JP5870076B2 - Parking assistance device and parking assistance method - Google Patents

Description

  The present invention relates to a parking assistance that assists a driver's driving operation to reversely park the vehicle in a parking space (parking space position, parking position) located on the left side or the right side when viewed from above in the longitudinal direction of the vehicle. The present invention relates to a device and a parking assistance method.

  Driving operation to a parking space such as a garage driving operation of a vehicle is a driving operation that imposes a mental burden on an inexperienced driver. Even with many years of driving experience, there are many drivers who are not good at driving because of the difficulty of driving backwards while turning the steering wheel within a certain range while checking the surrounding conditions.

  Patent Document 1 discloses a vehicle equipped with a parking assist device in which a driving operation procedure is programmed in advance as vehicle equipment. In the parking assist device according to Patent Document 1, the moving distance of the forward movement from the garage entry start position to the steering switching position, the full steering operation teaching of the steering to the parking side at the time of the stop, and the stopping operation teaching in the reverse turn The timing is taught (guided) to the driver.

Japanese Patent No. 3420530 ([0026], [0033], [0050])

  However, the parking assist device according to Patent Document 1 needs to be programmed and set in advance in an electronic control unit (ECU) in the vehicle as a vehicle equipment, so that the cost increases and it is widespread in ordinary vehicles. It is difficult to let

  Further, even if parking assistance vehicle equipment is mounted, a driver who is good at driving operation does not need the vehicle equipment, and thus the vehicle equipment may not be utilized and may be wasted.

  The present invention has been made in consideration of such problems, and it is possible to easily use the vehicle equipment for parking assistance according to the driver's needs, and to easily and accurately the target parking space. An object of the present invention is to provide a parking support device and a parking support method that enable reverse parking.

  The parking assist device according to the present invention is a parking assist device that assists a driving operation of a driver that reversely parks a vehicle in a parking space located on the left side or the right side when viewed from above in the longitudinal direction of the vehicle. The driving that is brought into the vehicle, connected to the control device of the vehicle, reads out the movement distance of the vehicle, the steering angle, the forward / backward direction, and the stop state from the control device of the vehicle as driving data. A mobile terminal that guides a parking driving operation based on data by sound and / or display, and the mobile terminal has a parking support start position for the parking space on the boundary line in the parking width direction of the parking space And a parking assistance start position setting means for confirming that the vehicle is stopped at the parking assistance start position, and the parking assistance opening when the vehicle is stopped. After instructing the forward movement for the first movement distance set in advance from the position, the steering position is full after the vehicle has moved forward by the first movement distance to the opposite side of the parking space. Full steering operation guidance means for instructing a steering operation, and after instructing forward turning movement for a second movement distance set in advance from the stop position in the full steering state, the vehicle is moved by the second movement distance. A reverse full steering operation guide means for instructing a full steering operation to the reverse side of the steering at a stop position after the forward turning movement, and a stop position set in advance from the stop position in the reverse full steering state. A neutral position return operation guide for instructing an operation to switch the steering back to a neutral position at a stop position after the vehicle has made a reverse turning movement for the third movement distance after instructing a backward turning movement for three movement distances. Means, A.

  According to the present invention, for a normal vehicle in which a dedicated vehicle equipment for vehicle guidance is not incorporated, a mobile terminal such as a smartphone brought into the vehicle is used, and a driver performs a driving operation according to the guidance of the mobile terminal. Carrying out reverse parking in a target parking space can be performed easily and accurately. In other words, in a normal vehicle that does not have vehicle equipment for vehicle guidance, the driver can easily equip a parking assistance device using a portable terminal as necessary according to his / her skill and the circumstances. Can do.

  The reverse parking guidance includes a parking assist start position (initial position) alignment operation, a forward operation of the vehicle from the initial position, and a forward turning operation that maintains a full steering state of the steering at the forward operation end position. This is driving guidance by a portable terminal that combines simple operations combined with reverse turning operation while maintaining the reverse full turning state of the steering at the end position of forward turning operation, and the driver parks the vehicle in a narrow turning operation space. You can park backwards in the space.

  In this case, the mobile terminal uses the first movement distance in the forward movement, the second movement distance in the forward turning movement, and the third movement distance in the backward turning movement as the specifications of the vehicle. The data can be uniquely calculated based on the full width, tread, wheelbase, and minimum turning radius of the vehicle. The distance from the center position of the window frame of the front seat to the rear wheel axle (the distance between the front seat window frame center and the rear wheel axle) needs to be measured and databased for each vehicle type.

  For the change of the vehicle type, the first to third movement distances can be calculated by changing the specification data, which is a specific numerical value determined by the specification for each vehicle type, and thus versatility can be improved. For example, by registering necessary numerical data corresponding to each vehicle type in the mobile terminal device, as a mobile terminal that can perform the optimal parking support corresponding to the selection of the vehicle type on the mobile terminal when the driver drives Available.

  Specifically, when the vehicle is parked backward at the approximate center of the parking width, when the first movement distance is L1, the second movement distance is L2, and the third movement distance is L3, the full steering operation When the turning angle in the reverse full steering operation is α [rad], the first to third movement distances L1 to L3 are set to L1 = {M + (T) within a range of α ≦ (π / 2). / 2)} − Z (2sin α−1), L2 = Z · α, L3 = Z · {(π / 2) −α}, where M: from the window frame center position of the front seat of the vehicle The distance to the rear wheel axle, T: the parking width, and Z: the distance from the minimum rotation center of the vehicle to the rear wheel axle center may be used. Thereby, when parking a vehicle in the center of a parking width by reverse parking, the guidance assistance path | route which consists of 1st-3rd moving distance L1-L3 can be set to an optimal value.

  In addition, if it can be confirmed that the parking width is larger than the vehicle width (the entire width of the vehicle), there is no problem in parking.

  When the vehicle is parked in the parking space at a position where the distance from the boundary line to the side surface of the vehicle parallel to the boundary line is S, the first movement distance is L1, and the second movement distance is L2, when the third movement distance is L3, when the turning angle in the full turning operation and the reverse full turning operation is α [rad], in the range of α ≦ (π / 2), First to third moving distances L1 to L3 are calculated by L1 = {M + S + (W / 2)} − Z (2sin α−1), L2 = Z · α, L3 = Z · {(π / 2) −α}. Where M is the distance from the center position of the window frame of the front seat of the vehicle to the rear wheel axle, W is the full width of the vehicle, Z is the distance from the minimum rotation center of the vehicle to the center of the rear wheel axle, If it is. Accordingly, the guidance support route including the first to third movement distances L1 to L3 can be set to an optimal value when the distance from the boundary line to the side surface of the vehicle parallel to the boundary line is set to S by reverse parking. .

  In any of the above-described inventions, when the vehicle control device is connected to a data link connector, the mobile terminal is configured to read the operation data from the vehicle control device via the data link connector. By using the data link connector for vehicle diagnosis attached to the vehicle, the driving data formed from each sensor signal during driving {the first moving distance by the forward movement of the vehicle, after the forward movement Full steering operation of the steering to the opposite side of the parking space at the stop position of the vehicle, stop after moving the second travel distance in the forward turning in the full steering state, to the opposite side of the steering at this stop position Full-steering operation (reverse full-steering operation), stopping after moving the third travel distance in reverse turning in the reverse full-steering state, turning to the neutral position of the steering at this stopping position It can be monitored by reading a signal} associated with each operation of the return operation in the mobile terminal.

