WO2014091613A1 - 駐車支援装置 - Google Patents
駐車支援装置 Download PDFInfo
- Publication number
- WO2014091613A1 WO2014091613A1 PCT/JP2012/082418 JP2012082418W WO2014091613A1 WO 2014091613 A1 WO2014091613 A1 WO 2014091613A1 JP 2012082418 W JP2012082418 W JP 2012082418W WO 2014091613 A1 WO2014091613 A1 WO 2014091613A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- parking
- vehicle
- guidance
- target point
- parking assistance
- Prior art date
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Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
Definitions
- the present invention relates to a parking support apparatus that supports parking driving by a driver of a vehicle.
- an automatic steering device that automatically steers a wheel based on a relationship of a reference turning angle corresponding to a travel distance of a vehicle, as described in, for example, Japanese Patent Application Laid-Open No. 10-167104, relates to a parking assistance device.
- a parking assistance device As described in, for example, Japanese Patent Application Laid-Open No. 10-167104, relates to a parking assistance device.
- the automatic steering device detects the forward or backward movement of the vehicle using a special device that detects the traveling direction of the vehicle, and notifies the driver when the backward movement of the vehicle is detected. Inappropriate parking support is suppressed by canceling the guidance.
- the device for detecting the traveling direction of the vehicle is expensive, it is difficult to mount the automatic steering device on the vehicle at a low cost.
- the present invention intends to provide a parking assistance device that can suppress inappropriate parking assistance at a low cost.
- the parking assist device includes an obstacle detection unit that detects an obstacle around the vehicle, a parking point detection unit that detects a parking target point where the vehicle can be parked based on the detection result of the obstacle, and an obstacle.
- a parking support control unit that guides the vehicle from the parking start point to the parking target point according to the guidance route based on the detection result of the object and the detection result of the parking target point. If the vehicle travel is detected between the arrival time and the shift range change, the vehicle guidance is not executed.
- the parking support control unit may notify the driver that the vehicle guidance is not executed when the vehicle guidance is not executed.
- the shift range may be changed from forward to backward, or from backward to forward.
- the vehicle may be traveling forward or backward.
- FIG. 1 is a block diagram showing a parking assistance apparatus according to an embodiment of the present invention.
- the parking assistance device is mounted on a vehicle and is configured with an electronic control unit 10 (hereinafter abbreviated as ECU 10) that performs parking assistance processing as shown in FIG.
- ECU 10 electronice control unit 10
- the vehicle information detection part 21 which detects the information of a vehicle is connected to ECU10.
- a shift sensor for example, a shift sensor, a steering sensor, a wheel speed sensor, an accelerator sensor, and a brake sensor are used.
- the shift sensor is a sensor that detects a shift range set by a shift operation.
- the steering sensor is a sensor that detects a steering angle set by a steering operation.
- the wheel speed sensor is a sensor that detects the rotation and rotation speed of the wheel.
- the accelerator sensor is a sensor that detects the amount of depression by an accelerator pedal operation.
- the brake sensor is a sensor that detects the amount of depression caused by operating the brake pedal.
- the ECU 10 is connected to an obstacle detection unit 22 that detects an obstacle around the vehicle.
- a side sensor or a proximity sensor is used as the obstacle detection unit 22.
- the side sensor is a sensor that detects an obstacle present on the side of the vehicle.
- an ultrasonic sensor installed on the left and right side surfaces of the vehicle body is used.
- the proximity sensor is a sensor that detects an obstacle close to the vehicle.
- ultrasonic sensors installed at the front and rear front and front and rear corners of the vehicle body are used.
- the ECU 10 is connected to a parking support execution unit 23 that performs parking support.
- a parking support execution unit 23 for example, a display, a speaker, a vibrator, a steering control device, a brake control device, and an engine control device are used.
- the parking support execution unit 23 executes parking support by a control intervention for the driver's notification, steering device, brake device, and engine device.
- ECU10 functions as the parking spot detection part 11 and the parking assistance control part 12.
- FIG. ECU10 is comprised mainly by CPU, ROM, RAM, etc., and implement
- the functions of the parking spot detection unit 11 and the parking support control unit 12 may be realized by two or more ECUs.
- Parking point detection unit 11 detects parking target points existing around the vehicle.
- the parking spot detection unit 11 detects a parking target spot where the vehicle can be parked based on the detection result of the obstacle.
