JP2001005523A - Automatic parking method - Google Patents
Automatic parking methodInfo
- Publication number
- JP2001005523A JP2001005523A JP11174818A JP17481899A JP2001005523A JP 2001005523 A JP2001005523 A JP 2001005523A JP 11174818 A JP11174818 A JP 11174818A JP 17481899 A JP17481899 A JP 17481899A JP 2001005523 A JP2001005523 A JP 2001005523A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic field
- parking
- parking lot
- vehicle
- guide
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims description 14
- 230000010355 oscillation Effects 0.000 claims description 10
- 230000004907 flux Effects 0.000 claims description 7
- 239000013078 crystal Substances 0.000 claims description 5
- 230000002123 temporal effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000002500 effect on skin Effects 0.000 description 3
- 230000005415 magnetization Effects 0.000 description 3
- 230000035699 permeability Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 101100116283 Arabidopsis thaliana DD11 gene Proteins 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000005381 magnetic domain Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は駐車場における自動
駐車方法に関し、特に自動運転道路システム（ＡＨＳ）
における駐車場での自動駐車に有用なものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic parking method in a parking lot, and more particularly to an automatic driving road system (AHS).
It is useful for automatic parking in a parking lot.
【０００２】[0002]
【従来の技術】近来、事故、渋滞、環境破壊等の交通問
題を解決すると共に社会資本の構築のために、インテリ
ジェント交通システム（ＩＴＳ）の開発が進められてお
り、その骨格をなす自動運転道路システム（ＡＨＳ）が
推進されつつある。このＡＨＳは、道路の走行レ−ンに
所定の間隔で埋設した磁気ネイルにより自動車を所定の
レ−ンに沿い横偏差なく走行させる走行レ−ン検出シス
テム、道路に架設した漏洩同軸ケ−ブルと車との間での
準マイクロ波通信により車両に交通情報や管制情報や道
路情報を送信して自動運転の制御デ−タに使用し、かつ
車両からの車両状態や位置情報や事象情報（故障、事故
等）を道路側に送信して管制に使用する路車間通信シス
テム、先行車から後続車に車速や加速度や操舵角等のデ
−タを送信して車間距離制御を行う光車々間通信システ
ム、隊列の先頭車が障害物回避を行ったり後続車が隊列
に加わるときのアプロ−チ制御等を行うための車間距離
センサシステムから構成されている。2. Description of the Related Art In recent years, an intelligent transportation system (ITS) has been developed to solve traffic problems such as accidents, congestion, and environmental destruction, and to build social capital. The system (AHS) is being promoted. This AHS is a traveling lane detection system that allows a vehicle to travel along a prescribed lane without lateral deviation by using a magnetic nail embedded at a prescribed interval in a traveling lane on a road, and a leaky coaxial cable installed on the road. Traffic information, traffic control information, and road information are transmitted to the vehicle by quasi-microwave communication between the vehicle and the vehicle, and are used for control data of automatic driving, and vehicle state, position information, and event information ( Road-to-vehicle communication system that transmits information such as vehicle failure, accident, etc.) to the road side and uses it for traffic control. The system comprises an inter-vehicle distance sensor system for performing approach control or the like when the leading vehicle of the platoon performs obstacle avoidance or a following vehicle joins the platoon.
【０００３】このＡＨＳに対応させる車には、磁界ネイ
ルの磁界を検出するための磁界センサ、車間距離を検出
するためのレ−ザレ−ダやＣＣＤカメラ、車速センサ、
路車間通信のためのアンテナや通信機、光車々間通信の
ための受光器や光通信機や発光器が搭載されることにな
る。[0003] A vehicle compatible with the AHS includes a magnetic field sensor for detecting a magnetic field of a magnetic field nail, a laser radar or a CCD camera, a vehicle speed sensor for detecting a distance between vehicles,
An antenna and a communication device for road-vehicle communication, a light receiver, an optical communication device, and a light emitter for optical vehicle-to-vehicle communication will be mounted.
