JP5316183B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support apparatus that supports driving of a vehicle.

  As a conventional driving support device, the position of the own vehicle in the parking lot is calculated based on the traveling direction of the own vehicle, the travel distance, and the parking lot map information, and the positions and the moving directions of all the vehicles in the parking lot are acquired. Is known to display the position and traveling direction of each vehicle in the parking lot to the driver of the host vehicle and guide the host vehicle to the parking space (for example, Patent Document 1).

JP 2006-268648 A

  However, in the above-described driving support device, even if it is known where the empty parking space is, it is unclear whether the space can be reached in the shortest time depending on the relationship with other vehicles. In addition, while parking, the passage will be blocked, but if other vehicles are waiting near the vehicle, the driver will feel psychologically impressed, or there will be other vehicles. Due to the necessity of changing the trajectory at the time of parking, parking time may be required. Thus, in the conventional driving assistance device, there is a possibility that smooth parking is hindered.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a driving support device capable of smoothly parking.

  In the driving support device according to the present invention, based on the time required for one vehicle to park in the predetermined parking space of the parking lot or the time required for one vehicle to start from the predetermined parking space, The vehicle driving assistance is provided.

  In this driving assistance device, driving assistance for other vehicles based on the time required to park one vehicle in a predetermined parking space of a parking lot or the time required for one vehicle to start from a predetermined parking space. For example, if the host vehicle is parked in the parking space, the other vehicle is controlled to limit the speed and stop so that the host vehicle cannot be approached while parked, or by passing another route, The driver of the vehicle can park smoothly without suffering psychological pressure or spatial obstacles. Further, when the host vehicle starts from the parking space, the vehicle starts quickly by performing speed control of the other vehicle during the start, and as a result, the other vehicle can be parked quickly. Thus, parking can be performed smoothly.

  In the driving support device according to the present invention, it is preferable to perform driving support for another vehicle so that the other vehicle does not enter a predetermined space around the one vehicle. As a result, it is possible to control the vehicle so that other vehicles do not approach while the vehicle is parked in the parking space or the vehicle starts. You can park smoothly without suffering from physical obstacles.

  According to the present invention, parking can be performed smoothly.

It is the figure which showed the block configuration of the driving assistance device which concerns on embodiment of this invention. It is a figure which shows a mode that one vehicle approachs a parking lot and the other vehicle is going to park in a parking space. It is a flowchart which shows the control processing performed in the vehicle M2 when the vehicle M2 shown in FIG. 2 parks in a parking space. It is a flowchart which shows the control processing performed in the vehicle M2, when giving the said parking space with respect to another vehicle when the vehicle M2 shown in FIG. 2 parks in a parking space. It is a flowchart which shows the control processing performed in a vehicle, when the vehicle M2 of FIG. 2 parks in the parking space, and starts from the said parking space.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

  First, the structure of the driving assistance apparatus 1 which concerns on embodiment of this invention is demonstrated. FIG. 1 is a diagram showing a block configuration of a driving support apparatus 1 according to an embodiment of the present invention. The driving support device 1 has a function of controlling the other vehicle by controlling and communicating with the own vehicle so that the parking operation can be smoothly performed in relation to the other vehicle in the parking lot. As shown in FIG. 1, the driving support device 1 includes an ECU (Electronic Control Unit) 2 and a communication device 3.

  The communication device 3 has a function of transmitting and receiving information to and from other vehicles, and includes a transmission unit and a reception unit. For example, the communicator 3 has a function of outputting a control signal for controlling the operation of the other vehicle in order to smoothly park, and receiving the control signal when the control signal is transmitted from the other vehicle.

  The ECU 2 is an electronic control unit that controls the entire driving support device 1. The ECU 2 is mainly configured by a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. The ECU 2 includes a calculation unit 4 and a control unit 5.

  The calculation unit 4 has a function of determining whether or not there is another vehicle heading toward the host vehicle at the start of parking. Further, the time required for the host vehicle to park in the parking space is calculated, the necessary space S (see FIG. 2) required for the host vehicle to park is estimated, and the other vehicle has the necessary space S. It has a function to calculate the time required to reach. Furthermore, it has the function to determine whether the other vehicle space has a vacancy and another route for the driver of another vehicle. Moreover, while calculating the time required for another vehicle to pass through the passage L1 where the own vehicle is parked and arrive at another empty space AS, the other vehicle passes another route L2 and has another empty space. It has a function of calculating the time taken to arrive at the space AS (see FIG. 2). Further, it has a function of determining whether or not there is an empty parking space at the end of the main passage L1, and further has a function of determining whether or not another vehicle is looking for a parking space.

  The control unit 5 has a function of performing driving support by controlling the host vehicle and other vehicles based on the calculation result of the calculation unit 4. Specifically, it has a function of controlling the speed of the other vehicle via the communication device 3 and stopping the vehicle, and a function of notifying the driver of the other vehicle of another route and navigating. In addition to notifying other vehicles of the time required for the host vehicle to park in the parking space of the parking lot, or the time required for the host vehicle to start from the parking space, it is also possible to park in the parking space of the parking lot. It has a function of notifying the driver of the host vehicle of the time required for the vehicle or the time required for another vehicle to start from the parking space. In addition, the control unit 5 has a function of performing driving support such as controlling the speed of the other vehicle so that the other vehicle does not enter the necessary space S around the own vehicle, or notifying the driver and waiting. ing.

