JPH0628598A - Parking assistance device - Google Patents

Parking assistance device

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Publication number
JPH0628598A
JPH0628598A JP4180222A JP18022292A JPH0628598A JP H0628598 A JPH0628598 A JP H0628598A JP 4180222 A JP4180222 A JP 4180222A JP 18022292 A JP18022292 A JP 18022292A JP H0628598 A JPH0628598 A JP H0628598A
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JP
Japan
Prior art keywords
vehicle
parking
length
area
parked
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4180222A
Other languages
Japanese (ja)
Inventor
Jun Koreishi
純 是石
Original Assignee
Nissan Motor Co Ltd
日産自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd, 日産自動車株式会社 filed Critical Nissan Motor Co Ltd
Priority to JP4180222A priority Critical patent/JPH0628598A/en
Publication of JPH0628598A publication Critical patent/JPH0628598A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To provide a device for parking a vehicle at a parking possible area by accurately recognizing the parking possible area. CONSTITUTION:The vehicle mounts a parking assistance device composed of a length detector 50 consisting of ultrasonic sensors 32 and 33, detecting the overall length of a vehicle which is already parking along the side of the road and the length of the parking possible area formed behind the parking vehicle, an overall width estimating device 40 estimating the overall width of the parking vehicle from the overall length of the vehicle detected by the length detector 50, an arithmetic unit 34 calculating a necessary driving operation for parking the vehicle in a parking possible space based on the length of the parking possible area and the overall length of the parking vehicle detected by the length detector 50 and the overall width of the parking vehicle estimated from the overall widthe estimating device 40, and a display device informing the driving operation calculated by the arithmetic means 34. The parking assistance device assists a driver to park the vehicle in the parking possible area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for parking a vehicle in a predetermined parking area.

[0002]

2. Description of the Related Art Conventionally, a parking assist device for parking a vehicle in a desired parking space has been disclosed in, for example, Japanese Patent Laid-Open No. 1-173300, and the drawings shown in FIGS. explain.

Referring to FIG. 15, a parking assist device 1 includes rotary ultrasonic sensors 2 and 3 provided on a left front portion and a left rear portion of a vehicle 20, and angles of a right front wheel Fr and a left front wheel Fl of the vehicle 20, respectively. The steering angle sensor 4 detects the steering angle, the distance sensor 5 detects the rotation amount of the right front wheel Fr, the start switch 6 for parallel parking, the arithmetic unit 8, and the display unit 9.

The rotary ultrasonic sensors 2 and 3 are provided in the arithmetic unit 8
The operation is controlled by, the ultrasonic wave is transmitted, and the reflected wave is received to detect the distance to the reflected object. As shown in FIG. 15, it is possible to change the distance detection direction by rotating the direction.

That is, the arithmetic unit 8 operates the rotary ultrasonic sensor 2 to collect the detection direction θj and the distance dj. Then, the target parking available area 21 shown in FIG. 17 is recognized based on the collected data.

On the other hand, the arithmetic unit 8 calculates the amount of movement of the vehicle by the steering angle sensor 4 and the distance sensor 5, and recognizes the current position of the own vehicle with respect to the parking area 21.

When recognizing the current position of the parking area 21 and the own vehicle, the arithmetic unit 8 selects an optimum driving method for performing parallel parking in the parking area 21 based on a driving database stored in advance. Specifically, the optimum steering angle and either forward or backward are selected. In addition, stop is selected when switching between forward and reverse and when parking is completed.

As shown in FIG. 16, the display device 9 displays the above-mentioned optimum steering angle by turning on any one of the LEDs 11a to 11k and corresponds to the selected one of forward, stop and reverse. LED 14, 15 or 16 is turned on.

The current steering angle is displayed by turning on any of the LEDs 10a to 10k.

Next, the operation of the parking assist device 1 will be described with reference to FIG.

The driver stops the vehicle 20 on the road in front of the target parking area 21 substantially parallel to the frontage and presses the start switch 6 for parallel parking.

When the start switch 6 is pressed, the arithmetic unit 8 lights up the parking designation LED 12 and rotates the rotary ultrasonic sensors 2 and 3 to determine the detection directions θj and θk.
Moreover, ultrasonic waves are transmitted to measure the distances dj and dk to the object.

As can be seen from FIG. 17, the left corner P 1 at the front of the target parking area 21 corresponds to the minimum value of the distance data dj obtained from the rotary ultrasonic sensor 2. The right corner P 2 at the front of the parking area 21 corresponds to the minimum value of the distance dk obtained by the rotary ultrasonic sensor 3. Further, the corners P 3 and P 4 at the back of the target parking area 21 correspond to the maximum values of the distances dj and dk. Note that point R 1 in FIG.
R 2 also gives a local minimum value, but these points R 1 and R 2 are located inside the inner corners P 3 and P 4 , so that P 1 and P 2 can be easily obtained.
Can be distinguished from.

When the parking area 21 and the current position of the vehicle 20 with respect to the parking area 21 are recognized, the arithmetic unit 8
Searches for the optimum steering angle corresponding to the condition and the distinction between forward and backward from the parallel parking database.

