CN104512408B - Parking aid - Google Patents
Parking aid Download PDFInfo
- Publication number
- CN104512408B CN104512408B CN201410513870.9A CN201410513870A CN104512408B CN 104512408 B CN104512408 B CN 104512408B CN 201410513870 A CN201410513870 A CN 201410513870A CN 104512408 B CN104512408 B CN 104512408B
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- guiding
- control
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009471 action Effects 0.000 claims abstract description 111
- 238000000034 method Methods 0.000 claims description 20
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims 2
- 238000012545 processing Methods 0.000 description 72
- 238000001514 detection method Methods 0.000 description 33
- 230000007246 mechanism Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000005526 G1 to G0 transition Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000010338 mechanical breakdown Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/182—Conjoint control of vehicle sub-units of different type or different function including control of braking systems including control of parking brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of parking aid (10), it has parking auxiliary ECU (18), the target parking position (P1) of parking auxiliary ECU (18) the setting vehicle (12), and vehicle (12) can be guided the parking to target parking position (P1) to aid in control by performing.The action of the described parking auxiliary parking brake of ECU (18) based on the vehicle (12) as mechanical obstacles factor, forbids the guiding to vehicle (12).So that parking auxiliary control is not carried out, thus, it is possible to improve practicality, additionally it is possible to prevents from causing the towed phenomenon of wheel to occur due to the action of stopping brake.
Description
Technical field
The present invention relates to a kind of parking aid for being used to aid in vehicle parking.
Background technology
In order to aid in vehicle parking, disclose in the prior art a kind of for guiding vehicle to make vehicle parking to parking stall
The parking aid put.For example, disclosed in flat No. 10-264839 of Japanese invention Patent Publication No a kind of automatic
Lugs (parking aid), it deduces the current location of vehicle based on wheel velocity and yawrate, and according to
Current vehicle position corrects steering volume relative to the offset of target trajectory, so as to guide the vehicle to parking spot.
It can be examined automatically in addition, for example disclosing one kind in Japanese invention Patent Publication No 2011-039600
The parking for measuring target parking position (its meaning is the candidate of final goal parking spot, is hereinafter referred to as " candidate position ") is auxiliary
Help device.In the parking aid, it is based on for the camera all around by being arranged at vehicle from vehicle periphery feelings
The overhead view image that condition is got, the image procossings such as straight-line detection processing are carried out, detect candidate position.Candidate can not detected
In the case of position, the default location in overhead view image draws acquiescence frame, also, draws for supervising driver to adjust acquiescence
The icon of frame position.In Japanese invention Patent Publication No 2011-039600, left and right camera is set in side mirror
Deng on.
However, when aiding in vehicle parking, become by the action of machine structural parts mounted on a vehicle and position
Change etc. (mechanical breakdown factor), it is possible to occur that the situation of parking auxiliary control can not be normally carried out.
For example, on vehicle, as brake apparatus, provided with being mainly used under steam and from traveling to during parking transition
The running brake used, and it is mainly used in maintaining the parking brake of dead ship condition.It is special in Japanese invention Patent Laid
Open in the parking aid disclosed in flat No. 10-264839, driving is entered by running brake in parking auxiliary control
Deceleration and parking etc..But because any consideration is made in the braking not to parking brake in the parking aid,
It is therefore possible to occur to carry out stopping in parking brake action process to aid in the situation of control.Such as acted in parking brake
During if mobile vehicle, can not only consume brake apparatus (for example, abrasion and damage of brake(-holder) block), can also drag wheel
Tire, causes the durability of brake apparatus to reduce.Further, since tire is towed, make parking aid in parking auxiliary control
When the current vehicle position that is calculated it is different with the current vehicle position of reality, thus be possible to that vehicle can be caused to be directed to partially
From the position of target parking position.
In addition, in the parking aid disclosed in Japanese invention Patent Publication No 2011-039600,
Be provided with left and right camera side mirror be stowed away (closed mode) in the case of, the field range of left and right camera be possible to and
The field range that design time is hoped is different.When side mirror is stowed away, in the image based on around by being obtained by camera
Overhead view image is come in the case of detecting candidate position, candidate position is identified as the position different from physical location.It is assumed that
In the case that the candidate position of mistake is used as final goal parking spot, vehicle will be directed to not desired
Direction or position.Or the automatic detection instead of candidate position, the surrounding's image obtained by the viewing of driver side by camera,
Side adjusts the position of vehicle, and in the case of carrying out sets target parking spot, the problem of same can also occur.
The content of the invention
In view of the foregoing, can avoid well because of mechanical obstacles factor it is an object of the present invention to provide one kind and
The parking aid for causing parking auxiliary control to go wrong.
To reach above-mentioned purpose, the parking aid has control unit, and the target of the control unit setting vehicle is stopped
Truck position, perform and guide the parking to the target parking position to aid in control on the vehicle.The control unit is performing institute
State before parking auxiliary controls or in implementation procedure, to guiding the vehicle to the target parking position with the presence or absence of obstruction
Mechanical obstacles factor judged, forbid the guiding to the vehicle in the case where the mechanical obstacles factor be present.
According to said structure, because parking aid is in the case where control unit judges to have mechanical obstacles factor, prohibit
Only to the guiding of vehicle, it is thus possible to avoid well because mechanical obstacles factor causes parking auxiliary control to go wrong.Therefore,
Parking aid can not only reduce produced problem in parking auxiliary control, additionally it is possible to accurately control vehicle.
In such a situation it is preferred to which the mechanical obstacles factor refers to the action of parking brake, the control unit is based on
The parking brake action is determined, forbids the guiding to the vehicle.
In this way, parking aid can be forbidden by the way that parking brake action is determined to have into mechanical obstacles factor
Guiding to vehicle, directly switched to by parking auxiliary control by the manually operated of driver's progress.Therefore, driver can enter
Row is forbidden with what is guided vehicle, stops parking action of vehicle etc. and corresponds to, prevent the consumption of brake apparatus, so as to improve system
The durability of dynamic device.
Additionally, it is preferred that the control unit preferably has guiding control unit, and as the parking auxiliary control, the guiding control
Rotation of the portion processed based on wheel persistently calculates the current state of the vehicle, and based on the current state calculated by described in
Vehicle is guided to target parking position.
In this way, the current state by persistently calculating vehicle by rotation of the guiding control unit based on wheel, can be easily
The guiding to vehicle is carried out in parking auxiliary control.In addition, the current state of vehicle, such as can be to be stopped relative to target
Current location and angle of inclination of the vehicle of position etc..The structure of current state is calculated using the rotation based on wheel, although
Because the action of parking brake causes wheel towed, make the current state that calculates produce error possibility it is higher, still
But the guiding to vehicle can easily be forbidden by control unit.Therefore parking aid is enable in parking auxiliary control
In, prevent the phenomenon for misguiding vehicle because of the action of parking brake from occurring, so as to control vehicle well.
Further, the guiding control unit can use the structure that the steering only to the vehicle is aided in.
In this way, the structure aided in using steering of the guiding control unit only to vehicle, can make parking auxiliary control letter
Dan Hua, so as to reduce the carrying cost that parking aid is carried on vehicle.Further, since in parking action, i.e.,
Driver has been made the maloperation for acting parking brake, also can easily forbid drawing vehicle by control unit
Lead, it is thus possible to be easy to make driver make required correspondence.
Or the control unit can also use following structure：When determining the action of the parking brake when passing through
Between, in the case where judging that the elapsed time exceedes defined stand-by time, forbid the guiding to the vehicle, in the rule
In the case that the action of the parking brake is released from fixed stand-by time, continue the guiding to the vehicle.
In this way, by judging that elapsed time and stand-by time, parking aid will not be with stopping brakes by control unit
Device acts and directly forbids the guiding to vehicle.So as to even making parking in the case of the larger place of the gradient stopping
Brake acts, and also can continue to the guiding to vehicle.That is, parking aid is each by being corresponded in parking auxiliary control
Kind of situation, Parking permitted in time brakeage thus allow for the higher parking auxiliary control of practicality.
In addition to said structure, the control unit can also use following structure：Detect the slope in place residing for the vehicle
Degree, the stand-by time is changed based on the gradient detected.
So as to which parking aid, can be according to the size of the gradient and in reasonable time in parking auxiliary control
Act parking brake, it is thus possible to further to carry out the higher parking auxiliary control of practicality.
In addition, the parking aid can also have photographic unit, the photographic unit is arranged in the car
On the movable part of sidepiece, the side of the vehicle is shot, the control unit is based on being got by the photographic unit
Surrounding image perform the parking auxiliary control, hinder moreover, following situation is determined to have the machinery by the control unit
Hinder factor, so as to forbid the guiding to the vehicle, i.e. the situation is：With the movement of the movable part, the photographic unit
It is not in carrying out the normal position of the parking auxiliary control.
In this way, with the movement of movable part, photographic unit be not in carrying out stopping auxiliary normal position when, forbid pair
The guiding of vehicle, so that in the case where the errors present not conformed to the actual conditions is detected as target parking position, can
Prevent the situation for guiding the vehicle to the errors present from occurring.In addition, carrying out the feelings of sets target parking spot in another way
Similarly in this way, the another way is, instead of the automatic detection of target parking position, by scheming around the viewing of driver side under condition
As or image as surrounding image after image procossing display picture, while making vehicle location and target parking position pair
It is accurate.
In this case, the control unit can also be forbidden when detecting that the side door as the movable part opens
Guiding to the vehicle.In addition, the control unit can also be prohibited when detecting that the side mirror as the movable part closes
Only to the guiding of the vehicle.
According to the explanation with reference to accompanying drawing to following preferred embodiment, above-mentioned purpose of the invention and other purposes,
Feature and advantage are definitely.
Brief description of the drawings
Fig. 1 is the vehicle for being equipped with the parking aid involved by the 1st configuration example of the 1st embodiment of the present invention
Structured flowchart.
Fig. 2 is the top view of an action example in the parking auxiliary control of vehicle shown in Fig. 1.
Fig. 3 is the functional block diagram of structure of the parking aid shown in Fig. 1 when carrying out parking auxiliary control process.
Fig. 4 is the flow chart of the parking auxiliary control of parking aid shown in Fig. 1.
Fig. 5 is that the parking aid involved by the 2nd configuration example of the 1st embodiment of the present invention is carrying out parking auxiliary
The functional block diagram of structure during control process.
Fig. 6 A are the timing diagrams of an example of the parking auxiliary control of parking aid shown in Fig. 5, and Fig. 6 B are Fig. 5 institutes
Show the timing diagram of another example of the parking auxiliary control of parking aid.
Fig. 7 is the structured flowchart for the vehicle for being equipped with the parking aid involved by the 2nd embodiment of the present invention.
Fig. 8 is the flow chart of the parking auxiliary control of the parking auxiliary ECU involved by the 2nd embodiment.
Fig. 9 is that the parking auxiliary ECU involved by the 2nd embodiment determines whether to start the flow chart of auto-steering.
Figure 10 is the figure of the 1st of the display picture in target parking position setting control.
Figure 11 is the figure of the 2nd of the display picture in the setting control of above-mentioned target parking position.
Figure 12 is the figure of the 3rd of the display picture in the setting control of above-mentioned target parking position.
Embodiment
Below by taking the preferred embodiment of the present invention as an example, parking aid involved in the present invention is entered referring to the drawings
Row describes in detail.
