JP4110937B2

JP4110937B2 - Parking assistance device

Info

Publication number: JP4110937B2
Application number: JP2002332977A
Authority: JP
Inventors: 隆資菅野; 一信川畑
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 2002-11-18
Filing date: 2002-11-18
Publication date: 2008-07-02
Anticipated expiration: 2022-11-18
Also published as: JP2004168085A

Description

【０００１】
【発明の属する技術分野】
本発明は、車両の駐車時に運転者の駐車動作を支援する駐車支援装置に関する。
【０００２】
【従来の技術】
従来から、三次元空間をデータ化するステレオカメラを用いて、干渉対象物との距離を検出し、周囲と接触するかどうかを識別する装置が提案されている（特許文献１参照）。
【０００３】
【特許文献１】
特開平１１−２９５４１５号公報（第３頁）
【０００４】
【発明が解決しようとする課題】
しかしながら、上述の駐車支援装置にあっては、障害物との干渉チェックを行い、運転者に報知するという構成になっていたため、運転者が接触の危険性を感じるたびにその都度接触を回避する行動を取らなければならないという問題があった。特に縦列駐車では、比較的高度な運転技術を必要とするため、初心者等の運転が未熟な運転者にとっては、目標駐車位置が認識できたとしても、駐車できないという問題があった。
【０００５】
本発明は、上述の課題に鑑み、ステレオカメラを用いた駐車支援装置において、運転者の熟練度にかかわらず縦列駐車であっても容易に駐車可能な駐車支援装置を提供することを目的とする。
【０００６】
【課題を解決するための手段】
上記目的を達成するため、自車両の走行車線近傍の隣接する２つの障害物車両間の距離を検出する障害物車両間距離検出手段と、前記２つの障害物車両間のスペース内で一方の障害物車両から所定の車両前後方向間隔をおいて目標駐車位置を設定する目標駐車位置設定手段と、縦列駐車開始時の前記障害物車両に対する自車両の車幅方向間隔を運転者の意図に応じて設定する幅寄せ設定手段と、最大転舵角に保舵した状態で前記目標駐車位置から前記スペース外へ自車両を旋回させつつ退出させる際に、自車両の回転中心からの距離が最大である自車両における部位が前記回転中心周りに描く軌道と、前記車幅方向間隔設定の基準となる前記障害物車両の側面を延長した直線とが交差する点から前記目標駐車位置における自車両までの距離と、自車両の全長と、前記車両前後方向間隔とを合計した距離が、前記検出された障害物車両間距離よりも短いか否かに基づき、前記スペースが縦列駐車可能なスペースであるか否かを判断する駐車可否判断手段と、前記設定された車幅方向間隔で自車両を幅寄せした後、一方向に転舵して最大転舵角に保舵した状態で第１の回転中心周りに旋回するように自車両を前記スペースに向けて進行させ、その後、反対方向に転舵して最大転舵角に保舵した状態で第２の回転中心周りに旋回するように自車両をさらに進行させ、そのまま前記目標駐車位置に縦列駐車させるような駐車軌道を計算する駐車軌道計算手段と、前記計算された駐車軌道に基づき運転者に対し転舵位置を指示することで前記スペースへの駐車方法を教示する駐車ガイド手段と、を設けたことで、上記課題を解決するに至った。
【０００７】
【発明の作用】
本願発明にあっては、縦列駐車ができるかどうかが事前に認識でき、更に、駐車方法の教示により、運転者の熟練度にかかわらず容易に駐車することができる。
【０００８】
【発明の実施の形態】
以下、本発明における駐車支援装置の実施形態について実施例をもとに説明するが、本発明は実施例に限定されるものではない。
【０００９】
（実施例）
図１は本実施例の駐車支援装置を備えた車両の構成機器を表す概略図である。１はモニタであり、縦列駐車する際の目標軌道や検出した駐車枠を前方映像に重畳して表示し、前進のみで縦列駐車可能ランプ，後進で縦列駐車可能ランプ及び縦列駐車不可能ランプを点灯して表示する。２はコントロールユニットであり、スイッチ入力やカメラ情報、センサ情報などから駐車可否判断、軌道計算を行い、モニタ１に出力する。３は入力装置であり、運転者が縦列駐車を希望する際のサーチスイッチ、運転者の希望寄せ幅（Wide or Narrow）を選択する寄せ幅選択スイッチの入力やシフトポジションを判断する。４はステレオカメラであり、図２に示すように、このカメラは２眼になっており前方映像の撮像と共に前方障害物までの距離を測定する。本実施例では、自車両７の走行車線近傍の障害物車両までの距離をそれぞれ測定し、図中に示す距離Ｘを測定する。５は各種センサであり、自車両７のヨーレイトを測定するヨーレイトセンサと、車輪速を検出する車輪速センサ等から構成される。６は出力装置であり、コントロールユニット２からの指令に基づいて自動的にブレーキをかけることができる。
【００１０】
図３は本実施例の駐車支援装置の駐車支援制御を表すフローチャートである。
【００１１】
ステップ１０１では、車速が低車速を表す所定車速Ｖ₀以下かどうかを判断し、Ｖ₀以下のときのみ本制御を許可する。
【００１２】
ステップ１０２では、サーチスイッチがONかどうかを判断し、運転者が縦列駐車を希望しているかどうかを判断する。
