WO2011132309A1 - Dispositif d'aide au stationnement - Google Patents

Dispositif d'aide au stationnement Download PDF

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Publication number
WO2011132309A1
WO2011132309A1 PCT/JP2010/057243 JP2010057243W WO2011132309A1 WO 2011132309 A1 WO2011132309 A1 WO 2011132309A1 JP 2010057243 W JP2010057243 W JP 2010057243W WO 2011132309 A1 WO2011132309 A1 WO 2011132309A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking
parking frame
stop position
entrance
Prior art date
Application number
PCT/JP2010/057243
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English (en)
Japanese (ja)
Inventor
信 田中
和則 香川
悟 丹羽
明久 横山
一広 森本
有華 祖父江
淳一 脇田
Original Assignee
トヨタ自動車株式会社
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 トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to JP2012511492A priority Critical patent/JP5408344B2/ja
Priority to PCT/JP2010/057243 priority patent/WO2011132309A1/fr
Publication of WO2011132309A1 publication Critical patent/WO2011132309A1/fr

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Classifications

    • 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
    • B62D15/0285—Parking performed automatically

Definitions

  • the present invention relates to a parking assist device, and more particularly to a parking assist device that parks the host vehicle in a parking frame by travel control that does not depend on an operation of a driver who is boarding the host vehicle or by remote operation from outside the host vehicle.
  • Patent Document 1 discloses a parking assist device that displays an image of the rear of a vehicle on a display and superimposes parking guidance information on the display.
  • This parking assistance apparatus includes passage width measuring means for measuring the passage width.
  • an initial stop position required for parallel parking in the target parking frame is calculated based on the passage width measured by the passage width measuring means.
  • a guide display for guiding the vehicle to the initial stop position is displayed on the display.
  • the present invention has been made in consideration of such circumstances, and its purpose is to prevent the passage of other vehicles in the vicinity of the parking frame from being obstructed when the vehicle is parked in the parking frame by remote control or the like.
  • the present invention is a parking assistance device that assists a driver when parking a host vehicle in a parking frame, and detects the size of an area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame.
  • a possible area detection unit a traffic volume detection unit that detects the traffic volume of other vehicles in the vicinity of the parking frame, and a stop for the vehicle to temporarily stop near the entrance of the parking frame before parking the vehicle in the parking frame.
  • a stop position determination unit for determining a position is a size of an area where the host vehicle and other vehicles can travel near the entrance of the parking frame detected by the travelable area detection unit, and a traffic volume detection unit
  • This is a parking assist device that determines a stop position according to at least one of the traffic volumes of other vehicles in the vicinity of the entrance of the parking frame detected by.
  • the parking assist device assists the operator when the host vehicle is parked in the parking frame.
  • the stop position determination unit determines a stop position for the host vehicle to temporarily stop near the entrance of the parking frame before the host vehicle is parked in the parking frame. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking. Furthermore, the stop position determination unit determines the stop position according to at least one of the size of the area where the host vehicle and other vehicles can travel near the entrance of the parking frame and the traffic volume of other vehicles near the entrance of the parking frame. decide. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
  • the stop position determination unit is outside the parking frame when the size of the area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame exceeds a predetermined threshold. A position where the vehicle can move without switching forward and backward from the stop position into the parking frame can be determined as the stop position.
  • the stop position determination unit is outside the parking frame when the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or greater than a predetermined threshold.
  • a position where the host vehicle can move from the stop position to the parking frame without switching between forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle from the stop position into the parking frame.
  • the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When it is equal to or less than the threshold value, the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame before the entrance of the parking frame can be determined as the stop position.
  • the stop position determination unit is located in front of the entrance of the parking frame, and the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame is set to the stop position. Determine as. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
  • the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When the threshold value is exceeded, the position where at least a part of the host vehicle enters the parking frame can be determined as the stop position.
  • the stop position determination unit determines the position where at least a part of the host vehicle enters the parking frame as the stop position. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
  • the stop position determination unit loads and unloads the position and luggage from which the passenger can get off according to the arrangement of the passenger in the own vehicle and the luggage loaded in the own vehicle in the own vehicle. Any of the possible positions can be determined as the stop position.