As shown in figure 1, parking aid 10 is equipped on vehicle 12, it is for guiding vehicle 12 in being acted in parking
System.In addition, " the parking action " in this specification refers to, until vehicle 12 (is moved to parking spot and thorough in dead ship condition
Bottom stop) untill action, be not included in parking spot parking after lasting dead ship condition.
The vehicle 12 for being equipped with parking aid 10 both can be AT (Automatic Transmission, automatic change
Fast device) vehicle or MT (Manual Transmission, manual transmission) vehicle.Below, in the 1st embodiment
In 1st configuration example, detailed description is equipped on AT cars, the parking aid 10 that the action to parking brake is judged.
In the 2nd configuration example of the 1st embodiment, detailed description is equipped on MT cars, what the action to parking brake was judged
Parking aid 10A.In addition, in the 2nd embodiment, it is unrelated with vehicle class (AT cars or MT cars), describe in detail
The parking aid 112 of camera is equipped with the side door or side mirror of vehicle.
【1st embodiment：1st configuration example】
Parking aid 10 involved by 1st configuration example of the 1st embodiment, its have parking action in make vehicle
The auto-steering function of 12 auto-steering of steering wheel 14.In the auto-steering function, the guiding of parking aid 10 drives
Member operates to gear lever 16, gas pedal (not shown) and brake pedal (not shown), passes through the operation of the operator
To perform the advance of vehicle 12 and retrogressing, braking etc..Certainly, parking aid 10 can also carry out auto-steering, and certainly
The dynamic driving and braking carried out to vehicle 12.
Parking aid 10 has the parking electronic control apparatus for assistant as the control unit for carrying out parking auxiliary control
(hereinafter referred to as parking auxiliary ECU18).Parking auxiliary ECU18 can be by having input and output portion 20, operational part 22 as hardware
And the computer of storage part 24 is formed.As shown in Fig. 2 parking auxiliary ECU18 sets vehicle when carrying out parking auxiliary control
12 target parking position P1, enter to be about to vehicle 12 and guide to target parking position P1 processing.
Fig. 1 is returned to, parking auxiliary ECU18 is being equipped on to carry out parking auxiliary control by input and output portion 20
Receiving and transmitting signal between various equipment and system on vehicle 12.For example, parking aid 10 is by sensor group 26, guider
28th, electric boosting steering system (hereinafter referred to as EPS 30) and parking brake system (hereinafter referred to as PB systems 32) are formed.
These equipment and system, can utilize and be equipped on the part of vehicle 12 in advance, or parking auxiliary control and take in addition
Carry miscellaneous part.
In order to carry out parking auxiliary control, sensor group 26 detects shape of the state of vehicle 12 either around vehicle 12
State, and the testing result (signal) is exported and aids in ECU18 to parking.As sensor group 26, such as including front camera
34f, rear camera 34rr, left side side camera 34l, right side side camera 34rt, left back wheel sensor 36rl, right lateral side pass
Sensor 36rr, vehicle speed sensor 38 and gear position sensor 40.
Each camera 34f, 34rr, 34l, 34rt (below, being referred to as camera 34), automatically snap around vehicle 12, and
Shooting image information is exported and aids in ECU18 to parking.The shooting image information aids in being processed to for example in ECU18 in parking
Overlook from vehicle when navigational figure information be supplied to driver, for sets target parking spot P1 (reference picture 2).In addition,
Loading position and carrying number for camera 34 are not particularly limited, as long as can obtain can make parking aid
10 sets target lugs P1 shooting image information.In addition, the acquisition methods of shooting image information are not limited to
Using camera 34, such as can also use such as inferior various methods, i.e. using other sensors such as radar and ultrasonic waves,
Communicated by the information of outside to send image information.
Left back wheel sensor 36rl, off hind wheel sensor 36rr (being referred to as wheel detector 36 below) are respectively detection vehicle
12 rotational angle θ wr [deg]) angular transducer or displacement transducer.When wheel often rotates predetermined angular, wheel passes
Sensor 36 will detect pulse export to and pulse counter (not shown), detection pulse by pulse counter be converted into numerical value send
ECU18 is aided in parking.Detection pulse can certainly be transmitted directly to parking auxiliary ECU18, in parking aids in ECU18
Counted.The numerical value is used to calculate the rotational angle θ wr (that is, displacement) of wheel and the velocity of rotation [rpm] of wheel.
Vehicle speed sensor 38 is used for the speed (hereinafter referred to as vehicle velocity V [km/h]) for detecting vehicle 12, and exports auxiliary to stopping
Help ECU18.Vehicle speed sensor 38 is for example arranged at and inside speed changer (not shown), the rotation detection of the countershaft based on speed changer
Go out vehicle velocity V.
Gear position sensor 40 is used for the position (hereinafter referred to as gear Ps) for detecting gear lever 16 and exported.
In addition, the guider 28 for being equipped on vehicle 12 has, by GPS, (Global Positioning System, are defended
Star alignment system) current location of vehicle 12 is detected, and guide user (motroist including driver) to reach purpose
The path function on ground.The guider 28 has touch-screen 42 and loudspeaker 44, and touch-screen 42 is used to show the current of vehicle 12
Position and path etc., loudspeaker 44 are used to export speech explanation to guide vehicle 12 to travel towards destination.
The touch-screen 42 of guider 28 has display part and input unit, and display part is used for display image information, input unit
Overlapped with display part, the operation for identifying user.For example, on touch screen 42, show the shooting image based on camera 34
The navigational figure information that information is generated, and show operation, acceleration or deceleration for guiding user to carry out gear lever 16
Deng operation guide.The operating guidance of operation, acceleration or the deceleration of gear lever 16 can also be by loudspeaker 44 with speech explanation
Mode export.
When driver carries out steering operation to vehicle 12, it is equipped on the EPS 30 of vehicle 12 and is grasped with less power
Make steering wheel 14, electric power can be supplied when necessary to aid in steering wheel 14 to rotate.The EPS 30 has steering angle sensor
46th, torque sensor 48, EPS motor 50, rotary transformer 51 and EPS electronic-controlled installations (hereinafter referred to as EPSECU52).
Steering angle sensor 46 is used for the steering angle θ st for detecting steering wheel 14.Torque sensor 48 is used to detect to act on
Torque T Q on steering wheel 14.EPS motor 50 applies driving force by pair steering column 54 being connected with steering wheel 14, can
Auxiliary driver is operated to steering wheel, and auto-steering is realized in parking auxiliary control.Rotary transformer 51 is used to detect
Go out the velocity of rotation θ m of EPS motor 50.
EPS ECU52 have input and output portion, operational part and storage part (whole and not shown) as hardware, based on turn
Supply electric current is calculated to angle θ st and torque T Q value, the rotation based on the supply current control EPS motor 50 calculated.
In the case where EPS 30 is used as parking aid 10, the EPS 30 is based on parking auxiliary ECU18
Steering angle instruction (the target steering angle θ sento), the control of the rotation driving of EPS motor 50 is performed, that is, performs steering wheel 14
Auto-steering.
In addition, the PB systems 32 for being equipped on vehicle 12 are used to control parking brake.As described above, it is provided with vehicle 12
And two kinds of brake apparatus of running brake (not shown) and parking brake.Running brake is mainly used in making the vehicle in traveling
12 deceleration or parking, parking brake are mainly used in maintaining the dead ship condition of vehicle 12.Because the purposes of the two is different, because
And generally different structures is respectively adopted in running brake and parking brake.
Running brake is generally made up of foot brake, although parking brake is also made up of override type brake sometimes,
But generally it is made up of the hand brake as pulling with hand action bars 56.In addition, the operating mechanism of parking brake can be with
Using various structures, in addition to hand brake and override type brake, such as can also be by the button that is arranged on instrument desk
To be operated.
PB systems 32 are formed as electrodynamic type device, have action bars 56, PB electronic-controlled installations (hereinafter referred to as PB
ECU58), brake actuation means 60, indicator 62 and buzzer 64.In addition, PB systems 32 can also be mechanical mechanism, at this
In the case of kind, following structure can be used：It is provided for detecting the sensor of the ON/OFF of action bars 56 (operating portion), the biography
The detection signal of sensor is sent directly to parking auxiliary ECU18.
PB ECU58 have input and output portion, operational part and storage part (not shown) as hardware, based on action bars
56 ON/OFF come control brake actuation means 60 action.In addition, PB ECU58 are connected with parking auxiliary ECU18, will stop
Brakeage exports as action signal S.For example, action signal S can be corresponding with the ON/OFF signal of action bars 56
, using the non-action status of parking brake as 0, operating state as 1 signal.PB ECU58 can also have climbing work(
Can, i.e. PB ECU58 in the case of obliquely (slope road) etc. upper parking, act parking brake, i.e., automatically in vehicle 12
Make to loosen the brake and also the short time can maintain dead ship condition.PB ECU58, which can also have, is receiving parking auxiliary ECU8's
The action of parking brake is performed after instruction and releases the function of the action.
Instruction of the brake actuator 60 based on PB ECU58, wheel (mainly driving wheel, this reality of vehicle 12 will be arranged on
Apply in mode is trailing wheel) on the state of brake apparatus 66 switch to on-position/non-brake state.Brake apparatus 66 can fit
With the brake apparatus of running brake, the special brake apparatus of parking brake can also be applied.
In addition, indicator 62 is arranged on the instrument desk of vehicle 12, the bright light in the case of during parking brake starts, to
Driver informs the action of parking brake.Identical with indicator, buzzer accuses to user also by sound (including voice)
Know the action of parking brake.Alternatively, it is also possible to inform parking using the touch-screen 42 and loudspeaker 44 of guider 28
Brakeage.
In the case of use, the action signal S of parking brake is sent in parking aid 10 for PB systems 32
Parking auxiliary ECU18.Parking auxiliary actions of the ECU18 based on the parking brake as mechanical obstacles factor, carries out forbidding drawing
The processing of guide-car 12.Specifically, after the action of parking brake is determined, stop or stop holding for parking auxiliary control
OK.
In addition, " the mechanical obstacles factor " in this specification refers to, when aiding in vehicle 12 to stop, due to the machine of vehicle 12
The state of tool structure member and hinder parking act factor.Also, mechanical obstacles factor is present in the 1st embodiment
Refer to parking brake to act, mechanical obstacles factor present in the 2nd embodiment refers to that side door opens or side mirror closes
.Certainly, mechanical obstacles factor also includes aids in control phase in addition to parking brake, side door, side mirror with parking
The various machine structural parts of association.
In addition, " control of parking auxiliary " refers to, included in " the parking setting that various necessary settings are carried out when guiding vehicle 12
Control ", based on the system including actual " guiding control " for making the auto-steering of vehicle 12 of the setting content after parking setting control
The control of row.Also, " the forbidding " in this specification refers to, without with parking auxiliary ECU18 (control unit) be designated as according to
According to the guiding to vehicle 12, the meaning of " termination " or " stopping " comprising control described below.Therefore, even forbidding stopping
Car aids in guiding of the ECU18 to vehicle 12, is also not meant to forbid the operation of parking made by driver.Further, it is right
Parking in parking auxiliary control sets control, as long as without particularly indicating, is just not limited to continue, stop or stop
Only.
In addition, " termination " in this specification refers to, stopped premised on not restarting executory parking auxiliary control
Control, as being the meaning for not performing control if before performing auxiliary control of stopping.What the parking auxiliary in this specification controlled
" stopping " referring to, stops (interruption) the executory parking auxiliary in a manner of executory parking auxiliary control is restarted
Control.