【００１３】
ステップ１０３では、サーチスイッチがONで車速が所定車速以下であるため、縦列駐車スペースをステレオカメラ４を用いて探索を開始し、図２に示す距離Ｘを測定する。
【００１４】
ステップ１０４では、検出した距離Ｘが前進のみで縦列駐車が可能なスペースＸ1よりも大きいかどうかを判断し、大きいときはステップ１０５へ進み、小さいときはステップ１０６へ進む。
【００１５】
ステップ１０５では、前進のみで縦列駐車可能ランプを点灯する。
【００１６】
ステップ１０６では、検出した距離Ｘが後進で縦列駐車が可能なスペースＸ2よりも大きいかどうかを判断し、大きいときはステップ１０７へ進み、小さいときはステップ１０８へ進む。
【００１７】
ステップ１０７では、後進で縦列駐車可能ランプを点灯する。
【００１８】
ステップ１０８では、縦列駐車不可能ランプを点灯し、他の障害物車間距離を測定する。
【００１９】
ステップ１０９では、運転者によって寄せ幅がWideもしくはNarrowのどちらが選択されているかを判断し、Wideが選択されているときはステップ１１０へ進み、Narrowが選択されているときはステップ１１１へ進む。
【００２０】
ステップ１１０では、Wide時寄せ幅を指示する。
【００２１】
ステップ１１１では、Narrow時寄せ幅を指示する。
【００２２】
ステップ１１２では、幅寄せが完了したかどうかを判断し、完了していればステップ１１３へ進み、それ以外は寄せ幅の指示を継続する。ここで、幅寄せの完了は運転者が再度サーチスイッチを押す等して完了を判断するものとする。
【００２３】
ステップ１１３では、駐車ガイド制御を実行する。
【００２４】
ステップ１１４では、シフトレンジ位置がパーキングレンジかどうかを判断し、パーキングレンジのときは駐車が完了したと判断して本制御を終了し、それ以外は駐車が完了していないと判断して駐車ガイド制御を継続する。
【００２５】
すなわち、低車速であって運転者が縦列駐車を希望すると、ステレオカメラ４によって障害物車両間の距離Ｘを測定し、縦列駐車が可能かどうかを判断する。ここで、前進のみで縦列駐車が可能かどうかを判断するステップ１０４について図４に基づいて説明する。
【００２６】
図４に示すように、ａは駐車した際の前方障害物車両８とのクリアランス、Ｌは自車両７の全長、ｒは自車両７の最小回転半径（車軸中心基準）をそれぞれ表す。また、ｂはガイドを開始する際にスペース前後の障害物車両８，９と自車両７の間の距離である。運転者は、例えば車両の側面に取り付けた測距センサを用いるなり、自分の感覚を用いるなりしてスペースが検出された場合にｂのクリアランスをあけるように幅寄せする。その後の軌道計算は、最小回転半径をもつ円弧を組み合わせることで生成される。基本的に運転者は幅寄せ後、所定のポイントに到達したときにステアリングをフル転舵するのみでよい。
【００２７】
その際に、１つ目の円弧から２つめの円弧に軌道が変わるポイントに着目する。自車両７がこの位置にきたときに、自車両７の左前端が描く車両後方側へ延長した軌跡と、前後の車両の右側側面を延長した直線が交差する点をＰとする。また、この右側側面を延長した線と自車両７が駐車する位置での自車両７の後端とが交差する点をＱとする。また、点Ｐ，Ｑ間の距離をｍとする。駐車可否判断はステレオカメラ４によって認識されたスペースＸがＸ＞Ｘ１（＝ａ＋Ｌ＋ｍ）のときに前進のみで駐車可能と判断する。このように、面倒な後進操作を行わなくても前進のみで縦列駐車可能かどうかを事前に認識することが可能となり、前進のみの駐車が可能な場合は、運転が未熟な運転者に対して縦列駐車の安心感を提供することができる（請求項２に対応）。
【００２８】
次に、後進で縦列駐車が可能かどうかを判断するステップ１０６について図５に基づいて説明する。図５に示すように、ａは駐車した際の後方障害物車両９とのクリアランス、Ｌは自車両７の全長、ｒは自車両７の最小回転半径（車軸中心）をそれぞれ表す。また、ｂは駐車ガイドを開始する際にスペース前後の障害物車両８，９と自車両７の間の距離である。運転者は、例えば車両の側面に取り付けた測距センサを用いるなり、自分の感覚を用いるなりしてスペースが検出された場合にｂのクリアランスをあけるように幅寄せする。その後の軌道計算は、最小回転半径を持つ円弧を組み合わせることで生成される。その際に、１つ目の円弧から２つ目の円弧に軌道が変わるポイントに着目する。自車両７がこの位置にきたときに、自車両７の左前端が描く軌道と、前後の車両の右側側面を延長した直線が交差する点をＰとする。また、駐車完了後の自車両７の前端部とこの右側側面を延長した線が交差する点をＱとする。また、点Ｐ，Ｑ間の距離をｎとする。駐車可否判断はステレオカメラ４によって認識されたスペースＸが、Ｘ＞Ｘ２（＝ａ＋Ｌ＋ｎ）のときに駐車可能とする。このように、後進で縦列駐車可能かどうかが認識できることで、必要とされる駐車スペースの自由度を拡大することができる（請求項３に対応）。
【００２９】
乗用車を想定した場合、縦列駐車に必要なスペースは、Ｘ１＞Ｘ２の関係であり、前進のみで駐車するほうが長い障害物車両間距離を必要とする。よって、上記判断ステップ１０４，１０６によって運転者に前進のみで縦列駐車が可能か、後進で縦列駐車が可能かをランプの点灯により報知する。
【００３０】