  Thus, since the portable terminal can directly monitor the driving state of the vehicle based on the driving data, an appropriate instruction (guidance) can be given by the portable terminal.

  Further, the portable terminal displays a display screen for displaying operation guidance of the parking assistance start position setting means, the full steering operation guidance means, the reverse full steering operation guidance means, and the neutral position return operation guidance means. And a camera for photographing the boundary line and displaying a photographing screen on the display device.

  Thereby, since each operation instruction | indication is displayed as a display screen of a portable terminal, driving operation can be continued, confirming each instruction | indication reliably. In addition, since the boundary line at the parking support start position is captured and displayed by the camera function of the mobile terminal, the initial alignment can be accurately performed.

  Still further, the vehicle includes a detachable attachment member that detachably attaches the portable terminal to a side window of the passenger seat of the vehicle or a side window of the driver's seat. It can be easily attached to the side window of the vehicle, and the parking support start position can be easily set.

  Further, when the vehicle includes a vehicle-mounted display audio device that can be viewed by the driver on a dashboard, the mobile terminal is connected to the vehicle-mounted display audio device, and the display of the mobile terminal is displayed on a display unit of the display audio device. By outputting the instruction by the screen and outputting the instruction by the sound from the vehicle-mounted speaker, the confirmation by the driver while operating the steering wheel at the driver's seat and the guidance operation to the driver become more reliable.

  According to the parking assist method of the present invention, when the vehicle is viewed from above in the longitudinal direction of the vehicle, a driving operation of a driver that reversely parks the vehicle in a parking space located on the left side or the right side is operated by a portable terminal brought into the vehicle. A parking support method for instructing using, wherein the mobile terminal is connected to a control device of the vehicle, and the travel distance, steering angle, forward / backward direction, and stop state of the vehicle are used as driving data for the vehicle. A parking driving operation based on the driving data read from the control device and read out is guided by sound and / or display. In the guidance process, a boundary line on the front side in the parking width direction of the parking space is directed to the parking space. Parking support start position setting for confirming that the vehicle is stopped at the parking support start position The parking space at the stop position after the vehicle has moved forward by the first movement distance after instructing forward movement for the first movement distance set in advance from the parking assistance start position being stopped. A full steering operation guidance step for instructing a full steering operation of the steering to the opposite side, and a forward turning movement for a second movement distance set in advance from the stop position in the full steering state A reverse full-steering operation guiding step for instructing a full steering operation to the reverse side of the steering at a stop position after the vehicle has moved forward and turned by the second movement distance; and the reverse full-steering state After instructing the reverse turning movement for a preset third movement distance from the stop position at the vehicle, the steering is turned to the neutral position at the stop position after the vehicle has made the reverse turning movement for the third movement distance. return It characterized by having a a neutral position return operation guidance step for instructing work.

  According to the present invention, for a normal vehicle in which a dedicated vehicle equipment for vehicle guidance is not incorporated, a driver operates the mobile terminal according to the guidance of the mobile terminal connected to the vehicle control device using a mobile terminal. By doing so, it is possible to easily park in the target parking space.

  Reverse parking guidance by a portable terminal carried by a passenger such as a driver is a vehicle forward operation instruction, a forward turning operation instruction for maintaining a full steering state of the steering wheel, and a reverse turning for maintaining a reverse full steering state of the steering wheel. Since the guidance is a simple operation that combines the operation instruction and the return operation to the neutral position of the steering wheel, the driver can easily execute this parking guidance instruction, and the target parking space can be achieved with a narrow turning operation space. You can easily park in reverse.

  According to the present invention, for a normal vehicle in which a dedicated vehicle equipment for vehicle guidance is not incorporated, a mobile terminal such as a smartphone is used as the vehicle equipment, and the mobile terminal connected to the control device of the vehicle is used. When the driver performs driving operations according to the guidance, the driver uses the mobile terminal as appropriate according to his / her skill and surrounding conditions in a normal vehicle that does not have vehicle guidance guidance. A parking assistance device can be easily installed, and reverse parking can be easily performed in the target parking space.

  In this case, since it is not necessary to program and set the driving operation procedure for the reverse parking guidance in the vehicle control device, unnecessary dedicated vehicle equipment may be omitted for drivers who are good at reverse parking. it can.

It is a block diagram of the parking assistance apparatus which enforces the parking assistance method which concerns on embodiment of this invention. It is the interior figure which looked at the inside of a vehicle from the inside of a vehicle. It is a plane view schematic diagram provided for description of the specification data of a vehicle. It is a plane view schematic diagram with which it uses for description of the motion of the vehicle with respect to the parking space in a parking lot. It is the side window which showed the virtual window frame centerline of the front seat, and its periphery schematic diagram. It is a flowchart explaining the reverse parking principle. It is a plane view schematic diagram with which it uses for description of the method of calculation of the 1st-3rd movement distance in one parking pattern. It is a plane view schematic diagram used for description of the method of calculation of the 1st-3rd movement distance in another parking pattern. FIG. 9A is a schematic plan view showing the state at the parking support start position, FIG. 9B is a schematic plan view showing the full turning state at the stop position after traveling the first movement distance by forward movement, and FIG. 9C is turning right FIG. 9D is a schematic plan view showing the state at the stop position after traveling the second travel distance by forward travel, FIG. 9D is a schematic plan view showing the reverse full steering state at the stop position after traveling the second travel distance, and FIG. FIG. 9F is a schematic plan view showing the state at the stop position after traveling for the third travel distance by reverse turning to the left, FIG. 9F is a schematic plan view showing the neutral state at the stop position after traveling for the third travel distance, and FIG. It is a plane view schematic diagram which shows the warehousing state in a parking space. It is a flowchart with which it uses for description of the operation | movement procedure of the parking assistance apparatus which concerns on embodiment of this invention. 11A is an explanatory diagram of a parking direction selection screen, FIG. 11B is an explanatory diagram of a left reverse parking initial position setting guidance screen, FIG. 11C is an explanatory diagram of a right reverse parking initial position setting guidance screen, and FIG. 11D is an initial position setting screen. It is explanatory drawing. 12A is an explanatory diagram of a forward start button screen, FIG. 12B is an explanatory diagram of a forward guidance screen, FIG. 12C is an explanatory diagram of a stop instruction screen, and FIG. 12D is an explanatory diagram of a full steering operation guidance screen. 13A is an explanatory diagram of a reverse full steering guidance screen, FIG. 13B is an explanatory diagram of a reverse switching operation guidance screen, FIG. 13C is an explanatory diagram of a reverse guidance screen, and FIG. 13D is an explanatory diagram of a reverse guidance screen to a parking space. is there.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a parking assistance device and a parking assistance method according to the present invention will be described with reference to the accompanying drawings by giving preferred embodiments.

  FIG. 1 is a block diagram of a parking assistance apparatus 10 that implements a parking assistance method according to an embodiment of the present invention.

  The parking assistance device 10 is basically composed of a portable terminal 18 and application software installed on the portable terminal 18, and is installed in the vehicle by a user such as a normal in-vehicle built-in device 14 incorporated in the vehicle 12 and a driver 16 or the like. The mobile terminal 18 brought in is connected to the mobile terminal 18 and the mobile terminal 18 reads out the data of the driving state of the vehicle 12 by two-way communication, thereby operating while monitoring the actual driving situation of the vehicle. .

  As the mobile terminal 18, for example, a smartphone or tablet terminal that can be used for navigation such as route guidance, an appropriate PDA (Personal Digital Assistant), or the like can be used.

