WO2010043944A1 - Parking assistance apparatus and control method thereof - Google Patents

Parking assistance apparatus and control method thereof Download PDF

Info

Publication number
WO2010043944A1
WO2010043944A1 PCT/IB2009/007105 IB2009007105W WO2010043944A1 WO 2010043944 A1 WO2010043944 A1 WO 2010043944A1 IB 2009007105 W IB2009007105 W IB 2009007105W WO 2010043944 A1 WO2010043944 A1 WO 2010043944A1
Authority
WO
WIPO (PCT)
Prior art keywords
movement mode
pointer
moved
button
target parking
Prior art date
Application number
PCT/IB2009/007105
Other languages
French (fr)
Inventor
Yasushi Makino
Tomohiko Endo
Yukiko Kawabata
Jun Miura
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2010043944A1 publication Critical patent/WO2010043944A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems

Definitions

  • the invention relates to a parking assistance apparatus and a control method thereof. More specifically, the invention relates to a parking assistance apparatus that sets a target parking position at which a vehicle should be parked, and that provides parking assistance so that the vehicle is parked at the set target parking position, and a control method thereof.
  • a target parking position at which the vehicle should be parked, is set, and the vehicle is automatically parked at the set position.
  • a target parking position is set in the following manner. That is, when the vehicle is operated so that the vehicle moves backward, a target parking frame is initially displayed in a display device.
  • the target parking frame that is initially displayed indicates a position at which, the vehicle is to be located if the vehicle moves backward while a steering wheel of the vehicle is turned to the maximum steering angle, and accordingly, the vehicle is turned by 90 degrees from the current position of the vehicle.
  • the user disposes the target parking frame at a desired position and at a desired angle by rotating the target parking frame that is initially displayed, using a joystick. Thus, the user sets the target parking position. Then, the parking assistance system described in the publication No. 2004-106615 executes a control so that the vehicle is automatically parked at the set target parking position.
  • the target parking frame that is initially displayed indicates the position at which the vehicle is to be located if the vehicle moves backward at the maximum steering angle, from the current position of the vehicle. Therefore, the user needs to rotate the target parking frame so that the target parking frame is disposed in a desired parking section using the joystick, in order to set the target parking frame at a desired position.
  • the user rotates the target parking frame so that the target parking frame is disposed in the desired parking section using the joystick the user needs to perform an operation extremely minutely.
  • the user needs to have a high-level ability of operating the joystick, and it takes time to set the target parking position. Therefore, the user may feel discomfort.
  • the target parking position is set by rotating the targetparking frame that is initially displayed. However, if the target parking frame is not disposed in the desired parking section by rotating the target parking frame that is initially displayed, the user needs to move the vehicle forward or backward in advance.
  • the invention provides a parking assistance apparatus that makes it possible for a user to easily and quickly set a target parking position when the user sets the target parking position using a remote operation device such as a joystick, and a control method thereof.
  • a first aspect of the invention relates to a parking assistance apparatus which sets a target parking position using a target parking frame superimposed on a taken image showing an area near a vehicle, and which provides parking assistance so that the vehicle is parked at the set target parking position.
  • the parking assistance apparatus includes a display device that displays the taken image; a remote operation device that is disposed at a position away from the display device, and that is used by a user to remotely operate a pointer superimposed on the taken image; a first movement portion that moves the target parking frame to a coordinate position in the taken image, when the user moves the pointer to the coordinate position and designates the coordinate position using the remote operation device; a second movement portion that moves the target parking frame in a direction associated with a direction button superimposed on the taken image, when the user selects the direction button using the remote operation device; and a switching portion that switches a movement mode between a first movement mode in which the target parking frame is moved by the first movement portion, and a second movement mode in which the target parking frame is moved by the second movement portion, according to a user's operation of the remote operation device.
  • the user moves the target parking frame using two movement modes, that is, the first movement mode and the second movement mode. Also, the user switches the movement mode between the first movement mode and the second movement mode by operating the remote operation device. Thus, it is possible for the user to easily and quickly move the target parking frame to a desired position even when the remote operation device is used.
  • the switching portion when the pointer is moved to a predetermined position in the taken image by the user's operation of the remote operation device, the switching portion may switch the movement mode to the second movement mode; and when the pointer is moved to a position other than the predetermined position, the switching portion may switch the movement mode to the first movement mode.
  • the predetermined position may be a button display region that includes the direction button.
  • the user switches the movement mode from the first movement mode to the second movement mode, by moving the pointer to the region where the direction button is disposed. Also, the user switches the movement mode from the second movement mode to the first movement mode by moving the pointer to a region where the direction button is not disposed. Thus, it is possible for the user to easily switch the movement mode.
  • the switching portion may display the direction button in a manner different from a manner in which the direction button is displayed in the first movement mode.
  • the switching portion when the movement mode has been switched from the first movement mode to the second movement mode, the switching portion may enlarge a size of a button display region that includes the direction button, as compared to the size of the button display region in the first movement mode.
  • the remote operation device may be a joystick.
  • the remote operation device may include an operation portion operated by the user, and an actuator that generates one of a first acting force and a second acting force that act on an operation of the operation portion, according to a signal transmitted from the switching portion; and when the pointer is moved to a position near a predetermined region on the taken image, the switching portion may transmit the signal to the remote operation device to generate one of the first acting force that acts on the operation portion so that the pointer is moved to the predetermined region, and the second acting force that acts on the operation portion so that the pointer is moved away from the predetermined region,
  • the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the display region in which the direction button is displayed.
  • the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the direction button.
  • the direction button may include a plurality of direction buttons that are associated with respective different directions; and when the pointer is moved to the preset region near one of the direction buttons, the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the. one of the direction buttons.
  • the switching portion may transmit the signal to the remote operation device to generate the second acting force that acts on the operation portion so that the pointer is moved away from the predetermined operation button.
  • the second acting force is generated so that the pointer is moved away from the predetermined operation button, in the first movement mode.
  • the operation button it is possible reduce the possibility that the user erroneously selects the operation button.
  • the parking assistance apparatus may further include a control portion that automatically guides the vehicle to the target parking position set in accordance with the target parking frame.
  • a second aspect of the invention relates to a method of controlling a parking assistance apparatus;, wherein the parking assistance apparatus sets a target parking position using a target parking frame superimposed on a taken image showing an area near a vehicle, and provides parking assistance so that the vehicle is parked at the set target parking position, and the parking assistance apparatus includes a display device that displays the taken image; a remote operation device that is disposed at a position away from the display device, and that is used by a user to remotely operate a pointer superimposed on the taken image.
  • the method includes switching a movement mode between a first movement mode and a second movement mode, according to a user's operation of the remote operation device.
  • the target parking frame is moved to the coordinate position.
  • the target parking frame is moved in a direction associated with the selected direction button.
  • FIG. 1 is a block -diagram showing the configuration of a parking assistance apparatus according to an embodiment of the invention
  • FIG. 2 is a diagram showing an image displayed in display means when a target parking position is set in a first movement mode in which a target parking frame is moved by first movement means;
  • FIG. 3 is a diagram showing an image displayed in the display means after the target parking frame is moved by designating a position Xl in a situation displayed in FIG 2 using remote operation means;
  • FIG. 4 is a diagram showing an image displayed in the display means when the target parking position is set in a second movement mode in which the target parking frame is moved by second movement means;
  • FIG. 5 is a diagram showing an image displayed in the display means after the target parking frame is moved from a position shown in FIG. 4 using a direction button;
  • FIG. 6 is a diagram showing a region set so that if a pointer is located in the region, switching means causes a first acting force to act on a lever of a joystick, when a movement mode is to be switched from the first movement mode to the second movement mode;