尚、図６に示すように、寄せ幅ｂによってステアリングを切り返す位置が変わるため、本実施例では、運転者のスイッチ入力によりＷｉｄｅとＮａｒｒｏｗの二段階で切り換えられるように設定可能にしている。前進のみの縦列駐車時における幅寄せを図７に、後進で縦列駐車時における幅寄せを図８に示す。図７，８に示す位置まで運転者による幅寄せが完了し、運転者によって再度サーチスイッチが押されると、検出された駐車スペースに駐車する方法を運転者に教示する駐車ガイド制御が実行される。このように、運転者が幅寄せ時の幅をＷｉｄｅもしくはＮａｒｒｏｗに設定可能とすることで、幅寄せの運転技術に対し、様々な熟練度の運転者に対応した縦列駐車ガイド制御を実行することができる。
【００３１】
図９は駐車ガイド制御を表すフローチャートである。
【００３２】
ステップ２０１では、車両が最初の転舵位置に達しそうかどうかを判断し、達しそうであると判断したときはステップ２０２へ進み、それ以外は本ステップを繰り返す。
【００３３】
ステップ２０２では、出力装置６に対し一旦ブレーキ液圧をアップし、運転者に転舵を促す。音や表示による報知と異なり、運転者のメンタルワークロード（精神的操作負荷）を大きく軽減させることができる（請求項５に対応）。そして転舵を促した後、ブレーキ液圧を解除する。
【００３４】
ステップ２０３では、次の転舵位置に達しそうかどうかを判断する。尚、自車両転舵位置に達するかどうかは、ヨーレイトセンサの値を積分し、自車両７のヨー角を参照することにより判断する。転舵位置に達しそうであると判断したときはステップ２０４へ進み、それ以外は本ステップを繰り返す。
【００３５】
ステップ２０４では、ステップ２０２と同様に一旦ブレーキ液圧をアップし、その後ブレーキ液圧を解除する。
【００３６】
ステップ２０５では、駐車位置に達しそうかどうかを判断し、達しそうであると判断したときはステップ２０６へ進み、それ以外は本ステップを繰り返す。
【００３７】
ステップ２０６では、駐車完了を運転者に報知するためにステップ２０２と同様、一旦ブレーキ液圧をアップした後、ブレーキ液圧を解除する。
【００３８】
以上説明したように、本実施例にあっては、縦列駐車できるかどうかを事前に認識することが可能となり、更に、駐車方法の教示により運転者が容易に縦列駐車することができる。
【図面の簡単な説明】
【図１】実施例における駐車支援装置の基本構成を表す概略図である。
【図２】実施例におけるステレオカメラの撮像画像による測距を表す概略図である。
【図３】実施例における駐車支援制御を表すフローチャートである。
【図４】実施例における前進のみ縦列駐車可能距離を表す説明図である。
【図５】実施例における後進で縦列駐車可能距離を表す説明図である。
【図６】実施例における異なる幅寄せにより異なる転舵位置を表す説明図である。
【図７】実施例における前進のみ縦列駐車の幅寄せを表す説明図である。
【図８】実施例における後進で縦列駐車の幅寄せを表す説明図である。
【図９】実施例における駐車ガイド制御を表すフローチャートである。
【符号の説明】
１モニタ（目標軌跡，駐車枠，駐車可能ランプ）
２コントロールユニット
３入力装置（シフトポジション，サーチスイッチ，幅寄せ設定スイッチ）
４ステレオカメラ
５各種センサ（ヨーレイトセンサ，車輪速センサ）
６出力装置（ブレーキ液圧制御装置）
７自車両
８前方障害物車両
９後方障害物車両[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking support device that supports a driver's parking operation when a vehicle is parked.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been proposed an apparatus that detects a distance from an interference target using a stereo camera that converts a three-dimensional space into data and identifies whether or not the object touches the surroundings (see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-295415 (page 3)
[0004]
[Problems to be solved by the invention]
However, since the parking assist device described above is configured to perform an interference check with an obstacle and notify the driver, the action of avoiding the contact every time the driver feels the risk of contact. There was a problem that had to be taken. In particular, parallel parking requires a relatively high level of driving skill, so that a driver who is unskilled in driving such as a beginner has a problem that parking is impossible even if the target parking position can be recognized.
[0005]
