JP5928321B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device that supports parking driving by a driver.

  2. Description of the Related Art Conventionally, as a parking assistance device, for example, as described in Japanese Patent Application Laid-Open No. 2010-100086, a device that determines the possibility of contact with an object when a vehicle moves along a parking route is known. When it is determined that there is a possibility of contact with an object, this device calculates a route including a turn-back as a new parking route that avoids the object.

JP 2010-100086 A

  However, in such a device, a pedestrian or other moving object that exists in the vicinity of the vehicle is determined as an object that has a possibility of contact, although there is no possibility of contact. If it is located at the turning point, it may be erroneously determined. In this case, as a result, appropriate parking assistance cannot be performed due to, for example, an increase in the number of turnovers.

  Therefore, the present invention intends to provide a parking assistance device capable of appropriately determining a turning point of a vehicle.

  The parking assist device according to the present invention determines a plurality of object sensors that detect objects around the vehicle, whether the object detected by the object sensor is a moving object, and determines that the object is a moving object. In the case, the vehicle guidance control part which determines with the vehicle not being located in the turning point is provided.

  According to the parking assist device of the present invention, it is determined whether or not the object detected by the object sensor is a moving object, and when it is determined that the object is a moving object, the vehicle is supported during the parking assist. It is determined that it is not located at the turning point. Thereby, it is suppressed that a moving object that is not likely to be contacted is determined as an object that is likely to be contacted to erroneously determine the turning point of the vehicle.

  The vehicle guidance control unit may determine whether or not the object is a moving object based on at least one of the number of object sensors that detect the object at the same time or the detection duration time of the object by at least one object sensor. Good.

  The vehicle guidance control unit may determine that the object detected by the object sensor is a moving object when the number of object sensors that simultaneously detect the object is less than a threshold value.

  The vehicle guidance control unit may determine that the object detected by the object sensor is a moving object when the object detection duration by the at least one object sensor is less than the threshold.

  ADVANTAGE OF THE INVENTION According to this invention, the parking assistance apparatus which can determine appropriately the turning point of a vehicle can be provided.

It is a block diagram which shows the parking assistance apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the detection area | region of the object sensor in a parking assistance apparatus. It is a flowchart which shows the whole operation | movement of a parking assistance apparatus. It is a flowchart which shows the switching determination operation | movement during guidance control. It is a figure which shows an example of the parking assistance determined that an object is a stationary object. It is a figure which shows an example of the parking assistance from which it determines with an object being a moving object based on the number of the object sensors which detected the object simultaneously. It is a figure which shows an example of the parking assistance determined that an object is a moving object based on the detection duration of the object by at least one object sensor.

  Hereinafter, a parking assistance device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  First, with reference to FIG.1 and FIG.2, the structure of the parking assistance apparatus which concerns on embodiment of this invention is demonstrated. FIG. 1 is a block diagram showing a parking assistance apparatus according to an embodiment of the present invention.

  The parking assistance device is a device that assists the driver in parking, and in particular, is a device that appropriately determines the turning point of the vehicle. The parking assistance device is mounted on a vehicle and is configured around an electronic control unit 10 (hereinafter referred to as ECU 10).

  A vehicle sensor 21 that detects vehicle travel information is connected to the ECU 10. As the vehicle sensor 21, for example, a wheel speed sensor, a shift sensor, an accelerator pedal sensor, a brake pedal sensor, a steering sensor, or the like is used.

  A plurality of object sensors 22, 22... For detecting objects around the vehicle are connected to the ECU 10. As the object sensor 22, for example, a side sensor or a proximity sensor (also referred to as a clearance sonar) is used. For example, an ultrasonic sensor or an infrared sensor is used as the object sensor 22. The side sensor is a sensor that detects an object on the side of the vehicle, and the proximity sensor is a sensor that detects an object close to the vehicle. The object sensor 22 detects the presence / absence of an object, the distance to the object, and the direction of the object.

  The object sensor 22 is arranged on the vehicle body so as to form a detection region as shown in FIG. 2, for example. That is, a total of four detection areas As of the side sensors are formed on the front side and the rear side of the left and right side surfaces of the vehicle body, and two detection areas Ac of the proximity sensors are provided in the left and right corner portions, two on the front portion of each front and rear surface of the vehicle body. A total of eight are formed each. The formation of the detection area of the object sensor 22 is not limited to the example shown in FIG.

