JPH03128416A - Device for guiding vehicle to garage - Google Patents

Abstract

PURPOSE:To efficiently attain garaging even when the guidance road in front of a garage is narrow by measuring the distance and azimuth angle to the reference point of a garage entrance part and deciding whether or not the vehicle can approaches the garage entrance, and performing driving operation according to an indication based upon the decision result. CONSTITUTION:A reference position setting means is installed corresponding to the entrance part of the garage and the vehicle to be guided is provided with a coordinate and attitude angle measuring means (laser scanner 12) which measures the azimuth angle of the reference point and the distance to the reference point. Then the vehicle is set at the limit position of guidance space width and guidance limit width is measured to decide whether to not the vehicle can be guided so as to approach the garage entrance. When it is decided that the vehicle can not approach, a guide indication display means (CRT 16 and speaker 18) indicates that the vehicle ought to move away from the garage entrance, but when it is decided that the vehicle can approach, the movement distance to the garage entrance and steering angle are indicated and displayed and the movement distance and steering angle of the vehicle are compared with the indicated display contents to correct and display the data.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to a garage guidance system for guiding a vehicle to a garage set up on a road with a limited guidance width, for example, and causing the vehicle to enter the garage. Regarding equipment.

[Conventional technology] Autonomous driving technology, which is the basic technology for guiding cars to garages, involves setting the route the vehicle will travel in advance by burying cables or drawing white lines along the route. Mainly known. Therefore, in order to implement such autonomous driving for parking in a garage, it is necessary to modify the route, and when parking the vehicle in a garage, the vehicle is moved to a position where it straddles the route using a cable or white line. The vehicle must be set at this position and the guidance to enter the garage must be started from this position.

For example, a system for guiding a vehicle into a garage in which the guidance start position of the vehicle can be set to an arbitrary position is disclosed in Japanese Patent Laid-Open No. 64-6
A vehicle guidance system disclosed in Japanese Patent No. 5412 has been considered. This guidance device shows an algorithm that automatically guides a vehicle placed at an arbitrary position to a fixed target position. , the vehicle is placed on the Y-axis by the first and second turns, and guided into the garage, which is the target.

However, with this guidance system, when the vehicle is set along the X-axis direction perpendicular to the Y-axis, a large distance in the Y-axis direction is required in proportion to the distance in the X-axis direction, and sometimes more than 10 m is required. Sometimes.

Therefore, it is applicable only in cases where a large guiding space can be used, such as in a parking lot of a supermarket, for example.

When actually guiding a vehicle to a garage in each household, etc., it is necessary to start the guidance from the road in front of the garage, and the width of the road is usually not wide enough.

That is, if the line connecting the entrances of the garage is taken as the X-axis, the distance in the Y-axis direction is short, and a guidance algorithm that requires a large distance in the Y-axis direction cannot be adopted.

[Problems to be Solved by the Invention] This invention has been made in view of the above points, and solves the problem that it is necessary to set a large guide area at the entrance of the garage, and improves the guide road in front of the garage. Even in cases where the road width is narrow, it is possible to efficiently guide vehicles into the garage within the limits of the road width, and also to avoid the risk of vehicles coming into contact with the garage entrance. The purpose of this invention is to provide a garage guidance system for vehicles.

[Means for Solving the Problems] In the garage guiding device for a vehicle according to the present invention, a reference position setting means is installed corresponding to the entrance of the garage, and
The vehicle to be guided is provided with coordinate and attitude angle determining means for determining the azimuth of the reference point set by the reference position setting means and the distance to the reference point nj. Then, the vehicle is set at the limit position of the guidance space width of the road, etc., the guidance limit width is determined based on the reference point, and it is further determined whether or not it is possible to guide the vehicle to approach the entrance of the garage. judge. When it is determined that the vehicle cannot be approached, the first guide instruction display means instructs the vehicle to move away from the garage entrance. If it is determined that it is possible to approach, the second guide instruction display means instructs and displays the travel distance and steering angle to the garage entrance, and further compares the vehicle travel distance and steering angle with the contents of the instruction and display, Display the correction. In addition, when the vehicle is in contact with the entrance of the garage, this is determined and outputted, and a width-alignment command is issued.

