JP4016980B2 - Space-saving parking assistance device - Google Patents

Description

  The present invention relates to a parking assistance device.

  2. Description of the Related Art Conventionally, there has been proposed an apparatus that displays a rear view of a vehicle on a monitor when the driver cannot see a target location due to the blind spot of the vehicle when the vehicle is moving backward. For example, Patent Document 1 discloses a television camera that captures the rear of a vehicle, a monitor television that captures an image captured by the television camera, a sensor that outputs an information signal related to a tire steering angle, and an information signal from the sensor. Accordingly, there is disclosed a vehicle rear monitoring monitor device that includes a circuit that generates a marker signal in response to the marker and displays the marker on a television screen. In this device, the steering angle data of the tire and the marker position data along the reverse direction of the vehicle corresponding to the steering angle are stored in the ROM, and the predicted backward trajectory of the vehicle according to the steering angle at that time is the marker position data. As a row, it is displayed on the television screen in a manner superimposed on the video photographed by the television camera.

  According to such a device, when the vehicle is moving backward, the predicted backward trajectory of the vehicle according to the steering angle is displayed on the monitor TV screen together with the field of view of the road behind the vehicle, so the driver turns backward. The vehicle can be moved backward by operating the steering wheel while watching the TV screen.

JP-B-2-36417

However, when performing parallel parking or parallel parking, for example, in a conventional rear monitoring monitor device, at what timing and at what timing, the driver simply looks at the rear view and the expected backward trajectory of the vehicle on the TV screen. There is a problem that it is difficult to determine whether or not the driving operation for parking should be performed at the steering angle, and sufficient assistance during parking cannot be performed.
Further, in the conventional rear monitoring monitor device, the driver needs to perform the driving operation while watching the TV screen, but the driver must also check the safety around the vehicle, which places a heavy burden on the driver. There was also a problem.

  Furthermore, when actually parking, for example, when there is not enough space around the parking space, such as when the vehicle is already parked in front of the target parking space, or in the route until reaching the target parking space There are cases where the space in the road width direction and the direction of travel that can be used in the parking process is narrow, such as when there are interference objects such as pillars and walls on the road, and the emergence of a parking support mode that requires less space for the parking process is desired .

  The present invention has been made to solve such problems, and can accurately guide the driving operation during parking without imposing a heavy burden on the driver, and is necessary for the parking process. An object of the present invention is to provide a space-saving parking support apparatus that requires less space.

In order to achieve the above-described object, a space-saving parking assistance device according to claim 1 is provided with a yaw angle detection unit that detects a yaw angle of a vehicle, a distance detection unit that detects a movement distance of the vehicle, and the yaw angle. Reference setting means for setting the reference position of the angle, and the linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and the distance detection means detects the linear movement guidance of the vehicle. The travel distance is compared with the linear movement distance stored in advance, and in the guidance of turning movement of the vehicle, the yaw angle detected by the yaw angle detection means is compared with the yaw angle stored in advance. A controller for specifying a position; and guide means for providing parking assistance information for parallel parking to the driver based on the position of the vehicle specified by the controller; Provides information on the first position, the second position, the third position, the fourth position, and the target parking space, which are sequentially reached from the reference position, and the first position is based on the moving distance detected by the distance detecting means. The second position, the third position, the fourth position, and the target parking space are circumscribed with each other based on the yaw angle detected by the yaw angle detection means. It is a position reached by a minimum turning movement of the vehicle while following a trajectory combining only arcs.
The space-saving parking assistance device according to claim 2 is the space-saving parking assistance device according to claim 1, wherein the vehicle travels straight forward from the reference position to the first position and left and right to the second position. A backward turn in one direction, a backward turn in the other direction to the third position, a forward turn in the one direction to the fourth position, and a backward turn in the other direction to the target parking space. .

  The space-saving parking assistance device according to claim 3, wherein the yaw angle detecting means for detecting the yaw angle of the vehicle, the distance detecting means for detecting the moving distance of the vehicle, and the reference for setting the reference position of the yaw angle. The linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and the movement distance detected by the distance detection means is stored in advance in the vehicle linear movement guidance. A controller that compares the linear movement distance, compares the yaw angle detected by the yaw angle detection means with the yaw angle stored in advance in the guidance of turning movement of the vehicle, and specifies the position of the vehicle; Guidance means for providing parking assistance information for parallel parking to the driver based on the position of the vehicle specified by the controller, the guidance means arrives sequentially from the reference position, Provides information on 1st position, 2nd position, 3rd position, 4th position, and target parking space, the vehicle moves forward and backward in one direction from the reference position to the 1st position, and to the 2nd position Based on the moving distance detected by the distance detecting means for the backward turning in the other direction, the forward turning in the one direction to the third position, the backward turning in the other direction to the fourth position, and the target parking space. The first position, the second position, the third position, and the fourth position from the reference position circumscribe each other based on the yaw angle detected by the yaw angle detection means. It is a position reached by a minimum turning movement of the vehicle while following a trajectory combining only arcs.