  The ECU 10 is connected to a parking assistance execution unit 23 that performs parking assistance. As the parking assistance execution unit 23, for example, a display, a speaker, a vibrator, an engine control device, a brake control device, a steering control device, or the like is used. The parking support execution unit 23 executes parking support by a control intervention for a notification to the driver, an engine device, a brake device, and a steering device.

  The ECU 10 functions as a parking space detection unit 11, a parking route calculation unit 12, and a vehicle guidance control unit 13. The ECU 10 is composed mainly of a CPU, a ROM, a RAM, and the like, and realizes the functions of the parking space detection unit 11, the parking route calculation unit 12, and the vehicle guidance control unit 13 through execution of a program by the CPU. The functions of the parking space detection unit 11, the parking route calculation unit 12, and the vehicle guidance control unit 13 may be realized by two or more ECUs.

  The parking space detection unit 11 detects a parking space for the vehicle based on the detection result of the object sensor 22. The parking space detection unit 11 detects a parking space suitable for parking the vehicle. Moreover, the parking space detection part 11 detects the arrangement | positioning condition of the object in parking space periphery.

  The parking route calculation unit 12 calculates a parking route to the parking target position based on the parking space detected by the parking space detection unit 11. The parking route calculation unit 12 generates guidance control information for guiding and controlling the vehicle based on the calculated parking route. The guidance control information defines the relationship between the travel distance from the parking start point and the steering angle adjustment amount.

  The vehicle guidance control unit 13 performs guidance control of the vehicle to the parking target position based on the parking route calculated by the parking route calculation unit 12. The vehicle guidance control unit 13 automatically adjusts the steering angle based on the guidance control information so that the vehicle travels according to the parking route. That is, the vehicle guidance control unit 13 automatically adjusts the steering angle according to the travel distance adjusted according to the operation of the accelerator pedal or the brake pedal.

  Further, the vehicle guidance control unit 13 determines the necessity of turning the vehicle when an object close to the vehicle is detected during the guidance control of the vehicle. The vehicle guidance control unit 13 determines whether or not the object detected by the object sensor 22 is a moving object. When the vehicle guidance control unit 13 determines that the object is a moving object, the vehicle is positioned at the turning point during parking assistance. Judge that it is not.

  The vehicle guidance control unit 13 determines whether or not the object is a moving object based on at least one of the number of object sensors 22 that have detected the object at the same time or the duration of detection of the object by the at least one object sensor 22. judge. The vehicle guidance control unit 13 determines that the object detected by the object sensor 22 is a moving object when the number of object sensors 22 that simultaneously detect the object is less than the threshold value. The vehicle guidance control unit 13 determines that the object detected by the object sensor 22 is a moving object when the object detection duration by the at least one object sensor 22 is less than the threshold value.

  Next, the operation of the parking assistance apparatus will be described with reference to FIGS. FIG. 3 is a flowchart showing the overall operation of the parking assistance apparatus. FIG. 4 is a flowchart showing the switching determination operation during the guidance control. The parking assistance device, particularly the ECU 10, repeatedly executes the processing shown in FIGS. 3 and 4 at a set cycle in parking assistance.

  As shown in FIG. 3, the parking space detector 11 detects a parking space for the vehicle based on the detection result of the object sensor 22 (S11). The detection of the parking space is started in response to, for example, a parking assistance start operation by the driver. The detection of the parking space is detected based on the detection result of the object sensor 22 corresponding to the parking direction specified by the driver, for example. The detection of the parking space may be performed while manually driving the vehicle or may be performed while automatically driving the vehicle.

  The parking route calculation unit 12 calculates a parking route to the parking target position based on the parking space detected by the parking space detection unit 11 (S12). The calculation of the parking route is performed, for example, by setting the center position of the parking space as the parking target position and, for example, setting the position where the vehicle has stopped after detecting the parking space as the parking start position. The parking route is calculated as a route including a curve connecting the parking start position and the parking target position while avoiding a collision with the object based on the arrangement state of the object around the parking space. In addition to the calculation of the parking route, guidance control information for guiding and controlling the vehicle based on the parking route is generated.