Based on this data, the steering angle is displayed by lighting one of the LEDs 11a to 11k, and the forward / backward discrimination is displayed by lighting the LED 14 or 15.

[0016] In this way, the own vehicle is placed in the target parking area 21.
You can get assistance to park 20 accurately.

[0017]

However, in such a parking assist device, since the ultrasonic sensor detects the parking feasible area 21, the side of the parking feasible area 21 is not a wall but a fence or curb. If it is, the ultrasonic waves transmitted from the ultrasonic sensor do not return or are reflected by the wall behind the parking area, and the depth of the parking space cannot be detected accurately. That is, since it was not possible to accurately detect the parking available area, it was not possible to perform accurate parking assist.

An object of the present invention is to provide a device for accurately recognizing a parking available area and parking a vehicle in the parking available area.

[0019]

The structure of the present invention will be described with reference to the claim correspondence diagram shown in FIG.

The present invention is an on-vehicle parking assist device for parallel parking behind a parked vehicle 38 that is parked along a side of a road.
The length of the parking area formed at the rear of the
Length detecting means 50 for detecting the total length of the
Full width estimation means 40 for estimating the total width of the parked vehicle from the total length of the parked vehicle 38 detected by 50, the length of the parking feasible region detected by the length detection means 50 and the total length of the parked vehicle 38,
Based on the total width of the parked vehicle 38 estimated by the total width estimating means 40, a calculating means 34 for calculating a driving operation necessary for parking the vehicle 37 in the parking space, and a driving operation calculated by the calculating means 34 The notification means 35 is provided.

[0021]

The vehicle 37 is positioned substantially parallel to the parkable area and the parked vehicle 38, and the length detecting means 50 moves forward while detecting the length of the parkable area and the total length of the parked vehicle 38. From the detected full length of the parked vehicle 38, the full width estimating means 40 estimates the full width of the parked vehicle 38. Based on the total length of the parked vehicle 38 and the length of the parkable area detected by the length detection means 50, and the full width of the parked vehicle 38 estimated by the full width estimation means 40, it is necessary to park the vehicles 37 in parallel in the parkable area. The operation device such as backward movement and steering is calculated by the calculation device 34, and the calculated driving operation is notified by the notification means 35.

[0022]

Embodiments of the present invention will be described below with reference to FIGS.

First, the construction of the parking assist device will be described with reference to FIG.

The parking assist device detects the steering angle of the right front wheel and the left front wheel of the vehicle 37 and the length detection device 50 composed of ultrasonic sensors 32 and 33 provided on the left front part and the left rear part of the vehicle 37, respectively. The steering angle sensor 30, the vehicle speed sensor 31 for detecting the vehicle speed of the vehicle 37, the start switch 36 for parallel parking, the arithmetic unit 34, and the display unit 35.

The display device 35 is constructed as shown in FIG. 3, in which the [instruction angle] indicates the steering angle at which the steering must be performed, and the [steering angle] indicates the steering angle of the steering wheel at the present time. By operating the driver so that the [steering angle] is at the same position as the [instruction angle], it is possible to receive an assist for appropriately parking in the parking available area. When the parking assistance cannot be received, the fact that the parking assistance is impossible is displayed by, for example, causing a light emitting diode (not shown) to emit light.

Next, the operation of this embodiment will be briefly described with reference to FIG.

Two parked vehicles 38 and 39 are parked on the side of the road, a vehicle parked in front is a front parked vehicle 38, and a vehicle parked in the back is a rear parked vehicle 39. There is a predetermined area between the parked vehicles 38 and 39, and this area is hereinafter referred to as a parking available area. The driver of the vehicle 37 equipped with the parking assist device shown in FIGS.
The vehicle 37 is stopped so as to be substantially parallel to the road and the start switch 36 is turned on to execute parking assist.

When the start switch 36 is turned on, the vehicle
Ultrasonic sensors 3 provided at the left front and rear of 37 respectively
Starting from 2 and 33, ultrasonic waves are transmitted to the side of the vehicle.
Then, the driver moves the vehicle 37 forward.

In this way, the ultrasonic sensors 32 and 33 move forward while transmitting ultrasonic waves, and by receiving the reflected waves of this transmitted wave, the total length a of the rear parking vehicle 39, the space b between the parking spaces, and the front parking vehicle. The total length c of 38 can be detected. FIG. 4B shows a waveform in which the outputs of the ultrasonic sensors 32 and 33 are combined, and from this waveform, the total length a of the rear parking vehicle 39,
It is possible to detect the interval b of the parking space and the total length c of the front parking vehicle 38.

Here, the entire width of the front parked vehicle 38 will be described. There is a relationship between the total length and width of the vehicle as shown in FIG. 5, and this relationship is used to estimate the overall width of the front-parked vehicle 38. That is, the value of the total length c of the front parking vehicle 38 detected by the ultrasonic sensors 32 and 33 is input to the full width estimation device,
The full width value corresponding to this value c is selected from the characteristic diagram of FIG. 5, and the full width of the front parking vehicle 38 is estimated as Z. If there are several full width values for the detected total length c of the forward parked vehicle 38, the smallest value is selected. The minimum value for the overall width Z is selected when the vehicle 37 is parked at the final stop position shown in FIG. 4 by selecting the minimum value so that there is a margin between the front parking vehicle 38 and the wall beside the road. This is to ensure that the vehicle can be parked without contacting a wall or the like on the side of the road.

