JP5443886B2 - Parking space recognition device - Google Patents

Description

  The present invention relates to a parking space recognition device that recognizes a parking space between parked vehicles using a sonar and a vehicle speed sensor.

  Conventionally, in order to recognize a parking space when a driver performs a parking operation, for example, there is a method of mounting a camera on the host vehicle and recognizing a parked vehicle or a white line using an image obtained from the camera. However, in the method using the camera, the driver cannot recognize the parking space when the white line is bad or at night.

  On the other hand, in recent years, a system in which a sonar (ultrasonic sensor) is mounted on the own vehicle and an obstacle is detected using the sonar to alert the driver is employed. Therefore, a parking space recognition device that recognizes a parking space using this sonar and a vehicle speed sensor has been proposed (for example, Patent Document 1). As shown in FIG. 19, this parking space recognition device is used in a parking area P where a plurality of parked vehicles 11 are arranged in a line in a parking lot or the like.

  Briefly describing the parking space recognition processing by such a parking space recognition device, first, as the own vehicle 10 travels beside the parking area P, the sonar 4 is moved from the side of the own vehicle 10 to the parking area P. The ultrasonic wave W is transmitted at a predetermined interval toward

  The parking space recognition device measures the reflection time from each measurement position to the object based on the detection signal from the sonar 4, and calculates the distance from each measurement position to the object based on this reflection time. In addition, the parking space recognition device calculates a travel speed based on a detection signal from a vehicle speed sensor (not shown), and calculates a travel distance from the first measurement position at each measurement position based on the travel speed.

  Then, the parking space recognition device plots the detection position 4a of the object at each measurement position on the coordinate plane, as shown in FIG. 20, using the moving distance at each measurement position and the distance to the object. A parking area detection line L is created by connecting the detection positions 4a.

  A portion of the parking area detection line L that protrudes in a curved shape toward the traveling side of the host vehicle 10 is a parked vehicle detection unit La. The parking space recognition device recognizes the portion between the parked vehicle detection units La and La as the parking space Ls, and informs the driver of the presence of the parking space Ls using a presentation means such as a monitor or a speaker. Yes.

  In addition, the sonar 4 used for this parking space recognition apparatus is a horizontal wide angle sonar. The directivity of the horizontal wide angle sonar 4 is a narrow angle in a direction perpendicular to the ground and a wide angle in the horizontal direction. Therefore, by using the horizontal wide angle sonar 4, it is prevented that the ground is erroneously detected as an obstacle.

JP 2008-207726 A

  However, since the horizontal wide angle sonar 4 has a wide directivity in the horizontal direction, it is determined that the parked vehicle 11 still exists even after passing the parked vehicle 11. Therefore, as shown in FIG. 20, the parked vehicle detection unit La spreads to the left and right rather than the actual parked vehicle 11. Therefore, the parking space Ls recognized by the parking space recognition device is much narrower than the actual parking space S.

  This invention is made | formed in view of this conventional subject, and it aims at providing the parking space recognition apparatus which can raise the recognition precision of parking space, even if it uses a horizontal wide angle sonar.

  In order to solve the above-mentioned problem, in the parking space recognition device according to claim 1 of the present invention, parking area detection means for creating a parking area detection line on a coordinate plane using a horizontal wide angle sonar and a vehicle speed sensor, In the case where a plurality of parked vehicle detection units protruding in a curved shape on the traveling side of the host vehicle are formed on the parking area detection line, each of the parked vehicle detection units is set on the coordinate plane based on the head portion of each parked vehicle detection unit. A parking position temporary setting means for setting the virtual center point of the parked vehicle and a distance parallel to the traveling direction between the virtual center points are calculated. If this distance is more than twice the general parking width, It is characterized by comprising a parking space discriminating means for judging that there is a parking space between the corresponding virtual center points and notifying the driver of the existence of the parking space using the presenting means.

  Moreover, in the parking space recognition apparatus of Claim 2 of this invention, it is provided with the parking area detection means similar to the parking space recognition apparatus of Claim 1, and a parking position temporary setting means is a virtual center of each parked vehicle. The virtual center line of each parked vehicle is set on the coordinate plane from the point and the size of the general vehicle, and the parking space discriminating means is configured such that the shortest distance parallel to the traveling direction between the virtual center lines is a general parking width. If it is twice or more, it is determined that there is a parking space.

  Moreover, in the parking space recognition device according to claim 3 of the present invention, the parking space detection device similar to the parking space recognition device according to claim 1 is provided, and the temporary parking position setting device is a virtual center of each parked vehicle. The virtual parking position of each parked vehicle is set on the coordinate plane from the size of the point and the general vehicle, and the parking space discriminating means is such that the shortest distance parallel to the traveling direction between the virtual parking positions is greater than the general parking width In the case of, it is judged that there is a parking space.