  • FIG. 7 is a diagram showing a situation where the switching means causes the first acting force to act on the lever of the joystick so that the pointer is moved to the direction button, when the pointer is located in a preset region near the direction button, in the second movement mode;
  • FIG 8 is a diagram showing a situation where the switching means causes a second acting force (reaction force) to act on the lever of the joystick so that the pointer is moved away from a predetermined operation button, when the pointer is located in a region near the predetermined operation button, in the first movement mode.
  • a second acting force reaction force
  • FIG. 1 is a block diagram showing the configuration of a parking assistance apparatus according to the embodiment of the invention.
  • FIG, 2 is a diagram showing an image displayed in display means when a target parking position is set in a first movement mode (direct movement mode) in which a target parking frame is moved by first movement means.
  • FIG 3 is a diagram showing an image displayed in the display means after the target parking frame is moved by designating a position Xl in a situation displayed in FIG. 2 using remote operation means.
  • FIG 4 is a diagram showing an image displayed in the display means when the target parking position is set in a second movement mode (direction movement mode) in which the target parking frame is moved by second movement means.
  • FIG. 1 is a block diagram showing the configuration of a parking assistance apparatus according to the embodiment of the invention.
  • FIG. 2 is a diagram showing an image displayed in display means when a target parking position is set in a first movement mode (direct movement mode) in which a target parking frame is moved by first movement means.
  • FIG 3 is a diagram showing an
  • FIG. 5 is a diagram showing an image displayed in the display means after the target parking frame is moved from a position shown in FIG. 4 using a direction button.
  • FIG. 6 is a diagram showing a region set so that if a pointer is located in the region, switching means causes a first acting force to act on a lever of a joystick, when a movement mode is to be switched from the first movement mode to the second movement mode.
  • FIG. 7 is a diagram showing a situation where the switching means causes the first acting force to act on the lever of the joystick so that the pointer is moved to the direction button, when the pointer is located in a preset region near the direction button, in the second movement mode.
  • FIG. 6 is a diagram showing a region set so that if a pointer is located in the region, switching means causes a first acting force to act on a lever of a joystick, when a movement mode is to be switched from the first movement mode to the second movement mode.
  • FIG. 7 is a diagram showing a situation where the
  • FIG. 8 is a diagram showing a situation where the switching means causes a second acting force (reaction force) to act on the lever of the joystick so that the pointer is moved away from a predetermined operation button, when the pointer is located in a region near the predetermined operation button, in the first movement mode.
  • a second acting force reaction force
  • FIG. 2 shows a target parking frame 20 that indicates the target parking position; a parking base point position 21 that is one end of the target parking frame 20; direction buttons 22 that indicate directions in which the target parking frame 20 may be moved by second movement means 12; a button display region 23 that is a region where the direction buttons 22 are displayed; a pointer 24; and operation buttons 25 used to operate a parking assistance apparatus 1.
  • the parking assistance apparatus 1 includes a parking assistance Electronic Control Unit (ECU) 2; a display 3; a back camera 4; an electric power steering 5; and a joystick 6.
  • ECU Electronic Control Unit
  • the target parking position is set using the target parking frame 20 superimposed on a taken image showing an area near a vehicle.
  • the parking assistance apparatus 1 provides parking assistance so that the vehicle is parked at the target parking position that is set.
  • portions of the parking assistance apparatus 1 shown in FIG. 1 will be described.
  • the parking assistance Electronic Control Unit (ECU) 2 controls the parking assistance apparatus 1.
  • the parking assistance ECU 2 is connected to the display 3, the back camera 4, the electric power steering 5, and the joystick 6.
  • the parking assistance ECU 2 includes first movement means (direct movement means ' ) U; the second movement means (direction movement means) 12; switching means 13; and control means 14.
  • the user sets the target parking position by moving the target parking frame 20 to the position at which the vehicle should be parked in the taken image, using the joystick 6.
  • the target parking frame 20 is moved by each of the first movement means 11 and the second movement means 12.
  • the control means 14 calculates a path to the set target parking position, and controls the electric power steering 5 so that the host vehicle travels along the path,
  • the first movement means 11 , the second movement means 12, and the switching means 13 will be described later.
  • the display 3 is a display device that is used to operate the parking assistance apparatus 1, and that displays the taken image showing an area behind the vehicle while a parking assistance operation is performed by the parking assistance apparatus 1.
  • the display 3 is disposed at such a position that the display 3 is visible to the user.
  • the display 3 is disposed near a front windshield at such a position that it is difficult for the user to operate the display 3.
  • the display 3 displays the image showing the area behind the host vehicle, which is taken with the back camera 4.
  • the display 3 may be also used as, for example, display means of a vehicle navigation system.
  • the back camera 4 is disposed in a rear portion of the host vehicle to take the image of the area near and behind the host vehicle.
  • the image taken with the back camera 4 is displayed in the display 3 through the parking assistance ECU 2 in real time.
  • the electric power steering 5 includes an electric motor that rotates a steering shaft to generate torque.
  • the electric motor generates torque for steering the host vehicle.
  • the control means 14 controls the electric power steering 5 so that the host vehicle reaches the target parking position.
  • the joystick 6 is remote operation means used to remotely perform an input operation for the parking assistance apparatus 1.
  • the joystick 6 is disposed at such a position that the joystick 6 can be operated by the user such as a driver, that is, the joystick 6 is disposed at a position away from the display 3.
  • the joystick 6 is disposed in an upper portion of a console box on the side of a driver's seat so that the driver can operate the joystick 6.
  • the pointer 24 is displayed in the display 3. The pointer 24 points a position operated using the joystick 6.
  • the joystick 6 includes a lever (not shown) used to operate the pointer 24; a designation button (not shown) used to designate the position pointed by the pointer 24; and an actuator (not shown) that generates the first acting force or the second acting force (reaction force) that acts on the lever, when the joystick 6 receives a signal for generating the first acting force or the second acting force.
  • the first movement means 11 moves the target parking frame 20 directly to the coordinate position.
  • the user moves the pointer 24 to the desired position in the taken image displayed in the display 3, by operating the lever of the joystick 6.
  • the user inputs the position pointed by the pointer 24, by pushing the designation button of the joystick 6.
  • the first movement means 11 acquires the coordinate position pointed by the pointer 24, and moves the target parking frame 20 directly so that the parking base point position 21 is located at the coordinate position.
  • FIG. 2 shows a situation before the target parking frame 20 is moved by the first movement means 11.
  • the target parking frame 20 is moved so that the parking base point position 21 is located at the position Xl, as shown in FIG. 3.
  • the second movement means 12 moves the target parking frame 20 in the direction associated with the selected direction button 22.
  • the user moves the pointer 24 onto the direction button 22 superimposed on the taken image displayed on the display 3, by operating the lever of the joystick 6.
  • the user selects the direction button 22 located at the position pointed by the pointer 24, by pushing the designation button of the joystick 6.
  • the second movement means 12 moves the target parking frame 20 through a predetermined distance in the direction indicated by the selected direction button 22.
  • FIG. 4 shows a situation before the target parking frame 20 is moved by the second movement means 12.
  • the target parking frame 20 is moved through the predetermined distance in the direction indicated by the direction button 22a (i.e., in an oblique direction toward an upper left position in FIG. 4).
  • the user designates the direction button 22a a plurality of times the target parking frame 20 is moved to the desired position as shown in FIQ 5,
  • the switching means 13 switches the movement mode between the first movement mode in which the target parking frame 20 is moved by the first movement means 11 , and the second movement mode in which the target parking frame 20 is moved by the second movement means 12. according to the user's operation of the joystick 6 that is the remote operation means. As described above, there are two methods of moving the target parking frame 20 to a desired position. In one of the methods, the target parking frame 20 is moved by the first movement means 11, and in the other method, the target parking frame 20 is moved by the second movement means 12, The switching means 13 switches the movement mode between the two modes in each of which the target parking frame 20 is moved by the corresponding one of the two movement means.
  • the switching means 13 switches the movement mode in a manner described below, That is, when the position pointed by the pointer 24 is moved into an inside of the button display region 23 from an outside of the button display region 23 by the operation of the joystick 6, the movement mode is switched from the first movement mode to the second movement mode.
  • the switching means 13 enlarges the size of the button display region 23 as shown in FIG. 4, as compared to the size of the button display region 23 in the first movement mode.
