, the subject vehicle A is oriented in a direction along the vehicle facing surface (see H in FIG. 7) such that a part of the contour shape is detected by being inclined due to the presence of an accessory object (B4 with respect to B1 in FIG. 7) or the like. Parallel parking in the parking space C is avoided.

  The vehicle facing surface having a higher linearity is more likely to have a part of the contour shape not inclined, such as a parked vehicle or a wall on the side where no accessory is present, so this vehicle facing surface (see I in FIG. 7). ), It is possible to make it difficult for the host vehicle A to be parked by tilting with respect to the parking space C. Therefore, when performing parking assistance in which the host vehicle A is moved backward and parked in parallel in the parking space C adjacent to the obstacle, the problem that the host vehicle A is parked with a large inclination with respect to the parking space C is less likely to occur. It becomes possible.

  Also, when there are obstacles on both sides of the left and right direction of the host vehicle that has entered the parking space C backward, the default is to widen in the direction opposite to the driver's seat and specify the left and right direction. When an operation input is detected, the width may be shifted in a specified direction.

  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 assistance apparatus), S1 Parking space detection means, S3 Target parking position determination means, S5 / S15 assistance means, S8 Trigger operation detection means, S11 / S13 Correction direction judgment means, S12 / S14 resetting means

Claims (8)

Mounted on the vehicle,
Parking space detection means (1, S1) for detecting a parking space on the side of the route adjacent to an obstacle present on the side of the route through which the vehicle passes;
Target parking position determining means (1, S3) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means;
A parking assistance device (1) comprising assistance means (1, S5, S15) for assisting vehicle travel in which the vehicle is moved backward and parked in parallel at the target parking position,
Trigger operation detecting means (1, S8) for detecting a user operation input to a predetermined operation switch provided in the vehicle;
Correction direction determination means (1, S11, S13) for determining a direction in which the target parking position is shifted, triggered by detection of a user operation input by the trigger operation detection means,
Resetting means (1, S12, S14 ) for performing correction for shifting the target parking position in the direction determined by the correction direction determination means ;
When the obstacle adjacent to only one side of the parking space detected by the parking space detecting means is present, the correction direction determining means (1, S13) Is determined to be a direction to shift the target parking position,
When the obstacle adjacent to only one side of the parking space detected by the parking space detection means is present, the resetting means (1, S14) moves in the direction determined by the correction direction determination means. A parking assist device that performs a correction to shift the target parking position so as to make the width closer . Mounted on the vehicle,
Parking space detection means (1, S1) for detecting a parking space on the side of the route adjacent to an obstacle present on the side of the route through which the vehicle passes;
Target parking position determining means (1, S3) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means;
A parking assistance device (1) comprising assistance means (1, S5, S15) for assisting vehicle travel in which the vehicle is moved backward and parked in parallel at the target parking position,
Trigger operation detecting means (1, S8) for detecting a user operation input to a predetermined operation switch provided in the vehicle;
Correction direction determination means (1, S11, S13) for determining a direction in which the target parking position is shifted, triggered by detection of a user operation input by the trigger operation detection means,
Resetting means (1, S12, S14 ) for performing correction for shifting the target parking position in the direction determined by the correction direction determination means ;
The target parking position determination means, when the obstacle adjacent to only one side of the parking space detected by the parking space detection means is present, between the obstacle at the time of parking and the side of the vehicle The target parking position is determined so that the distance between them is a predetermined set value,
When the obstacle adjacent to only one side of the parking space detected by the parking space detecting means is present, the correction direction determining means (1, S13) Is determined to be a direction to shift the target parking position,
When the obstacle adjacent to only one side of the parking space detected by the parking space detection means is present, the resetting means (1, S14) moves in the direction determined by the correction direction determination means. A parking assist device that performs correction for shifting the target parking position by a predetermined amount . Mounted on the vehicle,
Parking space detection means (1, S1) for detecting a parking space on the side of the route adjacent to an obstacle present on the side of the route through which the vehicle passes;
Target parking position determining means (1, S3) for determining a target parking position when the vehicle is parked in the parking space detected by the parking space detecting means;
A parking assistance device (1) comprising assistance means (1, S5, S15) for assisting vehicle travel in which the vehicle is moved backward and parked in parallel at the target parking position,
Trigger operation detecting means (1, S8) for detecting a user operation input to a predetermined operation switch provided in the vehicle;
Correction direction determination means (1, S11, S13) for determining a direction in which the target parking position is shifted, triggered by detection of a user operation input by the trigger operation detection means,
Resetting means (1 , S23 ) for performing correction for shifting the target parking position in the direction determined by the correction direction determining means ;
Detection of distance measuring sensors (3, 3a, 3b) that detect a distance to a side obstacle that is an obstacle on the side of the vehicle by receiving a reflected wave of an exploration wave transmitted to the side of the vehicle Sensor information acquisition means (1, S7) for acquiring a result;
Based on the point sequence of detection results sequentially detected by the distance measuring sensor when the vehicle enters the parking space, which is acquired by the sensor information acquisition means, the vehicle is directed toward the vehicle side of the side obstacle. Linearity determining means (1, S21) for determining the straightness of the contour shape in the plane coordinate system of the vehicle facing surface that is the ground surface in the plane coordinate system,
The resetting means performs a correction for shifting the target parking position so that the vehicle is brought closer to the side obstacle having a higher linearity determined by the linearity determining means. . In claim 1 or 2,
Left and right designation operation detection means (1, S11) for detecting a user's operation input to an operation switch for designating and operating the left and right vehicle-mounted electrical components provided on the left and right sides of the vehicle,
When the obstacle exists adjacent to both sides of the parking space detected by the parking space detection unit, the correction direction determination unit (1, S11) detects the operation detected by the left / right designation operation detection unit. The direction specified in the input is determined as the direction to shift the target parking position,
When the obstacle exists adjacent to both sides of the parking space detected by the parking space detecting means, the resetting means (1, S12) moves in the direction determined by the correction direction determining means. A parking assist device that performs a correction to shift the target parking position so as to bring the vehicle closer. In claim 1 or 2,
A left / right designation operation detection means (1, S11) for detecting a user's operation input to an operation switch for designating a left / right direction with respect to the vehicle;
When the obstacle exists adjacent to both sides of the parking space detected by the parking space detection unit, the correction direction determination unit (1, S11) detects the operation detected by the left / right designation operation detection unit. The direction specified in the input is determined as the direction to shift the target parking position,
When the obstacle exists adjacent to both sides of the parking space detected by the parking space detecting means, the resetting means (1, S12) moves in the direction determined by the correction direction determining means. A parking assist device that performs a correction to shift the target parking position so as to bring the vehicle closer. In claim 3 ,
The linearity determining means uses a set of segments whose difference in inclination is within a predetermined value among the contour shapes divided into a plurality of segments as straight portions, and sets the length of the straight portions to be the straightness of the contour shapes. A parking assistance device, characterized in that In claim 3 ,
The linearity determination means calculates a correlation coefficient from the point sequence, and determines the calculated correlation coefficient as the straight line shape of the contour shape. In any one of Claims 1-7,
The parking assist device according to claim 1, wherein the trigger operation detection means detects a user operation input to a storage switch of a door mirror of the vehicle.

Images