JP4200769B2 - Parking assistance device - Google Patents

Description

で表される。
ここで、式（３）及び（４）を三角関数の公式を用いて、変形すると、
tan(α1／2＋β1／2)=JOx／JOy
sin^２(α1／2−β1／2)=(JOx^２＋JOy^２)／(16R1^２)
となり、α１、β１を、既知のリヤアクスル中心ＪＯの座標（ＪＯｘ，ＪＯｙ）を用いて算出することができ、この値が角度α１、β１としてコントローラ１に記憶されている。
【００３６】
ところで、位置Ｊ１から位置Ｋ１への旋回において、車両の実施旋回角度が角度β１を超過した角度β２である場合、位置Ｋ１から更に前方にずれた不一致位置である位置Ｋ１’にて停止する。この場合、位置Ｋ１’にて不一致位置用旋回半径である旋回半径Ｒ３を実現できる操舵量にハンドルを操舵し、旋回半径Ｒ３で旋回しつつ第一不一致位置用旋回角度である角度γ２だけ後退し、旋回半径Ｒ３及び角度γ２に対応する位置である位置Ｌ１’に停止する。このとき、位置Ｌ１’は位置Ｌ１にかわり第二目標停止位置となる。続いて、位置Ｌ１’にてハンドルを右側へ最大に操舵して最小旋回半径Ｒ１で旋回しつつ第二不一致位置用旋回角度である角度α２だけ後退し、駐車スペースＴ内の位置Ｍ１に適正に駐車するものとする。また、位置Ｋ１’におけるリヤアクス中心をＫＯ’、位置Ｌ１’におけるリヤアクスル中心をＬＯ’とする。
【００３７】
図３に示されているＤＸは位置Ｊ１におけるリヤアクス中心ＪＯの座標（ＪＯｘ，ＪＯｙ）のうちＸ座標ＪＯｘであり、ＤＹは旋回中心Ｃ３の座標（Ｃ３ｘ，Ｃ３ｙ）のうちＹ座標Ｃ３ｙであるが、これらＤＸ及びＤＹを、車両を位置Ｊ１から最小旋回半径Ｒ１で角度β１だけ旋回させ、角度β１に対応する位置Ｋ１に停止させた場合、即ち、最小旋回半径Ｒ１、角度α１及びβ１を用いて表すと
DX＝−2・R1・cos(α1)＋2・R1・cos(β1) ……（５）
DY＝2・R1・sin(α1)−2・R1・sin(β１) ……（６）
となる。一方、これらＤＸ及びＤＹを、車両を位置Ｊ１から角度β２だけ旋回させて位置Ｋ１’に停止させた場合、即ち、旋回半径Ｒ３、角度α２及びβ２を用いて表すと
DX=−(R1＋R3)・cos(α2)＋(R1＋R3)・cos(β２） ……（７）
DY=(R1＋R3)・sin(α2)−(R1＋R3)・sin(β２） ……（８）
となる。
【００３８】
ここで、三角関数の公式を用いて式（５）及び（６）を変形すると、
DX／DY=tan((α1＋β1)／2) ……（９）
DX^２＋DY^２=16・R1^２・sin^２((α1−β1)／2) ……（１０）
となる。
また同様に、三角関数の公式を用いて式（７）及び（８）を変形すると、
DX／DY=tan((α2＋β2)／2) ……（１１）
DX^２＋DY^２=2・(R1＋R3)^２・sin^２((α2−β2)／2) ……（１２）
となる。
【００３９】
式（９）及び（１１）より
α1＋β1=α2＋β2
となり、α２が
α2=α1＋β1−β2 ……（１３）
で表される。
また、式（１０）及び（１２）より
2・R1・sin((α1−β1)／2)=(R1＋R3)・sin((α2−β2)／2) ……（１４）
となり、式（１３）及び式（１４）より旋回半径Ｒ３が
R3=2・R1・sin((α1−β1)／2)／sin((α1＋β1−2・β2)／2)−R1
で表される。
【００４０】
すなわち、コントローラ１のＲＯＭに記憶されている最小旋回半径Ｒ１、角度α１及びβ１と、ヨーレートセンサ２を基にコントローラ１にて求められた車両の旋回実施角度である角度β２とを用いて、位置Ｋ１’から次に車両を停止させる位置Ｌ１’までの旋回半径Ｒ３及び、位置Ｌ１’から位置Ｍ１までの角度α２の値を算出することができる。
さらに、位置Ｋ１’から位置Ｌ１’まで車両１０を旋回させる角度γ２は、
γ2=α2−β2
で表される。
【００４１】
なお、リヤアクスル中心ＪＯの座標（ＪＯｘ，ＪＯｙ）は、車両１０を車両２０の後方に無理のない操作で駐車できる値として、例えば、ＪＯｘ＝２．３ｍ、ＪＯｙ＝４．５ｍの値を用いている。
リヤアクスル中心ＪＯの座標ＪＯｘおよびＪＯｙは、車両１０の車格、操舵特性などに応じて値を設定することが望ましい。
【００４２】
次に、本実施の形態に係る駐車支援装置の縦列駐車時の動作について説明する。
まず、図３に示されるように、運転者は位置Ｊ１まで車両１０を移動させて停車する。ここで、縦列モードスイッチ６を作動させると、コントローラ１は、位置Ｊ１を車両のヨー角が０度の位置として設定すると共に縦列駐車のためのプログラムを起動させる。次に、運転者は、車両１０のハンドルを右側最大に操舵してフル切り状態にし、そのまま車両１０を前進させる。コントローラ１は、ヨーレートセンサ２から入力される車両１０の角速度から車両のヨー角を算出して、このヨー角と角度β１とを比較する。車両１０が位置Ｊ１から角度β１に対する位置Ｋ１に近づくにつれて、コントローラ１はヨー角と角度β１との差を基に、並列駐車時と同様に、位置Ｋ１に接近したことを知らせる接近情報と、位置Ｋ１に到達したことを知らせる到達情報とをスピーカ４を介して運転者に知らせる。
【００４３】
運転者は、到達情報に従って車両１０を位置Ｋ１に停止させる。次に、運転者は、ハンドルを左側最大に操舵してフル切り状態にし、そのまま車両１０を後退させる。コントローラ１は、車両のヨー角と角度α１（β１＋γ１）とを比較する。車両１０が、位置Ｋ１から位置Ｌ１に近づくにつれて、すなわち、車両のヨー角が角度α１に近づくにつれて、コントローラ１は、ヨー角と角度α１との差を基に位置Ｌ１に接近したことを知らせる接近情報と、位置Ｌ１に到達したことを知らせる到達情報とをスピーカ４を介して運転者に知らせる。
【００４４】
運転者は、到達情報に従って車両１０を位置Ｌ１に停止させる。次に、運転者は、位置Ｌ１でハンドルを反対方向に切り返して、右側最大に操舵してフル切り状態にし、そのまま車両１０を後退させる。コントローラ１は、車両１０のヨー角が０度に近づくにつれて、車両１０が駐車スペースＴ内の位置Ｍ１に接近したことを知らせる接近情報と、位置Ｍ１に到達したことを知らせる到達情報とをスピーカ４を介して運転者に知らせる。これにより、運転者は、位置Ｍ１で車両１０を停止させ、駐車を完了することができる。
【００４５】
次に、車両が位置Ｊ１から角度β１を超過して角度β２まで前進し、角度β１に対応する位置Ｋ１から前方にずれた位置Ｋ１’にて停止した場合を説明する。この場合、コントローラ１に備えられている補正部７が、予めコントローラ１のＲＯＭに記憶されている最小旋回半径Ｒ１、角度β１及びα１と、ヨーレートセンサ２で求められた角度β２とを基にして、位置Ｋ１’から次に車両を停止させる位置Ｌ１’までの旋回半径Ｒ３及び、位置Ｌ１’から位置Ｍ１までの角度α２の値を算出し、基本プログラムを不一致位置用プログラムに補正する。
【００４６】
また、コントローラ１は旋回半径Ｒ３を実現できるハンドルの目標操舵量を特定し、スピーカ４を介して車両のハンドルの操舵量を特定された目標操舵量に操舵するように案内する。このとき、コントローラ１は、ステアリングセンサ３から入力される情報を基にハンドルの操舵量を算出し、ハンドルの操舵量と目標操舵量とを比較して目標操舵量に接近したことを知らせる接近情報と、目標操舵量に到達したことを知らせる到達情報を介して運転者の案内を行う。
