JPH0423320B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a parking guidance device, and more particularly to a parking guidance device that instructs a driver on a trajectory to an optimal parking position.

(Prior Art and Problems) In general, driving a car is most difficult when parking it. For this reason, people with little driving experience, such as those who have had their driving license for a short period of time, often make mistakes when parking, causing damage to the vehicle such as hitting the garage wall. The dot was hot.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a parking guidance device that guides a vehicle to a parking position, and to prevent damage to the vehicle body due to erroneous operation by the driver.

(Means for Solving the Problems) The present invention provides a parking guidance device for guiding a vehicle to a predetermined parking position, comprising: a storage means for storing a reference guidance trajectory from a predetermined set position to the parking position; The present invention further comprises: a position detection means for detecting a current position based on the set position; and a teaching means for teaching at least the traveling direction of the vehicle according to the current position detected by the position detection means according to the reference guidance trajectory. is the gist.

(Function) According to the parking guidance device according to the present invention, a trajectory that allows the optimum parking position to be obtained is stored as a reference guidance trajectory, and the driver is taught the direction of travel according to this reference guidance trajectory to guide the vehicle to the optimum parking position. Guide to parking position. Therefore, any driver can drive with the same skill as an experienced driver, small accidents due to driver malfunction are prevented, and the vehicle can be parked in the optimal parking position regardless of the driver's skill. .

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

1 to 6 show a parking guidance system according to an embodiment of the present invention, in which FIG. 1 is a perspective view of a vehicle parked at a parking position, FIG. 2 is a plan view of the vehicle, and FIG.
FIG. 4 is a perspective view of the rear part of the vehicle, FIG. 4 is a perspective view of the area around the driver's seat of the vehicle, FIG. 5 is a partially enlarged sectional view of FIG. 2, and FIG. 6 is a block diagram.

In FIG. 1, reference numeral 1 indicates a multi-story parking device, in which a lift plate 4 is supported by a guide post 2 and a drive post 3 so as to be movable up and down, and a vehicle 5 is mounted on the upper and lower surfaces of the lift plate 4. has set up a parking area where you can park your car. The lift plate 4 is
It is connected to a chain in the drive post 3 and is driven via this chain to move up and down. Reflective plates 7 and 8 are provided on the drive post 3 of this multi-story parking device 1 and a screen 6 constructed adjacent to the multi-story parking device, respectively. These reflectors 7, 8
is a target for detecting the position of the vehicle 5, as will be described later.

The vehicle 5, as shown in FIGS. 2 and 3,
A proximity sensor 10 and a position sensor 11 are provided at the left and right front portions and the left and right rear portions of the vehicle body 9, respectively. As shown in FIG. 3, for example, the rear proximity sensor 10 is provided at a corner of the bumper 12, and the rear position sensor 11 is built into the stop lamp 13. The proximity sensor 10 detects an object based on a change in stray capacitance, and the position sensor 11 detects an object based on a change in stray capacitance.
As shown in the figure, a sensor 1 comprising a plurality of lenses 11a and a plurality of light receiving cells for each lens 11a.
1b, and the detection cell 11b is connected to each lens 11a.
The direction of the vehicle and the distance to the garage are detected by the light that enters the vehicle. In particular, by providing the reflectors 7 and 8, accurate detection becomes possible. These proximity sensor 10 and position sensor 11 are connected to a control device 14 consisting of a microcomputer, as shown in FIG. 6 later. In addition, the proximity sensor 10
is described in detail in Japanese Patent Application Laid-Open No. 60-111983, etc.
Further, since the position sensor 11 is described in detail in Japanese Patent Publication No. 57-8447 and Japanese Patent Publication No. 60-5925, etc., the explanation is simplified.

In the cabin of the vehicle 5, a rear direction indicator 16 is provided on the shell panel 15 at the rear of the cabin, and
As shown in FIG. 4, an image display 18 is removably provided on the instrument panel 17 at the front of the vehicle compartment, and a correction switch 19 is provided on the rear surface of the instrument panel 17.
0 is provided with a set switch 21, a reset switch 22, and a selector switch 23, and these indicators 16, 18 and switches 19, 21, 2
2 and 23 are connected to the control device 14. In addition,
24 is a start switch provided on the steering wheel 25, and this start switch 2
4 is also connected to the control device 14. The rear direction indicator 16 includes a plurality of lamps arranged in a straight line, and indicates the steering direction and angle by the position and number of lit lamps. As shown, the image display 18 protrudes above the instrument panel 17 to be in an active state (standby state), and displays on its screen the traveling direction, steering direction, steering angle, etc. in relation to the parking position. The correction switch 19 is used to correct the data of the reference guidance trajectory which will be described later, the set switch 21 is used to read the data of the reference guidance trajectory, and the selector switch 23 is used to select the data of the reference guidance trajectory. However, the set switch 21 is buried deeper than the other switches 22 and 23 to prevent its malfunction.

As shown in FIG. 7, the indicators 16 and 18 described above have two arrow-shaped lamps 26F and 26B that indicate the direction of travel, and two sets of arc-shaped lamps 26L and 26.
The OK lamp 26c may be used to indicate that the steering direction and angle are all the same at R, and a plurality of light emitting diodes 27 arranged circumferentially on the steering wheel 25 as shown in FIG. The steering direction and angle may be displayed by selectively turning on the light.