In view of the above-described problems, an object of the present invention is to provide a parking support apparatus using a stereo camera, which can easily park even in parallel parking regardless of the skill level of the driver. .
[0006]
[Means for Solving the Problems]
To achieve the above object, the obstacle vehicle distance detecting means for detect the distance between two obstacles vehicle in contact next to the traveling lane near the vehicle, one in the space between the two obstacles vehicle Target parking position setting means for setting a target parking position at a predetermined vehicle longitudinal direction interval from the obstacle vehicle, and the vehicle width direction interval of the own vehicle with respect to the obstacle vehicle at the start of parallel parking according to the driver's intention The distance from the center of rotation of the host vehicle is the maximum when the vehicle is turned away from the target parking position while turning to the outside of the space while maintaining the maximum turning angle. From a point where a part of the host vehicle draws around the rotation center and a straight line extending the side surface of the obstacle vehicle, which is a reference for setting the interval in the vehicle width, to the host vehicle at the target parking position. Distance and And the total length of the vehicle, the distance which is the sum of said vehicle longitudinal direction intervals, based on whether the detected shorter than the obstacle vehicle distance, whether the space is parallel parking available space After determining that the vehicle can be parked at the set interval in the vehicle width direction, turn around the first rotation center in a state where the vehicle is steered in one direction and kept at the maximum turning angle. The vehicle is advanced toward the space, and then the vehicle is further advanced so as to turn around the second rotation center in a state where the vehicle is steered in the opposite direction and maintained at the maximum turning angle. A parking trajectory calculation means for calculating a parking trajectory for parallel parking at the target parking position as it is, and a parking method in the space by instructing the steering position to the driver based on the calculated parking trajectory. Parking guide means to teach By the provided, leading to solve the above problems.