Below, the parking of control is aided in carrying out above-mentioned parking to aid in ECU18 structure to illustrate.Parking auxiliary
ECU18 performs parking assistance program being stored in storage part 24 and (not shown) by operational part 22, comes as shown in Figure 3
Stopped by formation function and aid in start processing unit 70, guiding control unit 71 and PB determination units 74.
Parking auxiliary ECU18 parking auxiliary start processing unit 70 is primarily used for carrying out the processing of parking setting control
Portion.As parking setting control, for example, parking aids in the judgement of the beginning condition of control, the acquisition of shooting image information, drawn
Lead the generation, target parking position P1 setting (parking target position setting control), the path of navigation G of vehicle 12 of image information
Setting etc..
For example, when vehicle travels, parking auxiliary start processing unit 70 is shown on the touch-screen 42 of guider 28 stops
Car auxiliary starts button 76, and the unlatching parking based on driver aids in starting what the operation of button 76 controlled to judge parking auxiliary
Whether beginning condition is set up.In addition, aiding in starting outside the operation of button 76 except start and stop car, parking auxiliary start processing unit 70 is also
Whether the vehicle velocity V for judging vehicle 12 can be reduced to the beginning condition for aiding in control below fixing speed as parking.At this
In the case of kind, parking auxiliary can be made to start button 76 and shown on touch screen 42 when speed is reduced to below fixing speed.
Or can also when vehicle 12 is close to parking lot in the cartographic information in guider 28, display parking auxiliary start by
Key 76.
With the establishment of the beginning condition of parking auxiliary control, parking auxiliary start processing unit 70 is obtained by camera 34
Shooting image information, navigational figure information (overhead view image) is shown based on shooting image information on touch screen 42.In addition, draw
Lead image information and be not limited only to overhead view image, such as can also be each using shooting image directly displayed captured by camera 34 etc.
Kind display methods.
In addition, parking auxiliary start processing unit 70 shows that the target for designated vehicle 12 is stopped in navigational figure information
Truck position P1 parking frame 77, indicated based on user to set target parking position P1 when vehicle 12 stops.Parking frame 77
It can be the white line that parking spot can be represented in tracking display parking lot.Further, before sets target parking spot P1,
User is allowed to specify the detailed dead ship condition (car-parking model) such as parking side by side or word parking, so as to be entered according to various situations
Row parking auxiliary control.In addition, target parking position P1 setting can also be applicable various methods, for example, parking auxiliary starts
Processing unit 70 can not also be set automatically according to the instruction of user.
Parking auxiliary start processing unit 70 waits vehicle 12 to turn into dead ship condition and (used after sets target parking spot P1
Running brake is stopped), and the setting button 78 that shows paths on touch screen 42.Moreover, path is opened based on driver
Set the operation of button 78, as shown in Fig. 2 setting by the parking spot (initial position P0) of vehicle 12 to target parking position P1
Path of navigation G.When setting path of navigation G, relative position of the vehicle 12 relative to target parking position P1 is calculated, based on this
Relative position, optimal path is calculated on the plane coordinates associated with navigational figure information.Path of navigation G can include 1
Or multiple targets is moved backward back and just (returns and take turns) position P2.
Parking auxiliary start processing unit 70 by setting path of navigation G, with terminate stop setting control, automatically into by
Guide the guiding control that control unit 72 is carried out.At this moment, parking auxiliary start processing unit 70 is provided in plane to guiding control unit 72
The initial position P0 of path of navigation G and vehicle 12 on coordinate each information.In addition, when entering guiding control, such as
It can on touch screen 42 show and guiding (not shown) starts button, the operation of guiding beginning button is opened based on driver,
Perform guiding control.
In addition, after PB determination units 74 described below determine the action of parking brake, parking auxiliary start to process
Portion 70 carries out defined processing.That is, in the case of travelling vehicle 12 when parking brake acts, wheel is braked device
66 (reference pictures 1) are pulled, thus brake apparatus 66 is produced consumption.Therefore, parking auxiliary start processing unit 70 judges according to PB
The instruction in portion 74, stopped or stopped termination/stopping processing of above-mentioned parking setting control.
In termination/stopping processing, parking auxiliary start processing unit 70 can be by the setting control that stops to stop come in solution
, can also be by stopping setting control of stopping except from the beginning being reset again after the action of parking brake, the weight since halfway
The setting control of start and stop car.Furthermore it is possible in termination/stopping processing of parking setting control, just (parking is set the control of parking auxiliary
Fixed control) termination or stopping give a warning.Specifically, for example by warning display on touch screen 42, exported by loudspeaker 44
Speech explanation and warning etc..
In addition, being acted even in performing parking brake in setting control of stopping, parking auxiliary ECU18 can also be without
Termination/stopping processing.For example, it is contemplated that the larger position of the gradient is likely located to vehicle 12, before user sets path of navigation G
(before parking), even if parking brake action can continue to carry out parking setting control.Thus, start stopping brake in user
Also being capable of sets target parking spot P1 during device.
In the stage (after setting path of navigation G) that transition is controlled from parking setting control to guiding, in parking brake
In the case of acting, due to being possible to hamper guiding control below, thus stopped and (do not start to guide control)
The processing of parking auxiliary control is preferably.In this case, it can also use and be set after the action of parking brake releases
Path of navigation G.So as to carry out parking auxiliary in the case where making vehicle advance again by halted state on slope road etc.
Control., can also be with stopping brake in order to remain to target parking path P1 path of navigation G when using path of navigation G
The action of device and forcing stops (for example, pin speed changer) vehicle 12 traveling of itself.In addition, parking auxiliary ECU18 can also
Combine with the climbing function of PB systems 32, in parking brake action process can also by the operation of gas pedal come
The action of parking brake is automatically terminated, so as to continue to guide control.
The guiding control of parking auxiliary control performs when parking auxiliary ECU18 guiding control unit 72 is handled.
In guiding control, the path of navigation G set by guiding control unit 72 along parking auxiliary control process portion 70 is carried out to vehicle 12
Guiding.Controlled as guiding, such as calculate the current state (position and angle of inclination) of vehicle 12, calculate target steering angle θo
Deng.
After control is set by parking and enters guiding control, guiding control unit 72 is according to the wheel detector 36 during driving
Detection pulse (counted number of pulses) calculates the current state (position and angle of inclination) of vehicle 12.For example, guiding control unit 72
The displacement of each wheel can be continuously detected in the parking of vehicle 12 action, based on the displacement and initial position
P0, calculate and (monitor out) current location on plane coordinates and the current angle of inclination relative to target parking position P1.
Moreover, the current state (position and angle of inclination) based on the vehicle 12 calculated, guiding control unit 72 is to car
Whether 12 move along path of navigation G and judged, also, calculates target steering angle θo.Calculating target steering angle θoWhen,
Vehicle velocity V is detected by vehicle speed sensor 38 and determines gear Ps (the i.e. forward operations of vehicle 12 of gear position sensor 40
And back operation), it thus can also identify the operating state of vehicle 12.Also, parking auxiliary ECU18 will guide control unit 72
The target steering angle θ calculatedoEPS 30 is sent to, EPS ECU52 is based on target steering angle θoPerform action.So as to car
12 can be controlled by the guiding for auxiliary 10 of stopping, and make the auto-steering of steering wheel 14.
In addition, parking auxiliary ECU18 calculates target steering angle θo, and the operation (switching to gear lever 16 is performed at any time
Deng) and speed (slow down etc.) guiding.The guiding by being shown or using voice by loudspeaker 44 on touch screen 42
Exported and formed.Touch-screen 42 in addition to the guiding is shown, believe by the shooting image that also real-time display is shot by camera 43
Breath and navigational figure information.Driver can the display based on the touch-screen 42, to confirm the vehicle 12 during guiding control
Driving condition.
Also, judgement of the control unit 72 also based on the action of the parking brake carried out by PB determination units 74 is guided, is come
Handled as defined in carrying out.Especially when parking brake acts in guiding control, because brake apparatus 66 causes wheel
It is towed, thus the current state (position and angle of inclination) of the vehicle 12 calculated by guiding control unit 72 with actually
Error is there may exist between the position and angle of inclination of the vehicle 12 of action.In addition, braking dress can also occur as described above
Put 66 consumption.
It is therefore preferable that guiding control unit 72 is substantially stopped the processing of above-mentioned guiding control.The termination of control is guided,
Both it can immediately be carried out after the action of parking brake is determined, and the action of parking brake can also determined, passed through
Regulation stand-by time T is crossed to carry out afterwards.Below, in the 1st configuration example, to being carried out immediately after judging the action of parking brake
The processing for stopping guiding control illustrates, in the 2nd configuration example afterwards, to drawing by carrying out termination after stand-by time T
The processing for leading control illustrates.
In the case where stopping guiding control, guiding control unit 72 stops the auto-steering done by parking auxiliary ECU18,
And it is operated manually by driver.That is, although vehicle 12 have ceased guiding control, even in parking brake
In the case of action, it can also travel by driver vehicle 12.In other words, the termination of parking auxiliary control refers to, abandons institute
The target parking position P1 of setting, initial position P0, current location (position and the inclination angle of path of navigation G or vehicle 12
Degree) etc., still, now, the action of EPS 30 and PB systems 32 can be normally carried out.So that driver can enter one
Step carries out the higher operation of the free degree.
In addition, before or after guiding control is stopped, it can on touch screen 42 show and (inform) in guiding control
Alarm only, or voice alarm is exported by loudspeaker.Further, in unexpected termination guiding control, it is possible to can not be successfully
It is transitioned into by the manually operated of driver's progress.Therefore parking auxiliary ECU18 can also be in specified time limit (or until operator
Operation be delivered to steering wheel 14) in, enter to be about to steering wheel 14 and fix or it is difficult to rotate etc. and is simplified transient program
Control.
Or guiding control unit 72 can also be stopped the processing of (interruption) guiding control.Stop guiding control such
In the case of system, it can automatically save and guide the current state for controlling the vehicle 12 when stopping, path of navigation G etc., be made in parking
The action of dynamic device be released from after from restarting guiding control halfway.Control unit 72 is guided to lead in the interruption of guiding control
Cross the towing to wheel to judge, guiding control is switched into abort state.
In addition, the action that parking auxiliary ECU18 PB determination units 74 pass through parking brake of the reception from PB systems 32
Signal S, to judge the operating state of parking brake.In addition, PB determination units 74, can also be based on vehicle speed sensor 38
The velocity of rotation information of each wheel detected by detected vehicle velocity V, wheel detector 36, it is whether towed to wheel enter
Row judges, in the case where wheel is towed, judges that parking brake is operating state.In a word, the action shape of parking brake
State is not limited in the starting state of the action bars 56 (operating portion) of PB systems 32, in addition to row makes wheel in addition to car brake
Driving stop various braking actions.For example, also include the temporary parking state of the vehicle 12 caused by above-mentioned climbing function.
In addition, parking auxiliary ECU18 can also be without PB determination units 74, and from parking auxiliary start processing unit 70 and guide control
Portion 72 directly receives the action signal S from PB systems 32.
Parking aid 10 involved by 1st configuration example, substantially takes said structure, below, shown in reference picture 4
One example of handling process illustrates its action effect.In addition, carried out below with the action with parking brake " in
Only " illustrated exemplified by the processing of parking auxiliary control.
