WO2010098216A1 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
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- WO2010098216A1 WO2010098216A1 PCT/JP2010/052135 JP2010052135W WO2010098216A1 WO 2010098216 A1 WO2010098216 A1 WO 2010098216A1 JP 2010052135 W JP2010052135 W JP 2010052135W WO 2010098216 A1 WO2010098216 A1 WO 2010098216A1
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- Prior art keywords
- parking
- direct
- vehicle
- turn
- target position
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Definitions
- the present invention relates to a parking assist device, and more specifically, direct parking that moves the vehicle backward from the positional relationship between the stop position of the vehicle and the set parking target position to reach the parking target position, and at least one reverse /
- the present invention relates to parking assist control in turn-back parking that reaches the parking target position through forward travel.
- Patent Document 1 discloses that when the vehicle is moved backward from the position where the vehicle is stopped and guided to the target parking position, the vehicle is moved backward from the position where the vehicle is stopped to the target parking position once. Direct parking guidance to be reached and switching back parking guidance to reach the parking target position through at least one backward / forward advance are described. Switch-back parking guidance is executed when a route that can be directly introduced to the parking target position cannot be set even if the maximum steering angle is selected from the stop position. Therefore, in turn-back parking guidance, a route to a preliminary target arrival position in the vicinity of the target parking position is set, and the vehicle is moved backward along this route to stop at the preliminary target arrival position.
- a route to a forward arrival position by switching is set, the vehicle is advanced along this route, and stopped at the arrival position.
- the possibility that the forward reach position can be directly introduced into the parking target position with respect to the target parking position that is, the possibility of direct parking increases. If direct parking is possible, introduction to the target parking position can be realized as it is.
- Patent Document 2 shows that parking support is started by stopping a vehicle at a position where a parking section can be confirmed and operating a switch.
- a marking line or the like formed on the road surface or the like is obtained from image data captured by a camera, a parking section is detected, and a parking target position is set.
- the parking route calculation unit calculates a temporary parking route from the temporary reverse start position and determines whether or not the target parking position is reached. This calculation can be repeatedly performed when the vehicle moves forward, and when the parking route is established, the notification output unit notifies through a speaker.
- the guidance unit guides the vehicle to the parking position by automatic steering for controlling the power steering unit to move the vehicle backward along the parking path. To do. This parking assistance does not consider back-to-back parking.
- JP 2003-237511 A (paragraph numbers [0016] to [0053], FIGS. 1 to 4)
- JP 2008-284969 A (paragraph numbers [0023] to [0069], FIGS. 1 to 19)
- the reverse parking process can be divided into a direct parking process and a reverse parking process.
- the direct parking process when reverse travel for parking is started from the stop, the vehicle travels as it is until reaching the parking target position, and the stop position in this reverse travel becomes the parking position.
- the first reverse travel is the reverse travel up to the switchback point, temporarily stops at the switchback point, and then travels forward by a predetermined distance. If direct parking is possible at the stop position after the forward traveling, parking is completed by the direct parking process, and if direct parking is impossible, the turn-back parking process is performed again.
- the reverse parking process includes a direct parking process in which the vehicle travels to the final parking position as it is, and a reverse parking process in which the vehicle must stop and move forward during reverse. There is. Therefore, even if parking by reverse is performed by automatic steering by the control device and by manual steering by the driver, whether the backward traveling currently performed is a direct parking process or not. It is important that the driver knows exactly whether it must stop.
- an object of the present invention is to make a driver recognize whether a parking process is a direct parking process or a parking process must be stopped halfway when a vehicle parks backward at a parking target position. It is to provide a parking assistance device capable of performing the above.
- a parking assist device includes a parking target position setting unit that sets a parking target position when a vehicle is parked in reverse, and direct parking that parks without parking at the parking target position.
- a parking route determination unit that determines whether or not parking is possible, and a notification output unit that performs notification for allowing a driver who is traveling in a park to recognize whether parking is possible or impossible based on the determination result of the parking route determination unit. I have.
- the parking route determination unit determines whether direct parking that reaches the parking target position directly in reverse is possible or impossible with no reverse with respect to the parking target position set through the parking target position setting unit. Determined. Based on the determination result, the notification output unit notifies whether the current reverse traveling is a direct parking process, or it is necessary to stop the vehicle halfway for switching back. The person can recognize whether the vehicle moves backward to the parking target position as it is or stops in the middle. As a result, the vehicle can be parked smoothly and with a sense of security.
- a reversing parking route generating unit that generates a reversing parking route that parks at the parking target position through reversing traveling is provided, and the parking route generating unit sets a turning point in the reversing parking.
- the turning point information to be identified is generated, and the notification output unit notifies the turning point based on the turning point information.
- the parking assist control according to the present invention that performs notification for recognizing the possibility or inability of direct parking in which parking is performed without turning back to the target parking position is performed even if the parking process is performed by automatic steering. Even if it is the structure made to perform by artificial steering, it is effective.
- automatic steering the driver can recognize in advance whether the vehicle will advance to the final parking position even if the reverse is started, or stop halfway, so it is a problem that is surprised by an unexpected stop Is avoided.
- drivers who are unfamiliar with driving are informed of the possibility of direct parking in the vehicle posture at that time, even if they are moving backwards, so it is possible to park with a sense of security. Become.
- the notification output unit outputs a reverse reverse sound when direct parking is possible, and outputs a warning sound different from the reverse reverse sound when direct parking is impossible.