  FIG. 2 is an interior view of the interior of the vehicle 12 as viewed from the rear of the vehicle. The portable terminal 18 is a window frame of a side window (a side window on the front passenger seat side) 20 on the passenger seat side of the vehicle 12. The terminal holder 22 is attached to the terminal holder 22 attached to the window frame center position 102 in the front-rear direction 90 {window frame length Lw (see FIG. 5) described later}}.

  The terminal holder 22 includes a holder main body 22a that can be freely attached to and detached from the side window 20 by a sucker mechanism, and both the mobile terminal 18 while supporting the rear surface of the thin rectangular mobile terminal 18 that is engaged with the holder main body 22a. It is comprised from the holding part 22b which hold | maintains a side with an elastic force.

  As shown in FIG. 1, the portable terminal 18 includes an imaging device 24 that is a digital camera / video camera, a display device 26 that also serves as a touch panel input device, and a speaker (sound that outputs sound such as guidance voice and sound effects). Output device) 28 and a control unit 30.

  The control unit 30 is a computer, and operates as various functional units (also referred to as functional units) when a CPU (central processing unit) executes a program stored in the storage unit.

  Examples of the program stored in the portable terminal 18 include a telephone function (including a telephone call function and a data communication function), a short-distance low-power wireless communication function such as Bluetooth (registered trademark) and Wi-Fi, In addition to a basic application (basic application) such as a hands-free call function using a low-power wireless communication function, there is a parking support application (also referred to as a parking support application) 32 according to the main part of the present invention.

  The storage unit of the control unit 30 is further assigned with a specification data storage unit 34 that stores the specification data of the vehicle 12 that is stored in advance by the parking support application 32 or obtained from the vehicle 12.

  FIG. 3 is a schematic plan view for explaining the specification data of the vehicle 12.

  FIG. 4 is a schematic plan view showing an example of a parking space (parking space position, parking position) 111 (111a, 111b, 111c, 111d, 111e) in the parking lot 92.

  The specification data memorize | stored in the specification data storage part 34 is demonstrated with reference to the top view schematic diagram of FIG. The specification data differs depending on the vehicle type. As will be described later, the user such as the driver 16 activates the parking support application 32 of the portable terminal 18 and uses the display device 26 or the like to select and set in advance according to the vehicle type. I can keep it.

  The specification data includes the full width W of the vehicle 12, the wheel base B, the tread H, the minimum turning radius R, the overhang from the position of the front wheel axle 42 to the front end portion 108 of the vehicle 12, and the side window (side window) 20. The distance M from the window frame center position 102 to the rear wheel axle position 104 is stored. A rear wheel 44 that is a driven wheel is attached to the rear wheel axle 41, and a front wheel 46 that is a steering wheel is attached to the front wheel axle 42. Further, the distance M from the window frame center position 102 of the side window (side window) 20 to the rear wheel axle position 104 can be calculated from the specification data and stored.

  Based on these specifications data, the parking assist application 32 uses the steering angle shown in the following formulas (1) and (2) at the time of full turning of the steering 84 (during reverse full turning, when stationary) (full (Steering angle) θ, a distance Z from the minimum rotation center O to the rear wheel axle center 110 is calculated.

Although the vehicle turning angle α at the maximum turning angle θ can be arbitrarily determined, in this embodiment, it is determined within the range of the following expression (3) in consideration of practicality. More specifically, the vehicle turning angle α determined by the vehicle 12 according to this embodiment takes into account the bulge of the vehicle tip portion trajectory during full turning forward turning traveling, and α = 0.22π [rad] ≈40 [゜] is set.
θ = arcsin (B / R) (∵R = B / sin θ) (1)
Z = (B / tan θ) − (H / 2) (2)
α ≦ (π / 2) [rad] (3)
θ: Maximum turning angle B: Wheel base R: Minimum rotation radius Z: Distance from minimum rotation center O to rear wheel axle center 110 H: Tread α: Vehicle turning angle (arbitrarily set value less than π / 2 [rad])

  The parking support application 32 stored in the control unit 30 is sent from an ABC store or an XYZ market on a web server (external application supply server) (not shown) that is an application download supply source via a mobile communication network / public communication network. Then, the user such as the driver 16 can select and download it to the portable terminal 18 and supply it to the user (driver 16 or the like).

  The parking support application 32 may be installed in the portable terminal 18 from the time of product shipment, and may be provided as a service part via an electronic medium such as a DVD, like the basic application.

  On the other hand, as shown in FIG. 2, the vehicle-mounted built-in device 14 of the vehicle 12 includes a display audio device (referred to as a DA device) 52 that is a vehicle-mounted device arranged and fixed (mounted) on the front surface of the dashboard 50, and a dash. A data link connector (referred to as DLC) 54, which is a communication connector arranged and fixed (attached) at the bottom of the board 50, is included.

  As shown in FIG. 1, the DLC 54 and the DA device 52 are electrically connected to a vehicle ECU (ECU: Electronic Control Unit) 60 that is a control device of the vehicle 12 via a communication line 56 in the vehicle. The ECU includes a computer, and functions as various functional units (functional means) when a CPU (not shown) executes a program stored in the ROM.

  The DA device 52 includes a display device (display unit) 64 and an in-vehicle speaker 66 in addition to the DA ECU 62. The display device 64 is disposed on the front surface of the dashboard 50, and the in-vehicle speaker 66 is disposed on the kick panel portion of the left and right doors.

  The display device 64 of the DA device 52 and the display device 26 of the portable terminal 18 are configured so that the screen contents can be easily viewed from the driver 16 seated in the driver's seat.

  In this embodiment, since the detachable communication adapter 68 is connected to (attached to) the DLC 54, the vehicle ECU 60 and the control unit 30 of the mobile terminal 18 are short-distance low-power such as Bluetooth (registered trademark) or Wi-Fi. Connected via a wireless communication function. As a result, the display screen on the display device 26 of the mobile terminal 18 can be displayed on the display device 64 of the DA device 52, and at the same time, sound and sound effects output from the speaker 28 of the mobile terminal 18 are displayed. Can also be output from the vehicle-mounted speaker 66 of the DA device 52. Note that the display area of the display device 64 of the DA device 52 is usually wider than the display area of the display device 26 when the mobile terminal 18 is a smartphone.

  The connection between the DLC 54 and the portable terminal 18 may be directly connected by a wired connection using a connector instead of a wireless connection via the communication adapter 68.

  The vehicle ECU 60 is a control device that performs overall control of the vehicle 12 and is electrically connected to various sensors 72 and various ECUs 74 via a communication line 70.

  The various ECUs 74 include a steering control ECU 76, a brake ECU 78, a driving force ECU 80, and the like. The steering control ECU 76 drives and controls a steering mechanism (not shown) of the vehicle 12. In this embodiment, the steering control ECU 76 drives and controls an EPS motor of an EPS (electric power steering) and assists in driving control of the steering angle (steering) of the front wheels 46. To do. The brake ECU 78 independently controls all four wheels of the front and rear wheels 46 and 44 to control the behavior of the vehicle 12 including stopping.

  The driving force ECU 80 controls the driving of the engine and / or the driving motor and applies the rotational driving force to the front wheels 46 and / or the rear wheels 44 of the vehicle 12 through the transmission or directly, thereby controlling the vehicle 12 to travel.