[Function] In the vehicle garage guidance device configured as described above,
First, set the vehicle to the limit position on the opposite side of the road in front of the garage,
By determining the coordinates and attitude angle n1 in this state, it is possible to know the guidance limit width of the vehicle, that is, the road width. In this way, it is possible to determine whether or not the vehicle can approach the garage entrance by measuring the distance and azimuth between the reference points at the garage entrance with the vehicle set at the guidance limit width position of the road. If the result of the determination is that the vehicle cannot be approached, that is, the vehicle is too close to the garage entrance, an instruction is given by voice or the like to move away from the garage. If it is possible to approach the garage entrance, the driver will be instructed by voice, etc. to move the distance and steering angle to approach the garage entrance, and by following these instructions, the vehicle will be guided into the garage. be driven.

That is, even if the guide road in front of the garage is narrow, an instruction to turn back is given as appropriate and guidance to enter the garage is executed. In addition, when guiding the vehicle into the garage, if the vehicle comes into contact with the garage entrance, this is determined from the coordinate position and attitude angle, and based on this determination, the vehicle is guided closer to the center axis of the garage. is executed, and the driver is guided safely to the garage.

[Embodiments of the invention] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the configuration of a guidance system installed in a vehicle to be guided, and a laser scanner 12 is attached to the rear end of a vehicle body 11 of this vehicle. This laser scanner 12 has a built-in mechanism that emits a laser beam toward the rear of the vehicle body, a rotary actuator mechanism that scans the direction in which the laser beam is emitted in a horizontal plane, and also receives reflected light of the emitted laser beam. Machine to do (1?
, is provided.

This laser scanner 12 is given commands from an ECU (engine control system) 13 constituted by a microcomputer, for example, and executes laser beam scanning and light receiving operations in response to the second command. is supplied to a measuring circuit 14 controlled by commands from the ECU 13.

The ECU 13 calculates a guidance command based on the measurement data from the measurement circuit 14, and controls the CRT control circuit 15 to transmit the command contents to the CR set in the driver's seat.
In addition to displaying the command on the T-display 16, the contents of the command are output as an audio signal, and this audio signal is amplified by an amplifier 17 and then supplied to a speaker 18, which is also installed in the driver's seat, so that a command by voice can be generated. Make it.

A steering sensor 20 is provided on a steering wheel 19 set at the driver's seat, and detects the steering angle of the steering wheel [9. Further, an actuator 21 is set on the steering wheel 19 to control the steering wheel 19 as appropriate.

In addition, a sui-sochi 22 for guidance control is installed in the driver's seat, and a hydraulic brake actuator 23, for example, which applies braking force to the wheels supporting the vehicle body 11, and a brake actuator 23, which applies braking force to the wheels that support the vehicle body 11, and a brake actuator 23, which calculates the amount of vehicle movement from the rotation speed of the wheels. A traveling distance sensor 24 is provided to detect the traveling distance. The signal from the switch 22 and the detection signal from the sensor 24 are sent to the ECU 13.
The brake actuator 23 is coupled to the ECU
13.

FIG. 2 shows the configuration of the guidance control system section. The laser scanner 12 is equipped with a laser beam emitter 121, and this laser emitter 121 is controlled to emit light in accordance with a light emission command from the ECU 13. This light emitter +21 also has a function of receiving reflected light from an object, and a light reception signal from this received light is input to the ECU 13.

In this case, the laser beam emitter 121 is rotationally controlled by a rotation actuator 122 whose operation is controlled by a drive command from the ECU 13, and is driven so that the generated laser beam is scanned in a plane over a predetermined angular range. Ru.

