JPS61263851A - Device for automatically moving automobile widthwise thereof - Google Patents

Abstract

PURPOSE:To facilitate the widthwise movement of a vehicle and the tandem parking thereof, by reading out the locus of widthwise movement from a memory device in accordance with spaces in the front and rear of the vehicle and the distance of widthwise movement thereof, and by driving a steering turning device in accordance with a steering angle obtained in accordance with the locus of movement. CONSTITUTION:There are provided a space detecting device 30 for detecting spaces in the front and rear of a vehicle which will be required for parking thereof, a widthwise movement setting device 40 for setting the distance of widthwise movement of the vehicle and a displacement detecting device 50 for detecting the displace of the vehicle. Further, there is provided a moving locus storing memory device 20 storing widthwise movement loci which are different variously in accordance with the spaces in the front and rear of the vehicle and the widthwise movement distance thereof. Further, a control device 10 reads out a moving locus of the vehicle from the memory device 20 in accordance with output signals from the devices 30, 40, and computes the corresponding steering angle in accordance with the moving locus in view of detection signals for displacement positions. Accordingly, a steering turning device 60 is driven in accordance with the steering angle, and a braking device 70 is effected to stop the vehicle at the terminal point of the moving locus.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for automatically aligning a correction layer, for example, for parallel parking.

[Prior Art] Conventionally, as this type of device, automatic guidance systems for automobiles, automobile tracking devices on expressways, etc. are only known, and automatic width adjustment as the subject of the present invention. Nothing is known about the device.

[Problems to be Solved by the Invention] It is technically difficult to pull a car to the side in a narrow space, and it is particularly difficult to operate the steering wheel when parallel parking in a narrow space. SUMMARY OF THE INVENTION An object of the present invention is to provide a device that automates the parking of a vehicle, thereby facilitating parking, especially parallel parking.

Technical Means for Solving Problem E] FIG. 1 is a block diagram showing the concept of the present invention.

The present invention includes: a space detection device 30 that detects at least the front and rear spaces used for side-shifting a vehicle; a width-shifting amount setting device 40 that sets the amount of vehicle width-shifting; and a movement position detection device that detects the movement position of the vehicle. A device 50, a movement trajectory storage device 20 that stores different width-shifting operation trajectories as a relationship between the position of the vehicle and the steering angle of the steering wheel according to parameters such as the front and rear spaces of the vehicle and the amount of width-shifting, and the steering shaft. The operation of the vehicle is controlled in accordance with signals (81, 82) from a steering rotation device 60 that rotates in response to a signal, a brake device M70 that automatically brakes the vehicle, the space detection bag @30, and the width adjustment amount setting device 40. A trajectory is calculated by the motion trajectory calculation unit W120, and a corresponding steering angle is determined from the determined motion trajectory in accordance with the detection signal (S3) from the movement position detection device 50, and the steering angle is adjusted to the determined steering angle. a control device 10 that outputs a control signal (84, 85) for driving the steering rotation device at the end point of the motion trajectory and driving the braking device at the end point of the motion trajectory. It is a device.

Here, space detection is to detect at least the distance that can be moved forward and backward necessary for width closing operation, and includes automated devices such as laser radar and ultrasonic radar, and devices that are manually set.

The shifting amount setting device includes a device that manually sets a desired shifting width, and a device that automatically detects and sets a possible shifting width. The moving position detecting device is a device for detecting the current position of the automobile, and a moving distance measuring device including a ground radar and an initial geomembrane meter can be used. The motion trajectory storage device stores the true optimum width shifting motion trajectory based on the space in which the vehicle can be moved forward and backward and the amount of width shifting. Alternatively, only the standard width-shifting movement trajectory may be stored, and the standard movement trajectory may be corrected based on the space in which the vehicle can be moved back and forth and the width-shifting amount. The control device determines the optimal movement trajectory according to the width closing conditions at that time, and causes the car to move along the optimal movement trajectory according to the current position of the car input from the movement position detection device. , determines the required steering angle, drives the steering rotation device to achieve the steering angle, and when - times of width closing operations are completed, drives the braking device to stop the vehicle. If the width adjustment is insufficient at that time, the device can be driven again from the stop position to perform further width adjustment.

