JP6318204B2 - Parking exit support device - Google Patents

Description

  The present invention relates to a parking / unloading support apparatus that supports parking and unloading of a vehicle.

  2. Description of the Related Art Conventionally, parking assist devices that assist vehicle parking and delivery are known. For example, a technique for performing automatic steering when a vehicle parks or leaves a vehicle has been developed.

  Patent Document 1 proposes a parking assistance device that displays information relating to parking assistance or information relating to delivery support on a display unit when a driver operates a parking steering assist button. In this parking assist device, when the travel distance of the vehicle after the ignition switch is turned on is larger than a preset threshold, when the driver operates the parking steering assist button, the display unit relates to parking assist. Information is displayed. On the other hand, in the above parking assist device, when the travel distance of the vehicle after the ignition switch is turned on is equal to or less than a preset threshold, when the driver operates the parking steering assist button, the display unit assists in leaving the vehicle. Information about is displayed. This describes that the driver can easily operate the parking assistance device.

Chinese Patent Application No. 1030779935

  However, with the device proposed in Patent Document 1, if the driver accidentally turns off the ignition switch while the vehicle is parked, the following inconvenience may occur. Here, it is assumed that the driver operates the parking steering assist button without moving the vehicle after the ignition switch is accidentally turned off and the ignition switch is turned on again while the vehicle is parked. In this case, the travel distance of the vehicle after the ignition switch (startup switch) is turned on becomes equal to or less than the threshold value, and information related to the delivery support is displayed on the display unit. At this time, the driver needs parking assistance, and the display does not display information related to assistance that the driver needs. Therefore, the driver needs to further operate the parking steering assist button to display information related to parking assistance required by the driver on the display unit. Since the number of times the driver operates the parking steering assist button increases, the driver may feel annoyed.

  The present invention has been made in order to solve the above-described problem, and includes a parking exit support device capable of displaying information related to the support required by the driver on the display unit among the parking support control or the exit support control. The purpose is to provide.

A parking exit support apparatus according to the present invention includes a parking support control unit that performs parking support control for at least an operation for parking the own vehicle in a parking area or a vehicle operation, and at least for releasing the own vehicle from the parking area. A parking assistance control unit that performs a parking support control for the operation or the vehicle operation, a support start determination unit that determines to start the parking support control or the shipping support control, and parking support that is information related to the parking support control One of the information or the delivery support information that is information related to the delivery support control is selected by the driver, the display unit displays the selected information , and the shift position detection unit detects the shift position of the host vehicle. And the display unit is determined to start the parking support control or the exit support control by the support start determination unit. Case, the shift position detected by the shift position detecting portion when a non-travel position to preferentially display the goods issue support information, said when the shift position is a running position for preferentially displaying the parking assist information.

  Before leaving the vehicle, the vehicle is parked in the parking area. At this time, the shift position is considered to be a non-traveling position (P range or N range). On the other hand, the vehicle before parking is running or temporarily stopped. At this time, the shift position is considered to be the travel position (D range or R range). Therefore, when the parking assistance control or the delivery assistance control is started, if the shift position is the non-traveling position, it can be determined that the driver needs the delivery assistance. Further, when the parking assistance control or the leaving assistance control is started, if the shift position is the traveling position, it can be determined that the driver needs parking assistance.

  Thereby, when starting parking assistance control or leaving assistance control, the assistance control which a driver | operator needs according to a shift position can be determined, without using the traveling distance of the own vehicle. Therefore, even if the driver accidentally turns off the start switch, the driver needs to support the control when the driver turns on the start switch to start the support control. Information can be displayed on the display.

In addition, the parking exit support apparatus according to the present invention includes a parking support control unit that performs parking support control for at least an operation for parking the own vehicle in the parking area or a vehicle operation, and at least for releasing the own vehicle from the parking area. A parking assistance control unit that performs a parking support control for the operation or the vehicle operation, a support start determination unit that determines to start the parking support control or the shipping support control, and parking that is information related to the parking support control. One of the support information or the exit support information that is information related to the exit support control is selected by the driver, the display unit displays the selected information , and the shift position detection detects the shift position of the vehicle. And the display unit is determined to start the parking support control or the exit support control by the support start determination unit. If it, the said unloading support information preferentially displayed when the shift position detected by the shift position detecting portion is not running position, the parking assist information displayed preferentially when the shift position is not a non-running position.

  Thereby, when starting parking assistance control or leaving assistance control, the assistance control which a driver | operator needs according to a shift position can be determined, without using the traveling distance of the own vehicle. Therefore, even if the driver accidentally turns off the start switch, the driver needs to support the control when the driver turns on the start switch to start the support control. Information can be displayed on the display.

In addition, the parking exit support apparatus according to the present invention includes a start switch that activates a driving source of the own vehicle when operated by a driver and stops the driving source when operated by the driver, and the driving When the start switch is turned off by the driver, the control performed when the start switch is turned off by the driver was the parking support control or not the parking support control. And the display unit is a case where the control stored in the storage unit is the parking support control, and when the activation switch is turned on, The parking support information is preferentially displayed regardless of the shift position.

  When the driver mistakenly turns off the start switch during the parking assist control, the driver turns on the start switch after operating the shift position to the non-traveling position. In this case, even if the shift position is the non-traveling position, it can be determined that the driver continuously needs parking support control. Therefore, even if the driver accidentally turns off the start switch, the driver needs to support the control when the driver turns on the start switch to start the support control. Information can be displayed on the display.

  Further, the parking exit support device according to the present invention has a support start switch that is operated to be turned on by the driver, and the support start determination unit is operated when the driver starts the support start switch. It determines with starting the said parking assistance control or the said leaving assistance control.

  Thereby, when the driver does not operate the support start switch to be turned on, parking and leaving can be performed by the driver's own operation without using the parking assistance control or the leaving assistance control. In addition, when the driver needs parking assistance control or delivery assistance control after attempting to park or exit the vehicle by the driver's own operation, the driver turns on the assistance start switch to turn on the parking assistance control. Alternatively, the exit support control can be started.