  • the size of the button display region 23 is enlarged to 125% of the size of the v button display region 23 in the first movement mode, and the size of each direction button 22 is enlarged to 125% of the size of the direction button 22 in the first movement mode.
  • the user recognizes that the movement mode has been switched to the second movement mode, and easily selects the desired direction button 22.
  • the color of the button display region 23 may be changed so that the color of the button display region 23 in the second movement mode is different from that in the first movement mode.
  • the movement mode is switched from the second movement mode to the first movement mode.
  • the switching means 13 returns the size of the button display region 23 to the size of button display region 23 in the first movement mode, and returns the size of each direction button 22 to the size of the direction button 22 in the first movement mode.
  • the movement mode is switched between the first movement mode in which the target parking frame 20 is moved by the first movement means 11, and the second movement mode in which the target parking frame 20 is moved by the second movement means 12.
  • the user easily and quickly moves the target parking frame 20 to a desired position, by selectively using the two modes.
  • the movement mode is switched by moving the position of the pointer 24. the target parking position is extremely easily set even when the joystick 6 is used.
  • the movement mode is switched by operating the joystick 6 to move the position of the pointer 24 into the button display region 23.
  • the movement mode may be switched by a method different from the above-described method. For example, when the pointer 24 points a switching button displayed on the taken image, the movement mode may be switched.
  • the joystick is used as the remote operation means in the embodiment, a pointing device other than the joystick, which remotely operates the pointer 24, may be used in the other embodiment. For example, a track ball or a touch pad may be used.
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved into the button display region 23 (i.e., the switching means 13 causes the force to act on the lever of the joystick 6 so that the pointer 24 is moved in a direction indicated by a first moving direction arrow 40).
  • a moving region 27, which surrounds the button display region 23, is shown by a dashed line, and directions, in which the pointer 24 may be moved, are shown by the first moving direction arrows 40.
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward the button display region 23 (i.e., upward in FIG. 6). That is, the switching means 13 transmits a signal to the joystick 6 to generate the first acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved into the button display region 23.
  • the joystick 6 receives the signal for generating the first acting force, the force is generated using the actuator, and the force acts on the lever of the joystick 6 so that the pointer 24 is moved toward the inside of the button display region 23.
  • the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved in a direction from the coordinate position of the pointer 24 to a point that is located on an outline of the button display region 23, and that is closest to the coordinate position of the pointer 24.
  • the first moving direction arrows 40 and the moving region 27 are shown in FIG. 6 for ease of explanation, the first moving direction arrows 40 and the moving region 27 are not actually shown.
  • the switching means 13 does not cause the first acting force to act on the lever of the joystick 6.
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22, in a manner similar to the manner in which the first acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the button display region 23 in the first movement mode. As shown in FIG.
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved to the one direction button 22 closest to the position of the pointer 24.
  • the first moving direction arrows 40 are shown.
  • the first moving direction arrows 40 show the directions in which the pointer 24 may be moved when the first acting force is generated.
  • one region that includes all the direction buttons 22 is divided into partial regions in each of which one direction button 22 is disposed.
  • the partial regions, which correspond to the respective direction button 22, are shown by dashed lines.
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward a center position 28 of the direction burton 22 in the one partial region (i.e., toward the center position 28 of the direction button 22a in FIG. 7).
  • the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward the direction button 22b.
  • the user reliably and quickly moves the pointer 24 onto the desired direction button 22 only by tilting the lever of the joystick 6 toward the desired direction button 22. Accordingly, the user easily selects the desired direction button 22, and moves the target parking frame 20 to a desired position, even when the joystick 6 is used.
  • the second acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25 used to operate the parking assistance apparatus 1.
  • the switching means 13 causes the second acting force to act on the lever of the joystick 6.
  • the pointer 24 When the second acting force acts on the lever of the joystick 6, the pointer 24 is moved in the direction opposite to the direction in which the pointer 24 is moved when the above-described first acting force acts on the lever of the joystick 6 (i.e., the pointer 24 is moved in the direction shown by a second moving direction arrow 41).
  • the user In the first movement mode, the user is to move the target parking frame directly to a desired position.
  • the operation buttons 25 are used to operate the parking assistance apparatus 1, and are selected to use various functions. Some of the operation buttons 25 (for example, the above-described help button 25c) are not necessarily frequently used when the target parking frame 20 is moved. Thus, because the second acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25, it is possible to reduce the possibility that the user erroneously selects the operation button 25 using the pointer 24 in the first movement mode. In contrast, the reaction force generation region 29 is not provided around an OK button 25a that is one of the operation buttons 25.
  • the OK button is frequently selected by the user. Therefore, when the pointer 24 is moved to a position near the OK button 25a, the second acting force is not caused to act on the lever of the joystick 6, and thus, the pointer 24 is not moved away from the OK button 25a. Thus, the user easily performs the appropriate operation.
  • the first acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22, and the second acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25.
  • the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the predetermined region, or the second acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the predetermined region.
  • the second acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from a region where an obstacle near the vehicle is displayed on the taken image.
  • a region that is a possible target parking position may be calculated in advance, and the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the region.
  • the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the region.
  • the first acting force may be caused to act on the lever of the joystick 6 to move the pointer 24 to the direction button 22 so that the target parking frame 20 is moved toward the region that is the possible target parking position.
  • the switching means 13 transmits the signal to the joystick 6 to generate the acting force that acts on the lever of the joystick 6, that is, to generate the first acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved to the predetermined region, or to generate the second acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved away from the predetermined region.
  • the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved to the button image displayed on the taken image (i.e., the above-described direction button 22).
  • the second acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved away from the button image (i.e., the operation button 25), based on the function and the operating state of the button image. That is, for example, as described above, in the second movement mode, the user is to move the target parking frame 20 in the direction indicated by the direction button 22. Accordingly, in this case, it is considered that the user has a strong intention to select the direction button 22.
  • the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22.
  • the user is to move the target parking frame 20 directly to the position of the pointer 24, and some of the operation buttons 22 are not frequently selected by the user.
  • the second acting force is generated to act on the leve ⁇ of the joystick 6 so that the pointer 24 is moved away from the operation button 25 rather than generating the first acting force that acts on the lever so that the pointer 24 is moved to the operation button 25.
  • the user operates the joystick 6 more easily.
  • the first acting force and the second acting force are caused to act on the lever of the joystick 6.
  • remote operation means including an operation portion and an actuator may be used.
  • the operation portion is operated by the user, and the actuator generates the acting force that acts on the operation of the operation portion according to a signal from the switching means 13.
  • the switching means 13 may transmit a signal to the remote operation means to generate the first acting force that acts on the operation portion so that the pointer 24 is moved to the predetermined region, or to generate the second acting force that acts on the operation portion so that the pointer 24 is moved away from the predetermined region.
  • the electric power steering 5 is controlled by the control means 14 in the embodiment, the vehicle may be guided to the target parking position in other manners. For example, the vehicle may be guided to the target parking position by displaying a path to the target parking position in a display device.
  • the parking assistance apparatus when the user sets the target parking position using the remote operation means, it is possible for the user to easily set the target parking position,
  • the parking assistance apparatus according to the embodiment may be used as a parking assistance apparatus for a vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • User Interface Of Digital Computer (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