The steering sensor 20 generates a rotation angle signal of the steering wheel 19 based on a command from the ECUL 3, and this rotation angle signal is input to the ECU 13. Further, the brake actuator 23 is driven in response to a brake command from the ECU 13, and operates to control the vehicle to stop. The traveling distance sensor 24 is a sensor that is rotated in accordance with the rotation of a wheel, for example, and generates a pulse signal corresponding to the rotation angle of the sensor.This vehicle speed pulse is supplied to the ECU 13, and the traveling distance sensor 24 generates a pulse signal corresponding to the rotation angle of the sensor. Distance data is ECU13
The system is designed to be detected in

This garage guiding device guides a vehicle, for example, by moving on a road, into a garage set facing the road, and it is necessary to avoid danger in an emergency. For this reason, fixing the steering using a steering actuator, as previously thought, would be very dangerous, so the steering is operated by the driver himself.

That is, during guidance, the driver turns the steering wheel 19 to the blinding value and holds it at that position in accordance with the instructions on the display on the CRT 1B or the audio instructions from the speaker 18.

In this case, if the driver takes his hand off the steering wheel I9 and the steering wheel 19 deviates from the target value, a voice from the CRT 16 or speaker 18 will give an instruction to return it to the original target value. Make it.

If a dangerous situation occurs on the road, the driver ignores the instructions from the CRT 1B or speaker 18 and operates the steering wheel to avoid the danger by driving based on his own judgment. do.

FIG. 3 shows the flow of such guidance control. First, the start switch 22 is turned on as a start control operation. In step 101 indicated by A in FIG. 3, it is determined whether or not the start switch 22 is turned on, and the process waits for the switch 22 to turn on. If it is confirmed in step 101 that the start switch is on, the process proceeds to the next step 102, where the brake actuator 23 is driven to set the vehicle to a stop.

In this initial state, the vehicle's coordinate meter l is
pj, and since this measurement requires a certain amount of time, the vehicle stop control is executed once.

In the next step 103, the position, attitude angle, and road limit width of the vehicle set to stop are measured.

As mentioned above, the laser scanner 12 is installed at the rear of the vehicle, and as shown in FIG. ■1 and 312 are installed. And reflected from laser scanner 12! 2311 or 31
When a laser beam is emitted toward the laser scanner 2, the emitted laser beam is reflected by a reflecting plate 311 or 312 and is received by the laser scanner 12.

That is, when a laser beam is operated and emitted within a plane in the laser scanner 12 and this laser beam is emitted toward, for example, the reflecting plate 311, the reflecting plate 311
This laser light is reflected and received by the laser scanner 12. Therefore, by knowing the direction of this light-receiving laser, the relative angular position between the vehicle and the reflector 311 can be known, and by measuring the time difference from light emission to light reception using the signal phase etc., the laser scanner 12
The relative distance between the reflector 311 and the reflector 311 can be known.

For a total of 13 coordinate positions and attitude angles of this vehicle,
As shown in FIG. 4, the line connecting the reflection plates 311 and 312 at the entrance of the garage 30 is set as the X-axis of coordinates, and the Y-axis is set to pass through the center of the garage 30.

In order to know the coordinate position and attitude angle ξ of the vehicle IO, the angle Φ and θ and 2 of the distances g and r
Perform different types of measurements. That is, the laser scanner 12 is rotated from left to right (or right to left), and at the point when the reflected light returns, the angle Φ or θ is determined, and at that point g or ``is measured. Based on the measured values, the coordinate values and attitude angle ξ of the vehicle 10 are calculated using the following formula.

tan-' () If > 0, ξ-tan'' ((r sinθ+fl sinΦ)/
(r cosθ−II cosΦ)) tan”’()
If ≦0, ξ−π+tan−1(r sinθ+(l sinΦ)
/ (r cosθ−(l cosΦ))IQxl=l
(1/2) Ir cos(ξ-θ)+J7cos(ξ+
Φ)l+ZcosξIQyl=l(1/2)b 5in
(ξ-θ) 10N 5in (ξ+Φ)l+Zslnξ However, in Fig. 4, b is the rear wheel center position of the vehicle lO, Qx and QY are the X and Y coordinates of the rear wheel center position, and Z is the rear wheel center position. and the distance from the laser scanner 12.