The space-saving parking assistance device according to claim 4, wherein the yaw angle detecting means for detecting the yaw angle of the vehicle, the distance detecting means for detecting the moving distance of the vehicle, and the reference for setting the reference position of the yaw angle. The linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and the movement distance detected by the distance detection means is stored in advance in the vehicle linear movement guidance. A controller that compares the linear movement distance, compares the yaw angle detected by the yaw angle detection means with the yaw angle stored in advance in the guidance of turning movement of the vehicle, and specifies the position of the vehicle; Guidance means for providing parking assistance information to the driver based on the position of the vehicle specified by the controller, the guidance means sequentially reaching from the reference position, the first position, Providing guidance information on the position, the third position, the fourth position, the fifth position and the target parking space, the first position, the second position, the third position, the fourth position, the fifth position and the The target space is a position reached by a minimum turning movement of the vehicle while following a trajectory combining only arcs circumscribing each other based on the yaw angle detected by the yaw angle detection means, and the target parking space is the distance It is a position reached by a linear movement of the vehicle based on the movement distance detected by the detection means.
The space-saving parking assistance device according to claim 5 is the space-saving parking assistance device according to claim 4, wherein the vehicle moves forward and backward in one direction from the reference position to the first position. Forward turn in the other direction to the second position, backward turn in the one direction to the third position, forward turn in the other direction to the fourth position, backward turn in the one direction to the fifth position, to the target parking space Are respectively reached by rectilinear advance, and the parking support information is information for parallel parking.
The space-saving parking assistance device according to claim 6 is the space-saving parking assistance device according to any one of claims 1 to 5, wherein the controller previously stores data on a minimum turning radius of the vehicle. The yaw angle detecting means stores the amount of change in the yaw angle of the vehicle from the minimum turning radius data stored in advance in the controller and the moving distance during turning obtained via the distance detecting means. It is characterized by calculating.

  According to the present invention, it is possible to accurately guide the driving operation during parking without imposing a heavy burden on the driver, and to provide space-saving parking assistance that requires less space for the parking process. It can be carried out.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

Embodiment 1 FIG.
FIG. 1 shows a configuration of a space-saving parking assistance device for parallel parking. The controller 1 is connected to a yaw rate sensor 2 that detects an angular velocity of the vehicle in the yaw angle direction, and is connected to a parking assistance mode switch 3 for notifying the controller 1 that the vehicle is parked. Furthermore, the controller 1 is connected with a speaker 4 for guiding driving operation information to the driver. The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data of a minimum turning radius when the vehicle's steering wheel is steered to the maximum and the vehicle turns, and a control program for assisting parking in parallel parking. The CPU operates based on a control program stored in the ROM. The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 2, calculates the turning angle of the vehicle, and outputs information about the operation method and operation timing at each step during parking operation to the speaker 4. To do.

  FIG. 2 is a diagram schematically illustrating a vehicle movement mode according to the present embodiment, and FIG. 3 is a diagram schematically illustrating a three-turn type movement mode as a comparative example with respect to the present embodiment. First, a three-turn type movement mode will be described with reference to FIG. 3. When the vehicle is moved to the target parking space Z, it is at a position substantially parallel to the target parking space Z and in front of the target parking space Z. The vehicle position where the driver's seat is lined up in the rear end line Y1 of a certain vehicle space Y is started to be parked and set as a reference position for the yaw angle of the vehicle, and the vehicle is stopped at the reference position A. The driver advances the vehicle to the first position B1 with the steering wheel turned to the right to maximize the minimum turn. Next, the vehicle is moved backward from the first position B1 to the second position B2 with the steering wheel turned to the left. Further, from the second position B2, the vehicle is moved backward to the target parking space Z with the steering wheel turned to the right to the maximum. In this manner, according to the three-turn movement, the vehicle can reach the target parking space Z with a small number of turns when there is no particular restriction on the space required for the parking process.

  On the other hand, the vehicle movement mode in the present embodiment is as shown in FIG. Hereinafter, based on FIG. 2, operation | movement of the space-saving parking assistance apparatus which concerns on this Embodiment is demonstrated. It is assumed that the distance L1 between the target parking space Z and the front vehicle space Y is smaller than the distance L0 in the case of FIG. 3, and the margin space ahead of the target parking space Z is narrower.

  First, the driver stops the vehicle at a position that is substantially parallel to the target parking space Z and in which the driver's seat is lined up on the rear end line Y1 of the front vehicle space Y. Switch 3 is activated. This switch operation information is transmitted to the controller 1, and the controller 1 activates a parallel parking support program and sets that the current position is a reference position for the yaw angle of the vehicle, that is, the reference position A. I do. Next, the driver moves the vehicle forward to the first position C1 with the steering wheel turned to the maximum to the right in order to move the vehicle to the minimum. During this time, the angular velocity information from the yaw rate sensor 2 is input to the controller 1, and the controller 1 calculates the yaw angle of the vehicle from the reference position A during the minimum turn and provides information on the first position C1. Specifically, the calculated yaw angle is compared with the angle R1 corresponding to the first position C1 input to the controller 1 in advance, and when the vehicle reaches the first position C1, or before or after the arrival. Parking assistance information such as information or approach / overshoot information is notified by sound through the speaker 4. Further, when the destination position is reached, information for guiding the steering operation to the next destination position may be provided as one piece of parking support information.