  Next, with reference to FIGS. 2-5, operation | movement of the driving assistance apparatus 1 which concerns on this embodiment is demonstrated. FIG. 2 is a diagram illustrating a state in which one vehicle enters the parking lot and another vehicle is about to park in the parking space. FIG. 3 is a flowchart showing a control process performed in the vehicle M2 when the vehicle M2 shown in FIG. 2 parks in the parking space. FIG. 4 is a flowchart showing a control process performed in the vehicle M2 when the vehicle M2 shown in FIG. 2 parks the parking space with respect to another vehicle when the vehicle M2 parks in the parking space. FIG. 5 is a flowchart showing a control process performed in the vehicle when the vehicle M2 in FIG. 2 parks in the parking space and then starts from the parking space. The vehicles M1 and M2 correspond to “one vehicle” and “other vehicle” in the claims, and when one becomes “one vehicle”, the other vehicle becomes “other vehicle”. . In the following, the vehicle M2 is described as the own vehicle and the vehicle M1 is described as the other vehicle. However, the present invention can be applied to the case where the vehicle M1 is the own vehicle and the vehicle M2 is the other vehicle.

  First, the control process performed in the vehicle M2 when the vehicle M2 shown in FIG. 2 parks in the parking space will be described. As shown in FIG. 3, the calculation unit 4 of the ECU 2 of the vehicle M2 has a function of determining whether or not there is another vehicle heading toward the vehicle M2 that is the host vehicle at the start of parking (step S10). ). For example, if the vehicle M1 in FIG. 2 is bent in the path where the vehicle M2 exists, it is determined in S10 that there is another vehicle heading to the vehicle M2, and if the vehicle M1 does not turn in the path in S10 It is determined that it does not exist. If it is determined in S10 that it does not exist, the control process shown in FIG. 3 ends. On the other hand, when it determines with existing in S10, the calculating part 4 calculates time T1 required until the vehicle M2 parks in a parking space, and also the required space S (necessary for the vehicle M2 to park) (Predetermined space) is estimated, and a time T2 required for the vehicle M1, which is another vehicle, to reach the necessary space S is calculated (step S12). Here, the time T1 required for parking in the parking space can be calculated from the environmental information of the parking lot such as the size of the parking space and the passage and the past parking history. In addition, the necessary space S includes not only a parking space but also a space on the aisle necessary for entering the parking space, and an area (for example, 10 m, a vehicle that the driver does not want to approach at the time of parking operation set in advance by each driver). This is a space set by adding 2 units). This necessary space S can be estimated from past parking history and the like.

  Next, the computing unit 4 compares the time T1 acquired in S12 with the time T2. When the time T1 is equal to or less than the time T2, that is, when the relationship of T1 ≦ T2 is established, the control process illustrated in FIG. 3 ends. On the other hand, when it is determined in S14 that T1> T2, the calculation unit 4 determines whether there is a vacant space and another route for the driver of the vehicle M1 (step S16). According to the example shown in FIG. 2, when the free space AS and another route L2 can be detected, it is determined that there is a free space and another route. When it determines with there being no empty space and another route in S16, the control part 5 controls the speed of the vehicle M1 via the communication device 3 (step S24). Specifically, control is performed such that the vehicle speed of the vehicle M1 is decreased or the vehicle M1 is stopped before the required space S so that the time T2 required for the vehicle M1 to enter the required space S is equal to or greater than the time T1.

  On the other hand, when it is determined in S16 that there is an empty space and another route, the calculation unit 4 takes time T3 required for the vehicle M1, which is another vehicle, to pass through the main path L1 and reach the other empty space AS. And a time T4 required for the vehicle M1 to pass through another route L2 and arrive at another empty space AS is calculated (step S18). The time T3 is calculated in consideration of the parking time of the vehicle M2, which is the host vehicle. Next, the time T3 calculated in S18 is compared with the time T4 (step S20). If it is determined in S20 that time T3 ≦ time T4, the control unit 5 performs the same processing as in S24. On the other hand, when it is determined in S20 that time T3> time T4, the control unit 5 of the vehicle M2 notifies the vehicle M1 of another route L2 via the communication device 3 and navigates (step S22). When the process of S22 ends, the control process shown in FIG. 3 ends.

  Next, the control process performed in the vehicle M2 when the vehicle M2 shown in FIG. 2 parks the parking space with respect to another vehicle when parking in the parking space will be described. As shown in FIG. 4, the same processing as S10 to S14 shown in FIG. If it is determined in S14 that time T1> time T2, the calculation unit 4 of the vehicle M2 determines whether or not there is a parking space beyond the main passage L1 (step S30). If it is determined in S30 that there is no free space AS, the control unit 5 of the vehicle M2 controls the speed of the vehicle M1 via the communication device 3 (step S34). Specifically, control is performed such that the vehicle speed of the vehicle M1 is decreased or the vehicle M1 is stopped before the required space S so that the time T2 required for the vehicle M1 to enter the required space S is equal to or greater than the time T1. On the other hand, if it is determined in S30 that there is an empty space AS ahead of the main passage L1, the control unit 5 of the vehicle M2 notifies the own vehicle of the position and route information of the empty space AS and navigates. Control is performed (step S32). As a result, the vehicle M2 can yield the parking space to the vehicle M1 and head toward the previous empty space AS. When the process of S32 ends, the control process shown in FIG. 4 ends.