  • the stop position determination unit automatically determines the position and the luggage that the occupant can get off according to the arrangement of either the occupant who is boarding the host vehicle and the baggage that is mounted on the host vehicle.
  • One of the positions where the vehicle can be unloaded from the vehicle is determined as the stop position. For this reason, even if it is difficult to get off the passenger or luggage in the parking frame because the parking frame is narrow, the passenger or the luggage can be removed from the own vehicle.
  • the stop position determination unit can determine the stop position according to the amount of light near the entrance of the parking frame.
  • a stop position determination unit determines a stop position according to the light quantity of the entrance vicinity of a parking frame. For this reason, it becomes easy to park the own vehicle in a parking frame by remote operation from the outside of the own vehicle.
  • the parking assist device of the present invention it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
  • the parking assist device of the present embodiment temporarily stops the vehicle outside the parking frame in a situation where the parking frame is narrow and it is difficult to open the door greatly when the vehicle is parked and it is difficult to get off the vehicle, and boarding
  • the vehicle is parked in the parking frame by remote control or automatic control after the person or baggage is dismounted.
  • the parking assistance device 100 mounted on a vehicle in the remote operation system of the present embodiment includes a communication unit 101, a GPS 102, a radar sensor 103, an ultrasonic sensor 104, a vehicle speed detection unit 105, and a steering angle detection unit.
  • 106 a seat load sensor 107, a trunk load sensor 108, a light quantity sensor 109, an ECU 110, a display 112, a speaker 114, a steering control unit 122, a driving force control unit 124, and a braking force control unit 126.
  • the communication unit 101 is a part for transmitting and receiving wireless signals to and from the mobile terminal. Moreover, the communication part 101 is a site
  • roadside facilities such as an optical beacon
  • a GPS (Global Positioning System) 102 is a part for measuring the position of the host vehicle.
  • the GPS 102 is also used to acquire information on road shapes and facilities around the host vehicle from map information in the database and the position of the host vehicle.
  • the radar sensor 103 and the ultrasonic sensor 104 are sensors for detecting obstacles around the host vehicle.
  • the radar sensor 103 and the ultrasonic sensor 104 are also used to acquire information related to the road shape around the host vehicle.
  • the vehicle speed detection unit 105 is a part for detecting the vehicle speed of the host vehicle from the rotational speed of the wheel.
  • the rudder angle detector 106 is a part for detecting the rudder angle of the host vehicle.
  • the seat load sensor 107 is for detecting the presence or absence of an occupant on the own vehicle and the arrangement of the occupant in the own vehicle by detecting the load on the seat of the own vehicle.
  • the trunk load sensor 108 detects the load on the floor of the trunk of the host vehicle, thereby detecting the presence / absence of luggage loaded on the host vehicle and the arrangement of the luggage within the host vehicle.
  • the light quantity sensor 109 is for detecting the difficulty of remote operation of the own vehicle according to the weather and the time zone of the day by detecting the light quantity around the own vehicle.
  • ECU 110 is a part for comprehensively controlling each component of the parking support apparatus 100.
  • ECU110 controls the own vehicle according to the command from a portable terminal.
  • ECU110 runs the own vehicle by performing the parking program memorize
  • the display 112 is for displaying an appropriate stop position, operation, and the like for dismounting passengers, luggage, and the like with a video to the driver of the host vehicle.
  • the display 112 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
  • the speaker 114 is used to notify the driver of the host vehicle by voice of an appropriate stop position, operation, and the like for dismounting passengers and luggage.
  • the steering control unit 122 is a part for performing steering without changing the steering operation input to the steering wheel in accordance with a command signal from the main control unit 112 of the ECU 110 and changing the traveling direction of the vehicle.
  • the driving force control unit 124 is a part for changing the driving force of the vehicle by opening and closing the throttle valve in accordance with the command signal from the main control unit 112 without depending on the acceleration operation input to the accelerator pedal.
  • the braking force control unit 126 is a part for changing the braking force of the vehicle by controlling the brake hydraulic pressure without depending on the braking operation input to the brake pedal in accordance with the command signal from the main control unit 112.
  • the steering control unit 122, the driving force control unit 124, and the braking force control unit 126 may be those that apply reaction force to the steering wheel, the accelerator pedal, and the brake pedal, respectively, and guide the driving operation of the driver.
  • the mobile terminal 200 for the user to remotely operate the host vehicle outside the passenger compartment includes a communication unit 202, a user input unit 206, and an ECU 210.
  • the communication unit 202 is a part for transmitting and receiving radio signals to and from the parking assist device 100 of the host vehicle.
  • the user input unit 206 is a part for a user who remotely operates the host vehicle to input information for operation.