  The driver stops the vehicle at the first position C1 based on such information on the first position C1. Next, the driver moves the vehicle backward to the second position C2 with the steering wheel turned to the left. Similarly, the controller 1 compares the calculated yaw angle with the angle R2 corresponding to the second position C2 input to the controller 1 in advance, and provides information regarding the second position C2 via the speaker 4. Based on this information, the driver stops the vehicle at the second position C2. Thereafter, similarly, the driver retreats the vehicle to the third position C3 with the steering wheel turned to the right from the second position C2, and turns the vehicle with the steering wheel turned to the left from the third position C3. The vehicle is advanced to the fourth position C4, and the vehicle is moved backward to the target parking space Z with the steering wheel turned to the right from the fourth position C4. As to the timing at which the vehicle is stopped at each position and the steering operation, as described above, the yaw angle calculated by the controller 1, the third position C3, the fourth position C4, and the target parking that have been input to the controller 1 in advance. It shall be based on the parking assistance information provided by the comparison with the angles R3, R4, R5 corresponding to the space Z, respectively. The change in the yaw angle of the vehicle from the reference position A to the target parking space Z will be described. In the present embodiment, first, the angle R1 is increased from the reference position A, then the angle R2 is increased, and the angle R3 is decreased. The angle R4 decreases, and finally the angle R5 decreases, and the yaw angle of the vehicle in the target parking space Z with respect to the reference position A becomes 0 degree. That is, the relationship of angle R1 + R2 = angle R3 + R4 + R5 is established.

  As described above, in the present embodiment, the vehicle moves to the target parking space Z by sequentially moving from the reference position A to the first position C1, the second position C2, the third position C3, and the fourth position C4 by the minimum turning movement. Since the information about each position is provided based on the yaw angle of the vehicle from the reference position A, the driving operation at the time of parking can be accurately guided without imposing a heavy burden on the driver, In addition, it is possible to perform space-saving parking assistance that requires less space required for the parking process, particularly the space around the parking space. Further, as the yaw angle detection means, only a single sensor called a yaw rate sensor is sufficient, and therefore it can be implemented at a lower cost.

Embodiment 2. FIG.
FIG. 4 shows the configuration of a space-saving parking assistance device for parallel parking. The controller 1 is connected to a yaw rate sensor 2 that detects an angular velocity of the vehicle in the yaw angle direction and a distance sensor 5 that detects a moving distance of the vehicle, and thereby notifies the controller 1 that the vehicle is parked. A parking assistance mode switch 3 is connected. Furthermore, the controller 1 is connected with a speaker 4 for guiding driving operation information to the driver.

  Next, the space-saving parking aspect regarding this Embodiment is demonstrated based on FIG. It is assumed that the distance L2 between the target parking space Z and the front vehicle space Y is smaller than the distance L0 in the case of FIG. 3, and the margin space ahead of the target parking space Z is narrower.

  First, the driver stops the vehicle at a reference position A similar to that in the first embodiment and activates the parking assistance mode switch 3. Next, the driver moves the vehicle to the first position D <b> 1 by moving the vehicle forward by a distance X with the handle in a neutral position to move straight. During this time, the information on the moving distance of the vehicle detected by the distance sensor 5 is input to the controller 1, and the controller 1 compares the moving distance information with the data of the distance X value input in advance. Thus, when the vehicle reaches the first position D1, or before or after the vehicle, parking assistance information such as arrival information or approach / overshoot information is notified through the speaker 4 by sound. The driver stops the vehicle at the first position D1 based on such information regarding the first position D1.

  Next, the driver moves the vehicle backward to the second position D2 in a state where the steering wheel is turned to the left to the maximum to move the vehicle to the minimum turn. During this time, the controller 1 receives the angular velocity information from the yaw rate sensor 2, and the controller 1 calculates the yaw angle of the vehicle from the first position D1 during the minimum turn and provides information on the second position D2. . Specifically, the calculated yaw angle is compared with the angle R1 corresponding to the second position D2 input to the controller 1 in advance, and the vehicle reaches the second position D2, or before or after the second position D2. Parking assistance information such as information or approach / overshoot information is notified by sound through the speaker 4. Further, when the destination position is reached, information for guiding the steering operation to the next destination position may be provided as one piece of parking support information.