[0007]
[Effects of the Invention]
In the present invention, it is possible to recognize in advance whether or not parallel parking is possible, and further, according to the teaching of the parking method, it is possible to easily park regardless of the skill level of the driver.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, although an embodiment of a parking assistance device in the present invention is described based on an example, the present invention is not limited to an example.
[0009]
(Example)
FIG. 1 is a schematic diagram showing components of a vehicle provided with the parking assist device of this embodiment. 1 is a monitor, which displays the target trajectory and the detected parking frame when parallel parking is superimposed on the front image, and lights up a parallel parking lamp when moving forward, a parallel parking lamp and a parallel parking impossible lamp when moving backward. And display. Reference numeral 2 denotes a control unit, which determines whether parking is possible and calculates a trajectory from switch inputs, camera information, sensor information, and the like, and outputs the result to the monitor 1. Reference numeral 3 denotes an input device, which determines the input and shift position of a search switch when the driver desires parallel parking and a shift width selection switch for selecting the driver's desired shift width (Wide or Narrow). Reference numeral 4 denotes a stereo camera. As shown in FIG. 2, this camera has two eyes, and measures the distance to the front obstacle together with the imaging of the front image. In this embodiment, the distance to the obstacle vehicle in the vicinity of the traveling lane of the host vehicle 7 is measured, and the distance X shown in the figure is measured. Reference numeral 5 denotes various sensors, which include a yaw rate sensor that measures the yaw rate of the host vehicle 7, a wheel speed sensor that detects the wheel speed, and the like. Reference numeral 6 denotes an output device, which can automatically apply a brake based on a command from the control unit 2.
[0010]
FIG. 3 is a flowchart showing the parking assistance control of the parking assistance apparatus of the present embodiment.
[0011]
In step 101, it is determined whether or not the vehicle speed is equal to or lower than a predetermined vehicle speed V ₀ representing a low vehicle speed, and this control is permitted only when V ₀ or lower.
[0012]
In step 102, it is determined whether the search switch is ON, and it is determined whether the driver desires parallel parking.
[0013]
In step 103, since the search switch is ON and the vehicle speed is equal to or lower than the predetermined vehicle speed, the parallel parking space is searched using the stereo camera 4, and the distance X shown in FIG. 2 is measured.
[0014]
In step 104, it is determined whether or not the detected distance X is larger than the space X1 in which parallel parking is possible only by moving forward, and if larger, the process proceeds to step 105, and if smaller, the process proceeds to step 106.
[0015]
In step 105, the parallel parking available lamp is turned on only in the forward direction.
[0016]
In step 106, it is determined whether or not the detected distance X is larger than the space X2 in which backward parking is possible, and if larger, the process proceeds to step 107, and if smaller, the process proceeds to step 108.
[0017]
In step 107, the parallel parking available lamp is turned on in reverse.
[0018]
In step 108, the parallel parking impossible lamp is turned on, and the distance between other obstacle vehicles is measured.
[0019]
In Step 109, it is determined whether the driver has selected the width of Wide or Narrow. If Wide is selected, the process proceeds to Step 110. If Narrow is selected, the process proceeds to Step 111.
[0020]
In step 110, the wide alignment width is instructed.
[0021]
In step 111, the narrowing width is instructed.
[0022]
In step 112, it is determined whether or not the width alignment has been completed. If it has been completed, the process proceeds to step 113. Otherwise, the width alignment instruction is continued. Here, the completion of the width adjustment is judged by the driver pressing the search switch again.
[0023]
In step 113, parking guide control is executed.
[0024]
In step 114, it is determined whether or not the shift range position is the parking range. If the shift range position is within the parking range, it is determined that the parking is completed, and this control is terminated. Otherwise, the parking guide is determined that the parking is not completed. Continue control.
[0025]
That is, when the vehicle speed is low and the driver desires parallel parking, the distance X between obstacle vehicles is measured by the stereo camera 4 to determine whether parallel parking is possible. Here, step 104 for determining whether or not parallel parking is possible only by moving forward will be described with reference to FIG.