A parking assistance apparatus, which sets a target parking position using a target parking frame (20), includes a first movement portion (11) that moves the target parking frame (20) to a coordinate position, when a user moves a pointer (24), which is superimposed on a taken image showing an area near the vehicle, to the coordinate position and designates the coordinate position using a remote operation device (6); a second movement portion (12) that moves the target parking frame (2O)5 when the user selects a direction button (22) superimposed on the taken image using the remote operation device (6); and a switching portion (13) that switches a movement mode between a first movement mode in which the target parking frame (20) is moved by the first movement portion (11), and a second movement mode in which the target parking frame (20) is moved by the second movement portion (12), according to a user's operation of the remote operation device (6).

Description

PARKING ASSISTANCE APPARATUS AND CONTROL METHOD THEREOF
BACKGROUND OF THE INVENTION
1. Field of the Invention
[0001] The invention relates to a parking assistance apparatus and a control method thereof. More specifically, the invention relates to a parking assistance apparatus that sets a target parking position at which a vehicle should be parked, and that provides parking assistance so that the vehicle is parked at the set target parking position, and a control method thereof.
2. Description of the Related Art
[0002] There has been a technology in which when a vehicle is to be parked, a target parking position, at which the vehicle should be parked,, is set, and the vehicle is automatically parked at the set position. For example, in a parking assistance system described in Japanese Patent Application Publication No. 2004-106615 (JP-A-2004-106615), a target parking position is set in the following manner. That is, when the vehicle is operated so that the vehicle moves backward, a target parking frame is initially displayed in a display device. The target parking frame that is initially displayed indicates a position at which, the vehicle is to be located if the vehicle moves backward while a steering wheel of the vehicle is turned to the maximum steering angle, and accordingly, the vehicle is turned by 90 degrees from the current position of the vehicle. The user disposes the target parking frame at a desired position and at a desired angle by rotating the target parking frame that is initially displayed, using a joystick. Thus, the user sets the target parking position. Then, the parking assistance system described in the publication No. 2004-106615 executes a control so that the vehicle is automatically parked at the set target parking position.
[0003] As described above, in the parking assistance system described in the publication No. 2004-106615, the target parking frame that is initially displayed indicates the position at which the vehicle is to be located if the vehicle moves backward at the maximum steering angle, from the current position of the vehicle. Therefore, the user needs to rotate the target parking frame so that the target parking frame is disposed in a desired parking section using the joystick, in order to set the target parking frame at a desired position. When the user rotates the target parking frame so that the target parking frame is disposed in the desired parking section using the joystick, the user needs to perform an operation extremely minutely. However, in general, it is difficult to minutely perform an adjustment operation using the joystick. This makes it difficult to set the target parking position. Accordingly, in the parking assistance system described in the publication No. 2004-106615, the user needs to have a high-level ability of operating the joystick, and it takes time to set the target parking position. Therefore, the user may feel discomfort. Also, in the parking assistance system described in the publication No. 2004-106615, the target parking position is set by rotating the targetparking frame that is initially displayed. However, if the target parking frame is not disposed in the desired parking section by rotating the target parking frame that is initially displayed, the user needs to move the vehicle forward or backward in advance.
SUMMARY OF THE INVENTION
[0004] The invention provides a parking assistance apparatus that makes it possible for a user to easily and quickly set a target parking position when the user sets the target parking position using a remote operation device such as a joystick, and a control method thereof.
[0005] A first aspect of the invention relates to a parking assistance apparatus which sets a target parking position using a target parking frame superimposed on a taken image showing an area near a vehicle, and which provides parking assistance so that the vehicle is parked at the set target parking position. The parking assistance apparatus includes a display device that displays the taken image; a remote operation device that is disposed at a position away from the display device, and that is used by a user to remotely operate a pointer superimposed on the taken image; a first movement portion that moves the target parking frame to a coordinate position in the taken image, when the user moves the pointer to the coordinate position and designates the coordinate position using the remote operation device; a second movement portion that moves the target parking frame in a direction associated with a direction button superimposed on the taken image, when the user selects the direction button using the remote operation device; and a switching portion that switches a movement mode between a first movement mode in which the target parking frame is moved by the first movement portion, and a second movement mode in which the target parking frame is moved by the second movement portion, according to a user's operation of the remote operation device.
[0006] According to the first aspect of the invention, the user moves the target parking frame using two movement modes, that is, the first movement mode and the second movement mode. Also, the user switches the movement mode between the first movement mode and the second movement mode by operating the remote operation device. Thus, it is possible for the user to easily and quickly move the target parking frame to a desired position even when the remote operation device is used.
[0007] In the first aspect of the invention, when the pointer is moved to a predetermined position in the taken image by the user's operation of the remote operation device, the switching portion may switch the movement mode to the second movement mode; and when the pointer is moved to a position other than the predetermined position, the switching portion may switch the movement mode to the first movement mode.
[0008] With the configuration, the user switches the movement mode between the first movement mode and the second movement mode by moving the pointer to the predetermined position by operating the remote operation device. Thus, it is possible to switch the movement mode by the simple operation.
[0009] In the first aspect of the invention, the predetermined position may be a button display region that includes the direction button.
[0010] With the configuration, the user switches the movement mode from the first movement mode to the second movement mode, by moving the pointer to the region where the direction button is disposed. Also, the user switches the movement mode from the second movement mode to the first movement mode by moving the pointer to a region where the direction button is not disposed. Thus, it is possible for the user to easily switch the movement mode.
[0011] In the first aspect of the invention, when the movement mode has been switched from the first movement mode to the second movement mode, the switching portion may display the direction button in a manner different from a manner in which the direction button is displayed in the first movement mode.
[0012] With the configuration, it is possible for the user to easily recognize that the movement mode has been switched from the first movement mode to the second movement mode.
[0013] In the first aspect of the invention, when the movement mode has been switched from the first movement mode to the second movement mode, the switching portion may enlarge a size of a button display region that includes the direction button, as compared to the size of the button display region in the first movement mode.
[0014] With the configuration, because the size of the direction button is enlarged, it is possible for the user to easily recognize that the movement mode has been switched from the first movement mode to the second movement mode. Further, it is possible for the user to easily select the desired direction button.
[0015] In the first aspect of the invention, the remote operation device may be a joystick.
[0016] With the configuration, it is possible to perform a remote operation by operating the joystick.
[0017] In the first aspect of the invention, the remote operation device may include an operation portion operated by the user, and an actuator that generates one of a first acting force and a second acting force that act on an operation of the operation portion, according to a signal transmitted from the switching portion; and when the pointer is moved to a position near a predetermined region on the taken image, the switching portion may transmit the signal to the remote operation device to generate one of the first acting force that acts on the operation portion so that the pointer is moved to the predetermined region, and the second acting force that acts on the operation portion so that the pointer is moved away from the predetermined region,
[0018] With the configuration, when the pointer is moved to a position near the predetermined region, the first acting force is generated in the remote operation device so that the pointer is moved to the predetermined region, or the second acting force is generated in the remote operation device so that the pointer is moved away from the predetermined region. Thus, it is possible for the user to easily operate the remote operation device.
[0019] In the first aspect of the invention, when the pointer is moved to a position near a display region in which the direction button is displayed in the first movement mode, the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the display region in which the direction button is displayed.
[0020] With the configuration, when the movement mode is to be switched from the first movement mode to the second movement mode, the first acting force is caused to act on the operation portion of the remote operation device so that the pointer is moved to the display region where the direction button is displayed. Thus, when the movement mode is to be switched from the first movement mode to the second movement mode, the remote operation device is easily operated.
[002X] In the first aspect of the invention, when the pointer is moved to a preset region near the direction button in the second movement mode, the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the direction button. The direction button may include a plurality of direction buttons that are associated with respective different directions; and when the pointer is moved to the preset region near one of the direction buttons, the switching portion may transmit the signal to the remote operation device to generate the first acting force that acts on the operation portion so that the pointer is moved to the. one of the direction buttons. [0022] With the configuration, the first acting force is generated so that the pointer is moved to the desired direction button, in the second movement mode. Thus, when the user selects the desired direction button, the user easily operates the remote operation device.
[0023J In the first aspect of the invention, when the pointer is moved to a position near a predetermined operation button that is a button other than the direction button, and that is superimposed on the taken image and is used to operate the parking assistance apparatus, the switching portion may transmit the signal to the remote operation device to generate the second acting force that acts on the operation portion so that the pointer is moved away from the predetermined operation button.
[0024] With the configuration, the second acting force is generated so that the pointer is moved away from the predetermined operation button, in the first movement mode. Thus, it is possible reduce the possibility that the user erroneously selects the operation button.
[0025] The parking assistance apparatus according to the first aspect of the invention may further include a control portion that automatically guides the vehicle to the target parking position set in accordance with the target parking frame.
[0026] A second aspect of the invention relates to a method of controlling a parking assistance apparatus;, wherein the parking assistance apparatus sets a target parking position using a target parking frame superimposed on a taken image showing an area near a vehicle, and provides parking assistance so that the vehicle is parked at the set target parking position, and the parking assistance apparatus includes a display device that displays the taken image; a remote operation device that is disposed at a position away from the display device, and that is used by a user to remotely operate a pointer superimposed on the taken image. The method includes switching a movement mode between a first movement mode and a second movement mode, according to a user's operation of the remote operation device. In the first movement mode, when the user moves the pointer to a coordinate position in the taken image, and designates the coordinate position using the remote operation device, the target parking frame is moved to the coordinate position. In the second movement mode, when the user selects a direction button superimposed on the taken image using the remote operation device, the target parking frame is moved in a direction associated with the selected direction button.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] The foregoing and further objects, features and advantages of the invention will become apparent from the following description of example embodiments with reference to the accompanying drawings, wherein like numerals are used to represent like elements and wherein:
FIG. 1 is a block -diagram showing the configuration of a parking assistance apparatus according to an embodiment of the invention;
FIG. 2 is a diagram showing an image displayed in display means when a target parking position is set in a first movement mode in which a target parking frame is moved by first movement means;
FIG. 3 is a diagram showing an image displayed in the display means after the target parking frame is moved by designating a position Xl in a situation displayed in FIG 2 using remote operation means;
FIG. 4 is a diagram showing an image displayed in the display means when the target parking position is set in a second movement mode in which the target parking frame is moved by second movement means;
FIG. 5 is a diagram showing an image displayed in the display means after the target parking frame is moved from a position shown in FIG. 4 using a direction button;
FIG. 6 is a diagram showing a region set so that if a pointer is located in the region, switching means causes a first acting force to act on a lever of a joystick, when a movement mode is to be switched from the first movement mode to the second movement mode;
FIG. 7 is a diagram showing a situation where the switching means causes the first acting force to act on the lever of the joystick so that the pointer is moved to the direction button, when the pointer is located in a preset region near the direction button, in the second movement mode; and
FIG 8 is a diagram showing a situation where the switching means causes a second acting force (reaction force) to act on the lever of the joystick so that the pointer is moved away from a predetermined operation button, when the pointer is located in a region near the predetermined operation button, in the first movement mode.
DETAILED DESCRIPTION OF EMBODIMENTS
[0028J A parking assistance apparatus according to an embodiment of the invention will be described with reference to the drawings.
[0029] FIG. 1 is a block diagram showing the configuration of a parking assistance apparatus according to the embodiment of the invention. FIG, 2 is a diagram showing an image displayed in display means when a target parking position is set in a first movement mode (direct movement mode) in which a target parking frame is moved by first movement means. FIG 3 is a diagram showing an image displayed in the display means after the target parking frame is moved by designating a position Xl in a situation displayed in FIG. 2 using remote operation means. FIG 4 is a diagram showing an image displayed in the display means when the target parking position is set in a second movement mode (direction movement mode) in which the target parking frame is moved by second movement means. FIG. 5 is a diagram showing an image displayed in the display means after the target parking frame is moved from a position shown in FIG. 4 using a direction button. FIG. 6 is a diagram showing a region set so that if a pointer is located in the region, switching means causes a first acting force to act on a lever of a joystick, when a movement mode is to be switched from the first movement mode to the second movement mode. FIG. 7 is a diagram showing a situation where the switching means causes the first acting force to act on the lever of the joystick so that the pointer is moved to the direction button, when the pointer is located in a preset region near the direction button, in the second movement mode. FIG. 8 is a diagram showing a situation where the switching means causes a second acting force (reaction force) to act on the lever of the joystick so that the pointer is moved away from a predetermined operation button, when the pointer is located in a region near the predetermined operation button, in the first movement mode.
[0030] FIG. 2 shows a target parking frame 20 that indicates the target parking position; a parking base point position 21 that is one end of the target parking frame 20; direction buttons 22 that indicate directions in which the target parking frame 20 may be moved by second movement means 12; a button display region 23 that is a region where the direction buttons 22 are displayed; a pointer 24; and operation buttons 25 used to operate a parking assistance apparatus 1.
[0031] As shown in FIG, 1, the parking assistance apparatus 1 includes a parking assistance Electronic Control Unit (ECU) 2; a display 3; a back camera 4; an electric power steering 5; and a joystick 6. In the parking assistance apparatus 1, the target parking position is set using the target parking frame 20 superimposed on a taken image showing an area near a vehicle. Then, the parking assistance apparatus 1 provides parking assistance so that the vehicle is parked at the target parking position that is set. Hereinafter, portions of the parking assistance apparatus 1 shown in FIG. 1 will be described.
[Description of the portions of the parking assistance apparatus 1]
[0032] The parking assistance Electronic Control Unit (ECU) 2 controls the parking assistance apparatus 1. The parking assistance ECU 2 is connected to the display 3, the back camera 4, the electric power steering 5, and the joystick 6. The parking assistance ECU 2 includes first movement means (direct movement means') U; the second movement means (direction movement means) 12; switching means 13; and control means 14. The user sets the target parking position by moving the target parking frame 20 to the position at which the vehicle should be parked in the taken image, using the joystick 6. The target parking frame 20 is moved by each of the first movement means 11 and the second movement means 12. Thus, the user sets the target parking position to a desired position by moving the target parking frame 20. The control means 14 calculates a path to the set target parking position, and controls the electric power steering 5 so that the host vehicle travels along the path, The first movement means 11 , the second movement means 12, and the switching means 13 will be described later.
[0033] The display 3 is a display device that is used to operate the parking assistance apparatus 1, and that displays the taken image showing an area behind the vehicle while a parking assistance operation is performed by the parking assistance apparatus 1. The display 3 is disposed at such a position that the display 3 is visible to the user. For example, the display 3 is disposed near a front windshield at such a position that it is difficult for the user to operate the display 3. For example, when, a shift lever is at a reverse position in the host vehicle, the display 3 displays the image showing the area behind the host vehicle, which is taken with the back camera 4. The display 3 may be also used as, for example, display means of a vehicle navigation system.
[0034] The back camera 4 is disposed in a rear portion of the host vehicle to take the image of the area near and behind the host vehicle. The image taken with the back camera 4 is displayed in the display 3 through the parking assistance ECU 2 in real time.
[0035] The electric power steering 5 includes an electric motor that rotates a steering shaft to generate torque. In the electric power steering 5, the electric motor generates torque for steering the host vehicle. The control means 14 controls the electric power steering 5 so that the host vehicle reaches the target parking position.
[0036] The joystick 6 is remote operation means used to remotely perform an input operation for the parking assistance apparatus 1. The joystick 6 is disposed at such a position that the joystick 6 can be operated by the user such as a driver, that is, the joystick 6 is disposed at a position away from the display 3. For example, the joystick 6 is disposed in an upper portion of a console box on the side of a driver's seat so that the driver can operate the joystick 6. The pointer 24 is displayed in the display 3. The pointer 24 points a position operated using the joystick 6. The joystick 6 includes a lever (not shown) used to operate the pointer 24; a designation button (not shown) used to designate the position pointed by the pointer 24; and an actuator (not shown) that generates the first acting force or the second acting force (reaction force) that acts on the lever, when the joystick 6 receives a signal for generating the first acting force or the second acting force.
[0037] The portions of the parking assistance apparatus 1 have been described. Next, the first movement means 11, the second movement means 12, and the switching means 13 will be described with reference to FIG 2 to FIG 8.
{0038] When the user inputs a coordinate position in the displayed image using the joystick 6 that is the remote operation means, the first movement means 11 moves the target parking frame 20 directly to the coordinate position. The user moves the pointer 24 to the desired position in the taken image displayed in the display 3, by operating the lever of the joystick 6. Next, the user inputs the position pointed by the pointer 24, by pushing the designation button of the joystick 6. Then, the first movement means 11 acquires the coordinate position pointed by the pointer 24, and moves the target parking frame 20 directly so that the parking base point position 21 is located at the coordinate position.
[0039] FIG. 2 shows a situation before the target parking frame 20 is moved by the first movement means 11. When the user moves the pointer 24 to the position Xl using the joystick 6, and pushes the designation button of the joystick 6 in FIG 2, the target parking frame 20 is moved so that the parking base point position 21 is located at the position Xl, as shown in FIG. 3.
[0040] When the user selects the direction button 22, which indicates a desired direction, from among the plurality of direction buttons 22 (22a to 22f) superimposed on the taken image displayed in the display 3, using the joystick 6 that is the remote operation means, the second movement means 12 moves the target parking frame 20 in the direction associated with the selected direction button 22. The user moves the pointer 24 onto the direction button 22 superimposed on the taken image displayed on the display 3, by operating the lever of the joystick 6. Next, the user selects the direction button 22 located at the position pointed by the pointer 24, by pushing the designation button of the joystick 6. Then, the second movement means 12 moves the target parking frame 20 through a predetermined distance in the direction indicated by the selected direction button 22. [0041) FlG. 4 shows a situation before the target parking frame 20 is moved by the second movement means 12. In FIG. 4, when the user operates the joystick 6 so that the pointer 24 points the direction button 22a, and then, pushes the designation button of the joystick 6, the target parking frame 20 is moved through the predetermined distance in the direction indicated by the direction button 22a (i.e., in an oblique direction toward an upper left position in FIG. 4). Then, when the user designates the direction button 22a a plurality of times, the target parking frame 20 is moved to the desired position as shown in FIQ 5,
[0042] The switching means 13 switches the movement mode between the first movement mode in which the target parking frame 20 is moved by the first movement means 11 , and the second movement mode in which the target parking frame 20 is moved by the second movement means 12. according to the user's operation of the joystick 6 that is the remote operation means. As described above, there are two methods of moving the target parking frame 20 to a desired position. In one of the methods, the target parking frame 20 is moved by the first movement means 11, and in the other method, the target parking frame 20 is moved by the second movement means 12, The switching means 13 switches the movement mode between the two modes in each of which the target parking frame 20 is moved by the corresponding one of the two movement means.
[0043] The switching means 13 switches the movement mode in a manner described below, That is, when the position pointed by the pointer 24 is moved into an inside of the button display region 23 from an outside of the button display region 23 by the operation of the joystick 6, the movement mode is switched from the first movement mode to the second movement mode. When the movement mode has been switched from the first movement mode (for example, FIG. 2) to the second movement mode (for example, FIG. 4), the switching means 13 enlarges the size of the button display region 23 as shown in FIG. 4, as compared to the size of the button display region 23 in the first movement mode. In the embodiment, as shown in FIG, 4, in the second movement mode, the size of the button display region 23 is enlarged to 125% of the size of the v button display region 23 in the first movement mode, and the size of each direction button 22 is enlarged to 125% of the size of the direction button 22 in the first movement mode. Thus, in the second movement mode, the user recognizes that the movement mode has been switched to the second movement mode, and easily selects the desired direction button 22. When the movement mode has been switched to the second movement mode, the color of the button display region 23 may be changed so that the color of the button display region 23 in the second movement mode is different from that in the first movement mode.