  The driver stops the vehicle at the second position D2 based on such information on the second position D2. Next, the driver moves the vehicle backward to the third position D3 with the steering wheel turned to the right at the maximum. Similarly, the controller 1 compares the calculated yaw angle with the angle R2 corresponding to the third position D3 input in advance to the controller 1, and provides information about the third position D3 via the speaker 4. The driver stops the vehicle at the third position D3 based on this information. Thereafter, similarly, the driver advances the vehicle to the fourth position D4 with the steering wheel turned to the left from the third position D3, and moved the vehicle with the steering wheel turned to the right from the fourth position D4. Retreat to the target parking space Z. As described above, the timing at which the vehicle is stopped at each position and the steering wheel operation correspond to the yaw angle calculated by the controller 1, the fourth position D4 and the target parking space Z previously input to the controller 1, respectively. This is based on parking support information provided by comparison with the angles R3 and R4.

  As described above, in the present embodiment, the vehicle advances straight from the reference position A to the first position D1, and from there to the second position D2, the third position D3, and the fourth position C4 sequentially by the minimum turning movement. Since it moves to reach the target parking space Z and information on each position is provided based on the yaw angle of the vehicle from the reference position A, the driving operation at the time of parking can be performed without placing a heavy burden on the driver. Space-saving parking assistance that can be guided accurately and requires less space for the parking process, particularly the space around the parking space, can be performed.

Embodiment 3 FIG.
Next, a space-saving parking support apparatus according to Embodiment 3 of the present invention will be described with reference to FIG. The structure of the parking assistance apparatus in this Embodiment is the same as that of the parking assistance apparatus regarding Embodiment 1 shown in FIG. Hereinafter, the parking assistance mode of the present embodiment will be described. As shown in FIG. 6, an obstacle V1 such as a pillar exists in front of the road in which the vehicle is parked. In other words, the distance between the front end line Z1 of the target parking space Z and the obstacle V1 is limited as the distance L3, and the space in the traveling direction that can be used for the parking process is narrow.

  First, the driver stops the vehicle at a reference position A similar to that in the first embodiment and activates the parking assistance mode switch 3. Next, the driver moves the vehicle forward to the first position E1 with the steering wheel turned to the maximum to the right in order to make the vehicle turn at a minimum. The controller 1 compares the calculated yaw angle with the angle corresponding to the first position E1 input in advance to the controller 1, and when the vehicle reaches the first position E1, or before or after that, The parking assistance information similar to the form of is notified by sound through the speaker 4. Next, the driver moves the vehicle backward to the second position E2 with the steering wheel turned to the left from the first position E1 to the maximum. Similarly, the controller 1 compares the calculated yaw angle with the angle corresponding to the second position E2 input in advance to the controller 1, and provides information about the second position E2 via the speaker 4. Based on this information, the driver stops the vehicle at the second position E2. Thereafter, similarly, the driver advances the vehicle to the third position E3 with the steering wheel turned to the right from the second position E2, and moved the vehicle with the steering wheel turned to the left from the third position E3. The vehicle is moved backward to the fourth position E4, and the vehicle is moved backward to the target parking space Z with the steering wheel turned to the right from the fourth position E4. In addition, as to the timing at which the vehicle is stopped at each position and the steering wheel operation, as described above, the yaw angle calculated by the controller 1, the third position E3, the fourth position E4, and the target parking that have been input to the controller 1 in advance. It shall be based on the parking assistance information provided by the comparison with the angle corresponding to each space Z.

  As described above, in the present embodiment, the vehicle moves to the target parking space Z by sequentially moving from the reference position A to the first position E1, the second position E2, the third position E3, and the fourth position E4 by the minimum turning movement. Since the information about each position is provided based on the yaw angle of the vehicle from the reference position A, the driving operation at the time of parking can be accurately guided without imposing a heavy burden on the driver, In addition, it is possible to provide space-saving parking assistance that requires less space required for the parking process, in particular, less space in front of the road used in the parking process. Further, as the yaw angle detection means, only a single sensor called a yaw rate sensor is sufficient, and therefore it can be implemented at a lower cost.

Embodiment 4 FIG.
In the fourth embodiment, the vehicle movement mode shown in FIG. 3 and the vehicle movement mode shown in FIG. 6 are selected and executed. That is, in the vehicle movement mode shown in FIGS. 3 and 6, the first position is common in that the first position arrives from the reference position with a minimum rightward turning movement. Therefore, in the present embodiment, first, as shown in FIG. Parking assistance is performed in the vehicle movement mode, and when the vehicle is likely to interfere with an obstacle in front of the vehicle before reaching the position B1 in FIG. 3, the parking assistance is switched to the space-saving parking assistance shown in FIG. This switching may be an aspect in which an obstacle detection sensor is provided in the vehicle and automatically performed according to the detection result of this sensor, or a switching means is provided so that the switching can be performed by the driver's intention. Also good. In the vehicle movement mode shown in FIG. 3, parking assistance information is provided in the same manner as in the vehicle movement mode shown in FIG. 6.