In addition, in this initial state, as shown in FIG.
4. Therefore, in this state, vehicle 1
By measuring the coordinate position and attitude angle ξ of 0,
It is possible to know the guidance restriction width of the vehicle IO. Then, each time the vehicle is moved, the coordinate position and attitude angle ξ of the vehicle IO can be recognized from the measurement results by the laser scanner 12.

In step 104, the vehicle enters the garage (on the opposite side)
Determine whether it is physically accessible. That is, it is determined whether the vehicle IO can approach the entrance of the garage 30 with a turning radius greater than or equal to the minimum turning radius of the vehicle IO, corresponding to the current coordinate position and attitude angle ξ of the vehicle 10.

Specifically, as shown in FIG. 6, the current attitude angle ξ of the vehicle 10, the coordinate absolute values 1Qxl and IQyl of the vehicle IO,
It is calculated based on half the width of the garage 30, etc.
The turning radius R when approaching the entrance of the garage 30 on the opposite side of O's current position is given by the following equation.

R= ((l Qxl + L)2+ l Qy121
/ 211 (l Qxl+ L) sinξ+1Qy
lcosξ1) When the turning radius R is calculated in this way, R≧ with respect to the minimum turning radius Rwin of this vehicle IO
If RIIin, it is determined that this vehicle 10 can approach the garage entrance. If R<R1n, it is determined that it is physically impossible to approach the entrance of the garage 30 from the position of this vehicle 10.

If it is determined in step 104 that it is impossible to approach the garage entrance, the process proceeds to step 105, where the driver is instructed by audio from the CRT 1B and speaker 18 to move the vehicle IO away from the garage, and in step 10B, the brake is released. Allow vehicles to move freely. That is, the guidance is canceled, and the vehicle is moved in a direction away from the garage entrance (forward) according to the driver's will, and then the process returns to step 101.

If it is determined in step 104 that the garage entrance can be approached, the process proceeds to step 107, where it is determined whether the drive range of this vehicle is in the reverse direction toward the garage. If it is confirmed that the drive range is in reverse, then in step 108 the distance and steering angle required to bring the vehicle 10 close to the garage entrance are calculated. Then step 109
Instructing the driver of the steering angle calculated in step 108 using the CRT 16 and voice;
The driver turns the steering wheel according to the instructions, and in step 11G, the steering angle is monitored to determine whether the steering angle matches the calculated value. If it is determined that they do not match, the process returns to step 109 and waits until the steering wheel is turned to a predetermined calculated value.

If it is determined in step 107 that the drive range is not in reverse but in the forward state, step i
The process proceeds to step 11 to calculate the distance to the road limit width and the steering angle, and proceeds to step 109 to instruct the driver about the steering angle.

If it is determined in step 110 that the steering angle operated by the driver matches the instructed calculated value, the process proceeds to step 112 (Figure B).

This step 112 monitors whether the steering angle has deviated from the calculated value. If it is determined that a deviation has occurred, the process proceeds to step 113, where the amount of deviation is compared with the set value and the amount of deviation is determined by the set value. If it is determined that the calculated value is smaller than the value, the brake actuator 23 is driven to stop the vehicle in step 114, the calculated steering value is again instructed, and the process returns to step 112. Step 11
If it is determined in step 3 that the steering deviation 2 exceeds the set value, the process proceeds to step 115, where guidance is canceled and the process returns to the initial stage of step 101.