  Moreover, the parking departure support apparatus which concerns on this invention has the assistance selection switch which selects the said parking assistance information or the said delivery assistance information by operation of a driver | operator, and displays it on the said display part.

  As a result, when the information on the assistance control required by the driver is not displayed on the display unit, the information on the assistance control required by the driver is displayed on the display unit by operating the assistance selection switch. Can be made.

  Since the parking departure assistance apparatus which concerns on this invention selects the information which a display part displays according to a shift position, it can display the information regarding the assistance control which a driver | operator requires on a display part.

It is a block diagram which shows the structure of the vehicle carrying the parking leaving support apparatus which concerns on one Embodiment of this invention. It is a state transition diagram of display screen control of a touch panel display. It is a state transition diagram of the priority display screen selection control when the driver starts the support start switch. It is a flowchart which shows the flow of the priority display screen selection control performed in the calculating part of assistance ECU. FIG. 5A is a diagram for explaining setting of a delivery determination range in delivery determination. FIG. 5B is a diagram illustrating a state of the own vehicle when the result of the leaving determination is “after leaving”. It is a figure of the reverse parking assistance screen displayed on a touch panel display in parking assistance (parking frame search mode). It is a figure of the parallel parking assistance screen displayed on a touchscreen display in parking assistance (parking frame search mode). It is a figure of the leaving support screen displayed on a touchscreen display in parking assistance (parking frame search mode).

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a parking delivery support apparatus according to the present invention will be described with reference to the accompanying drawings.

[Configuration of parking exit support device]
FIG. 1 is a block diagram showing a configuration of a vehicle (hereinafter, referred to as a host vehicle 10) equipped with a parking exit support device 12 according to an embodiment of the present invention.

  The parking exit support apparatus 12 performs parking support control and exit support control. The parking assist control is control for automatically steering the steering wheel 76 (vehicle turning operation) in order to park the host vehicle 10 in the parking area. The parking exit support device 12 performs the reverse parking support control for parking the host vehicle 10 backward in the parking area and the parallel parking support control for the parallel parking parked between the parked vehicles lined up in the lane side by the lane. . The unloading support control is a control for automatically steering the steering wheel 76 to unload the own vehicle 10 from the parking area. The parking exit support apparatus 12 performs exit support control for exiting the host vehicle 10 in parallel parking. In the parking support control and the exit support control, the operation of the accelerator pedal, the brake pedal (not shown) and the shift lever 33 are guided by the image on the touch panel display 46 and the sound from the speaker 47. Performed by a person.

  The parking exit support device 12 includes a sensor group 14, a switch group 16, a navigation device 18, a support electronic control device (hereinafter referred to as support ECU) 20, and an electric power steering unit (hereinafter referred to as EPS unit) 22. Yes.

  The sensor group 14 detects various information used in parking support control and exit support control. The switch group 16 includes various switches operated by the driver of the host vehicle 10. The navigation device 18 guides the route to the destination to the passengers including the driver of the host vehicle 10 by using images and voices. In addition, the navigation device 18 provides the driver of the vehicle 10 with various information related to parking support control and delivery support control. The assistance ECU 20 performs parking assistance control or exit assistance control based on various information detected by the sensor group 14 and the operation of the switch group 16 by the driver. The EPS unit 22 applies assist force to the steering force for steering the steering wheel 76 of the driver of the host vehicle 10. The EPS unit 22 is controlled by the support ECU 20 to steer the steering wheel 76.

(Configuration of sensor group)
The sensor group 14 includes a camera group 24, a sonar group 26, a wheel speed sensor 28, a vehicle body speed sensor 30, and a shift position sensor (shift position detection unit) 32.

  The camera group 24 is composed of a plurality of cameras that can image the periphery of the host vehicle 10. Each camera outputs an imaging signal indicating a surrounding image of the host vehicle 10. The camera group 24 is installed in front of the vehicle 10, a rear camera installed in the rear, a right camera installed in the outer lower part of the right door mirror, and an outer lower part of the left door mirror. It consists of four cameras, the left side camera.

  The sonar group 26 includes a plurality of sonars that can emit sound waves to the front of the host vehicle, the left diagonal front, the right diagonal front, the rear, the left diagonal rear, and the right diagonal rear and receive the reflected sound from other objects. . Each sonar of the sonar group 26 outputs a signal that correlates with the distance to other objects around the host vehicle 10.

  The wheel speed sensor 28 is an angle sensor or a displacement sensor that detects the rotation angle of each wheel. A number of detection pulses correlated with the number of rotations of the wheel are output.

  The vehicle body speed sensor 30 is a sensor that detects the vehicle body speed of the host vehicle 10. The vehicle body speed sensor 30 detects the vehicle body speed from the rotational speed of the drive shaft of the transmission, for example.

  The shift position sensor 32 outputs a detection signal indicating the shift position selected in accordance with the operation of the shift lever 33 (also referred to as a selector) by the driver. The shift lever 33 has, for example, six shift positions, “P” (parking range), “R” (reverse range), “N” (neutral range), “D” (drive range), “2” (second range). ) Or “L” (low range).

(Configuration of switch group)
The switch group 16 includes a start switch 34, a hazard lamp switch 36, a multi-view camera switch 38, a support start switch 40, a support selection switch 42, a start switch 44, and a support end switch 45.

  The activation switch 34 is a switch that activates the drive source of the host vehicle 10 when turned on by the driver. When the start switch 34 is turned off by the driver, the driving source of the vehicle 10 stops. The start switch 34 is a so-called ignition switch or a start / stop switch. If the driving source of the host vehicle 10 is an engine, the engine is started when the start switch 34 is turned on by the driver, and the engine is stopped when the start switch 34 is turned off by the driver. If the driving source of the host vehicle 10 is a motor, the battery is connected to the inverter circuit when the start switch 34 is turned on by the driver, and the battery is connected when the start switch 34 is turned off by the driver. Shut off the inverter circuit.