[0044] In contrast, when the position pointed by the pointer 24 is moved from the inside of the button display region 23 to the outside of the button display region 23 by the operation of the joystick 6, the movement mode is switched from the second movement mode to the first movement mode. When the movement mode is switched from the second movement mode to the first movement mode, the switching means 13 returns the size of the button display region 23 to the size of button display region 23 in the first movement mode, and returns the size of each direction button 22 to the size of the direction button 22 in the first movement mode.
[0045] When the user moves the position of the pointer 24 in the above-described manner by operating the joystick. 6, the movement mode is switched between the first movement mode in which the target parking frame 20 is moved by the first movement means 11, and the second movement mode in which the target parking frame 20 is moved by the second movement means 12. Thus* the user easily and quickly moves the target parking frame 20 to a desired position, by selectively using the two modes. Also, because the movement mode is switched by moving the position of the pointer 24. the target parking position is extremely easily set even when the joystick 6 is used.
[0046J In the embodiment, the movement mode is switched by operating the joystick 6 to move the position of the pointer 24 into the button display region 23. However, in another embodiment, the movement mode may be switched by a method different from the above-described method. For example, when the pointer 24 points a switching button displayed on the taken image, the movement mode may be switched. Also, although the joystick is used as the remote operation means in the embodiment, a pointing device other than the joystick, which remotely operates the pointer 24, may be used in the other embodiment. For example, a track ball or a touch pad may be used.
[0047] Next, a more specific method, in which the user's operation of the joystick.6 is facilitated when the movement mode is to be switched from the first movement mode to the second movement mode, will be described with reference to FIG. 6.
[0048] As shown in FIG 6, when the movement mode is to be switched from the first movement mode to the second movement mode, and the position of the pointer 24 is moved to a position near the button display region 23 by the user's operation of the joystick 6, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved into the button display region 23 (i.e., the switching means 13 causes the force to act on the lever of the joystick 6 so that the pointer 24 is moved in a direction indicated by a first moving direction arrow 40). In FIG. 6, a moving region 27, which surrounds the button display region 23, is shown by a dashed line, and directions, in which the pointer 24 may be moved, are shown by the first moving direction arrows 40. For example, when the pointer 24 is moved to a position shown in FIG. 6 by the user's operation of the joystick 6, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward the button display region 23 (i.e., upward in FIG. 6). That is, the switching means 13 transmits a signal to the joystick 6 to generate the first acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved into the button display region 23. When the joystick 6 receives the signal for generating the first acting force, the force is generated using the actuator, and the force acts on the lever of the joystick 6 so that the pointer 24 is moved toward the inside of the button display region 23. For example, the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved in a direction from the coordinate position of the pointer 24 to a point that is located on an outline of the button display region 23, and that is closest to the coordinate position of the pointer 24. Although the first moving direction arrows 40 and the moving region 27 are shown in FIG. 6 for ease of explanation, the first moving direction arrows 40 and the moving region 27 are not actually shown.
[0049] When the movement mode is to be switched from the second movement mode to the first movement mode, the switching means 13 does not cause the first acting force to act on the lever of the joystick 6.
[0050] Next, a method, in which the user's operation of the joystick 6 is facilitated when the user selects the desired direction button 22 using the joystick 6 in the second movement mode, will be described with reference to FIG. 7.
[0051] When the user selects one direction button 22 from among the plurality of direction buttons 22 (22a to 22f) in the second movement mode, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22, in a manner similar to the manner in which the first acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the button display region 23 in the first movement mode. As shown in FIG. 7, in the second movement mode, when the pointer 24 is moved to a position near a region where one of the direction buttons 22 is disposed, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved to the one direction button 22 closest to the position of the pointer 24. In FIG. 7, the first moving direction arrows 40 are shown. The first moving direction arrows 40 show the directions in which the pointer 24 may be moved when the first acting force is generated.
[0052] More specifically, one region that includes all the direction buttons 22 is divided into partial regions in each of which one direction button 22 is disposed. In FIG. 7, the partial regions, which correspond to the respective direction button 22, are shown by dashed lines. When the pointer 24 is moved into one of the partial regions, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward a center position 28 of the direction burton 22 in the one partial region (i.e., toward the center position 28 of the direction button 22a in FIG. 7). When the pointer 24 is moved away from one direction button 22 (for example, the direction button 22a) to the other direction button 22 (for example, the direction button 22b), the user moves the pointer 24 by operating the lever of the joystick 6. When the position of the pointer 24 is moved to the partial region for the direction button 22b, the switching means 13 causes the first acting force to act on the lever of the joystick 6 so that the pointer 24 is moved toward the direction button 22b. Although the dashed lines indicating the first moving direction arrows 40 and the partial regions are shown in FIG 7 for ease of explanation, the dashed lines are not actually shown.
[0053] Because the first acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22, the user reliably and quickly moves the pointer 24 onto the desired direction button 22 only by tilting the lever of the joystick 6 toward the desired direction button 22. Accordingly, the user easily selects the desired direction button 22, and moves the target parking frame 20 to a desired position, even when the joystick 6 is used.
[0054] In the first movement mode, the second acting force (reaction force) may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25 used to operate the parking assistance apparatus 1. As shown in FIG. 8, for example, when the pointer 24 is moved to a reaction force generation region 29 around a certain operation button 25 (a right-left switching button 25b, a help button 25c, or a return button 25d), the switching means 13 causes the second acting force to act on the lever of the joystick 6. When the second acting force acts on the lever of the joystick 6, the pointer 24 is moved in the direction opposite to the direction in which the pointer 24 is moved when the above-described first acting force acts on the lever of the joystick 6 (i.e., the pointer 24 is moved in the direction shown by a second moving direction arrow 41).
[0055] In the first movement mode, the user is to move the target parking frame directly to a desired position. The operation buttons 25 are used to operate the parking assistance apparatus 1, and are selected to use various functions. Some of the operation buttons 25 (for example, the above-described help button 25c) are not necessarily frequently used when the target parking frame 20 is moved. Thus, because the second acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25, it is possible to reduce the possibility that the user erroneously selects the operation button 25 using the pointer 24 in the first movement mode. In contrast, the reaction force generation region 29 is not provided around an OK button 25a that is one of the operation buttons 25. The user clicks the OK button 25a to set the target parking position to the position where the target parking frame 20 is displayed. Thus, the OK button is frequently selected by the user. Therefore, when the pointer 24 is moved to a position near the OK button 25a, the second acting force is not caused to act on the lever of the joystick 6, and thus, the pointer 24 is not moved away from the OK button 25a. Thus, the user easily performs the appropriate operation.
[0056] In the embodiment, the first acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22, and the second acting force is caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the operation button 25. However, when the pointer 24 is moved to a position near a predetermined region in the first movement mode or the second movement mode, the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the predetermined region, or the second acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from the predetermined region. For example, in the first movement mode, the second acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved away from a region where an obstacle near the vehicle is displayed on the taken image. Also, in the first movement mode and the second movement mode, a region that is a possible target parking position may be calculated in advance, and the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the region. For example, in the first movement mode, when the pointer 24 is moved to a position near the region that is the possible target parking position, the first acting force may be caused to act on the lever of the joystick 6 so that the pointer 24 is moved to the region. Further, in the second movement mode, the first acting force may be caused to act on the lever of the joystick 6 to move the pointer 24 to the direction button 22 so that the target parking frame 20 is moved toward the region that is the possible target parking position.
*
[0057] As described above, when the pointer 24 is moved to a position near the predetermined region on the taken image, the switching means 13 transmits the signal to the joystick 6 to generate the acting force that acts on the lever of the joystick 6, that is, to generate the first acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved to the predetermined region, or to generate the second acting force that acts on the lever of the joystick 6 so that the pointer 24 is moved away from the predetermined region. More specifically, the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved to the button image displayed on the taken image (i.e., the above-described direction button 22)., or the second acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved away from the button image (i.e., the operation button 25), based on the function and the operating state of the button image. That is, for example, as described above, in the second movement mode, the user is to move the target parking frame 20 in the direction indicated by the direction button 22. Accordingly, in this case, it is considered that the user has a strong intention to select the direction button 22. Therefore, the first acting force is generated to act on the lever of the joystick 6 so that the pointer 24 is moved to the direction button 22. In the first movement mode, the user is to move the target parking frame 20 directly to the position of the pointer 24, and some of the operation buttons 22 are not frequently selected by the user. Accordingly, in this case, the second acting force is generated to act on the leveτ of the joystick 6 so that the pointer 24 is moved away from the operation button 25 rather than generating the first acting force that acts on the lever so that the pointer 24 is moved to the operation button 25. Thus, the user operates the joystick 6 more easily. In the embodiment, in the joystick 6, the first acting force and the second acting force are caused to act on the lever of the joystick 6. However, remote operation means including an operation portion and an actuator may be used. In this case, the operation portion is operated by the user, and the actuator generates the acting force that acts on the operation of the operation portion according to a signal from the switching means 13. When the pointer 24 is moved to a position near a predetermined region on the taken image, the switching means 13 may transmit a signal to the remote operation means to generate the first acting force that acts on the operation portion so that the pointer 24 is moved to the predetermined region, or to generate the second acting force that acts on the operation portion so that the pointer 24 is moved away from the predetermined region. Also, although the electric power steering 5 is controlled by the control means 14 in the embodiment, the vehicle may be guided to the target parking position in other manners. For example, the vehicle may be guided to the target parking position by displaying a path to the target parking position in a display device.
[0058] As described above, according to the embodiment of the invention, when the user sets the target parking position using the remote operation means, it is possible for the user to easily set the target parking position, Thus, the parking assistance apparatus according to the embodiment may be used as a parking assistance apparatus for a vehicle.