  The vehicle guidance control unit 13 performs vehicle guidance control based on the parking route calculated by the parking route calculation unit 12 (S13). The vehicle guidance control is performed by automatically adjusting the steering angle according to the travel distance adjusted according to the operation of the accelerator pedal or the brake pedal based on the guidance control information. The travel distance is detected by, for example, a wheel speed sensor. The vehicle guidance control is continued until the vehicle reaches the parking target position from the parking start position. When it is determined that the vehicle is likely to contact a stationary object, that is, the detection distance of the stationary object is less than the threshold, the vehicle guidance control is interrupted in order to turn the vehicle.

  As shown in FIG. 4, in the vehicle guidance control in S13 of FIG. 3, the vehicle guidance control unit 13 determines whether or not an object is detected by the object sensor 22 (S21). If it is not determined that an object has been detected, the vehicle guidance control unit 13 determines that the vehicle is not located at the turning point, that is, no turning is required (S26).

  If it is determined in S21 that an object has been detected, the vehicle guidance control unit 13 determines whether or not the number of object sensors 22 that have detected the object simultaneously is less than a threshold, for example, less than two (S22). . If it is determined that the number of object sensors 22 that have simultaneously detected objects is less than the threshold, the vehicle guidance control unit 13 detects that the object detected by the object sensor 22 is a moving object, and the vehicle is at the turning point. It is determined that it is not located, that is, it is not necessary to turn back (S26).

  If it is not determined in S22 that the number of object sensors 22 that have simultaneously detected objects is less than the threshold, the vehicle guidance control unit 13 uses the at least one object sensor 22 to detect an object for less than the threshold. For example, it is determined whether it is less than 10 seconds (S23). If it is determined that the object detection duration by the at least one object sensor 22 is less than the threshold value, the vehicle guidance control unit 13 detects that the object detected by the object sensor 22 is a moving object, and the vehicle turns back. It is determined that it is not located at a point, that is, it is not necessary to turn back (S26).

  If it is not determined in S23 that the object detection duration by the at least one object sensor 22 is less than the threshold, the vehicle guidance control unit 13 determines that the object detection distance by the object sensor 22 is less than the threshold, for example, 30 cm. It is determined whether it is less than (S24). And when it determines with the detection distance of the object by the object sensor 22 being less than a threshold value, the vehicle guidance control part 13 has high possibility of contacting with a stationary object, and the vehicle is located in the turning point. It is determined that the cut-back is necessary (S25). Then, the vehicle guidance control unit 13 notifies the driver of the necessity of turning back through the parking support execution unit 23 or performs control intervention in the brake device. And the vehicle guidance control part 13 interrupts the guidance control of a vehicle, and calculates the new parking path | route including a turnback.

  On the other hand, if it is not determined in S24 that the object detection distance by the object sensor 22 is less than the threshold value, the vehicle guidance control unit 13 is unlikely to contact a stationary object, and the vehicle is positioned at the turning point. It is determined that no turn-back is necessary (S26).

  FIG. 5 is a diagram illustrating an example of parking assistance in which it is determined that an object is a stationary object. In the example shown in FIG. 5, the vehicle C0 that is parked in parallel is approaching the parked vehicle C1 due to retreat. When the vehicle C0 approaches the parked vehicle C1, the plurality of object sensors 22 detect the parked vehicle simultaneously and over a predetermined duration. For this reason, it is determined that the parked vehicle C1 is a stationary object, and it is appropriately determined that the vehicle C0 is located at the turning point, that is, turning is necessary.

  FIG. 6 is a diagram illustrating an example of parking assistance in which it is determined that an object is a moving object based on the number of object sensors 22 that simultaneously detect the object. In the example shown in FIG. 6, the pedestrian P is moving right next to the vehicle C0 that is parked in parallel while moving backward according to the parking route C. When the pedestrian P approaches the vehicle C0, at least one object sensor 22 detects the pedestrian P for a predetermined duration or longer. In such a situation, in the conventional parking assistance device, when it is determined that the detection distance of the pedestrian P is less than the threshold value, it is erroneously determined that the vehicle C0 is located at the turning point, and the vehicle C0. Guidance control will be interrupted. On the other hand, in the parking assistance device according to the embodiment of the present invention, since the number of object sensors 22 that simultaneously detect the pedestrian P is small, it is determined that the pedestrian P is a moving object, and the vehicle C0 is at the turning point. It is not erroneously determined that the vehicle is located, and the guidance control of the vehicle C0 is not interrupted.

