JPS62278477A - Aid system for garaging automobile - Google Patents

Abstract

PURPOSE:To simplify the garaging operation, by arranging a distance sensor for detecting front and rear views of a vehicle, a steering wheel angle sensor for detecting the direction thereof and a computer for computing a running path based on output signals from both of the sensors. CONSTITUTION:A distance sensor 1 is of an optical type and light emitted from a light emitting element 7 is stopped down with a lens 8, scattered on an obstacle 9 and an image of the obstacle 9 is made to form on a light receiving element 11 through a lens 10. Depending on the segment on which the spot of light forms an image from the element 7 when the light hits the obstacle 9, a distance is computed with a control unit 12 using the theory of triangulation. With such an arrangement, a scanning is performed with the sensor 1 mechanically by 150 deg. to detect the obstacle 9 whereby the expanse of the obstacle 9 and the distance thereto 9 can be detected. The direction of a vehicle is detected with a steering wheel angle sensor 2 to calculate an estimated pat with a computer 4 and the results are displayed 5. An alarm 6 is given when the positional difference between the estimated path and the obstacle 9 decrease to a value within 25cm, for example.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Industrial Application] The present invention relates to an obstacle detection system for a motor vehicle, and particularly to a system for assisting in parking the vehicle in a garage.

[Conventional technology]

As a conventional obstacle detection system, for example, Toyota Technology,
As announced in Volume 32 (published in 1982), several ultrasonic oscillators and receivers are placed at the rear of the vehicle to detect obstacles in an area within the width of the vehicle and 2 meters behind the vehicle. There is. FIG. 3 shows the arrangement of the ultrasonic oscillator and receiver and the method of judgment based on the received waves. In the figure, T1. T
, is the oscillator of the rear sensing sensor, and the bird is also the receiver.

First, the oscillator T emits an ultrasonic wave, and it is checked whether it is received by the receiver R8. If the signal can be received by R1, the obstacle exists in the left rear zone. Furthermore, the distance to the obstacle can be measured by measuring the time from when the oscillation sound is transmitted until it is received. Next, it oscillates at T, and if it can be received at R8, it can be seen that there is an obstacle in the rear center zone. If the signal can be emitted by the bird and can be received by the bird, it will indicate that there is an obstacle in the right rear zone. By using ultrasonic waves in this way, by spreading the ultrasonic waves over a wide range and limiting the reception range, it is possible to know where an obstacle is present. In addition, the above example is 2m behind the vehicle.
If there is an obstacle within the distance, the approximate location will be displayed on the display, and a warning will be issued if the obstacle approaches within 50 meters.

[Problem that the invention seeks to solve]

Conventional obstacle detection systems are configured as described above, and the method is to emit ultrasonic waves, receive the reflected waves, and measure the time until reception.
It is not possible to accurately detect the size, etc. In addition, the speed of sound waves is affected by temperature and is reflected diffusely, so there are drawbacks such as large errors in position determination. Therefore, there is a problem in that parking a car in a garage is of little use when there is not enough space between the car and the wall or other cars.

This invention was made to solve the above-mentioned problems, and provides an automobile that can accurately detect obstacles around the vehicle without using ultrasonic waves and display or issue an alarm. [Means for solving the problem] A garage entry support system according to the present invention has a distance sensor that detects the field of view in front and behind the vehicle, and a distance sensor that detects the direction of the wheels. It is equipped with a steering wheel angle sensor and a combiator that calculates the traveling trajectory based on output signals from both sensors.

[For production]

The garage entry support system according to the present invention uses a distance sensor to detect whether an obstacle is located in the direction and distance from the sensor position, displays the obstacle and the expected travel trajectory on a display device, and also uses a signal from a steering wheel angle sensor to display the obstacle and the predicted travel trajectory. The vehicle is equipped with a computer that calculates a trajectory, and if an obstacle on the calculated predicted travel trajectory is within a preset distance, an alarm can sound.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a configuration diagram of the garage entry support system, and in the figure, reference numeral 1 denotes a distance sensor attached to the front and rear corners of a car, and this sensor 1 can detect a field of view in a range of about 120 to 150 degrees left and right. Reference numeral 2 is a steering wheel angle sensor that detects the direction of the wheels, and reference numeral 3 is an activation switch for the support system, which may be turned on when operated by the driver or when a gear is placed in the pack. Reference numeral 4 denotes a computer that detects the position of obstacles based on the input from each of the distance sensors 1, and this computer 4 uses the steering wheel angle sensor 2 to detect the expected trajectory of the wheels when reversing at a slightly low speed based on the direction of the wheels. Calculated.

