JPH01254887A - Automatically backparking apparatus for automobile - Google Patents

Abstract

PURPOSE: To control the automatic back parking operation of automobile by confirming the relative position between the car body and an intended parking site and then instructing a driver through a microcomputer or controlling the operating mechanism. CONSTITUTION: A positional shift detector 3 built in a drive system measures the moving distance and produces an electric signal. Several distance detectors t1-tn disposed individually, as obstacle detectors 2, at appropriate positions measure the distance between the car body and an obstacle in individual directions and produce electric signals. A microcomputer 1 receives these signals and calculates a parking space on the route of automobile. A driver is then instructed on an indication unit 15 or an operation unit is controlled through an operating mechanism controller 4 thus realizing an appropriate operation at appropriate time.

Description

DETAILED DESCRIPTION OF THE INVENTION A kind of auxiliary control device installed in a motor vehicle for the motor vehicle driver to perform parallel and vertical back parking maneuvers of the vehicle, including at least the following: a position movement detection device; A device that measures the distance traveled by a vehicle; an obstacle detection device, a device that detects the position of obstacles around the vehicle; and a microcomputer, data obtained from the driver's commands and the position movement and obstacle detection device described above, and used to detect signals. signals to the driver to timely instruct the driver to operate the vehicle, such as moving forward, stopping, turning left and right, and reversing the vehicle; to achieve backing of the vehicle on the desired route; or to output signals from the microcomputer when the vehicle takes another step. It controls the driving structure such as the steering wheel, fuel, and brake, and automatically completes the back parking operation of the car.

DETAILED DESCRIPTION OF THE INVENTION The present invention is an automatic device for parking a car, especially when the driver drives the car in S type (e.g. parking parallel to the roadside) and L type (e.g. parking vertically). ) to assist in backing up and parking operations.

When a car wants to park in a space with a limited width or length, such as a garage or between cars on both sides of the road, it is always necessary to back up and park. In the past, determining whether the vehicle's banking procedure is adequate and how to properly control the vehicle's banking procedure has been dependent on the driver's visual estimation and operating technique, so it is often the case that the visual estimation is inaccurate or the operation is inappropriate.
It becomes difficult to park, it takes a lot of time to repeatedly move forward and backward, and even worse, it often causes impact or damage to the vehicle body.

The present invention overcomes the above-mentioned difficulties and invents a back parking system for automobiles for the first time to assist the driver. In detail, the main purpose of the present invention is to achieve a kind of automobile back parking automatic driving control device, which is equipped with a detection device to confirm the relative position between the vehicle body and the planned parking place, and has a microcomputer to instruct the driver. This system generates a signal 1 for timely and appropriate driving operation by controlling the operating mechanism and completing reverse driving on the required route.

Another object of the present invention is to provide a kind of automobile surrounding 4. We also provide a device that detects the location of obstacles. 1. A distance detector detects the vertical and depth distance to an obstacle in a certain direction outside the vehicle, and in conjunction with movement detection such as the vehicle speed key, it detects the position of the obstacle in the path passing between the vehicle and the vehicle. The goal is to obtain the following. Another object of the present invention is to achieve a kind of microcomputer-controlled automobile automatic parking operation device, which simplifies the calculation and process M control based on the minimum turning radius ζ of the vehicle body.

The main devices of the present invention include: a position movement detection device, which is installed in the drive system of the vehicle's wheels, and measures the distance traveled by the vehicle's forward movement and movement; obstacle detection; A device, comprising several distance detectors, installed separately at suitable positions on the vehicle body, to detect the distance from the vehicle body to obstacles in individual directions: and one microcomputer, according to the driver's requirements and the above-mentioned Using the data obtained from the position movement and obstacle detection device, we check the relative position of the vehicle and obstacles on the route, determine whether there is enough space for scheduled parking, and set the vehicle's back parking route control parameters. It calculates and instructs the driver or controls a driving operation device to perform appropriate driving operations at the right time. The calculation of the route control data is based on the constant radius rotation and linear movement of the vehicle, which simplifies the operation procedure, and the turning radius is based on the minimum turning radius of the vehicle.