  The hazard lamp switch 36 is a switch that blinks the hazard lamp when operated by the driver and turns off the hazard lamp when operated by the driver.

  When the multi-view camera switch 38 is turned on by the driver, the touch panel display 46 of the navigation device 18 is a switch that synthesizes and displays a peripheral image of the host vehicle 10 captured by the camera group 24.

  The assistance start switch 40 starts parking assistance control or delivery assistance control when turned on by the driver. The assistance selection switch 42 switches the assistance control to be selected when operated by the driver. The assistance end switch 45 ends the assistance control during the control when operated by the driver during the parking assistance control or the delivery assistance control.

  The start switch 34 and the hazard lamp switch 36 are installed on the instrument panel in the host vehicle 10. The multi-view camera switch 38 is installed at the tip of the blinker lever. The support start switch 40, the support selection switch 42, the start switch 44, and the support end switch 45 are displayed on a touch panel display 46 described later.

(Configuration of navigation device)
The navigation device 18 includes a touch panel display (display unit) 46, a speaker 47, a map database 48, and a navigation ECU 49. The navigation device 18 detects the current position of the host vehicle 10 using GPS (Global Positioning System), and guides the route to the destination to the passengers including the driver using the touch panel display 46 and the speaker 47.

  The touch panel display 46 functions as an HMI (Human-Machine Interface) in the parking exit support device 12. The touch panel display 46 is controlled by the support ECU 20 and provides the driver of the vehicle 10 with various information related to parking support control and exit support control.

  The touch panel display 46 displays various types of information and can detect that the switch has been operated by touching the switch icon displayed on the screen by the driver. The speaker 47 provides voice guidance for driving operations in route guidance to the destination, parking assistance control, and exit assistance control. The map database 48 stores roads, intersections, peripheral facility information, and the like. The navigation ECU 49 is a device that controls the navigation device 18 as a whole, and includes an input / output unit, a calculation unit, and a storage unit (all not shown) as hardware.

(Configuration of support ECU)
The support ECU 20 includes an input / output unit 50, a calculation unit 52, and a storage unit 54 as hardware.

  The input / output unit 50 inputs detection information detected by each sensor of the sensor group 14, operation information of each switch of the switch group 16, and the like. The storage unit 54 stores programs to be executed by the calculation unit 52 and other various information.

  The calculation unit 52 is configured by a processor such as a CPU. The calculation unit 52 performs a calculation process according to a program stored in the storage unit 54, so that a support start determination unit 56, a store determination unit 58, a parking support control unit 60, a store support control unit 62, and a display control unit 64. Function as.

  The assistance start determination unit 56 determines that parking assistance control or exit assistance control is started when the assistance start switch 40 is turned on by the driver. The exit determination unit 58 determines the exit of the own vehicle 10. The exit determination is a determination as to whether or not the own vehicle 10 has completed exiting from the parking area. The delivery determination will be described in detail later. The parking support control unit 60 performs a calculation process of parking support control based on various information, and calculates a command value for controlling the EPS unit 22. The exit support control unit 62 performs an exit support control calculation process based on various information, and calculates a command value for controlling the EPS unit 22. The display control unit 64 controls display on the touch panel display 46 in parking support control and exit support control.

(Configuration of EPS unit)
The EPS unit 22 includes a steering angle sensor 66, a steering torque sensor 68, a resolver 73, an EPS motor 72, and an EPS-ECU 74.

  The steering angle sensor 66 detects the steering angle of the steering wheel 76. The steering torque sensor 68 detects a steering torque that acts on the steering wheel 76. The resolver 73 detects the rotation angle of the EPS motor 72. The EPS motor 72 applies a rotational driving force to the steering column 78. The EPS-ECU 74 is a device that controls the entire EPS unit 22, and includes an input / output unit, a calculation unit, and a storage unit (all not shown) as hardware.

[Touch panel display control]
(State transition of touch panel display control)
FIG. 2 is a state transition diagram of display screen control of the touch panel display 46. The display screen control of the touch panel display 46 is directly performed by the navigation ECU 49, but when displaying information related to the parking support control and the leaving support control on the touch panel display 46, the control is performed in cooperation with the support ECU 20. . The display screen control of the touch panel display 46 includes standby, multi-view camera mode, parking assistance (parking frame search mode), parking assistance (steering control mode), exit assistance (exit direction selection mode), exit assistance (steering control mode). It has 6 states.

  When the start switch 34 is turned on by the driver, the state transits to standby. In standby, a navigation screen or an audio screen is displayed on the touch panel display 46.

  When the multi-view camera switch 38 is turned on by the driver, the mode is changed to the multi-view camera mode. In the multi-view camera mode, the surrounding images of the host vehicle 10 captured by each camera of the camera group 24 are synthesized and displayed on the touch panel display 46 (a surrounding synthesized image).

  In the multi-view camera mode, when the multi-view camera switch 38 is turned off by the driver, the mode changes to standby.

  In the multi-view camera mode, the support start switch 40 is displayed on the touch panel display 46. In the multi-view camera mode, when the support start switch 40 is turned on by the driver, a transition is made to parking assistance (parking frame search mode) or delivery assistance (exit direction selection mode). Which of the parking assistance (parking frame search mode) and the exit assistance (exit direction selection mode) changes depends on the conditions and will be described later.

  In parking assistance (parking frame search mode), guidance that prompts the driver to move the vehicle 10 so that the position of the parking frame relative to the vehicle 10 is a predetermined position is displayed on the touch panel display 46. Specifically, a green frame is displayed on the surrounding composite image displayed on the touch panel display 46, and the host vehicle 10 is moved so that the parking frame that the host vehicle 10 is trying to park fits within the green frame. I will guide you.