- the normal reverse sound for example, beep sound
- the reverse sound for example, beep sound
- a different warning sound for example, a beeping sound
- direct parking is not possible, for example, it is necessary to perform turn-back parking that needs to be stopped halfway, so it is preferable to get the driver's attention by hearing a sound different from the familiar reverse sound. is there.
- a clearly different reverse sound is output compared to when direct parking is possible. High tension can be given compared to parking.
- the parking target position setting unit is configured to calculate the parking target position from vehicle peripheral information detected during forward traveling of the vehicle. Has been. With this configuration, the driver can know from the vehicle position at the time of traveling forward whether the vehicle can be parked backwards, whether it is direct parking, or turnover parking. It is possible to stop and park in the parking position desired by the person.
- the vehicle periphery information here includes a captured image of the vehicle periphery by an in-vehicle camera, distance measurement information of the vehicle periphery by a distance sensor, or empty parking information transmitted from the parking lot side.
- the notification output unit directly parks the driver who is parked forward. It is configured to notify that it is possible. Thereby, the driver can know an appropriate direct parking point only by traveling forward near the parking space.
- the parking target position setting unit to detect the estimated parking area
- image processing for extracting a space that is estimated to be parkable from a captured image acquired from the camera during forward traveling is suitable.
- a camera at least one camera, such as a rear camera that captures the rear of the vehicle, may be used, but if there is a side camera that captures the side of the vehicle or a front camera that captures the front of the vehicle, it can This is advantageous because an estimated parking area can be detected.
- a parking assist device that guides a vehicle that is configured as a passenger car to a parking target area as a parking target position as needed by guidance control will be described.
- the turnover parking process is also executed.
- the vehicle 30 has a front wheel 31 and a rear wheel 32, a driving seat 33 and a steering wheel 34 in the room, and a panel 35 having meters at the front thereof.
- a shift lever 36 for shifting gears is disposed on the side of the driver seat 33.
- the steering wheel 34 is linked to the power steering unit PS that transmits the rotational operation force to the front wheels 31 to perform the driving operation.
- An engine E and a speed change mechanism T composed of a torque converter, CVT, or the like are arranged at the front of the vehicle body to shift the power from the engine E and transmit it to the front wheels 31.
- an accelerator pedal 37 for controlling the traveling speed, a brake pedal 38 for operating the brake device BK of the front wheel 31 and the rear wheel 32 to apply a braking force to the front wheel 31 and the rear wheel 32 are arranged in parallel.
- a monitor 21 having a touch panel 21T formed on the display surface is provided as a display device in the vicinity of the driver seat 33 and in the upper position of the console.
- the monitor 21 is a liquid crystal type equipped with a backlight. Of course, a plasma display type or a CRT type may be used.
- the touch panel 21T is a pressure-sensitive or electrostatic instruction input device that can output a contact position by a finger or the like as location data.
- the monitor 21 is also provided with a speaker 22, but the speaker 22 may be provided at other places such as the inside of a door.
- the monitor 21 is also used as a display device of the navigation system. However, a dedicated monitor 21 may be provided for parking assistance.
- a camera 23 is provided at the rear end of the vehicle 30 as a photographing device for photographing a scene around the vehicle.
- the camera 23 is a digital camera that incorporates an image sensor such as a CCD or CIS, and outputs captured information as moving image information in real time.
- the camera 23 has a wide-angle lens, and a viewing angle of 120 to 140 degrees is secured in the horizontal direction.
- the camera 23 is installed with an included angle of about 30 degrees on the optical axis, and can capture an area up to about 8 m behind the vehicle 30.
- the vehicle 30 is provided with a vehicle state detection sensor group for detecting a driving operation and a moving state. More specifically, the operation system of the steering wheel 34 includes a steering sensor 24 that measures the steering operation direction (steering direction) and the operation amount (steering amount), and the operation system of the shift lever 36 determines the shift position.
- the shift position sensor 25 is provided.
- the operation system of the accelerator pedal 37 is provided with an accelerator sensor 26 that measures the operation amount
- the operation system of the brake pedal 38 is provided with a brake sensor 27 that detects the presence or absence of the operation.
- a movement distance sensor 28 for measuring the movement amount of the vehicle 30 from the rotation amount of the rear wheel 32 is provided.
- a sensor that acquires the movement amount from the rotation amount of the rotation system of the transmission mechanism T may be used.
- the moving distance sensor 28 may measure the amount of rotation of the front wheel 31, and a photo interrupter type or pickup type sensor can be used.
- an ECU 20 that is the core of the parking assist device of the present invention is arranged.
- the ECU 20 includes a sensor input interface 19a and a communication interface 19b as input / output interfaces for inputting / outputting information, and a microprocessor for processing information obtained via the input / output interface, A DSP (digital signal processor) is provided. Also, some or all of the input / output interfaces may be included in such a processor.
- DSP digital signal processor
- the sensor input interface 19a is connected to the above-described vehicle state detection sensor group such as a steering sensor 24 for detecting a driving operation and a moving state.
- the communication interface 19b employs an in-vehicle LAN, and not only the touch panel 21T and the camera 23 but also control units such as a power steering unit PS, a transmission mechanism T, and a brake device BK are connected so as to be able to transmit data.
- the parking assist apparatus of the present invention includes a notification output unit 8 that outputs information to be notified to the driver in the form of graphic information or audio information.
- Elements on the ECU 20 side constituting the notification output unit 8 are an image processing module 8a and a sound processing module 8b configured by a DSP.
- image information for GUI generated by the image processing module 8a and captured image information including an auxiliary image for vehicle guidance are displayed on the monitor 21.
- a voice guide for vehicle guidance, an emergency warning sound, etc. generated by the voice processing module 8b are played by the speaker 22.