The detailed structure and features of the present invention will be explained below together with diagrams: FIG. 1 is a block diagram of the main structure of the apparatus of the present invention.

FIG. 2 is a diagram showing an embodiment of the obstacle detection device included in the present invention.

FIG. 3 is a functional explanatory diagram of the obstacle detection device of the present invention.

Figures 4A, 4B, 4C and 4B are examples of how the present invention accomplishes a different type of vehicle back parking.

FIG. 5 is a diagram showing how the microcomputer included in the present invention calculates the back route of an automobile S type.

FIG. 6 is a calculation diagram of a micro computer hawker type back route included in the present invention.

FIG. 7 is an embodiment of the microcomputer human output operation and display panel included in the present invention.

FIG. 8 is a block diagram of the overall structure of the present invention combined with an operating device.

Referring to FIG. 1, the main components of the present invention include two microcomputers 11 including a central processing unit 10, a clock generator 511. Includes ROM 12, RAM 13, etc.; - Group operation keyboard 14
, a suitable position ζ in the car delivered by Dry 1<-
This is installed and manually sends command signals to the microcomputer to select the operating state of the system control, such as start, left parking, right parking ready, - stop and stop, etc. The output of the microcomputer The signals may be used to instruct the driver to operate the vehicle through a display unit (15) using sounds, lights, graphics, etc., or they may further be used to send control signals to a set of driving mechanism control devices (4) to instruct the driver to operate the vehicle. The calculations executed by the microcomputer 1, which operates the mechanism and achieves the required driving operations, are based on data acquired by the obstacle detection device 2 and the position movement detection device 3.

The obstacle detection device 2 includes several sets of distance detection devices, such as an ultrasonic distance measurement device. ,......t
Il, etc. are installed at appropriate positions around the car body, the obtained distance information is acquired by the microcomputer in a timely manner, and the position of obstacles in a certain direction around the car body is determined at a certain time. By combining the data with the vehicle position movement distance obtained from the position movement detection device 3, the microcomputer 1 can calculate the relative positions of obstacles on the movement path of the car. This function allows the control parameters of the back'tB line to be determined, and this function will be explained later.

The positional movement detection device 3 detects and measures the moving distance of the automobile, and covers the positional change situations of forward movement, backward movement, and rotation. Position movement data can be calculated by the number of rotations of the wheels.When not analyzing the situation where the car rotates at zero, the position movement of the car can be calculated by the number of rotations of the wheels. When not analyzing the rotating situation,
The positional movement of a car corresponds to the number of revolutions of the final output shaft of the engine. Normally, in front-wheel rotation, rear-wheel drive cars, if a revolution counter is attached to the transmission shaft in front of the rear wheel differential, the transmission The positional movement of the car can be calculated from the rotational speed of the shaft (the positional movement corresponds to the length of the movement trajectory of the midpoint of both rear wheel axes). If you want to analyze a rotating route, by attaching revolution counters to both rear axles or any two axles, you can detect the positional movement of both axles individually and calculate the trajectory of the vehicle. The microcomputer 1 takes out the above-mentioned counter count of the position movement detection device 3 at an appropriate sampling time, and by combining it with the predetermined wheel distance dimension of the car, it is possible to calculate the movement trajectory of the car. The correlated position at a certain time can also be calculated, and this is combined with each distance data obtained from the obstacle detection device 2 and multiplied in the calculation.

The calculation of the trajectory mentioned above is a general mathematical technique and will not be explained in detail here.