【００４７】
ハンドルの操舵量が目標操舵量に達すると、そのまま車両１０を後退させる。コントローラ１は、車両のヨー角と角度α２（β２＋γ２）とを比較する。車両１０が、位置Ｋ１’から位置Ｌ１’に近づくにつれて、すなわち、車両のヨー角が角度α２の値に近づくにつれて、コントローラ１は、ヨー角と角度α２との差を基に、並列駐車時と同様に、位置Ｌ１’に接近したことを知らせる接近情報と、位置Ｌ１’に到達したことを知らせる到達情報とをスピーカ４を介して運転者に知らせる。
【００４８】
運転者は、到達情報に従って車両１０を位置Ｌ１’に停止させる。次に、運転者は、位置Ｌ１’でハンドルを反対方向に切り返して、右側最大に操舵してフル切り状態にし、そのまま車両１０を後退させる。コントローラ１は、車両１０のヨー角が０度に近づくにつれて、車両１０が駐車スペースＴ内の位置Ｍ１に接近したことを知らせる接近情報と、位置Ｍ１に到達したことを知らせる到達情報とをスピーカ４を介して運転者に知らせる。これにより、運転者は、位置Ｍ１で車両１０を停止させ、駐車を完了することができる。
【００４９】
なお、角度β１に対して車両の旋回角度が不足した場合或いは著しく超過した場合には、並列駐車時と同様に、上述したような旋回半径及び角度の補正による駐車案内が困難なので、スピーカ４から運転者に対して車両の前進又は後退を案内する。
即ち、旋回半径を補正することにより車両を駐車枠の枠幅の中央に案内することが可能な旋回角度の許容範囲が予めコントローラ１のＲＯＭに格納されており、目標旋回角度β１に対する車両の旋回角度のズレ量がこの許容範囲内の場合に、次に行う後方左側への旋回における旋回半径を最小旋回半径Ｒ１から実際に車両が実施した旋回実施角度に対する適正な旋回半径に補正することにより、駐車スペースＴの幅方向における中央位置への駐車案内を可能にしている。
【００５０】
このように本発明の駐車支援装置は、初期停止位置から目標旋回角度の許容範囲内に停止させれば車両を駐車スペースへ案内することが可能なので、車両を正確に目標旋回角度だけ旋回させて停止させなければ駐車スペースに案内することのできない駐車支援装置に比べ、車両の停止位置を調節するために前進及び後進を繰り返し行わずにすむので、運転者に対する負担を大幅に軽減することができる。
また、目標旋回角度に一致しない場合には、実際に車両が実施した旋回角度に基づいて以降の案内が補正されるため、正確に車両を駐車スペースＴの枠幅の中央に駐車させることができる。
【００５１】
なお、コントローラ１に取り付けられたステアリングセンサ３で常にハンドルの操舵量を検知するようにすれば、駐車運転中における車両の前後方向への旋回中において、不適切なハンドルの操舵が行われた場合、その旨を警告し駐車をやり直すように促すことができる。このため、操作を続けて障害物に接触する等の危険を防止することができる。さらに、ステアリングセンサ３で常にハンドルの操舵量を検知し、コントローラ１にて車両の移動量を計算して時々刻々と好適な操舵量及び旋回角度の案内を行うようにしてもよい。
【００５２】
また、上記の実施の形態において、接近情報及び到達情報として、接近あるいは到達の目標となる車両の位置ごとに、スピーカ４から発する音の音量及び音色を変えたり、内容の異なる音声を発するようにしてもよい。また、案内手段は、スピーカに限られるものではなく、ブザー、ＬＥＤ、ランプでもよく、ディスプレイ上に文字、マークを表示してもよい。さらに、ハンドル等を介して運転者に伝達される振動でもよい。
【００５３】
また、ヨー角を検出するのに、ヨーレートセンサを用いたが、ヨー角検出手段は、ポジションジャイロを用いる方法や左右車輪にそれぞれ回転センサを装着しそれらの回転差からヨー角を検出する方法でもよく、ステアリングセンサと車輪側センサなどの距離センサを組み合わせて検出してもよい。さらに、地磁気センサやＧＰＳシステムを用いた方法でもよい。
【００５４】
上述の実施の形態では車両の停止位置が目標停止位置より行き過ぎた場合について説明したが、本発明の駐車支援装置は行き過ぎた場合だけに限定されるものではなく、目標停止位置より手前で車両を停止した場合にも基本プログラムを補正することにより目標駐車位置へ案内することができる。その場合、必要に応じて、並列駐車の場合には車両の旋回回数を４回以上、縦列駐車の場合には車両の旋回回数を６回以上としてもよい。
【００５５】
【発明の効果】
以上説明したように、請求項１に記載の本発明の駐車支援装置によれば、コントローラに、初期停止位置から目標停止位置を介して目標駐車位置へ駐車案内を行う基本プログラムの他に、初期停止位置から目標停止位置への移動にて車両が目標停止位置と一致しない不一致位置に停止したことが検知された場合に、基本プログラムを、初期停止位置から不一致位置までの車両の旋回実施角度を基にして、車両が停止している不一致位置から目標駐車位置へ案内を行う不一致位置用プログラムに補正する補正手段を備えたので、車両の停止位置が目標停止位置と正確に一致しない場合にも、正確に一致させるよう前または後への移動を繰り返したり、初期停止位置から操作をやり直すことなく駐車スペースに設定された目標駐車位置へ案内することができる。
請求項２に記載の駐車支援装置によれば、車両を目標停車位置よりも行き過ぎて目標停止位置と一致しない不一致位置に停止させてしまった場合に、補正手段により、目標停止位置から案内を行う基本プログラムを、不一致位置から案内を行う不一致位置用プログラムに補正するため、車両の停止位置が目標停止位置よりも行き過ぎてしまった場合にも、不一致位置から目標駐車位置へ案内することができる。
請求項３に記載の駐車支援装置によれば、並列駐車時において、車両が第一目標停車位置よりも行き過ぎた不一致位置に停止した場合に、第二目標停車位置を変更し、不一致位置から目標駐車位置へ案内することができる。
請求項４に記載の駐車支援装置によれば、縦列駐車時において、車両が第一目標停車位置よりも行き過ぎた不一致位置に停止した場合に、第二目標停車位置を変更し、不一致位置から目標駐車位置へ案内することができる。
請求項５に記載の駐車支援装置によれば、不一致位置用旋回半径を実施させるように運転者に対して案内することができる。
請求項６に記載の駐車支援装置によれば、車両の旋回中の不適切なハンドル操作を運転者に警告することができる。
【図面の簡単な説明】
【図１】 本発明の実施の形態に係る駐車支援装置の構成を示すブロック図である。
【図２】 実施の形態の駐車支援装置を用いて並列駐車を行う場合の車両の動きを示す図である。
【図３】 実施の形態の駐車支援装置を用いて縦列駐車を行う場合の車両の動きを示す図である。
【図４】 従来の駐車支援装置を用いて並列駐車を行う場合の車両の動きを示す図である。
【符号の説明】
１…コントローラ、２…ヨーレートセンサ、３…ステアリングセンサ、４…スピーカ、５…並列モードスイッチ、６…縦列モードスイッチ、７…補正部。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assistance device, and more particularly to vehicle guidance when a stop position of a vehicle does not exactly match a target stop position.
