WO2017135191A1 - Parking assistance method - Google Patents
Parking assistance method Download PDFInfo
- Publication number
- WO2017135191A1 WO2017135191A1 PCT/JP2017/003178 JP2017003178W WO2017135191A1 WO 2017135191 A1 WO2017135191 A1 WO 2017135191A1 JP 2017003178 W JP2017003178 W JP 2017003178W WO 2017135191 A1 WO2017135191 A1 WO 2017135191A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- parking
- vehicle
- mode
- sensor
- driver
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 20
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 4
- 241000270295 Serpentes Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
Definitions
- the present invention provides a parking support method for providing support for reducing a burden on a driver when a car having a function of individually giving steering angles to four wheels and capable of rotating (turning) on the spot is put in a garage or the like. It is about.
- Patent Document 1 As a conventionally known parking assistance device, for example, there is one described in Patent Document 1 below.
- the parking assist device described in the same document captures and processes captured images obtained by imaging the rear, left side, and right side of the vehicle with three imaging devices in the processing circuit of the ECU, and displays the processing result. Based on the detection of the parking area and the calculation of the parking route from the current position of the vehicle to the parking spot, the vehicle is automatically moved to the parking area along the parking route and parked.
- Patent Document 2 a vehicle having a higher degree of freedom in the traveling direction has been proposed, for example, in Patent Document 2 below.
- the vehicle of Patent Document 2 includes a snake mechanism that turns left and right wheels in opposite directions, and realizes special movement modes such as in-situ rotation, lateral movement, and small turn.
- Patent Document 1 In a vehicle equipped with a conventional parking assistance device, it is necessary to consider a complicated control algorithm as shown in Patent Document 1 when parking in a garage or the like.
- this invention makes it a subject to provide the parking assistance method which can reduce a driver
- a vehicle that has a function of individually giving steering angles to four wheels and can rotate on the spot, a sensor that detects a parking space around the vehicle, and the sensor
- a parking assistance device that performs parking assistance by calculating a moving course of the vehicle and driving conditions based on the detection data
- the “parking space” in the present invention is a section where parking is possible including a garage.
- the parking support device is provided with a selection function of an automatic parking support mode and a manual parking support mode, and when the driver of the vehicle selects the manual parking support mode, When the driver selects the automatic parking assist mode, the vehicle is automatically driven and parked based on the above navigation. It is preferable to execute.
- the setting of the manual parking assistance mode and the automatic parking assistance mode can be changed at any time between the start of parking space detection by the sensor and the completion of parking.
- the driving mode of the vehicle switching to the in-situ rotation mode and returning to the normal driving mode is performed by allowing the driver to switch the mode. It is good.
- the parking navigation to the parking space is executed even when the driver does not want to park in the parking space detected by the sensor.
- the mode switching is not performed when it is determined that the driver does not park the parking space detected by the sensor, so that the detection of a new parking space by the sensor can be continued.
- parking in a garage or parking in a parking lot can be performed more easily by navigating with a parking assistance device, which is particularly effective for drivers who are not skilled in driving technology. .
- the method of the present invention applies to a vehicle that can rotate on the spot, the navigation after the vehicle stops at a position where the vehicle can be parked in an empty space until the vehicle is in a parking posture.
- the "spot rotation" and the subsequent straight movement can be performed, and there is no backward or forward movement while fully turning the steering wheel, so that the control algorithm for parking does not become complicated.
- FIG. 10 is a plan view showing a state where the vehicle is moved backward from the state of FIG. 9 to complete parking.
- a vehicle that performs parking assistance by the method of the present invention is as shown in the above-mentioned Patent Document 1, and is capable of “in-situ rotation”.
- the vehicle 1 shown in FIG. 1A and FIG. 1B is a vehicle capable of “in-situ rotation” assuming parallel parking (side-by-side) parking in the left parking space (parking frame) by left-hand traffic, And the sensor 2 which can detect a parking space is mounted in the rear part.
- the sensor 2 mounted on the illustrated vehicle is an imaging device such as a CCD camera, but in addition to the imaging device, a millimeter wave radar, an infrared radar, an ultrasonic sensor, a laser scan sensor, or the like can also be used. In short, any device that can detect the presence or absence of an empty parking space may be used.
- This sensor may be mounted on the right side or front of the vehicle body as long as the sensor can detect the parking space. If there is also a sensor in the front part of the vehicle body, parking assistance in a parking lot where forward parking is required can be performed.
- one type of sensor may be installed, but if several types of sensors are installed, it is possible to detect a parking space with high accuracy by utilizing the characteristics of each sensor.
- FIG. 2 shows the detection range of the sensor 2 in the exemplary vehicle.
- the sensor 2 on the left side of the vehicle body has a detection range in the one-dot chain line in the figure, while the sensor 2 on the rear part of the vehicle body has a detection range in the two-dot chain line frame.
- Each sensor 2 can detect the presence and distance of other vehicles in its own detection area, obstacles such as white lines, curbs, and sidewalks of parking frames.
- the vehicle 1 shown in the figure has a function of individually giving steering angles to the four wheels.
- the left and right wheels 5 are in opposite directions as shown in FIG.
- the vehicle 1 is rolled in a direction that allows rolling, and at least one wheel is rotationally driven in this state (when a plurality of wheels are driven, the rotational directions are matched), the vehicle 1 is centered on all four wheels (in plan view). Can be rotated on the spot.
- the driver issues a parking command to the vehicle 1 when the parking space in the parking lot is reached.
- This command is performed by operating a dedicated switch (not shown) provided on a so-called instrument panel (instrument panel) or handle.