  In parking assistance (parking frame search mode), a start switch 44 is displayed on the touch panel display 46. In the parking assistance (parking frame search mode), when the driver operates the start switch 44 to be turned on, a transition is made to parking assistance (steering control mode).

  In the parking assistance (parking frame search mode), the assistance selection switch 42 is displayed on the touch panel display 46. In the parking assistance (parking frame search mode), when the driver operates the assistance selection switch 42, a transition is made to delivery assistance (exit direction selection mode).

  In parking assistance (parking frame search mode), an assistance end switch 45 is displayed on the touch panel display 46. In the parking assistance (parking frame search mode), when the assistance end switch 45 is turned on by the driver, the mode is changed to the multi-view camera mode.

  In parking assistance (steering control mode), guidance that prompts the driver to drive is displayed on the touch panel display 46. In parking assistance (steering control mode), the steering wheel 76 is automatically steered. The driver operates the shift lever 33 and the brake pedal in accordance with the guidance displayed on the touch panel display 46 and the guidance from the speaker 47.

  In parking assistance (steering control mode), an assistance end switch 45 is displayed on the touch panel display 46. In parking assistance (steering control mode), when the driver finishes turning on the assistance end switch 45, a transition is made to parking assistance (parking frame search mode).

  In the exit support (exit direction selection mode), guidance for selecting the direction in which the vehicle 10 exits is displayed on the touch panel display 46. In the delivery support (exit direction selection mode), the start switch 44 is displayed on the touch panel display 46. When the start switch 44 is turned on by the driver in the exit assistance (exit direction selection mode), the transition is made to exit assistance (steering control mode).

  In the delivery support (the delivery direction selection mode), the support selection switch 42 is displayed on the touch panel display 46. When the driver selects the assistance selection switch 42 in the delivery assistance (exit direction selection mode), the vehicle transitions to parking assistance (parking frame search mode). In the exit support (exit direction selection mode), an end support switch 45 is displayed on the touch panel display 46. In the delivery support (the delivery direction selection mode), when the support end switch 45 is turned on by the driver, the mode is changed to the multi-view camera mode.

  In the delivery support (steering control mode), guidance that prompts the driver to perform a driving operation is displayed on the touch panel display 46. In the delivery support (steering control mode), the steering wheel 76 is automatically steered. The driver operates the shift lever 33 and the brake pedal according to the guidance on the touch panel display 46. In the delivery support (steering control mode), the support end switch 45 is displayed on the touch panel display 46. In the delivery support (steering control mode), when the driver turns on the support end switch 45, the transition to the delivery support (the delivery direction selection mode) is made.

  In parking assistance (parking frame search mode) or parking assistance (steering control mode), if it is determined that parking assistance has failed, the mode changes to the multi-view camera mode. For example, if the driver does not turn on the start switch 44 for a certain period of time after transitioning to parking assistance (parking frame search mode), an obstacle that is close to both sides of the parking frame in parking assistance (steering control mode) When it is determined that the vehicle 10 in which the vehicle is detected cannot be parked in the parking frame, it is determined that the parking support has failed.

  In the parking assistance (steering control mode) and the leaving assistance (steering control mode), when the multi-view camera switch 38 is turned on by the driver, the mode is changed to the multi-view camera mode. In the parking assistance (steering control mode) and the leaving assistance (steering control mode), when it is determined that the speed is exceeded, the state transitions to standby. For example, when the vehicle body speed is 15 [km / h] or more, it is determined that the speed is exceeded.

(State transition of priority display screen selection control)
FIG. 3 is a state transition diagram of priority display screen selection control for selecting a screen (priority display screen) to be displayed first when the support start switch 40 is turned on by the driver.

  In the multi-view camera mode, when the assistance start switch 40 is turned on by the driver, the first determination is performed. Based on the first determination, a determination is made as to whether the transition is to parking assistance (parking frame search mode) or exit assistance (exit direction selection mode). The first determination is made according to the following three conditions (1) to (3).

  Condition (1): Previously, the state before the start switch 34 was turned off by the driver was parking assistance (parking frame search mode) or parking assistance (steering control mode). The exit determination result of the host vehicle 10 before the start switch 34 was turned off was “after exit”. In this case, it changes to parking assistance (parking frame search mode).

  Condition (2): The shift position is “P”, or the exit determination result of the host vehicle 10 is “before exit”. In this case, a transition is made to shipping support (shipping direction selection mode).

  Condition (3): In other cases, a transition is made to parking assistance (parking frame search mode).

  Of the above conditions, condition (1) has the highest priority, and condition (3) has the lowest priority. The condition that the shift position in condition (2) is “P” may be that the shift position is “P” or “N” (the shift position is a non-traveling position). The condition that the shift position in condition (2) is “P” may be that the shift position is not “D” and “R” (the shift position is the travel position). In addition, the condition that the exit determination result of the host vehicle 10 in the condition (2) is “before exit” may be that the exit determination result of the host vehicle 10 is not “after exit”. As another example of the condition (3), when the shift position is “D” or “R” (the shift position is the travel position), or the shift position is “P” and “N” (the shift position is not set). The case where it is not a travel position) is mentioned. The exit determination of the own vehicle 10 is performed in the exit determination unit 58. The delivery determination method will be described in detail later.

  The second determination is performed in parking assistance (parking frame search mode). In the second determination, it is determined whether the screen displayed in the previous parking assistance (parking frame search mode) is the backward parking assistance screen 90 or the parallel parking assistance screen 91. When the screen displayed in the previous parking assistance (parking frame search mode) is the backward parking assistance screen 90, the backward parking assistance screen 90 is displayed on the touch panel display 46. When the screen displayed in the previous parking assistance (parking frame search mode) is the parallel parking assistance screen 91, the parallel parking assistance screen 91 is displayed on the touch panel display 46. The reverse parking support screen 90 and the parallel parking support screen 91 will be described later.