  Sensors 72 serving as various vehicle signal output units include, in the case of an engine, a rotational speed sensor of a secondary shaft that is arranged in parallel to a primary shaft connected via a clutch and to which an output gear is attached, a brake switch, The EPS motor current amount and the limit current amount, the shift position switched by the shift lever 82 (see also FIG. 2), a parking brake switch, and the like are included.

  The travel distance and stop of the vehicle 12 can be confirmed by the secondary shaft rotation speed and the drive motor rotation speed. The travel distance can also be confirmed by a wheel speed sensor. The stop of the vehicle 12 can be confirmed by the brake switch. The full turning and turning direction of the steering 84 (see FIG. 2) can be confirmed by the EPS motor current amount and the limit current amount. Note that the full turning and turning direction of the steering 84 can also be confirmed by a steering angle sensor attached to the steering shaft. Based on the shift position, it is possible to check forward (normally, a position displayed as D) and reverse (normally, a position displayed as R). The parking end can be confirmed by the parking brake switch.

  The portable terminal 18 can receive (read out) these vehicle signals (driving signals) from the vehicle ECU 60 wirelessly through the communication adapter 68 connected to the DLC 54 as the driving data of the vehicle by the parking assistance application 32. It has become.

  In this embodiment, the vehicle 12 uses the travel distance of the vehicle 12, the steering angle of the steering 84 (for detecting the full steering state or the reverse full steering state), the forward direction, the reverse direction, and the stop state as driving signals (driving data). The portable terminal 18 receives (reads) from the vehicle ECU 60 via the DLC 54.

  In this case, the portable terminal 18 instructs the driver 16 to perform a parking driving operation based on the read driving data or the like by an output sound from the speaker 28 (vehicle-mounted speaker 66) and a display on the display device 26 (display device 64). And guide.

  The DA device 52 can be replaced with an in-vehicle navigation device. Of course, even if the DA device 52 is not provided, the present invention can be implemented only by the mobile terminal 18 using the display device 26 and the speaker 28 of the mobile terminal 18. In the following description, a case where only the portable terminal 18 is used will be basically described.

  The parking assistance apparatus 10 according to this embodiment is basically configured as described above. “Principle of reverse parking” will be explained, then II. A specific example of the linkage operation (reverse parking support) between the mobile terminal 18 in which the parking support application 32 using the reverse parking principle is activated and the vehicle ECU 60 will be described.

I. Explanation of “Principle of Reverse Parking” Hereinafter, a configuration example of the parking lot 92 shown in FIG. 4 and a schematic plan view for explaining the movement of the vehicle 12 with respect to the parking space 111c, and the periphery of the side window 20 shown in FIG. The basic principle and configuration of reverse parking assistance will be described using a schematic diagram and a flowchart illustrating the reverse parking principle of FIG. In addition, in order to avoid complexity, the communication process between the portable terminal 18 and the vehicle ECU 60 will be omitted as appropriate.

  As shown in FIG. 4, a white line is drawn as a guide marker in the parking lot 92, and each parking space 111 (111 a to 111 e) has a boundary line 112 (112 a to 112 d) and a vehicle width extending in the vehicle length direction. It is divided into boundary lines 113 (113a to 113e) extending in the direction. It is preferable that the boundary line 113 extending in the vehicle width direction is present.

  In FIG. 4, other vehicles 150 and 151 that are already parked in the parking spaces 111 b and 111 d on both sides of the parking space 111 c located on the left side when viewed from above in the longitudinal direction of the vehicle 12 are illustrated.

  In the orthogonal coordinates xy in FIG. 4, the x direction is a direction parallel to the boundary line 112 (112c or the like) of the adjacent parking space 111, and the y direction is a direction orthogonal to the boundary line 112.

  In the car parking space 111c of the normal parking lot 92, the parking width (parking frame width) T, which is the distance between the adjacent boundary lines 112, for example, the boundary line 112b and the boundary line 112c, is The distance is set to a constant distance of about 2 [m] or greater (2 [m] in this embodiment) wider than the entire width W. The parking length (parking depth, parking depth) Lp, which is the length of the boundary line 112, is set to a fixed distance (5 [m] in this embodiment) of about 5 [m] or more.

  As shown in FIG. 5, the center of the window frame length Lw in the vehicle length direction relates to a window frame 90 that slidably fits the side window 20 of the front seat (passenger seat in this embodiment) of the vehicle 12 in the vertical direction. The position is defined as the window frame center position 102, and the center line in the vehicle length direction (line extending in the vehicle height direction) of the window frame 90 that bisects the window frame length Lw is called a window frame center line 100. Since the window frame center line 100 is not a line actually drawn on the side window 20 but an imaginary line, it is drawn by a two-dot chain line.

  In the case of reverse parking in the opposite parking space (the parking space located on the right side when viewed from above in the longitudinal direction of the vehicle 12), the window frame centerline of the side window on the driver's seat side of the vehicle 12 is considered.

  The window frame center line 100 of the front seat is a position where the window frame center line 100 substantially contacts the extension direction of the line of sight when the driver 16 seated in the driver's seat is in the driving posture and turns right or left.

  In step S1 (S1a) of the flowchart, the driver 16 intends to park from the lower side (lower side in the y direction) to the upper side (upper side in the y direction) in FIG. 4 while maintaining the steering wheel 84 in the neutral position. The vehicle 12 is slowly moved forward (moved in the y direction) to the parking space 111c of the vehicle, and as shown in FIG. 5, the window frame center line 100 (window frame center position) is positioned on the boundary line 112c on the near side in the parking width direction of the parking space 111c. 102: Refer also to the plan view of FIG. 3) to position the vehicle 12 at an initial position (parking support start position) P0 (see FIG. 9A described later) and stop. The initial position (parking support start position) P0 for positioning is based on the parking boundary line 112c in this embodiment, but if there is no boundary line 112c, the vehicle is parked in front of the target parking position 111c. It may be the left side surface of the other vehicle 151, and may be set based on other obstacles such as implantation and curbstone.

  After positioning the boundary line 112c at the window frame center position 102 of the window frame 90 of the front seat at step S1 (S1a) (see FIG. 5), the driver 16 further performs steering 84 at step S1 (S1b). The vehicle stops at a position P1 that has been moved forward in the y direction (the direction of the parking width T) in FIG. 4 by the first movement distance L1 that is a specified distance while maintaining the neutral position (see also FIG. 9B).

  Next, at the position P1 (see FIG. 4) where the vehicle has moved and stopped for the first movement distance L1, the steering 84 is on the right (in the case of parking on the opposite side, left, below) in step S2 (S2a). (Same as the above) (see FIG. 9B), the full steered state is maintained, and in step S2 (S2b), the second movement distance L2 which is the specified distance, the forward right (left) in FIG. ) Stop at the position P2 that has been turned (see also FIG. 9C). At this time, the turning angle is set to turn angle = α [rad].

  Further, at the position P2 where the vehicle is turned and stopped, in step S3 (S3a), the steering 84 is fully steered to the left (right), which is the opposite direction (see FIG. 9D). The state is maintained, and in step S3 (S3b), the vehicle stops at a position P3 that has been turned leftward (right) in FIG. 4 by the third movement distance L3, which is a specified distance (see FIG. 9E).

  Finally, at the position P3 where the vehicle is turned and stopped, in step S4 (S4a), the steering 84 is set to the neutral position (returned straight) (see FIG. 9F), and further, in step S4 (4b), The vehicle is moved backward to a position P4 that fits in the parking space 111c (see FIG. 9G).