- the parking target point means a target point when the vehicle is parked.
- the parking target point is detected by detecting a parking available area around the vehicle.
- the parking spot detection unit 11 detects an obstacle arrangement state around the parking target spot.
- the parking support control unit 12 controls parking support for guiding the vehicle to the parking target point.
- the parking assistance control unit 12 guides the vehicle from the parking start point to the parking target point according to the guidance route based on the obstacle detection result and the parking target point detection result.
- the parking assistance control unit 12 sets a guide route from the parking start point to the parking target point based on the obstacle arrangement state around the parking target point.
- the parking assistance control unit 12 generates guidance information for guiding the vehicle according to the guidance route.
- the guidance information represents the relationship between the travel distance from the parking start point and the adjustment amount of the steering angle.
- the parking assistance control unit 12 guides the vehicle to the parking target point based on the guidance information, the vehicle information, and the obstacle detection result.
- the parking support control unit 12 does not perform vehicle guidance when vehicle travel is detected after the vehicle reaches the parking start point and before the shift range is changed.
- the parking start point means a point that is a starting point of the guidance route, for example, a turning point that changes the traveling direction of the vehicle.
- the change of the shift range is, for example, a change from forward (L range, D range) to backward (R range), or a change from backward (R range) to forward (L range, D range).
- the change of the shift range may be a change from the N range to a range other than the N range, or a change from a range other than the N range to the N range.
- the traveling of the vehicle means forward or backward movement of the vehicle.
- FIG. 2 is a flowchart showing the operation of the parking assistance device.
- the parking assistance device particularly the ECU 10 of the parking assistance device, executes the parking assistance processing shown in FIG.
- the parking assistance control unit 12 starts parking assistance control in response to an ON operation of the control start switch (S11).
- the parking spot detection unit 11 detects a parking target spot existing around the vehicle (S12).
- the detection of the parking target point is performed by detecting an obstacle around the vehicle from the vehicle moving forward or backward at low speed and determining the presence of the parking space around the vehicle.
- the parking target point is detected using at least one of a side sensor and a proximity sensor.
- the detection of the parking target point may be performed after the detection direction of the parking target point, for example, the right side or the left side of the vehicle is designated by the driver.
- the parking spot detection part 11 detects the arrangement
- the parking support control unit 12 sets a parking target point based on the detection result (S13).
- the driver stops the vehicle at the parking start point.
- the vehicle may be stopped when the parking target point is detected, and after the vehicle is moved forward or backward at a low speed to the parking start point set based on the arrangement of obstacles around the parking target point. It may be broken.
- the parking support control unit 12 sets a guide route to the parking target point at the parking start point (S14).
- the guidance route is set based on the arrangement state of the obstacles and vehicle specifications (vehicle body dimensions, turning ability, etc.).
- the parking assistance control part 12 produces
- the parking support control unit 12 urges the driver to change the shift range, which is a signal for starting the guidance when the vehicle is ready for guidance (S15). Then, it is determined whether traveling of the vehicle is detected before the shift range is changed (S16). The travel of the vehicle is detected based on, for example, the rotation state of the wheel detected by the wheel speed sensor (regardless of the rotation direction), the position change of the vehicle detected by the GPS sensor, or other methods.
- the parking support control unit 12 performs guidance of the vehicle to the parking target point (S17).
- wheels are automatically steered based on guidance information, for example, while the vehicle is moving backward or forward at low speed.
- Automatic steering is performed by automatically adjusting the steering angle according to the travel distance from the parking start position. While the vehicle is being guided, the traveling speed of the vehicle moving backward or forward is adjusted according to the accelerator pedal operation or the brake pedal operation, and the approaching state with the obstacle is notified based on the detection result of the obstacle. The vehicle is braked.
- Vehicle guidance ends when the vehicle reaches the parking target point.
- the vehicle guidance ends the vehicle stops and the automatic wheel steering ends.
- the parking brake is operated manually or automatically to park the vehicle.
- the parking support control unit 12 does not execute the parking support control, that is, the vehicle guidance (S18). . Moreover, the parking assistance control part 12 may alert
- vehicle travel forward or backward from when the vehicle reaches the parking start point until the shift range is changed is vehicle travel (movement) contrary to the driver's intention or driving support control. It is considered to be a manifestation of the driver's intention to cancel.