[0002]
[Prior art]
Conventionally, when a vehicle is parked in parallel and in parallel, it is difficult to determine where to start turning the steering wheel and how much to turn the steering wheel. A parking assistance device has been proposed. When parallel parking is performed using this parking assistance device, the rear axle center R of the vehicle follows a trajectory K as shown in FIG. 4, and the vehicle moves from the initial stop position A1 to the center of the parking space T via the target stop position A2. To the target parking position A3 set to. In other words, the parking assist device turns the vehicle handle to the maximum at the initial stop position A1 and turns the vehicle forward from the initial stop position A1 by the minimum turning radius R1 by the angle θ1 to the target stop position A2. The vehicle is temporarily stopped at the target stop position A2, and the vehicle handle is turned to the left at the maximum while the vehicle is turned backward from the target stop position A2 by the minimum turning radius R1 by the angle θ2 and stopped at the target parking position A3. In this way, guidance is given to the driver.
[0003]
[Patent Document 1]
JP 2001-322520 A
[0004]
[Problems to be solved by the invention]
In such a parking assist device, the rear axle center R of the vehicle will deviate from the locus K unless the vehicle is accurately advanced from the initial stop position A1 by the angle θ1 and stopped so as to coincide with the target stop position A2. Therefore, it may be difficult to guide the vehicle to the target parking position A3. However, depending on the driver, the vehicle is stopped at a position where the turning angle of the vehicle has exceeded the angle θ1, and the stop position of the vehicle may not coincide with the target stop position A2. For this reason, parking that can guide the vehicle to the target parking position A3 even when the turning angle of the vehicle is slightly over the angle θ1 and the stop position of the vehicle does not exactly coincide with the target stop position A2. A proposal of a support device is desired.
[0005]
The present invention has been made to solve the above-described problems, and even when the stop position of the vehicle does not exactly match the target stop position, the movement forward or backward is repeated so as to accurately match. An object of the present invention is to provide a parking assist device capable of guiding a target parking position set in a parking space without redoing an operation from the initial stop position.
[0006]
[Means for Solving the Problems]
  In order to achieve the above object, a parking support apparatus according to claim 1 of the present invention is a parking support apparatus that guides a target parking position from an initial stop position through one or more target stop positions. A basic program for guiding the vehicle from the initial stop position to the target parking position via the target stop position, a yaw angle detection means for detecting the yaw angle, a guide means for outputting guidance information for driving operation to the driver Is stored, and the driving operation necessary for stopping the vehicle at the target stop position and the target parking position via the guide means based on the basic program while specifying the position of the vehicle by the yaw angle detection means The controller that outputs the guide information of the vehicle, and the yaw angle detection that the vehicle has stopped at a mismatch position that does not match the target stop position when moving to the target stop position. When it is detected by the controller through the stage, the basic program, obtained through the yaw angle detecting meansThe initial stop positionAnd a correcting means for correcting the program to a mismatch position position for performing guidance from the mismatch position where the vehicle is stopped to the target parking position, based on the turning angle of the vehicle from to the mismatch position.
[0007]
Further, the parking assist device according to claim 2 is the parking assist device according to claim 1, wherein when the vehicle is moved to the target stop position, the vehicle is over the target stop position and does not coincide with the target stop position. When the stop is detected through the yaw angle detection means, the correction means corrects the basic program to a mismatch position program.
  Claims3The parking assistance device according to claim 1 is the claim 1.Or 2In the parking support apparatus, the basic program used for parallel parking turns the vehicle from the initial stop position to the first target stop position by turning at the first target turn angle with the minimum turning radius, and the first target stop position. From the second target stop position by turning at a minimum turning radius and stopping at the second target stop position, and guiding the parking so as to reach the target parking position by going straight from the second target stop position. However, when the vehicle goes beyond the first target turning angle and stops at a mismatch position that does not match the first target stop position at the time of parallel parking guidance, the vehicle is moved from the initial stop position via the yaw angle detection means. In addition to determining the turning angle of the vehicle up to the inconsistent position, and based on this turning angle and the previously known minimum turning radius and the first target turning angle, By calculating a turning radius for a mismatch position and a turning angle for a mismatch position corresponding to the mismatch position, and changing the second target stop position to a position corresponding to the turning radius for the mismatch position and the turning angle for the mismatch position, The basic program is corrected to the mismatch position program.
[0008]
  Claims4The parking assistance device according to claim 1 is the claim 1.Any of ~ 3In the parking support apparatus, the basic program used for parallel parking is configured to turn the vehicle from the initial stop position to the first target stop position by turning at a first target turn angle with a minimum turning radius, and to stop at the first target stop position. From the second target stop position to the second target stop position, and further turn from the second target stop position by the third target turn angle to the target parking position. When the vehicle is stopped at a disagreement position that does not coincide with the first target stop position because the vehicle has traveled beyond the first target turning angle at the time of parallel parking guidance, the correction means The turning angle of the vehicle from the initial stop position to the inconsistent position is obtained via the yaw angle detection means, and the turning angle and the minimum turning half known in advance are determined. Based on the first target turning angle and the second target turning angle, a turning radius for a mismatch position and a turning angle for a first mismatch position corresponding to the mismatch position are calculated, and the turning radius for the mismatch position and The second target stop position is changed to a position corresponding to the first mismatch position turning angle, and the second mismatch position turning angle is turned from the changed second target stop position to the target parking position with the minimum turning radius. Is calculated to correct the basic program to the mismatch position program.