- the image acquisition unit 1 the parking target position setting unit 2
- the parking route determination unit 3 the parking route determination unit 3.
- a direct parking route generation unit 4 a turn-back parking route generation unit 5
- a guidance control unit 6 a position information calculation unit 7.
- the image acquisition unit 1 acquires image data captured by the camera 23 via the communication interface 19b, performs necessary preprocessing, and transfers the captured image to another functional unit or the image processing module 8a. .
- the parking target position setting unit 2 calculates the stop position PS as a reference when the vehicle 30 is parked based on the image data acquired by the image acquisition unit 1, and performs automatic processing based on the stop position PS.
- a parking target area G as a target parking position is set from an artificial operation. In this embodiment, as shown in FIGS. 5 and 6, an area sandwiched between two lane markings W (parking lane lines) marked on the road surface as the parking target area G is set.
- the direct parking route generation unit 4 generates a direct parking route K1 that realizes the direct parking as illustrated in FIG.
- the direct parking path K1 may partially include a straight line from the stop position Ps to the parking completion position Pe, or may be a straight line as a whole, but may be substantially indicated by a single curve. it can.
- the return parking route generation unit 5 generates a return parking route K2 that realizes the return parking as illustrated in FIG.
- the return parking path K2 includes a return point P1 and a return forward stop position P2 between the stop position Ps and the parking completion position Pe.
- the return parking path K2 includes the reverse reverse path K21 from the stop position Ps to the return point P1, the reverse advance path K22 from the return point P1 to the forward stop position P2, and the forward stop position P to the parking completion position Pe. It consists of a final parking route K23.
- the switchback path composed of the switchback reverse path K21 and the switchback forward path K22 may be repeated a plurality of times.
- the final parking route K23 is equivalent to the direct parking route K1, and “turn-back parking” finally completes parking in the form of “direct parking” from the forward stop position P2 to the final parking route K23.
- Generation algorithms for the direct parking route K1 and the turn-back parking route K2 are conventionally known. For example, Patent Document 1 and Patent Document 2 described above can be referred to.
- the parking route determination unit 3 determines the possibility of “direct parking” (see FIG. 5) in which the vehicle 30 moves backward with respect to the parking target area G from the stop position PS and directly parks, and the parking target area from the stop position PS. Judgment is made as to the possibility of “turn-back parking” (see FIG. 6) in which the vehicle 30 is turned back to G and parked.
- the direct parking route generation unit 4 can generate the direct parking route K1 that realizes direct parking, it is determined that direct parking is possible.
- the return parking route K2 that realizes the return parking by the return parking route generation unit 5 it is determined that the return parking is possible.
- the position information calculation unit 7 acquires the current vehicle position necessary for guidance of the vehicle 30 and the position of the parking target area G relative to the vehicle 30 when the vehicle 30 moves. That is, in the position information calculation unit 7, the relative position between the vehicle position detection process for detecting the position information of the vehicle 30 that changes with the movement of the vehicle 30 and the parking target area G that changes with the movement of the vehicle 30.
- a parking target position detection process for detecting the relationship is performed. These processes are performed based on the image data captured by the camera 23, the movement amount of the vehicle 30 acquired by the movement distance sensor 28, and the steering amount of the steering wheel 34 measured by the steering sensor 24.
- the guidance control unit 6 Based on the determination result determined by the parking route determination unit 3, the guidance control unit 6 generates direct parking based on the direct parking route K ⁇ b> 1 generated by the direct parking route generation unit 4, and further generates by the return parking route generation unit 5. Guided back parking based on the switched back parking route K2. At that time, the position information from the position information calculation unit 7 is referred to.
- the guidance control unit 6 can realize control for causing the vehicle 30 to travel by guidance control along the direct parking route K1 and the turn-back parking route K2 while referring to the location information from the location information calculation unit 7.
- automatic steering in which the guidance control unit 6 controls the power steering unit PS, the transmission mechanism T, and the brake device BK is limited to backward traveling only, and the forward steering is partially manual steering, such as manual steering.
- the guidance control unit 6 sends guidance information to the image processing module 8a and the audio processing module 8b to display the steering direction and the steering amount on the monitor 21, and outputs the steering direction and the steering amount from the speaker 22. It is preferable to let them.
- the direct parking route generation unit 4 indicates the possibility of generating a direct parking route
- the return parking route generation unit 5 The possibility of generation is calculated. Therefore, the parking route determination unit 3 can determine the possibility of direct parking or turn-back parking at the same timing. For example, if direct parking is possible during the turn-back parking, the parking can be guided directly from that point. Alternatively, if direct parking becomes impossible for some reason such as a steering error during direct parking, the parking is switched to switched parking.
- the parking route determination unit 3 When the parking route determination unit 3 is performing any parking process of direct parking or switchback parking, or when the parking process is changed from any parking process of direct parking or switchback parking to another parking process, Is notified by the notification output unit 8.
- the vehicle 30 travels backward from the stop position Ps to the parking completion position Pe, whereas in the turn-back parking process, the vehicle 30 has to stop once in the backward travel to the turn-back position P1. For this reason, it is important to notify the driver of what process the vehicle is traveling backward when the vehicle is moving backward.
- the parking support control by the parking support apparatus configured as described above will be described with reference to the flowchart of FIG.
- the vehicle 30 is stopped at a position near the parking space, and the parking space is set as the parking target area G (parking target position) (# 01).
- a guidance mode is set when the vehicle 30 is moved backward and guided to the parking target area G based on the stop position of the vehicle 30, the attitude of the vehicle 30, and the parking target area G.