【０００４】[0004]
【発明が解決しようとする課題】近来、特に大都市での
駐車場確保が社会問題となつており、地下等に大規模駐
車場を建設するケ−スが増えている。しかしながら、そ
の駐車方式には、依然として運転車が手動で所定の駐車
区に運転していく方式を採っている。Recently, securing a parking lot in a large city has become a social problem, and the number of cases of constructing a large-scale parking lot underground has increased. However, the parking method still employs a method in which the driving vehicle manually drives in a predetermined parking zone.
【０００５】本発明の目的は、ＡＨＳ対応車が磁界セン
サやレ−ザレ−ダを装備していることに着目し、これら
の装備部品を利用し大規模駐車場を対象とした自動方式
の駐車システムを提供することにある。An object of the present invention is to pay attention to the fact that an AHS-compatible vehicle is equipped with a magnetic field sensor and a laser radar, and to use these equipped parts in an automatic parking system for a large-scale parking lot. It is to provide a system.
【０００６】[0006]
【課題を解決するための手段】本発明に係る自動駐車方
法は、駐車場の入口から駐車場内の各駐車区に至る複数
本の磁界誘導ガイドを設け、所定の磁界誘導ガイドを選
択して磁界を発生させ、自動車に取付けた磁界センサで
その選択した磁界誘導ガイドを検知しつつ選択した駐車
区に向け自動車を自動走行させることを特徴とする構成
であり、電流を磁性エレメントに流すことにより生じる
周方向磁束の時間的変化で発生する出力電圧を外部磁界
で変化させてその外部磁界を検出するＭＩセンサを磁界
センサとして使用することが好ましく、この場合電流を
磁性エレメントに流す手段に水晶発振回路を使用するこ
とができる。An automatic parking method according to the present invention comprises providing a plurality of magnetic field guides from an entrance of a parking lot to each parking section in the parking lot, selecting a predetermined magnetic field guide and selecting a magnetic field guide. And automatically drives the vehicle toward the selected parking zone while detecting the selected magnetic field guide with a magnetic field sensor attached to the vehicle. It is preferable to use as a magnetic field sensor an MI sensor that detects an external magnetic field by changing an output voltage generated by a temporal change of a circumferential magnetic flux. In this case, a quartz oscillator circuit is used as a means for flowing a current to the magnetic element. Can be used.
【０００７】[0007]
【発明の実施の形態】以下、図面を参照しつつ本発明の
実施の形態について説明する。図１において、１は大規
模駐車場の一部であり、１１は幹線通路を、１２は支線
通路を、１３は駐車区を示し、駐車場の入口から各駐車
区に至る独立の磁界誘導ガイドを通路に埋設してある
（図１では、駐車区１３Ｘに至る磁界誘導ガイド１４Ｘ
のみを図示し、他の駐車区に至る磁界誘導ガイドの図示
は省略してある）。例えば、所定間隔の平行往復二線を
埋設することができる。Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, 1 is a part of a large-scale parking lot, 11 is a trunk passage, 12 is a branch passage, 13 is a parking lot, and an independent magnetic field guide from the entrance of the parking lot to each parking lot. the are embedded in the passage (in FIG. 1, the magnetic field induction guide 14 X leading to the parking gu 13 X
Only the magnetic field guides leading to other parking zones are omitted). For example, two parallel reciprocating lines at predetermined intervals can be embedded.
【０００８】図１において、２はＡＨＳ対応車を示し、
磁界センサはフロントバンバ−下に取付け、レ−ザ−レ
−ダはリアウィンド近傍に取付けてある。磁界センサは
横方向配置の複数箇とし、その間隔は上記平行二線間の
間隔Ｌよりも狭くすることが好ましい。In FIG. 1, reference numeral 2 denotes an AHS-compatible vehicle.
The magnetic field sensor is mounted below the front bumper, and the laser radar is mounted near the rear window. It is preferable that a plurality of magnetic field sensors are arranged in the lateral direction, and the interval therebetween is smaller than the interval L between the two parallel lines.