[0009]
  And claims5The parking assistance device according to claim3Or4The parking assist device includes a steering sensor that detects a steering amount of a steering wheel that determines a turning radius of the vehicle, the steering sensor detects the steering amount of the steering wheel, and the controller detects the steering amount based on the steering amount. It is desirable to output the steering information of the steering wheel necessary for implementing the turning radius for the mismatch position via the guide means.
  Claims6The parking assistance device according to claim5In the parking assistance apparatus, when the steering sensor detects a change in the steering amount while the vehicle is turning, warning information may be output to the driver via the guide means.
[0010]
  The parking assist device according to claim 1 of the present invention provides a basic program for guiding from the target stop position by the correcting means when the vehicle is stopped at a non-matching position that does not match the target stop position.Initial stop positionBased on the turning angle of the vehicle from to the non-coincidence position, it is corrected to the program for the non-coincidence position that guides from the non-coincidence position, so even if the stop position of the vehicle does not exactly match the target stop position, It is possible to guide to the target parking position set in the parking space without redoing the operation.
[0011]
In addition, the parking assist device according to claim 2 is configured to provide guidance from the target stop position by the correcting means when the vehicle is stopped at a non-coincidence position that does not coincide with the target stop position by going beyond the target stop position. Since the program is corrected to a program for mismatch position that guides from the mismatch position, the vehicle can be guided from the mismatch position to the target parking position even when the stop position of the vehicle has exceeded the target stop position.
  Claims3The parking assist device according to the present invention is configured to change the second target stop position in the basic program to a position corresponding to the inconsistent position when the car parks at the inconsistent position due to excessive travel from the first target stop position. Can guide the vehicle to the target parking position.
[0012]
  Claims4The parking assist device according to the present invention, in parallel parking, when the vehicle stops from the first target stop position and stops at the mismatch position, the second target stop position in the basic program is changed to a position corresponding to the mismatch position. Can guide the vehicle to the target parking position.
[0013]
  Claims5The parking assist apparatus according to the present invention can detect the steering amount of the steering wheel by the steering sensor, and can provide the driver with steering information of the steering wheel necessary after the mismatch position while monitoring the detection amount. Claims6When the steering wheel is steered while the vehicle is turning, the parking assist device according to the above can detect the steering sensor and issue warning information.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows the structure of the parking assistance apparatus according to the present embodiment. The controller 1 includes a yaw rate sensor 2 that is a yaw angle detection means for detecting an angular velocity in the yaw angle direction of the vehicle, a steering sensor 3 that detects a turning angle of a handle attached to the vehicle, that is, a steering amount, and a driver. Speaker 4 as guidance means for guiding driving operation information, parallel mode switch 5 for setting the 0 degree position of the yaw angle and notifying the controller 1 that the vehicle is parking in parallel, the 0 degree position of the yaw angle And a column mode switch 6 is connected to inform the controller 1 that the vehicle is parking in parallel.
[0015]
The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM. The ROM stores data of the minimum turning radius R1 when the steering wheel of the vehicle is steered to the maximum and the vehicle turns and advances from the initial stop position to the target stop position during parallel parking and parallel parking. A basic program for assisting parking at the target parking position is stored. In addition, the controller 1 includes a correction unit 7, and the correction unit 7 converts the basic program into a mismatch position program that guides the mismatch program from the mismatch position to the target parking position when the vehicle stops at the mismatch position that deviates from the target parking position. to correct. Further, the controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 2 and outputs information regarding the operation method and operation timing at each step during parking operation to the speaker 4, and the steering sensor 3. The steering amount of the steering wheel of the vehicle is detected from the information input from, and steering information regarding the excess or deficiency of the steering amount is output to the speaker 4. The CPU operates based on a program stored in the ROM.
[0016]
Next, with reference to FIG. 2, a description will be given of what kind of trajectory is drawn on the vehicle to assist parking when the parking assist device of the present invention performs parallel parking. The central point of the entrance of the parking space T where the vehicle 10 is to be parked is the origin O, the X axis is perpendicular to the road and the vehicle 10 is moving forward in the parking space T, and is parallel to the road, that is, perpendicular to the X axis. Take the Y axis. The width of the parking frame of the parking space T is W1. Parking assistance is performed so that the position H1 at which the rear axle center HO is in the center in the width direction of the parking space T and parallel to the length direction of the parking space T is set as the target parking position, and the vehicle 10 is properly parked at this position H1. The equipment shall assist the driver.
[0017]
First, a position E1 that is perpendicular to the parking space T, the rear axle center EO of the vehicle 10 is a distance D from the entrance of the parking space T, and the side T1 of the parking space T and the position DR of the driver of the vehicle 10 coincide with each other. It is assumed that the vehicle 10 is stopped at the initial stop position.
[0018]
Next, in the vehicle 10 that stops at the position E1, the steering wheel is steered to the right as much as possible to move forward at an angle θ1 that is the first target turning angle while turning at the minimum turning radius R1 in this vehicle, and the first target stop It stops when it reaches position F1, which is the position. Here, the steering wheel is steered to the left as much as possible to turn at the minimum turning radius R1 of this vehicle, while retreating by the angle φ1 that is the second target turning angle, and the vehicle 10 is parallel to the parking space T. It is assumed that the steering wheel is returned to the straight traveling state at the position G1 that is the stop position, and further retracted, and the vehicle is appropriately parked at the position H1 that is the target parking position in the parking space T.
The rear axle center at position E1 is EO, the rear axle center at position F1 is FO, and the rear axle center at position G1 is GO.
[0019]
When the distance in the Y-axis direction between the driver's position DR and the rear axle center EO at the position E1 is L, the coordinates (C1x, C1y) of the turning center C1 when the vehicle 10 turns from the position E1 to the position F1 are:
C1x = D + R1
C1y = − (L−W1 / 2)
It is represented by
The coordinates (C2x, C2y) of the turning center C2 when the vehicle 10 turns from the position F1 to the position G1 are as follows:
C2x = − (R1 + R1) ・ cosθ1 + C1x = −2R1 ・ cosθ1 + D + R1
C2y ＝ (R1 ＋ R1) ・ sinθ1 ＋ C1y = 2R1 ・ sinθ1−L + W1 / 2
Of these, the Y coordinate C2y is
C2y = R1
It is also expressed as
From the two relational expressions of the Y coordinate C2y, sinθ1 is
sinθ1 = (R1 + L−W1 / 2) / 2R1
The value of θ1 can be calculated using known R1, L, and W1. The value of θ1 is stored in the ROM of the controller 1 as an angle θ1 that is the first target turning angle.