In this way, the total length c of the front parking vehicle 38,
It is possible to detect the total width Z and the length b of the parking space,
The vehicle 37 is parked in the parking available area by using this value.

Then, as will be described later, processing such as backward movement and steering necessary for parking the vehicle 37 in the parking available area is performed to guide the vehicle 37 to the parking available area and to the final stop position as shown in FIG. And park.

Next, referring to FIGS. 6 to 10, a vehicle 37 (EFGH)
Reverse and steering for parking the vehicle in parallel in the parking available area (ABCD) will be described. In FIG. 6, the width of the road is w, the right end of the road is composed of a wall, etc., and it is not possible to extend to the right beyond this. Further, in the figure, it is assumed that an xy coordinate system is configured with the point A as the origin.

Further, as for the vehicle 37 (EFGH), as shown in FIG. 7, the minimum rotation center of the left rear wheel P is O 1 and the minimum rotation radius is R 2 , and from this rotation center O 1 to the front right end F of the vehicle. The distance is R 5 , the minimum turning center of the right rear wheel Q is O 2 , and the minimum turning radius is R 3 , and the distances from this turning center O 2 to the vehicle left front end E and the vehicle left rear end H are R 1 and R 4 , respectively. And
As the final step when the vehicle 37 (EFGH) is parked in parallel in the parking available area (ABCD), the vehicle 37 (EFGH) is moved backward while the steering wheel is fully steered to the right, and the vehicle 37 (EFGH) is placed inside the parking available area (ABCD). It is basic to pay. The timing for starting the maximum rightward steering required for this is the vehicle 37 (EFGH).
Center of rotation O 2 for rotating the right rear wheel Q of the vehicle at the minimum turning radius R 3
Is when the area S 1 shown in FIG. 6 is entered.

That is, in the area S 1 , as described above, the vehicle travels counterclockwise around the rotation center O 2 of the right rear wheel to control the attitude of the vehicle within the parking available area and complete the parking. In the region for instructing the start of steering in the final stage for the purpose of entering the rotation center O 2 region S 1 ,
Turn the steering wheel to the right to the maximum and turn the vehicle to the center of rotation O
This is a region where the following conditions are satisfied when retracting with a minimum turning radius R 3 centered on 2 .

1. The front left end E of the vehicle is the corner D of the parking area
Not touching, that is, centering on this angle D (0, b)
Outside the arc U R1 of radius R 1 (the distance between the center of rotation O 2 and the vehicle left front end E), that is, x 2 + (y−b) 2 >.
To satisfy the R 1 2.

2. The right side FG of the vehicle should not extend to the right of the parking area, that is, y> R 3 should be satisfied.

3. The vehicle left rear end H does not extend beyond the parking area BC, that is, x> R 4 −a (where R 4 is the distance between the rotation center O 2 and the vehicle left rear end H).

Therefore, when the rotation center O 2 does not enter the area S 1 , it is impossible to reliably park the vehicle in parallel without damaging the parking area. Therefore, the initial position of the vehicle to be stopped in order to put the rotation center O 2 in the region S 1 will be described.

The driver steers the steering wheel to the left to move the vehicle backward after the vehicle has stopped to start parallel parking.
The turning radius R of the vehicle at this time needs to be a value (the value is r) such that the rotation center O 2 enters the region S 1 . This value r is calculated as follows. In FIG. 6, the locus of a circle of radius O 3 O 2 centered on the intersection O 3 of the perpendicular bisector of O 2 M and O 1 O 2 or its extension line is
It passes on a point M (coordinate position (X M , Y M )) having the longest distance from the intersection O 3 surrounding the area S 1 . On the other hand, as the coordinates of the intersection O 3, when the coordinates of the left rear wheel P of the vehicle are (X, Y), the coordinates of the rotation center O 2 are (X + C + R 3 , Y), and O
Since 3 M = O 3 O 2 = r, (X + C + R 3 −r, Y)
Becomes Therefore, since the length of O 3 M is r, the equation of the circle passing through the point M with the intersection point O 3 as the center is as follows.

[0041] r 2 = (X + C + R 3 -r-X M) 2 + (Y-Y M) 2 Thus, since the coordinates of the point M is known, the coordinates of the r and the rotation center O 3 from this equation is determined.

On the other hand, in order to prevent the right front end portion F of the vehicle from protruding to the right side of the road when the vehicle is moved backward so that the center of rotation O 2 is within the area S 1 , the turning radius of the vehicle will be described later. Must be greater than or equal to r 2 calculated as At the same time, the left side EH of the vehicle is at the corner D of the parking area ABCD.
In order to avoid contact with (coordinates (0, b)), the turning radius R of the vehicle must be greater than or equal to r 1 calculated as described later.