  Thus, the parking space recognition device according to any one of claims 1 to 3 recognizes the parking space based on the leading portion of each parked vehicle detection unit. Each head portion is a portion that is not affected by the directivity of the horizontal wide angle sonar. Therefore, the parking space recognition device according to claims 1 to 3 can recognize the parking space without being affected by the directivity of the horizontal wide angle sonar.

Further, in parked car space recognition unit of the present invention, parking position temporary setting unit may set the virtual center point bisecting position the leading portion of each parked vehicle detection unit.

Therefore, in the parking space recognition device of the present invention , since the deviation between the virtual center point of each parked vehicle and the actual center point is small, the difference between the distance between the virtual center points and the distance between the actual center points, the virtual center It is possible to reduce the deviation between the shortest distance between the lines and the shortest distance between the actual center lines and the deviation between the shortest distance between the virtual parking positions and the shortest distance between the actual parking positions.

Moreover, in the parking space recognition apparatus according to claims 1 to 3 of the present invention, the parking position temporary setting means sets a leading line and a parallel line for each parked vehicle detection unit on a coordinate plane, and each parallel line Thus, a virtual center point is set at a position that bisects a portion between two intersections with the left and right side portions of each parked vehicle detection unit.

Therefore, in the parking space recognition device according to the first to third aspects, since the calculation range of the virtual center point is easily set, the virtual center point can be easily set.

  As described above, in the parking space recognition device according to claims 1 to 3 of the present invention, each parking vehicle detection unit of the parking area detection line is not affected by the directivity of the horizontal wide angle sonar. The parking space is recognized based on the part. Therefore, the parking space recognition apparatus according to claims 1 to 3 of the present invention can increase the recognition accuracy of the parking space.

Furthermore, in parked car space recognition unit of the present invention, by using as the beginning of each parked vehicle detection unit sets each virtual center point, by reducing the deviation between the actual center point and the virtual center point Also good. For this reason, it is possible to reduce the deviation between the distance between the virtual center points and the actual distance between the center points. It is also possible to reduce the deviation between the shortest distance between the virtual center lines and the shortest distance between the actual center lines, and the deviation between the shortest distance between the virtual parking positions and the shortest distance between the actual parking positions. . Therefore, parked car space recognition unit of the present invention can further enhance the recognition accuracy of the parking space.

Further, in the parking space recognition device according to claims 1 to 3 of the present invention, the calculation range of the virtual center point is easily set using the parallel lines set based on each parked vehicle detection unit. I made it. For this reason, it becomes possible to set a virtual center point easily. Therefore, the parking space recognition device according to claims 1 to 3 of the present invention can easily perform a parking space recognition process.

It is a block diagram of a parking assistance device showing a first embodiment of the present invention. It is a figure which shows the position of the own vehicle at the time of the start of a parking space recognition process in the embodiment. It is a flowchart which shows the process sequence of a parking space recognition process in the embodiment. It is a flowchart which shows the process sequence of a parking area detection process in the embodiment. It is a figure which shows a parking area detection line in the embodiment. It is the figure which correct | amended the parking area detection line in the same embodiment. It is a flowchart which shows the process sequence of a parking position temporary setting process in the embodiment. It is a figure which shows the processing method of the parking position temporary setting process in the embodiment. It is the figure in which the virtual parking position was displayed on the monitor in the embodiment. It is a flowchart which shows the process sequence of a parking space discrimination | determination process in the embodiment. It is a figure which shows the processing method of parking space discrimination | determination processing in the embodiment. It is the figure in which the possibility of parking was displayed on the monitor in the embodiment. It is the figure in which the parking impossibility was displayed on the monitor in the same embodiment. It is a flowchart which shows the process sequence of the parking space discrimination | determination process which shows the 2nd Embodiment of this invention. It is a figure which shows the processing method of parking space discrimination | determination processing in the embodiment. It is a flowchart which shows the process sequence of the parking space discrimination | determination process which shows the 3rd Embodiment of this invention. It is a figure which shows the processing method of parking space discrimination | determination processing in the embodiment. It is a figure which shows another setting method of a virtual center point. It is a figure which shows the recognition processing method of the conventional parking space. It is a figure which shows the recognition result of the conventional parking space.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First embodiment:
FIG. 1 is a block diagram of a parking assistance apparatus 1 showing a first embodiment of the present invention. The parking assist device 1 is used as an assisting device when the driver performs a parking operation in the parking area P shown in FIG. The parking assist device 1 is mounted on the host vehicle 10, and includes a parking space recognition device 2, a parking switch 3, a horizontal wide angle sonar 4, a vehicle speed sensor 5, a steering angle sensor 6, and a monitor 7 (presentation). Means). Each component will be described below.

<Parking space recognition device 2>
The parking space recognition device 2 recognizes a parking space S (see FIG. 2) between the parked vehicles 11 and 11. The parking space recognition device 2 includes a CPU, a ROM that stores processing procedures and various data, a RAM that stores data being processed, a coordinate system, a timer, and the like. The ROM stores data such as general vehicle size and general parking width. These components function as a parking area detection unit, a parking position temporary setting unit, and a parking space determination unit of the present invention.