FIG. 2 shows an example of the vehicle body arrangement of each distance measuring device included in the obstacle detection device 2, and shows an example of the arrangement of the four corners 51, 52, 52, etc. of the automobile 5.
53 and 54 are equipped with two sets of ultrasonic distance measuring devices, each of which is oriented in the length and width directions of the vehicle body, that is, the emission/reception lines Ll, t2, t3, t4, ts, L6, t.
7 and ts are respectively emitted and received in the front, rear, left, and right directions of the car, and calculate the distance between them through ultrasonic waves in that specific direction and reflected waves that hit obstacles, and a circuit device not shown in the diagram. . The reason why it is installed at the corner of the car body is that when the car rotates and moves, the corner often collides with obstacles, so measuring the distance of obstacles at the corner can provide a warning function to prevent collisions. . As many detectors as necessary can be installed in other parts of the vehicle body, providing complete collision prevention. The composition for ultrasonic distance measurement can be achieved by common techniques, and an appropriate angle size for ultrasonic emission can be designed.

Generally speaking, the longitudinal distance measuring device can be designed with a larger divergence angle θ1 to prevent frontal collision; left,
The right distance measuring device measures the distance to the side obstacle (parking space), so a small divergence angle θ2 can be designed;
In addition, each distance measuring device does not have to operate at the same time, but only a part of it can be operated according to different requirements, for example, when the car moves forward and wants to park on the left or right side, it measures the distance to the front, rear, left or right side of the car. Equipment? , t6,
Or, you only need to activate t4 and ts; if you want to back up and park parallel to the right (S type), activate the right distance measuring device t3, L4, Shi7, ts to prevent collision with obstacles. If you want to back up and park vertically (L-shaped) on the right side, you can activate only the rear distance measuring devices t7 and ts to prevent collision with obstacles, and these selections are made by microcomputer 1. The control is applied depending on the different parking purpose commands received.

The procedure for confirming the relative positions of obstacles around the vehicle 5 will be explained using FIG. 3 as an example. When the automobile 5 moves forward along the direction of arrow H, the positions PG, PI, and P2 are sequentially moved.
After passing through P3, etc., the microcomputer l (Fig. 1) has already received the command to search the right parking space from the position PG, and prepares for the parallel S-shaped parking space to the right. The microcomputer 1 uses a constant clock to measure the vertical and depth distances of obstacles A1, A2, A3, etc. to the right (for example, when the distance is at the Pa position).

, when at the P1 position, the distance is D?P? DI distance when position
, when the distance is at the P3 position, D8, etc.) is compared with one target value.Since the distance it +111 is greater than D (for example, P+ in the figure), the position movement detection device 3 ( (Fig. 1) begins to add up the numbers that measure the forward position movement of the car.If there is one target ll! If the depth distance RIIi of D uphill is continuously taken in the position movement range of IL, this indicates that there is sufficient parking space on the right side of the car.
(Fig.) generates a posted signal to instruct the vehicle to stop and prepare for backing up. Otherwise, you will be told that there is a lack of space, and you will not be able to park, and you will continue to search for a space where you can park. The numbers are taken and used, of course, for different parking types or purposes, their goals (direct calculations are also different, more details will be explained later).

To inspect the parking space, two distance measurement devices (for example, t4 and ta in FIG. 2) at both sides of the vehicle are operated in conjunction to quickly complete the entire length measurement.

Figures 4A to 4D represent four main types of automobile back parking that can be achieved with the present invention. 4th among them
Figure A shows the car 5 achieving right back parallel parking, Figure 48 shows the car 5 achieving right back vertical parking, and Figure 4C shows the car 5 achieving left back parallel parking. Yes, 4DIlffl
[I] This is a diagram in which the moving vehicle 5 achieves left back vertical parking. In each figure, +, 2, K3, and K4 are the planned parking spaces obtained after separate measurements, and the length and depth Ll, DI: L2, D2; L3,
D3 and I-4, D4, which include the surrounding margin during the movement of the car. Car S travels in a straight line in the direction of arrow F to a specific location, stops, and then backs up to the final position 5' along an appropriate trajectory. What is shown in the diagram is the start of the backing route. End point 50.50', which is on the midpoint of the rear wheel axis of the car at 5.5 degrees (normal cars rotate with the front wheels, so
In Figures 4A and 4C, the center of rotation of the car is on the midpoint of the rear wheel axle, which is why the midpoint of the rear wheel axle is the optimal point for drawing the travel route of the car.
The travel route will be roughly S-shaped, and the 9JJ route in Figures 4A and 40 will be roughly shaped, the calculation and control of these routes will be the same on both sides regarding the left and right parking processes. Inspection and production! Il
The left and right devices are different, so the following will only take the calculation and control process of the right S-type and L-type back routes as an example and explain them with reference to FIGS. 5 and 6.