Embodiment 5 FIG.
Next, a space-saving parking assistance apparatus according to Embodiment 5 of the present invention will be described with reference to FIG. The structure of the parking assistance apparatus in this Embodiment is the same as that of the parking assistance apparatus regarding Embodiment 1 shown in FIG. Hereinafter, the parking assistance mode of the present embodiment will be described. As shown in FIG. 7, an obstacle V <b> 2 such as a wall is present on the opposite side of the target parking space Z across the reference position A in the road width direction on the road where parking is performed. That is, the distance between the road center side line Z2 and the obstacle V2 in the target parking space Z is limited as the distance L4, and the space in the road width direction that can be used for the parking process is narrow.

  First, the driver stops the vehicle at a reference position A similar to that in the first embodiment and activates the parking assistance mode switch 3. Next, the driver moves the vehicle forward to the first position F1 with the steering wheel turned to the maximum to the left in order to move the vehicle to the minimum. That is, in the present embodiment, the vehicle is once tilted toward the target parking space Z side. The controller 1 compares the yaw angle calculated via the yaw rate sensor 2 with the angle corresponding to the first position F1 previously input to the controller 1, and when the vehicle reaches the first position F1, or Before and after, parking assistance information similar to that of the above-described embodiment is notified by sound through the speaker 4. Next, the driver advances the vehicle to the second position F2 with the steering wheel turned to the right from the first position F1. Similarly, the controller 1 compares the calculated yaw angle with an angle corresponding to the second position F2 input in advance to the controller 1 and provides information about the second position F2 via the speaker 4. Based on this information, the driver stops the vehicle at the second position F2. Thereafter, similarly, the driver moves the vehicle backward to the third position F3 with the steering wheel turned to the left from the second position F2 and maximizes the steering wheel with the steering wheel turned to the right from the third position F3. Retreat to the target parking space Z. At that time, the timing at which the vehicle is stopped at each position and the steering wheel operation are similarly applied to the yaw angle calculated by the controller 1 and the angles corresponding to the third position F3 and the target parking space Z previously input to the controller 1, respectively. It shall be based on the parking assistance information provided by the comparison.

  As described above, in the present embodiment, the reference position A is sequentially moved to the first position F1, the second position F2, and the third position F3 by the minimum turning movement, and reaches the target parking space Z. Since information on each position is provided based on the yaw angle of the vehicle from A, it is possible to accurately guide the driving operation during parking without placing a heavy burden on the driver, and in the parking process Space-saving parking assistance that requires less space, particularly space in the width direction used for the parking process, can be performed. Further, as the yaw angle detection means, only a single sensor called a yaw rate sensor is sufficient, and therefore it can be implemented at a lower cost.

Embodiment 6 FIG.
Although embodiment mentioned above was an example of parallel parking, the example of parallel parking is demonstrated below. FIG. 8 is a diagram schematically illustrating a vehicle movement mode according to the present embodiment, and FIG. 9 is a diagram schematically illustrating a two-turn type movement mode as a comparative example with respect to the present embodiment. First, the two-turn type movement mode will be described with reference to FIG. 9. When the vehicle is moved to the target parking space Z, it is at a position that is substantially perpendicular to the target parking space Z that falls within the center of the pair of white lines W for parking. In addition, a vehicle position where the driver's seat is aligned with the white line W1 on the front side in the vehicle traveling direction of the pair of white lines W for parking is set as a position for starting parking and serving as a reference for the yaw angle of the vehicle. Stop the vehicle. The driver advances the vehicle to the first position G1 with the steering wheel turned to the right to maximize the minimum turn. Next, the vehicle is moved backward from the first position G1 to the second position G2 with the steering wheel turned to the left. Further, from the second position B2, the steering wheel is returned to the neutral state, and the vehicle is moved straight back to the target parking space Z. In this manner, according to the two-turn movement, the vehicle can reach the target parking space Z with a small number of turns when there is no particular restriction on the space required for the parking process.

  On the other hand, the vehicle movement mode in the present embodiment is as shown in FIG. Hereinafter, based on FIG. 8, operation | movement of the space-saving parking assistance apparatus which concerns on this Embodiment is demonstrated. An obstacle V3 such as a pillar is present in the forward direction of the road on which parking is performed. That is, it is assumed that the distance between the target parking space Z and the obstacle V3 is limited to the distance L5, and the space ahead in the traveling direction that can be used for the parking process is narrow. Moreover, about the structure of a parking assistance apparatus, it shall be the same as that of the case of FIG.

  First, the driver is driving to a white line W1 that is substantially perpendicular to the target parking space Z that is located approximately in the center of the pair of white lines W for parking and that is forward of the pair of white lines W for parking in the vehicle traveling direction. The vehicle is stopped at a position where the seats are lined up, and the parking assist mode switch 3 is operated at that position. Information on this switch operation is transmitted to the controller 1, and the controller 1 activates the parallel parking support program and sets that the current position is a reference position for the yaw angle of the vehicle, that is, the reference position A. I do. Next, the driver moves the vehicle forward to the first position H1 with the steering wheel turned to the maximum to the right in order to move the vehicle to the minimum. During this time, the angular velocity information from the yaw rate sensor 2 is input to the controller 1, and the controller 1 calculates the yaw angle of the vehicle from the reference position A during the minimum turn and provides information on the first position H1. Specifically, the calculated yaw angle is compared with the angle corresponding to the first position H1 input in advance to the controller 1, and the arrival information is obtained when the vehicle reaches the first position H1, or before and after. Alternatively, parking assistance information such as approach / overshoot information is notified by sound through the speaker 4. Further, when the destination position is reached, information for guiding the steering operation to the next destination position may be provided as one piece of parking support information.