  In the delivery support (exit direction selection mode), a delivery support screen 92 is displayed on the touch panel display 46. The delivery support screen 92 will be described later.

(Priority display screen selection control flow)
FIG. 4 is a flowchart showing a flow of priority display screen selection control performed in the calculation unit 52 of the support ECU 20.

  In step S <b> 1, the support start determination unit 56 determines whether or not the support start switch 40 is turned on by the driver. When the support start switch 40 is turned on by the driver, the support start determination unit 56 determines to start the parking support control or the exit support control, and the process proceeds to step S2. If the support start switch 40 is not turned on by the driver, the process ends.

  In step S <b> 2, the display control unit 64 determines whether or not parking assistance control was being performed when the start switch 34 was turned off by the driver last time. If the parking assistance control was being performed when the activation switch 34 was turned off by the driver last time, the process proceeds to step S3. If the parking assistance control was not being performed when the activation switch 34 was turned off by the driver last time, the process proceeds to step S6. Information indicating that parking assistance control was being performed or parking assistance control was not being performed when the activation switch 34 was turned off by the driver is stored in the storage unit 54.

  The fact that the parking support control was not being performed indicates that the exit support control was being performed, or that the parking support control and the exit support control were not performed. Note that it may be determined that the parking assistance control is not in progress even while the host vehicle 10 is parked. Even if the host vehicle 10 is not completely parked in the parking area, the parking support control determines that the parking support control is terminated if, for example, 90% or more of the host vehicle 10 is in the parking area. You may make it do.

  In step S <b> 3, the display control unit 64 determines whether the screen displayed on the touch panel display 46 in the previous parking assist control is the backward parking assist screen 90. When the screen displayed on the touch panel display 46 in the previous parking assistance control is the backward parking assistance screen 90, the process proceeds to step S4. When the screen displayed on the touch panel display 46 in the previous parking assistance control is not the backward parking assistance screen 90, the process proceeds to step S5. Information indicating that the screen displayed on the touch panel display 46 in the previous parking support control was the reverse parking support screen 90 or not the reverse parking support screen 90 is stored in the storage unit 54.

  In step S <b> 4, the display control unit 64 displays the reverse parking assistance screen 90 on the touch panel display 46.

  In step S <b> 5, the display control unit 64 displays the parallel parking assist screen 91 on the touch panel display 46.

  In step S <b> 6, the display control unit 64 determines whether the shift position is “P” or the exit determination in the exit determination unit 58 is “before exit”. When the shift position is “P” or the leaving determination is “before leaving”, the process proceeds to step S7. When the shift position is other than “P” and the delivery determination is “after delivery”, the process proceeds to step S3.

  In step S <b> 7, the display control unit 64 displays a store support screen 92 on the touch panel display 46.

  The determination that the shift position is “P” in step S6 may be that the shift position is “P” or “N”. The determination that the shift position is “P” in step S6 may be that the shift position is not “D” or “R”. In addition, the determination that the exit determination in step S6 is “before exit” may be that the exit determination is not “after exit”.

[About exit determination]
The exit determination of the own vehicle 10 is performed in the exit determination unit 58. FIG. 5A and FIG. 5B are diagrams for explaining the departure determination of the host vehicle 10. FIG. 5A is a diagram for explaining setting of the leaving determination range 80 in the leaving determination. FIG. 5B is a diagram illustrating the state of the vehicle 10 when the result of the delivery determination is “after delivery”.

  The exit determination unit 58 sets the exit determination range 80 on the plane coordinate system 81. The departure determination unit 58 sets the plane coordinate system 81 with the position P of the host vehicle 10 when the start switch 34 is turned on by the driver as the origin O. The exit determination unit 58 sets the plane coordinate system 81 on a plane parallel to the road surface. The exit determination unit 58 sets the X axis of the plane coordinate system 81 as an axis parallel to the vehicle width direction of the host vehicle 10 and sets the right side toward the front of the host vehicle 10 as the positive direction of the X axis. The exit determination unit 58 sets the Y axis of the plane coordinate system 81 as an axis parallel to the vehicle length direction of the host vehicle 10 and sets the front of the host vehicle 10 as the positive direction of the Y axis. The unloading determination unit 58 sets the position of the host vehicle 10 on a straight line connecting the axles of the left and right rear wheels and at the center point of the left and right rear wheels.

  The unloading determination unit 58 sets the Y-axis positive direction side end of the unloading determination range 80 at a position that is a distance LF away from the Y-axis positive direction side end of the host vehicle 10. The exit determination unit 58 sets the Y-axis negative direction side end of the exit determination range 80 at a position that is a distance L away from the end in the Y-axis positive direction side of the exit determination range 80 in the Y-axis negative direction side. The distance L is set to a distance longer than the sum of the vehicle length of the host vehicle 10 and the distance LF.

  The exit determination unit 58 sets the X axis positive direction side end of the exit determination range 80 at a position away from the origin O by the distance W / 2 in the X axis positive direction side. The exit determination unit 58 sets the Y-axis negative direction side end of the exit determination range 80 at a position that is a distance W away from the end in the X-axis positive direction side of the exit determination range 80 in the X-axis negative direction side. The distance W is set to a distance longer than the vehicle width of the host vehicle 10.

  The exit determination unit 58 sets the exit determination range 80 every time the activation switch 34 is turned on by the driver. The exit determination range 80 may be set to a range corresponding to a parking frame indicated by a white line or the like when the host vehicle 10 is parked in a parking lot or the like, and the distance LF, the distance L, and the distance W are experimental. Etc. are set in advance. The exit determination unit 58 may set the exit determination range 80 even when the shift position is “P” for a predetermined time or more. For example, it is assumed that the driver parks his / her own vehicle 10 in parallel for pick-up of passengers. In this case, since the driver is in the host vehicle 10, the start switch 34 is often not turned off after the host vehicle 10 is parked in parallel. In such a case, by setting a new delivery determination range 80, the delivery support control can be appropriately performed. However, it is conceivable that the state where the shift position is “P” elapses over a predetermined time even in the case of traffic jams or the like. Therefore, in addition to the determination based on the time when the shift position is “P”, when the distance from the other vehicle in front of or behind the host vehicle 10 is greater than or equal to the predetermined distance by the sonar group 26, the exit determination range 80 is not set. May be.