- FIG. 3 is a diagram illustrating a situation where parking assistance is performed properly and when parking assistance is not performed appropriately.
- FIG. 3A shows the guide route C1 set at the parking start point SP when the vehicle is parked backward on the downhill toward the rear of the vehicle.
- FIG. 3B shows a guidance route C2 when the vehicle V moves backward before the shift range is changed due to, for example, the inclination of the road surface.
- FIG. 4 is a diagram illustrating a situation in which inappropriate parking support is suppressed during reverse parking.
- FIG. 4A shows the guide route C set at the parking start point SP when the vehicle is parked backward on the downhill toward the rear of the vehicle.
- FIG. 4B shows a situation in which the guidance of the vehicle V is canceled with a notification to the driver when the traveling of the vehicle V is detected before the shift range is changed to the R range. Yes.
- the vehicle V moves forward during backward parking on a downhill toward the front of the vehicle, or the case of parallel parking.
- FIG. 5 is a diagram illustrating a situation where inappropriate parking support is suppressed during forward parking.
- FIG. 5A shows the guide route C set at the parking start point SP when the vehicle is parked forward on a downhill toward the front of the vehicle.
- FIG. 5B shows a situation in which the guidance of the vehicle V is canceled with a notification to the driver when the traveling of the vehicle V is detected before the shift range is changed to the D range, for example. ing.
- the parking assistance apparatus when the vehicle travel is detected after the vehicle reaches the parking start point and the shift range is changed. Since the vehicle guidance is not executed, inappropriate parking support can be suppressed at a low cost without detecting the traveling direction of the vehicle.
- the parking assistance device according to the present invention may be a modification of the parking assistance device according to the present embodiment, or may be applied to other devices without departing from the gist of the invention described in each claim.
- the above embodiment has described the embodiment in which the vehicle is guided by automatic steering
- an embodiment in which the vehicle is guided by manual steering is also envisaged.
- the vehicle when the vehicle is guided by guiding the parking operation to the driver using the video information or the audio information, the time between the arrival of the vehicle at the parking start point and the change of the shift range.
- the guidance of the vehicle is not executed.
Abstract
Description
Claims (4)
- 車両の周辺における障害物を検出する障害物検出部と、
前記障害物の検出結果に基づいて前記車両を駐車可能な駐車目標地点を検出する駐車地点検出部と、
前記障害物の検出結果及び前記駐車目標地点の検出結果に基づいて、駐車開始地点から前記駐車目標地点へ誘導経路に従って前記車両を誘導する駐車支援制御部と、
を備え、
前記駐車支援制御部は、前記車両が前記駐車開始地点に到達してからシフトレンジが変更されるまでの間に前記車両の走行が検知された場合には、前記車両の誘導を実行しない、駐車支援装置。 - 前記駐車支援制御部は、前記車両の誘導を実行しない場合には、前記車両の誘導を実行しないことを前記運転者に報知する、請求項1に記載の駐車支援装置。
- 前記シフトレンジの変更は、前進から後退への変更、又は後退から前進への変更である、請求項1又は2に記載の駐車支援装置。
- 前記車両の走行は、前記車両の前進又は後退である、請求項1~3のいずれか一項に記載の駐車支援装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12890138.6A EP2933152A1 (en) | 2012-12-13 | 2012-12-13 | Parking assistance device |
CN201280077369.1A CN105163986A (zh) | 2012-12-13 | 2012-12-13 | 停车辅助装置 |
JP2014551813A JPWO2014091613A1 (ja) | 2012-12-13 | 2012-12-13 | 駐車支援装置 |
PCT/JP2012/082418 WO2014091613A1 (ja) | 2012-12-13 | 2012-12-13 | 駐車支援装置 |