If it is determined in step 112 that the steering angle does not deviate from the calculated value, the process proceeds to step 11B, where the brake actuator 23 is released to allow the vehicle IO to move and start guidance. Then, in step 117, it is monitored whether the vehicle 10 has moved to the target position.

However, during this movement, if the driver releases the steering wheel and the steering angle deviates from the calculated value, the process proceeds to step 113, the vehicle is stopped, and the steering wheel is returned to its original position and held. They will now be instructed to do the same thing.

In addition, the state in which the driver consciously turned the steering wheel in an emergency situation can be determined by the fact that the steering deviation exceeds the set level in step 113, and in this case, the guidance is canceled as described above. It is.

If the guidance has been performed normally, the progress distance sensor 24 determines whether the vehicle 10 has reached the target position in step 117, and if it is confirmed that the vehicle 10 has moved to the target position, then Step 11
11 drives the brake actuator 23, and the vehicle IO
At the same time, in step 119, an instruction is given to change the drive range. That is, the drive range, which has been set to reverse, is switched to forward.

In step 120, it is determined whether or not the drive range has been switched. If it is confirmed that the drive range has been switched, the process proceeds to step 121, where the position coordinates and attitude angle ξ are measured at the vehicle position.

At this point, in the next step 122, the vehicle 10 is transferred to the garage 3.
If it is located on the side of the garage, it is determined that it is impossible to guide the vehicle directly into the garage, and the process returns to step 107.

Also, if it is determined that it is located on the opposite side of the garage,
Proceed to step 123. In this step 123, it is determined whether guidance is possible using pattern 1 or pattern 2 shown in FIGS. 7A and 7B, for example. Patterns I and ■ are patterns in which the vehicle 10 can be guided into the garage 30 by the first turn and the second turn.

If it is determined in step 123 that the vehicle can be guided into the garage according to a predetermined pattern, the process proceeds to step 124, where the predetermined guidance is executed, and the garage entry guidance process is completed.

Here, if it is determined in step 123 that the first pattern I in FIG. 7(A) can be executed, the first turn is first executed and the vehicle is stopped. The conditions for this first turn are as follows.

R1-RIIin Φl-ξ-5in-' 1(Ra+in+R1Min-
s1nξ−1Qxl)/2Rmlnl Then, R2”IRI 5in(ξ−Φ1)−R1sinξ+1
When the second turn is executed under the condition of
The vehicle will now be able to ride on the axle, and after that, all you have to do is back up straight to the back of the garage 30.

If it is determined that the second pattern (2) in FIG. 7(B) is executable, the vehicle makes a first turn under the following conditions and stops.

R1-R+in Φ1-π-ξ-5in-'(Ra+in+Ra+in
sinξ−l Qxl)/2 Ra1n After that, a second turn is performed under the following conditions.

R2-(R15in(Φ1+ξ)-R1sInξ+l
Qxll/t 1 5in (Φ1+ξ)) After executing the second turn under this condition, the vehicle IO is made to go straight back to the back of the garage, and the garage entry guidance is completed.

If it is determined in step 122 that the vehicle 10 is not located on the opposite side of the garage, but is located on the garage side of the road in front of the garage, the process returns to step 107 and then proceeds to step lit. The system then switches to guidance that causes the vehicle to approach the road in front of the garage up to the width limit on the opposite side of the garage.

Thereafter, by repeating the approach to the same width as the road and the approach to the garage entrance, the situation in which the guidance in step 123 is possible is approached, and the guidance to enter the garage is finally executed.

Figure 8 diagrammatically shows the state of the process of guiding the vehicle into the garage. First, as shown in Figure (A), the vehicle IO is set at a position at the width limit of the road in front of the garage. . In this state, it is determined whether or not it is possible to approach the garage entrance, and guidance is executed to approach the garage entrance.After approaching the garage, turn back and leave the garage as shown in Figure (B). This is repeated as shown in Figures (C) and (D). Then, when the state shown in (E) is reached, it is determined in step 123 that guidance is possible according to pattern I or pattern (■), guidance is performed in step 124, and the vehicle is guided into the garage as shown in (F).
The guidance to enter the garage is terminated.