FIG. 5 explains the route analysis of the present invention in which the microcomputer 1 (FIG. 1) calculates and controls the vehicle 5 to park on the right side in parallel parking. The car 5 backs up from a starting point P to a final position P along a moving route.The moving route is represented by a curve TQU.This curve is exactly the same as the moving trajectory of the midpoint of the rear wheel axle of the car. , automatic '4L5 starts separately for T and U.
The zero-curve WTQU, which is the midpoint position of the rear wheel axis at the end position e P s + P e, is actually a combination of two arcs TQ and QU, whose arc angles are all β and radius R, where R is The car 5 has a minimum turning radius based on the center point of the rear wheel axle, that is, when the car 5 is on the back track, the first half turns the steering wheel all the way to the right and reaches the starting point P.
, the car 5 rotates back at an angle of β with M as the center, then turns the steering wheel to the left once again, and the car 5 returns to N.
Rotating back at an angle β around , and reaching the end point P8, is the simplest in terms of other computational and control processes that can be completed in this way. That is, when the car 5 reaches the starting position P, 11
η, it is only necessary to go through the process (Fig. 3) of checking the position of 1st position (a) between the vehicle body and the obstacle mentioned above. SaDl
If it is confirmed that the parking space can be used, take the car 5 to the starting position 7iPs and prepare for the back process so that the car body does not collide with the obstacle A during the back process, and then move the car 5 to the starting position. is the end point ■). When reaching this point, the general rule is to align the outer lines of the vehicle and the obstacle parallel to each other. In this example, the right front angle movement locus of the car is represented by double arc lines S + * S 2 and S 2
．． It is a combination from S3, and there is an arch wire 521S in it.
The intersection point between 3 and the outside line of obstacle A is point B. In theory, it can be determined that the green distance behind the vehicle body when the vehicle 5 reaches the end point P from that point B is the minimum length required for the parking space, and the minimum width required for the parking space is the minimum length required for the parking space. The width will be . However, in practice, in order to allow operational errors, it is necessary to leave an extra margin in the required range of parking space other than the minimum space, that is, as shown in the figure, there are margins Rl 2 and R The actual required parking space length Ll and depth Dl are determined using the edge margin distance 13. If car 5 is at starting position P
, the gap between the right edge and obstacle A is C1 and the vehicle width is W.
, if the distance from the rear axis of the car to the end of the single light is f and b, the length Ll and depth Dl of the required parking space can be calculated using the following formula: L+=b+l++12+v'(f2-2RIIw)Dl
=C+W+13 Then, the automobile 5 is selected from the forward state to the stop 1a position operation (I'JI, back start If device P,), so that the corner E of the plane facing the obstacle is on the leading edge line of the parking space, as shown in Fig. As shown in , cross over the rear axis of the car to the distance of the front corner E point io to the obstacle: Ig=2R-sin β-1+-vr (f2-2R・W
) Alternatively, drop the rear corner E' of obstacle A onto the edge line of the parking space, and let the rear axis line pass over the E' point up to a distance of 10, and the value is: IF1' as shown in the figure. : ln+L1=2R-s i nβ+b+
12 The method for calculating the β angle in both equations above is: β =
cosl[(2R-c-w)/2R].

In the backward route control of the automobile, the microcomputer 1 can calculate from the detected value of the position movement detection device 3 whether the automobile has been able to rotate backward to the expected β angle.