The angle φ1 at which the vehicle 10 turns from the position F1 to the position G1 is
φ1 = π / 2−θ1
It is represented by
[0020]
By the way, in the turn from the position E1 to the position F1, when the turning angle of the vehicle is an angle θ2 that exceeds the angle θ1, the vehicle stops at a position F1 ′ that is a mismatch position that is shifted forward from the position F1. In this case, the steering wheel is steered to a steering amount capable of realizing the turning radius R2 that is the turning radius for the mismatch position at the position F1 ′, and is turned back by the angle φ2 that is the turning angle for the mismatch position while turning at the turning radius R2. The vehicle stops at a position G1 ′ that is a position corresponding to the radius R2 and the angle φ2. At this time, the position G1 'becomes the second target stop position instead of the position G1. Similarly to the position G1, the position G1 'is set at the center of the frame width of the parking frame, but is set behind the position G1 in the X-axis direction. It is assumed that the steering wheel is returned to the straight traveling state at the position G1 'and further retracted, and the vehicle is appropriately parked at the position H1 that is the target parking position in the parking space T. Also, the rear axle center at position F1 'is FO', and the rear axle center at position G1 'is GO'.
[0021]
DY shown in FIG. 2 is the Y coordinate C1y of the coordinates (C1x, C1y) of the turning center C1, and this DY is turned from the position E1 by the minimum turning radius R1 by the angle θ1 to obtain the position F1. In other words, when expressed using the minimum turning radius R1 and the angle θ1,
DY = R1−2R1 ・ sinθ1 (1)
It becomes. On the other hand, when DY is expressed by using the turning radius R2 and the angle θ2 when the vehicle is turned from the position E1 by the minimum turning radius R1 by the angle θ2 and stopped at the position F1 ′,
DY = R2− (R1 + R2) ・ sinθ1 ………… (1) ’
It becomes. From equations (1) and (1) ', the turning radius R2 is
R2 ＝ R1 ・ (1−sin (θ1) + sin (θ2)) / (1−sin (θ2)) (2)
And the value of the minimum turning radius R1 and the angle θ1 stored in the ROM of the controller 1 and the value of the angle θ2 that is the turning execution angle obtained by the controller 1 based on the yaw rate sensor 2. The value of the turning radius R2 from the position F1 ′ to the position G1 ′ can be calculated.
The angle φ2 at which the vehicle 10 turns from the position F1 'where the vehicle is stopped to the position G1' is:
φ2 = π / 2−θ2
It is represented by
[0022]
Next, the operation | movement at the time of parallel parking of the parking assistance apparatus which concerns on this Embodiment is demonstrated. First, as shown in FIG. 2, the driver moves the vehicle 10 to a position E1 and stops. Here, when the driver turns on the parallel mode switch 5, the controller 1 sets the position E1 as a position where the yaw angle of the vehicle is 0 degrees and starts a parallel parking program. The driver steers the steering wheel to the maximum on the right side to make it fully cut, and advances the vehicle 10 as it is.
[0023]
At this time, the controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle 10 input from the yaw rate sensor 2, and compares this yaw angle with the value of the angle θ1. As the vehicle 10 approaches the position F1 corresponding to the angle θ1 from the position E1, the controller 1 arrives at the position F1 based on the difference between the yaw angle and the angle θ1 and informing that the vehicle has approached the position F1. The driver is notified via the speaker 4 of the arrival information that informs the driver of the arrival.
[0024]
For example, as the approach information, an intermittent sound “beep” is emitted from the speaker 4, and the cycle of this intermittent sound becomes shorter as the difference between the yaw angle and the angle θ <b> 1 decreases. When the difference between the yaw angle and the angle θ <b> 1 disappears, a continuous sound “pea” is emitted from the speaker 4 as arrival information.
[0025]
When the driver turns the vehicle 10 in accordance with the arrival information and stops the vehicle accurately at the position F1 corresponding to the angle θ1, the steering wheel is steered to the maximum in the left side in the reverse direction to make the vehicle fully cut off. Retreat. As the yaw angle of the vehicle 10 approaches 90 degrees, the controller 1 has approach information notifying that the vehicle 10 has approached the position G1 parallel to the parking space T, and arrival information notifying that the vehicle 10 has reached the position G1. To the driver via the speaker 4. The driver stops the vehicle 10 at the position G1 according to the arrival information, returns the steering wheel to the straight traveling state, then moves the vehicle 10 back to the target parking position H1, and parks the vehicle 10 in the parking space T. Complete.
[0026]
Next, a case will be described in which the vehicle moves forward from the position E1 over the angle θ1 to the angle θ2 and stops at the position F1 ′ further shifted forward from the position F1 corresponding to the angle θ1. In this case, the correction unit 7 provided in the controller 1 is based on the angle θ2 specified by the yaw rate sensor 2 and the minimum turning radius R1 and the angle θ1 previously stored in the ROM of the controller 1. The turning radius R2 is calculated by the equation (2), and the basic program is corrected to the mismatch position program. Further, the target steering amount of the steering wheel that can realize the turning radius R2 is specified by the correction unit 7.
[0027]
The controller 1 guides the driver through the speaker 4 so that the steering amount of the steering wheel of the vehicle is steered to the target steering amount. At this time, the controller 1 calculates the steering amount of the steering wheel based on the information input from the steering sensor 3, and compares the steering amount of the steering wheel with the target steering amount to notify that the target steering amount has been approached. Then, the driver is guided through arrival information notifying that the target steering amount has been reached.
[0028]
When the steering amount of the steering wheel reaches the target steering amount, the vehicle 10 is moved backward by an angle φ2. As the turning of the vehicle 10 approaches the angle φ2, the controller 1 notifies that the vehicle 10 has approached the position G1 ′ parallel to the parking space T as the yaw angle of the vehicle 10 approaches 90 degrees. The driver is informed of the information and the arrival information notifying that the position G1 ′ has been reached via the speaker 4. The driver stops the vehicle 10 at the position G1 'according to the arrival information, returns the steering wheel to the straight traveling state, then moves the vehicle 10 back to the position H1, places the vehicle 10 in the parking space T, and completes parking.
[0029]
If the turning angle of the vehicle is insufficient with respect to the angle θ1, it is difficult to guide the vehicle to the center of the frame width of the parking frame even if the turning radius is corrected as described above. Guidance is given to the person to advance the vehicle further, and the person approaches the angle θ1. In addition, when the turning angle of the vehicle significantly exceeds the angle θ1, it is difficult to guide the vehicle to the center of the frame width of the parking frame even if the turning radius is corrected, as in the case where the turning angle is insufficient. The speaker 4 provides guidance to the driver to move the vehicle backward, and guides the driver to approach the angle θ1.
Thus, the allowable range of the turning angle of the vehicle that can guide the vehicle to the center of the frame width of the parking frame by correcting the turning radius is stored in advance in the ROM of the controller 1, and the vehicle with respect to the angle θ1. When the amount of deviation of the turning angle of the vehicle is within this allowable range, the turning radius in the next backward turning is corrected from the minimum turning radius R1 to an appropriate turning radius at which parking can be actually completed. Parking guidance to the center position in the direction is possible.