  • the user input unit 206 includes operation keys and buttons that cause the parking support apparatus 100 to execute a parking program and change the setting information.
  • ECU 210 is a part for controlling each operation of portable terminal 200.
  • the parking assist device of the present embodiment has a narrow parking frame P, and it is difficult to open the door greatly when the host vehicle VM is parked in the injection frame P. Assume that it is difficult to get off from the VM.
  • the parking assistance device of the present embodiment is used in a situation where the host vehicle VM is approaching the parking frame P.
  • the ECU 110 of the parking assist device 100 is configured such that the facing space width (road width) W, which is the distance from the entrance of the parking frame P to the roadside where the vehicle cannot travel, near the entrance of the parking frame P Information such as the traffic volume T of the other vehicle, the arrangement of passengers and luggage in the host vehicle VM, and the amount of light near the entrance of the parking frame P is acquired (S11).
  • These data can be acquired by the communication unit 101 or the GPS 102, or can be detected by the radar sensor 103, the ultrasonic sensor 104, the seat load sensor 107, the trunk load sensor 108, and the light amount sensor 109.
  • the driver may store each data in a database in the ECU 110 in advance.
  • operator etc. may input data from the portable terminal 200 from the user input part 206, and may transmit the said data to the parking assistance apparatus 100 side by the communication part 202.
  • the ECU 110 determines whether or not the facing space width W is larger than a predetermined threshold value W th (S12). As shown in FIG. 4, when W 1 > W th , the facing space width W 1 is larger than W th and the host vehicle VM faces front and rear in the width direction of the road regardless of the amount of traffic T. Even if the road is blocked and stopped, the following vehicle VF can pass (S12). Therefore, in this case, the ECU 110 determines a position where the host vehicle VM can move from the stop position to the parking frame P without switching forward and backward as the stop position (S13).
  • W th in this case can be, for example, the total length of the host vehicle VM + the total width of the following vehicle VF + a safety distance.
  • W th can be set to the width that blocks the road at the stop position where the host vehicle VM can park in the parking frame P without switching between forward and backward + the total width of the following vehicle VF + the distance for safety.
  • W 1 is the width that blocks the road at the stop position where the host vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the total width of the following vehicle VF + the distance for safety. 1 > W th .
  • the ECU 110 gives an instruction to the driver through the display 112 and the speaker 114 or controls the traveling of the host vehicle VM through the steering control unit 122, the driving force control unit 124, and the braking force control unit 126, as shown in FIG.
  • the host vehicle VM is moved forward so as to be inclined with respect to the parking frame P and then stopped (S13).
  • the trajectory when the host vehicle VM is moving backward becomes simple, such as when the host vehicle VM is moving backward at a fixed steering angle. Can be improved.
  • the facing space width W 2 is larger than the threshold value W th, but the width of the vehicle VM that blocks the road at the stop position where the vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the following vehicle VF in some cases is less than W 1 is the distance for the full width + safety.
  • W th the width of the vehicle VM that blocks the road at the stop position where the vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the following vehicle VF in some cases is less than W 1 is the distance for the full width + safety.
  • the ECU 110 changes the steering angle of the host vehicle VM to the stop position where the parking frame P can be parked by changing the rudder angle without switching forward and backward to the host vehicle VM, as indicated by the solid and broken arrows in FIG. To stop.
  • ECU 110 is traffic T determines whether less than a predetermined threshold value T th ( S14). If facing the space width W 3 W th less narrow a predetermined threshold (S12), the traffic amount T at least is equal to or less than a predetermined threshold value T th (S14), the host vehicle VM is directed back and forth in the width direction of the road When the road is blocked and the vehicle stops, there is a risk of hindering the passage of the following vehicle VF. Therefore, in this case, the ECU 110 determines a position before the entrance of the parking frame P and where the host vehicle VM can move by switching forward and backward from the stop position into the parking frame P as the stop position ( S15).
  • the W 3 in this case, the distance for the entire width + safety of the own vehicle VM full width + following vehicle VF. In this case, the passage of the following vehicle VF is hardly hindered.
  • the ECU 110 determines that the traffic volume T is equal to or less than a predetermined threshold value Tth.
  • Tth a predetermined threshold value
  • the ECU 110 determines a position where at least a part of the host vehicle VF enters the parking frame P as a stop position (S17).
  • the ECU 110 detects that the facing space width W is equal to or smaller than the predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th .
  • a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
  • a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
  • the ECU 110 stops at a position where at least a part of the host vehicle VF enters the parking frame P and can be dismounted from a part of the host vehicle VF such as a driver's seat. The position is determined (S16).