FIG. 6 explains the route analysis of the present invention in which the microcomputer 1 (FIG. 1) calculates and controls the vehicle 5 to park on the right back vertically. A car 5 travels from a starting point P to P1 along an arcuate route XY.
The vehicle rotates back to the position P2, and then backs up to the final position P2 on a straight line YZ.The outside of the car and the outside of the obstacle B are arranged parallel to each other. The starting point x of the moving route is the midpoint position of the rear wheel axle when the car 5 is at the starting point Px.The arc-shaped route When the car is at the starting point P, rotate the steering wheel all the way to the right, and then drive the car in reverse, i.e. one right angle with the 0 point as the center. At this time, the steering wheel is turned back to the center and the car is backed up again in a straight line by a rough distance Δd to reach the final position P. The parking space detection process before the car 5 reaches the starting point P is that the car 5 moves forward parallel to the outside line of the obstacle, and the relationship between the detection and space calculation is as follows:
The vehicle can be stopped at an accurate position (i.e., the starting point P for backing up); at this time, the distance MC between the vehicle 5 and the obstacle B should be at least one minimum gap C111;
When the car later turns back, the arc line G formed by the trajectory of movement on the right side of the car body and the front corner H of the required parking space
When the point leaves at least a margin Rd + in the direction of travel, the width of the known car is W, the length of the car is 1, the distance from the rear axis of the car to the end of the car is b, and the car is at the final position @Pz. , just on the center line of parking space L2,
That is, if each side margin distance is d3 and the rear margin distance is d2, the minimum required parking space length is 2×depth D? and the minimum gap C, l11 can be calculated using the following formula: L2=w+2d3 D2 = Cx+ l+d2, and Cx≧cw+In=RW/2+ d+ I [(R-
w/2) 2- (R-L2/2) 2] L2 and C0° are determined by the above equation, and in the process of the car moving forward and detecting the parking space, Cx≧Cwin=
In order to satisfy the requirements, the distance Cx between the outside line of the obstacle B and the outer line of the obstacle B can be simultaneously corrected.For example, the microcomputer 1 generates a display signal to instruct the gap to be enlarged, or directly operates the car using a control signal. and fix it. These non-linear forward trajectories are calculated by the position movement lamp group 3 mentioned above, and the numbers obtained from the obstacle detection device 2 can be corrected using this, and the accurate relative position of the obstacle B and the car 5 can be confirmed. , the car 5 moves forward and stops when it reaches the starting point P8, then the wheel axis and the parking space! ! The distance ML (which is also the median line of the obstacle B space) corresponds to the minimum turning radius R by the midpoint of the rear wheel axle of the vehicle. After the car 5 rotates backwards and reaches the P9 position,
The positional movement Δd of the subsequent back to the direct *P z position can be calculated using the following formula: Δd = Cx + w / 2 + l
-II-b FIG. 7 is an embodiment of the microcomputer I input/output operation and display panel included in the present invention. A part of the panel is equipped with an operation keyboard M114, which includes four purpose selection buttons such as left parallel parking, left vertical parking, right parallel parking and right vertical parking, which is a successor to microcomputer 1. A light can be attached to each button, which gives commands to proceed with the operation, and a light can be attached to each button, which can be identified by turning on the light immediately when pressed and turning off when the parking process is completed. There are many indicator lamp sets installed, and 15 space situation lamp groups.
0, Handle instruction lamp group 151, Operation instruction lamp group 1
52 and a group of vehicle scheduled position moving lamps 153, and one voice generator 154 generates a warning sound. Each indicator lamp group consists of several lamps that can blink separately.
It flashes at an appropriate time to make it easy for the driver to identify, and the corresponding warning voice or words are generated by the voice generator 154 to instruct the driver to perform appropriate operations. Among them, the space situation lamp group 150 includes the following various notifications: ``Please increase the gap'' notification is when the vehicle body and the outside line of the obstacle are exposed to the outside line when the vehicle is moving forward when vertical parking is desired. ``Insufficient space warning'' flashes when the planned parking space is insufficient; ``There is a risk of collision'' warning indicates that there is an obstacle when the car is moving. It flashes when there is a possibility of a collision with the vehicle.The steering wheel instruction lamp group 151 instructs the driver to turn the steering wheel to the correct position in a timely manner during the backing process, including the following: : “Turn all the way to the left”, “Turn all the way to the middle” and “Turn all the way to the left”, etc. These lamps are tailored according to different parking purposes, and help the car reach the appropriate stopping position. It flashes at certain times and disappears when the driver completes the operation.