Reference numeral 5 denotes a display device such as a CRT or a dot matrix type liquid crystal display, on which the positions of the vehicle and obstacles around it are shown, as well as the expected trajectory of the wheels.

6 calculates the distance between the vehicle and the obstacle on the predicted trajectory,
This is an alarm device that emits an alarm sound when the lowest value falls below a preset value.

The distance sensor 1 is an optical sensor as shown in No. 211, in which light emitted from a light emitting element 7 is focused by a lens 8, hits an obstacle 9 and is diffusely reflected, and an image of the obstacle 9 is reflected by a lens 10.
An image is formed on the light-receiving element 11. The light receiving element 11 is divided into several segments, and the distance is determined by the control unit 12 using the principle of triangulation depending on which segment the light spot from the light emitting element 7 that hits the obstacle 9 forms an image. Calculate. Therefore, by mechanically detecting the distance sensor 1 in an angular width of 150 degrees, the extent of the obstacle 9 and the distance to the obstacle can be detected. Using this data, it is possible to detect how obstacles are located around the vehicle as seen from the vehicle and display it on the display device 5.In addition, the steering wheel angle sensor 2 detects the direction of the wheels and displays the predicted trajectory. However, since the steering wheel angle is constantly changing and the road surface conditions are also changing, the expected trajectory changes from moment to moment, so it is meaningless to calculate too far into the future, so it is approximately 5ocIR. The trajectory up to the destination is fine. Particularly when reversing the car into a garage, parts of the corners often come into contact, so it is preferable to arrange the distance sensor 1 so that it can accurately measure distances near the corners.

Therefore, it is preferable that the predicted trajectory displayed on the display device 5 be the predicted trajectory of a portion of the corner of the vehicle body. When the position where the predicted trajectory and the obstacle change is within, for example, 25σ, the alarm device 6 emits an alarm sound. Note that there are various ways to issue the alarm, and for example, a buzzer sound is the simplest, but a synthesized voice may also be used.

There is also a method of indicating on the display screen the position where contact is expected by blinking, changing the color, or using an arrow.

In the embodiment, the distance sensor 1 is an optical type and mechanically scanned. However, it may be electrically scanned, or an ultrasonic type may be used with a horn to improve directivity.
An electrical scanning method may also be used in which several oscillators are lined up and their oscillation phases are shifted from each other. Further, instead of the steering wheel angle sensor 2, a sensor that directly detects the direction of the wheel may be used. Furthermore, regarding alarms, in addition to alarm sounds,
A comment can also be displayed on the display screen indicating whether it is better to turn the steering wheel further, return it, or move forward and try again.

〔Effect of the invention〕

As explained above, according to the present invention, a distance sensor detects the front and rear views of the vehicle, a steering wheel angle sensor detects the direction of the wheels, and a travel trajectory is calculated based on the output signals from these sensors. Equipped with a computer, the relationship between the vehicle and the obstacle can be displayed accurately on the display device, and an alarm can be emitted if the vehicle is within a preset distance, making it easy for even beginners to park the vehicle. There is an effect that can be done.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a garage entry support system according to an embodiment of the present invention, FIG. 2 is a schematic diagram of a distance sensor, and FIG. 3 is an explanatory diagram of a conventional obstacle detection system. 1...Distance sensor, 2...Handle angle sensor, 4...
...Computer, 5...Display device, 6...Alarm device, 7...Light receiving element, 8, 10...Lens, 9...
Obstacle, 11... Light receiving element, 12... Hunt roll unit.

Claims (1)

[Claims] Distance sensors are installed at the four front and rear corners of the vehicle, and the vehicle is driven based on the output signals from the distance sensors and the steering wheel angle sensors. and a computer that calculates the trajectory, and displays the positions of obstacles around the vehicle and the predicted travel trajectory on a display device, or when the vehicle and the obstacle on the predicted travel trajectory are within a preset distance. A vehicle parking support system characterized by emitting an alarm sound using an alarm device.