【０００９】本発明により自動車を駐車入口から一の駐
車区に移動させるには、駐車場入口からその一の駐車区
に至る磁界誘導ガイドを通電して磁界を発生させ、自動
車に取付けた磁界センサで磁界を検出し、その検出信号
で自動車をその駐車区に向けて自動走行させていく。そ
の駐車区に到達すれば、その到達を自動車に取付けたレ
−ザ−レ−ダで検知させ（例えば、駐車区に反射ミラ−
を配設しておき、レ−ザ−反射で到達を検知させる）、
その検知信号で自動停止させる。上記磁界誘導ガイドに
制御磁界を発生磁界に重畳させて伝送し、この制御信号
で自動車の自動停止や速度変更等を行わせることも可能
である。この場合上記レーザーレーダによる自動停止手
段は省略できる。In order to move a car from a parking entrance to one parking lot according to the present invention, a magnetic field guide is energized from the parking lot entrance to the one parking lot to generate a magnetic field, and a magnetic field sensor attached to the car is generated. To detect the magnetic field, and the detection signal is used to automatically drive the automobile toward the parking zone. When the vehicle arrives at the parking area, the arrival is detected by a laser radar attached to the car (for example, a reflection mirror is provided at the parking area).
Is arranged, and the arrival is detected by laser reflection),
Automatically stop by the detection signal. A control magnetic field may be superimposed on the generated magnetic field and transmitted to the magnetic field guide, and the control signal may be used to automatically stop the vehicle or change the speed. In this case, the automatic stopping means by the laser radar can be omitted.
【００１０】上記駐車区から駐車場入口に自動車を退出
させるには、磁界誘導ガイドを通電して磁界を発生さ
せ、その発生磁界を起動信号として自動車を起動させ、
磁界センサで磁界を検出させつつ磁界発生誘導ラインに
沿い自動車をバック走行させる。In order to leave the car from the parking zone to the entrance of the parking lot, the magnetic field guide is energized to generate a magnetic field, and the generated magnetic field is used as a start signal to start the car.
While the magnetic field sensor detects the magnetic field, the vehicle is caused to travel backward along the magnetic field generation guide line.
【００１１】上記の実施例では平行往復二線式の磁界誘
導ガイドを使用しているが、この平行往復二線に代え、
電磁石式の磁気ネイルを所定の間隔で埋設し、磁気ネイ
ルを自動車誘導方向に向け順次に通電して磁界を発生さ
せ、その磁界発生順に従って自動車を駐車場入口から所
定の駐車区に誘導していくことも可能である。この場
合、前記磁気ネイルの通電時間の間隔で実質上自動車の
移動速度を調整できる。In the above embodiment, a parallel reciprocating two-wire magnetic field guide is used.
Electromagnetic magnetic nails are buried at predetermined intervals, and the magnetic nails are sequentially energized in the direction of vehicle guidance to generate a magnetic field, and the vehicle is guided from the entrance of the parking lot to a predetermined parking zone according to the magnetic field generation order. It is also possible to go. In this case, the moving speed of the automobile can be substantially adjusted at intervals of the energizing time of the magnetic nail.
【００１２】上記実施例ではＡＨＳ対応車を使用してい
るが、車両に磁界センサとレ−ザ−レ−ダ、または磁界
センサとそれに付随する適切な信号処理システムさえ取
付けておけば、ＡＨＳ未対応車でも実施できる。In the above embodiment, an AHS-compatible vehicle is used. However, if a magnetic field sensor and a laser radar, or a magnetic field sensor and an appropriate signal processing system associated therewith are mounted on the vehicle, AHS is not available. It can also be implemented on compatible vehicles.
【００１３】図２は本発明において使用される磁界セン
サ装置の一例を示し、磁界センサとして、磁性エレメン
ト（アモルファスワイヤ、アモルファス薄膜等）に電流
を流すことにより生じる周方向磁束の時間的変化で発生
する出力電圧を外部磁界で変化させてその外部磁界を検
出するＭＩセンサＡを使用し、また磁性エレメントに電
流を流す手段として水晶発振回路を使用している。図２
において、ＤはＣで示す水晶発振器ＯＳＣからの高周波
出力の増幅回路である。ＡはＭＩアモルファスワイヤで
あり、増幅回路Ｄの出力端が可変抵抗ＶＲ １を介してア
モルファスワイヤ端に接続されている。ＤＣｏｕｔはダ
イオ−ドＤ １を経ての直流出力端、ＡＣｏｕｔは交流出
力端である。FIG. 2 shows a magnetic field sensor used in the present invention.