The operation instruction lamp group 152 includes "Please move forward" and "Please back" lamps, which instruct the car to move forward or back.The lamps flash when the car changes gears, and when the car Turns on when running, but stops flashing, and disappears when the car completes the desired position movement. The expected position movement lamp group 153 includes one series of desired position movement indications, such as: "Stop" lamp, indicating that the car should be stopped immediately; '10cm';
"20cm", "50cm", "100cm",
``200cm'' and ``continuous flash lamps can continuously move the car to the indicated distance.In fact, during the process of the car marching or backing up, the lamps are controlled by the microcomputer to the conversion operation of the car. For example, when the car detects a parking space and the speed lamp group 152 lights up, the position movement lamp is turned on. Assuming that Group 153's "Continue" light is on, when it is confirmed that there is sufficient parking space, and when the starting point for reversing operation can be calculated, it should be the stop position according to the numbers, and the corresponding expected position. Turn on the moving light, and reduce it to the "stop" light in sequence as the vehicle moves, then flash the "back up" in the speed light 152, when the driver completes the steering and speed conversion, the vehicle , the steering wheel lamp group goes out, the "Please back up" lamp stops flashing and turns on, and the
The corresponding planned back position movement value lamp will turn on,
It gradually disappears due to the movement of cars, and so on. When the lamps in the expected position movement lamp group 153 gradually go out from "continue" to "stop", the colors from green, yellow to orange and red can be adopted in order, adding a warning effect.

The embodiment of the operation and warning panel described above was designed in such a way that the microcomputer 1 instructs the driver on the required driving technique. In fact, since the back track of the car in the present invention is based on linear movement and rotation with a minimum turning radius, the driving operation structure of the car can be easily combined with a suitable actuating device, and the ml can be directly programmed from the microcomputer. Outputs 1all signal and performs automatic driving operation.

The overall structure will be explained using the block diagram shown in FIG.

The microcomputer 1 processes the driver's operation commands received from the keyboard 14 through a complementary process.
The operation of the keyboard 14 is the same as the above-mentioned purpose selection key (Fig. 7), but also includes control buttons such as ``emergency stop'', ``stop for a while'', and ``reset''. The operation of m device 4 can be interrupted. The warning signal output by the microcomputer 1 is displayed by sound and light on the warning unit 15, and the items to be warned are the same as the contents of the warning panel (Figure 7), which are described above, and their purpose is just that.

displays the current state of vehicle driving operations, providing drivers with something to monitor and refer to. When the system detects a risk of collision, it automatically stops driving operations. The functions of the obstacle detection device 2 and the position movement detection device 3 connected to the microcomputer 1 are as described above, and the microcomputer 1 selects the distance measuring device at the appropriate location and starts. 1
11 constant data is taken out and calculated by combining it with the count value of the position movement detection device.The count value can be converted into a vehicle speed value and is used as the basis for the key control device 4 vehicle speed control. Control YA station 4 includes several sets of actuating devices 41, 42, 43, 44, 45 etc. are the steering wheel, transmission, clutch, fuel (fuel system) and brakes of the car separately, each actuating device is micro The operating force is generated according to the control signal of the computer 1 to complete the required driving operation and to perform the required operation (a
Feedback the image signal to the microcomputer ■
Achieve control objectives. The steering wheel operating device 41 rotates the car 4! ! The mechanism must be able to be controlled with a key to at least the leftmost, farthest left, or center position.This means that the rotating mechanism can be moved using a linear (hydraulic, pneumatic, etc.) or rotary (motor, etc.) actuator, or that the oil passage of the automatic handle can be locked using a solenoid valve. control,
Reach the desired direction of rotation. The speed actuator 42, in combination with the clutch actuator 43, can achieve at least low speed automatic forward and reverse conversions to control the gear shifting operation of the vehicle. For specially designed automatic transmissions, a clutch actuator 43 is not required since an automatic clutch is usually installed. Fuel operation 9) J device 114 and brake actuation device 45 are used together for vehicle speed control;
That is, the microcomputer 1 appropriately controls the engine output with the fuel system operating device 44 depending on the difference between the actual vehicle speed and the self-twisting vehicle speed value, and when the vehicle needs to decelerate or stop, the engine output is adjusted accordingly. When the output is the lowest, the brake actuating device 45 is controlled to apply the brakes. The operation timing of each of the above-mentioned devices and their mutual alignment are controlled by a microcomputer using an appropriate 171 i.
The structure of each actuating device that can be achieved by designing 31 software is as follows:
It can be operated with conventional actuator technology and position A, and will not be described in detail here.