US14/651,775 US20150307090A1 (en) | 2012-12-13 | 2012-12-13 | Parking assistance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/082418 WO2014091613A1 (ja) | 2012-12-13 | 2012-12-13 | 駐車支援装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014091613A1 true WO2014091613A1 (ja) | 2014-06-19 |
Family
ID=50933931
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/082418 WO2014091613A1 (ja) | 2012-12-13 | 2012-12-13 | 駐車支援装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20150307090A1 (ja) |
EP (1) | EP2933152A1 (ja) |
JP (1) | JPWO2014091613A1 (ja) |
CN (1) | CN105163986A (ja) |
WO (1) | WO2014091613A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114274971A (zh) * | 2020-09-17 | 2022-04-05 | 丰田自动车株式会社 | 车辆控制系统 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7040098B2 (ja) * | 2018-02-15 | 2022-03-23 | トヨタ自動車株式会社 | 操舵支援装置 |
JP7002403B2 (ja) * | 2018-05-10 | 2022-01-20 | 本田技研工業株式会社 | 駐車支援装置及び自動駐車可能な車両 |
FR3083506B1 (fr) * | 2018-07-09 | 2020-10-09 | Renault Sas | Procede et dispositif de detection et d'inhibition de tout deplacement non souhaite d'un vehicule automobile integre dans un systeme d'aide au stationnement |
WO2020070822A1 (ja) * | 2018-10-03 | 2020-04-09 | 三菱電機株式会社 | 駐車支援装置および駐車支援方法 |
JP7221669B2 (ja) * | 2018-12-04 | 2023-02-14 | 株式会社デンソー | 駐車支援装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10167104A (ja) | 1996-12-17 | 1998-06-23 | Honda Motor Co Ltd | 車両の自動操舵装置 |
JP2009083680A (ja) * | 2007-09-28 | 2009-04-23 | Nissan Motor Co Ltd | 駐車支援装置および駐車支援方法 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004209997A (ja) * | 2002-12-26 | 2004-07-29 | Mitsubishi Motors Corp | 駐車支援装置 |
JP3931857B2 (ja) * | 2003-07-23 | 2007-06-20 | トヨタ自動車株式会社 | 駐車支援装置及び後退支援装置 |
JP4345391B2 (ja) * | 2003-08-29 | 2009-10-14 | トヨタ自動車株式会社 | 駐車支援装置 |
FR2867932A1 (fr) * | 2004-03-18 | 2005-09-23 | France Telecom | Mesure de debit en reception pour un terminal |
JP4432929B2 (ja) * | 2006-04-25 | 2010-03-17 | トヨタ自動車株式会社 | 駐車支援装置及び駐車支援方法 |
JP5231816B2 (ja) * | 2008-01-16 | 2013-07-10 | 富士重工業株式会社 | 車両の駐車運転支援装置 |
JP4661917B2 (ja) * | 2008-07-25 | 2011-03-30 | 日産自動車株式会社 | 駐車支援装置および駐車支援方法 |
JP5403330B2 (ja) * | 2009-02-25 | 2014-01-29 | アイシン精機株式会社 | 駐車支援装置 |
JP5257689B2 (ja) * | 2009-03-11 | 2013-08-07 | アイシン精機株式会社 | 駐車支援装置 |
JP5747181B2 (ja) * | 2010-02-26 | 2015-07-08 | パナソニックIpマネジメント株式会社 | 駐車支援装置 |
KR20120114760A (ko) * | 2011-04-08 | 2012-10-17 | 정청기 | 전기 자동차용 자동주차 조향시스템 |
CN202243452U (zh) * | 2011-10-31 | 2012-05-30 | 辉创电子股份有限公司 | 停车导引系统 |
CN102602391A (zh) * | 2012-03-16 | 2012-07-25 | 深圳市豪恩汽车电子装备有限公司 | 一种辅助泊车系统及方法 |
-
2012
- 2012-12-13 WO PCT/JP2012/082418 patent/WO2014091613A1/ja active Application Filing
- 2012-12-13 JP JP2014551813A patent/JPWO2014091613A1/ja active Pending
- 2012-12-13 US US14/651,775 patent/US20150307090A1/en not_active Abandoned
- 2012-12-13 CN CN201280077369.1A patent/CN105163986A/zh active Pending
- 2012-12-13 EP EP12890138.6A patent/EP2933152A1/en not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH10167104A (ja) | 1996-12-17 | 1998-06-23 | Honda Motor Co Ltd | 車両の自動操舵装置 |
JP2009083680A (ja) * | 2007-09-28 | 2009-04-23 | Nissan Motor Co Ltd | 駐車支援装置および駐車支援方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114274971A (zh) * | 2020-09-17 | 2022-04-05 | 丰田自动车株式会社 | 车辆控制系统 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2014091613A1 (ja) | 2017-01-05 |
EP2933152A1 (en) | 2015-10-21 |
US20150307090A1 (en) | 2015-10-29 |
CN105163986A (zh) | 2015-12-16 |
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