- the driver operates the steering wheel, accelerator, brake, etc. according to the parking environment and the driver's situation, in accordance with the automatic parking support mode that automatically executes the steering wheel, accelerator, brake operation, etc. and the navigation from the support device.
- Manual parking support mode can be selected.
- step S1 when the driver turns on the parking command switch in the manual parking assist mode (step S1), the sensor 2 is activated to start detecting a free parking space (step S2).
- Each sensor 2 detects the presence or absence of other vehicles within its own detection area, and obstacles such as white lines, curbs, and sidewalks in parking frames.
- the detection data is sent to a calculation / determination circuit provided in the parking assist device, where the distance from the vehicle to the surrounding obstacles is measured, the vehicle travels to the parking position and the vehicle along the travel route.
- the calculation of the navigation data for moving the vehicle and the presence / absence of a parking space (vacant parking frame) are made (step S3).
- the parking assistance device provides navigation information by voice or image to the driver until a parking space is found, and the driver operates the steering wheel, accelerator, brake, etc. according to the navigation information.
- step S4 when the vehicle moves to the entrance of the vacant parking space by the driving operation according to the navigation, it is determined that there is a parking space (step S4), and the parked vehicles 3, 4 on both sides of the parking space.
- a distance a (see FIG. 6), a distance b between white lines 6 and 6 indicating an empty parking frame, and a length c of the white line 6 (also see FIG. 6) are calculated.
- step S5 the data of the calculation result is compared with the size of the own vehicle to determine whether or not parking is possible.
- the driver switches to the “in-situ rotation” mode of travel mode by the driver's switch operation (the touch screen operation of the image monitor is also considered as a switch operation). Are switched (step S6).
- step S7 When the switching operation is performed, the rotation angle is navigated from the parking support device until the “parking on the spot” is possible to park, and the vehicle 1 is driven until the vehicle 1 changes from the direction of FIG. 7 to the direction of FIG.
- the accelerator and brake are operated by the person, and "spot rotation" is executed (step S7).
- step S8 when “in-situ rotation” is executed and the vehicle 1 assumes a parking posture with respect to the parking space detected by the sensor 2 as shown in FIG. 8, the vehicle driving mode is changed from the parking assistance device to the normal driving mode. An instruction to return is issued, and the driver switches the driving mode of the vehicle to the normal driving mode in accordance with the instruction (step S8).
- step S9 navigation for moving the vehicle back to the parking completion position by the parking support device is performed, and the driver performs the steering wheel, accelerator, and brake operation according to the navigation to move the vehicle backward (step S9). Parking is completed at a position that is within the parking frame (step S10).
- step S7 the steering operation here is such that when a slight error occurs in the “spot rotation” in step S7, the error is corrected. If the “in-situ rotation” in step S7 is performed without error, the steering operation for changing the direction is unnecessary.
- step S4 of FIG. 4 when the answer to the question about the presence or absence of the parking space is “no parking space”, it is asked whether to proceed to step S11 and continue the detection. If the result is YES, the processing returns to step S2. Until the presence / absence determination in step S4 becomes “present”, the flow of step S2, step S3, step S4, and step S11 is repeated.
- step S12 when the driver determines that the parking is stopped and turns off the parking command switch, the support by the parking support device is stopped (step S12).
- step S5 determines whether parking is permitted in step S5 .
- the determination as to whether parking is permitted in step S5 is changed to “No” after a predetermined time has elapsed, and the process proceeds to step S11 to continue detection.
- switching from manual parking support mode to automatic parking support mode or vice versa can be performed at any time between the start of parking support and the completion of parking.
- the target vehicle for parking assistance can cause the front wheel and the rear wheel to meander by 90 ° from the straight traveling state in the normal travel mode, and at least one of the left and right wheels of the front wheel and the rear wheel is
- parallel parking support can also be provided.
- the vehicle In the parallel parking, the vehicle is moved to the side of the parking space between the front and rear parked vehicles according to the navigation of the parking support device, and the driving mode of the vehicle is switched to the “lateral movement” mode at this position. Then, the lateral movement based on the subsequent navigation is performed by the driving operation of the driver or the automatic driving by the device mounted on the vehicle to move the vehicle into the parking space, thereby completing the parking.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
In the present invention, a vehicle that is equipped with a function for individually supplying steering angles to four wheels thereof and that is able to rotate on the spot is provided with a sensor that detects a parking space and a parking assistance device that performs parking assistance by calculating a movement course and driving conditions of the vehicle on the basis of detection data of the sensor. Once the vehicle has been driven to and stopped at a position from which the vehicle can be parked in a detected parking space in accordance with navigation performed by the parking assistance device, a traveling mode of the vehicle is caused to switch to a rotate-on-the-spot mode and the navigation of rotating on the spot is executed until the vehicle is in a posture in which the vehicle can be parked in the parking space, and then the traveling mode of the vehicle is returned to a normal traveling mode and the navigation for reversing or advancing the vehicle to a parking completed position is executed.
Description
この発明は、4輪に個別に舵角を与える機能を備えていてその場回転(旋回)ができる自動車を車庫などに入れる際に、運転者の負担を軽減するための支援を行う駐車支援方法に関するものである。
The present invention provides a parking support method for providing support for reducing a burden on a driver when a car having a function of individually giving steering angles to four wheels and capable of rotating (turning) on the spot is put in a garage or the like. It is about.