<Parking switch 3>
The parking switch 3 is connected to an input unit (not shown) of the parking space recognition device 2. The parking switch 3 is a switch for operating the parking assist device 1. Moreover, although this parking switch 3 is not shown in figure, it is provided near the driver's seat of the vehicle interior of the own vehicle 10, for example, and ON operation of the parking switch 3 is mainly performed by the driver.

<Horizontal wide angle sonar 4>
The horizontal wide angle sonar 4 is connected to an input unit and an output unit (not shown) of the parking space recognition device 2. This horizontal wide angle sonar 4 detects an object using ultrasonic waves as is well known. And this horizontal wide angle sonar 4 is being fixed to the front part of the side surface of the own vehicle 10, as shown in FIG. Further, the transmitter and receiver (not shown) of the horizontal wide angle sonar 4 are directed to the side of the host vehicle 10. The directivity of the horizontal wide angle sonar 4 is narrow in the vertical direction and wide in the horizontal direction as described in the background art.

<Vehicle speed sensor 5 and steering angle sensor 6>
The vehicle speed sensor 5 and the steering angle sensor 6 are connected to the input unit of the parking space recognition device 2. As is well known, the vehicle speed sensor 5 is used to detect the traveling speed of the host vehicle 10 from the number of rotations of the tire. As is well known, the steering angle sensor 6 is used to detect the steering angle from the steering direction and the neutral position of the handle.

<Monitor 7>
The monitor 7 is connected to an output unit (not shown) of the parking space recognition device 2. The monitor 7 displays various data processed by the parking space recognition device 2. Although not shown, the monitor 7 is provided, for example, near the driver's seat in the passenger compartment of the host vehicle 10, and the display content is mainly confirmed by the driver.

  Next, the parking space recognition process by the parking space recognition device 2 in the parking assistance device 1 configured as described above will be described. As shown in FIG. 3, the parking space recognition process is performed in the order of a parking area detection process SA, a parking position temporary setting process SB, and a parking space determination process SC. Each process will be described below.

<Parking area detection process SA>
First, the parking area detection process SA will be described. As shown in FIG. 2, the parking area detection process SA is performed while the host vehicle 10 travels beside the parking area P in the X direction. The parking area detection process SA is started when the driver turns on the parking switch 3. This operation is performed when the host vehicle 10 is approaching one end of the parking area P, or is performed after temporarily stopping at one end of the parking area P. The parking space recognition device 2 displays the start of the parking area detection process SA on the monitor 7.

  FIG. 4 is a flowchart showing the procedure of the parking area detection process SA. In this parking area detection process SA, a parking area detection line is created based on detection signals input from three sensors (horizontal wide angle sonar 4, vehicle speed sensor 5, and steering angle sensor 6). Below, each processing procedure of parking area detection processing SA is explained concretely.

(Step SA1)
First, the parking space recognition device 2 determines whether or not the traveling speed of the host vehicle 10 is equal to or lower than a predetermined low speed (for example, 1 km / h or lower) based on a detection signal from the vehicle speed sensor 5.

(Step SA2)
If the parking space recognition device 2 determines in step SA1 that the traveling speed of the host vehicle 10 is equal to or lower than a predetermined low speed (YES in step SA1), the parking space recognition device 2 operates the horizontal wide angle sonar 4 to Start the detection process. The parking space recognition device 2 displays on the monitor 7 that the detection process of the parking area P has started.

  Note that the parking space recognition device 2 does not operate the horizontal wide angle sonar 4 when it is determined in step SA1 that the traveling speed of the host vehicle 10 exceeds a predetermined low speed (NO in step SA1). Therefore, the detection process of the parking area P is not started. At this time, the parking space recognition device 2 displays on the monitor 7 that the detection process of the parking area P is not started. In this case, after confirming the display content of the monitor 7, the driver stops the host vehicle 10 at one end of the parking area P as shown in FIG. Causes step SA1 to be performed.

(Step SA3)
When the parking space recognition device 2 starts the detection process of the parking area P, the parking space recognition device 2 determines whether the traveling speed of the host vehicle 10 is equal to or lower than a predetermined low speed based on the detection signal from the vehicle speed sensor 5.

(Step SA4)
If the parking space recognition device 2 determines in step SA3 that the traveling speed of the host vehicle 10 is equal to or lower than the predetermined low speed (YES in step SA3), the parking space recognition device 2 is based on the detection signal from the vehicle speed sensor 5. Whether or not is stopped.

(Step SA5)
When the parking space recognition device 2 determines that the host vehicle 10 is stopped in step SA4 (YES in step SA4), the parking space P detection process is terminated. In addition, as the case where the own vehicle 10 stops, the following cases (1) to (3) can be considered.

(1) The own vehicle 10 passes by the side of the second parked vehicle 11 from the foremost parked vehicle 11 in FIG. 2 and stops.
(2) The host vehicle 10 passes by the side of the third parked vehicle 11 from the foremost parked vehicle 11 in FIG. 2 and stops.
(3) The host vehicle 10 stops other than (1) and (2), such as when the host vehicle 10 stops between the parked vehicles 11 and 11.