In the case where vehicle 12 is parked in illegal parking field by the driver of vehicle 12, start parking aid 10.Stop
Car servicing unit ECU18 parking auxiliary start processing unit 70 makes parking auxiliary beginning button 76 show on touch screen 42, right
Whether user, which presses parking auxiliary beginning button 76, is judged (step S1).Then, aid in starting button 76 when judging to stop
After being opened, into step S2.
When parking aids in beginning button 76 to be pressed, parking auxiliary start processing unit 70 performs parking and sets control (step
Rapid S2).In parking setting control, target parking position P1 setting, path of navigation G setting are carried out successively as described above
Deng.
When parking setting control is carrying out, PB determination units 74 are continued based on the action signal S from PB systems 32
It is that non-action status or operating state are judged (step S3) to parking brake.Parking auxiliary start to process 70 is judging
When parking brake is operating state, into step S4, judge parking brake for non-action status when, into step S5.
In step s 4, parking auxiliary start processing unit 70 carry out the termination of parking setting control (parking auxiliary control)/
Stopping is handled.For example, in the termination/stopping processing of parking setting control, forgo one's aim parking spot P1 and initial
Position P0, vehicle 12 current state (position and angle of inclination), path of navigation G each information processing.In addition, in
In only/stopping processing, stop because of the action of parking brake parking auxiliary control warning it is shown on touch screen 42 or
Person is by the voice output of loudspeaker 44.So as to which parking auxiliary ECU18 stops parking auxiliary control, switches to what is carried out by driver
It is manually operated.
In the case where parking brake is non-action status, in step s 5, judge that parking setting controls whether to terminate,
If parking setting control is still continuing, step S2 is returned to.Vehicle 12 like that as noted above is in dead ship condition, guides road
After being set, parking setting control terminates footpath G.At the end of parking setting control is judged, into step S6.
Parking auxiliary ECU18 enters guiding control after parking setting control terminates, start to make steering wheel 14 from turn
To (step S6).In guiding controls, the current state and target steering angle θ of vehicle 12 are calculatedo, EPS 30 is sent
The instruction (sending target steering angle θ o) of auto-steering, and advance and retrogressing, the system of vehicle 12 are further carried out to driver
The dynamic guiding waited.So as to which vehicle 12 is guided to target parking position P1 along the thick line (path of navigation G) shown in Fig. 2.
When guiding control is carrying out, PB determination units 74 continue to judge based on the action signal S from PB systems 32
Parking brake is non-action status or operating state (step S7).Control unit 72 is guided to judge parking brake for action
During state, into step S8, judge parking brake for non-action status when, into step S9.
In step s 8, identical with above-mentioned steps S4, guiding control unit 72 guides control (control of parking auxiliary)
Termination/stopping processing.In termination/stopping processing of guiding control, forgo one's aim parking spot P1, initial position are carried out
P0, the processing from the current state (position and angle of inclination), path of navigation G various information of vehicle.In addition, because parking is made
The warning moved the action of device and stop parking auxiliary control is shown on touch screen 42 or by the voice output of loudspeaker 44.Cause
This, parking aids in ECU18 to stop parking auxiliary control, switches to by the manually operated of driver's progress.
In addition, in the case where parking brake is non-action status, in step s 9, guiding control unit 72 is based on calculating
The current state from vehicle, whether vehicle 12 moved along path of navigation G and reaches target parking position P1 judge.
In the case where vehicle 12 is without target parking position P1 is reached, returns to step S6 and continue to guide control, in vehicle 12
In the case of reaching target parking position P1, into step S10.
Finally, in step slo, parking auxiliary ECU18 terminate the processing of parking auxiliary control, terminates to stop in vehicle
Guiding in car action to vehicle 12.
It is as noted above, during using parking aid 10 involved by the 1st configuration example, because parking aids in ECU18 bases
In the action of the parking brake of vehicle 12, stop (or stopping) and perform parking auxiliary control, so as to immediately by stopping
Auxiliary control switches to that driver's is manually operated, therefore significantly improves the practicality of parking aid 10.It is additionally, since
Parking aid 10 is simple in construction, so carrying cost can be reduced.Further, since driver can be with parking auxiliary control
The termination of system and make vehicle 12 parking act stop, the consumption of brake apparatus 66 is prevented, so as to improve brake apparatus 66
Durability.
In this case, guiding control unit 72 continues to calculate the current state of vehicle 12 by the rotation based on wheel,
Vehicle 12 thus can be guided in parking auxiliary control easily.In addition, calculate current shape using based on the rotation of wheel
The structure of state, although because the action of parking brake makes wheel towed, so that the calculating of current state produces error
Possibility is higher, but the auxiliary ECU18 that stops but can stop or stop easily parking auxiliary control.That is, it is auxiliary in parking
Help in control, parking aid 10 can prevent to misguide the hair of the situation of vehicle 12 due to the action of parking brake
It is raw, vehicle 12 can be controlled well.
In addition, parking aid 10 only aids in the structure of the steering of vehicle 12 using guiding control unit 72, can simplify
Parking auxiliary control, further reduces the expense that parking aid 10 is arranged on vehicle 12.In parking action, even if driving
The person of sailing has carried out the maloperation for acting parking brake, also can stop or stop parking auxiliary by parking auxiliary ECU18
Control, so driver can easily make necessary countermeasure.
In addition, parking aid 10 is not limited to said structure, various modifications and application can also be carried out.Example
Such as, above-mentioned parking aid 10 can be applicable in MT cars.In this case, parking aid 10 uses following structure
：Auto-steering in being controlled with guiding, by touch-screen 42 or loudspeaker 44, guiding carries out the switching of clutch.
In addition, carrying out auto-steering in parking aid 10, and the driving and braking to vehicle 12 are carried out automatically
In the case of, preferred structure is, when detecting parking brake action, as parking aids in the termination of control, to make car for the time being
12 parkings, switch to that driver's is manually operated after this.So as to reduce because transport condition is auxiliary by stopping suddenly
Control is helped to switch to situation that is manually operated and causing maloperation to occur.
【1st embodiment：2nd configuration example】
Illustrate the parking aid 10A involved by the 2nd configuration example referring to Fig. 5 and Fig. 6 A, 6B.Under in addition,
In the explanation in face, for the identical structure of parking aid 10 involved by the 1st configuration example or there is identical function
Structure, be labeled as marking with identical in the 1st configuration example, and description is omitted.
Parking aid 10A is equipped on the vehicle 12A as MT cars.Parking aid 10A parking auxiliary
ECU18A, it is identical with the ECU18 of parking auxiliary shown in Fig. 3, there is parking auxiliary start processing unit 70 and guiding control unit 72, still
The structure of PB determination units 80 is different from PB determination units shown in Fig. 3 74 structure.
Specifically, parking auxiliary ECU18A uses following structure：Under the operating state of parking brake, the parking is monitored
Elapsed time when brake acts, when by more than the stipulated time, stop or stop parking auxiliary control.Stop auxiliary
Termination/the control process controlled is helped using the processing of the parking aid 10 involved by the 1st configuration example as standard.
Therefore, parking auxiliary ECU18 PB determination units 80 have：Time compares processing unit 82, and it is used to compare the time；Meter
When portion 84, it is used for minute；Stand-by time configuration part 86, it is used to set stand-by time T (reference picture 6A and 6B).
Compare processing unit 82 after the action signal S of the parking brake from PB systems 32 is received, start timing unit 84,
The minute since being received action signal S, and read as the stand-by time set by stand-by time configuration part 86
T.During parking brake is in operating state, continue minute, the elapsed time during action of parking brake (is surveyed
Time in fixed) compared with the stand-by time T read, whether the elapsed time is judged more than stand-by time T.
In the case of more than stand-by time T, parking auxiliary start processing unit 70 or guiding control unit 72 is set to perform parking auxiliary control
Termination/stopping processing.It is not above stand-by time T in the elapsed time, the feelings that the operating state of parking brake is just released from
Under condition, continue parking auxiliary control.
Herein, for parking, vehicle 12A is possible to temporarily stop in the parking lot that slope road etc. has great slope (inclination)
Car.In this case, in order to avoid being retreated from vehicle because of the gradient, vehicle 12A (especially MT cars) is sometimes by stopping
State starts the initial stage travelled again, parking brake is in operating state and is travelled.Therefore, if detecting parking system
Directly stop parking auxiliary control after moving the action of device, can cause to be difficult to effectively fill using parking auxiliary in the acclive place of tool
Put.
Parking auxiliary ECU18A involved by 2nd configuration example, it is auxiliary parking is not stopped immediately after parking brake action
Control is helped, but by setting stand-by time T buffer time, to improve the practicality of parking auxiliary control.That is, even if stop
Brake acts, but as long as the action of parking brake is released from stand-by time T, just do not perform termination/stopping processing and
Parking auxiliary control is continued executing with, thus parking auxiliary control can be also carried out in larger place of the gradient etc..
The stand-by time configuration part 86 of PB determination units 80 has the function of setting above-mentioned stand-by time T.Although treated for this
Machine time T, is not particularly limited, it is preferred that the average time based on the temporary transient action for making parking brake on slope road etc. come
Setting, such as 1~3 second, it is preferably set for 2 seconds or so.Stand-by time T can be set in advance in parking auxiliary as fixed value
In ECU18A, or the display picture for representing stand-by time T can also be shown on touch screen 42, be become by user
More set.
In addition, parking aid 10A can also use following structure：Inclination sensor 88 is carried on vehicle 12A, by
Inclination sensor 88 detects the gradient (angle) in place residing for vehicle 12, and stand-by time T is changed automatically based on the angle.Example
Such as, in the case where the gradient is larger, because cautiously to relaunch vehicle 12A, stand-by time T can be set it is longer,
In the case of the gradient is less, due to easily relaunching vehicle 12A, stand-by time T can be set shorter.So as to
Continue parking auxiliary control according to the gradient of vehicle 12A present positions.In addition, the sensor for detecting the gradient, and
Inclination sensor 88 is not limited to, such as can also be acceleration transducer (G sensor) and suspension travel sensor
(suspension stroke sensor)。
In addition, the judgement to parking brake operating state carried out by PB determination units 80, it is not limited to from PB systems
The action signal S of system 32.For example, it is also possible to as follows：It is identical with the parking aid 10 involved by the 1st configuration example,
Velocity of rotation based on the wheel detected by wheel detector 36 and the vehicle velocity V detected by vehicle speed sensor 38, to wheel
Towing judged, the towed situation of wheel can be considered as parking brake be operating state situation.
In addition, parking aid 10A can also take following structure：Performing stop setting control and guiding control
Before, it is in operating state first to make parking brake, by the operating state perform control, enter to be about to the elapsed time with it is standby when
Between the processing compared of T.Thus, PB determination units 80 and parking auxiliary start processing unit 70 and guiding control unit 72 can also use
The structure of the two-way communication of process content can be carried out.
Parking aid 10A involved by 2nd configuration example substantially takes said structure, below, to its action effect
Illustrate.As parking auxiliary ECU18A processing, such as can be：It is as noted above such, in parking auxiliary control
When being carrying out, situation that parking brake is acted；It is (outstanding that parking auxiliary control is performed under the operating state of parking brake
It is guide control) situation.First, reference picture 6A is to when parking auxiliary control is carrying out, parking brake enters action
The situation of work illustrates.