  • the stop position it is possible to open and close only the door of the driver's seat. Moreover, it is easy to confirm safety. Further, at least the amount of light is easy to remotely control the host vehicle VM from the mobile terminal 200 after getting off. In addition, it is possible to minimize the width of the own vehicle VM blocking the road when the vehicle is stopped.
  • the ECU 110 when the seat load sensor 107 detects that an occupant is only in the driver's seat, the ECU 110 has a facing space width W that is equal to or smaller than a predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th. 8 may be a stop position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver's seat of the host vehicle VM.
  • the stop position may be a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver seat of the host vehicle VM. .
  • the ECU 110 When the ECU 110 detects the occupant and the unloading of the luggage by the seat load sensor 107 and the trunk load sensor 108 (S17), the ECU 110 can be operated remotely from the communication terminal 200, as shown by the broken line arrows in FIGS.
  • the host vehicle VM is parked in the parking frame P by its own travel control (S108).
  • ECU110 can determine a stop position in consideration of the weather, the time zone, the arrangement of other surrounding vehicles, the running pattern during parking of the host vehicle, etc. in addition to the above description.
  • the ECU 110 of the parking assistance device 100 parks the host vehicle VM in the parking frame P by travel control not based on the operation of the driver who is boarding the host vehicle VM or by remote operation from the outside of the host vehicle VM. . For this reason, since the parking frame P is narrow, it is effective when it is difficult to get off passengers or luggage in the parking frame P. Further, the ECU 110 determines a stop position for the host vehicle VM to temporarily stop near the entrance of the parking frame P before the host vehicle VM is parked in the parking frame P. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking.
  • the ECU 110 determines the stop position according to the facing space width W near the entrance of the parking frame P and the traffic volume T of other vehicles near the entrance of the parking frame P. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of the following vehicle VF in the vicinity of the parking frame P.
  • ECU 110 when facing the space width W in the vicinity of the entrance of the parking frame P is the predetermined threshold W th or more is a outside the parking frame P, the host vehicle VM is stopped A position where the vehicle can move from the position to the parking frame P without switching forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle VM from the stop position into the parking frame P.
  • the traffic volume T is small. If the host vehicle VM stops in such a way as to largely block the vicinity of the entrance of the parking frame P, there is a possibility that the passage of the following vehicle VF near the parking frame P may be hindered. For this reason, according to the present embodiment, the ECU 110 stops at a position that is in front of the entrance of the parking frame P and is movable when the host vehicle VM switches forward and backward from the stop position into the parking frame P. Determine as position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
  • the ECU 110 determines a position where at least a part of the host vehicle VM enters the parking frame P as a stop position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
  • the ECU 110 loads from the host vehicle a position at which the passenger can get off and the baggage according to the arrangement of the passenger boarding the host vehicle VM and the baggage loaded on the host vehicle in the host vehicle VM.
  • a position where the vehicle can be lowered is determined as a stop position. For this reason, even if it is difficult for the passengers or luggage to get out of the parking frame P because the parking frame P is narrow, it is possible to get the passengers or luggage from the own vehicle VM.
  • the ECU 110 determines the stop position according to the amount of light near the entrance of the parking frame P. For this reason, it becomes easy to park the own vehicle VM in the parking frame P by remote control from the outside of the own vehicle VM.
  • the parking assist device of the present invention it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Selon l'invention, le bloc de commande électronique (110) d'un dispositif d'aide au stationnement (100) stationne un véhicule (VM) sur une place de stationnement (P) par une commande de déplacement qui n'est pas effectuée par le conducteur du véhicule (VM) ou par une commande à distance provenant de l'extérieur. Ce dispositif d'aide au stationnement (100) est utile dans les cas où la place de stationnement (P) est trop étroite pour que le conducteur puisse en sortir ou décharger les bagages. En outre, le bloc de commande électronique (110) décide d'un emplacement d'arrêt auquel le véhicule (VM) est arrêté temporairement à proximité de l'entrée de la place de stationnement (P), avant le stationnement à proprement parler. Ainsi, l'arrêt temporaire du véhicule (VM) à l'emplacement d'arrêt décidé permet au conducteur de sortir du véhicule et de décharger les bagages avant le stationnement. Pour ce faire, le bloc de commande électronique (110) décide de l'emplacement d'arrêt en fonction d'une largeur d'espace de face (W) à proximité de l'entrée de la place de stationnement (P) et de l'intensité de la circulation (T) à proximité de l'entrée de la place (P). La présente invention facilite donc la sortie du conducteur du véhicule ainsi que le déchargement des bagages, tout en évitant de gêner le passage du véhicule suivant (VF) à proximité de la place de stationnement (P).
PCT/JP2010/057243 2010-04-23 2010-04-23 Dispositif d'aide au stationnement WO2011132309A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2012511492A JP5408344B2 (ja) 2010-04-23 2010-04-23 駐車支援装置
PCT/JP2010/057243 WO2011132309A1 (fr) 2010-04-23 2010-04-23 Dispositif d'aide au stationnement