  Further, even when the parking space recognition device 2 determines that the traveling speed of the host vehicle 10 exceeds a predetermined low speed at step SA3 (NO at step SA3), the parking space recognition device 2 ends the detection process of the parking area P. In any case, the parking space recognition device 2 displays on the monitor 7 that the detection process of the parking area P has been completed. If the parking space recognition device 2 determines in step SA4 that the host vehicle 10 has not stopped (NO in step SA4), the parking space recognition device 2 returns to the processing in step SA3.

  Next, the detection process of the parking area P will be described. The parking space recognition device 2 calculates the distance (the distance in the Y direction in FIG. 2) from each measurement position of the horizontal wide angle sonar 4 to the object based on the reflection time obtained by the horizontal wide angle sonar 4. This calculation process will be described below.

  As shown in FIG. 2, the horizontal wide-angle sonar 4 transmits ultrasonic waves W toward the parking area P at a predetermined interval from the side of the host vehicle 10 as the host vehicle 10 travels. At this time, the horizontal wide angle sonar 4 outputs a detection start signal to the parking space recognition device 2. When the detection start signal is input, the parking space recognition device 2 starts measuring the reflection time using a timer.

  The ultrasonic wave transmitted from the horizontal wide angle sonar 4 strikes and reflects an object (curbstone Pa or parked vehicle 11 in FIG. 2), and the horizontal wide angle sonar 4 receives the reflected wave. When the horizontal wide angle sonar 4 receives the reflected wave, it outputs a detection end signal to the parking space recognition device 2. The parking space recognition device 2 ends the measurement of the reflection time when the detection end signal is input. The parking space recognition device 2 calculates the distance by multiplying the reflection time by the ultrasonic speed to ½, and this distance is the distance from each measurement position of the horizontal wide angle sonar 4 to the object.

  In addition, the parking space recognition device 2 determines the movement distance from the first measurement position of the horizontal wide-angle sonar 4 to each measurement position (in the X direction in FIG. ). This calculation process will be described below.

  The horizontal wide angle sonar 4 outputs an initial detection start signal when an ultrasonic wave is transmitted at the initial measurement position (position in FIG. 2). When the first detection start signal is input, the parking space recognition device 2 starts the calculation process of the moving distance of the horizontal wide angle sonar 4.

  The parking space recognition device 2 calculates the traveling speed of the host vehicle 10 based on the detection signal input from the vehicle speed sensor 5 every time a detection start signal is input after the second time. Subsequently, the parking space recognition device 2 calculates the movement distance by multiplying the traveling speed of the host vehicle by N-1 times the ultrasonic transmission interval time of the horizontal wide angle sonar 4. Note that N is the number of times a detection start signal is input to the parking space recognition device 2. That is, when the first detection start signal is input to the parking space recognition device 2, the moving distance of the horizontal wide angle sonar 4 is zero.

  Further, the parking space recognition device 2 creates a coordinate plane shown in FIG. 5 with the first measurement position of the horizontal wide angle sonar 4 as the origin (0, 0). In this coordinate plane, an axis extending from the origin toward the traveling direction X of the host vehicle 10 is an X axis, and an axis extending from the origin toward the parking area P is a Y axis.

  The parking space recognition device 2 detects an object on the coordinate plane using the movement distance (X value) at each measurement position of the horizontal wide-angle sonar 4 and the distance (Y value) to the object obtained above. Plot position 4a. In FIG. 5, in the case described in the above (1), that is, the detection process in the case where the own vehicle 10 stops after passing the side of the second parked vehicle 11 from the foremost parked vehicle 11 in FIG. Results are shown.

(Step SA6)
Next, the parking space recognition device 2 connects the detection positions 4a and creates a parking area detection line L as shown in FIG. In FIG. 5, the parking area P is indicated by a one-dot chain line so that the relationship between the parking area detection line L and the parking area P can be understood.

(Step SA7)
Next, the parking space recognition device 2 performs a correction process for the parking area detection line L. When the actual traveling direction of the host vehicle 10 is inclined with respect to the planned traveling direction (the X direction in FIG. 2), the parking area detection line L is inclined from the actual position. For this reason, this correction process is performed in order to correct the inclination of the parking area detection line L. This correction process will be described below.

  The parking space recognition device 2 calculates the steering direction and steering angle based on the detection signal input from the steering angle sensor 6. Next, the parking space recognition device 2 calculates a correction direction and a correction angle for setting the handle to the neutral position from these data, and rotates the parking area detection line L in the correction direction for the correction angle to correct as shown in FIG. To do.

<Parking position temporary setting process SB>
Next, the parking position temporary setting process SB will be described with reference to FIGS. 7 and 8. FIG. 7 is a flowchart showing the procedure of the temporary parking position setting process SB. In this parking position temporary setting process SB, the virtual parking position of the parked vehicle is set on the coordinate plane using the parking area detection line L. Below, each process sequence of parking position temporary setting process SB is demonstrated concretely.