  The driver stops the vehicle at the first position H1 based on such information on the first position H1. Next, the driver moves the vehicle backward to the second position H2 with the steering wheel turned to the left to the maximum. Similarly, the controller 1 compares the calculated yaw angle with an angle corresponding to the second position H2 input in advance to the controller 1, and provides information about the second position H2 via the speaker 4. Based on this information, the driver stops the vehicle at the second position H2. Thereafter, similarly, the driver advances the vehicle to the third position H3 with the steering wheel turned to the right from the second position H2, and the vehicle with the steering wheel turned to the left from the third position H3. Retreat to the fourth position H4. As described above, the timing at which the vehicle is stopped at each position and the steering wheel operation correspond to the yaw angle calculated by the controller 1 and the third position H3 and the fourth position H4 previously input to the controller 1, respectively. This is based on parking support information provided by comparison with the angle to be performed. When the driver moves the vehicle back to the fourth position H4, the driver returns the handle to the neutral position and moves the vehicle straight back to the target parking space Z as it is.

  As described above, in the present embodiment, the reference position A is sequentially moved to the first position H1, the second position H2, the third position H3, and the fourth position H4 by the minimum turning movement, and further, the target is achieved by rectilinearly moving back and forth. Since it reaches the parking space Z and information on each position is provided based on the yaw angle of the vehicle from the reference position A, the driving operation during parking is accurately guided without imposing a heavy burden on the driver. In addition, it is possible to provide space-saving parking assistance that requires less space required for the parking process, in particular, a space in front of the road traveling direction used in the parking process. Further, as the yaw angle detection means, only a single sensor called a yaw rate sensor is sufficient, and therefore it can be implemented at a lower cost.

  In addition, although the rectilinear advance from the fourth position H4 to the target parking space Z is left to the driver's visual judgment, instead of this aspect, a distance sensor is provided in the parking assistance device as shown in FIG. The distance information actually detected by the distance sensor and the distance data from the fourth position H4 to the target parking space Z input in advance in the controller 1 are compared, and the arrival information regarding the target parking space Z Alternatively, parking support information such as approach / overshoot information may be similarly provided via the speaker 4.

Embodiment 7 FIG.
In the seventh embodiment, the vehicle movement mode shown in FIG. 8 and the vehicle movement mode shown in FIG. 9 are selected and executed. That is, in the vehicle movement mode shown in FIGS. 8 and 9, the first position is common in that the first position arrives from the reference position with the minimum rightward turning movement. Therefore, in the present embodiment, first, the vehicle shown in FIG. Parking assistance is performed in a moving manner. If the vehicle is likely to interfere with an obstacle ahead of the vehicle before reaching the position G1 in FIG. 9, the parking assistance is switched to the space-saving parking assistance shown in FIG. This switching may be an aspect in which an obstacle detection sensor is provided in the vehicle and automatically performed according to the detection result of this sensor, or a switching means is provided so that the switching can be performed by the driver's intention. Also good. Also, in the vehicle movement mode shown in FIG. 9, parking support information is provided in the same manner as in the vehicle movement mode shown in FIG.

Embodiment 8 FIG.
Next, a space-saving parking assistance apparatus according to Embodiment 8 of the present invention will be described with reference to FIG. The structure of the parking assistance apparatus in this Embodiment is the same as that of the parking assistance apparatus regarding Embodiment 1 shown in FIG. Hereinafter, the parking assistance mode of the present embodiment will be described. As shown in FIG. 10, an obstacle V4 such as a wall is present on the opposite side of the target parking space Z across the reference position A in the road width direction on the road where parking is performed. That is, the distance between the front end line Z4 of the target parking space Z and the obstacle V4 is limited as the distance L6, and the space in the road width direction that can be used for the parking process is narrow.