- the parking target position setting unit 2 When setting the parking target area G, the parking target position setting unit 2 displays an image captured by the camera 23 on the monitor 21 as shown in FIG.
- This image includes a pair of left and right vehicle width lines Yw and predicted course lines Y1, Y2, and Y3 corresponding to 5 m (meters), 3 m, and 1 m with respect to an image of the rear periphery of the vehicle 30 taken by the camera 23.
- a guide indicator is displayed by the process of superimposing.
- This screen displays a pair of left and right frame-like attention areas V, and a message such as “Please set parking target position” is also displayed on this screen (a message may be output by voice) ).
- the video displayed on the monitor 21 is the one in which the left and right directions are switched, and has the same display form as that displayed on the room mirror.
- the attention area V moves by a distance corresponding to the operation amount.
- the parking target position setting unit 2 displays a frame-like area F in the area sandwiched by the lane marking W.
- the driver operates the confirmation button 41 of the monitor 21 to set the position of the frame-shaped area F as the parking target area G.
- the operation mode for setting the frame-like area F is not limited to that described above, and the driver moves the frame-like area F displayed on the monitor 21 by operating switches via the touch panel 21T. It is also possible to set as follows.
- the parking target position setting unit 2 uses a two-dimensional coordinate system to express the road surface position indicated by the frame-like area F displayed on the monitor 21 and the position of the vehicle 30 in a stopped state. It is calculated as information. And the information which shows the positional relationship of the stop position of the vehicle 30 and the parking target area G is stored in the predetermined memory address of ECU20 as the information digitized by the two-dimensional coordinate system.
- the direct parking route generation unit 4 creates a direct parking route, and if the creation is successful, the created direct parking If the route information is stored at a predetermined memory address and unsuccessful, a flag indicating that direct parking is impossible is set.
- the return parking route generation unit 5 creates a return parking route, and when the creation is successful, the return parking route information is stored in a predetermined memory address. Raise an unparkable flag.
- the parking route determination unit 3 can perform direct parking and cannot perform direct parking (this requires repeated parking). (Step # 02).
- the notification output unit 8 notifies the direct parking information (step # 21).
- the letters “direct parking” are displayed on the monitor 21 together with the back monitor screen, and the frame-like area F is displayed in green.
- a reverse sound for example, a beep sound
- a beep sound often used when the vehicle is traveling backward is emitted from the speaker 22.
- step # 22 When direct parking is executed and the vehicle 30 travels a predetermined distance (step # 22), the determination process by the parking route determination unit 3 is executed again (step # 23).
- step # 24 direct parking branch
- step # 25 a stop command is issued (step # 26), and the reverse traveling parking is completed after waiting for the vehicle 30 to stop.
- step # 03 direct parking branch
- step # 24 direct parking branch
- the notification output unit 8 notifies the direct parking information.
- step # 31 the monitor 21 displays the characters “turn-back parking” and the message “go backward to the turn-back point” together with the back monitor screen.
- the frame-like area F is displayed in red.
- the flagged pole 42 indicating the turning point P1 is further displayed based on the turning back parking route information, it is clearer to the driver that the turning point P exists and that it is necessary to stop there. Can be recognized.
- a warning sound for example, a beeping sound
- the reverse sound for example, a beeping sound
- the speaker 22 is more nervous than in reverse in direct parking that reaches the final parking position without stopping midway.
- a feeling can be given.
- the form of the marker indicating the turning point P1 is not limited to the flagged pole 42, and other shapes such as a flagless pole and a pylon (road cone) can be employed.
- step # 33 the determination process by the parking route determination unit 3 is executed again (step # 33).
- step # 34 “turn-back parking branch”
- step # 35 it is checked whether or not the vehicle 30 has reached the turn-back point P1 (step # 35). If the vehicle 30 has not yet reached the parking turn-back point P1 (step # 35, No branch), the process returns to step # 32 again to continue the turn-back parking.
- step # 34 direct parking branch
- step # 34 direct parking branch
- step # 35 Yes branch
- step # 36 the determination process by the parking route determination part 3 is performed again (step # 37).
- step # 38 “turn-back parking branch”
- step # 39 Yes branch
- step # 32 the reverse travel to the new return point P1 in the reverse parking is resumed.
- step # 38 direct parking branch
- the parking completion position remains as it is currently being performed.
- Different notifications are given when Pe can be reached and when a turn-back is necessary and a stop at the turn-off point is required.
- the driver can recognize whether he is currently in the direct parking process or the turn-back parking process, thereby enabling smooth and secure parking.
- the driver stops the vehicle 30 at a position near the parking space, and sets the parking target area G as the parking target position (# 01 in FIG. 7). reference).
- the parking target position setting unit 2 of the ECU 20 sets the parking target area G based on the photographed image sent from the camera 23 while traveling forward in the vicinity of the parking space.
- the parking route determination unit 3 determines the possibility of “direct parking” and “turn-back parking” with respect to the parking target area G.
- the vehicle is traveling forward in the vicinity of the parking space (for example, when the driver is traveling forward to search for the parking space in an attempt to park from now on).
- This parking support control is started when the driver operates a button or a switch for instructing the start of the parking support control when the vehicle 30 approaches the parking space.
- the image acquisition unit 1 acquires image data that is a captured image from the camera 23.
- the camera 23 is only a rear camera that captures the rear of the vehicle, but it is convenient if a side camera that captures the side of the vehicle and a front camera that captures the front of the vehicle are provided. All captured images from these cameras can be used for parking assist control. Moreover, it is possible to generate a bird's-eye view image from these captured images and determine a place to park from the bird's-eye view image. In any case, an estimated parking area process for detecting an estimated parking area where there is a possibility of parking is performed from an acquired captured image (an example of vehicle periphery information) using an appropriate image processing technique (# 102). .