First, the calculation of the radius gyration r 1 will be described. The condition for the left side surface EH of the vehicle not to contact the corner D when the steering wheel is steered to the left and backs up is that the left rear wheel P of the vehicle needs to pass outside the corner D. In order to satisfy this condition, if the radius of rotation R of the vehicle is r and the coordinates of the center of rotation O 3 are (X−r, Y), the value of r may satisfy the following equation.

(X-r) 2 + (Y-b) 2 <r 2 ∴r> (X 2 + (Y-b) 2 ) / 2X = r 1 Therefore, the radius of gyration r 1 is {X 2 + (Y-b) 2/2
X}.

Next, the calculation of the radius gyration r 2 will be described. In order to prevent the right front end F of the vehicle from protruding to the right side of the road when the vehicle is steered to the left and moves backward, the coordinates of the rotation center O 3 are set to (X-
r, Y), it is necessary that the distance of O 3 F be smaller than (r−X + w). When expressed by an equation, the coordinates of the right front end portion F of the vehicle are (X + C, Y + C). Like

(X + C−X + r) 2 + (Y + e−Y) 2 <(r−X + w) 2 ∴r> {(X−w) 2 −e 2 −c 2 } / (2 (c + x−w))} = R 2 Therefore, the radius of gyration r 2 is r 2 = 1 / [2 (c + x−w) {(X−w) 2 −e 2 −c 2 }].

When the turning radius r when the vehicle is moved backward by steering the steering wheel to the left is larger than either of the turning radii r 1 or r 2 calculated previously, the angle D of the parking area of the vehicle is determined. The center of rotation O 2 enters the area S 1 without touching the right side of the road and without protruding to the right side of the road. Therefore, the driver stops at the same time and steers the steering wheel to the right in the maximum direction to move backward. Good.

On the other hand, when the turning radius r when steering the vehicle to the left to move the vehicle backward is smaller than the larger value (usually r 2 ) of the previously calculated turning radii r 1 and r 2. In the steering steering as described above, the right front end F of the vehicle extends to the right side of the road. Therefore, the steering is first steered to the left (turning radius R 2 ) to move the vehicle backward to contact the right side of the road. The steering wheel is returned to the neutral position on the verge of turning, and the steering wheel is retracted, so that the rotation center O 1 enters the area S 3 to be described later to enter the arc U R1 area S 1 of the radius O 1 O 2 centered on the rotation center O 1. It is detected that the steering wheel is steered to the left again (maximum turning radius R 2 ) after the center of rotation O 2 enters the region S 1 by turning the steering wheel to the left again (maximum turning radius R 3). ) And end parallel parking Take the method to finish. In order to perform parallel parking by this method, it is necessary that the above-mentioned rotation center O 1 is within the area S 3 , and for this reason, the vehicle position range (area S 2 ) before starting parallel parking is Limited. First, the area S 3 will be described. Since the above-mentioned arc U R1 falls within the area S 1 when the vehicle is moved backward with the steering in neutral, it is necessary for the area S 3 to satisfy the following conditions.

1. The aforementioned rotational center O 2 is in the area S 1, and respectively to enter simultaneously the aforementioned rotational center O 1 is the area S 3.

That is, in FIG. 6, the point I of the region S 1
(Coordinates (X I , Y I )) and point M (coordinates (X M , Y M ))
However, it is necessary to satisfy the following two conditions.

(X−X I ) 2 + (y−Y I ) 2 <(R 2 + R 4 ) 2 (x−X M ) 2 + (y−Y M ) 2 <(R 2 + R 4 ) 2 ... (A) 2. When the vehicle retreats around the center of rotation O 1 with the minimum turning radius R 2 , the right front end F of the vehicle does not protrude to the right side of the road, that is, x <w−R 5 (w is the width of the road ) Is satisfied.

3. The left side surface EH of the vehicle should not come into contact with the corner D of the parking available area when the vehicle retreats with the minimum turning radius R 2 about the rotation center O 1 .

Of these conditions, the conditions 2 and 3 particularly differ depending on the stop position (initial position) for parking in parallel and the road width. That is, here, it is necessary to consider the region S 2 where the vehicle should be stopped to satisfy these two conditions. Hereinafter, the region S 2 will be described on the assumption that the position of the left rear wheel P of the vehicle is used as a reference and the vehicle is always stopped in parallel with the road.

If the region S 2 is considered, then FIG.
As shown in FIG. 5, when the steering wheel is steered to the left and moves backward, the boundary U 1 of the initial position of the left rear wheel P and the left side surface E of the vehicle such that the right front end F of the vehicle does not extend beyond the right end of the road.
It is necessary to consider the boundary U 2 of the initial position of the left rear wheel P so that H does not contact the corner D of the parking area. First, the boundary U 1 will be described.

The steering wheel is steered to the left (maximum turning radius R 2 ) to move backward and the right front end F of the vehicle is moved to the right end (x
= W), when the steering is returned to the neutral position and the vehicle retreats, the center of rotation O 1 is expressed by the formula (a) and x =
If the intersection T with w-R 5 is reached, the change in the point F ′ at which the right front end F of the vehicle contacts the right end of the road in that case and the right rear wheel when the rotation center O 1 reaches the point T change in the position K of Q it can be seen that as shown in FIG. 10.