Claims

1. A parking assistance apparatus which sets a target parking position using a target parking frame (20) superimposed on a taken image showing an area near a vehicle, and which provides parking assistance so that the vehicle is parked at the set target parking position, the parking assistance apparatus comprising: a display device (3) that displays the taken image; a remote operation device (6) that is disposed at a position away from the display device (3), and that is used by a user to remotely operate a pointer (24) superimposed on the taken image; a first movement portion (11) that moves the target parking frame (20) to a coordinate position in the taken image,, when the user moves the pointer (24) to the coordinate position and designates the coordinate position using the remote operation device (6); a second movement portion (12) that moves the target parking frame (20) in a direction associated with a direction button (22) superimposed on the taken image, when the user selects the direction button (22) using the remote operation device (6); and a switching portion (13) that switches a movement mode between a first movement mode in which the target parking frame (20) is moved by the first movement portion (11), and a second movement mode in which the target parking frame (20) is moved by the second movement portion (12), according to a user's operation of the remote operation device (6).
2. The parking assistance apparatus according to claim 1, wherein when the pointer (24) is moved to a predetermined position in the taken image by the user's operation of the remote operation device (6), the switching portion (13) switches the movement mode to the second movement mode; and when the pointer (24) is moved to a position other than the predetermined position, the switching portion (13) switches the movement mode to the first movement mode.
3. The parking assistance apparatus according to claim 2, wherein the predetermined position is a button display region (23) that includes the direction button (22).
4. The parking assistance apparatus according to any one of claims 1 to 3, wherein when the movement mode has been switched from the first movement mode to the second movement mode, the switching portion (13) displays the direction button (22) in a manner different from a manner in which the direction button (22) is displayed in the first movement mode.
5. The parking assistance apparatus according to claim 4, wherein when the movement mode has been switched from the first movement mode to the second movement mode, the switching portion (13) enlarges a size of a button display region (23) that includes the direction button (22), as compared to the size of the button display region (23) in the first movement mode.
6. The parking assistance apparatus according to any one of claims 1 to 5, wherein the remote operation device (6) is a joystick.
7. The parking assistance apparatus according to any one of claims 1 to 6, wherein the remote operation device (6) includes an operation portion operated by the user, and an actuator that generates one of a first acting force and a second acting force that act on an operation of the operation portion, according to a signal transmitted from the switching portion (13); and when the pointer (24) is moved to a position near a predetermined region on the taken image, the switching portion (13) transmits the signal to the remote operation device (6) to generate one of the first acting force that acts on the operation portion so that the pointer (24) is moved to the predetermined region, and the second acting force that acts on the operation portion so that the pointer (24) is moved away from the predetermined region.
8. The parking assistance apparatus according to claim 7, wherein when the pointer (24) is moved to a position near a display region in which the direction button (22) is displayed in the first movement mode, the switching portion (13) transmits the signal to the remote operation device (6) to generate the first acting force that acts on the operation portion so that the pointer (24) is moved to the display region in which the direction button (22) is displayed.
9. The parking assistance apparatus according to claim 7, wherein when the pointer (24) is moved to a preset region near the direction button (22) in the second movement mode, the switching portion (13) transmits the signal to the remote operation device (6) to generate the first acting force that acts on the operation portion so that the pointer (24) is moved to the direction button (22).
10. The parking assistance apparatus according to claim 9, wherein the direction button (22) includes a plurality of direction buttons (22) that are associated with respective different directions; and when the pointer (24) is moved to the preset region near one of the direction buttons (22), the switching portion (13) transmits the signal to the remote operation device (6) to generate the first acting force that acts on the operation portion so that the pointer (24) is moved to the one of the direction buttons (22).
11. The parking assistance apparatus according to claim 7, wherein when the pointer (24) is moved to a position near a predetermined operation button (25) that is a button other than the direction button (22), and that is superimposed on the taken image and is used to operate the parking assistance apparatus, the switching portion (13) transmits the signal to the remote operation device (6) to generate trie seconα acting force that acts on the operation portion so that the pointer (24) is moved away from the predetermined operation button (25).
12. The parking assistance apparatus according to any one of claims 1 to 11, further comprising: a control portion (14) that automatically guides the vehicle to the target parking position set in accordance with the target parking frame (20).
13. A method of controlling a parking assistance apparatus, wherein the parking assistance apparatus sets a target parking position using a target parking' frame (20) superimposed on a taken image showing an area near a vehicle, and provides parking assistance so that the vehicle is parked at the set target parking position, and the parking assistance apparatus includes a display device (3) that displays the taken image; a remote operation device (6) that is disposed at a position away from the display device (3), and that is used by a user to remotely operate a pointer (24) superimposed on the taken image, the method comprising: switching a movement mode between a first movement mode and a second movement mode, according to a user's operation of the remote operation device (6), wherein in the first movement mode, when the user moves the pointer (24) to a coordinate position in the taken image, and designates the coordinate position using the remote operation device (6), the target parking frame (20) is moved to the coordinate position; and in the second movement mode, when the user selects a direction button (22) superimposed on the taken image using the remote operation device (6), the target parking frame (20) is moved in a direction associated with the selected direction button (22).
PCT/IB2009/007105 2008-10-14 2009-10-13 Parking assistance apparatus and control method thereof WO2010043944A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-265265 2008-10-14
JP2008265265A JP2010095027A (en) 2008-10-14 2008-10-14 Parking support device