- an area where the vehicle 30 may be parked is detected (for example, a space larger than the vehicle 30 is detected so that the vehicle 30 can be parked).
- a typical one of such processes is to recognize a white line formed on the road surface to indicate a parking area by image processing a captured image from the camera 23, and to determine an area defined by the white line.
- This process is regarded as an estimated parking area.
- the process returns to step # 101 to acquire a captured image in the next sampling.
- the parking target area G that is the parking target position is calculated from this estimated parking area (setting of the area and position of the parking target area G) (# 104).
- the parking target position setting unit 2 performs estimated parking area processing and parking target position calculation processing.
- the process proceeds to the control step of step # 02 in FIG. 7 and the control process described with reference to FIG. 7 thereafter is performed.
- the vehicle periphery information for detecting the estimated parking area information detected by the obstacle detection means by an ultrasonic sensor, a distance laser, or the like can be used in addition to the above-described captured image. That is, information from these obstacle detection means is used to detect a space where parking is possible.
- the parking target position setting unit 2 sets the parking target area G as the parking target position in place of the driver.
- the parking target position setting unit 2 sets the parking target area G during forward travel on behalf of the driver, and further, the parking route determination unit for the parking target area G. 3 and the direct parking route determination unit 4 determine whether or not direct parking is possible, and inform the driver that a point at which “direct parking” is possible is reached only when direct parking is possible. That is, in the third embodiment, there is an advantage that the driver can know a point at which direct parking, which is simpler parking than the reverse parking, is possible while traveling forward in the vicinity of the parking space. An example of such parking support control will be described with reference to the flowchart of FIG.
- This parking support control is also started when the driver operates the button or switch for instructing the start of the parking support control when the vehicle 30 approaches the parking space. Since the processing from step # 201 to step # 204 is the same as the processing from step # 101 to step # 104 in the second embodiment, the description thereof is omitted here.
- the parking route determination unit 3 and the direct parking route determination unit 4 perform direct parking determination processing as to whether or not the parking target area G can be directly parked (#). 205). If direct parking is not possible (# 206 No branch), the process returns to step # 201 to obtain a captured image in the next sampling. When direct parking is possible (# 206 Yes branch), the process proceeds to the control step of step # 21 in FIG.
- reporting output part 8 which performs the alerting
- working recognize directly the possibility of parking or impossible based on the determination result of the said parking route determination part 3 is a graphical form. In both audible forms, a notification that distinguishes between direct parking and turn-back parking was output. Of course, the notification may be made only in one of the forms.
- the graphical form is not limited to the color change as described above, such that the frame-like area F is displayed in green during direct parking, and the frame-like area F is displayed in red during reverse parking.
- the frame-shaped area F may be distinguished by a solid line, a dotted line, a semi-transparent line, or the like when directly parking and when turning back, or may be distinguished by lighting and blinking.
- Various visual information transmission designs suitable for allowing the driver to recognize the time of direct parking and the time of turn-back parking can be employed.
- a notification form other than a graphical form or an audible form for example, a form of notification of bodily sensation such as vibration, or a form of notification by light impact or thermal shock may be adopted.
- the normal reverse sound (beep sound) is output during direct parking, and the reverse sound (beep sound) that cannot be heard during reverse parking is output. It is not limited to.
- a relatively gentle melody sound may be output during direct parking, and a relatively tense melody sound may be output during reverse parking. It may be.
- the guidance control of the vehicle by the guidance control unit 6 is not limited to the form of automatic steering as described above. For example, the route indicating the moving direction of the vehicle is displayed on the monitor 21 and the steering direction and the steering amount are displayed. It may be configured to display or only output the steering direction and the steering amount from the speaker 22 by voice, and the actual steering may be performed by the driver.
- the parking travel from the stop position Ps that is the parking start position to the parking completion position Pe that is the parking target position is performed by automatic steering by the guidance control unit 6.
- Automatic steering by the guidance control unit 6 may be limited only to the direct parking route K1 (the final parking route K23 in the turn-back parking route K2 may be included).
- the automatic steering by the guidance control unit 6 may be limited to only the reverse reverse route K21 or the reverse forward route K22 in the reverse parking route K2, or both.
- a configuration may be adopted in which automatic steering by the guidance control unit 6 is stopped and the vehicle 30 is parked only by artificial steering by the driver.
- the parking support control when direct parking is impossible, the parking route for the reverse parking is generated and changed to the parking support for the reverse parking.
- a configuration may be adopted in which whether direct parking is possible or impossible is notified not only at the start of parking but also during parking travel. In this case, the return parking route generation unit 5 can be omitted.
- the parking target position setting unit 2 sets the parking target area G as the target parking position based on the stop position PS calculated based on the image data acquired by the image acquisition unit 1.
- the configuration of the parking target position setting unit 2 can be variously modified. For example, it is possible to measure the distance to the surrounding object using ultrasonic sonar and set the parking target area G as the target parking position based on the measurement result. It is also possible to set the parking target area G with the position having a predetermined relative positional relationship as a target parking position with reference to the temporary stop position where the driver temporarily stops the vehicle. Furthermore, it is also possible to employ a method in which image processing of a captured image from the camera 23 and measurement processing using ultrasonic sonar are combined.