Overall, the automatic vehicle driving control system achieved by the present invention is the first to achieve the parking space confirmation and minimum travel route control process by combining the vehicle position movement detection technology with surrounding obstacle detection technology. Then, the microcomputer indicates when the car is parked, and the car is parked automatically! & operation to achieve proper back parking operation, certainly industrial application 1ffi l++I.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the main configuration of the apparatus of the present invention. FIG. 2 is a diagram showing an embodiment of the obstacle detection device included in the present invention. FIG. 3 is a functional explanatory diagram of the obstacle detection device of the present invention. Figures 4A, 4B, 4C, and 4D are examples of how the present invention achieves different types of back parking for automobiles. Figure 5 is a diagram showing how the microcomputer according to the present invention calculates the S type backing route for an automobile. The microcomputer in the present invention is a car-type back route calculation diagram. Figure 7 is an example of the microcomputer in the present invention operating the human output and the display panel. Applicant A〉Guest Real Thea 70 Sea Sonarch Institute Figure 1 Figure 2 Figure 3 Figure 4A Figure 4B Figure 4c Figure 4D Figure 6 Figure 8

Claims (1)

[Claims] 1. It is a kind of automobile driving assistance control device, which is a control device that assists the automobile driver in back parking operations, and its composition includes the following: Position movement detection device, automobile drive It is installed in the drive system and measures the distance traveled by the car.
It is equipped with an obstacle detection device that converts into an electrical signal and outputs it, and several distance detectors, which are installed separately at appropriate positions on the vehicle body, and detect the distance from the vehicle body to the obstacle in each direction. into which the microcomputer inputs the output electrical signals of the position movement detection device and obstacle detection device mentioned above, and calculates the parking space on the route where the car is running;
In addition, the system calculates control values for the track on which the car is backing up and instructs the driver on the necessary driving operations through a single notification unit that outputs appropriate signals. 2. A kind of automatic vehicle back parking device, which includes the following: Position movement detection device, installed in the vehicle drive system, to measure the distance traveled by the vehicle,
It is equipped with an obstacle detection device that converts into an electrical signal and outputs it, and several distance detectors, which are installed separately at appropriate positions on the vehicle body, and detect the distance from the vehicle body to the obstacle in each direction. into which the microcomputer inputs the output electrical signals of the position movement detection device and obstacle detection device mentioned above, and calculates the parking space on the route where the car is running;
Moreover, it is an actuating device that controls the driving structure of the car by calculating control values for the route the car is backing up and outputting appropriate signals, completing the required driving operation. 3. Like the device described in claim 1 or 2, the position movement detection device therein is a rotation counter and measures the number of rotations of the wheels of the automobile. 4. As with the device described in claim 1 or 2, each of the distance detectors in the obstacle detection device therein are installed at the corners of the vehicle body, and the distance detectors are installed at the front, rear, and rear of the vehicle.