As the coordinates (X T , Y T ) of the point T, X T =
Since it is w−R 5, it is known from the formula (a) that Y T = [√ {(R 2 + R 4 ) 2 − (X T −X M ) 2 }] + Y M. As the coordinates (X K , Y K ) of K , X K = X T + (R 2 + c) COS θ Y K = [√ {(R 2 + c) 2 − (X K −X T ) 2 }] + Y T point F 'coordinates (X F', Y F ') as a, X F' = w Y F '= [(X F' -X K) {X K - (w-R 5)} / (Y K -Y T)] + Y K Moreover, as the coordinate rotation center O 1 (X O1, Y O1 ), X O1 = X F '-R 5 COS (α-θ) ... (b) Y O1 = Y F' -R 5 SIN (α-θ).

Therefore, the coordinates (X P , Y P ) of the point P can be expressed by the following: X P = X O1 + R 2 Y P = Y O1 (c) On the other hand, from the coordinate change formula (b) of the rotation center O 1 , R 5 2 = (X F ′ −X O1 ) 2 + (Y F ′ −Y O1 ) 2 is obtained. When the change equation (c) is substituted and arranged, the following equation is obtained.

[0058] - In {X P (X F '+ R 2)} 2 + (Y P -Y F') 2 = R 5 2 This formula, X F '= w, Y F' by changing,
A combination of X P and Y P , that is, the initial position of the point P is obtained, and as a result, the boundary U 1 is a functional expression (y = f (x)) having X F ′ and Y F ′ as variables.

Next, the boundary U2Will be described. Point P is
Turn left if you are too close to the left side of the road
Maximum steering (turning radius R2) And then back, Steari
Left side of the vehicle when the car is in neutral and backs up
The surface EH may come into contact with the corner D of the parking area.
Therefore, in order to prevent such a situation, the initial point P
Position boundary line U2Need to be defined. Now spinning
Heart O1When it is considered that comes to the point T, this center
O1Is reaching the point T, the left side EH of the vehicle is
Do not touch the corner D of the parking area.
Radius R in the center2Arc UDAnd draw a tangent line U from the point T
TWhen is pulled, the center of rotation O1As for this tangent line UTRight side
Otherwise, the vehicle must not touch the corner D of the parking area.
The point T cannot be reached. That is, the center of rotation O1
Is the tangent line UTWhen you reach the point T by going up, the leftmost
This is the case when the initial position of the point P is set closer. Therefore,
Line U TIs arc UDCenter of rotation O above the point of contact with1Set up
The distance R from here in the x direction2Point is point P,
That is, the left limit line U of the initial position of the left rear wheel of the vehicle2Tona
It This can be expressed by the following formula. First, before
Circular arc UDThe formula is as follows.

X 2 + (y−b) 2 = R 2 2 (g) Further, the equation of the tangent line U T from the point T to the arc U D is expressed as y−Y T = m (x−X T ). expressed in (h), the point of the arc U D (X L, Y L ) When the slope m and X L from equation (g) is expressed by the following equation.

M = (Y L −Y T ) / (X L −X T ) ... (i) XL = m (b−Y L ) ... (j) Further, equations (g), (h), ( From i) and (j), Y L is represented by the following equation.

YL = {m 2 b− (mX T −Y T )} / (1 + m 2 ) ... (k) Then, from the formulas (g), (i) and (k), a quadratic formula for the slope m is obtained. can get.

[0063] (X T 2 -R 2 2) m 2 -2X T (Y T -b) m
+ (Y T −b) 2 −R 2 2 = 0 ... (q) The above equation (q) is solved and the larger value is selected to be the value of the slope m.
Therefore, the boundary U 2 is a straight line passing through the point D and having an inclination m, and is expressed by the following equation.

Y = mx + b As a result, the area S 2 can be defined as an area satisfying the following two expressions (see FIG. 8).

Y <mx + by> f (x) Next, consider the road width. Road width w (R 5 -R 2)
When wider is the x-coordinate of the point T (w-R 5) is (w-R 5)> - becomes a R 2, there may tangent not trace the arc U D from point T, in this case, by bringing the point P on the left side of the {w- (R 5 -R 2) } with x-coordinate, the rotation center O 1 enters the area S 3 by the straight backward movement of the vehicle (FIG. 10 reference). The center of rotation O 1 is the area S
Since the beginning of the 3, if the center of rotation O 2 with maximum steering the steering to the left (turning radius R 2) is retracted to enter the area S 1, the rotation center O 2 enters the area S 1 For example, as described above, the steering wheel is steered to the right to the maximum (turning radius R 3 ) to move backward, and the vehicle is stored in the parking available area.

On the other hand, if the road width is so narrow that the above-mentioned area S 2 cannot be calculated, "impossible assist" is displayed.

Next, the operation of this embodiment will be described with reference to the processing flowcharts of the arithmetic unit 35 shown in FIGS.

In step 1, the data of the total width X and the total length Y of the vehicle 37 stored in advance in the arithmetic unit 34 is called.