  Here, about the method of calculation by the control part 30 of the portable terminal 18 of said 1st-3rd moving distance L1-L3, two parking patterns {parking pattern A (one parking pattern) and parking pattern B (other Parking pattern)} will be described as an example.

  In the parking pattern A, referring to FIG. 7, when the vehicle 12 (see FIG. 9A) positioned at the initial position (parking support start position) P0 is finally parked at the center of the parking width T of the parking space 111c, Then, at the end of parking, the vehicle center axis 120 (see FIG. 3) that bisects the full width W of the vehicle 12 is made to coincide with the parking width center line 130 that divides the parking width T of the parking space 111c by 2 (T / 2). The case of parking will be described.

The first to third movement distances L1 to L3 in the parking pattern A are calculated by the following equations (4) to (6).
L1 = {M + (T / 2)}-Z (2sin α-1) (4)
L2 = Z · α (5)
L3 = Z · {(π / 2) −α} (6)
M: Distance from the window seat center position 102 of the front seat to the rear wheel axle position 104 (see FIG. 3)
T: Parking width Z: Distance from minimum rotation center O to rear axle center 110 (see FIG. 3)
α: Vehicle turning angle (arbitrary fixed value of 90 ° or less)

  The significance of the calculation formulas (4) to (6) for the first to third movement distances L1 to L3 will be described with reference to FIGS.

  Since the second movement distance L2 and the third movement distance L3 are arc lengths, respectively, the vehicle turning angle α and the rotation angle {(π / 2) −α} are added to the distance Z (see FIG. 3) serving as the rotation radius. It turns out that it can be obtained by multiplication. The distance Z is calculated by the above equation (2).

  The first movement distance L1 is the y coordinate y0 at the initial position (parking support start position) P0 with y0 = 0 value (see FIG. 9A), and the position P4 (FIG. 9G) of the final parking space (final parking position) of the vehicle 12. Assuming that the y coordinate of the center position (rear wheel axle center) 110 of the rear wheel axle 41 in (see FIG. 9) is y4 (see also FIG. 9G), the y coordinate y4 is y4 = M + (T / 2). However, it is necessary to consider that it is necessary to subtract the amount of movement in the y direction (overtravel amount) in the turning movement of the second movement distance L2 and the third movement distance L3.

  In this case, the amount of movement Lya in the y direction when the vehicle turns forward by α [rad] is Lya = Zsinα, and the amount of movement in the y direction when the vehicle turns backward by {(π / 2) −α} [rad]. The movement amount Lyb is Lyb = Z−Zcos {(π / 2) −α}.

  Here, the overshoot movement amount is calculated as Lya−Lyb = Z (2 sin α−1) obtained by subtracting the movement amount Lyb from the movement amount Lya.

  Therefore, by subtracting this overshoot movement amount Z (2sin α-1) from the first term {M + (T / 2)} of the first movement distance L1, the expression (4) for calculating the first movement distance L1 is obtained. .

  Next, in the parking pattern B which is another parking pattern, referring to FIG. 8, the vehicle 12 (see FIG. 9A) positioned at the initial position (parking support start position) P0 is finally set to the parking width of the parking space 111c. The case where the distance between the boundary line (parking white line) 112c and the side surface of the vehicle 12 is set as the distance S during T will be described.

The first to third movement distances L1 to L3 in the parking pattern B are calculated by the following equations (7) to (9).
L1 = {M + S + (W / 2)}-Z (2sin α-1) (7)
L2 = Z · α (8)
L3 = Z · {(π / 2) −α} (9)
M: Distance from the window seat center position 102 of the front seat to the rear wheel axle position 104 (see FIG. 3)
S: Distance between the boundary line 112c and the side surface of the vehicle 12 W: Full width of the vehicle 12 Z: Distance from the minimum rotation center O to the rear wheel axle center 110 α: Vehicle turning angle (an arbitrary fixed value of 90 ° or less)

  In FIG. 8, the second moving distance L2 and the third moving distance L3 are arc lengths, respectively. Therefore, the vehicle turning angle α and the rotation angle {(π / 2) are added to the distance Z (see FIG. 3) that becomes the turning radius. It can be seen that it can be obtained by multiplying by -α}. The distance Z is calculated by the above equation (2).

  The first movement distance L1 is a position P4 (see FIG. 9G) in the final parking space (final parking position) of the vehicle 12, and the y coordinate y4 of the rear wheel axle center 110 is y4 = {M + S + (W / 2)}. Since it is a necessary condition, it is necessary to subtract the amount of movement in the y direction (overtravel amount) in the turning movement of the second movement distance L2 and the third movement distance L3 as in the parking pattern A. You should consider that there is.

  That is, by subtracting the overshoot amount Z (2 sin α-1) from the first term {M + S + (W / 2)} of the first movement distance L1, Expression (7) for calculating the first movement distance L1 is obtained.

II. Description of a specific example of the reverse parking support (reverse parking guidance) by the cooperative operation between the control unit 30 of the mobile terminal 18 in which the parking support application 32 using the reverse parking principle described above is activated and the vehicle ECU 60 of the vehicle 12 Description will be made with reference to schematic plan views in FIGS. 9A to 9G, a flowchart in FIG. 10, and screen diagrams in FIGS. 11A to 11D, 12A to 12D, and 13A to 13D. The main body that executes the program according to the flowchart of FIG. 10 is the control unit 30 of the mobile terminal 18.

  As a preparation step before step S <b> 11, the driver 16 of the vehicle 12 activates the parking support application 32 of the mobile terminal 18 and attaches it to the terminal holder 22 on the side window 20 of the vehicle 12. Communication is started in order for the mobile terminal 18 and the vehicle ECU 60 to read operation data through the communication adapter 68.

  Specification data (full width W, wheel base B, tread H, and minimum turning radius R) necessary for driving support is registered in advance in the specification data storage unit 34 of the mobile terminal 18 for each vehicle type. The specification data necessary for driving support can be set easily and simply by simply specifying.

  When the parking support application 32 is activated, the control unit 30 of the mobile terminal 18 displays the parking direction selection screen 202 shown in FIG. 11A on the display device 26 (and the display device 64 of the DA device 52) in step S11. At the same time, voice guidance (voice message) “Please select parking direction” is output from the speaker 28 (or the in-vehicle speaker 66).

  In this display state, for example, when the touch operation of the left parking space selection button 302 is detected, the control unit 30 displays the alignment screen 204 shown in FIG. 11B and detects the pressing of the right parking space selection button 304. Then, the alignment screen 206 shown in FIG. 11C is displayed.

  The alignment screens 204 and 206 are guide screens for setting the reference position of the vehicle when the vehicle starts to travel by driving support. “Parking is performed by aligning the center of the window frame with the white line in front of the parking space. When positioning, please raise your upper body and look from the front. " When the alignment screen 204 is displayed, the screen display is output as sound from the speaker 28 (or the vehicle-mounted speaker 66).

  In this embodiment, the mobile terminal 18 is attached to the side window 20 on the passenger seat side via the terminal holder 22, the touch operation of the left parking space selection button 302 is detected, and the parking direction is determined to the left side. Shall.

  When the camera activation button 306 is touch-operated on the alignment screen 204, the imaging device 24 is activated by the control unit 30, and a camera image of the surrounding environment on the left side of the vehicle by the imaging device 24 is displayed on the display device in step S12. 26 (display device 64 when using DA device 52). Although omitted in the following description, the guidance display screen of the display device 26 can be displayed on the display device 64 of the DA device 52 as it is.

  Next, in this display state, the voice guidance “Please park the center of the window frame at the position of the mark” is output.