  FIG. 7 is a diagram illustrating an example of parking assistance in which it is determined that the object is a moving object based on the detection duration time of the object by at least one object sensor 22. In the example shown in FIG. 7, a pedestrian P crosses immediately behind a vehicle C0 that is parked in parallel due to retreat. When the pedestrian P approaches the vehicle C0, the plurality of object sensors 22 detect the pedestrian P for less than a predetermined duration. In such a situation, in the conventional parking assistance device, when it is determined that the detection distance of the pedestrian P is less than the threshold value, it is erroneously determined that the vehicle C0 is located at the turning point, and the vehicle C0. Guidance control will be interrupted. On the other hand, in the parking assistance device according to the embodiment of the present invention, since the detection duration time of the object sensor 22 detecting the pedestrian P is short, it is determined that the pedestrian P is a moving object, and the vehicle C0 is the turning point. Therefore, the guidance control of the vehicle C0 is not interrupted.

  As described above, according to the parking assistance device according to the embodiment of the present invention, it is determined whether or not the object detected by the object sensor is a moving object, and it is determined that the object is a moving object. It is determined that the vehicle is not located at the turning point during parking assistance. Thereby, it is suppressed that a moving object that is not likely to be contacted is determined as an object that is likely to be contacted to erroneously determine the turning point of the vehicle.

  In addition, embodiment mentioned above demonstrated best embodiment of the parking assistance apparatus which concerns on this invention, and the parking assistance apparatus which concerns on this invention is not limited to what was described in this embodiment. . The parking assistance device according to the present invention may be a modification of the parking assistance device according to the present embodiment, or may be applied to other devices without departing from the gist of the invention described in each claim.

  For example, in the above-described embodiment, the case where automatic steering is performed based on the parking route in the parking assistance has been described. However, the case where manual steering is performed based on the parking route in the parking assistance is similarly described. In this case, for example, the driver may perform manual steering so that the vehicle travels according to the parking route based on the current position of the vehicle and the parking route displayed on the display or the operation guidance information from the speaker.

  In the above-described embodiment, the case where the turning point is appropriately determined during the parallel parking by the backward movement has been described. For example, the turning point is appropriately determined during the parallel parking by the forward movement or the garage parking by the backward movement or the forward movement. The same applies to the case of doing so.

  DESCRIPTION OF SYMBOLS 10 ... Electronic control unit (ECU), 11 ... Parking space detection part, 12 ... Parking route calculation part, 13 ... Vehicle guidance control part, 21 ... Vehicle sensor, 22 ... Object sensor, 23 ... Parking assistance execution part.

Claims (4)

A plurality of object sensors for detecting objects around the vehicle;
Based on a pre-calculated parking route, guidance control of the vehicle is performed, and when the object is detected around the vehicle during guidance control, the necessity of turning the vehicle is determined, and the object is a moving object. A vehicle guidance control unit that determines that there is no need to turn over the vehicle,
With
The vehicle guidance control unit determines that the object detected by the object sensor is a moving object when the number of the object sensors that simultaneously detect the object is less than a threshold value.
Parking assistance device.   The vehicle guidance control unit determines whether the object is a moving object based on at least one of the number of the object sensors that have detected the object at the same time or the detection duration time of the object by at least one of the object sensors. The parking assistance device according to claim 1, wherein it is determined whether or not. The vehicle guidance control unit determines that the detection duration of the object according to at least one of said object sensor when it is less than the threshold value, the object detected by the object sensor is a moving object, claim 1 Parking assistance apparatus as described in. A parking space detector for detecting a parking space for the vehicle based on a detection result of the object sensor;
A parking route calculation unit that calculates, as the parking route , a route to a parking target position based on the parking space detected by the parking space detection unit;
Further comprising
The parking assistance device according to any one of claims 1 to 3 , wherein the vehicle guidance control unit performs guidance control of the vehicle to the parking target position based on the parking route calculated by the parking route calculation unit. .

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