従来知られた駐車支援装置として、例えば、下記特許文献1に記載されたものがある。同文献に記載された駐車支援装置は、3台の撮像装置で車両の後方、左側方および右側方を撮像して得られた撮像画像をECUの処理回路に取り込んで処理し、その処理結果に基づいて駐車区画の検出と車両の現位置からの駐車地点までの駐車経路の演算を行い、その駐車経路に沿って車両を自動的に駐車区画に移動させて駐車させる。
As a conventionally known parking assistance device, for example, there is one described in Patent Document 1 below. The parking assist device described in the same document captures and processes captured images obtained by imaging the rear, left side, and right side of the vehicle with three imaging devices in the processing circuit of the ECU, and displays the processing result. Based on the detection of the parking area and the calculation of the parking route from the current position of the vehicle to the parking spot, the vehicle is automatically moved to the parking area along the parking route and parked.
一方、走行方向の自由度を高めた車両が例えば下記特許文献2などで提案されている。その特許文献2の車両は、左右の車輪を逆方向に向ける転蛇機構を車両前後に備えており、その場回転や横移動、小回りなどの特殊移動モードを実現している。
On the other hand, a vehicle having a higher degree of freedom in the traveling direction has been proposed, for example, in Patent Document 2 below. The vehicle of Patent Document 2 includes a snake mechanism that turns left and right wheels in opposite directions, and realizes special movement modes such as in-situ rotation, lateral movement, and small turn.
従来の駐車支援装置を備えた車両においては、車庫入れなどの駐車を行う際に、前記特許文献1が示しているような複雑な制御アルゴリズムを検討する必要がある。
In a vehicle equipped with a conventional parking assistance device, it is necessary to consider a complicated control algorithm as shown in Patent Document 1 when parking in a garage or the like.
一方、特許文献2のような車両については、特殊移動モードを有効に活用して車両の利便性をさらに高めることが求められる。
On the other hand, for a vehicle such as Patent Document 2, it is required to further improve the convenience of the vehicle by effectively utilizing the special movement mode.
そこで、この発明は、特許文献2が開示しているような、その場回転ができる車両を車庫などに駐車する際に、運転者の負担を軽減できる駐車支援方法を提供することを課題としている。
Then, this invention makes it a subject to provide the parking assistance method which can reduce a driver | operator's burden, when parking the vehicle which can rotate on the spot like a patent document 2 in a garage etc. .
上記の課題を解決するため、この発明においては、4輪に個別に舵角を与える機能を備えていてその場回転ができる車両に、周囲に存在する駐車スペースを検出するセンサと、そのセンサの検出データに基づいて車両の移動コースと運転条件を演算して駐車支援を行う駐車支援装置を設け、
その駐車支援装置によるナビゲートに従って車両が検出された駐車スペースに対する駐車可能位置まで運転されてその駐車可能位置に停止したら、その車両の走行モードをその場回転モードに切り替えさせて当該車両が前記駐車スペースに対する駐車可能姿勢になるまでその場回転でのナビゲートを実行し、その後、車両の走行モードを通常走行モードに戻させて駐車完了位置まで車両を後退、或いは前進移動させるためのナビゲートを実行する駐車支援方法を提供する。 In order to solve the above-described problems, in the present invention, a vehicle that has a function of individually giving steering angles to four wheels and can rotate on the spot, a sensor that detects a parking space around the vehicle, and the sensor A parking assistance device is provided that performs parking assistance by calculating a moving course of the vehicle and driving conditions based on the detection data,
When the vehicle is driven to the parking available position for the parking space where the vehicle is detected according to the navigation by the parking assistance device and stops at the parking available position, the vehicle is switched to the on-site rotation mode and the vehicle is parked. Execute navigation on the spot until the parking posture for the space is reached, then return the vehicle's driving mode to the normal driving mode and navigate to move the vehicle backward or forward to the parking completion position Provide a parking assistance method to perform.
その駐車支援装置によるナビゲートに従って車両が検出された駐車スペースに対する駐車可能位置まで運転されてその駐車可能位置に停止したら、その車両の走行モードをその場回転モードに切り替えさせて当該車両が前記駐車スペースに対する駐車可能姿勢になるまでその場回転でのナビゲートを実行し、その後、車両の走行モードを通常走行モードに戻させて駐車完了位置まで車両を後退、或いは前進移動させるためのナビゲートを実行する駐車支援方法を提供する。 In order to solve the above-described problems, in the present invention, a vehicle that has a function of individually giving steering angles to four wheels and can rotate on the spot, a sensor that detects a parking space around the vehicle, and the sensor A parking assistance device is provided that performs parking assistance by calculating a moving course of the vehicle and driving conditions based on the detection data,
When the vehicle is driven to the parking available position for the parking space where the vehicle is detected according to the navigation by the parking assistance device and stops at the parking available position, the vehicle is switched to the on-site rotation mode and the vehicle is parked. Execute navigation on the spot until the parking posture for the space is reached, then return the vehicle's driving mode to the normal driving mode and navigate to move the vehicle backward or forward to the parking completion position Provide a parking assistance method to perform.
なお、この発明で言う「駐車スペース」とは、車庫も含めた駐車可能な区画である。
In addition, the “parking space” in the present invention is a section where parking is possible including a garage.
この方法は、前記駐車支援装置に、オートマチック駐車支援モードとマニュアル駐車支援モードの選択機能を具備させ、車両の運転者がマニュアル駐車支援モードを選択したときは、前記駐車支援装置による運転者に対しての音声及び画像の少なくともどちらかによるハンドル、アクセル、ブレーキ操作のナビゲートを実行し、一方、運転者がオートマチック駐車支援モードを選択したときは、上記のナビゲートに基づく車両の自動運転駐車を実行するものにすると好ましい。
In this method, the parking support device is provided with a selection function of an automatic parking support mode and a manual parking support mode, and when the driver of the vehicle selects the manual parking support mode, When the driver selects the automatic parking assist mode, the vehicle is automatically driven and parked based on the above navigation. It is preferable to execute.