Parking auxiliary ECU18A in the start-up conditions, receives the action signal S of parking brake, based on action signal S
Handled as defined in being carried out in PB determination units 80.The parking aids in ECU18A in the time point t1 shown in Fig. 6 A, based on user couple
Parking auxiliary starts the operation that button 76 is made, and starts parking auxiliary control (parking setting control and guiding control).In addition,
In fig. 6, for convenience of description, the non-executing state generally by auxiliary control of stopping is set to 0, and control is aided in by stopping
Execution state is set to 1.
Under parking auxiliary ECU18A starting state, the time of PB determination units 80 compares the lasting monitoring of processing unit 82 and come from
The action signal S of PB systems 32, judge whether parking brake acts.In the time point t2 shown in Fig. 6 A, work as detection
When going out the action signal S of parking brake and being opened, the stand-by time T (reference pictures set by stand-by time configuration part 86 are set
Thick line in 6A).In addition, in the case of changing stand-by time T structure using based on the gradient, stand-by time configuration part 86
The gradient is gone out by the periodic detection of inclination sensor 88 under parking auxiliary ECU18 starting state, it is regularly advance according to the gradient
Calculate stand-by time T.
In addition, the unlatching (ON) of the action signal S based on parking brake, the time compares processing unit 82 and starts timing unit
84, the elapsed time is determined since the time point t2.Time compares processing unit 82 when determining the elapsed time, further confirms that action
Whether signal S state, the action to parking brake are released from judging.
Time point t3 shown in left side in fig. 6, in the case of the action signal S of parking brake is pent, the time
Compare processing unit 82 and judge that end time point t4s of the time point t3 than stand-by time T is short.Therefore, time-triggered protocol comparing section 82 is to stopping
Car aids in start processing unit 70 and guiding control unit 72 to send the finger of the termination without parking auxiliary control/stopping processing
Show, also, the time-triggered protocol comparing section 82 carries out resetting the processing such as stand-by time T, the timing for stopping timing unit 84.
That is, PB determination units 80 abandon the judgement to the operating state of parking brake, parking auxiliary start processing unit 70 and guiding control
Continue to carry out parking auxiliary control well in portion 72 processed.
In addition, as shown in right side in Fig. 6 A, the action signal S of parking brake is not switched to closed mode, is passing through
In the case of the end time point t4 for crossing stand-by time T, the time compare processing unit 82 judge (it is determined that) parking brake for action
State.Then, the time compares processing unit 82 and parking auxiliary start processing unit 70 and guiding control unit 72 is sent and stopped
Aid in the instruction of termination/stopping processing of control.Thus parking auxiliary start processing unit 70 and guiding control unit 72 being capable of bases
In the action of parking brake, stop or stop parking auxiliary control.
Next, reference picture 6B under the operating state of parking brake to performing parking auxiliary control (guiding controls)
Situation illustrates.As described above, under parking auxiliary ECU18A starting state, persistently monitoring comes from PB systems to PB determination units 80
The action signal S of system 32.In time point t11 shown in Fig. 6 B, the action signal S based on parking brake, parking brake is judged
Act.
Afterwards, the action of the monitoring of PB determination units 80 parking auxiliary start processing unit 70 and guiding control unit 72, in Fig. 6 B
Shown time point t12, detect the execution (startup) of parking setting control and guiding control.In addition, in fig. 6b, in order to just
In explanation, the non-executing state for guiding control is generally set to 0, and the execution state for guiding control is set to 1.
Time compare processing unit 82 set by stand-by time configuration part 86 with guiding control execution and set standby
Time T (thick line in reference picture 6B).At the same time, the time compares the startup timer 84 of processing unit 82, is opened from time point t12
Begin the measure elapsed time.Moreover, the time compares processing unit 82 when determining the elapsed time, action signal S state is confirmed, and sentence
Whether the action for determining parking brake is released from.
Time point t13 shown in left side in fig. 6b, in the case of the action signal S of parking brake is pent, when
Between compare processing unit 82, judge that end time point t14s of the time point t13 than stand-by time T is short.Therefore, the time compares processing unit
When 82 pairs of guiding control units 72 are sent without guiding the instruction of the termination controlled/stopping processing, and carrying out resetting standby
Between T, stop the processing such as timing of timing unit 84.That is, PB determination units 80 abandon sentencing to the operating state of parking brake
Fixed, guiding control unit 72 continues to guide control well.So as to temporarily be stopped in parking auxiliary control easily
State Xia Po restarts on road.
In addition, as shown in right side in Fig. 6 B, closed mode is not switched in the action signal S of parking brake, and pass through
In the case of stand-by time T end time point t14, the time compare processing unit 82 judge (it is determined that) parking brake for action shape
State.Then, the time compares the instruction that processing unit 82 sends the termination/stopping processing for guiding control to guiding control unit 72.
So that guiding control unit 72 can stop or stop guiding control under the operating state of parking brake.
In addition, parking auxiliary ECU18A can also be when parking brake acts, based on being examined by vehicle sensors 36
The velocity of rotation for the wheel measured and the vehicle velocity V detected by vehicle speed sensor 38, in the case of judging wheel for Condition Of Tow,
Directly carry out termination/stopping processing of parking auxiliary control (guiding control).In addition, sentence before setting control of stopping is performed
Required time when determining parking brake for weighting parking setting control setting in the case of operating state, can be set by and
Obtained stand-by time T, parking setting is carried out in stand-by time T and controls and enters guiding control.Thus, it is possible to draw entering
Lead the control same action performed shown in Fig. 6 B afterwards.Certainly, parking system is had determined that before setting control of stopping is performed
In the case that dynamic device is operating state, parking auxiliary control can not also be performed.
As described above, during using parking aid 10A involved by the 2nd configuration example, by aiding in ECU18A by parking
Elapsed time and stand-by time T are judged, make parking aid 10A not with the action of parking brake and immediately in
Only or stopping parking auxiliary controls.So as to be stopped even in the acclive place of tool and act parking brake, also can
Continue parking auxiliary control.That is, parking aid 10A is in parking auxiliary control, according to various situations in time
Permissive stop brakeage, thus allow for practical control.
Further, since parking aid 10A has inclination sensor 88, it is thus possible in parking auxiliary control, root
According to the size of the gradient, make the action of parking brake in reasonable time, so as to further carry out practical control.
Further, parking aid 10A can also link with the climbing function of PB systems 32.For example, by the way that above-mentioned stand-by time T is set
It is set to the time more than retention time of dead ship condition in climbing function, vehicle 12 can be made to carry out hill start when being travelled on the road of slope
(dynamic), and restart guiding control while hill start is started.
In addition, the parking auxiliary control 10A involved by the 2nd configuration example is not limited to said structure, it is also possible to obtain each
Kind variation and application examples.For example, because AT cars can also act parking brake sometimes when stopping in the larger place of the gradient,
Therefore above-mentioned parking aid 10A is readily applicable to AT cars.
In addition, parking aid 10,10A, for example, to for the viewpoint that target stop position moves, can also fit
For the mobile object (such as ship) in addition to vehicle 10,10A.When user sends instruction and confirmed in parking auxiliary control
The device used, it is not limited only to navigation 28, additionally it is possible to (special using various indication mechanisms (LCDs) and input mechanism
Button, speech input device etc.).
【2nd embodiment】
Next, the parking aid 112 involved by the 2nd embodiment of the present invention is illustrated.Stop shown in Fig. 7
Car servicing unit 112 is identical with the parking aid 10 involved by the 1st embodiment, and car is aided in by carrying out auto-steering
110 parking.That is, steering wheel 116 is operated automatically by parking aid 112, in addition, being stepped on by driver to throttle
Plate and brake pedal (not shown) and gear lever 138 are operated.Parking aid 112 is removed automatically to steering wheel 168
, can also the operation to gas pedal and brake pedal (driving and braking of vehicle 110) and change automatically outside being operated
Fast bar 138 is operated (switching of advance and the retrogressing of vehicle 110).
Parking aid 112 has sensor group 114, guider 116, parking auxiliary ECU118 and EPS
120, wherein, sensor group 114 is used to detect the various detected values used in parking auxiliary control etc..In addition, parking is auxiliary
Japanese invention Patent Publication No 2011-039600 or Japan's hair can also be used by helping the basic structure of device 112
Structure disclosed in bright Patent Publication No 2010-069944.
Sensor group 114 includes front camera 130f, rear camera 130rr, left side side camera 130l, right side side
Camera 130rt, wheel detector 132rl, 132rr, vehicle speed sensor 134, gear position sensor 136, door contact interrupter 138l,
138r and side mirror switch 140l, 140r.
The surrounding image Is that camera 130f, 130rr, 130l, 130rt output are got by shooting around vehicle 110.
Below, the surrounding image Is by front camera 130f shootings is referred to as " forward image If ", by rear camera 130rr shootings
Surrounding image Is is referred to as " rear images Irr ", the surrounding image Is of left side side camera 130l shootings being referred to as into " left side side's image
Il ", the surrounding image Is of right side side camera 130rt shootings is referred to as " right side side image Irt ".In addition, by left side side's image
Il and right side side image Irt is simultaneously referred to as " side image Isd ".
In the 2nd embodiment, front camera 130f is for example configured on the preceding grid (not shown) of vehicle 110, after
Square camera 130rr is for example configured at back door or the tail-gate of vehicle 110.In addition, left side side camera 130l is arranged at reversing
On mirror 144l, side mirror 144l is configured on the side door 142l in left side.Right side side camera 130rt is arranged at side mirror 144r
On, side mirror 144r is configured on the side door 142r on right side.Or camera 130l, 130r can also be configured at and not set
On the side door for putting side mirror 144l, 144r.
The angle that wheel detector 132rl, 132rr are respectively the rotational angle θ w [deg] for detecting wheel (not shown) passes
Sensor or displacement transducer, when wheel often rotates predetermined angular, output detection pulse.The detection pulse can be used for calculating
The rotational angle θ w (that is, displacement) of wheel and the velocity of rotation [rpm] of wheel.Wheel detector 132rl is used to detect a left side
The rotational angle θ w (also known as following " rotational angle θ wrl ") of trailing wheel, wheel detector 132rr are used to detect turning for off hind wheel
Dynamic angle, θ w (following also known as " rotational angle θ wrr ").
Wheel detector 134 is used for the vehicle velocity V [km/h] for detecting vehicle 110, and the speed is exported and aided in parking
ECU118.Gear position sensor 136 is used to detect the gear Ps of gear lever 138 and output it.
Door contact interrupter 138l, 138r are used for the open and-shut mode for detecting side door 142l, 142r, and will represent the open and-shut mode
Signal (vehicle door status signal Sdr) exports aids in ECU118 to parking.Side door 142l is before being located at most in the door in the left side of vehicle 110
The door of side, side door 142r are the door for being located at most front side in the door on the right side of vehicle 110.For example, vehicle 110 front left side, forward right side,
In the case that left rear side and right lateral side are provided with side door, side door 142l, 142r refer to the side door of front left side and forward right side.And or
Person, if provided, with camera 130l, 130rt, then side door 142l, 142r may not be the door of most front side.Herein, side
As long as door 42l, a 142r can make with the opening and closing of car door if camera 103l, 130rt position changes, not special
Do not limit, it can also be sliding door.
Side mirror switch 140l, 140r are used for the open and-shut mode (deployed condition/collapsed state) for switching side mirror.Based on
Car mirror switch 140l, 140r output signal (hereinafter referred to as side mirror status signal Smr) understand that side mirror 144l, 144r
Open and-shut mode.