It detects distance by facing the left and right sides. 5. Like the device described in claim 1 or 2, a microcomputer in the device searches for a procedure for a scheduled parking space, and calculates one distance (depth) target value and one movement target value. According to this, when the movement of the car is within the length range of the movement target value, and when the distance of the obstacle on the planned parking side is greater than the distance (depth) target value, it can be determined that the space is a parking space. . 6. As with the device described in claim 1 or 2, the control value calculated by the microcomputer in the device for the scheduled back parking route includes one forward stopping point, and the vehicle backs up. Before starting the parking process, you are supposed to drive forward to that point, stop, and then back up. 7. As in the device described in claim 6, the automobile backing line therein becomes an S-shaped line from the forward stopping point to achieve parallel back parking of the car to one end point. , the S-shaped route is composed of a circular arc with a predetermined radius R and an appropriate arc angle β, and a reverse circular arc with the same radius and the same arc angle;
The parking space required by the car represents a rectangular space determined by length L_1 and depth D_1; the forward stopping point (back route starting point) of the car is determined in the length direction of the parking space; forward movement The stopping point is indicated by the midpoint of the rear axis of the car, and the distance from this to the longitudinal end of the parking space is l_0. When the car reaches the end point of backing up, the car body is just aligned with the outer edge line of the obstacle. Therefore, as mentioned above. The arc angle β, length L_1, depth D_1 and distance l_0 can be calculated using the following formula: β=cos＾−＾
1[(2R-c-w)/2R]L_1=b+l_1+l
_2+√(f^2-2R・w)D_1=c+w+l_3 l_0=2R・sinβ−l_1−√(f^2-2R・
w), where c = Width of the car f = Distance from the rear axis of the car to the front end of the car b = Distance from the rear axis of the car to the end of the car l_1 = Parking longitudinal end allowance L_2 = Parking longitudinal end allowance Amount l_3 = Parking depth direction allowance R ≧ Minimum turning radius 8 due to the midpoint of the rear axis of the vehicle, and as in the device described in claim 6, the vehicle back line in the vehicle is one point from its forward stopping point. The L-shaped route forms an L-shaped route and achieves vertical back parking for cars up to one end point, and the L-shaped route is on the arc of one quarter circle formed by the predetermined radius R and the tangent line of the same arc end point. The parking space required by the car is the length L_2 and the depth D.
Display the rectangular space determined in _2; The forward stopping point of the vehicle (backward route starting point) should be determined in the length direction of the parking space, and should be at least one specific distance from the outside line of the obstacle; The forward stopping point is indicated by the midpoint of the rear axle of the vehicle, and the distance between this and the longitudinal midline of the planned parking space is the radius R distance mentioned above.The distance between the vehicle body and the outer edge line of the planned obstacle on the parking side is must be at least one minimum gap C_m_i_n; when the car reaches the end point of backing up, the car body is just lined up with the outer edge line of the obstacle, so the above-mentioned line step length Δd, space length L_2, depth D_2 and minimum gap C_m_i_n can be calculated using the following formula: Δd=Cx+w/2+l-R-b L_2=w+2d_3 D_2=Cx+l+d_2 C_m_i_n=R-w/2+d_1-√[(R-w/
2)^2-(R-L_2/2)^2] Cx = Distance between the vehicle body and the planned outer edge line of the parking side obstacle (≧C_m_i_n) w = Width of the car l = Length of the car b = Rear axis of the car Distance from to the end of the vehicle d_1 = Outside allowance in the depth direction of the parking space d_2 = Inner allowance in the depth direction of the parking space d_3 = Individual allowance on both sides in the length direction of the parking space R ≧ Minimum turning radius based on the midpoint of the rear axis of the car 9. Like the device described in claim 1, the output display signal of the microcomputer therein is a signal that comprehensively informs the operation of the steering wheel, the conversion to the transmission, the planned movement position, the spatial situation, etc. . 10. As with the device set forth in claim 2, the output control signals of the microcomputer therein are control signals for the vehicle direction actuating device, transmission actuating device, clutch actuating device, fuel control actuating device, and brake actuating device. encompasses.