This guidance device can be effectively applied when the width of the road in front of the garage is limited. If there is a road width limit, the width of the road must be measured prior to guidance. In order to measure the total road width by 71111, it is necessary to install a measuring means for this purpose.

For example, can we measure by using laser light and its reflection? fPJ
In this case, it is necessary to install a reflective slope at the width restriction position on the opposite side of the road from the garage. Furthermore, in the case of a system that uses ultrasonic waves, an ultrasonic reflector is required, which increases the size of the equipment.

In the guidance device shown in the embodiment, the total road width AP1
By using a reflector installed at the entrance of the garage and setting the vehicle at the restricted width position,
The position of the limit width can be recognized. and,
Thereafter, as shown in FIG. 8, the turning guidance is executed.

If such a guidance device is used, even if the road in front of the garage is narrow, it is possible to easily enter the garage. However, in this case, the position coordinates of the vehicle are determined by installing reference position setting means such as reflectors at both ends of the garage entrance. Guidance control is then performed based on these position coordinates. Therefore, in normal inductive operation,
The vehicle 10 is guided into the garage 30 as shown in (A) of FIG. The inside of the parts may touch each other.

For example, 2WS (2
When moving at extremely low speeds, a vehicle with wheel steering (wheel steering)
As shown in the figure, a circular trajectory is drawn in which the turning center 0 is set on the extension of the line connecting the rear wheels (fixed wheels) of the vehicle IO. By applying these characteristics, the movement of a vehicle at extremely low speeds can be geometrically analyzed.

That is, the vehicle 10 has a turning center O and a reflection f on the near side thereof.
i3Ll (cube), if the cube distance is smaller than the value obtained by subtracting half the width W of the vehicle 10 from the turning radius R, the vehicle 10 will move to the near side of the entrance of the garage 30 ( There is no contact with the sitting knee L, 0).

When this is considered mathematically, the direction vector C1 and turning center vector O of the vehicle lO are as follows from FIG.

C=(cosξ, sinξ) 0−Q+Ri (A90” ”)) where Q is the coordinate of the vehicle IO represented by the center of the rear wheel of the vehicle IO (Qx
, Qy), R is the turning radius, and A(90')C
is a vector obtained by rotating the unit vector C by 906 to the left.

Therefore, the turning center 0 is 0-Q+R(A(90°))C However, since QX and QY are measured as absolute values with a laser scanner, they are expressed as 1Qxl and 1Qyl.

Therefore, cube distance - vector of turning center - cube position vector (left)
1= (lQxl+R51nξ−L) 2+ (lQ
y l−Rsinξ)2.

In the case of a right turn, the calculation is made in the same way, and the value is replaced with "ξ-π-ξ".

Therefore, the conditions under which the vehicle 10 does not rub against the entrance of the garage 30 are as follows:
Since "cube distance" is "turning radius - half value of vehicle" (lQxl + R51nξ - L) 2 + IQy 1 - Rco
A determination formula such as sξ)2<(R-W) is obtained.

Here, 1Qxl and +QYI are calculated based on the values of the distance Mr and g1 angles Φ, θ, and ξ shown in FIG. 4, and this determination is made in step 123 shown in FIG. 3B.
It was determined that guidance was possible with the set pattern, and (A) in Figure 7
The first turn shown in (B) is completed, the vehicle IO stops, and the distance is measured using a laser beam (
In order to obtain R2 and Φ2 with high accuracy, the distance M1l)
Perform this at the time when the J determination is completed.

That is, this determination formula is applied when executing the second turn.

When actually guiding the vehicle IO into the garage 30, a problem arises in which the entrance of the garage 30 and the body of the vehicle IO come into contact during the second turn when the vehicle 10 is guided to be parallel to the central axis of the garage 30.