As shown in FIG. 6, the control device 14 includes a CPU,
It has a well-known microcomputer consisting of I/O, ROM and RAM connected by a dataverse,
The four proximity sensors 10 mentioned above are connected to the I/O via the data selector 10a, the four position sensors 11 are connected to the data selector 10a, and the indicators 16, 18 and each switch 19, 21, 2 are connected to the I/O.
2, 23, and 24 are connected. ROM, EP
- It consists of a writable memory such as ROM, which stores the best garage entry data (reference guidance trajectory), steering angle data, vehicle specification data, etc. by field, and the RAM stores simulation data, current operation data, etc. It is memorized by field. In addition, a steering angle sensor 28 is connected to the I/O of this control device 14 via an A/D converter 29, and further,
A distance sensor 30 and a brake switch 31 are connected. The steering angle sensor 28 is composed of a potentiometer or the like that detects the rotation angle of the steering shaft or the displacement of a link such as a rack, and outputs an analog signal to the A/D converter 29. The distance sensor 30 is composed of a pulser or the like that outputs a number of pulse signals corresponding to the amount of rotation of the output shaft of the transmission. Further, the brake switch 31 is a switch for operating the brake, and operates the brake device based on the output signal of the control device 14 to stop the vehicle 5.

The above-mentioned steering angle sensor 28 utilizes the rotational speed sensors provided on each wheel of the anti-skid device, calculates the rotational speed of the left and right wheels from the output signals of these sensors, and displays the steering angle. It is also possible.

Next, the operation of this embodiment will be explained with reference to FIG.

In the case of this parking guidance device, first, a trajectory obtained by an exemplary driving by an experienced driver is operated in the ROM as a reference guidance trajectory Tm by operating the set switch 21.
etc. to be memorized. At this time, the control device 14 calculates the position and angle of the vehicle body 9 relative to the garage position based on the distance to the reflectors 7 and 8 detected by the position sensor 11, and sets the set position Ps as the starting point of the reference guidance trajectory Tm. After identifying, the vehicle 5 is tracked by the steering angle sensor 28 and the distance sensor 30, and a reference guidance trajectory Tm to the parking position Pe, which is the end point, is stored.

Next, when guiding the vehicle 5 to the parking position using this parking guidance device, when the driver operates the start switch 24 when the driver locates the vehicle 5 at a position Pm near the above-mentioned set position Ps, as described above, The control device 14 calculates the current position Pm of the vehicle 5 with respect to the above-mentioned set position Ps based on the distance to the reflectors 8 and 7 detected by the position sensor 10. Then, the control device 1 corrects the reference guidance trajectory Tm in accordance with the positional deviation between the set position Ps and the current position Pm, and corrects the reference guidance trajectory Tm so that the target guidance trajectory continues from the current position Pm to the parking position Pe.
Tt is determined and the indicators 16, 18 follow the trajectory Tt.
In addition to the steering direction, the steering angle as the amount of deviation from the trajectory Tt is displayed. Therefore, the driver steers the steering wheel 25 in accordance with the indications on the displays 16 and 18 so that the OK lamp 26c is always lit, and guides the vehicle 5 so that the target guidance trajectory Tt is the standard guidance with the same skill as a skilled driver. It is possible to drive close to the garage entrance that matches the trajectory Tm. Subsequently, the vehicle 5 is guided according to the reference guidance trajectory Tm. That is, the steering angle sensor 28 and the distance sensor 3
0, the control device 14 detects and tracks the running direction and distance of the vehicle 5, and as described above, depending on the position of the vehicle 5, the control device 14 displays the steering information on the indicators 16, 18 so as to have the same skill as that of a skilled driver. Display direction and steering angle. Further, if there is an obstacle or the like in the direction in which the vehicle 5 is traveling, the proximity sensor 10 detects the obstacle and the brake switch 31 is activated to stop the vehicle 5.

Note that the correction switch 19 is used to partially change the reference guidance trajectory Tm, for example, change the parking position Pe. In addition, multiple reference guidance trajectories Tm
is stored in a ROM or the like, select the reference guidance trajectory Tm by operating the select switch 23.

Furthermore, even when parallel parking is performed as shown in FIG. 9, the situation is similar to the above case, and the position is detected using the reflectors 7 and 8 as a reference, and the vehicle 5 is guided along the reference guidance trajectory Tm. The symbols in FIG. 9 correspond to those in FIG. 8 described above.

In addition, in the embodiment described above, the indicators 16 and 18
Although the steering direction and steering angle are taught to the driver by the actuator, it goes without saying that the steering can be directly performed by the actuator.

(Effects of the Invention) As explained above, the parking guidance device according to the present invention has the effect that even an inexperienced driver can drive the same as a skilled driver.

[Brief explanation of drawings]

1 to 9 show a parking guidance system according to an embodiment of the present invention, in which FIG. 1 is a perspective view of the vehicle in the parking position, FIG. 2 is a plan view of the vehicle, and FIG. 3 is a rear view of the vehicle. FIG. 4 is a perspective view of the area around the driver's seat of the vehicle, FIG. 5 is a partially enlarged sectional view of FIG. 2, FIG. 6 is a block diagram, and FIG. 7 is a diagram showing another aspect of the display. , FIG. 8, and FIG. 9 are schematic diagrams for explaining the operation. 1... Multilevel parking device, 5... Vehicle, 7... Reflector, 8
...Reflector, 9...Vehicle body, 10...Proximity sensor, 11...
Position sensor, 11a... Lens, 11b... Cell, 1
4... Control device, 16... Rear direction indicator, 18... Image display, 21... Set switch, 24... Start switch, 28... Rudder angle sensor, 30... Distance sensor, Tm... Reference guidance trajectory, Tt... Target guidance trajectory.

Claims (1)

[Claims] 1. A parking guidance device for guiding a vehicle to a predetermined parking position, comprising: a storage means for storing a reference guidance trajectory from a predetermined set position to the parking position; A parking guidance device comprising: a position detection means for detecting a current position; and a teaching means for teaching at least a traveling direction of the vehicle according to the current position detected by the position detection means according to the reference guidance trajectory. .