The control device also includes an obstacle detection device that detects obstacles within the range of the motion trajectory of the vehicle, and a free space detected by the obstacle detection device as a parameter to determine the optimal motion trajectory from the motion trajectory storage device. The obstacle detection device may include a motion trajectory calculating section for calculating the motion trajectory, and may drive the steering rotation device along the motion trajectory calculated by the motion trajectory calculation section. can be used.

[Effect] The maximum width of the vehicle that can be moved in one reverse motion or one forward motion is, in the case of reverse motion, assuming that there are no obstacles on the opposite side of the vehicle. Determined by the space available for movement before and after. Therefore, the optimal one-time backward movement or forward motion locus can be determined in advance based on the desired width shift amount and longitudinal sway base. If the desired width shifting amount is larger than the maximum width shifting amount in one time, an appropriate width shifting movement locus is similarly determined for the remaining width shifting amount, and several unit width shifting movements are performed. By repeating this, the width of the target is completed.

In the unit width shifting operation, the steering angle at each position of the vehicle is determined along the determined motion trajectory, and the vehicle is steered to that steering angle, and the vehicle is moved along the target motion trajectory. The unit width alignment operation is completed. In this manner, the present 1ilN can automatically or manually provide the front and rear spaces and the amount of width adjustment, and automatically complete the width adjustment operation.

[Example] The present invention will be described below based on a specific example.

FIG. 2 is a block diagram showing the configuration of the embodiment device. In this embodiment ii@, the space detection device 3
0 consists of a keyboard 82 for manual input and a distance meter 83. Further, the width adjustment amount setting device 40 is configured by inputting numerical values from the keyboard 82.

The moving position detector wI50 includes a distance meter 83 that counts the number of rotations of the axle.

The control device 10 is realized by a computer device, and includes an input interface 12, a CPU 11, an output interface 14, a ROM 16 in which a predetermined processing program is stored, and a RAM 18 for inputting and outputting data.
It is made up of.

The steering rotation device 160 includes a motor 64 connected to the steering shaft 66 via a gear box (not shown), a steering angle detector 68 that detects the rotation angle of the steering shaft 66, and a steering angle detector 68 that detects the rotation angle of the steering shaft 66. The driver circuit 62 rotates the motor 64 by a predetermined amount. The braking device 70 also includes a motor 7 that drives a brake pedal 74.
2 and its drive circuit 76.

FIG. 3 is a flowchart showing the processing of CPLll used in the device, and FIGS. 4 and 5 are operation explanatory diagrams for explaining the width adjustment operation of the device. C
The PU 11 starts execution from step 100 when the key switch of the automatic width adjustment device is turned on. FIG. 4 shows a parallel parking operation as an example of a width-adjusting operation. Assume that car A is parallel parked between parked cars B and C. First, the vehicle is stopped at a position where the front end of the vehicle A coincides with the front end of the vehicle B, and a predetermined key switch on the keyboard 82 is operated to set the first position P1. That is, if it is determined in step 102 that the first position setting key has been operated, then in step 104 the value of the current position P1 of the vehicle A is input from the distance meter 83. After that, move car A forward,
The vehicle is stopped at a location where its rear end matches the rear end of the vehicle C parked in front, and the keyboard 82 is operated to set the second position P2. That is, step 1
06.108, the coordinates of position 1fP2 are input from the distance meter 83, and in step 110, the front and rear spaces L for parallel parking are calculated.

Next, the width adjustment setting amount is input from the keyboard 82.

That is, in steps 112 and 114, the desired width adjustment amount W
is input. Next, in step 116, an fAM width shifting operation trajectory is selected based on the relationship between the width shifting amount W and the space width. Here, if the desired width shifting amount W is larger than the maximum possible width shifting amount, an operation trajectory for realizing the maximum possible width shifting amount is selected. FIG. 6 is an operation trajectory selected using L and W as parameters, and is a table showing data on the relationship between the position wIX of a point on the backward movement trajectory shown in FIG. 5 and the steering angle θ. Thereafter, when the automatic width adjustment start key switch is operated from the keyboard 82, step 120
If the result is YES, the process moves to step 120, where the current position X of the vehicle is input from the distance meter 83. At this time, the driver shifts to the marching gear and operates the accelerator pedal to manually move the vehicle backward. Next step 12
4, the position l [x and steering angle θ
A table in the ROM 16 that stores the relationship between
is searched to read the steering angle θ required for the WIX at that time, and in step 126, a control signal for obtaining the steering angle is output to the driver circuit 62. The car moves backward at a constant speed until a certain amount of remaining space is left for the space L in step 128.
Repeat steps 2 to 128. When the vehicle has moved backward by a certain distance in step 128, a braking signal for braking the vehicle is output to the drive circuit 76 in step 130.