- Parking target position setting unit 3 Parking route determination unit 4: Direct parking route generation unit 5: Reverse parking route generation unit 6: Guidance control unit 7: Position information calculation unit 8: Notification output unit 8a: Image processing module 8b: Audio processing module 21: monitor 22: speaker 30: vehicle
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Abstract
Description
この実施の形態では、乗用車として構成される車両を誘導制御により駐車目標位置としての駐車目標エリアに必要に応じて誘導する駐車支援装置を説明するこの駐車走行プロセスにおいては、1回の後進で駐車目標エリアに到達させる直接駐車が不可能で、切り返しが必要な場合には切り返し駐車プロセスも実行される。
〔車両などの基本構成〕
本発明の駐車支援装置は、図4に示す如く、運転者に報知すべき情報をグラフィック情報や音声情報の形態で出力する報知出力部8を備えている。この報知出力部8を構成するECU20側の要素は、DSPで構成される画像処理モジュール8aと音声処理モジュール8bである。画像処理モジュール8aで生成されたGUI用の各種画像情報や車両誘導のための補助画像を含む撮影画像情報はモニタ21に表示される。音声処理モジュール8bで生成された車両誘導のための音声ガイドや緊急時の警告音などはスピーカ22で鳴らされる。
目標位置検出処理とを行う。これらの処理はカメラ23で撮影された画像データと、移動距離センサ28で取得する車両30の移動量と、ステアリングセンサ24で計測されるステアリングホイール34の操舵量とに基づいて行われる。
駐車支援制御によって後進駐車を行う場合には、駐車スペースの近傍位置で車両30を停車し、駐車スペースを駐車目標エリアG(駐車目標位置)に設定する(#01)。この設定により、車両30の停車位置と、車両30の姿勢と、駐車目標エリアGとに基づいて車両30を後進させて駐車目標エリアGに誘導する際の誘導モードの設定が行われる。
左右方向を入れ替えたものであり、ルームミラーに映るものと同様の表示形態となる。
(1)
先の実施の形態(第1の実施の形態)では、運転者が駐車スペースの近傍位置で車両30を停車し、駐車目標位置としての駐車目標エリアGを設定していた(図7の#01参照)。この第2の実施形態では、駐車スペースの近傍位置を前進走行しながら、ECU20の駐車目標位置設定部2がカメラ23から送られてくる撮影画像に基づいて駐車目標エリアGを設定し、その設定された駐車目標エリアGに対する「直接駐車」及び「切り返し駐車」の可能性を駐車経路判定部3が判定する。つまり、この第2の実施の形態では、駐車スペースの近傍を前進走行中(例えば、これから駐車しようとして駐車スペースを運転者が探すために前進走行しているような場合である。すなわち、駐車目標エリアはまだ未設定の状態である。)において、車両30が「切り返し駐車」可能なポイントに到達すれば、「切り返し駐車」可能の報知を、車両30が「直接駐車」可能なポイントに到達すれば、「直接駐車」可能の報知をECU20が行ってくれる。このような駐車支援制御の一例を図13のフローチャートを用いて説明する。この駐車支援制御は、車両30が駐車スペースに近づいた時に運転者が駐車支援制御のスタートを指令するボタンやスイッチなどの操作を行うことで開始される。まず、車両周辺情報の一例として、画像取得部1がカメラ23からの撮影画像である画像データを取得する。なお、第1の実施形態ではカメラ23は車両後方を撮影するリアカメラのみであったが、車両側方を撮影するサイドカメラや車両前方を撮影するフロントカメラが備えられていると好都合であり、それらのカメラからの撮影画像がすべて駐車支援制御に利用することができる。また、これらの撮影画像から俯瞰画像を生成して、その俯瞰画像から駐車すべき場所を決定することができる。いずれにせよ、取得された撮影画像(車両周辺情報の一例)から、適当な画像処理技術を用いて、駐車の可能性がある推定駐車領域を検出する推定駐車領域処理が行われる(#102)。この推定駐車領域処理では、車両30が駐車できる可能性のある領域が検出される(例えば、車両30が駐車可能なように車両30より大きな空間が検出される)。そのような処理の典型的な一つは、駐車領域を示すために路面に形成された白線を、カメラ23からの撮影画像を画像処理することで画像認識し、当該白線によって規定される領域を推定駐車領域とみなす処理である。また、白線のような指標がない場合、道路面と類似する表面を有するとともに車両30より十分に大きなスペースが確保できる路面を推定駐車領域として認識する方法を採用することも可能である。さらには、カメラ23からの撮影位置が異なる複数の撮影画像を利用して、移動ステレオ画像技術に基づいての駐車可能な三次元空間を見つけ出し、それを推定駐車領域とする技術を採用することも可能である。もちろん、複数のカメラ23がステレオ画像が作り出されるように設けられている場合移動ステレオ画像技術でなく通常ステレオ画像技術が用いられる。
取得した画像データから推定駐車領域が検出できなかった場合(#103No分岐)、ステップ#101に戻って次のサンプリングにおける撮影画像を取得する。推定駐車領域が検出できた場合(#103Yes分岐)、この推定駐車領域から駐車目標位置である駐車目標エリアGを算定(駐車目標エリアGの領域や位置の設定)する(#104)。この第2の実施の形態では、駐車目標位置設定部2が推定駐車領域処理や駐車目標位置算定処理を行う。駐車目標エリアGが算定されると、あとは、図7におけるステップ#02の制御ステップに移行して、それ以降の図7を用いて説明された制御処理が行われる。
なお、推定駐車領域を検出するための車両周辺情報としては、上述した撮影画像以外に、超音波センサや距離レーザ等により障害物検出手段によって検出された情報も利用できる。すなわち、これらの障害物検出手段からの情報が駐車可能な空間を検出するために利用される。