(Step SB1)
First, the parking space recognition device 2 determines whether or not there are a plurality of parked vehicle detection units La in the parking area detection line L shown in FIG. The parked vehicle detection unit La is a portion protruding in a curved shape on the X axis side (the travel side of the host vehicle 10) in the parking area detection line L.

(Step SB2)
When the parking space recognition device 2 determines in step SB1 that there are a plurality of parked vehicle detection units La in the parking area detection line L (YES in step SB1), the parking space recognition device 2 sets the leading line A on the coordinate plane. Specifically, the head line A is set so as to pass through the head portion Lb of each parked vehicle detection unit La. Note that the leading portion Lb is in a position that is closest to the X axis in the parked vehicle detection unit La and is substantially linear.

  If the parking space recognition device 2 determines that there are not a plurality of parked vehicle detection units La in the parking area detection line L in step SB1 (NO in step SB1), the parking space recognition process ends. Note that the determination of the number of parked vehicle detection units La in the step SB1 is more than one because the parking space recognition device 2 recognizes the parking space S between the parked vehicles 11 and 11. Because.

(Step SB3)
Next, the parking space recognition device 2 sets a parallel line B on the coordinate plane. Specifically, the parallel line B is separated from the leading line A by a predetermined distance Ya in the positive direction of the Y axis (the direction opposite to the traveling side), and is parallel to the leading line A and on the left and right side portions Lc of the parked vehicle detection unit La. , Lc is set to intersect. Note that the left and right side portions Lc and Lc are portions other than the head portion Lb in the parked vehicle detection unit La.

(Step SB4)
Next, the parking space recognition apparatus 2 sets the virtual center point E of each parked vehicle on the coordinate plane. Specifically, in each parallel line B, the distance between the two intersections C and D with the left and right portions Lc and Lc of each parked vehicle detection unit La is calculated, and the distance is halved. A virtual center point E is set.

(Step SB5)
Next, the parking space recognition apparatus 2 sets the virtual parking position 11a of each parked vehicle on the coordinate plane. The virtual parking position 11a is set using the virtual center point E and general vehicle size data. Below, the specific setting process of the virtual parking position 11a is demonstrated.

  First, the parking space recognition device 2 sets the side positions F and G of the virtual parking position 11a on the parallel line B. Specifically, the positions separated from the virtual center point E by a distance Xa that is ½ of the general vehicle width in the positive and negative directions of the X axis are set as the side surface positions F and G.

  Next, the parking space recognition device 2 sets the leading corners H and I of the virtual parking position 11a. Specifically, a side surface line J passing through the side surface positions F and G on the coordinate plane is set parallel to the Y axis, and the intersection of the side surface line J and the head line A is set to the head angles H and I.

  Next, the parking space recognition device 2 sets the trailing angles K and M of the virtual parking position 11a on the side line J. Specifically, the rear corners K and M are set at positions separated from the leading angles H and I by a general vehicle longitudinal length Yb in the positive direction of the Y axis.

  Finally, the parking space recognition device 2 connects the leading corners H and I and the trailing corners K and M to form a rectangular frame, and this rectangular frame is set as the virtual parking position 11a.

(Step SB6)
Next, when the two virtual parking positions 11a are set on the coordinate plane as described above, the parking space recognition device 2 displays these virtual parking positions 11a on the monitor 7, as shown in FIG.

<Parking space discrimination process SC>
Next, the parking space discrimination process SC will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart showing the procedure of the parking space discrimination process SC. In this parking space discrimination process SC, the parking space S is recognized using each virtual parking position 11a. Below, each process sequence of parking space discrimination | determination process SC is demonstrated concretely.

(Step SC1)
First, the parking space recognition device 2 calculates the shortest distance 11d parallel to the X axis (traveling direction X) between the virtual parking positions 11a and 11a on the coordinate plane shown in FIG. The reason for calculating the shortest distance 11d is to consider the case where the parked vehicle 11 is parked obliquely at the actual parking position.

  More specifically, when the parked vehicle 11 is parked obliquely, even if the parking area detection line L is corrected in step SA7, the leading line A is not parallel to the X axis. For this reason, the virtual parking position 11a set on the basis of the leading line A is also inclined with respect to the X axis. Therefore, if the shortest distance 11d is calculated, the recognition process of the parking space S between the parked vehicles 11 and 11 can be accurately performed even when the parked vehicle 11 is parked obliquely.

(Step SC2)
Next, the parking space recognition device 2 determines whether or not the shortest distance 11d between the virtual parking positions 11a and 11a is equal to or greater than a general parking width.