As a result, as shown in FIG. 5, the vehicle moves backward along the smooth movement locus of backward movement and completes one width-shifting movement.

Next, the process moves to step 132, and it is determined whether or not there is a remaining width for the desired shifting width. If there is a remaining width, the process moves to step 134, and the forward width is determined based on the relationship between the remaining width and the space L. The optimum shifting movement locus pattern is determined, and the forward width shifting is completed by the same procedure as the backward width shifting operation described above. In addition, even in the forward width shifting, if it is determined that there is more remaining width, the next backward width shifting pattern is selected and the backward width shifting operation is performed. The width adjustment operation is repeated in this way, and if it is determined in step 132 that the remaining width is less than a certain value, the process moves to step 136, where post-processing is performed to move the car to the center of the space L and stop it. It will be done.

Although it is not explicitly stated, it is determined whether the input of a predetermined operation signal from the keyboard 82 is performed according to a predetermined sequential logic, and if the logic is incorrect, an error message is displayed. I try to do this. Furthermore, if the cancel key is operated on the keyboard 82 midway, the process returns to the initial state in steps 140 and 142, and the execution is restarted from the first positioning operation.

In this embodiment, the instruction to start the width closing operation and the switching between forward and backward movement are performed manually, but these may also be automated.

Further, although the space is detected by manual input, the space L may be measured all at once using a laser radar. Furthermore, an ultrasonic sensor for detecting obstacles may be arranged around the vehicle to select a width-shifting operation trajectory that does not come into contact with obstacles.6 [Effects of the Invention] The present invention has the following advantages As mentioned, the space in the front and rear of the car,
Using the width shifting amount as a parameter, different width shifting motion trajectories are stored as a relationship between the vehicle position and the steering angle, and the optimal vehicle motion trajectory is calculated from the space and width shifting amount, and the vehicle is moved. In response to a detection signal from a position detection device, a corresponding steering angle is determined from a determined motion locus, and the steering rotation device is driven to achieve the determined steering angle, thereby performing a predetermined width closing operation. be.

Therefore, even those with limited space or inexperienced driving skills can easily pull the vehicle closer to the side, and in particular, parallel parking in narrow spaces can be facilitated.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the concept of the present invention, Fig. 2 is a block diagram showing the configuration of a specific embodiment device of the present invention, and Fig. 3 is a CPU used in the embodiment device. FIG. 4 is an explanatory diagram illustrating the operation of the device of this embodiment, particularly the space detection method. FIG. 5 is an explanatory diagram illustrating one backward movement, and FIG. 2 is a diagram illustrating a table showing data on a width-aligning motion locus. FIG. 64...Motor 66...Steering shaft 74...Brake pedal L...Front and rear space Patent applicant Nippondenso Co., Ltd. Agent Patent attorney Mamoki Okawa Patent attorney Shudo Fujitani Patent attorney Hiroshi Okawa Figure 5 e1

Claims (2)

[Claims] (1) A space detection device that detects at least the front and rear spaces used for side-shifting a vehicle, a side-shifting amount setting device that sets the amount of side-shifting of a vehicle, and a movement position detection device that detects a moving position of a vehicle; A motion trajectory storage device that stores different width shifting motion trajectories as a relationship between the vehicle position and the steering angle based on the vehicle's front and rear space and width shifting amount as parameters, and a steering system that rotates the steering shaft using a control signal. a rotating device; a braking device that applies automatic braking to the vehicle; and a motion trajectory of the vehicle is calculated from the motion trajectory storage device in response to signals from the space detection device and the width adjustment amount setting device, and the movement position is detected. In response to the detection signal from the device, the corresponding steering angle is determined from the determined motion trajectory,
A control device that outputs a control signal for driving the steering rotation device so that the steering angle is determined and driving the braking device at the end point of the motion trajectory. Harvesting device. (2) The control device includes an obstacle detection device that detects obstacles within the range of the motion trajectory of the vehicle, and a free space detected by the obstacle detection device as a parameter, and the control device uses the motion trajectory storage device to perform an optimal operation. The automobile according to claim 1, further comprising a motion locus calculation section for calculating a locus, and the steering rotation device is driven along the motion locus calculated by the motion locus calculation section. Automatic width adjustment device.