In step 2, it is judged whether or not the start switch 36 is on, and if it is on, the operation proceeds to step 3,
When the start switch 36 is off, step 2 is repeated.

In step 3, as described above, ultrasonic waves are transmitted from the length detecting device 50 to detect the length b of the parking available area and the total length c of the front parked vehicle 38.

In step 4, the length b of the parking area is
From the above, it is determined whether the vehicle 37 can be parked in this parking area, and when it is possible to park, the procedure goes to step 6, and when it is not possible, the procedure goes to step 5, and the display device 35 displays that parking is impossible. To do.

In step 6, the detected total length c of the front parked vehicle 38 is compared with the data previously stored in the arithmetic unit 34 to determine whether or not the front parked vehicle 38 is a vehicle.
When it is determined that the front parked vehicle 38 is a vehicle, the process proceeds to step 7, and when it is determined that the vehicle is not a vehicle, the process proceeds to step 8 and the display device 35 displays that the assist is impossible.

In step 7, from the detected total length c of the front parked vehicle 38, the total length estimation device 40 is used to detect the front parked vehicle 38.
Estimate the full width Z of As the value of the estimated full width Z, the minimum value is selected as described above.

In step 9, it is judged whether or not the above-mentioned area S 1 can be calculated. If the calculation is possible, the process proceeds to step 11. If the calculation is impossible, in step 10, the display device is displayed.
35 indicates that assist is impossible.

At step 11, the position P of the left rear wheel of the vehicle is
The calculated area S 2 to determine whether the entered current, rotation of the vehicle if falls within the area S 2 radius r, the vehicle 3
The condition r 1 in which the left side surface EH of 7 does not contact the corner D of the parking area and the condition r 2 in which the right front end F of the vehicle 37 does not extend beyond the right end of the road are calculated, and the process proceeds to step 18 (FIG. 13) and S If it is not within 2 , the steering angle of the steering wheel, the traveling distance, and whether the vehicle is moving forward or backward are notified and the driving operation is assisted until the point P enters the area S 2 (steps 13 to 17).

When step 18 (FIG. 13) is reached, step 12
In minimum rotation radius R 2 of the calculated r 2 left rear wheel P of the vehicle, and or as compared to r calculated in step 12, R 2
If r 2 <r is satisfied, the vehicle is notified so that the turning radius R of the vehicle becomes R 2 , that is, the steering wheel is steered to the left to the maximum, and the process proceeds to step 34 (step 22), R 2 >.
If r 2 or r> r 2 is established, the steering angle of the steering is notified so that the turning radius R of the vehicle becomes r (step
19 or 21) and proceed to step 23 (steps 18 and 20).

That is, depending on the judgments in Steps 18 and 20, the subsequent parking assistance is performed in Steps 23 to 48 (FIG. 14).
Or it was chosen to be performed according to steps 34-45.

First, the parking assist system of steps 23 to 48 will be described.

When the process proceeds to step 23, it is confirmed that the steering angle of the steering wheel has reached the value instructed so that the turning radius R of the vehicle calculated in step 19 or 21 becomes r, and the vehicle is instructed to retreat and the rotation center is set. It detects that O 2 has entered the area S 1 and gives an instruction to stop the vehicle (steps 23 to 26). Then, when it is detected that the vehicle has stopped, after confirming that the center of rotation O 2 is within the region S 1 , the maximum steering to the right is instructed, and after confirming that this has been done, the vehicle is instructed to move backward. Then, it is detected that the backward movement distance has reached the distance M 1 calculated in advance, a stop instruction is given, and after confirming the stop, the parking assist is ended (steps 27 to 48).

Regarding the determination in step 47, it is detected, for example, that the distance between the rear surface HG of the vehicle and the AB surface of the parking area is equal to or less than a certain value (for example, 10 cm) based on the delay propagation time of ultrasonic waves. You may go by.

Next, the parking assist system of steps 34 to 45 will be described. Proceeding to step 34, after confirming that the steering angle of the steering wheel has reached the value instructed in step 22, that is, the maximum steering to the left, instructing to retreat, and the retreat distance has reached the pre-calculated M 2. That is, the vehicle right front end portion F detects the point just before it comes into contact with the right edge of the road, gives a stop instruction, and after confirming the stop, proceeds to step 39 (step 34-).
38). Note that the determination in step 36 may be performed by detecting that the distance between the vehicle right front end F and the road right end becomes equal to or less than a constant value (for example, 10 cm) based on the delay propagation time of the ultrasonic waves. When the process proceeds to step 39, the steering angle of the steering wheel is returned to neutral, and a straight forward / backward direction is instructed. When it is detected that the rotation center O 1 has entered the region S 3 , the vehicle is instructed to stop (steps 39 to 41). When it is detected that the vehicle has stopped, it is confirmed that the rotation center O 1 is within the area S 3 and the maximum steering to the left is instructed so that the rotation center O 2 is within the area S 1 . After confirming that this has been done, the process proceeds to step 24 (steps 42 to 45).

In this way, the vehicle 37 can be parked in the desired parking area.