(Step SC3)
When the parking space recognition device 2 determines in step SC2 that the shortest distance 11d between the virtual parking positions 11a and 11a is equal to or greater than the general parking width (YES in step SC2), the virtual space between the virtual parking positions 11a and 11a. It is determined that there is a parking space S, and the presence of this parking space is displayed on the monitor 7. As the display method, for example, as shown in FIG. 12, “◯” is displayed between the virtual parking positions 11a and 11a. From this display content, the driver determines that there is a parking space S between the front parked vehicle 11 and the second parked vehicle 11 shown in FIG. 2, and performs a parking operation.

(Step SC4)
If the parking space recognition device 2 determines in step SC2 that the shortest distance 11d between the virtual parking positions 11a and 11a is smaller than the general parking width (NO in step SC2), the virtual parking positions 11a and 11a. It is determined that there is no parking space S between them, and this is displayed on the monitor 7. As the display method, for example, as shown in FIG. 13, "x" is displayed between the virtual parking positions 11a and 11a.

  As described above, in the parking space recognition device 2 of the present embodiment, the parking space S is recognized on the parking area detection line L based on the leading portion Lb of each parked vehicle detection unit La. Here, each head portion Lb is a portion that is not affected by the directivity of the horizontal wide-angle sonar 4. Therefore, unlike the conventional parking space recognition device, the parking space recognition device 2 of the present embodiment can recognize the parking space S without being affected by the directivity of the horizontal wide angle sonar 4. Therefore, the parking space recognition device 2 of the present embodiment can improve the recognition accuracy of the parking space S.

  Moreover, the parking space recognition apparatus 2 of this Embodiment sets the parallel line B based on the head part Lb of each parked vehicle detection part La on a coordinate plane, and uses this parallel line B and the virtual of each parked vehicle. A center point E was set. Accordingly, since the calculation range of the virtual center point E is easily set, the virtual center point E can be easily set. Therefore, the parking space recognition apparatus 2 of this Embodiment can perform the recognition process of the parking space S easily.

  Further, in the parking space recognition device 2 of the present embodiment, since the sonar for detecting obstacles that has been conventionally used can also be used as a horizontal wide angle sonar, the cost can be reduced. In addition, the parking space recognition device 2 according to the present embodiment performs the recognition processing of the parking space S using only the horizontal wide-angle sonar 4 without using a camera, so that parking is possible even when the white line state is bad or at night. The driver can be informed of the existence of the space S. In addition, if the parking space recognition device 2 is configured to perform the recognition processing of the parking space S by adding a camera, the recognition accuracy of the parking space S can be further enhanced.

Second embodiment:
FIG. 14 is a flowchart showing a processing procedure of parking space discrimination processing in the parking space recognition device showing the second embodiment of the present invention. In this parking space discrimination process, the parking space S is recognized using the virtual center point E of each parked vehicle after performing the parking area detection process and the parking position temporary setting process similar to those in the first embodiment. Below, each process sequence of a parking space discrimination | determination process is demonstrated concretely.

(Step SD1)
First, the parking space recognition device 2 calculates a distance Ed parallel to the X axis (traveling direction X) between the virtual center points E and E on the coordinate plane shown in FIG.

(Step SD2)
Next, the parking space recognition device 2 determines whether or not the distance Ed between the virtual center points E and E is at least twice the general parking width.

(Step SD3)
When the parking space recognition device 2 determines in step SD2 that the distance Ed between the virtual center points E and E is twice or more the general parking width (YES in step SD2), the virtual center point E, It is determined that there is a parking space S (see FIG. 2) between E, that is, between the virtual parking positions 11a and 11a, and the presence of this parking space S is displayed on the monitor 7 as shown in FIG.

(Step SD4)
When the parking space recognition device 2 determines in step SD2 that the distance Ed between the virtual center points E and E is smaller than twice the general parking width (NO in step SD2), the virtual parking positions 11a and 11a It recognizes that there is no parking space S between them, and displays it on the monitor 7 as shown in FIG. 13, for example.

  Thus, in the parking space recognition device of the present embodiment, the parking space S is recognized using the virtual center point E of each parked vehicle. This virtual center point E is calculated based on the head portion Lb of each parked vehicle detection unit La of the parking area detection line L as described in the first embodiment. Therefore, also in the parking space recognition device of the present embodiment, the parking space S is recognized without being affected by the directivity of the horizontal wide angle sonar 4 as in the parking space recognition device of the first embodiment. Is possible. Therefore, the parking space recognition device of the present embodiment can increase the recognition accuracy of the parking space S.

Third embodiment:
FIG. 16: is a flowchart which shows the process sequence of a parking space discrimination | determination process in the parking space recognition apparatus which shows the 3rd Embodiment of this invention. In this parking space discrimination process, the parking space S is recognized using the virtual center line of each parked vehicle after performing the parking area detection process and the parking position temporary setting process similar to those in the first embodiment. Below, each process sequence of a parking space discrimination | determination process is demonstrated concretely.

(Step SE1)
First, the parking space recognition device 2 sets the virtual center line N of each parked vehicle on the coordinate plane as shown in FIG. Specifically, a line passing through each virtual center point E on the coordinate plane is set parallel to the Y axis, and a portion between the intersection of the leading line A and the trailing line T of each virtual parking position 11a is set on this line. Set to virtual center line N.