また、マニュアル駐車支援モードとオートマチック駐車支援モードの設定が前記センサによる駐車スペース検出の開始から駐車完了までの間の任意の時期に変更可能なものにするとより好ましい。
Further, it is more preferable that the setting of the manual parking assistance mode and the automatic parking assistance mode can be changed at any time between the start of parking space detection by the sensor and the completion of parking.
マニュアル駐車支援モードとオートマチック駐車支援モードのどちらによる支援も、車両の走行モードの切り替え(その場回転モードへの切り替えと通常走行モードへの戻し)は、運転者にモード切り替えの操作をさせて行うのがよい。
In both the manual parking support mode and the automatic parking support mode, the driving mode of the vehicle (switching to the in-situ rotation mode and returning to the normal driving mode) is performed by allowing the driver to switch the mode. It is good.
自動での切り替え、戻しも可能であるが、この場合には、センサが検出した駐車スペースへの駐車を運転者が望まないときにもその駐車スペースへの駐車のナビゲートが実行される。これに対し、運転者によるモード切り替えでは、センサが検出した駐車スペースに対する駐車を運転者がしないと判断ときには、モード切り替えがなされないので、センサによる新たな駐車スペースの検出を続行させることができる。
Although automatic switching and return are possible, in this case, the parking navigation to the parking space is executed even when the driver does not want to park in the parking space detected by the sensor. On the other hand, in the mode switching by the driver, the mode switching is not performed when it is determined that the driver does not park the parking space detected by the sensor, so that the detection of a new parking space by the sensor can be continued.
この発明の方法によれば、車庫入れ駐車や駐車場での駐車スペースへの駐車が駐車支援装置によるナビゲートによってより簡単に行え、運転技術の未熟な運転手にとっては特に、有効な支援となる。
According to the method of the present invention, parking in a garage or parking in a parking lot can be performed more easily by navigating with a parking assistance device, which is particularly effective for drivers who are not skilled in driving technology. .
また、この発明の方法は、その場回転のできる車両を適用対象にしているため、車両が空きスペースへの駐車可能位置に停止した後のナビゲートは、車両の向きが駐車可能姿勢になるまでの「その場回転」と、その後の直進移動について行えば良く、ハンドルを大きくきりながらの後退や前進がないため、駐車のための制御アルゴリズムが複雑にならない。
In addition, since the method of the present invention applies to a vehicle that can rotate on the spot, the navigation after the vehicle stops at a position where the vehicle can be parked in an empty space until the vehicle is in a parking posture. The "spot rotation" and the subsequent straight movement can be performed, and there is no backward or forward movement while fully turning the steering wheel, so that the control algorithm for parking does not become complicated.
以下、この発明の駐車支援方法の実施の形態を添付図面に基づいて説明する。この発明の方法で駐車支援を行う車両は、既述の特許文献1に示されるようなものであって、「その場回転」が可能である。
Hereinafter, embodiments of the parking support method of the present invention will be described with reference to the accompanying drawings. A vehicle that performs parking assistance by the method of the present invention is as shown in the above-mentioned Patent Document 1, and is capable of “in-situ rotation”.
図1A、図1Bに示した車両1は、左側通行で左側の駐車スペース(駐車枠)への並列(横並び)駐車を想定した「その場回転」の可能な車両であって、車体の左側部と後部にそれぞれ駐車スペースの検出が可能なセンサ2が搭載されている。
The vehicle 1 shown in FIG. 1A and FIG. 1B is a vehicle capable of “in-situ rotation” assuming parallel parking (side-by-side) parking in the left parking space (parking frame) by left-hand traffic, And the sensor 2 which can detect a parking space is mounted in the rear part.
例示の車両に搭載したセンサ2は、CCDカメラなどの撮像装置であるが、撮像装置のほかにミリ波レーダ、赤外線レーダ、超音波センサ、レーザースキャンセンサなども使用できる。要は、空いている駐車スペースの有無を検出できるものであればよい。
The sensor 2 mounted on the illustrated vehicle is an imaging device such as a CCD camera, but in addition to the imaging device, a millimeter wave radar, an infrared radar, an ultrasonic sensor, a laser scan sensor, or the like can also be used. In short, any device that can detect the presence or absence of an empty parking space may be used.
このセンサの搭載箇所も、そのセンサが駐車スペースを検出できる位置にあればよく、車体の右側部や前部に搭載することも考えられる。車体の前部にもセンサがあれば、前進駐車が要求される駐車場での駐車支援もできる。
This sensor may be mounted on the right side or front of the vehicle body as long as the sensor can detect the parking space. If there is also a sensor in the front part of the vehicle body, parking assistance in a parking lot where forward parking is required can be performed.
また、搭載するセンサは一種類でもよいが、数種類のセンサを搭載すれば、それぞれのセンサの特徴を生かした高精度な駐車スペースの検出ができる。
Also, one type of sensor may be installed, but if several types of sensors are installed, it is possible to detect a parking space with high accuracy by utilizing the characteristics of each sensor.
例示の車両におけるセンサ2の検出範囲を図2に示す。車体の左側部のセンサ2は、図において一点鎖線枠内を検出範囲とし、一方、車体後部のセンサ2は二点鎖線枠内を検出範囲としている。
FIG. 2 shows the detection range of the sensor 2 in the exemplary vehicle. The sensor 2 on the left side of the vehicle body has a detection range in the one-dot chain line in the figure, while the sensor 2 on the rear part of the vehicle body has a detection range in the two-dot chain line frame.