Guider 116 is identical with the guider 28 involved by the 1st embodiment, has touch-screen 146 and raises one's voice
Device 148, the path of the destination for guiding the arrival of vehicle 110.Touch-screen 146 fills as the input of parking aid 112
Put and display device plays a role.User inputs the instruction relevant with parking auxiliary by touch-screen 146.In addition, touching
The display picture relevant with parking auxiliary on screen 146.As it is explained in detail hereinafter, the structure member beyond touch-screen 146 can also be used
Input unit or display device as guider 116.
EPS 120 is also identical with the EPS 30 involved by the 1st embodiment, including steering angle sensor 160, torsion
Square sensor 162, EPS motor 164, rotary transformer 165 and EPS ECU166.
The parking that parking aid 112 performs the auxiliary parking of vehicle 110 by the auxiliary ECU118 that stops aids in control.Stop
Car auxiliary ECU118 includes input and output portion 150, operational part 152 and storage part 154, is performed by operational part and is stored in storage part
154 and parking assistance program (not shown), so as to perform above-mentioned parking setting control and guiding control (automatic steering control).
In parking setting control, the target parking position setting of the target parking position Pptar for setting vehicle 110 is substantially carried out
Control.
Fig. 8 is the flow chart of the parking auxiliary control of the parking auxiliary ECU118 involved by the 2nd embodiment.In step
In S21, parking auxiliary ECU118 judges whether the beginning condition of parking auxiliary control is set up.This starts condition：
The parking for pressing or selecting to be shown on the touch-screen 146 of guider 116 aids in starting button (not shown).Or remove
Outside this, vehicle velocity V can also be less than to defined threshold value as beginning condition.When judge stop auxiliary control beginning condition into
(S21 immediately：It is), into step the S22, (S21 when judging that beginning condition is invalid：It is no), after the stipulated time, again
Since step S21.
In step S22, parking auxiliary ECU118 performs the target of the target parking position Pptar for setting vehicle 10
Parking spot setting control.Next, in step S23, parking auxiliary ECU118 judges the beginning condition of automatic steering control
Whether set up.This starts condition：The auto-steering being shown on the touch-screen 146 of guider 126 is pressed to open
One in beginning button 218a, 218b (following also known as " start button 218a, 218b ", reference picture 10).But only in spy
When fixed condition is set up, beginning button 218a, 218b are just in being capable of selected state.
Guiding control beginning condition and it is invalid in the case of (S23：It is no), return to step S22.Controlled in guiding
Beginning condition set up in the case of (S23：It is), parking auxiliary ECU118 performs the guiding control for being automatically brought into operation steering wheel 168
(S24), so that vehicle 110 reaches target parking position Pptar.EPS ECU166 are by controlling EPS motor 164 to be automatically brought into operation
Steering wheel 168.
In the present embodiment, in a button in pressing auto-steering and starting button 218a, 218b (in Fig. 2
S23：It is), start to guide control (S24).But in target parking position setting control, in camera 130l, 130rt
In the case that movement is considered as mechanical obstacles factor, parking auxiliary ECU118 uses can not select auto-steering to start button
218a, 218b structure.Therefore, parking auxiliary ECU118 forbids the guiding to vehicle 110.Flow chart stops in target shown in Fig. 9
Used in the setting control of truck position, for setting auto-steering can be selected to start button 218a, 218b.
In step S31 in fig.9, parking auxiliary ECU118 to the left and right side door 142l as mechanical obstacles factor,
Whether 142r is that closed mode is judged.The judgement is based on the vehicle door status signal Sdr from vehicle door switch 138l, 138r
Carry out.(the S31 in the case where side door 142l, 142r are closed mode：It is), into step S32, in side door 142l, 142r
In one be not off in the case of (S31：It is no), into step S36.
In step s 32, parking auxiliary ECU118 to left and right side mirror 144l, 144r as mechanical obstacles factor whether
Judged for (open mode) in expansion.The judgement is based on the side mirror status signal from side mirror switch 140l, 140r
Smr is carried out.(the S32 in the case where side mirror 144l, 144r are all in deployed condition：It is), into step S33, in side mirror
144l, 144r are not in (S31 in the case of deployed condition：It is no), into step S36.
In step S33, whether parking auxiliary ECU118, which is linked into gear Ps beyond reverse gear (R), judges.This is sentenced
It is fixed to be carried out based on the gear Ps detected by gear position sensor 136.(the S33 in the case where gear Ps is linked into beyond R shelves：
It is), into step the S34, (S33 in the case where gear Ps is linked into R shelves：It is no), into step S36.
In step S34, whether parking auxiliary ECU118 is that dead ship condition judges to vehicle 110.The judgement is for example
Whether foundation vehicle velocity V is carried out below in threshold value (stopping decision threshold Thv).(the S34 in the case where vehicle 110 is halted state：
Be), in step s 35, parking auxiliary ECU118 by auto-steering start button 218a, 218b be shown as active state (can
Selected state) (reference picture 10), auto-steering can be started according to the selection of user.It is non-stop state in vehicle 110
In the case of (S34：It is no), into step S36.
It is following it is several in the case of, in step S36, parking auxiliary ECU118 by auto-steering start button 218a,
218b is shown as inactive state (can not selected state) or not shown, forbids the beginning of auto-steering：In side door
142l, 142r are (S31 in the case of non-closed mode：It is no), side mirror 144l, 144r be non-deployed condition in the case of
(S32：It is no), (S33 in the case where gear Ps is linked into R shelves：It is no) or vehicle 110 be non-dead ship condition in the case of
(S34：It is no).
In addition, in step S36, can according to as set by automatic detection button 224 (Figure 10) described below from
Dynamic detection pattern or fixed display pattern, make the display of display picture 200 change.Then, in step S36, parking
Aid in ECU118 to show error message according to various situations (reference picture 11 and Figure 12 are described in detail).
As shown in figure 8, (the S21 after parking auxiliary starts：It is), target parking position setting control starts (S22).This
When, parking auxiliary ECU118 makes to start button 218a, 218b and overhead view image Ig (navigational figure information) comprising auto-steering
Display picture 200 show (Figure 10~12).
Figure 10 represents usual state (that is, judging in Fig. 9 flow in the case of permission auto-steering (S35 in Fig. 9))
Under display picture 200 (here also known as usual state when display picture 200a or display picture 200a).Figure 11 is represented
(S31 in Fig. 9 when side door 142l, 142r are open mode：It is no) display picture 200 it is (aobvious when here also known as open for car door
Show picture 200b or display picture 200b).Figure 12 represents the (S32 in Fig. 9 of side mirror 144l, 144r when being collapsed state：It is no)
Display picture 200 (the display picture 200c or display picture 200c when here also known as being packed up for side mirror).
As shown in Figure 10, the display picture 200a in usual state includes the parking auxiliary icon of inactive state
210th, progress explanation bar 212, operation guiding information 214, the parking species for starting button 218a, 218b comprising auto-steering respectively
Selection label 216a, 216b, point out information 220, overhead view image region 222, automatic detection button 224 and stop button
226。
In the implementation procedure of guiding control, parking auxiliary icon 210 is active, and is deepened to show, in target
In the implementation procedure of parking spot setting control, parking auxiliary icon 210 is in inactive state, and shoaled display, thus, is stopped
Car auxiliary icon 210 represents the development situation of parking auxiliary in this way.
Progress explanation bar 212 is used for the progress for illustrating parking auxiliary.Progress explanation bar 212 is by comprising for representing that target is stopped
Truck position Pptar be in setting in " setting " as word region, comprising for representing " auxiliary " in auto-steering
The region of such word, include the region composition for the word as " end " of auxiliary end that represents to stop.These areas
The region corresponding from the control now carried out is shown with the color different with other regions in domain.
The action that operation guiding information 214 should be carried out to driver's transmission vehicle 10.In the example shown in Figure 10, lead to
Cross and select auto-steering to start one in button 218a, 218b, auto-steering can be started, in order to transmit the information, and shown
Show word as " pressing " beginning " key, stop in green inframe "." green frame " mentioned here refers in overhead view image region 222
The candidate position image 234 of display.
Species of stopping selection label 216a, 216b (it is following also known as " selection label 216a, 216b " or " label 216a,
216b ") it is used to from back parking (double parking) or word parking select the species of parking.In each label 216a, 216b
Include 2 auto-steerings respectively and start button 218a, 218b.Select label 216a, 216b and beginning button 218a, 218b equal
In being capable of selected state (active state).
After the beginning button 218a in left side is chosen, the candidate position corresponding with the candidate position image 234 in left side
Ppc is set to target parking position Pptar, after the beginning button 218b on right side is chosen, the candidate position figure with right side
As 234 corresponding candidate position Ppc are set to target parking position Pptar.
Point out information 220 and the content that should be noted that at this moment is transmitted to driver.In the example shown in Figure 4, for
Before making before vehicle 110 and then stepping gas pedal, in order to supervise driver confirm around situation, and show " please directly true
Recognize the situation of surrounding " as word.
Overhead view image region 222 is used to show by by handling forward image If, rear images Irr, left side side image Il
And the overhead view image Ig of vehicle 110 obtained from right side side image Irt.In overhead view image region 222, expression vehicle is included
110 from vehicle image 230.
As shown in Figure 10, in overhead view image region 222, in addition to from vehicle image 230, the target as navigational figure
The 234 overlapping display of guide line 232 and candidate position image.Goal directed line 232 is by being shown in vehicle 110 or from vehicle
The image that the line in the front of the direction of advance of image 230 is formed, in the present embodiment in yellow.Goal directed line 232 with
Used during various target stop position image (representing target parking position Pptar target parking position image etc.) alignment, its
Width is identical with target parking position image 144.
Candidate position image 234 is used for the candidate (candidate position Ppc) for representing target parking position Pptar, shows respectively
From the left side of vehicle image 230 and right side.Left side auto-steering start button 218a be chosen after, the time with left side
Cover puts 234 corresponding candidate position Ppc and is set to target parking position Pptar, the auto-steering on right side start by
After key 218b is chosen, the candidate position Ppc corresponding with the candidate position 234 on right side is set to target parking position
Pptar。
Compared with Figure 11 and Figure 12 described below, in Fig. 10, shown in overhead view image region 222
White line 236 (shooting gained by camera 130f, 130rr, 130l, 130rt) is the line for dividing parking stall.
Automatic detection button 224 is used to set whether automatic detection goes out target parking position Pptar candidate (candidate position
Ppc).In other words, when automatic detection button 224 is opened, ECU118 is according to left side side image Il and right side side's figure for parking auxiliary
As Irt detects candidate position Ppc, and corresponding to detected candidate position Ppc show candidate position image 234 (from
Dynamic detection pattern).Therefore, in overhead view image region 222, from the relative position of vehicle image 230 and candidate position image 234
Put and change.
In autosensing mode, the mode of parking auxiliary ECU118 pattern match is from side image Isd (left side side's figures
As Il and right side side image Irt) in detect the characteristic of the grade of white line 236, so as to detect candidate position Ppc.Moreover,
The coordinate that parking auxiliary ECU118 corresponds to the candidate position Ppc detected shows candidate position in overhead view image region 222
Image 234.Here, because camera 130l, 130rt field range are fixed, thus if clear and definite candidate position Ppc is in side
Position in square image Isd, then it can determine the position of vehicle 110 and candidate position Ppc relativeness.
Therefore, it is chosen in candidate position image 234 (candidate position Ppc), when target parking position Pptar is set,
Parking auxiliary ECU118 can calculate target parking position Pptar and vehicle 110 relative position.Therefore, stopped based on target
Position Pptar and vehicle 110 relative position, parking auxiliary ECU118, which can be calculated, guides vehicle 110 to target parking position
Put Pptar path.