An example of a magnetic device is shown in FIG.
Current (amorphous wire, amorphous thin film, etc.)
Generated by the temporal change of the circumferential magnetic flux caused by flowing
The output voltage to be detected is changed by the external magnetic field and the external magnetic field is detected.
Use the MI sensor A that emits
A crystal oscillation circuit is used as a means for flowing the current. FIG.
, D is the high frequency from the crystal oscillator OSC indicated by C
This is an output amplifier circuit. A is MI amorphous wire
The output terminal of the amplifier circuit D is a variable resistor VR. 1Through a
It is connected to the morphus wire end. DCout
Ide D 1DC output terminal, ACout is AC output
It is a power end.
【００１４】この磁界センサ装置により上記磁界誘導ガ
イドの発生磁界を検出させて自動車を磁界誘導ガイドに
沿って走行させるには、発振回路の周波数を水晶発振子
の固有周波数に一致させるようにＣ１、Ｒ１を調整して
発振回路Ｃを発振させ、抵抗Ｒ ２に現われる出力を増幅
回路Ｄで増幅し、抵抗ＶＲ１の調整によりアモルファス
ワイヤＡに所定振幅の高周波電流を通電し、直流出力端
ＤＣｏｕｔの出力を走行信号として自動車を自動走行さ
せていく。または、ＡＣｏｕｔの出力をＡＭ検波し、こ
の検波を走行信号として自動車を自動走行させていく。The magnetic field guiding device is provided by the magnetic field sensor device.
Detecting the magnetic field generated by the id makes the car a magnetic field guide
To run along, the frequency of the oscillation circuit
To match the natural frequency of1, R1Adjust
The oscillation circuit C is oscillated and the resistance R 2Amplify the output that appears on the
Amplified by the circuit D, the resistance VR1Amorphous by adjusting
A high-frequency current having a predetermined amplitude is applied to the wire A, and the DC output terminal
The vehicle is automatically driven using the output of DCout as a running signal.
Let me go. Alternatively, AM output of ACout is detected and
The vehicle is automatically driven using the detection of the vehicle as a travel signal.
【００１５】上記ＭＩアモルファスワイヤＡの両端間に
は、外部磁界で変動する電圧が出力される。すなわち、
自発磁化の方向がワイヤ周方向に対し互いに逆方向の磁
区が交互に磁壁で隔てられた構成の外殻部を有する、零
磁歪乃至は負磁歪のアモルファス磁性ワイヤに高周波電
流したときに発生するワイヤ両端間出力電圧中のインダ
クタンス電圧分は、ワイヤの横断面内に生じる円周方向
磁束によって上記の円周方向に易磁化性の外殻部が円周
方向に磁化されることに起因して発生する。従って、周
方向透磁率μθは同外殻部の円周方向の磁化に依存す
る。而るに、この通電中のアモルファスワイヤに外部磁
界を作用させると、上記通電による円周方向磁束と外部
磁束との合成により、上記円周方向に易磁化性を有する
外殻部に作用する磁束の方向が円周方向からずれ、それ
だけ円周方向への磁化が生じ難くなり、上記周方向透磁
率μθが変化し、上記インダクタンス電圧分が変動する
ことになる。更に、上記通電電流の周波数がMHzオ−ダ
になると、高周波表皮効果を無視し得なくなり、表皮深
さδ＝（２ρ／wμθ）１／２（μθは円周方向透磁
率、ρは電気抵抗率、wは角周波数)がμθにより変化
し、このμθが前記した通り、外部磁界によって変化す
るので、ワイヤ両端間出力電圧中の抵抗電圧分も外部磁
界で変動するようになる。A voltage that fluctuates due to an external magnetic field is output between both ends of the MI amorphous wire A. That is,
A wire generated when a high-frequency current is applied to a zero-magnetostriction or negative-magnetostriction amorphous magnetic wire having an outer shell portion in which magnetic domains whose spontaneous magnetization directions are opposite to each other with respect to the wire circumferential direction are alternately separated by domain walls. The inductance voltage in the output voltage between both ends is generated due to the circumferentially magnetizable outer shell portion being magnetized in the circumferential direction by the circumferential magnetic flux generated in the cross section of the wire. I do. Therefore, the circumferential magnetic permeability mu theta depends on the circumferential direction of magnetization of Dosotokara portion. When an external magnetic field is applied to the energized amorphous wire, the magnetic flux acting on the outer shell portion having the magnetizability in the circumferential direction is obtained by combining the circumferential magnetic flux and the external magnetic flux by the energization. direction deviates from the circumferential direction, correspondingly hardly occur magnetization in the circumferential direction, the circumferential permeability mu theta changes, the inductance voltage content will vary. Furthermore, the frequency of the energizing current MHz O - When Da, will not be ignored high-frequency skin effect, skin depth δ = (2ρ / wμ θ) 1/2 (μ θ is circumferentially permeability, [rho is electrical resistivity, w is the angular frequency) is changed by mu theta, so changed by this as mu theta is the external magnetic field, the resistance voltage of the in wire ends between the output voltage also becomes to vary the external magnetic field .