それぞれのセンサ2は、自己の検出領域内にある他の車両や、駐車枠の白線、縁石、歩道などの障害物の有無と距離を検出することができる。
Each sensor 2 can detect the presence and distance of other vehicles in its own detection area, obstacles such as white lines, curbs, and sidewalks of parking frames.
また、図示の車両1は、4輪に個別に舵角を与える機能を備えていて前輪、後輪の双方について、左右の車輪5を図3に示すように相反する向き、かつ、同一円軌道上を転動できる向きに転蛇させ、この状態で少なくとも1輪を回転駆動して(複数の車輪を駆動する場合には、回転方向を一致させる)車両1を全4輪の中心(平面視における中心)を支点にしてその場で回転させることができる。
Further, the vehicle 1 shown in the figure has a function of individually giving steering angles to the four wheels. For both the front wheels and the rear wheels, the left and right wheels 5 are in opposite directions as shown in FIG. The vehicle 1 is rolled in a direction that allows rolling, and at least one wheel is rotationally driven in this state (when a plurality of wheels are driven, the rotational directions are matched), the vehicle 1 is centered on all four wheels (in plan view). Can be rotated on the spot.
この車両1による駐車場での駐車の一例を図4のフローチャートを元に説明する。運転者は、駐車場内の駐車スペースに駐車する状況になったら車両1に対して駐車指令を出す。この指令は、所謂インパネ(インストルメントパネル)やハンドルなどに設けられた専用スイッチ(図示省略)を操作することによって行う。
An example of parking in the parking lot by the vehicle 1 will be described based on the flowchart of FIG. The driver issues a parking command to the vehicle 1 when the parking space in the parking lot is reached. This command is performed by operating a dedicated switch (not shown) provided on a so-called instrument panel (instrument panel) or handle.
駐車環境や運転者の状況に応じて、ハンドル、アクセル、ブレーキ操作等を全て自動で実行させるオートマチック駐車支援モードと、支援装置からのナビゲートに従ってハンドル、アクセル、ブレーキ等の操作を運転者が行うマニュアル駐車支援モードを選択することができる。
The driver operates the steering wheel, accelerator, brake, etc. according to the parking environment and the driver's situation, in accordance with the automatic parking support mode that automatically executes the steering wheel, accelerator, brake operation, etc. and the navigation from the support device. Manual parking support mode can be selected.
-運転者によるマニュアル駐車支援モードの選択-
図4のフローチャートにおいて、運転者がマニュアル駐車支援モードでの駐車指令スイッチをONにすると(ステップS1)、センサ2が作動して空いている駐車スペースの検出が開始される(ステップS2)。 -Selection of manual parking support mode by driver-
In the flowchart of FIG. 4, when the driver turns on the parking command switch in the manual parking assist mode (step S1), thesensor 2 is activated to start detecting a free parking space (step S2).
図4のフローチャートにおいて、運転者がマニュアル駐車支援モードでの駐車指令スイッチをONにすると(ステップS1)、センサ2が作動して空いている駐車スペースの検出が開始される(ステップS2)。 -Selection of manual parking support mode by driver-
In the flowchart of FIG. 4, when the driver turns on the parking command switch in the manual parking assist mode (step S1), the
それぞれのセンサ2は、自己の検出領域内にある他の車両や、駐車枠の白線、縁石、歩道などの障害物の有無を検出する。その検出データが駐車支援装置に設けられた演算・判定回路に送り込まれ、ここで自車から周囲の障害物までの距離の計測、駐車可能な位置までの走行経路やその走行経路に沿って車両を移動させるためのナビゲートデータの演算と、駐車スペース(空いている駐車枠)の有無の判断がなされる(ステップS3)。
Each sensor 2 detects the presence or absence of other vehicles within its own detection area, and obstacles such as white lines, curbs, and sidewalks in parking frames. The detection data is sent to a calculation / determination circuit provided in the parking assist device, where the distance from the vehicle to the surrounding obstacles is measured, the vehicle travels to the parking position and the vehicle along the travel route. The calculation of the navigation data for moving the vehicle and the presence / absence of a parking space (vacant parking frame) are made (step S3).
駐車支援装置は、駐車スペースが見つかる位置まで、運転者に対して音声や画像などでナビゲート情報を提供し、運転者はそのナビゲート情報に従ってハンドル、アクセル、ブレーキ等の操作を行う。
The parking assistance device provides navigation information by voice or image to the driver until a parking space is found, and the driver operates the steering wheel, accelerator, brake, etc. according to the navigation information.
次に、ナビゲートに従った運転操作により、車両が空いている駐車スペースの入口まで移動すると駐車スペース有りの判定がなされ(ステップS4)、さらに、その駐車スペースの両隣りの駐車車両3、4間の距離a(図6参照)や、空いている駐車枠を示す白線6、6間の距離b、白線6の長さc(これも図6参照)が計算される。
Next, when the vehicle moves to the entrance of the vacant parking space by the driving operation according to the navigation, it is determined that there is a parking space (step S4), and the parked vehicles 3, 4 on both sides of the parking space. A distance a (see FIG. 6), a distance b between white lines 6 and 6 indicating an empty parking frame, and a length c of the white line 6 (also see FIG. 6) are calculated.
そして、その計算結果のデータが、自車のサイズと照らされて駐車の可否が判定される(ステップS5)。
Then, the data of the calculation result is compared with the size of the own vehicle to determine whether or not parking is possible (step S5).