  When the position P of the vehicle 10 is within the exit determination range 80, the exit determination unit 58 determines “before exit”. When the position P of the host vehicle 10 is outside the leaving determination range 80, the leaving determination unit 58 determines “after leaving”. The position P of the host vehicle 10 may be obtained based on a GPS signal, or the travel distance of the host vehicle 10 and the turning angle of the host vehicle 10 from when the start switch 34 is turned on by the driver. You may ask based on. Even when the position P of the host vehicle 10 is outside the store determination range 80, the exit determination unit 58 detects that there is another vehicle in front of or behind the host vehicle 10 by the sonar group 26. You may make it judge "before." For example, the case where the own vehicle 10 is going to leave the vehicle from double parallel parking with two rows of vehicles is assumed. In this case, even when the position P of the host vehicle 10 is outside the leaving determination range 80, there is another vehicle parked in the adjacent row. When there is another vehicle in front of or behind the host vehicle 10, it is possible to appropriately perform the exit support control by determining “before exit”.

[About support screen]
FIG. 6 is a diagram of a reverse parking assistance screen 90 displayed on the touch panel display 46 in parking assistance (parking frame search mode). FIG. 7 is a diagram of a parallel parking assistance screen 91 displayed on the touch panel display 46 in parking assistance (parking frame search mode). FIG. 8 is a diagram of a delivery support screen 92 displayed on the touch panel display 46 in parking support (parking frame search mode).

  The reverse parking assistance screen 90, the parallel parking assistance screen 91, and the exit assistance screen 92 have a message display unit 110, a tab display unit 111, and a multi-view camera display unit 112.

  As shown in FIG. 6, the message “Move the green frame to the parking position” is displayed on the message display unit 110 on the reverse parking assistance screen 90. On the reverse parking support screen 90, the tab display unit 111 has a support selection switch 42 (reverse parking support selection switch 42a, parallel parking support selection switch 42b, delivery support selection switch 42c), start switch 44 (left reverse parking switch 44a, reverse right). The parking switch 44b) and the support end switch 45 are displayed. On the reverse parking support screen 90, the surrounding composite image 100, the target frame 101 (left reverse parking frame 101a, right reverse parking frame 101b), and the own vehicle icon 102 are displayed on the multi-view camera display unit 112. The target frame 101 is displayed with a green line.

  As shown in FIG. 7, on the parallel parking assistance screen 91, a message “Please adjust the green frame to the parking position” is displayed on the message display unit 110. On the column parking support screen 91, the tab display unit 111 has a support selection switch 42 (reverse parking support selection switch 42a, column parking support selection switch 42b, delivery support selection switch 42c), start switch 44 (left column parking switch 44c, right column). The parking switch 44d) and the support end switch 45 are displayed. On the parallel parking support screen 91, the surrounding composite image 100, the target frame 101 (left vertical parking frame 101c, right vertical parking frame 101d), and the vehicle icon 102 are displayed on the multi-view camera display unit 112. The target frame 101 is displayed with a green line.

  As shown in FIG. 8, a message “Move the green frame to the parking position” is displayed on the message display unit 110 on the delivery support screen 92. On the exit support screen 92, the tab display unit 111 displays the support selection switch 42 (reverse parking support selection switch 42a, parallel parking support selection switch 42b, exit support selection switch 42c), start switch 44 (left exit switch 44e, right exit switch 44f). ), The support end switch 45 is displayed. On the exit support screen 92, the surrounding composite image 100, the left exit direction arrow 103a, the right exit direction arrow 103b, and the own vehicle icon 102 are displayed on the multi-view camera display unit 112. The left exit direction arrow 103a and the right exit direction arrow 103b are displayed as green arrows.

[Operation method of support control]
A method for operating the reverse parking assistance control will be described. Here, the description will be made assuming that the host vehicle 10 is parked backward in the parking frame on the left side of the host vehicle 10.

  First, on the reverse parking assist screen 90, the driver moves the own vehicle 10 so that the left reverse parking frame 101a fits in the parking area where the own vehicle 10 is to be parked as shown in FIG. Then, the left backward parking switch 44a of the touch panel display 46 is touched. Thereby, reverse parking assistance control is started. In the reverse parking assist control, the steering wheel 76 is automatically steered. In addition, guidance by characters is displayed on the message display unit 110 of the touch panel display 46, and guidance by voice flows from the speaker 47. The driver operates the shift lever 33 and the brake pedal according to these guides. When the parking of the host vehicle 10 is completed, guidance indicating that the control is to be ended is given by the display of the message display unit 110 of the touch panel display 46 and the sound from the speaker 47, and the reverse parking support control is ended.

  The operation method of the parallel parking support control is substantially the same as the operation method of the reverse parking support control. The operation method of the exit support control is almost the same as the operation method of the parallel parking support control, but an operation for adjusting the parking frame to the target frame 101 is not required as in the parking support control, and the driver issues the own vehicle 10. When touching the start switch 44 in the desired direction, the exit support control is started.

[Function and effect]
The support start switch 40 is displayed on the touch panel display 46. When starting parking assistance control or exit assistance control, the driver turns on the assistance start switch 40. If two support start switches 40 can be provided, one can be assigned to a switch for starting parking support control and another one can be assigned to a switch for starting delivery support control. However, when a large number of switches are displayed on the touch panel display 46, the driver cannot instantly search for a switch to be operated, and intuitive operability is hindered. Therefore, one switch is integrated as a switch for starting both parking support control and delivery support control.