  Next, after the vehicle M2 in FIG. 2 is parked in the parking space, a control process performed in the vehicle when starting from the parking space will be described. As shown in FIG. 5, the same processing as S10 to S14 shown in FIG. However, in the process of FIG. 5, time T1 is the time required for the vehicle M2 to start from the parking space, and the required space S is the space required for the vehicle M2 to start, as shown in FIGS. It can be set narrower than the required space S in the control process shown. When it is determined in S14 that time T1> time T2, the calculation unit 4 of the vehicle M2 determines whether or not the vehicle M1, which is another vehicle, is looking for a parking space (step S40). When it is determined in S40 that the vehicle M1 is looking for a parking space, the control unit 5 of the vehicle M2 starts from the space where the host vehicle is parked and passes the communication space 3 via the communicator 3. To control the speed of the vehicle M1 (step S44). Specifically, time information required for the vehicle M2 to leave the parking space is transmitted to the vehicle M1, and the vehicle speed of the vehicle M1 is reduced so that the vehicle M1 does not enter the necessary space S until the time has elapsed. Alternatively, the vehicle is controlled to stop before the necessary space S. At this time, the driver of the vehicle M1 may be notified of the time until the vehicle M2 leaves the parking space. On the other hand, when it is determined that the vehicle M1, which is another vehicle, is not looking for a parking space, the control unit 5 of the vehicle M2 uses a speaker or a monitor so as not to start until the vehicle M1 passes the passage in front of the host vehicle. To alert the driver of the vehicle (step S42).

  As described above, according to the driving support device 1 according to the present embodiment, based on the time required for the vehicle M2 to park in the predetermined parking space of the parking lot or the time required for the vehicle M2 to start from the parking space. For example, when the host vehicle is parked in the parking space by driving the other vehicle M1, for example, the other vehicle is controlled to limit speed or stop so that the host vehicle cannot be approached while parking. By passing the route, the driver of the host vehicle can park smoothly without suffering psychological pressure or spatial obstacles. Further, when the host vehicle starts from the parking space, the vehicle starts quickly by performing speed control of the other vehicle during the start, and as a result, the other vehicle can be parked quickly. Thus, parking can be performed smoothly.

  Further, in the driving support device 1 according to the present embodiment, it is possible to perform control so that the other vehicle does not approach while the host vehicle is parked in the parking space or the vehicle starts. Drivers can park smoothly without suffering psychological pressure or spatial obstacles.

  The present invention is not limited to the embodiment described above.

  For example, in the above-described embodiment, it is determined whether or not there is another empty space, but it may be determined whether or not there is an exit instead. Further, the necessary space S is not limited to the range shown in FIG. 2, and may be changed as appropriate according to the width of the parking lot passage and the skill level of the driver.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, M1 ... Vehicle (one vehicle, other vehicle), M2 ... Vehicle (one vehicle, other vehicle), S ... Necessary space (predetermined space).

Claims (3)

Calculating a time T1 required for parking one vehicle in a predetermined parking space of the parking lot or a time T1 required for starting the one vehicle from the predetermined parking space ;
Estimating the necessary space required for the one vehicle to park or the necessary space for the one vehicle to start,
Calculate the time T2 required for another vehicle to reach the required space,
If the time T1 is determined to be greater than the time T2, as the other vehicle does not enter into the required space, have row driving support of the other vehicle,
The said required space contains the parking space and the space on the channel | path required for the approach or start of the said parking space, The driving assistance apparatus characterized by the above-mentioned.   When the one vehicle parks in the parking space,
  When it is determined that the time T1 is greater than the time T2, it is determined whether or not there is another route that does not pass through the other empty space and the parking space for the other vehicle,
  If it is determined that there is another free space and the other route,
    The time T3 required for the other vehicle to pass through the main passage passing through the parking space and arrive at the empty space is calculated in consideration of the time T1 required for the one vehicle to park. ,
    Calculate the time T4 required for the other vehicle to pass through the other route and arrive at the empty space,
  If it is determined that the time T3 is equal to or less than the time T4, driving assistance for the other vehicle is performed so that the other vehicle does not enter the necessary space.
  The driving assistance device according to claim 1, wherein when the time T3 is determined to be greater than the time T4, the other route is notified to the other vehicle.   When the one vehicle parks in the parking space,
  If it is determined that the time T1 is greater than the time T2, it is determined whether there is another free space for the one vehicle;
  When it is determined that there is no other empty space, driving assistance for the other vehicle is performed so that the other vehicle does not enter the necessary space,
  The driving support device according to claim 1, wherein when it is determined that there is another free space, the free space is notified to the one vehicle.

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