その判定結果が、「駐車可」の場合、運転者に対して車両の走行モードを「その場回転」モードに切り替える問いかけがなされる。
If the determination result is “parking is possible”, the driver is asked to switch the vehicle travel mode to the “spot rotation” mode.
その問いかけに対し、運転者が検出された駐車スペースに駐車する意思を示したら、運転者のスイッチ操作(画像モニタのタッチ画面操作もスイッチ操作と考える)による走行モードの「その場回転」モードへの切り替えがなされる(ステップS6)。
In response to the question, if the driver indicates the intention to park in the detected parking space, the driver switches to the “in-situ rotation” mode of travel mode by the driver's switch operation (the touch screen operation of the image monitor is also considered as a switch operation). Are switched (step S6).
その切り替え操作がなされると、駐車支援装置から「その場回転」での駐車可能姿勢になるまでの回転角度のナビゲートがなされ、車両1が図7の向きから図8の向きに変わるまで運転者によるアクセル及びブレーキの操作がなされて「その場回転」が実行される(ステップS7)。
When the switching operation is performed, the rotation angle is navigated from the parking support device until the “parking on the spot” is possible to park, and the vehicle 1 is driven until the vehicle 1 changes from the direction of FIG. 7 to the direction of FIG. The accelerator and brake are operated by the person, and "spot rotation" is executed (step S7).
また、「その場回転」が実行されて車両1が図8に示すように、センサ2によって検出された駐車スペースに対する駐車可能姿勢になったら、駐車支援装置から車両の走行モードを通常走行モードに戻す指示が出され、その指示に従って運転者は車両の走行モードを通常走行モードに切り替える(ステップS8)。
In addition, when “in-situ rotation” is executed and the vehicle 1 assumes a parking posture with respect to the parking space detected by the sensor 2 as shown in FIG. 8, the vehicle driving mode is changed from the parking assistance device to the normal driving mode. An instruction to return is issued, and the driver switches the driving mode of the vehicle to the normal driving mode in accordance with the instruction (step S8).
その後、駐車支援装置による駐車完了位置まで車両を後退させるためのナビゲートが実施され、運転者はそのナビゲートに従ってハンドル、アクセル、及びブレーキ操作を行って車両を後退させ(ステップS9)、車両が駐車枠に納まった位置で駐車を完了する(ステップS10)。
Thereafter, navigation for moving the vehicle back to the parking completion position by the parking support device is performed, and the driver performs the steering wheel, accelerator, and brake operation according to the navigation to move the vehicle backward (step S9). Parking is completed at a position that is within the parking frame (step S10).
なお、ここでのハンドル操作は、ステップS7での「その場回転」に若干の誤差が生じた場合にその誤差を修正する程度のものとなる。ステップS7での「その場回転」が誤差無く行われていれば、方向転換のためのハンドル操作は不要である。
Note that the steering operation here is such that when a slight error occurs in the “spot rotation” in step S7, the error is corrected. If the “in-situ rotation” in step S7 is performed without error, the steering operation for changing the direction is unnecessary.
図4のステップS4において、駐車スペースの有無の問いに対する回答が「駐車スペース無し」の時には、ステップS11に移って検出を続行するかが問われ、その結果がYESの場合、ステップS2に戻り、ステップS4での有無判定が「有」になるまで、ステップS2→ステップS3→ステップS4→ステップS11のフローが繰り返される。
In step S4 of FIG. 4, when the answer to the question about the presence or absence of the parking space is “no parking space”, it is asked whether to proceed to step S11 and continue the detection. If the result is YES, the processing returns to step S2. Until the presence / absence determination in step S4 becomes “present”, the flow of step S2, step S3, step S4, and step S11 is repeated.
また、ステップS11に移った後に、運転者が駐車中止の判断をして駐車指令スイッチをOFFにしたら、駐車支援装置による支援が中止される(ステップS12)。
Further, after moving to step S11, when the driver determines that the parking is stopped and turns off the parking command switch, the support by the parking support device is stopped (step S12).
さらに、ステップS5における判定結果が「駐車可」である場合にも、運転者が検出された駐車スペースに駐車する意思を示さなかったら(その駐車スペースに対する駐車を良しとしなかったら)、運転者による走行モードのその場回転モードへの切り替えがなされないため、ステップS5での駐車の可否判断が所定時間経過後に「否」に変更されてステップS11に移り、検出が続行される。
Furthermore, even when the determination result in step S5 is “parking is possible”, if the driver does not indicate an intention to park in the detected parking space (if the parking space is not good), the driver Since the traveling mode is not switched to the in-situ rotation mode, the determination as to whether parking is permitted in step S5 is changed to “No” after a predetermined time has elapsed, and the process proceeds to step S11 to continue detection.
-運転者によるオートマチック駐車支援モードの選択-
運転者がオートマチック駐車支援モードを選んでそのモードでの駐車指令スイッチをONにすると、上記マニュアル駐車支援モードで運転者が行うハンドル、アクセル、ブレーキの各操作と、「その場回転」モードへの切り替え、「その場回転」モードから「通常走行モード」への戻しが車両搭載の装置によって自動で行われる。 -Selection of automatic parking support mode by driver-
When the driver selects the automatic parking assistance mode and turns on the parking command switch in that mode, the steering wheel, accelerator, and brake operations performed by the driver in the manual parking assistance mode and the "in-situ rotation" mode are entered. Switching and returning from the “spot rotation” mode to the “normal driving mode” are automatically performed by a vehicle-mounted device.