[0030]
Next, a description will be given of what kind of trajectory is drawn on the vehicle to assist parking when the parking assist device of the present invention performs parallel parking with reference to FIG. It is assumed that the vehicle 10 is parked in the parking space T so that the rear left end of the vehicle 10 coincides with the corner S2 at the back of the parking space T. With the rear axle center MO of the vehicle 10 at the position M1 in this state as the origin, the Y axis is taken in the forward direction of the vehicle 10 parallel to the road, and the X axis is taken at right angles to the Y axis. Further, the coordinates of the corner at the back of the parking space T are set to S2 (-W2 / 2, -a2). Here, a2 and W2 indicate the rear overhang and the vehicle width of the vehicle 10, respectively.
[0031]
In the vehicle 10 that stops at the position J1 that is the initial stop position, the vehicle is advanced by the angle β1 that is the first target turning angle while turning at the minimum turning radius R1 with the handle at the maximum on the right side, and the position that is the first target stop position When K1 is reached, the steering wheel is turned to the maximum on the left side and turned at the minimum turning radius R1, while retreating by the angle γ1 that is the second target turning angle, and when it reaches the position L1 that is the second target stop position, the handle is moved to the right again. It is assumed that the vehicle turns backward by the angle α1 that is the third target turning angle while turning at the minimum turning radius R1 and parks appropriately at the position M1 that is the target parking position in the parking space T.
[0032]
First, tandem parking is started from a state in which the vehicle 10 is stopped at the position J1 with the vehicle 20 parked at a predetermined position in front of the parking space T as a guide.
[0033]
The position J1 is a position where the Y coordinate of the position DR of the driver of the vehicle 10 coincides with the Y coordinate of the rear end 20a of the parked vehicle 20 and is parallel to the parking space T. The positions are separated by a distance d. Therefore, the coordinates (JOx, JOy) of the rear axle center JO at the position J1 are uniquely determined from the relationship between the coordinates of the rear end portion 20a of the vehicle 20, the position DR of the driver and the rear axle center JO, and the distance d.
[0034]
In the vehicle 10 that stops at the position J1, the steering wheel is fully cut to the right and maximized to the position K1 while turning at the minimum turning radius R1. The turning center at that time is C3. Further, in the vehicle 10 at the position K1, the turning center is set to C4 when turning the steering wheel at the minimum left turning radius R1 to the position L1 while turning the steering wheel to the maximum at the right side by turning the steering wheel in the opposite direction at the position L1. Let C5 be the turning center when the vehicle turns back to the target parking position M1 while turning at the minimum turning radius R1. Further, the rear axle centers at positions J1, K1, L1, and M1 are denoted as JO, KO, LO, and MO, respectively.
[0035]
For angles α1, β1, and γ1,
γ1 = α1−β1
There is a relationship.
The coordinates (C5x, C5y) of the turning center C5 are
C5x ＝ R1
C5y = 0
It is represented by
The coordinates (C4x, C4y) of the turning center C4 are
C4x = C5x− (R1 + R1) ・ cosα1 = R1−2R1 ・ cosα1
C4y ＝ C5y ＋ (R1 ＋ R1) ・ sinα1 = 2R1 ・ sinα1
It is represented by
The coordinates (C3x, C3y) of the turning center C3 are
C3x = C4x + (R1 + R1) ・ cosβ1 = R1−2R1 ・ cosα1 + 2R1 ・ cosβ1
C3y ＝ C4y− (R1 + R1) ・ sinβ1 = 2R1 ・ sinα1-2R1 ・ sinβ1
It is represented by
The coordinates (JOx, JOy) of the rear axle center JO at position J1 are

It is represented by
Here, when equations (3) and (4) are transformed using trigonometric formulas,
tan (α1 / 2 + β1 / 2) = JOx / JOy
sin²(α1 / 2−β1 / 2) = (JOx²+ JOy²) / (16R1²)
Thus, α1 and β1 can be calculated using the known coordinates (JOx, JOy) of the rear axle center JO, and these values are stored in the controller 1 as the angles α1 and β1.
[0036]
By the way, in the turn from the position J1 to the position K1, when the actual turning angle of the vehicle is an angle β2 that exceeds the angle β1, the vehicle stops at a position K1 ′ that is a disagreement position further shifted forward from the position K1. In this case, the steering wheel is steered to a steering amount capable of realizing the turning radius R3 that is the turning radius for the mismatch position at the position K1 ′, and is turned back by the angle γ2 that is the turning angle for the first mismatch position while turning at the turning radius R3. Then, it stops at a position L1 ′ that is a position corresponding to the turning radius R3 and the angle γ2. At this time, the position L1 'becomes the second target stop position instead of the position L1. Subsequently, at the position L1 ′, the steering wheel is steered to the right at the maximum, turning at the minimum turning radius R1, and retracted by the angle α2, which is the turning angle for the second mismatch position, to the position M1 in the parking space T appropriately. It shall be parked. Further, the rear axle center at the position K1 'is KO', and the rear axle center at the position L1 'is LO'.
[0037]
DX shown in FIG. 3 is the X coordinate JOx of the coordinates (JOx, JOy) of the rear axle center JO at the position J1, and DY is the Y coordinate C3y of the coordinates (C3x, C3y) of the turning center C3. When the vehicle is turned from the position J1 by the angle β1 with the minimum turning radius R1 and stopped at the position K1 corresponding to the angle β1, that is, using the minimum turning radius R1, the angles α1 and β1. To represent
DX ＝ −2 ・ R1 ・ cos (α1) +2 ・ R1 ・ cos (β1) …… （5）
DY = 2 ・ R1 ・ sin (α1) −2 ・ R1 ・ sin (β1) (6)
It becomes. On the other hand, when DX and DY are expressed by using the turning radius R3 and the angles α2 and β2 when the vehicle is turned from the position J1 by the angle β2 and stopped at the position K1 ′.
DX = − (R1 + R3) ・ cos (α2) + (R1 + R3) ・ cos (β2) (7)
DY = (R1 + R3) ・ sin (α2) − (R1 + R3) ・ sin (β2) ...... (8)
It becomes.
[0038]
Here, if equations (5) and (6) are transformed using a trigonometric formula,
DX / DY = tan ((α1 + β1) / 2) (9)
DX²+ DY²= 16 ・ R1²・ Sin²((α1-β1) / 2) (10)
It becomes.
Similarly, if equations (7) and (8) are transformed using the trigonometric formula,
DX / DY = tan ((α2 + β2) / 2) (11)
DX²+ DY²= 2 ・ (R1 + R3)²・ Sin²((α2−β2) / 2) …… (12)
It becomes.
[0039]
From equations (9) and (11)
α1 + β1 = α2 + β2
And α2 is
α2 = α1 + β1-β2 (13)
It is represented by
From equations (10) and (12)
2 ・ R1 ・ sin ((α1−β1) / 2) = (R1 + R3) ・ sin ((α2−β2) / 2) (14)
From Equation (13) and Equation (14), the turning radius R3 is
R3 = 2 · R1 · sin ((α1−β1) / 2) / sin ((α1 + β1-2−β2) / 2) −R1
It is represented by
[0040]
That is, using the minimum turning radius R1 and angles α1 and β1 stored in the ROM of the controller 1 and the angle β2 that is the turning angle of the vehicle determined by the controller 1 based on the yaw rate sensor 2, the position It is possible to calculate the value of the turning radius R3 from K1 ′ to the position L1 ′ next to stop the vehicle and the angle α2 from the position L1 ′ to the position M1.