【００１６】このように、外部磁界による上記インダク
タンス電圧分と抵抗電圧分の双方がＭＩワイヤ両端間出
力の変動（この外部磁界による出力電圧の変動はＭＩ効
果と称されている）として現れるから、上記直流出力端
または交流出力端の電圧を走行信号として自動車を自動
走行させれば、上記磁界誘導ガイドに沿って自動車が自
動走行されていくことになる。As described above, both the inductance voltage and the resistance voltage due to the external magnetic field appear as fluctuations in the output between both ends of the MI wire (the fluctuation in the output voltage due to the external magnetic field is called the MI effect). If the vehicle is automatically driven using the voltage at the DC output terminal or the AC output terminal as a traveling signal, the vehicle is automatically driven along the magnetic field guide.
【００１７】前記した通り、アモルファスワイヤのＭＩ
効果は表皮効果によっても発生する。而るに、表皮効果
はワイヤ中心部ほど電磁誘導による逆起電力が大きくな
って電流がワイヤ表面に集中する現象であり、その逆起
電力がワイヤ通電電流の変化速度に比例するから、通電
電流を立上りや立ち下がりが急峻なパルス波にすると、
上記ＭＩ効果が大となる。そこで、かかるパルスＭＩ効
果を用いたアモルファスワイヤＭＩ磁界センサとして、
図３に示すようにＣ−ＭＯＳインバ−タＩＣを用いたＭ
Ｉ磁界センサ装置が提案されており、このＣ−ＭＯＳイ
ンバ−タＭＩ磁界センサ装置を使用することも可能であ
る。As described above, the MI of the amorphous wire
The effect is also caused by the skin effect. The skin effect is a phenomenon in which the back electromotive force due to electromagnetic induction increases toward the center of the wire and the current concentrates on the wire surface, and the back electromotive force is proportional to the rate of change of the wire current. Is a pulse wave with sharp rise and fall,
The above-mentioned MI effect becomes large. Therefore, as an amorphous wire MI magnetic field sensor using such a pulse MI effect,
As shown in FIG. 3, M using a C-MOS inverter IC
An I magnetic field sensor device has been proposed, and it is also possible to use this C-MOS inverter MI magnetic field sensor device.
【００１８】このＣ−ＭＯＳインバ−タＭＩ磁界センサ
装置においては、インバ−タＱ１，Ｑ２とＲ−Ｃとで無
安定マルチバイブレ−タ発振回路を構成し、インバ−タ
の反転時にＮ型とＰ型のＭＯＳＦＥＴが同時に通電状態
になり、ＩＣのＶｄｄ端子とＧＮＤ端子間のインピ−ダ
ンスが数１０オ−ム程度になってＲLにパルス電流が流
れ、このパルス電流の立上り時と立ち下がり時にアモル
ファスワイヤの両端に現われるパルス電圧がショットキ
−バリアダイオ−ドＳＢＤ、コンデンサＣ’、抵抗Ｒ’
でホ−ルドされセンサ出力とされる。In this C-MOS inverter MI magnetic field sensor device, an astable multivibrator oscillation circuit is constituted by the inverters Q 1 and Q 2 and RC, and N is set when the inverter is inverted. And P-type MOSFETs are simultaneously energized, the impedance between the Vdd terminal and the GND terminal of the IC becomes about several tens of ohms, and a pulse current flows through RL. The pulse voltage appearing at both ends of the amorphous wire at the time of falling is a Schottky barrier diode SBD, a capacitor C ', and a resistor R'.