Therefore, in this embodiment, even if the side of the parking area is a fence or the like and the accurate depth of the parking area cannot be detected by the ultrasonic sensors 32 and 33, the entire width of the front parked vehicle 38 and parking are possible. Since the width of the area can be recognized, it is possible to recognize the parking available area and reliably assist the parking of the vehicle 37 in the parking available area.

[0084]

As described above, in the present invention, the length detecting means detects the total length of the parked vehicle and the length of the parkable area, and the full width estimating means detects the length of the parked vehicle. The overall width of the parked vehicle is estimated from the total length of the vehicle, and based on the total length and width of the parked vehicle and the length of the parkable area, the driving device such as backward movement and steering necessary for parking the vehicle in parallel in the parking area is operated by a computing device. Since the calculated driving operation is notified by the notification means, it is possible to recognize the entire width of the parked vehicle and the width of the parking area even when the side of the parking area is a fence or the like. The parking available area can be recognized, and the vehicle can be reliably parked in the parking available area.

[Brief description of drawings]

FIG. 1 is a diagram for responding to a claim of the present invention.

FIG. 2 is a diagram showing a configuration of an embodiment of the present invention.

FIG. 3 is a diagram showing a display device.

FIG. 4 is an explanatory diagram of the operation of the embodiment.

FIG. 5 is a diagram showing the characteristics of full length and full width.

FIG. 6 is an explanatory diagram of the operation principle of the embodiment.

FIG. 7 is an explanatory diagram of the operation principle of the embodiment.

FIG. 8 is an explanatory diagram of the operation principle of the embodiment.

FIG. 9 is an explanatory diagram of the operation principle of the embodiment.

FIG. 10 is an explanatory diagram of the operation principle of the embodiment.

FIG. 11 is an operation flowchart of the embodiment.

FIG. 12 is an operation flowchart of the embodiment.

FIG. 13 is an operation flowchart of the embodiment.

FIG. 14 is an operation flowchart of the embodiment.

FIG. 15 is a configuration diagram of a conventional parking assist device.

FIG. 16 is a diagram showing a display device of a conventional parking assist device.

FIG. 17 is an operation explanatory view of the conventional parking assist device.

[Explanation of symbols]

 1 ... Parking assist device 2, 3, 32, 33 ... Ultrasonic sensor 4, 30 ... Steering angle sensor 5 ... Distance sensor 6, 36 ... Start switch 8, 34 ... Computing device 9, 35 ... Display device 31 ... Vehicle speed sensor 38 ... front parking vehicle 39 ... rear parking vehicle 40 ... full width estimation device 50 ... length detection device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 5 Identification code Office reference number FI technical display location B62D 113: 00 137: 00

Claims (1)

[Claims]
1. An in-vehicle parking assist device for parking in parallel behind a parked vehicle parked along a side of a road, the in-vehicle parking assist device including a length detection means, a full width estimation means, and a calculation. And a notifying unit, wherein the length detecting unit detects the length of a parking area formed behind the parked vehicle and the total length of the parked vehicle, and the full width estimating unit sets the length. The overall width of the parked vehicle is estimated from the total length of the parked vehicle detected by the length detecting means, and the computing means estimates the length of the parking feasible area detected by the length detecting means, the total length of the parked vehicle, and the full width estimating means. A parking assist hand that calculates a driving operation necessary for parking a vehicle in the parking space based on the entire width of the parked vehicle, and the notification unit notifies the driving operation calculated by the calculation unit. .
JP4180222A 1992-07-08 1992-07-08 Parking assistance device Pending JPH0628598A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4180222A JPH0628598A (en) 1992-07-08 1992-07-08 Parking assistance device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4180222A JPH0628598A (en) 1992-07-08 1992-07-08 Parking assistance device

Publications (1)

Publication Number Publication Date
JPH0628598A true JPH0628598A (en) 1994-02-04

Family

ID=16079537

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4180222A Pending JPH0628598A (en) 1992-07-08 1992-07-08 Parking assistance device

Country Status (1)

Country Link
JP (1) JPH0628598A (en)

Cited By (23)