[0026]
As shown in FIG. 4, a represents the clearance with the forward obstacle vehicle 8 when parked, L represents the total length of the host vehicle 7, and r represents the minimum turning radius (axle center reference) of the host vehicle 7. Further, b is a distance between the obstacle vehicles 8 and 9 and the host vehicle 7 before and after the space when starting the guide. For example, the driver uses a distance measuring sensor attached to the side surface of the vehicle, and when the space is detected by using his / her own sense, the driver widens the clearance so that the clearance b is opened. Subsequent trajectory calculations are generated by combining arcs with the minimum turning radius. Basically, the driver only needs to turn the steering wheel fully when the predetermined point is reached after the width adjustment.
[0027]
At that time, attention is paid to the point at which the trajectory changes from the first arc to the second arc. When the host vehicle 7 comes to this position, let P be the point where the trajectory extended to the vehicle rear side drawn by the left front end of the host vehicle 7 intersects with the straight line extending the right side surface of the front and rear vehicles. A point where the line extending from the right side surface and the rear end of the host vehicle 7 at the position where the host vehicle 7 is parked intersects. The distance between the points P and Q is m. In the determination of whether or not parking is possible, when the space X recognized by the stereo camera 4 is X> X1 (= a + L + m), it is determined that parking is possible only by moving forward. In this way, it becomes possible to recognize in advance whether or not parallel parking is possible only by moving forward without performing troublesome reverse operation, and if parking only forward is possible, for drivers who are immature in driving A sense of security of parallel parking can be provided (corresponding to claim 2).
[0028]
Next, step 106 for determining whether parallel parking is possible in reverse will be described with reference to FIG. As shown in FIG. 5, a represents the clearance with the rear obstacle vehicle 9 when parked, L represents the entire length of the host vehicle 7, and r represents the minimum turning radius (axle center) of the host vehicle 7. Further, b is the distance between the obstacle vehicles 8 and 9 and the host vehicle 7 before and after the space when the parking guide is started. For example, the driver uses a distance measuring sensor attached to the side surface of the vehicle, and when the space is detected by using his / her own sense, the driver widens the clearance so that the clearance b is opened. Subsequent trajectory calculations are generated by combining arcs with a minimum turning radius. At that time, attention is paid to the point at which the trajectory changes from the first arc to the second arc. Let P be the point where the trajectory drawn by the left front end of the host vehicle 7 and the straight line extending the right side surface of the front and rear vehicles intersect when the host vehicle 7 comes to this position. Moreover, let Q be the point where the front end of the host vehicle 7 after parking and the line extending from the right side intersect. The distance between the points P and Q is n. In the determination of whether or not parking is possible, parking is possible when the space X recognized by the stereo camera 4 satisfies X> X2 (= a + L + n). Thus, it is possible to expand the degree of freedom of the required parking space by recognizing whether or not parallel parking is possible in reverse (corresponding to claim 3).
[0029]
When a passenger car is assumed, the space required for parallel parking is a relationship of X1> X2, and a longer distance between obstacle vehicles is required to park only in the forward direction. Therefore, the determination steps 104 and 106 notify the driver by lighting the lamp whether the parallel parking is possible only by moving forward or the reverse parking is possible.
[0030]
As shown in FIG. 6, the position at which the steering wheel is turned back changes depending on the shift width b. In this embodiment, setting can be made so that switching can be performed in two steps, Wide and Narrow, by the driver's switch input. FIG. 7 shows the width adjustment at the time of parallel parking only forward, and FIG. 8 shows the width adjustment at the time of parallel parking in reverse. When the driver completes the distance adjustment to the position shown in FIGS. 7 and 8 and the driver presses the search switch again, parking guide control is executed to teach the driver how to park in the detected parking space. . In this way, by allowing the driver to set the width at the time of width adjustment to Wide or Narrow, the parallel parking guide control corresponding to the drivers of various skill levels is executed for the width adjustment driving technology. It is Ru can.
[0031]
FIG. 9 is a flowchart showing parking guide control.
[0032]
In step 201, it is determined whether or not the vehicle is likely to reach the first steered position. If it is determined that the vehicle is likely to be reached, the process proceeds to step 202. Otherwise, this step is repeated.