  In response to this guidance, the driver moves to the target parking space 111c to be parked.

  11D, the center vertical line 308 (displayed by the control unit 30) of the display device 26 substantially coincides with the window frame center line 100 of the front seat (see FIG. 5). When the display drawn on the device 26 coincides with the boundary line 112c in front of the target parking space 111c, the vehicle 12 has moved to the initial position (parking support start position) P0. The vehicle is stopped at the position (see FIG. 9A).

  When the vehicle 12 stops at the initial position (parking support start position) P0 (when the vehicle stops running), the display screen 210 of the start button 310 for guidance start shown in FIG. 12A is displayed on the display device 26. The voice guidance “Please press the start button when ready” is output.

  When the touch operation of the start button 310 is detected by the control unit 30 in step S13, a voice guidance is given to “Start garage entry. Follow the guidance while checking the surroundings”.

  Next, in step S14, a voice guidance is given, “Please release your foot slightly from the brake and move forward slowly”.

  When the driver 16 removes his / her foot from the brake and starts moving forward, as shown in FIG. 12B, the forward guidance screen 212 is displayed, and the percentage display 314 increases from “0%” until the first moving distance L1 is reached. At the same time, the voice interval of the count-up electronic sound is gradually narrowed so that the voice is output so that it can be recognized that it approaches “100%”. Further, the actual moving distance of the vehicle can be calculated by the control unit 30 based on the driving data read from the vehicle ECU 60.

  When the calculated moving distance becomes the first moving distance L1, in step S15, the percentage display 314 is set to “100%” and the sound effect “ping pong” is output, and at the same time, “stepping on the brake is applied. Please stop. ”Voice guidance (stop instruction).

  FIG. 12C shows a stop instruction screen 214 displayed when a sound effect “ping-pong” is output.

  When the control unit 30 detects that the vehicle 12 is stopped based on the operation data read from the vehicle ECU 60, the full steering instruction screen 216 shown in FIG. Keep turning the handle all the way to the right. "

  In step S17, when full turning is confirmed by the control unit 30 based on the operation data read from the vehicle ECU 60 (see FIG. 9B), the in-confirmation display 316 in FIG. 12D changes to “OK”. Outputs sound effect with “ping-pong”.

  Next, the forward guidance screen 212 in which the percentage display 314 similar to that shown in FIG. 12B is “0%” is displayed, and the driver 16 removes his / her foot from the brake. Is started, the percentage display 314 in the forward guidance screen 212 increases from “0%” toward “100%” corresponding to the movement distance of the second movement distance L2, and the sound interval of the count-up electronic sound Is gradually output so that it can be recognized that “100%” is approached. Further, the actual moving distance of the vehicle can be calculated by the control unit 30 based on the driving data read from the vehicle ECU 60.

  When the percentage display 314 becomes “100%”, a sound effect “ping-pong” is output, and in step S19, a stop guidance (stop instruction) is made with a voice “Please step on the brake.” . A stop instruction screen 214 similar to FIG. 12C is displayed (see FIG. 9C).

  When the vehicle 12 is stopped, a reverse full steering instruction screen 218 shown in FIG. 13A is displayed in step S20, and “Please turn the steering wheel fully to the left while stepping on the brake” is spoken. invite.

  When reverse full steering is confirmed in step S21, the display 318 being confirmed changes to “OK” and a sound effect “ping pong” is output (see FIG. 9D).

  At this time, in step S22, the shift position display screen 220 shown in FIG. 13B is displayed, and voice guidance is given to “Please set the shift lever to the back position”.

  When it is confirmed that the shift position is at the position “R” {sensor 72 → vehicle ECU 60 → DLC 54 (communication adapter 68) → portable terminal 18 (control unit 36)}, in step S23, as shown in FIG. 13C. The reverse guidance screen 240 is displayed, and voice guidance is given, “Release the brakes a little while confirming the back, and slowly move backward”. When the driver 16 removes his / her foot from the brake and starts reverse full turn backward turning, the percentage display 320 on the reverse guidance screen 240 changes from “0%” to “100%” until the third movement distance L3 is reached. The sound is output so that it can be recognized that it approaches “100%” by gradually reducing the sound interval of the count-up electronic sound as it increases. Further, the actual moving distance of the vehicle 12 can be calculated by the control unit 30 based on operation data read from the vehicle ECU 60.

  When the percentage display 320 becomes “100%”, a sound effect “ping-pong” is output, and in step S24, a voice guidance “Please step on the brake and stop” is provided. At this time, a stop instruction screen 214 similar to FIG. 12C is displayed (see FIG. 9E).

  When the vehicle 12 is stopped (when the vehicle 12 is stopped in a parallel state with respect to the boundary line 112c) (see FIG. 9E), in step S25, “rotate the handle to the right while stepping on the brake, Please return to the middle. "

  When it is confirmed in step S26 that the steering 84 has been returned to the neutral position (midpoint) (see FIG. 9F), a sound effect of “ping-pong” is output.

  In step S27, while displaying the reverse instruction screen 242 shown in FIG. 13D, a voice guidance is given, saying "Release the brakes a little while confirming the rear, and move slowly back." The driver 16 visually confirms the reverse position.

  Next, parking support end processing is executed in step S28. In this case, voice guidance “Please stop the brake when it fits in the parking frame.” When the stop is confirmed (FIG. 9G), a sound effect “Ping Pong” is output, “ “Please turn to the parking position.” When it is confirmed that the shift position is in the parking position, a sound is output as “ping-pong” and “all operations are finished. And the guidance end screen is displayed, and the parking support application 32 is terminated.

[Summary of Embodiment]
As described above, the parking assist device 10 according to the above-described embodiment is a vehicle 12 that is positioned on the left side or the right side when viewed from above in the longitudinal direction of the vehicle 12 and is longer than the full width W and the full length of the vehicle 12. The driving operation of the driver 16 for backward parking in the parking space 111 having the width T and the parking length Lp is instructed and supported by sound (voice or sound effect) and / or display.

  The parking assist device 10 is brought into the vehicle 12 and is electrically connected to a vehicle ECU 60 that is a control device of the vehicle 12 via a communication adapter 68, and the moving distance of the vehicle 12, the steering angle of the steering 84, A mobile terminal 18 is provided that reads out the direction and the stop state from the vehicle ECU 60 as driving data and instructs a parking driving operation based on the read driving data by sound and / or display.

  The portable terminal 18 guides that the boundary line 112c on the near side in the parking width direction of the parking space 111c is the parking support start position P0 to the parking space 111c of the vehicle 12, and then the vehicle 12 moves to the parking support start position P0. And a parking support start position setting means (control unit 30, step S1a) for confirming that the vehicle is stopped at the neutral position of the steering 84, and a first movement distance set in advance from the parked parking support start position P0. After instructing the forward movement of L1 minutes, the vehicle 12 is in a stop position after the forward movement of the first movement distance L1 and full instructing a full steering operation of the steering 84 to the side opposite to the parking space 111c. Based on the specification data of the vehicle 12 from the turning operation guidance means (control unit 30, steps S1b, S2a) and the stop position P1 in the full turning state. After instructing the forward turning movement for the predetermined second movement distance L2, the vehicle 12 performs a full turning operation to the opposite side of the steering 84 at the stop position after the vehicle 12 has made the forward turning movement for the second movement distance L2. Reverse full turning operation guidance means (control unit 30, steps S2b, S3a) to be instructed, and a third movement distance L3 set in advance based on the specification data of the vehicle 12 from the stop position P2 ′ in the reverse full turning state Neutral position return operation guide for instructing the operation of returning the steering wheel 84 to the neutral position at the stop position P3 after the vehicle 12 has made the reverse turn movement for the third movement distance L3 after instructing the reverse turn movement of the minute. Means (control unit 30, steps S3b, S4a).