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Application Number Priority Date Filing Date Title
PCT/JP2010/057243 WO2011132309A1 (fr) 2010-04-23 2010-04-23 Dispositif d'aide au stationnement

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WO2011132309A1 true WO2011132309A1 (fr) 2011-10-27

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CN103625477A (zh) * 2012-08-25 2014-03-12 奥迪股份公司 运行车辆的方法和系统
WO2015150864A1 (fr) 2014-04-01 2015-10-08 Audi Ag Procédé et dispositif de stationnement automatique
CN105083380A (zh) * 2014-05-15 2015-11-25 福特全球技术公司 驻车辅助系统
WO2017017967A1 (fr) * 2015-07-29 2017-02-02 京セラ株式会社 Dispositif de détection, dispositif d'imagerie, véhicule, et procédé de détection
EP3251922A1 (fr) * 2016-05-30 2017-12-06 Valeo Schalter und Sensoren GmbH Procédé destiné au stationnement automatique d'un véhicule automobile sur une place de stationnement avec émission d'un signal de descente à un conducteur, système d'assistance au conducteur et véhicule automobile
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JP2018086928A (ja) * 2016-11-29 2018-06-07 トヨタ自動車株式会社 車両誘導装置および車両誘導方法
JP2019128643A (ja) * 2018-01-22 2019-08-01 トヨタ自動車株式会社 操舵支援装置
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KR101916515B1 (ko) * 2016-07-20 2018-11-07 현대자동차주식회사 원격 전자동 주차지원시스템에서의 주차모드 안내 방법
EP3666599B1 (fr) 2017-08-10 2021-10-06 Nissan Motor Co., Ltd. Procédé et dispositif de commande de stationnement

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Cited By (14)

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CN103625477B (zh) * 2012-08-25 2016-08-10 奥迪股份公司 运行车辆的方法和系统
CN103625477A (zh) * 2012-08-25 2014-03-12 奥迪股份公司 运行车辆的方法和系统
WO2015150864A1 (fr) 2014-04-01 2015-10-08 Audi Ag Procédé et dispositif de stationnement automatique
CN106232461A (zh) * 2014-04-01 2016-12-14 奥迪股份公司 自动泊车方法和装置
CN105083380A (zh) * 2014-05-15 2015-11-25 福特全球技术公司 驻车辅助系统
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JP2018512321A (ja) * 2015-03-11 2018-05-17 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 車内スペースへのアクセシビリティを形成する方法及び装置
WO2017017967A1 (fr) * 2015-07-29 2017-02-02 京セラ株式会社 Dispositif de détection, dispositif d'imagerie, véhicule, et procédé de détection
JPWO2017017967A1 (ja) * 2015-07-29 2018-03-15 京セラ株式会社 検出装置、撮像装置、車両および検出方法
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