運転者がオートマチック駐車支援モードを選んでそのモードでの駐車指令スイッチをONにすると、上記マニュアル駐車支援モードで運転者が行うハンドル、アクセル、ブレーキの各操作と、「その場回転」モードへの切り替え、「その場回転」モードから「通常走行モード」への戻しが車両搭載の装置によって自動で行われる。 -Selection of automatic parking support mode by driver-
When the driver selects the automatic parking assistance mode and turns on the parking command switch in that mode, the steering wheel, accelerator, and brake operations performed by the driver in the manual parking assistance mode and the "in-situ rotation" mode are entered. Switching and returning from the “spot rotation” mode to the “normal driving mode” are automatically performed by a vehicle-mounted device.
なお、マニュアル駐車支援モードからオートマチック駐車支援モードへの切り替え、或いはそれとは逆の切り替えは、駐車支援開始から駐車完了までの間の任意の時期に行うことができる。
It should be noted that switching from manual parking support mode to automatic parking support mode or vice versa can be performed at any time between the start of parking support and the completion of parking.
この発明の方法によれば、駐車支援の対象車両が、前輪と後輪を通常走行モードでの直進状態から90°転蛇させることができ、さらに、前輪と後輪の左右輪の少なくとも片方が同期して駆動可能な車両(横移動も可能な車両)である場合には、縦列駐車の支援も行うことができる。
According to the method of the present invention, the target vehicle for parking assistance can cause the front wheel and the rear wheel to meander by 90 ° from the straight traveling state in the normal travel mode, and at least one of the left and right wheels of the front wheel and the rear wheel is In the case of a vehicle that can be driven synchronously (a vehicle that can also move laterally), parallel parking support can also be provided.
その縦列駐車は、駐車支援装置のナビゲートに従って前後の駐車車両間にある駐車スペースの真横に車を移動させ、この位置で車両の走行モードを「横移動」モードに切り替える。そして、その後のナビゲートに基づく横移動を運転者の運転操作や車両搭載の装置による自動運転によって行って駐車スペース内に車両を移動させ、駐車を完了する。
In the parallel parking, the vehicle is moved to the side of the parking space between the front and rear parked vehicles according to the navigation of the parking support device, and the driving mode of the vehicle is switched to the “lateral movement” mode at this position. Then, the lateral movement based on the subsequent navigation is performed by the driving operation of the driver or the automatic driving by the device mounted on the vehicle to move the vehicle into the parking space, thereby completing the parking.
1、3,4 車両
2 センサ
5 車輪
6 白線
a 両隣の駐車車両間の距離
b 駐車枠を示す白線間の距離
c 駐車枠を示す白線の長さ 1, 3, 4Vehicle 2 Sensor 5 Wheel 6 White line a Distance between adjacent parking vehicles b Distance between white lines indicating parking frame c Length of white line indicating parking frame
2 センサ
5 車輪
6 白線
a 両隣の駐車車両間の距離
b 駐車枠を示す白線間の距離
c 駐車枠を示す白線の長さ 1, 3, 4
Claims (5)
- 4輪に個別に舵角を与える機能を備えていてその場回転ができる車両(1)に、周囲に存在する駐車スペースを検出するセンサ(2)と、そのセンサ(2)の検出データに基づいて車両の移動コースと運転条件を演算して駐車支援を行う駐車支援装置を設け、
その駐車支援装置によるナビゲートに従って車両(1)が検出された駐車スペースに対する駐車可能位置まで運転されてその駐車可能位置に停止したら、車両(1)の走行モードをその場回転モードに切り替えさせて車両(1)が前記駐車スペースに対する駐車可能姿勢になるまでその場回転でのナビゲートを実行し、その後、車両(1)の走行モードを通常走行モードに戻させて駐車完了位置まで車両(1)を後退、或いは前進移動させるためのナビゲートを実行する駐車支援方法。 A vehicle (1) having a function of individually giving steering angles to four wheels and capable of rotating on the spot, a sensor (2) for detecting a parking space existing around the vehicle, and based on detection data of the sensor (2) A parking assistance device that calculates the vehicle's moving course and driving conditions and provides parking assistance,
When the vehicle (1) is driven to the parking position where the vehicle (1) is detected and stopped at the parking position according to the navigation by the parking assist device, the driving mode of the vehicle (1) is switched to the spot rotation mode. The vehicle (1) navigates in place until the parking space is in a parking-possible posture, and then returns the vehicle (1) to the normal travel mode to the parking completion position. A parking assistance method for executing navigation for moving the vehicle backward or forward. - 前記駐車支援装置に、オートマチック駐車支援モードとマニュアル駐車支援モードの選択機能を具備させ、前記車両(1)の運転者がマニュアル駐車支援モードを選択したときは、前記駐車支援装置による運転者に対しての音声及び画像の少なくともどちらかによるハンドル、アクセル、ブレーキ操作のナビゲートを実行し、一方、運転者がオートマチック駐車支援モードを選択したときは、上記のナビゲートに基づく車両の自動運転駐車を実行させる請求項1に記載の駐車支援方法。 The parking assist device is provided with a selection function of an automatic parking assist mode and a manual parking assist mode, and when the driver of the vehicle (1) selects the manual parking assist mode, the driver by the parking assist device When the driver selects the automatic parking assist mode, the vehicle is automatically driven and parked based on the above navigation. The parking assistance method according to claim 1 to be executed.
- 前記マニュアル駐車支援モードとオートマチック駐車支援モードの設定を、前記センサ(2)による駐車スペース検出の開始から駐車完了までの間の任意の時期に変更可能となした請求項2に記載の駐車支援方法。 The parking support method according to claim 2, wherein the setting of the manual parking support mode and the automatic parking support mode can be changed at any time from the start of parking space detection by the sensor (2) to the completion of parking. .
- 前記車両(1)の走行モードの切り替えを、運転者にモード切り替えスイッチを操作させて行う請求項1~3のいずれかに記載の駐車支援方法。 The parking support method according to any one of claims 1 to 3, wherein the driving mode of the vehicle (1) is switched by causing a driver to operate a mode switching switch.
- 前記センサ(2)として撮像装置、ミリ波レーダ、赤外線レーダ、超音波センサ、レーザスキャンセンサの少なくとも1種を用いる請求項1~4のいずれかに記載の駐車支援方法。 The parking support method according to any one of claims 1 to 4, wherein at least one of an imaging device, millimeter wave radar, infrared radar, ultrasonic sensor, and laser scan sensor is used as the sensor (2).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016019903A JP2017136990A (en) | 2016-02-04 | 2016-02-04 | Parking support method |
JP2016-019903 | 2016-02-04 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017135191A1 true WO2017135191A1 (en) | 2017-08-10 |
Family
ID=59500308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/003178 WO2017135191A1 (en) | 2016-02-04 | 2017-01-30 | Parking assistance method |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP2017136990A (en) |
WO (1) | WO2017135191A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108128349A (en) * | 2017-11-22 | 2018-06-08 | 徐州重型机械有限公司 | Level controlling system and method for adjustment during a kind of wheeled heavy-duty vehicle turns to |
CN113784880A (en) * | 2019-04-26 | 2021-12-10 | 戴姆勒股份公司 | Method for operating a driver assistance system of a motor vehicle that can be driven at least partially electrically for controlling four wheels, driver assistance system, and motor vehicle |
CN116453370A (en) * | 2023-04-17 | 2023-07-18 | 广东科陆智泊信息科技有限公司 | Parking posture correction system and method thereof |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109733387B (en) * | 2019-01-21 | 2021-04-20 | 江苏大学 | Parking method capable of automatically switching parking modes and control device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007062623A (en) * | 2005-08-31 | 2007-03-15 | Equos Research Co Ltd | Controller and vehicle |
JP2008074296A (en) * | 2006-09-22 | 2008-04-03 | Denso Corp | Vehicle with parking assisting function |
WO2014171389A1 (en) * | 2013-04-18 | 2014-10-23 | Ntn株式会社 | Steering device, vehicle using same steering device, and vehicle equipped with four-wheel steering mechanism |
JP2015048034A (en) * | 2013-09-04 | 2015-03-16 | トヨタ自動車株式会社 | Automated driving device |
-
2016
- 2016-02-04 JP JP2016019903A patent/JP2017136990A/en active Pending
-
2017
- 2017-01-30 WO PCT/JP2017/003178 patent/WO2017135191A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007062623A (en) * | 2005-08-31 | 2007-03-15 | Equos Research Co Ltd | Controller and vehicle |
JP2008074296A (en) * | 2006-09-22 | 2008-04-03 | Denso Corp | Vehicle with parking assisting function |
WO2014171389A1 (en) * | 2013-04-18 | 2014-10-23 | Ntn株式会社 | Steering device, vehicle using same steering device, and vehicle equipped with four-wheel steering mechanism |
JP2015048034A (en) * | 2013-09-04 | 2015-03-16 | トヨタ自動車株式会社 | Automated driving device |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108128349A (en) * | 2017-11-22 | 2018-06-08 | 徐州重型机械有限公司 | Level controlling system and method for adjustment during a kind of wheeled heavy-duty vehicle turns to |
CN113784880A (en) * | 2019-04-26 | 2021-12-10 | 戴姆勒股份公司 | Method for operating a driver assistance system of a motor vehicle that can be driven at least partially electrically for controlling four wheels, driver assistance system, and motor vehicle |
CN116453370A (en) * | 2023-04-17 | 2023-07-18 | 广东科陆智泊信息科技有限公司 | Parking posture correction system and method thereof |
CN116453370B (en) * | 2023-04-17 | 2023-12-19 | 广东科陆智泊信息科技有限公司 | Parking posture correction system and method thereof |
Also Published As
Publication number | Publication date |
---|---|
JP2017136990A (en) | 2017-08-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5713623B2 (en) | Driver assistance method | |
JP5447663B2 (en) | Parking support apparatus and method | |
US9475492B2 (en) | Parking assist device | |
JP4108314B2 (en) | Vehicle periphery monitoring device | |
US7257486B2 (en) | Parking assisting device | |
JP5262855B2 (en) | Parking assistance device and parking assistance method | |
US8319614B2 (en) | Parking assistance apparatus and parking assistance method | |
JP5477515B2 (en) | Parking assistance device | |
JP5262368B2 (en) | Parking assistance device and parking assistance method | |
WO2017135191A1 (en) | Parking assistance method | |
JP2001180405A (en) | Steering support device | |
JP5446139B2 (en) | Parking assistance device and parking assistance method | |
JP5906999B2 (en) | Parking assistance device | |
JP2018034541A (en) | Parking support method and parking support apparatus | |
JP2018184139A (en) | Parking assistance device | |
JP5082905B2 (en) | Parking assistance device, parking assistance method, and computer program | |
JP3762855B2 (en) | Parking assistance device | |
JP2018135028A (en) | Parking assistance device | |
JP2011195092A (en) | Parking support device | |
JP2014076697A (en) | Parking support device | |
JP2006117165A (en) | Parking assistance device | |
JP4848122B2 (en) | Parallel parking support device and parallel parking method | |
JP2004106615A (en) | Parking support system | |
WO2016152584A1 (en) | Vehicle | |
JP7457276B2 (en) | automatic parking device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17747347 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17747347 Country of ref document: EP Kind code of ref document: A1 |