Further, an angle γ2 for turning the vehicle 10 from the position K1 'to the position L1' is:
γ2 = α2−β2
It is represented by
[0041]
The coordinates (JOx, JOy) of the rear axle center JO are, for example, values of JOx = 2.3 m and JOy = 4.5 m as values that allow the vehicle 10 to be parked behind the vehicle 20 with a reasonable operation. Yes.
The coordinates JOx and JOy of the rear axle center JO are desirably set in accordance with the vehicle grade, steering characteristics, etc. of the vehicle 10.
[0042]
Next, the operation | movement at the time of parallel parking of the parking assistance apparatus which concerns on this Embodiment is demonstrated.
First, as shown in FIG. 3, the driver moves the vehicle 10 to a position J1 and stops. Here, when the column mode switch 6 is operated, the controller 1 sets the position J1 as a position where the yaw angle of the vehicle is 0 degree and starts a program for parallel parking. Next, the driver steers the steering wheel of the vehicle 10 to the maximum on the right side to bring the vehicle 10 into a full cutting state, and advances the vehicle 10 as it is. The controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle 10 input from the yaw rate sensor 2, and compares this yaw angle with the angle β1. As the vehicle 10 approaches the position K1 with respect to the angle β1 from the position J1, the controller 1 uses the difference between the yaw angle and the angle β1 to indicate that the vehicle 10 has approached the position K1, as in parallel parking, The driver is notified via the speaker 4 of the arrival information notifying that K1 has been reached.
[0043]
The driver stops the vehicle 10 at the position K1 according to the arrival information. Next, the driver steers the steering wheel to the left side to the full cut state, and moves the vehicle 10 as it is. The controller 1 compares the yaw angle of the vehicle with the angle α1 (β1 + γ1). As the vehicle 10 approaches the position L1 from the position K1, that is, as the vehicle yaw angle approaches the angle α1, the controller 1 notifies that the vehicle has approached the position L1 based on the difference between the yaw angle and the angle α1. The driver is notified of the information and the arrival information notifying that the position L1 has been reached via the speaker 4.
[0044]
The driver stops the vehicle 10 at the position L1 according to the arrival information. Next, the driver turns the steering wheel in the opposite direction at the position L1, steers it to the right side to the full cutting state, and moves the vehicle 10 as it is. As the yaw angle of the vehicle 10 approaches 0 degrees, the controller 1 displays the approach information that informs that the vehicle 10 has approached the position M1 in the parking space T and the arrival information that informs that the vehicle 10 has reached the position M1. Inform the driver via Accordingly, the driver can stop the vehicle 10 at the position M1 and complete the parking.
[0045]
Next, the case where the vehicle advances from the position J1 beyond the angle β1 to the angle β2 and stops at the position K1 ′ deviated forward from the position K1 corresponding to the angle β1 will be described. In this case, the correction unit 7 provided in the controller 1 is based on the minimum turning radius R1, angles β1 and α1 previously stored in the ROM of the controller 1, and the angle β2 obtained by the yaw rate sensor 2. The turning radius R3 from the position K1 ′ to the position L1 ′ at which the vehicle is next stopped and the value of the angle α2 from the position L1 ′ to the position M1 are calculated, and the basic program is corrected to the mismatch position program.
[0046]
Further, the controller 1 specifies a target steering amount of the steering wheel that can realize the turning radius R3, and guides the steering amount of the vehicle steering wheel to be steered to the specified target steering amount via the speaker 4. At this time, the controller 1 calculates the steering amount of the steering wheel based on the information input from the steering sensor 3, and compares the steering amount of the steering wheel with the target steering amount to notify that the target steering amount has been approached. Then, the driver is guided through arrival information notifying that the target steering amount has been reached.
[0047]
When the steering amount of the steering wheel reaches the target steering amount, the vehicle 10 is moved backward as it is. The controller 1 compares the yaw angle of the vehicle with the angle α2 (β2 + γ2). As the vehicle 10 approaches the position L1 ′ from the position K1 ′, that is, as the vehicle yaw angle approaches the value of the angle α2, the controller 1 determines whether the parallel parking is performed based on the difference between the yaw angle and the angle α2. Similarly, the driver is notified via the speaker 4 of approach information for notifying that the vehicle has approached the position L1 ′ and arrival information for notifying that the vehicle has reached the position L1 ′.
[0048]
The driver stops the vehicle 10 at the position L1 'according to the arrival information. Next, the driver turns the steering wheel back in the opposite direction at the position L1 ', steers it to the maximum on the right side to make it fully cut, and moves the vehicle 10 backward as it is. As the yaw angle of the vehicle 10 approaches 0 degrees, the controller 1 displays the approach information that informs that the vehicle 10 has approached the position M1 in the parking space T and the arrival information that informs that the vehicle 10 has reached the position M1. Inform the driver via Accordingly, the driver can stop the vehicle 10 at the position M1 and complete the parking.
[0049]
If the turning angle of the vehicle is insufficient or remarkably exceeded with respect to the angle β1, parking guidance by correcting the turning radius and angle as described above is difficult as in the case of parallel parking. Guiding the driver forward or backward of the vehicle.
That is, the allowable range of the turning angle in which the vehicle can be guided to the center of the frame width of the parking frame by correcting the turning radius is stored in advance in the ROM of the controller 1, and the turning of the vehicle with respect to the target turning angle β1. When the deviation amount of the angle is within this allowable range, the turning radius in the next turn to the left rear is corrected from the minimum turning radius R1 to an appropriate turning radius with respect to the turning execution angle actually performed by the vehicle, Parking guidance to the center position in the width direction of the parking space T is made possible.
[0050]
As described above, the parking assist device of the present invention can guide the vehicle to the parking space if the vehicle is stopped within the allowable range of the target turning angle from the initial stop position. Compared to a parking assistance device that cannot be guided to the parking space unless it is stopped, it is not necessary to repeatedly move forward and backward to adjust the stop position of the vehicle, so the burden on the driver can be greatly reduced. .
In addition, when the vehicle does not coincide with the target turning angle, the subsequent guidance is corrected based on the turning angle actually performed by the vehicle, so that the vehicle can be accurately parked at the center of the frame width of the parking space T. .
[0051]
Note that if the steering amount of the steering wheel is always detected by the steering sensor 3 attached to the controller 1, the steering wheel is improperly steered while the vehicle is turning in the front-rear direction during parking operation. , You can warn that and urge you to park again. For this reason, it is possible to prevent dangers such as contact with an obstacle by continuing the operation. Further, the steering amount of the steering wheel may be always detected by the steering sensor 3, the amount of movement of the vehicle may be calculated by the controller 1, and a suitable steering amount and turning angle may be guided every moment.
[0052]
In the above embodiment, as the approach information and the arrival information, the volume and tone color of the sound emitted from the speaker 4 is changed or the sound having different contents is emitted for each position of the vehicle that is the target of approach or arrival. May be. The guiding means is not limited to the speaker, but may be a buzzer, an LED, or a lamp, and may display characters and marks on the display. Furthermore, vibration transmitted to the driver via a handle or the like may be used.
[0053]
In addition, the yaw rate sensor is used to detect the yaw angle, but the yaw angle detection means may be a method using a position gyro or a method in which a rotation sensor is attached to each of the left and right wheels and the yaw angle is detected from the rotation difference between them. It is also possible to detect by combining a steering sensor and a distance sensor such as a wheel side sensor. Furthermore, a method using a geomagnetic sensor or a GPS system may be used.
[0054]
In the above-described embodiment, the case where the stop position of the vehicle has exceeded the target stop position has been described. However, the parking assistance device of the present invention is not limited to the case where the vehicle has gone too far, and the vehicle is positioned before the target stop position. Even when the vehicle stops, it can be guided to the target parking position by correcting the basic program. In that case, the number of vehicle turns may be four or more in the case of parallel parking, and the number of vehicle turns may be six or more in the case of parallel parking.
[0055]
【The invention's effect】
  As described above, according to the parking assist device of the present invention described in claim 1, in addition to the basic program that guides the controller from the initial stop position to the target parking position via the target stop position, When the movement from the stop position to the target stop position detects that the vehicle has stopped at a non-matching position that does not match the target stop position, the basic program isInitial stop positionBased on the turning angle of the vehicle from the vehicle to the non-coincidence position, the correction means for correcting the non-coincidence position program for guiding from the non-coincidence position where the vehicle is stopped to the target parking position is provided. Even if it does not exactly match the target stop position, it is possible to guide to the target parking position set in the parking space without repeating the forward or backward movement to make it exactly match or without starting the operation again from the initial stop position. it can.
  According to the parking assist device of the second aspect, when the vehicle is stopped at a mismatch position that does not coincide with the target stop position because the vehicle has gone beyond the target stop position, the correction means performs guidance from the target stop position. Since the basic program is corrected to the mismatch position program for guiding from the mismatch position, it is possible to guide from the mismatch position to the target parking position even when the stop position of the vehicle has exceeded the target stop position.
  According to the parking assist device of the third aspect, in parallel parking, when the vehicle stops at a disagreement position that exceeds the first target stop position, the second target stop position is changed, and the target is changed from the disagreement position to the target position. You can guide to the parking position.
  According to the parking assist device of the fourth aspect, when the vehicle is parked in parallel, the second target stop position is changed when the vehicle stops at an unmatched position that exceeds the first target stop position. You can guide to the parking position.
  According to the parking assist device of the fifth aspect, the driver can be guided to implement the turning radius for the mismatch position.
  According to the parking assist device of the sixth aspect, it is possible to warn the driver of an inappropriate steering operation while the vehicle is turning.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a parking assistance apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating movement of a vehicle when parallel parking is performed using the parking assist device according to the embodiment.
FIG. 3 is a diagram illustrating the movement of the vehicle when performing parallel parking using the parking assist device of the embodiment.
FIG. 4 is a diagram illustrating movement of a vehicle when parallel parking is performed using a conventional parking assist device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Controller, 2 ... Yaw rate sensor, 3 ... Steering sensor, 4 ... Speaker, 5 ... Parallel mode switch, 6 ... Column mode switch, 7 ... Correction | amendment part.

Claims (6)

In the parking assistance device that guides the target parking position from the initial stop position through one or more target stop positions,
Yaw angle detection means for detecting the yaw angle of the vehicle;
Guidance means for outputting guidance information for driving operation to the driver;
A basic program for guiding the vehicle from the initial stop position to the target parking position via the target stop position is stored, and the guidance is based on the basic program while specifying the position of the vehicle by the yaw angle detection means. A controller for outputting driving operation guidance information necessary for stopping the vehicle at the target stop position and the target parking position via means;
When the controller detects that the vehicle has stopped at a non-coincidence position that does not coincide with the target stop position when moving to the target stop position, the basic program detects the yaw angle detection. Based on the turning angle of the vehicle from the initial stop position to the mismatch position obtained through the means, the program is corrected to a mismatch position program for guiding from the mismatch position where the vehicle is stopped to the target parking position. A parking assist device comprising: correction means for performing When it is detected by the controller via the yaw angle detection means that the vehicle has gone beyond the target stop position and stopped at a mismatch position that does not match the target stop position when moving to the target stop position,
The parking assist device according to claim 1, wherein the correction unit corrects the basic program into a program for mismatching positions. The basic program used for parallel parking is to turn the vehicle from the initial stop position at the first target turn angle with the minimum turn radius and stop at the first target stop position, and from the first target stop position with the minimum turn radius. It turns by the two target turning angle and stops at the second target stop position, and guides parking so as to reach the target parking position by going straight from the second target stop position,
The correction means is configured to perform the initial stop via the yaw angle detection means when the vehicle stops beyond the first target turning angle and stops at a mismatch position that does not match the first target stop position during parallel parking guidance. A vehicle turning angle from a position to the non-coincidence position is obtained, and a non-coincidence corresponding to the non-coincidence position is determined based on the turning execution angle, the minimum turning radius and the first target turning angle that are known in advance. By calculating a turning radius for position and a turning angle for inconsistent position, and changing the second target stop position to a position corresponding to the turning radius for inconsistent position and the turning angle for inconsistent position, the basic program is inconsistent with the inconsistency. The parking assistance device according to claim 1, wherein the parking assistance device is corrected to a position program. The basic program used for parallel parking is to turn the vehicle from the initial stop position with the minimum turning radius to the first target turning angle, stop at the first target stopping position, and again from the first target stopping position with the minimum turning radius. Turn to the second target stop position after turning by the second target turn angle, and guide the parking so that the turn to the target parking position by turning from the second target stop position by the third target turn angle with the minimum turning radius. Is,
The correction means is configured to detect the initial stop position via the yaw angle detection means when the vehicle stops at an unmatched position that does not coincide with the first target stop position because the vehicle has exceeded the first target turning angle during parallel parking guidance. To determine the turning angle of the vehicle from the position to the inconsistent position, and based on the turning angle and the previously known minimum turning radius, the first target turning angle and the second target turning angle, The turning radius for the mismatch position and the turning angle for the first mismatch position corresponding to the mismatch position are calculated, and the second target stop position is changed to the position corresponding to the turning radius for the mismatch position and the turning angle for the first mismatch position. And calculating a turning angle for a second inconsistent position that turns from the changed second target stop position to the target parking position with the minimum turning radius. Parking assist apparatus according to any one of claims 1 to 3, characterized in that to correct the gram to the mismatch position program. A steering sensor for detecting the steering amount of the steering wheel for determining the turning radius of the vehicle;
The steering sensor detects the steering amount of the steering wheel, and outputs the steering information of the steering wheel necessary for the controller to implement the turning radius for the mismatch position via the guide means based on the steering amount. The parking assistance device according to claim 3 or 4, wherein   6. The parking assist apparatus according to claim 5, wherein warning information is output to a driver via the guide means when the steering sensor detects a change in a steering amount while the vehicle is turning.

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