Is held as a sensor output.
【００１９】このＣ−ＭＯＳインバ−タＭＩ磁界センサ
装置では、パルス電流の立上り時間がＩＣの寄生容量に
より左右され、ＭＩ特性がＩＣのロット間格差や周囲温
度変化により影響される不具合があり、本発明者の実験
結果によれば、発振電流値が３０℃を越えると急激に減
少して５０℃付近で殆ど発振しなくなることがある。こ
れに対し、上記の水晶発振方式では、消費電力がやや大
きいがかかる不利が無く、路面温度が３０℃を越えるこ
とが通常であるから、水晶発振方式を使用することが好
ましい。In this C-MOS inverter MI magnetic field sensor device, there is a problem that the rise time of the pulse current is influenced by the parasitic capacitance of the IC, and the MI characteristics are affected by a difference between IC lots and a change in ambient temperature. According to the experimental results of the present inventor, when the oscillation current value exceeds 30 ° C., the oscillation current value sharply decreases, and almost no oscillation may occur at around 50 ° C. On the other hand, in the above-described crystal oscillation method, the power consumption is slightly large, but there is no such disadvantage, and the road surface temperature usually exceeds 30 ° C., so that the crystal oscillation method is preferably used.
【００２０】[0020]
【発明の効果】本発明に係る自動駐車方法によれば、駐
車場内の所定の駐車区に無人で自動駐車させることがで
き、飛び出し事故等の人身事故を排除でき、運転者を運
転の疲れや緊張感から開放でき、またＡＨＳ対応車の機
能を駐車に有効に活用できる。更に、駐車場内での自動
車の走行速度で低速であるから、情報処理速度もそれに
応じ遅くでき、駐車場の中央管理室への情報伝達もカメ
ラ設置等の簡易な設備で済ますことができる。According to the automatic parking method according to the present invention, it is possible to automatically park an unmanned vehicle in a predetermined parking lot in a parking lot, to eliminate personal injury such as jumping out accidents, and to make the driver tired and nervous of driving. It can be released from the feeling, and the function of the AHS compatible car can be effectively used for parking. Further, since the traveling speed of the car in the parking lot is low, the information processing speed can be reduced accordingly, and the transmission of information to the central control room of the parking lot can be done with simple equipment such as a camera.
【図面の簡単な説明】[Brief description of the drawings]
【図１】本発明に係る自動駐車方法を示す説明図であ
る。FIG. 1 is an explanatory diagram showing an automatic parking method according to the present invention.
【図２】本発明において使用する磁界センサ装置の一例
を示す図面である。FIG. 2 is a drawing showing an example of a magnetic field sensor device used in the present invention.
【図３】本発明において使用する磁界センサ装置の他の
例を示す図面である。FIG. 3 is a drawing showing another example of the magnetic field sensor device used in the present invention.
１ 駐車場 １１ 幹線通路 １２ 支線通路 １３ 駐車区 １４ｘ 磁界誘導ガイド ２ 車両 DESCRIPTION OF SYMBOLS 1 Parking lot 11 Main path 12 Branch line 13 Parking area 14x Magnetic field guide 2 Vehicle
フロントページの続き Ｆターム(参考） 3D032 CC20 DA88 EC34 GG01 5H301 AA02 AA09 BB20 CC03 CC06 DD11 EE05 EE06 FF03 FF04 FF23 GG07 GG08 LL01 LL08 LL11 Continued on the front page F term (reference) 3D032 CC20 DA88 EC34 GG01 5H301 AA02 AA09 BB20 CC03 CC06 DD11 EE05 EE06 FF03 FF04 FF23 GG07 GG08 LL01 LL08 LL11
Claims (4)
る複数本の磁界誘導ガイドを設け、所定の磁界誘導ガイ
ドを選択して磁界を発生させ、自動車に取付けた磁界セ
ンサでその選択した磁界誘導ガイドを検知しつつ選択し
た駐車区に向け自動車を自動走行させることを特徴とす
る自動駐車方法。A plurality of magnetic field guides are provided from an entrance of a parking lot to each parking section in the parking lot, a predetermined magnetic field guide is selected to generate a magnetic field, and the magnetic field is selected by a magnetic field sensor mounted on an automobile. An automatic parking method characterized by automatically driving a vehicle toward a selected parking zone while detecting a detected magnetic field guide.