In addition, when automatic detection button 224 is closed, parking auxiliary ECU118 stationary phases are for from vehicle image 230
Candidate position image 234 position, show it.So as to which user overlooks while vehicle 110 are actually driven
Make candidate position image 234 with desired vehicle 110 (from vehicle image in overhead view image Ig in image-region 222
230) parking spot alignment.
In fixed display pattern, parking auxiliary ECU118 makes candidate position image 234 be shown in overhead view image region 222
In position set in advance on.Shown in overhead view image region 222 position correspondence of candidate position image 234 in vehicle
The position (candidate position Ppc) that the relativeness of 110 position is fixed in advance.Further, since camera 130l, 130rt's regards
Wild scope is fixed, thus the position corresponding to side image Isd in overhead view image region 222 (overhead view image Ig) is with showing
The relation for showing the position of candidate position image 234 is also fixed.
Therefore, the overhead view image Ig in driver side viewing overhead view image region 222, while make candidate position image 234 with
In overhead view image Ig can as candidate position Ppc position (for example, the area encompassed of white line 236) be aligned, with this
When the corresponding candidate position Ppc of candidate position image 234 is set to target parking position Pptar, parking auxiliary ECU118
Relative position based on target parking position Pptar Yu vehicle 110, calculate and guide vehicle 110 to target parking position Pptar
Path.
Here, (the S31 in Fig. 9 in the case where side door 142l, 142r open：It is no) or in side mirror 144l, 144r receipts
(S32 in the case of rising:It is no), camera 130l, 130r field range produce deviation.In this case, camera 130l,
130rt field range can not be corresponding with the relative position in overhead view image region 222.Therefore, no matter in automatic detection mould
In formula or in fixed display pattern, the guide position (target parking position in parking auxiliary ECU118 to vehicle 110
Pptar deviation can all) be produced between the actually desired parking spot of driver.That is, due to the side door as movable part
142l, 142r and side mirror 144l, 144r operating state, camera 130l, 130rt is not in normal position, hinder
Guiding to vehicle.
Therefore, in the present embodiment, it is opened in automatic detection button 224, and it is selected in autosensing mode
Under state, (especially, in S31 in the case of the step 36 in arrival Fig. 3：No or S32：In the case of no), start button
218a, 218b selection are prohibited (S36).At this moment, parking auxiliary ECU118 can also not shown in overhead view image region 222
Candidate position image 234.In this case, parking auxiliary ECU118 can also stop candidate position Ppc automatic detection.Separately
Outside, it is closed in automatic detection button 224, and in the state of fixed display pattern is chosen, reaches step S36 in Fig. 3
In the case of, parking auxiliary ECU118 can show candidate position image 234 in overhead view image region 222, or can not also
Show candidate position image 234.
Stop button 226 to be used to terminate parking auxiliary.
Compared with the display picture 200a (Figure 10) during usual state, the display picture 200b (figures when car door opens
11) in, word as " car door please be shut " is shown as operating guidance information 214.
In addition, though auto-steering starts button 218a, 218b as being capable of selected state (moving type in Fig. 10
State), but start button 218a, 218b in fig. 11 as can not selected state (inactive state).For inactive state
Beginning button 218a, 218b, such as compared with beginning button 218a, 218b of active state, shoaled display.This is due to
In the moving process of vehicle 110, forbid proceeding by auto-steering.
In addition, identical with Figure 10, species of stopping in fig. 11 selection label 216a, 216b is with being capable of selected state
(active state) is shown.The reasons why so showing is, can also select to stop in the state of side door 142l, 142r opening
Car type class, thus improve the convenience that user uses.
Compared with Figure 10, in fig. 11, the white line 236 shown in overhead view image region 222 is (especially left
Side) it is bending.This is due to cause camera 130l field range to generate deviation because the car door 142l in left side opens.
In addition, in Figure 11 picture, can also carry out automatic detection button 224 beats opening/closing.
Display picture 200b (Figure 11) phase when open with the display picture 200a (Figure 10) during usual state and car door
Compare, in the display picture 200c (Figure 12) when side mirror is packed up, " please be open down being shown as operation guiding information 214
Car mirror ", also, shown " side mirror closed mode, it is noted that " in overhead view image region 222 as pointing out information 240.
In addition, identical with Figure 11, in fig. 12, auto-steering starts button 218a, 218b can not be chosen state
(inactive state) is shown, and stops species selection label 216a, 216b can be chosen state (active state) display.Separately
Outside, in the display picture 200b when car door opens, it can not also show candidate position image 234 or be displayed as non-live
Dynamic state.
Compared with Figure 10, in fig. 12, the white line 236 shown in overhead view image region 222 is bending.This
It is due to because side mirror 144l, 144r are collapsed state, causes camera 130l, 130rt field range to generate deviation.
In addition, in Figure 12 picture, can also carry out automatic detection button 224 beats opening/closing.
During using 2 above-mentioned embodiment, with side door 142l, 142r or side mirror 144l, 144r it is (movable
Portion) movement, when camera 130l, 130rt (photographic unit) are not in carrying out stopping the normal position of auxiliary, forbid to vehicle
110 guiding (reference picture 9, Figure 11 and Figure 12).Therefore, in the autosensing mode (shape that automatic detection button 224 is opened
State) in, examined using the errors present different from physical location as candidate position Ppc (target parking position Pptar candidate)
Measure in the case of coming, can prevent from guiding vehicle 110 to the errors present.In addition, in fixed display pattern (automatic detection
224 pent state of button) in, driver while viewing around image Is (including overhead view image Ig) while make vehicle 110 with
Candidate position is similarly such in the case of being aligned.
In target parking position setting control in the 2nd embodiment, parking auxiliary ECU118 is used in carry out target
Parking species selection label 216a, 216b (operation diagram picture) (Figure 10~12) display of operation in parking spot setting control.
Detect side door 142l, 142r be closed mode and side mirror 144l, 144r be deployed condition (that is, camera 130l,
130rt is in normal position) in the case of (S31：It is → S32：It is), parking auxiliary ECU118, which is used in, to be started to vehicle 110
Guiding beginning button 218a, 218b (guiding start image) and parking species selection label 216a, 216b (operation diagram
Picture) it can be chosen (Figure 10).In addition, in the case where detecting that camera 130l, 130rt are not in normal position, selection
Label 216a, 216b can be chosen, and beginning button 218a, 218b can not be chosen (Figure 11 and Figure 12).
So as to, even in the case where camera 130l, 130rt are not in normal position (for example, side mirror 144l,
144r is during expansion), it can also be operated accordingly according to label 216a, 216b selection.So as to improve use
Convenience when family uses.
In the present embodiment, parking aid 112, which has, allows hand over autosensing mode and fixed display pattern
Automatic detection button 224 (pattern switching mechanism) (Figure 10~12).Automatic mode is automatic detection candidate position Ppc (targets
Parking spot Pptar candidate) pattern, fixed display pattern is without candidate position Ppc automatic detection, but is being bowed
Candidate position image 234 is set to fix the pattern of display in visible image Ig.
Parking auxiliary ECU118 detects that camera 130l, 130rt (are clapped in the state of autosensing mode is chosen
Take the photograph mechanism) when being in normal position, candidate position image 234 is associated display with from vehicle image 230, and make beginning button
218a, 218b (guiding starts image) can be chosen (reference picture 10).Parking auxiliary ECU118 is chosen in autosensing mode
In the state of selecting, when detecting that camera 130l, 130rt are not in normal position, candidate position image 234 can not shown
Or will be shown together from vehicle image 230 and the candidate position image 234 of inactive state, and make beginning button 218a,
218b is in can not selected state.
In addition, in the state of fixed display pattern is chosen, detecting that camera 130l, 130rt be in normal position
In the case of putting, parking auxiliary ECU118 makes the display that candidate position image 234 associates with from vehicle image 230, and makes out
Beginning, button 218a, 218b can be chosen (reference picture 10).Parking auxiliary ECU118 is in the fixed selected state of display pattern
Under, when detecting that camera 130l, 130rt are not in normal position, can make candidate position image 234 with from vehicle image
The display of 230 associations, and beginning button 218a, 218b is chosen (reference picture 11 and Figure 12).
According to said structure, according to selected target parking position Pptar setting pattern (autosensing mode and
Fixed display pattern) and camera 130l, 130rt position, allow hand over and start button 218a, 218b and candidate position
The display of image 234.That is, it is readily able to the selection for making user's identification to current target parking position Pptar setting pattern
And camera 130l, 130rt position.
In addition, the invention involved by the 2nd embodiment, it is not limited to above-mentioned embodiment, in the nature of things being capable of base
Various structures are used in the content described in this specification.For example, following structure can be used.
In above-mentioned 2nd embodiment, said in the case of parking aid 112 are being carried on vehicle 110
It is bright, for example, the movement of the movable part with moving body, detecting that camera 130l, 130rt (photographic unit) be not in carrying out
During the normal position of parking auxiliary (stopping auxiliary), forbid the guiding to moving body, also can be in vehicle from the viewpoint
Parking aid 112 (stopping servicing unit) is used in moving body (for example, ship) beyond 110.
In the above-described embodiment, as shooting surrounding image Is photographic unit, used camera 130f, 130rr,
130l and 130rt.But for example, with side mirror 142l, 142r or side mirror 144l, 144r movement, detecting to take the photograph
When being not in carrying out the normal position of parking auxiliary as head 130l, 130rt, forbid the guiding to vehicle 110, come from the viewpoint
See, also can only set one in left side side camera 130l and right side side camera 130rt or left side side is only set
Camera 130l and right side side camera 130rt.
In the above-described embodiment, the touch-screen 146 of guider 116 also serves as input mechanism and indication mechanism.But
For example, from the viewpoint of instruction of the input user to parking aid 112, touch-screen 146 can be not belonging to navigation dress
Put 116.The input mechanism (dedicated button, speech input device etc.) beyond touch-screen 146 can also be used in addition.
Furthermore such as from the viewpoint of display display picture 200, it can also use aobvious in addition to touch-screen 146
Show mechanism (for example, multifunctional information display (MID) or head-up display (HUD)).
In the above-described embodiment, the on off state (S31 in Fig. 9) and side mirror 144l according to side door 142l, 142r,
Two states of 144r on off state (S32), come detect camera 130l, 130rt whether in carrying out stop auxiliary just
Normal position.However, it is also possible to detected only in accordance with one of state.
In the above-described embodiment, even being not in normal position in camera 130l, 130rt as photographic unit
In the case of, also allow performance objective parking spot to set control, and forbid the guiding control after performing.But for example,
In the case that camera 130l, 130rt are not in normal position, aid in without parking, from the viewpoint, also can not
Only forbid guiding control, the execution for also forbidding goal-setting to control.
In the above-described embodiment, in the case where camera 130l, 130rt are not in normal position, in automatic detection
All forbid the beginning of auto-steering in pattern and fixed display pattern.But for example, forbid from autosensing mode certainly
Turn to beginning viewpoint on from the point of view of, can also allow to start auto-steering in fixed display pattern.
Although being provided with autosensing mode and fixed display pattern in the above-described embodiment, for example, imaging
In the case that head 130l, 130rt are not in normal position, forbid starting auto-steering, from the viewpoint, also can only set
One in fixed two patterns.
In the above-described embodiment, candidate position image 234 is configured at from the both sides of vehicle image 230 (Figure 10~12).