  As described above, the mobile terminal 18 is used for the normal vehicle 12 in which the dedicated vehicle equipment for the vehicle guidance is not incorporated, and the mobile terminal 18 is electrically connected to the vehicle ECU 60 of the vehicle 12 via the communication adapter 68. Thus, the driver 16 drives the vehicle according to the guidance of the portable terminal 18 so that the vehicle can easily park backward in the target parking space 111c.

  In this reverse parking guidance, the driver 16 maintains the forward operation of the vehicle 12, the forward turning operation for maintaining the full steering state of the steering 84, and the reverse full steering state in accordance with the driving guidance by the mobile terminal 18. Therefore, the driver 16 can easily park the vehicle 12 in the target parking space 111c in a narrow turning space.

  The control unit 30 of the portable terminal 18 determines the first movement distance L1 in the forward movement, the forward movement based on the full width W of the vehicle 12, which is the specification data of the vehicle 12, the tread H, the wheel base B, and the minimum rotation radius R. The second movement distance L2 in the turning movement and the third movement distance L3 in the reverse turning movement are determined from the specification data of the vehicle 12 and the window seat center position 102 of the front seat (the rear wheel axle 41). By calculating based on the distance M to (center) 110, it can be calculated uniquely.

  For vehicle type changes, specific specific values determined by specifications for each vehicle type (specific data: vehicle full width W, tread H, wheel base B, minimum turning radius R, and front seat window frame center position 102 By changing the distance M) from the rear wheel axle center 110 to the rear wheel axle center 110, the versatility can be improved. For example, by registering necessary numerical values corresponding to each vehicle type in the memory of the mobile terminal 18, the mobile terminal 18 can perform the optimum parking support by selecting the vehicle type when the driver 16 drives. Available.

  Specifically, as shown in FIG. 7, when the vehicle 12 is parked at the center of the parking width T, the first to third movement distances L1 to L3 are calculated by the above equations (4) to (6). That's fine. Thereby, when parking the vehicle 12 in the center of the parking width T by reverse parking, the guidance assistance path | route which consists of the 1st-3rd movement distance L1-L3 can be set to an optimal value.

  Alternatively, as shown in FIG. 8, when the vehicle 12 is parked at a position of a distance S from the front boundary line 112c of the parking space 111c to the side surface of the vehicle 12 parallel to the boundary line 112c, the first to first The three movement distances L1 to L3 may be calculated by the above equations (7) to (9). Thereby, the distance S from the boundary line 112c to the side surface of the vehicle parallel to the boundary line 112c can be set to a desired value by reverse parking of the vehicle 12, and the guidance support route can be set to an optimal value.

  In any of the above-described inventions, the vehicle ECU 60 is connected to the DLC 54, and the mobile terminal 18 is configured to read out the driving data of the vehicle 12 via the DLC 54, thereby allowing the vehicle diagnosis via the DLC 54 for vehicle diagnosis. Each sensor signal during driving (first movement distance L1 due to forward movement of the vehicle 12, the full steering operation of the steering to the opposite side of the parking space 111c at the stop position after the forward movement, in the full steering state) Stopping at the second movement distance L2 in forward turning, full turning operation to the opposite side of the steering 84 at this stopping position, stopping at the third movement distance L3 in reverse turning in the reverse full turning state, The portable terminal 18 can read out and monitor the steering back operation to the neutral position of the steering at the stop position. Thus, since the control part 30 directly monitors the driving | running state of the vehicle 12, an appropriate instruction | indication (guidance) can be performed with the portable terminal 18. FIG.

  Further, the portable terminal 18 includes a display device 26 that displays a display screen of operation guidance by each means, and an imaging device 24 that is a camera that captures the boundary line 112 c and displays an image on the display device 26. Therefore, it is preferable. In this way, since the display screen of each operation guidance is displayed on the display device 26 of the portable terminal 18, the driver 16 reliably confirms each guidance (instruction) on the display screen and continues the parking driving operation. can do. In addition, since the boundary line 112c, which captures the parking target space with a wide field of view and captures the parking support start position P0 with the camera function of the mobile terminal 18, is displayed as an image, the parking support start position P0 can be easily aligned. And it can be executed uniquely.

  The vehicle 12 has a terminal holder 22 as a detachable attachment member that detachably attaches the portable terminal 18 to a side window of the front seat of the vehicle 12 (a side window of a passenger seat or a side window of a driver seat). Since the mobile terminal 18 can be easily attached to the side window, the parking support start position P0 can be easily set as a result.

  The vehicle 12 further includes a vehicle-mounted display audio device 52 that can be viewed by the driver 16 on the dashboard 50. When the mobile terminal 18 is electrically connected to the vehicle-mounted display audio device 52, the mobile terminal 18 For the driver 16 who operates the steering 84 in the driver's seat, the audio device 52 is configured to display the operation guidance display screen and the shooting screen of the boundary line 112 and to output the sound instruction from the in-vehicle speaker 66. Since the operation guidance display screen is displayed in a position that is easier to see and is usually displayed wider than the screen of the mobile terminal 18, and the sound for instructing guidance is usually output more clearly than the sound of the mobile terminal 18. The parking assistance guidance can be made more user-friendly.

  In the parking assist method according to this embodiment, the driving operation of the driver 16 that causes the vehicle 12 to reversely park in the parking space 111 located on the left side or the right side when the vehicle 12 is viewed from above in the length direction is brought into the vehicle 12. The portable terminal 18 is connected to the control device of the vehicle 12 and uses the mobile terminal 18 to instruct the travel distance of the vehicle 12, the steering angle of the steering 84, the forward / backward direction, and the stop state. The driving data is read from the vehicle ECU 60 of the vehicle 12, and the parking driving operation based on the read driving data is guided by sound and / or display. In the guidance process, the boundary line on the near side of the parking space 111c in the parking width direction After guiding that 112c etc. is the parking assistance start position mark to the parking space 111c, the window frame center position of the front seat of the vehicle 12 A parking support start position setting step (step S1a) for confirming that 02 is parked at the parking support start position mark (the boundary line 112c or the left side surface position of the other vehicle 151 on the near side); After instructing forward movement for the first movement distance L1 set in advance from the parking support start position P0, the vehicle 12 is at the stop position P1 after being moved forward by the first movement distance L1, and is opposite to the parking space 111c. A full turning operation guidance step (steps S1b, S2a) for instructing a full turning operation of the steering 84 to the vehicle, and a forward turning movement of a second movement distance L2 set in advance from the stop position P1 in the full turning state Is instructed to perform a full turning operation to the opposite side of the steering wheel 84 at the stop position P2 after the vehicle 12 has made a forward turning movement for the second movement distance L2. After the steering operation guidance step (steps S2b, S3a) and a reverse turning movement for a third movement distance L3 set in advance from the stop position P2 ′ in the reverse full-steering state, the vehicle 12 performs the third movement. A neutral position return operation guide step (steps S3b and S4a) for instructing an operation to return the steering wheel 84 to the neutral position at the stop position P3 after the backward turning movement by the distance L3.