  Since only one assistance start switch 40 can be provided, when the driver operates the assistance start switch 40 to turn on, either information relating to parking assistance control or information relating to delivery assistance control is displayed on the touch panel display 46. Is done. When the information regarding the assistance control desired by the driver is not displayed on the touch panel display 46, the driver needs to operate the assistance selection switch 42 to display the information regarding the assistance control required by the driver on the touch panel display 46. There is. Since the number of times the driver operates the switch group 16 increases, the driver may feel annoying.

  Therefore, conventionally, it is known to determine whether the driver needs parking support control or exit support control and to display information related to the support control required by the driver on a display. Thereby, reduction of the frequency | count of operation of the switch group 16 by a driver | operator is aimed at.

  The following is proposed as a method for determining whether the driver needs parking support control or exit support control. For example, if the travel distance of the host vehicle 10 after the activation switch 34 is turned on is greater than a preset threshold, it is determined that the host vehicle 10 is after leaving. At this time, when the driver operates the support start switch 40 to turn on, the driver determines that parking assistance is required. On the other hand, if the travel distance of the host vehicle 10 after the activation switch 34 is turned on is equal to or less than the threshold, it is determined that the host vehicle 10 is before leaving. At this time, when the driver operates the support start switch 40 to be turned on, the driver determines that the exit assistance is required.

  However, there are cases where the above-described method cannot correctly determine the assistance control required by the driver. There are the following examples as cases where the driver's necessary assistance control cannot be judged correctly. The driver erroneously operates the start switch 34 during parking assist control, stops the host vehicle 10, operates the start switch 34 again, and then supports the switch while the host vehicle 10 is stopped. Assume that 40 is turned on. In this case, when the driver operates the support start switch 40 to turn on, the travel distance of the host vehicle 10 after the start switch 34 is turned on is zero. Therefore, it is determined that the host vehicle 10 is before leaving, and it is determined that the driver needs exit assistance. The touch panel display 46 displays information related to the delivery support control. However, in this case, the driver needs parking assist control. The driver needs to operate the assistance selection switch 42 in order to display information related to parking assistance control on the touch panel display 46.

  Therefore, in the parking exit support device 12 of the present embodiment, when the driver operates the support start switch 40 to turn on, if the shift position is “P” or “N” (non-traveling position), the driver exits. Judge that assistance control is required. Then, information related to the delivery support control is displayed on the touch panel display 46. When the driver operates the support start switch 40 to turn on, if the shift position is “D” or “R” (traveling position), the driver determines that the parking assistance control is required. Then, information related to parking support control is displayed on the touch panel display 46.

  The vehicle 10 before leaving the vehicle is in a state where it is parked in the parking area. At this time, the shift position is considered to be a non-traveling position (P range or N range). On the other hand, the host vehicle 10 before parking is running or temporarily stopped. At this time, the shift position is considered to be the travel position (D range or R range). Therefore, when the driver operates the support start switch 40 to turn on, if the shift position is the non-traveling position, it can be determined that the driver needs assistance for leaving the store. Further, when the driver operates the support start switch 40 to be on, if the shift position is the traveling position, it can be determined that the driver needs parking assistance.

  As a result, it is possible to determine information related to the assistance control required by the driver according to the shift position without using the travel distance of the host vehicle 10 after the start switch 34 is turned on. Even after the driver accidentally turns off the start switch 34 during parking assistance control, the assistance control that the driver needs on the touch panel display 46 when the driver turns on the assistance start switch 40. Information about can be displayed. Therefore, the frequency | count of operation of the switch group 16 by the driver | operator in parking assistance control or leaving assistance control can be reduced.

  Moreover, in the parking delivery support apparatus 12 of this embodiment, when parking assistance control is performed before the start switch 34 is turned off by the driver, the support is performed after the start switch 34 is turned on by the driver. When the start switch 40 is operated to be on, information on parking support control is displayed on the touch panel display 46 regardless of the shift position.

  When the driver erroneously operates the start switch 34 during the parking support control, the driver operates the start switch 34 after turning the shift position to the non-traveling position. Since the parking assist control was performed before the driver erroneously operated the start switch 34, when the driver operated the start switch 34 after that, even if the shift position is the non-traveling position. It can be determined that the driver continuously needs parking support control. In this case, regardless of the shift position, it is possible to display information related to the support control required by the driver by displaying information related to the parking support control on the touch panel display 46. Therefore, the number of operations of the switch group 16 by the driver in the parking assistance control can be reduced.

  Moreover, the parking departure assistance apparatus 12 of this embodiment starts parking assistance control or delivery assistance control, when the assistance start switch 40 which starts parking assistance control or delivery assistance control is turned on by the driver.

  When the driver does not operate the support start switch 40 to turn on, the host vehicle 10 can be parked or delivered by the driver's driving operation without using the parking assistance control or the delivery assistance control. Further, when the driver needs parking support control or exit support control after attempting to park or exit the own vehicle 10 by the driver's driving operation, the driver turns on the support start switch 40 to turn on the parking support. Control or delivery support control can be started.

  In addition, the parking exit support device 12 of the present embodiment includes a support selection switch 42 that selects information related to parking support control or information related to exit support control and displays it on the touch panel display 46 by a driver's operation.

  When the support start switch 40 is turned on by the driver, the touch panel display 46 may not display information related to support control required by the driver. In this case, when the driver operates the support selection switch 42, information related to the support control required by the driver can be displayed on the touch panel display 46.

[Other Embodiments]
In addition, this invention is not limited to embodiment mentioned above, You may change freely in the range which does not deviate from the main point of this invention.