(Step SE2)
Next, the parking space recognition device 2 calculates the shortest distance Nd parallel to the X axis (traveling direction X) between the virtual center lines N and N. The reason for calculating the shortest distance Nd is to consider the case where the parked vehicle 11 is parked obliquely at the actual parking position.

  More specifically, when the parked vehicle 11 is parked obliquely, the virtual center line N is not parallel to the Y axis even if the parking area detection line L is corrected in step SA7. Therefore, if the shortest distance Nd is calculated, the recognition process of the parking space S between the parked vehicles 11 and 11 can be accurately performed even when the parked vehicle 11 is parked obliquely.

(Step SE3)
Next, the parking space recognition device 2 determines whether or not the shortest distance Nd between the virtual center lines N and N is twice or more than a general parking width.

(Step SE4)
When the parking space recognition device 2 determines in step SE3 that the shortest distance Nd between the virtual center lines N and N is twice or more the general parking width (YES in step SE3), the virtual center line N , N, that is, between the virtual parking positions 11a and 11a, it is determined that there is a parking space S (see FIG. 2), and the presence of this parking space S is displayed on the monitor 7 as shown in FIG.

(Step SE5)
If the parking space recognition device 2 determines in step SE3 that the shortest distance Nd between the virtual center lines N and N is smaller than twice the general parking width (NO in step SE3), the virtual parking position 11a, It recognizes that there is no parking space S between 11a, and displays it on the monitor 7 like FIG. 13, for example.

  Thus, in the parking space recognition apparatus of the present embodiment, the parking space S is recognized using the virtual center line N of each parked vehicle. The virtual center line N is calculated based on the virtual center point E, that is, the head portion Lb of the parked vehicle detection unit La of the parking area detection line L. Therefore, also in the parking space recognition device of the present embodiment, similarly to the parking space recognition device of the first embodiment and the second embodiment, it is not affected by the directivity of the horizontal wide angle sonar 4. The parking space S can be recognized. Therefore, the parking space recognition device of the present embodiment can increase the recognition accuracy of the parking space S.

  As mentioned above, although embodiment concerning this invention was illustrated, these embodiments do not limit the content of this invention. Various modifications can be made without departing from the scope of the claims of the present invention.

  For example, in the parking space recognition device described in the above embodiment, the virtual center point E of each parked vehicle is set using the parallel line B. In addition, as shown in FIG. The distance of the head portion Lb of the portion La may be calculated, and the virtual center point E may be set at a position that bisects this distance.

  In this case, since the virtual center point E is set using the head portion Lb as it is, there is little deviation between each virtual center point E and the actual center point. Accordingly, it is possible to reduce the deviation between the distance Ed between the virtual center points E and E (see FIG. 15) and the actual distance between the center points. Further, the deviation between the shortest distance Nd (see FIG. 17) between the virtual center lines N and N set based on the virtual center point E and the shortest distance between the actual center lines and between the virtual parking positions 11a and 11a. It is possible to reduce the deviation between the shortest distance 11d (see FIG. 11) and the shortest distance between the actual parking positions. Therefore, in the parking space recognition device in this case, the recognition accuracy of the parking space S can be further increased.

  Further, in this case, the positions separated from the virtual center point E by the distance Xa which is a half of the general vehicle width in the positive and negative directions of the X axis are the leading angles H and I of the virtual parking position 11a. Become. Further, the rear angles K and M are set at positions separated from the leading angles H and I by a general vehicle longitudinal length Yb in the positive direction of the Y-axis. Then, the leading corners H and I and the trailing corners K and M are connected to form a rectangular frame, and this rectangular frame becomes the virtual parking position 11a. Therefore, in the setting process of the virtual parking positions 11b and 11b, it is not necessary to set the top line A, the parallel line B, and the side line J described in the first embodiment, so the virtual parking positions 11b and 11b are set. Processing becomes easy.

  In the parking space recognition apparatus described in the above embodiment, the monitor 7 is used as a presentation means for notifying the operator of the presence or absence of the parking space S. However, the driver is notified by voice using a speaker or the like. May be. In that case, since it is not necessary to display the virtual parking position 11a, it is not necessary to set the virtual parking position 11a on the coordinate plane. Therefore, if the virtual center point E is set on the coordinate plane, the driver can be notified of the presence or absence of the parking space S as described in the second embodiment. Moreover, since the control process of a parking space recognition apparatus can be simplified, the cost reduction of a parking space recognition apparatus can also be achieved.

  Moreover, although the correction process of the parking area detection line L was performed in the first embodiment, as another correction process method, the virtual center line N is calculated from the actually measured parking area detection line L in FIG. Correction processing may be performed on the virtual center line N.

  In the first embodiment, the driver starts the parking space recognition process by turning on the parking switch 3. However, when the driver enters the parking lot using GPS, the traveling speed is You may make it start a parking space recognition process automatically when it becomes below a predetermined low speed. Further, the parking space recognition process may be terminated when the driver turns off the parking switch 3.