[0033]
In step 202, the brake fluid pressure is once increased for the output device 6 to prompt the driver to turn. Unlike the notification by sound or display, the driver's mental workload (mental operation load) can be greatly reduced (corresponding to claim 5 ). Then, after prompting the steering, the brake fluid pressure is released.
[0034]
In step 203, it is determined whether or not the next steered position is likely to be reached. Whether or not the vehicle turning position is reached is determined by integrating the yaw rate sensor value and referring to the yaw angle of the vehicle 7. When it is determined that the steered position is likely to be reached, the process proceeds to step 204. Otherwise, this step is repeated.
[0035]
In step 204, as in step 202, the brake fluid pressure is once increased and then the brake fluid pressure is released.
[0036]
In step 205, it is determined whether or not the parking position is likely to be reached.
[0037]
In step 206, in order to notify the driver of the completion of parking, as in step 202, the brake fluid pressure is once increased and then the brake fluid pressure is released.
[0038]
As described above, in this embodiment, it is possible to recognize in advance whether or not parallel parking is possible, and further, the driver can easily perform parallel parking by teaching the parking method.
[Brief description of the drawings]
FIG. 1 is a schematic diagram illustrating a basic configuration of a parking assistance device according to an embodiment.
FIG. 2 is a schematic diagram illustrating distance measurement using a captured image of a stereo camera in the embodiment.
FIG. 3 is a flowchart showing parking support control in the embodiment.
FIG. 4 is an explanatory diagram showing a parallel parking possible distance only in the forward direction in the embodiment.
FIG. 5 is an explanatory diagram showing a possible parallel parking distance in reverse in the embodiment.
FIG. 6 is an explanatory diagram showing different steered positions by different width adjustments in the embodiment.
FIG. 7 is an explanatory view showing the width alignment of the parallel parking only in the forward direction in the embodiment.
FIG. 8 is an explanatory diagram showing the width alignment of parallel parking in reverse in the embodiment.
FIG. 9 is a flowchart showing parking guide control in the embodiment.
[Explanation of symbols]
1 Monitor (target trajectory, parking frame, parking lamp)
2 Control unit 3 Input device (shift position, search switch, width adjustment setting switch)
4 Stereo camera 5 Various sensors (yaw rate sensor, wheel speed sensor)
6 Output device (brake hydraulic pressure control device)
7 Own vehicle 8 Front obstacle vehicle 9 Rear obstacle vehicle

Claims

And the obstacle vehicle distance detecting means for detect the distance between two obstacles vehicle in contact next to the traveling lane near the vehicle,
Target parking position setting means for setting a target parking position at a predetermined vehicle longitudinal direction interval from one obstacle vehicle in the space between the two obstacle vehicles;
Width adjustment setting means for setting the vehicle width direction interval of the own vehicle with respect to the obstacle vehicle at the start of parallel parking according to the driver's intention;
When leaving the vehicle from the target parking position while turning to the outside of the space with the steering angle maintained at the maximum turning angle, the portion of the vehicle that has the maximum distance from the rotation center of the vehicle is the rotation center. The distance from the point where the trajectory drawn around and the straight line extending the side surface of the obstacle vehicle, which is the reference for the interval setting in the vehicle width, to the host vehicle at the target parking position, the total length of the host vehicle, A parking permission / non-permission determining unit that determines whether or not the space is a space that allows parallel parking based on whether or not a distance obtained by adding up the vehicle front-rear direction distances is shorter than the detected obstacle-to-vehicle distance. When,
After the vehicle is brought closer at the set interval in the vehicle width direction, the vehicle is turned in the space so as to turn around the first rotation center in a state where the vehicle is steered in one direction and kept at the maximum turning angle. Then, the vehicle is further advanced so as to turn around the second rotation center in a state where the vehicle is steered in the opposite direction and kept at the maximum turning angle, and is directly connected to the target parking position. a parking trajectory calculation means for calculating a parking trajectory as to park,
A parking guide means for teaching a parking method in the space by instructing a steering position to the driver based on the calculated parking trajectory;
A parking assistance device characterized by comprising:

In the parking assistance device according to claim 1,
The target parking position setting means sets the target parking position behind the front obstacle vehicle when the vehicle is parked in parallel in the space at a distance in the vehicle front-rear direction.