上記第2の実施の形態では、運転者に代わって駐車目標位置設定部2が駐車目標位置としての駐車目標エリアGを設定した。この第3の実施の形態では、同様に運転者に代わって駐車目標位置設定部2が前進走行中に駐車目標エリアGを設定するが、さらに、その駐車目標エリアGに対して駐車経路判定部3と直接駐車経路判定部4とが直接駐車できるかどうかの判定を行い、直接駐車できる場合にのみ運転者に「直接駐車」可能なポイントに到達したことを報知する。つまり、この第3の実施の形態では、運転者は駐車スペースの近傍を前進走行しながら、切り返し駐車より簡単な駐車である直接駐車が可能なポイントを知ることができるという、利点がある。このような駐車支援制御の一例を図14のフローチャートを用いて説明する。この駐車支援制御でも、車両30が駐車スペースに近づいた時に運転者が駐車支援制御のスタートを指令するボタンやスイッチなどの操作を行うことで開始される。ステップ#201からステップ#204までの処理は、第2の実施の形態でのステップ#101からステップ#104までの処理と同じであるので、ここではその説明は省略する。ステップ#204で駐車目標エリアGが算定されると、この駐車目標エリアGに対して直接駐車できるかどうかの直接駐車判定処理が駐車経路判定部3と直接駐車経路判定部4によって行われる(#205)。直接駐車が不可能である場合(#206No分岐)、ステップ#201に戻って次のサンプリングにおける撮影画像を取得する。直接駐車が可能である場合(#206Yes分岐)、図7におけるステップ#21の制御ステップに移行して、それ以降の図7を用いて説明された制御処理が行われる。なお、本願の実施形態全てに共通するが、直接駐車と切り返し駐車が共に可能な場合には、直接駐車が可能であることのみを報知して、切り返し駐車が可能なことは報知しないようにしてもよい。
〔変形例〕
(1)
上述した実施の形態では、駐車走行中の運転者に前記駐車経路判定部3の判定結果に基づいて直接駐車の可能または不能を認識させるための報知を行う報知出力部8は、グラフィカルな形態とオーディブルな形態の両方で直接駐車と切り返し駐車とを区別する報知を出力していた。もちろん、いずれか一方での形態での報知だけにしてもよい。また、グラフィカルな形態としても、上述したような、直接駐車時には枠状エリアFが緑色で表示され、切り返し駐車時には枠状エリアFが赤色で表示されるというような色変更だけに限定されない。例えば、直接駐車時と切り返し駐車時とで、枠状エリアFを実線、点線、半透明線などで区別するようにしてもよいし、点灯と点滅とで区別してもよい。直接駐車時と切り返し駐車時とを運転者に認識させるために好適な種々の視覚情報伝達デザインを採用することができる。さらには、報知の形態として、グラフィカルな形態やオーディブルな形態以外の報知形態、例えば振動等の体感報知形態や光衝撃や熱衝撃による報知形態を採用してもよい。
オーディブルな形態としても、上述したような、直接駐車時には通常の聞きなれたリバース音(ピーピー音)が出力され、切り返し駐車時には聞きなれないリバース音(ピッピッ音)が出力されるといったような形態に限定されない。直接駐車時には比較的穏やかなメロディー音が出力され、切り返し駐車時には比較的緊張感のあるメロディー音が出力される形態を採用してもよいし、直接的な音声で区別して報知する形態を採用してもでもよい。
(2)
誘導制御部6による車両の誘導制御は、上述したような自動操舵の形態だけではなく、例えば、モニタ21に対して車両の移動方向を示す経路を表示することや、操舵方向と操舵量とを表示すること、あるいは、操舵方向や操舵量を音声によってスピーカ22から出力するだけとし、実際の操舵は運転者に行わせる構成であってもよい。
(3)
上述した実施の形態では、駐車開始位置である停車位置Psから駐車目標位置である駐車完了位置Peに車両30が駐車するまでの駐車走行は誘導制御部6による自動操舵で行われていたが、誘導制御部6による自動操舵を直接駐車経路K1(切り返し駐車経路K2における最終駐車経路K23を含ませてもよい)だけに限定してもよい。逆に、誘導制御部6による自動操舵を、切り返し駐車経路K2における切り返し後進経路K21または切り返し前進経路K22とあるいはその両方だけに限定してもよい。さらには、誘導制御部6による自動操舵をやめて、運転者による人為操舵のみで車両30を駐車させる構成を採用してもよい。この場合は、運転者による自由駐車プロセスにおいて、直接駐車が可能な状態においてはその旨の報知がなされ、直接駐車が不能な状態で切り返し駐車が可能な状態あるいは駐車そのものが不可能な状態においてはその旨の報知がなされる。
(4)
上述した実施の形態では、駐車支援制御では、直接駐車が不可能となった場合には切り返し駐車の駐車経路を生成して切り返し駐車での駐車支援に変更していたが、切り返し駐車経路の生成は行わずに、単に直接駐車が可能であるかあるいは不能であるかを、駐車開始時だけでなく駐車走行中に報知するような構成を採用してもよい。この場合には、切り返し駐車経路生成部5を省略することができる。
(5)
上述した実施の形態では、駐車目標位置設定部2が、画像取得部1で取得された画像データに基づいて算定された停車位置PSに基づいて目標駐車位置としての駐車目標エリアGを設定すると記載していたが、駐車目標位置設定部2の構成は種々の改変が可能である。例えば、超音波ソナー用いて周辺物体までの距離を測定し、その測定結果に基づいて目標駐車位置としての駐車目標エリアGを設定することも可能である。また、運転者が車両を一旦停止させた一旦停止位置を基準として所定の相対位置関係にある位置を目標駐車位置としての駐車目標エリアGを設定することも可能である。さらには、カメラ23からの撮影画像の画像処理と超音波ソナーによる測定処理を組み合わせる方法を採用することも可能である。
3:駐車経路判定部
4:直接駐車経路生成部
5:切り返し駐車経路生成部
6:誘導制御部
7:位置情報算定部
8:報知出力部
8a:画像処理モジュール
8b:音声処理モジュール
21:モニタ
22:スピーカ
30:車両
Claims (9)
- 車両を後進で駐車する際の駐車目標位置を設定する駐車目標位置設定部と、
前記駐車目標位置に切り返しなしで駐車する直接駐車の可能・不能の判定を行う駐車経路判定部と、
駐車走行中の運転者に前記駐車経路判定部の判定結果に基づいて直接駐車の可能または不能を認識させるための報知を行う報知出力部と、
を備えた駐車支援装置。 - 前記駐車目標位置に切り返し走行を通じて駐車する切り返し駐車の駐車経路を生成する切り返し駐車経路生成部が備えられ、この切り返し駐車経路生成部が切り返し駐車における切り返し点を特定する切り返し点情報を生成し、前記報知出力部は前記切り返し点情報に基づいて切り返し点を報知する請求項1に記載の駐車支援装置。
- 前記報知出力部は、前記直接駐車の可能または不能を認識させるための報知を、モニタでの画像表示または音声出力あるいはその両方によって実施する請求項1または2に記載の駐車支援装置。
- 前記直接駐車または前記切り返し駐車あるいはその両方を車両の自動操舵によって行う誘導制御部が備えられている請求項2に記載の駐車支援装置。
- 前記直接駐車及び前記切り返し駐車が運転者による人為操舵によって行われる請求項2に記載の駐車支援装置。
- 前記報知出力部は直接駐車の可能時には後進用リバース音を出力し、直接駐車の不能時には前記後進用リバース音とは異なる警告音を出力する請求項1から5のいずれか一項に記載の駐車支援装置。
- 前記駐車目標位置設定部が前記車両の前進走行中に検出された車両周辺情報から前記駐車目標位置を算定する請求項1に記載の駐車支援装置。
- 前記報知出力部は、直接駐車が可能であると前記駐車経路判定部が判定した場合、前記前進走行中の運転者に直接駐車が可能であることを報知する請求項7に記載の駐車支援装置。
- 前記駐車目標位置設定部は、少なくとも1つのカメラから取得した撮影画像に基づいて推定駐車領域を検出する請求項7又は8に記載の駐車支援装置。
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CN201080009651.7A CN102333681B (zh) | 2009-02-26 | 2010-02-15 | 驻车支援装置 |
EP10746097.4A EP2402220B1 (en) | 2009-02-26 | 2010-02-15 | Parking assistance device |
JP2011501553A JP5522485B2 (ja) | 2009-02-26 | 2010-02-15 | 駐車支援装置 |
US13/202,259 US8599043B2 (en) | 2009-02-26 | 2010-02-15 | Parking assist apparatus |
KR1020117019974A KR101332932B1 (ko) | 2009-02-26 | 2010-02-15 | 주차지원장치 |
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PCT/JP2010/052135 WO2010098216A1 (ja) | 2009-02-26 | 2010-02-15 | 駐車支援装置 |
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US (1) | US8599043B2 (ja) |
EP (1) | EP2402220B1 (ja) |
JP (1) | JP5522485B2 (ja) |
KR (1) | KR101332932B1 (ja) |
CN (1) | CN102333681B (ja) |
WO (1) | WO2010098216A1 (ja) |
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CN102530063A (zh) * | 2010-10-22 | 2012-07-04 | 株式会社捷太格特 | 油压式动力转向装置 |
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JP2012206656A (ja) * | 2011-03-30 | 2012-10-25 | Panasonic Corp | 駐車支援装置 |
JP2013043505A (ja) * | 2011-08-23 | 2013-03-04 | Nissan Motor Co Ltd | 駐車支援装置及び駐車支援方法 |
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JP2018034659A (ja) * | 2016-08-31 | 2018-03-08 | アイシン精機株式会社 | 駐車支援装置 |
JP2020154470A (ja) * | 2019-03-18 | 2020-09-24 | 株式会社リコー | 自律移動装置、自律移動装置の移動制御方法および自律移動装置と搬送対象車との連結制御方法 |
JP2022064677A (ja) * | 2020-10-14 | 2022-04-26 | 株式会社デンソー | 表示制御装置、表示装置及び表示制御プログラム |
JP7503995B2 (ja) | 2020-10-14 | 2024-06-21 | 株式会社デンソー | 表示制御装置、表示装置及び表示制御プログラム |
JP7514223B2 (ja) | 2021-12-22 | 2024-07-10 | 本田技研工業株式会社 | 制御装置、及び移動制御システム |
Also Published As
Publication number | Publication date |
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EP2402220B1 (en) | 2014-11-05 |
EP2402220A4 (en) | 2012-06-27 |
JPWO2010098216A1 (ja) | 2012-08-30 |
CN102333681A (zh) | 2012-01-25 |
JP5522485B2 (ja) | 2014-06-18 |
EP2402220A1 (en) | 2012-01-04 |
KR101332932B1 (ko) | 2013-11-26 |
KR20110132348A (ko) | 2011-12-07 |
US20110298639A1 (en) | 2011-12-08 |
CN102333681B (zh) | 2014-11-05 |
US8599043B2 (en) | 2013-12-03 |
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