  As described above, the mobile terminal 18 is used to connect the mobile terminal 18 to the vehicle ECU 60 of the vehicle 12 with respect to the normal vehicle 12 in which the dedicated vehicle equipment for vehicle guidance is not incorporated. By driving the driver 16 according to the guidance, it is possible to easily park in reverse in the target parking space 111c.

  Moreover, the reverse parking guidance by the portable terminal 18 possessed by a driver such as the driver 16 includes a forward operation instruction for the vehicle 12, a forward turning operation instruction for maintaining the steering 84 in a fully steered state, and a reverse full rotation of the steering 84. Since the guidance is to perform simple operations by sequentially combining the reverse turning operation instructions while maintaining the rudder state, the driver 16 can easily park the vehicle 12 in the target parking space 111c in a narrow turning operation space.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description in this specification.

DESCRIPTION OF SYMBOLS 10 ... Parking assistance apparatus 12 ... Vehicle 14 ... Car-mounted built-in apparatus 16 ... Driver 18 ... Portable terminal 20 ... Side window 22 ... Terminal holder 24 ... Imaging device 26, 64 ... Display apparatus 28, 66 ... Speaker 30 ... Control part 32 ... Parking support application 34 ... specification data storage unit 52 ... in-vehicle display audio device 54 ... data link connector 60 ... vehicle ECU
68 ... Communication adapter 84 ... Steering 90 ... Window frame 100 ... Window frame center line 102 ... Window frame center position 111 ... Parking space 113 ... Boundary line

Claims (8)

A parking assist device for assisting a driver's driving operation to reversely park a vehicle in a parking space located on the left side or the right side when viewed from above the vehicle in the longitudinal direction,
The vehicle is brought into the vehicle and connected to the control device of the vehicle, and the moving distance of the vehicle, the steering angle of the steering wheel, the forward / backward direction, and the stop state are read out as driving data from the control device of the vehicle and read out A portable terminal that guides a parking driving operation based on driving data by sound and / or display,
The portable terminal is
After guiding that the boundary line on the front side in the parking width direction of the parking space is the parking support start position for the parking space, the parking support is started to confirm that the vehicle is stopped at the parking support start position. Position setting means;
It is opposite to the parking space at the stop position after the vehicle has moved forward by the first movement distance after instructing forward movement for the first movement distance set in advance from the parking support start position being stopped. Full steering operation guidance means for instructing a full steering operation of the steering to the side,
After instructing the forward turning movement for the second movement distance set in advance from the stopping position in the fully steered state, at the stop position after the vehicle has made the forward turning movement for the second movement distance, Reverse full-steering operation guidance means for instructing full-turning operation to the reverse side;
After instructing the reverse turning movement for a preset third movement distance from the stopping position in the reverse full-steering state, the vehicle is at the stopping position after the reverse turning movement for the third movement distance, a neutral position return operation guide means for instructing the operation to return off the steering wheel to the neutral position, the possess,
The portable terminal is
The first movement distance in the forward movement, the second movement distance in the forward turning movement, and the third movement distance in the backward turning movement, the full width of the vehicle which is specification data of the vehicle, A parking assist device, which is calculated based on a tread, a wheel base, a minimum turning radius, and a distance from a window frame center position of a front seat to a rear axle . In the parking assistance device according to claim 1 ,
When parking the vehicle at the center of the parking width,
When the first moving distance is L1, the second moving distance is L2, and the third moving distance is L3, the turning angle in the full turning operation and the reverse full turning operation is α [rad]. In the range of α ≦ (π / 2), the first to third movement distances L1 to L3 are
L1 = {M + (T / 2)}-Z (2sin α-1),
L2 = Z · α,
L3 = Z · {(π / 2) −α}
However,
M: distance from the window frame center position of the front seat of the vehicle to the rear wheel axle position,
T: the parking width,
Z: distance from the minimum rotation center of the vehicle to the center of the rear axle,
A parking assistance device characterized by being. In the parking assistance device according to claim 1 ,
When parking the vehicle at a position where the distance from the boundary line to the side surface of the vehicle parallel to the boundary line is S in the parking space,
When the first moving distance is L1, the second moving distance is L2, and the third moving distance is L3, the turning angle in the full turning operation and the reverse full turning operation is α [rad]. Then, in the range of α ≦ (π / 2), the first to third movement distances L1 to L3 are expressed as L1 = {M + S + (W / 2)} − Z (2sin α−1),
L2 = Z · α,
L3 = Z · {(π / 2) −α}
However,
M: distance from the window frame center position of the front seat of the vehicle to the rear wheel axle,
W: the full width of the vehicle,
Z: distance from the minimum rotation center of the vehicle to the center of the rear axle,
A parking assistance device characterized by being. In the parking assistance device according to any one of claims 1 to 3 ,
The said portable terminal reads the said driving | operation data from the control apparatus of the said vehicle via a data link connector. The parking assistance apparatus characterized by the above-mentioned. In the parking assistance device according to any one of claims 1 to 4 ,
The portable terminal is
A display device for displaying a display screen of operation guidance of the parking assist start position setting means, the full steering operation guidance means, the reverse full steering operation guidance means, and the neutral position return operation guidance means; and the boundary line A camera for shooting and displaying a shooting screen on the display device;
A parking assistance device comprising: In the parking assistance device according to claim 5 ,
A parking assistance device, further comprising a detachable attachment member that attaches and detachably attaches the portable terminal to a side window of a front seat of the vehicle. In the parking assistance device according to claim 5 or 6 ,
Further, the vehicle includes a vehicle-mounted display audio device that can be viewed by the driver on a dashboard, and when the mobile terminal is electrically connected to the vehicle-mounted display audio device, the mobile terminal is connected to the vehicle-mounted display audio device. A parking assistance device that displays an operation guidance display screen and a photographing screen of the boundary line, and outputs an instruction by the sound from a vehicle-mounted speaker. A parking support method for instructing a driving operation of a driver to reversely park a vehicle in a parking space located on the left side or the right side when viewed from above in the longitudinal direction of the vehicle using a portable terminal brought into the vehicle. There,
The portable terminal is connected to the control device of the vehicle, reads out the travel distance of the vehicle, the steering angle, the forward / backward direction, and the stop state from the control device of the vehicle as driving data, and reads the driving data To guide parking driving operation based on sound and / or display,
In the guidance process,
After guiding that the boundary line on the front side in the parking width direction of the parking space is the parking support start position for the parking space, the parking support is started to confirm that the vehicle is stopped at the parking support start position. A position setting step;
It is opposite to the parking space at the stop position after the vehicle has moved forward by the first movement distance after instructing forward movement for the first movement distance set in advance from the parking support start position being stopped. A full steering operation guidance step for instructing a full steering operation of the steering to the side,
After instructing the forward turning movement for the second movement distance set in advance from the stopping position in the fully steered state, at the stop position after the vehicle has made the forward turning movement for the second movement distance, Reverse full-steering operation guidance step for instructing full-turning operation to the reverse side;
After instructing the reverse turning movement for a preset third movement distance from the stopping position in the reverse full-steering state, the vehicle is at the stopping position after the reverse turning movement for the third movement distance, a neutral position return operation guide step for instructing the operation to return off the steering wheel to the neutral position, the possess,
The first width of the vehicle in which the first movement distance in the forward movement, the second movement distance in the forward turning movement, and the third movement distance in the reverse turning movement are specification data of the vehicle, A parking assistance method, characterized in that it is calculated based on a tread, a wheel base, a minimum turning radius, and a distance from a center position of a window frame of a front seat to a rear axle .

Images