The parking permission / inhibition determining means is configured such that when the host vehicle is moved backward from the target parking position while turning to the outside of the space while leaving the maximum turning angle, the front end portion of the host vehicle The distance from the point where the trajectory drawn around the rotation center intersects with the straight line extending the side surface of the obstacle vehicle, which is the reference for setting the interval in the vehicle width direction, to the rear end of the host vehicle at the target parking position, Whether the space is a space that can be parked in parallel only by moving forward , based on whether the total distance of the entire length of the host vehicle and the vehicle front-rear direction distance is shorter than the detected distance between obstacle vehicles . to determine whether or not,
The parking trajectory calculation means turns the vehicle around the first rotation center in a state of turning the vehicle in one direction and keeping the maximum turning angle after the vehicle is brought closer to the set interval in the vehicle width direction. To advance the vehicle toward the space, and then further advance the vehicle so as to turn around the second rotation center in a state where the vehicle is steered in the opposite direction and kept at the maximum turning angle, calculate as parking orbit so as to parallel parking to the target parking position
Parking assist device according to claim and this.

In the parking assistance device according to claim 1 ,
In the space, the target parking position setting means sets the target parking position in front of the vehicle in the vehicle front-rear direction from a rear obstacle vehicle when the vehicle is parked in parallel in the reverse direction.
When the parking propriety judging means moves the host vehicle forward from the target parking position while turning to the maximum turning angle, and then exits while turning outside the space, a part on the outer side and the front end of the host vehicle The distance from the point where the trajectory drawn around the center of rotation and the straight line extending the side surface of the obstacle vehicle, which is the reference for setting the interval in the vehicle width direction, to the front end of the host vehicle at the target parking position, Whether the space is a space that can be parked in parallel by moving backward based on whether the total distance of the total length of the vehicle and the distance in the vehicle longitudinal direction is shorter than the detected distance between obstacle vehicles . to determine,
The parking trajectory calculation means turns the vehicle around the first rotation center in a state of turning the vehicle in one direction and keeping the maximum turning angle after the vehicle is brought closer to the set interval in the vehicle width direction. The vehicle is moved backward toward the space, and then the vehicle is further moved backward so as to turn around the second rotation center in a state where the vehicle is steered in the opposite direction and kept at the maximum turning angle. calculate as parking orbit so as to parallel parking to the target parking position
Parking assist device according to claim and this.

In the parking assistance device according to claim 2,
When it is determined that the space is not a space that can be parked in parallel only forward,
The target parking position setting means sets the target parking position forward at a predetermined vehicle front-rear direction interval from a rear obstacle vehicle when the vehicle is parked in parallel in the reverse direction in the space,
When the parking propriety judging means moves the host vehicle forward from the target parking position in a state where the steering angle is maintained at the maximum turning angle, and turns the vehicle out of the space, the vehicle is turned outside and the front end portion The distance from the point where the trajectory drawn around the center of rotation and the straight line extending the side surface of the obstacle vehicle, which is the reference for setting the interval in the vehicle width direction, to the front end of the host vehicle at the target parking position, Whether the space is a space that can be parked in parallel by moving backward based on whether the total distance of the total length of the vehicle and the distance in the vehicle longitudinal direction is shorter than the detected distance between obstacle vehicles. Judging
The parking trajectory calculation means turns the vehicle around the first rotation center in a state of turning the vehicle in one direction and keeping the maximum turning angle after the vehicle is brought closer to the set interval in the vehicle width direction. The vehicle is moved backward toward the space, and then the vehicle is further moved backward so as to turn around the second rotation center in a state where the vehicle is steered in the opposite direction and kept at the maximum turning angle. Calculate the parking trajectory for parallel parking at the target parking position.
A parking assistance device characterized by that.

The parking assist device according to any one of claims 1 to 4 , wherein a brake fluid pressure control means for controlling a brake fluid pressure is provided, and the parking guide means has reached the steered position and the target parking position. A parking assist device characterized in that it is a means for notifying a driver by outputting a deceleration command to the brake fluid pressure control means.