But for example, one in camera 130l, 130rt be not in normal position in the case of, forbid start auto-steering,
From the viewpoint, candidate position image 234 can also be merely displayed in from the left side of vehicle image 230 or right side.
In target parking position setting control in the above-described embodiment, target parking position Pptar can be turned into
Position (candidate position Ppc) shown as candidate position image 234 on touch-screen 146 (Figure 10~12).But example
Such as from sets target parking spot Pptar viewpoint, it is not limited to this.For example, also can be according to the behaviour of driver
Make, by the way that vehicle 110 is moved into the assigned position relative to target parking position Pptar (for example, making target parking position
The line of Pptar (parking frame) one end is located at the position on any extended line in side mirror 144l, 144r), carry out sets target
Parking spot Pptar.
In the above-described embodiment, in target parking position setting control, guided as by vehicle 110 to set
Target parking position Pptar control, guiding control (control of the operation of automatic travel direction disk 168) is used.But example
Such as, in the case where detecting that camera 130l, 130rt are not in carrying out the normal position of parking auxiliary control, forbid to car
110 guiding, from the viewpoint, also guiding in addition can be used to control.Stop automatically for example, can also use
Car control (is accelerated, braked, the control of variable block and steering) automatically
In the above-described embodiment, it is aobvious when the display picture 200b (Figure 10) when car door opens and side mirror are packed up
Show in picture 200c (Figure 11), auto-steering is started button 218a, 218b and shown with inactive state.But for example, from the beginning of
From the point of view of button 218a, 218b can not be in selected viewpoints, it can not also show and start button 218a, 218b.
In the above-described embodiment, with obtained by camera 130f, 130rr, 130l, 130rt forward image If, rear
Image Irr, left side side image Il and right side side image Irt are generated and are shown overhead view image Ig (reference picture 10~12).But
For example, from the viewpoint for only showing side image Isd, also can only with left side side image Il and right side side image Irt or
One in the two images of person generates and shows overhead view image Ig.
In the above-described embodiment, back parking can be selected as the parking species guided by auxiliary of stopping
(double parking) and a word stop.However, it is also possible to it is set as selecting parking species in addition (such as oblique to stop
Car).In addition, it can also be set as only selecting one kind in back parking or word parking.In this case, parking kind
Class selection label 216a, 216b can omit display.
Also it is possible to the input mechanism beyond the display button in display picture 200 (for example, in display picture 200
The dedicated operations button that position (such as steering wheel 168) in addition is set) select the species of parking.
In the above-described embodiment, as inputting vehicle drawing to the target parking position Pptar instructions guided
Beginning image is led, and has used auto-steering to start button 218a, 218b (Figure 10~12).But for example, only can be on a left side
Side or right side (being that the country for being only capable of, in left side, keeping to the right is only capable of on right side especially in the country to keep left) setting mesh
In the case of marking parking spot Pptar, one started in button 218a, 218b can also be used only.
Also it is possible to the input medium beyond display button in display picture 200 is (for example, in display picture 200
The dedicated operations button that position (such as steering wheel 168) in addition is set) to input guide the vehicle to target parking position
Pptar instruction.
Although in the above description, enumerating preferred embodiment the present invention is described, the present invention is not limited to
Above-mentioned embodiment, various modifications can be carried out without departing from the scope of the subject in the invention.
Claims (7)
1. a kind of parking aid (10A), has control unit (18A), the control unit (18A) is used to set vehicle (12A)
Target parking position, and perform and the parking of the vehicle (12A) guiding to the target parking position aided in into control, it is special
Sign is,
Before the parking auxiliary control is performed or in implementation procedure, the control unit (18A) with the presence or absence of possible to hampering
Hindering to the target parking position guides the mechanical obstacles factor of the vehicle (12A) to be judged, the machinery barrier be present
In the case of hindering factor, forbid the guiding to the vehicle (12A),
The mechanical obstacles factor refers to the action of parking brake,
The control unit (18A) determines the elapsed time during parking brake action,
In the case where judging that the elapsed time exceedes defined stand-by time, the control unit (18A) is forbidden to the car
The guiding of (12A),
In the case that the action of the parking brake is released from the defined stand-by time, the control unit (18A)
Continue the guiding to the vehicle (12A).
2. parking aid (10A) according to claim 1, it is characterised in that
The control unit (18A) has guiding control unit (72),
As the parking auxiliary control, the described guiding rotation of control unit (72) based on wheel persistently calculates the vehicle
The current state of (12A), and guided the vehicle (12A) to the target parking position based on the current state calculated
Put.
3. parking aid (10A) according to claim 2, it is characterised in that
Steering of the guiding control unit (72) only to the vehicle (12A) aids in.
4. parking aid (10A) according to claim 1, it is characterised in that
The control unit (18A) detects the gradient in place residing for the vehicle (12A), and institute is changed based on the gradient detected
State stand-by time.
5. a kind of parking aid (112), has control unit (118), the control unit (118) is used to set vehicle (110)
Target parking position, and perform and the parking of the vehicle (110) guiding to the target parking position aided in into control, it is special
Sign is,
Before the parking auxiliary control is performed or in implementation procedure, the control unit (118) with the presence or absence of possible to hampering
Hindering to the target parking position guides the mechanical obstacles factor of the vehicle (110) to be judged, the machinery barrier be present
In the case of hindering factor, forbid the guiding to the vehicle (110),
The parking aid (112) has photographic unit (130l, 130rt), and the photographic unit (130l, 130rt) sets
Put on the movable part (142l, 142r, 144l, 144r) positioned at the vehicle (110) sidepiece, to the side of the vehicle (110)
Fang Jinhang is shot,
It is auxiliary that surrounding's image that the control unit (118) is based on being obtained by the photographic unit (130l, 130rt) performs the parking
Control is helped, moreover,
When detecting that the photographic unit (130l, 130rt) is located at normal position, the control unit (118) starts guiding
Image is shown as being chosen, and the guiding starts image and is used to indicate that the guiding of the vehicle (110) starts,
Also, following situation is determined to have the mechanical obstacles factor by the control unit (118)：With the movable part
The movement of (142l, 142r, 144l, 144r), the photographic unit (130l, 130rt) are not in carrying out the parking auxiliary control
The normal position of system, when detecting the situation, be shown as can not the guiding is started into image for the control unit (118)
In the state of being chosen, forbid the guiding to the vehicle (110).
6. parking aid (112) according to claim 5, it is characterised in that
The control unit (118) is forbidden to the car when detecting that the side door (142l, 142r) as the movable part opens
The guiding of (110).
7. the parking aid (112) according to claim 5 or claim 6, it is characterised in that
The control unit (118) is forbidden to described when detecting that the side mirror (144l, 144r) as the movable part closes
The guiding of vehicle (110).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-209705 | 2013-10-04 | ||
| JP2013209701A JP5977724B2 (en) | 2013-10-04 | 2013-10-04 | Parking assistance device |
| JP2013209705A JP5834058B2 (en) | 2013-10-04 | 2013-10-04 | Parking assistance device |
| JP2013-209701 | 2013-10-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104512408A CN104512408A (en) | 2015-04-15 |
| CN104512408B true CN104512408B (en) | 2017-11-21 |
Family
ID=52788419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410513870.9A Active CN104512408B (en) | 2013-10-04 | 2014-09-29 | Parking aid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104512408B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020052887A1 (en) * | 2018-09-10 | 2020-03-19 | Wabco Gmbh | Transverse steering method and transverse steering device for moving a vehicle into a target position, and vehicle for this purpose |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9449390B1 (en) * | 2015-05-19 | 2016-09-20 | Ford Global Technologies, Llc | Detecting an extended side view mirror |
| US10144351B2 (en) * | 2015-05-29 | 2018-12-04 | Nissan Motor Co., Ltd. | Information presentation system |
| DE112015006714T5 (en) * | 2015-08-14 | 2018-05-17 | Ford Global Technologies, Llc | USER CONFIGURABLE VEHICLE PARKING AID SYSTEM |
| CN108583568A (en) * | 2017-03-10 | 2018-09-28 | 奥迪股份公司 | Parking assistance method, system and the vehicle equipped with the system |
| KR102205144B1 (en) * | 2017-07-07 | 2021-01-21 | 닛산 지도우샤 가부시키가이샤 | Parking assistance method and parking assistance device |
| JP6965810B2 (en) * | 2018-04-03 | 2021-11-10 | トヨタ自動車株式会社 | Parking support device |
| CN110386135B (en) * | 2018-04-16 | 2021-03-26 | 比亚迪股份有限公司 | Automatic parking control device, system, vehicle and method |
| CN110103712A (en) * | 2019-04-28 | 2019-08-09 | 浙江合众新能源汽车有限公司 | A kind of secure parking system suitable for motor vehicles |
| WO2021038790A1 (en) * | 2019-08-29 | 2021-03-04 | 日産自動車株式会社 | Parking assistance method and parking assistance device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3705256B2 (en) * | 2002-08-29 | 2005-10-12 | いすゞ自動車株式会社 | Automatic steering device |
| JP4345391B2 (en) * | 2003-08-29 | 2009-10-14 | トヨタ自動車株式会社 | Parking assistance device |
| JP2010184548A (en) * | 2009-02-10 | 2010-08-26 | Honda Motor Co Ltd | Vehicle operation supporting device |
| JP5278031B2 (en) * | 2009-02-24 | 2013-09-04 | 日産自動車株式会社 | Parking assistance device and parking assistance method |
| JP5594100B2 (en) * | 2010-12-01 | 2014-09-24 | 株式会社日本自動車部品総合研究所 | Driving assistance device |
-
2014
- 2014-09-29 CN CN201410513870.9A patent/CN104512408B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020052887A1 (en) * | 2018-09-10 | 2020-03-19 | Wabco Gmbh | Transverse steering method and transverse steering device for moving a vehicle into a target position, and vehicle for this purpose |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104512408A (en) | 2015-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104512408B (en) | Parking aid | |
| CN105416274B (en) | Outbound auxiliary device and outbound householder method | |
| KR101553459B1 (en) | Method and device for parking a vehicle | |
| JP6417994B2 (en) | Vehicle display control device and vehicle display control method | |
| CN105539572B (en) | Eph | |
| CN107792061B (en) | Parking assist apparatus | |
| CN109204137A (en) | Vehicle surrounding display device | |
| CN106427995A (en) | Parking assist system and method | |
| JP5991112B2 (en) | Parking assistance device, control method, and program | |
| WO2010098170A1 (en) | Parking assistance device | |
| US20190344828A1 (en) | Parking assist apparatus | |
| CN104812649B (en) | Controller of vehicle | |
| CN107685735A (en) | Controller of vehicle | |
| JP2011051586A (en) | Method of assisting driver | |
| JP2016060225A (en) | Parking support device, parking support method and control program | |
| JP2012056428A (en) | Driving support device | |
| CN110171421A (en) | Controller of vehicle | |
| CN104512463A (en) | Parking assisting device | |
| JP6500435B2 (en) | Parking assistance device | |
| CN109388137A (en) | Driving ancillary equipment and storage medium | |
| CN107792177A (en) | Parking assistance system | |
| CN106564493A (en) | Automatic parking assist system and method for operating the same | |
| JPH10264841A (en) | Parking guiding device | |
| CN104781124A (en) | Vehicle acceleration restriction device | |
| JP3744314B2 (en) | Vehicle collision prediction apparatus and collision prevention apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |