WO2017135191A1

WO2017135191A1 - Parking assistance method

Info

Publication number: WO2017135191A1
Application number: PCT/JP2017/003178
Authority: WO
Inventors: 石河　智海
Original assignee: Ntn株式会社
Priority date: 2016-02-04
Filing date: 2017-01-30
Publication date: 2017-08-10
Also published as: JP2017136990A

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

Parking support method

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.

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.

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.

Japanese Patent Laid-Open No. 10-244890 Japanese Patent Laid-Open No. 2015-44565

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.

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.

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. .

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.

In addition, the “parking space” in the present invention is a section where parking is possible including a garage.

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.

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.

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.

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.

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. .

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.

It is a side view of the vehicle which performs parking assistance by the method of this invention. It is a top view of the vehicle. It is a top view which shows the detection range of the sensor mounted in the vehicle of FIG. It is a side view of the vehicle of FIG. 1 switched to the spot rotation mode. It is a top view of the vehicle. It is a flowchart which shows an example of the assistance procedure of the parking assistance method of this invention. It is a top view which shows an example of the parking space in parallel parking. It is a top view which shows the state which detected the parking space of FIG. 5 and stopped the vehicle at the entrance of the parking space. It is a top view which shows the state which switched the driving mode of the vehicle from the state of FIG. 6 to the spot rotation mode. It is a top view which shows the state which rotated the vehicle 90 degrees from the state of FIG. 7 according to the navigation of the spot rotation of a parking assistance apparatus. It is a top view which shows the state which returned the driving mode of the vehicle of the attitude | position of FIG. 8 to the normal driving mode. FIG. 10 is a plan view showing a state where the vehicle is moved backward from the state of FIG. 9 to complete parking.

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”.

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.

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.

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.

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.

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.

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.

-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 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.

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.

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).

If the determination result is “parking is possible”, the driver is asked to switch the vehicle travel mode to the “spot rotation” mode.

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).

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).

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).

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).

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.

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.

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).

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.

-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.

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.

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.

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 Vehicle 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

Claims

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.
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.
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. .
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.
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).