  In the above-described embodiment, the parking assist control or the leaving support control is described with an example in which the steering wheel 76 is automatically steered. However, the present invention is not limited thereto. The accelerator pedal, the brake pedal, and the shift lever 33 may be automatically operated. The steering wheel 76 may not be automatically steered but may be steered by the driver in accordance with display on the touch panel display 46 or guidance by sound from the speaker 47. Alternatively, the steering reaction force of the steering wheel 76 may be applied in the turning direction so as to encourage the driver to steer. Moreover, the surrounding image of the own vehicle 10 which the camera group 24 imaged according to parking or leaving may be processed and displayed on the touch panel display 46.

  In this embodiment, the steering wheel 76 is automatically steered in the parking assistance control or the leaving assistance control, but the present invention is not limited to this. In the case of steer-by-wire in which the steering wheel 76 and the steered wheel are not mechanically connected, the steered amount of the steered wheel may be automatically performed, and the steering wheel 76 may not rotate. Alternatively, the vehicle 10 may be turned by providing a speed difference between the rotation speed of the turning inner wheel and the rotation speed of the turning outer wheel without turning the wheel itself.

  In this embodiment, the support start determination unit 56 determines to start the parking support control or the exit support control when the support start switch 40 is turned on by the driver, but is not limited thereto. You may determine to start parking assistance control, when detecting that the own vehicle 10 entered the parking lot by GPS or the like. Further, when it is determined from the peripheral image captured by the camera group 24 that the vehicle is to be released from the parallel parking, it may be determined that the exit support control is started.

  In this embodiment, the shift lever 33 selects the shift position, but the present invention is not limited to this. A button corresponding to each shift position may be provided, and the shift position may be changed by the button. The shift position sensor 32 is not limited to an inhibitor switch. It is only necessary to detect the shift position selected by the driver, not the actual shift position of the transmission.

  In this embodiment, the support start switch 40, the support selection switch 42, the start switch 44, and the support end switch 45 are displayed on the touch panel display 46. However, the present invention is not limited to this. The support start switch 40, the support selection switch 42, the start switch 44, and the support end switch 45 may be configured as hardware that can mechanically detect the operation by the driver, and may be installed around the instrument panel.

  In this embodiment, the multi-view camera switch 38 is installed at the tip of the winker lever, but the present invention is not limited to this. The multi-view camera switch 38 may be installed around the instrument panel. The multi-view camera switch 38 may be displayed on the touch panel display 46.

  In this embodiment, the support selection switch 42 includes the reverse parking support selection switch 42a, the parallel parking support selection switch 42b, and the exit support selection switch 42c, but is not limited thereto. Each time the driver operates one support selection switch 42, reverse parking support, parallel parking support, and delivery support may be selected.

  In this embodiment, the start switch 44 is composed of a left reverse parking switch 44a, a right reverse parking switch 44b, a left parallel parking switch 44c, a right vertical parking switch 44d, a left exit switch 44e, and a right exit switch 44f. Not limited. Two start switches 44 may be provided, one being the left start switch and the other being the right start switch. Functions may be assigned to the two start switches according to the support control displayed on the touch panel display 46.

32 ... Shift position sensor (shift position detection unit) 34 ... Start switch 40 ... Support start switch 42 ... Support selection switch 44 ... Start switch 45 ... Support end switch 46 ... Touch panel display (display unit) 54 ... Storage unit 56 ... Start support Judgment part 60 ... Parking assistance control part 62 ... Delivery support control part

Claims (5)

A parking support control unit that performs parking support control for an operation or vehicle operation for parking at least the own vehicle in the parking area;
A delivery support control unit that performs delivery support control for at least the operation for moving the vehicle out of the parking area or the vehicle operation;
A support start determination unit that determines to start the parking support control or the exit support control;
One of the parking assistance information that is information relating to the parking assistance control or the outgoing assistance information that is information relating to the outgoing assistance control , one of which is selected by the driver and displaying the selected information ; and
A shift position detector for detecting the shift position of the host vehicle;
Have
When the shift start detected by the shift position detection unit is a non-traveling position when the display start unit is determined to start the parking support control or the exit support control by the support start determination unit, A parking exit support apparatus that preferentially displays exit support information and displays the parking support information preferentially when the shift position is a travel position. A parking support control unit that performs parking support control for an operation or vehicle operation for parking at least the own vehicle in the parking area;
A delivery support control unit that performs delivery support control for at least the operation for moving the vehicle out of the parking area or the vehicle operation;
A support start determination unit that determines to start the parking support control or the exit support control;
One of the parking assistance information that is information relating to the parking assistance control or the outgoing assistance information that is information relating to the outgoing assistance control , one of which is selected by the driver and displaying the selected information ; and
A shift position detector for detecting the shift position of the host vehicle;
Have
The display unit, when it is determined by the support start determination unit to start the parking support control or the store support control, when the shift position detected by the shift position detection unit is not a travel position, the store support the information priority display, parking unloading assist apparatus characterized by preferentially displaying the parking assist information when the shift position is not a non-running position. In the parking assistance support apparatus according to claim 1 or 2,
An activation switch that activates the drive source of the vehicle when operated by the driver and stops the drive source when operated by the driver;
When the start switch is turned off by the driver, the control performed when the start switch is turned off by the driver is the parking support control or in the parking support control A storage unit for storing that there was no
Have
The display unit is a case where the control stored in the storage unit is the parking support control, and when the activation switch is turned on, the parking support information is prioritized regardless of the shift position. A parking exit support device characterized by displaying. In the parking assistance support apparatus of any one of Claims 1-3,
It has a support start switch that is turned on by the driver,
The said assistance start determination part determines to start the said parking assistance control or the said exit assistance control, when the said assistance start switch is turned on by the said driver, The parking exit assistance apparatus characterized by the above-mentioned. In the parking assistance support apparatus of any one of Claims 1-4,
A parking exit support device, comprising: a support selection switch that selects the parking support information or the exit support information by an operation of a driver and displays the information on the display unit.

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