駐車方法であり、駐車場の入口から駐車場内の各駐車区
に至る複数本の磁界誘導ガイドを設け、所定の磁界誘導
ガイドを選択して磁界を発生させ、自動車に取付けた磁
界センサでその選択した磁界誘導ガイドを検知しつつ選
択した駐車区に向け自動車を自動走行させることを特徴
とする自動駐車方法。2. A parking method in a parking lot in an autonomous driving road system, wherein a plurality of magnetic field guiding guides from an entrance of the parking lot to each parking zone in the parking lot are provided, and a predetermined magnetic field guiding guide is selected. An automatic parking method, comprising: generating a magnetic field, and automatically driving the vehicle toward a selected parking zone while detecting the selected magnetic field guide with a magnetic field sensor attached to the vehicle.
じる周方向磁束の時間的変化で発生する出力電圧を外部
磁界で変化させてその外部磁界を検出するＭＩセンサを
磁界センサとして使用する請求項１または２記載の自動
駐車方法。3. An MI sensor for detecting an external magnetic field by changing an output voltage generated by a temporal change of a circumferential magnetic flux generated by applying a current to a magnetic element and detecting the external magnetic field is used as a magnetic field sensor. Or the automatic parking method according to 2.
振回路を使用する請求項３記載の自動駐車方法。4. The automatic parking method according to claim 3, wherein a crystal oscillation circuit is used as a means for supplying a current to the magnetic element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11174818A JP2001005523A (en) | 1999-06-22 | 1999-06-22 | Automatic parking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11174818A JP2001005523A (en) | 1999-06-22 | 1999-06-22 | Automatic parking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001005523A true JP2001005523A (en) | 2001-01-12 |
Family
ID=15985210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11174818A Withdrawn JP2001005523A (en) | 1999-06-22 | 1999-06-22 | Automatic parking method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001005523A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101496A (en) * | 2009-12-04 | 2011-06-22 | 株式会社万都 | Angle control method and apparatus, and automatic parking system using the same |
| CN102963356A (en) * | 2012-12-12 | 2013-03-13 | 涂亚庆 | Human-simulated intelligent control structure of automatic parking system |
| EP2910453A1 (en) * | 2014-02-25 | 2015-08-26 | Volvo Car Corporation | Method and system for autonomously guiding a vehicle through a parking area |
| CN112425031A (en) * | 2018-07-09 | 2021-02-26 | 动量动力学公司 | Vehicle alignment prior to wireless charging |
-
1999
- 1999-06-22 JP JP11174818A patent/JP2001005523A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101496A (en) * | 2009-12-04 | 2011-06-22 | 株式会社万都 | Angle control method and apparatus, and automatic parking system using the same |
| CN102963356A (en) * | 2012-12-12 | 2013-03-13 | 涂亚庆 | Human-simulated intelligent control structure of automatic parking system |
| EP2910453A1 (en) * | 2014-02-25 | 2015-08-26 | Volvo Car Corporation | Method and system for autonomously guiding a vehicle through a parking area |
| CN112425031A (en) * | 2018-07-09 | 2021-02-26 | 动量动力学公司 | Vehicle alignment prior to wireless charging |
| KR20210029797A (en) * | 2018-07-09 | 2021-03-16 | 모멘텀 다이나믹스 코오퍼레이션 | Alignment of vehicles before wireless charging |
| JP2021530950A (en) * | 2018-07-09 | 2021-11-11 | モーメンタム ダイナミックス コーポレーション | Vehicle alignment before wireless charging |
| JP7281832B2 (en) | 2018-07-09 | 2023-05-26 | インダクトイーブイ インク． | Vehicle Alignment Before Wireless Charging |
| KR102746818B1 (en) * | 2018-07-09 | 2024-12-27 | 인덕트이브이 인크. | Line up of vehicles before wireless charging |
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