Therefore, the final turn (second turn) to guide the vehicle 10 to the garage 30
Before turning (turning), the above-mentioned determination formula is calculated to predict the contact of the body of the vehicle IO (11-1). At this time, the accuracy can be improved by using the radius value calculated from the value re-measured by a scanner using a laser beam, rather than using R2 shown in Figure 7, for the turning radius used in the calculation. Improved.

In other words, since the turning radius R2 shown in FIG. 7 uses the values of distance IQxl lQy and angle ξ measured at the start of the first turn, when the turn is actually made, the turning radius R2 is stopped exactly at the expected end position of the first turn. This is difficult due to the accuracy of the sensors and actuators. Therefore, since there is a risk that the second rotation may be inaccurate, it would be better to measure again using a laser scanner for better reliability.
If this recalculated turning radius R2 is used,
Guidance will now be executed accurately.

This new calculation method for the turning radius R2 can be obtained by simple geometry based on FIG. That is, R2(1-cosΦ
2) From -1Qx, R2=IQx I/(1-cosΦ2).

Also, considering the right and left cases, Φ2-1ξ-(π/2)1 is obtained. Therefore, R2-l Qx I'/(1-sinξ) is obtained.

The value of turning radius R2 obtained by this calculation and Qx
Using I, IQyl, and ξ, it is predicted that the body of the vehicle 10 will come into contact with the entrance of the garage 30. If it is determined at this child IpJ that there is no contact, the vehicle is turned by a turning angle Φ2, guided from A to B in FIG. 12, and the vehicle is stopped. Thereafter, the vehicle 10 is backed up straight to the back of the garage 30 in the same manner as described in the previous embodiment.

If it is determined that the vehicle 10 will come into contact with the entrance of the garage 30, it approaches the opposite side of the garage 30 entrance as shown by AB' in FIG. 12 and is stopped. This approach operation calculates the distance to the wall of the garage 30 to determine the turning radius, and then moves the vehicle so as to approach the central axis of the garage 30 (B'-C in Fig. 12). Stop. At this point, the position coordinates and attitude angle of the vehicle IO are measured again using the laser scanner. In this state, it is determined whether the vehicle 10 will come into contact with the entrance of the garage 30, and this operation is repeated until it is determined that the vehicle 10 can be guided into the garage 30 without coming into contact with the entrance of the garage 30.

FIG. 13 shows an algorithm for such guidance control. First, in step 201, the vehicle 1O is stopped at a turning start position. Next, in step 202, a laser scanner is used to measure the position coordinates and attitude angle of the stopped vehicle 10, and in step 203, when the vehicle 10 is guided from that position, the vehicle 10 does not come into contact with the entrance of the garage 30. Determine whether the conditions for inducibility are satisfied. If it is determined in step 203 that the vehicle 10 can be guided into the garage, the process proceeds to step 204, where the steering of the vehicle IO is fixed, and the vehicle 10 is guided to be placed on the central axis of the garage 30 by making a circular turn.

If it is determined in step 203 that the condition that the vehicle IO does not rub is not satisfied, the process proceeds to step 205 and the guidance from A to B' in FIG. 12 is performed. And step 20
At step 6, the vehicle 10 is stopped at position B'.

After that, in step 207, the steering wheel is operated in the opposite direction to the movement in step 205, and the vehicle 10 is moved to the first position.
The vehicle 10 is guided to the garage 30 by the guidance indicated by B'-C in Figure 2.
so that it is close to the central axis of Then, the vehicle is stopped at position C (step 208), and step 202
Go back and repeat the cutback guidance.

The above explanation was made assuming a 2WS car, but
Even in the case of a WS system vehicle, by using an extremely low speed trajectory, it is possible to predict the possibility that the vehicle will come into contact with the garage entrance.

Further, in the embodiment, an example is shown in which the vehicle is guided by reversing, but this can be done in exactly the same way even when the vehicle is guided into the garage by moving forward. In addition, although an example has been shown in which a laser scanner and a reflector are used as means for measuring the position coordinates, attitude angle, etc. of the vehicle, any other measuring means can be applied.

[Effects of the Invention] As described above, the vehicle garage guiding device according to the present invention can guide a vehicle from the road in front of the garage where the guiding width is limited to the inside of the garage, and the scope of its application is sufficient. It can be expanded to In addition, since the steering is basically operated by the driver, it is possible to ensure safety. Furthermore, even if the guidance space is limited and there is a possibility that the vehicle will come into contact with the entrance of the garage if the guidance is continued, by predicting this, the vehicle can be redirected. .

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram illustrating a vehicle that implements a guidance system according to an embodiment of the present invention, FIG. 2 is a diagram showing the configuration of a control section installed in the vehicle, and FIG. B) is a flowchart explaining the flow of control in the control section, FIG. 4 is a diagram explaining means for measuring the vehicle position in relation to the garage, and FIG. 5 is a process of measuring the restricted width of the road in front of the garage. Figure 6 is a diagram explaining the possibility of approaching the garage.
(A) and (B) of FIG. 7 are diagrams explaining I and ■ of the guidance patterns to the garage, respectively, and (A) to (F) of FIG. Figures 9 (A) and (B) are diagrams showing the process sequentially; Figures 9 (A) and (B) are diagrams showing guidance trajectories with the possibility of vehicle contact; Figure 10 is a diagram explaining the process of determining the possibility of contact; Figure 11 is a diagram showing the process of determining the possibility of contact; 12 is a diagram illustrating a means for calculating a new turning radius, FIG. 12 is a diagram illustrating a turning operation in the case of contact, and FIG. 13 is a flowchart explaining the flow of this turning operation. DESCRIPTION OF SYMBOLS 10... Vehicle, 11... Vehicle body, 12... Laser scanner, 13... ECUS14... Measurement circuit, 15
... CRT control circuit, 16... CRT display, 18... Speaker, 19... Steering, 20... Steering sensor, 21... Steering actuator, 22... Switch, 23...
- Brake actuator, 24... Progress distance sensor, 121... Laser emitter, +22... Rotation actuator.

Claims (2)

[Claims] (1) A reference position setting means set corresponding to the positions on both sides of the garage entrance, and an azimuth to the reference point set by the reference position setting means and an azimuth to the reference point, which is attached and set to the vehicle to be guided. a measuring means for measuring the coordinate position and attitude angle of the vehicle by measuring a distance from the vehicle; and a measuring means for measuring the coordinate position and attitude angle of the vehicle; Guidance limit width measuring means for measuring the limit width at which the vehicle can be guided by measuring the direction of the reference position setting means and the distance to the reference point; determining means for measuring the reference position determined by the vehicle and determining whether or not it is possible to guide the vehicle to approach the entrance of the garage; a first guidance instruction display means for instructing to move away from the entrance; and a second guidance for instructing a travel distance and a steering angle to the garage entrance when the determination means determines that the garage entrance is approachable. An instruction display means, and the steering angle and travel distance of the vehicle are measured in accordance with the instructions given by the first guide instruction display means or the second guide instruction display means, and corrected by comparing with the instruction contents. A garage guidance device for a vehicle, comprising: means for displaying a display instruction to guide the vehicle, and the first and second guidance instruction display means give a driving instruction to a driver of the vehicle. (2) a guidance trajectory calculation means for calculating a final trajectory for guiding the vehicle to the garage based on the second guidance instruction means; contact determination means for determining whether or not the vehicle will contact the entrance of the garage based on the measured coordinate position and attitude angle, and if the contact determination means determines that the vehicle will contact the entrance of the garage; 2. A garage guidance system for a vehicle according to claim 1, wherein the vehicle is brought closer to the central axis of the garage and guided again.