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US4882087A (en) * 1984-09-25 1989-11-21 Seiko Kagaku Kogyo Co., Ltd. Aqueous dispersed solution of substituted succinic anhydride and process for producing the same
EP1333296A1 (en) * 2002-02-05 2003-08-06 Robert Bosch Gmbh Method for determining the distance between two objects located in the same plane
WO2004042423A1 (en) * 2002-11-06 2004-05-21 Bayerische Motoren Werke Aktiengesellschaft Method for the determination of geometrical data for parking assist in vehicles
US6898527B2 (en) 2001-06-29 2005-05-24 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
JP2010519132A (en) * 2007-02-28 2010-06-03 コブラ オートモーティブ テクノロジーズ エスピーエー Semi-automatic parking assist system
GB2514473A (en) * 2013-05-21 2014-11-26 Ford Global Tech Llc Enhanced alignment method for park assist
US9233710B2 (en) 2014-03-06 2016-01-12 Ford Global Technologies, Llc Trailer backup assist system using gesture commands and method
US9290204B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc Hitch angle monitoring system and method
US9352777B2 (en) 2013-10-31 2016-05-31 Ford Global Technologies, Llc Methods and systems for configuring of a trailer maneuvering system
US9374562B2 (en) 2011-04-19 2016-06-21 Ford Global Technologies, Llc System and method for calculating a horizontal camera to target distance
US9500497B2 (en) 2011-04-19 2016-11-22 Ford Global Technologies, Llc System and method of inputting an intended backing path
US9506774B2 (en) 2011-04-19 2016-11-29 Ford Global Technologies, Llc Method of inputting a path for a vehicle and trailer
US9511799B2 (en) 2013-02-04 2016-12-06 Ford Global Technologies, Llc Object avoidance for a trailer backup assist system
US9522677B2 (en) 2014-12-05 2016-12-20 Ford Global Technologies, Llc Mitigation of input device failure and mode management
US9533683B2 (en) 2014-12-05 2017-01-03 Ford Global Technologies, Llc Sensor failure mitigation system and mode management
US9555832B2 (en) 2011-04-19 2017-01-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9566911B2 (en) 2007-03-21 2017-02-14 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US9592851B2 (en) 2013-02-04 2017-03-14 Ford Global Technologies, Llc Control modes for a trailer backup assist system
US9854209B2 (en) 2011-04-19 2017-12-26 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9896130B2 (en) 2015-09-11 2018-02-20 Ford Global Technologies, Llc Guidance system for a vehicle reversing a trailer along an intended backing path
US9926008B2 (en) 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9969428B2 (en) 2011-04-19 2018-05-15 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US10112646B2 (en) 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist

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US4882087A (en) * 1984-09-25 1989-11-21 Seiko Kagaku Kogyo Co., Ltd. Aqueous dispersed solution of substituted succinic anhydride and process for producing the same
US6898527B2 (en) 2001-06-29 2005-05-24 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
EP1333296A1 (en) * 2002-02-05 2003-08-06 Robert Bosch Gmbh Method for determining the distance between two objects located in the same plane
US7054729B2 (en) 2002-11-06 2006-05-30 Bayerische Motoren Werke Aktiengesellschaft Method for determining geometric data for vehicle parking processes
WO2004042423A1 (en) * 2002-11-06 2004-05-21 Bayerische Motoren Werke Aktiengesellschaft Method for the determination of geometrical data for parking assist in vehicles
KR101503418B1 (en) * 2007-02-28 2015-03-17 코브라 오토모티브 테크놀로지즈 에스.피.에이. Semiautomatic parking machine
JP2010519132A (en) * 2007-02-28 2010-06-03 コブラ オートモーティブ テクノロジーズ エスピーエー Semi-automatic parking assist system
US8645015B2 (en) 2007-02-28 2014-02-04 Cobra Automotive Technologies Spa Semiautomatic parking machine
US9971943B2 (en) 2007-03-21 2018-05-15 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US9566911B2 (en) 2007-03-21 2017-02-14 Ford Global Technologies, Llc Vehicle trailer angle detection system and method
US9555832B2 (en) 2011-04-19 2017-01-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9854209B2 (en) 2011-04-19 2017-12-26 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9290204B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc Hitch angle monitoring system and method
US9926008B2 (en) 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9374562B2 (en) 2011-04-19 2016-06-21 Ford Global Technologies, Llc System and method for calculating a horizontal camera to target distance
US9969428B2 (en) 2011-04-19 2018-05-15 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9506774B2 (en) 2011-04-19 2016-11-29 Ford Global Technologies, Llc Method of inputting a path for a vehicle and trailer
US9500497B2 (en) 2011-04-19 2016-11-22 Ford Global Technologies, Llc System and method of inputting an intended backing path
US10609340B2 (en) 2011-04-19 2020-03-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9511799B2 (en) 2013-02-04 2016-12-06 Ford Global Technologies, Llc Object avoidance for a trailer backup assist system
US9592851B2 (en) 2013-02-04 2017-03-14 Ford Global Technologies, Llc Control modes for a trailer backup assist system
US8957786B2 (en) 2013-05-21 2015-02-17 Ford Global Technologies, Llc Enhanced alignment method for park assist
GB2514473A (en) * 2013-05-21 2014-11-26 Ford Global Tech Llc Enhanced alignment method for park assist
CN104176050A (en) * 2013-05-21 2014-12-03 福特全球技术公司 Enhanced alignment method for park assist
US9352777B2 (en) 2013-10-31 2016-05-31 Ford Global Technologies, Llc Methods and systems for configuring of a trailer maneuvering system
US9233710B2 (en) 2014-03-06 2016-01-12 Ford Global Technologies, Llc Trailer backup assist system using gesture commands and method
US9522677B2 (en) 2014-12-05 2016-12-20 Ford Global Technologies, Llc Mitigation of input device failure and mode management
US9533683B2 (en) 2014-12-05 2017-01-03 Ford Global Technologies, Llc Sensor failure mitigation system and mode management
US9896130B2 (en) 2015-09-11 2018-02-20 Ford Global Technologies, Llc Guidance system for a vehicle reversing a trailer along an intended backing path
US10112646B2 (en) 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist

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