  In the parking space recognition device of the embodiment, the parking space S is used to recognize the parking space S between the two parked vehicles 11, 11. However, the parking space S between the three or more parked vehicles 11, 11 is recognized. May be used to

  As described above, the parking space recognition device of the present invention can improve the recognition accuracy of the parking space even when a horizontal wide angle sonar is used. Therefore, the parking space recognition device of the present invention can be fully utilized in the technical field of parking space recognition devices.

2 Parking space recognition device 4 Horizontal wide angle sonar 5 Vehicle speed sensor 7 Monitor 10 Own vehicle 11 Parked vehicle 11a Virtual parking position 11d Shortest distance between virtual parking positions A First line B Parallel line C Intersection D Intersection E Virtual center point Ed Virtual center Distance between points L Parking area detection line La Parked vehicle detection part Lb First part Lc Left right part N Virtual center line Nd Shortest distance between virtual center lines P Parking area S Parking space W Ultrasound

Claims (3)

A horizontal wide angle sonar and a vehicle speed sensor for transmitting ultrasonic waves to the parking area at predetermined intervals from the side of the own vehicle as the own vehicle travels beside a parking area where a plurality of parked vehicles are arranged in a row Parking area detection means for creating a parking area detection line on the coordinate plane using
In the case where a plurality of parked vehicle detection units protruding in a curved shape on the traveling side of the host vehicle are formed on the parking area detection line, based on the top portion of each parked vehicle detection unit on the coordinate plane Parking position temporary setting means for setting a virtual center point of each parked vehicle;
A distance parallel to the traveling direction between each virtual center point is calculated, and if this distance is more than twice the general parking width, it is determined that there is a parking space between the corresponding virtual center points. A parking space discriminating means for informing the driver of the presence of the parking space using the presenting means ,
The temporary parking position setting means sets a leading line passing through a leading portion of each parked vehicle detection unit on the coordinate plane, and is parallel to each leading line and to the left and right of each parked vehicle detection unit. the parallel lines intersecting the side portions respectively set, said to set the virtual center point portion between the two intersections bisects located between the left and right side portions of the parked vehicle detection unit in the parallel line The parking space recognition apparatus characterized by the above-mentioned. A horizontal wide angle sonar and a vehicle speed sensor for transmitting ultrasonic waves to the parking area at predetermined intervals from the side of the own vehicle as the own vehicle travels beside a parking area where a plurality of parked vehicles are arranged in a row Parking area detection means for creating a parking area detection line on the coordinate plane using
In the case where a plurality of parked vehicle detection units protruding in a curved shape on the traveling side of the host vehicle are formed on the parking area detection line, based on the top portion of each parked vehicle detection unit on the coordinate plane A parking position provisional setting means for setting a virtual center point of each parked vehicle and setting a virtual center line of each parked vehicle from the size of each virtual center point and a general vehicle;
Calculate the shortest distance parallel to the running direction between each virtual center line, and if this shortest distance is more than twice the general parking width, it is judged that there is a parking space between the corresponding virtual center lines And a parking space discriminating means for informing the driver of the existence of the parking space using the presenting means ,
The temporary parking position setting means sets a leading line passing through a leading portion of each parked vehicle detection unit on the coordinate plane, and is parallel to each leading line and to the left and right of each parked vehicle detection unit. the parallel lines intersecting the side portions respectively set, said to set the virtual center point portion between the two intersections bisects located between the left and right side portions of the parked vehicle detection unit in the parallel line The parking space recognition apparatus characterized by the above-mentioned. A horizontal wide angle sonar and a vehicle speed sensor for transmitting ultrasonic waves to the parking area at predetermined intervals from the side of the own vehicle as the own vehicle travels beside a parking area where a plurality of parked vehicles are arranged in a row Parking area detection means for creating a parking area detection line using
In the case where a plurality of parked vehicle detection units protruding in a curved shape on the traveling side of the host vehicle are formed on the parking area detection line, based on the top portion of each parked vehicle detection unit on the coordinate plane A parking position temporary setting means for setting a virtual center position of each parked vehicle and setting a virtual parking position of each parked vehicle from the size of each virtual center point and a general vehicle,
Calculate the shortest distance parallel to the direction of travel between each virtual parking position, if this shortest distance is more than the general parking width, determine that there is a parking space between the corresponding virtual parking positions, Parking space discriminating means for informing the driver of the presence of this parking space using the presenting means ,
The temporary parking position setting means sets a leading line passing through a leading portion of each parked vehicle detection unit on the coordinate plane, and is parallel to each leading line and to the left and right of each parked vehicle detection unit. the parallel lines intersecting the side portions respectively set, said to set the virtual center point portion between the two intersections bisects located between the left and right side portions of the parked vehicle detection unit in the parallel line The parking space recognition apparatus characterized by the above-mentioned.

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