  First, the driver stops the vehicle at a reference position A similar to that in the sixth embodiment and operates the parking assist mode switch 3. Next, the driver moves the vehicle forward to the first position J1 with the steering wheel turned to the left to maximize the turning of the vehicle. That is, in the present embodiment, the vehicle is once tilted toward the target parking space Z side. The controller 1 compares the yaw angle calculated via the yaw rate sensor 2 with the angle corresponding to the first position J1 previously input to the controller 1, and when the vehicle reaches the first position J1, or Before and after, parking assistance information similar to that of the above-described embodiment is notified by sound through the speaker 4. Next, the driver advances the vehicle to the second position J2 with the steering wheel turned to the right from the first position J1 to the maximum. Similarly, the controller 1 compares the calculated yaw angle with an angle corresponding to the second position J2 input in advance to the controller 1, and provides information about the second position J2 via the speaker 4. Based on this information, the driver stops the vehicle at the second position J2. Thereafter, similarly, the driver retreats the vehicle to the third position J3 with the steering wheel turned to the left from the second position J2 and maximizes the steering wheel with the steering wheel turned to the right from the third position J3. The vehicle is advanced to the fourth position J4, and further, the vehicle is moved backward to the fifth position J5 with the steering wheel turned to the left from the fourth position J4. As to the timing at which the vehicle is stopped at each position and the steering wheel operation, as described above, the yaw angle calculated by the controller 1 and the third position J3, the fourth position J4, and the fifth input in advance to the controller 1 are used. It shall be based on the parking assistance information provided by the comparison with the angle corresponding to each position J5. When the driver moves the vehicle back to the fifth position J5, the driver returns the handle to the neutral position and moves the vehicle straight back to the target parking space Z as it is.

  As described above, in the present embodiment, the first position J1, the second position J2, the third position J3, the fourth position J4, and the fifth position J5 are sequentially moved from the reference position A by the minimum turning movement. Furthermore, since the vehicle is allowed to reach the target parking space Z by going straight ahead and information on each position is provided based on the yaw angle of the vehicle from the reference position A, the driving operation during parking without imposing a heavy burden on the driver Can be accurately guided, and space-saving parking assistance that requires less space required for the parking process, particularly space in the road width direction used for the parking process, can be performed. Further, as the yaw angle detection means, only a single sensor called a yaw rate sensor is sufficient, and therefore it can be implemented at a lower cost.

  Further, the rectilinear advance from the fifth position J5 to the target parking space Z may be performed by the driver's visual observation as in the sixth embodiment, or may be based on parking support information using a distance sensor. Good.

Embodiment 9 FIG.
In the ninth embodiment, instead of the parking assist mode switch 3 in the above-described embodiment, a switch module 6 is provided as shown in FIG. The switch module 6 includes a tandem mode switch 7 for informing the controller 1 that the vehicle performs parallel parking, and a parallel mode switch 8 for informing the controller 1 that the vehicle performs parallel parking. As a result, the driver can receive space-saving parking support information according to a desired parking mode by selecting whether the switch module 6 is in a column or in parallel. Both the column mode switch 7 and the parallel mode switch 8 have the same operation as the parking assistance mode switch 3 and cause the controller 1 to start a parking assistance program and the current position is the yaw angle of the vehicle. Is set as a reference position, that is, a reference position A. Moreover, as a parking assistance mode selected by the operation of the parallel mode switch 7 and the parallel mode switch 8, respectively, any of the above-described first to fifth embodiments may be used in the case of parallel parking. Any of 6-8 may be used.

Embodiment 10 FIG.
In the embodiment described above, the yaw rate sensor has been used as means for detecting the yaw angle of the vehicle. However, the present invention is not limited to this, and other means may be used. As an example, in the present embodiment, a distance sensor 9 is used instead of the yaw rate sensor as shown in FIG. That is, in the parking assistance device of the present invention, the turning movement of the vehicle is the turning of the minimum radius. Therefore, the minimum turning radius data is input to the controller 1 in advance according to the individual vehicle, and the distance sensor 9 is used. If the moving distance at the time of turning is obtained, the change amount of the yaw angle of the vehicle can be calculated from the data of the minimum turning radius and the data of the arcuate turning movement distance. As described above, also in the present embodiment, only a single sensor called a distance sensor is sufficient as the yaw angle detection means, so that it can be implemented at a lower cost. In addition to the yaw rate sensor for detecting the yaw angle as in the parallel parking and the parallel parking in the second embodiment, the distance sensor for detecting the rectilinear distance is also used. It is also possible to perform both with only a distance sensor.

Other embodiments.
The present invention is not limited to the embodiment described above, and may be implemented with the following modifications. For example, the guidance means for providing parking assistance information is not limited to the speaker 4, but may be means for providing visual information such as light or images, or means for providing tactile information such as vibration. . Moreover, it is not limited to the aspect parked on the left side of a road as mentioned above, and when parking on the left-right reverse side, it can be implemented by reversing the steering operation.

It is a figure which shows the structure of the space-saving parking assistance apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the vehicle movement aspect regarding Embodiment 1. FIG. It is a figure which shows the 3 turning type movement aspect regarding parallel parking. It is a figure which shows the structure of the space-saving parking assistance apparatus which concerns on Embodiment 2 of this invention. It is a figure which shows the vehicle movement aspect regarding Embodiment 2. FIG. FIG. 10 is a diagram illustrating a vehicle movement mode according to the third embodiment. FIG. 10 is a diagram illustrating a vehicle movement mode according to the fifth embodiment. FIG. 10 is a diagram illustrating a vehicle movement mode according to the sixth embodiment. It is a figure which shows the 2 turning type movement aspect regarding parallel parking. FIG. 20 is a diagram illustrating a vehicle movement mode according to the eighth embodiment. It is a figure which shows the structure of the space-saving parking assistance apparatus which concerns on Embodiment 9 of this invention. It is a figure which shows the structure of the space-saving parking assistance apparatus which concerns on Embodiment 10 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Controller, 2 Yaw rate sensor (yaw angle detection means), 3 Parking assistance mode switch (reference setting means), 4 Speaker (guide means), 7 Column mode switch (reference setting means), 8 Parallel mode switch (reference setting means) , 9 Distance sensor (yaw angle detection means), A reference position, Z target parking space.

Claims (6)

Yaw angle detection means for detecting the yaw angle of the vehicle;
A distance detecting means for detecting a moving distance of the vehicle;
Reference setting means for setting a reference position of the yaw angle;
The linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and in the guidance for linear movement of the vehicle, the movement distance detected by the distance detecting means and the linear movement distance stored in advance A controller for identifying the position of the vehicle by comparing the yaw angle detected by the yaw angle detection means with the yaw angle stored in advance in the guidance of turning movement of the vehicle,
Guidance means for providing parking assistance information for parallel parking to the driver based on the position of the vehicle specified by the controller;
The guide means provides information on the first position, the second position, the third position, the fourth position, and the target parking space, which are sequentially reached from the reference position,
The first position is a position reached by a linear movement of the vehicle based on the moving distance detected by the distance detecting means, and the second position, the third position, the fourth position, and the target parking space are A space-saving parking assist device that is a position reached by a minimum turning movement of the vehicle while following a trajectory combining only arcs circumscribing each other based on the yaw angle detected by the yaw angle detection means . The vehicle travels straight forward from the reference position to the first position, retreats in one direction left and right to the second position, retreats in the other direction to the third position, and advances in one direction to the fourth position. The space-saving parking support device according to claim 1, wherein the target parking space is reached by the backward turning in the other direction. Yaw angle detection means for detecting the yaw angle of the vehicle;
A distance detecting means for detecting a moving distance of the vehicle;
Reference setting means for setting a reference position of the yaw angle;
The linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and in the linear movement guidance of the vehicle, the movement distance detected by the distance detecting means and the linear movement distance stored in advance are stored. A controller for identifying the position of the vehicle by comparing the yaw angle detected by the yaw angle detection means with the yaw angle stored in advance in the guidance of turning movement of the vehicle,
Providing guidance means for providing parking assistance information for parallel parking to the driver based on the position of the vehicle specified by the controller;
The guide means provides information on the first position, the second position, the third position, the fourth position, and the target parking space, which are sequentially reached from the reference position,
The vehicle moves forward and backward in one direction left and right from the reference position to the first position, moves backward in the other direction to the second position, advances forward in the one direction to the third position, and moves to the fourth position. Is the backward turn in the other direction, and the target parking space is reached by going straight backward based on the moving distance detected by the distance detecting means,
From the reference position, the first position, the second position, the third position, and the fourth position follow a trajectory combining only arcs circumscribing each other based on the yaw angle detected by the yaw angle detection means. A space-saving parking assist device, which is a position reached by a minimum turning movement of the vehicle. Yaw angle detection means for detecting the yaw angle of the vehicle;
A distance detecting means for detecting a moving distance of the vehicle;
Reference setting means for setting a reference position of the yaw angle;
The linear movement distance and yaw angle of the vehicle corresponding to the predetermined position with respect to the reference position are stored in advance, and in the linear movement guidance of the vehicle, the movement distance detected by the distance detecting means and the linear movement distance stored in advance are stored. A controller for identifying the position of the vehicle by comparing the yaw angle detected by the yaw angle detection means with the yaw angle stored in advance in the guidance of turning movement of the vehicle,
Guidance means for providing parking assistance information to the driver based on the position of the vehicle specified by the controller,
The guidance means provides guidance information regarding the first position, the second position, the third position, the fourth position, the fifth position, and the target parking space, which are sequentially reached from the reference position,
The first position, the second position, the third position, the fourth position, the fifth position, and the target space are only arcs circumscribing each other based on the yaw angle detected by the yaw angle detection means. A position reached by a minimum turning movement of the vehicle while following a combined trajectory, and the target parking space is a position reached by a linear movement of the vehicle based on the movement distance detected by the distance detection means. A space-saving parking assist device. The vehicle moves forward and backward in one direction left and right from the reference position to the first position, forwardly turns in the other direction to the second position, reversely turns in the one direction to the third position, and the other direction to the fourth position. To the 5th position, the one-way backward turn, the target parking space is reached by going backward,
The space-saving parking support apparatus according to claim 4, wherein the parking support information is information for parallel parking. The controller stores in advance data on the minimum turning radius of the vehicle,
The yaw angle detection means calculates the amount of change in the yaw angle of the vehicle from the minimum turning radius data stored in advance in the controller and the moving distance during turning obtained via the distance detection means. The space-saving parking support apparatus according to any one of claims 1 to 5.

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