Publications (1)

Publication Number Publication Date
WO2010043944A1 true WO2010043944A1 (en) 2010-04-22

Family

ID=41466949

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2009/007105 WO2010043944A1 (en) 2008-10-14 2009-10-13 Parking assistance apparatus and control method thereof

Country Status (2)

Country Link
JP (1) JP2010095027A (en)
WO (1) WO2010043944A1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2481536A (en) * 2010-06-24 2011-12-28 Bosch Gmbh Robert Trajectory assistance for driving manoeuvre
EP2444302A3 (en) * 2010-10-21 2012-07-04 Nissan Motor Manufacturing (UK) Ltd. Parking assistance apparatus and parking method
CN103625477A (en) * 2012-08-25 2014-03-12 奥迪股份公司 Method and system for operating vehicle
FR3002509A1 (en) * 2013-02-27 2014-08-29 Continental Automotive France SEMIAUTOMATIC PARKING ASSISTANCE METHOD FOR A MOTOR VEHICLE AND ASSOCIATED DEVICE
US8963830B2 (en) 2011-02-21 2015-02-24 Denso Corporation Operation support system, in-vehicle apparatus and portable terminal
US9738277B2 (en) 2015-08-12 2017-08-22 Hyundai Motor Company Method and apparatus for remote parking
US10392009B2 (en) 2015-08-12 2019-08-27 Hyundai Motor Company Automatic parking system and automatic parking method
US11691619B2 (en) 2015-08-12 2023-07-04 Hyundai Motor Company Automatic parking system and automatic parking method

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5387556B2 (en) * 2010-12-24 2014-01-15 株式会社デンソー In-vehicle device
US10919574B2 (en) 2015-11-10 2021-02-16 Hyundai Motor Company Automatic parking system and automatic parking method
US10606257B2 (en) 2015-11-10 2020-03-31 Hyundai Motor Company Automatic parking system and automatic parking method
KR101892026B1 (en) 2015-11-10 2018-08-27 현대자동차주식회사 Remote control car parking method and apparatus
US10906530B2 (en) 2015-11-10 2021-02-02 Hyundai Motor Company Automatic parking system and automatic parking method
JP6917248B2 (en) * 2017-09-11 2021-08-11 Ｉｈｉ運搬機械株式会社 Remote control vehicle automatic entry / exit device and method
JP7063652B2 (en) 2018-02-19 2022-05-09 株式会社デンソーテン Vehicle remote control device, vehicle remote control system and vehicle remote control method
JP7032950B2 (en) 2018-02-19 2022-03-09 株式会社デンソーテン Vehicle remote control device, vehicle remote control system and vehicle remote control method
JP2019161549A (en) 2018-03-15 2019-09-19 株式会社デンソーテン Vehicle remote operation device and vehicle remote operation method
JP7060418B2 (en) 2018-03-15 2022-04-26 株式会社デンソーテン Vehicle remote control device and vehicle remote control method
JP2019156298A (en) 2018-03-15 2019-09-19 株式会社デンソーテン Vehicle remote control device and vehicle remote control method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1332948A1 (en) * 2002-01-23 2003-08-06 Toyota Jidosha Kabushiki Kaisha Parking assist device and method for assisting parking
EP1510442A2 (en) * 2003-08-28 2005-03-02 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus
EP1950097A1 (en) * 2005-11-16 2008-07-30 Aisin Seiki Kabushiki Kaisha Parking support device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11208420A (en) * 1998-01-27 1999-08-03 Nissan Motor Co Ltd Parking guiding device and automatic parking device
JP2004114879A (en) * 2002-09-27 2004-04-15 Clarion Co Ltd Parking assisting device, and image display device
JP4826357B2 (en) * 2005-07-27 2011-11-30 株式会社デンソー Manual operation device
JP4835109B2 (en) * 2005-10-31 2011-12-14 アイシン精機株式会社 Parking target position setting device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1332948A1 (en) * 2002-01-23 2003-08-06 Toyota Jidosha Kabushiki Kaisha Parking assist device and method for assisting parking
EP1510442A2 (en) * 2003-08-28 2005-03-02 Toyota Jidosha Kabushiki Kaisha Parking assist apparatus
EP1950097A1 (en) * 2005-11-16 2008-07-30 Aisin Seiki Kabushiki Kaisha Parking support device

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2481536A (en) * 2010-06-24 2011-12-28 Bosch Gmbh Robert Trajectory assistance for driving manoeuvre
EP2444302A3 (en) * 2010-10-21 2012-07-04 Nissan Motor Manufacturing (UK) Ltd. Parking assistance apparatus and parking method
US8963830B2 (en) 2011-02-21 2015-02-24 Denso Corporation Operation support system, in-vehicle apparatus and portable terminal
CN103625477A (en) * 2012-08-25 2014-03-12 奥迪股份公司 Method and system for operating vehicle
CN103625477B (en) * 2012-08-25 2016-08-10 奥迪股份公司 Run the method and system of vehicle
CN105102306A (en) * 2013-02-27 2015-11-25 法国大陆汽车公司 Sensor device, steering angle sensor device, and method for determining the position of a metal object
WO2014131507A1 (en) * 2013-02-27 2014-09-04 Continental Automotive France Semi-automatic method for assisting with parking a motor vehicle and associated device
FR3002509A1 (en) * 2013-02-27 2014-08-29 Continental Automotive France SEMIAUTOMATIC PARKING ASSISTANCE METHOD FOR A MOTOR VEHICLE AND ASSOCIATED DEVICE
CN105102306B (en) * 2013-02-27 2017-05-03 法国大陆汽车公司 Sensor device, steering angle sensor device, and method for determining the position of a metal object
US9731715B2 (en) 2013-02-27 2017-08-15 Continental Automotive France Semi-automatic method for assisting with parking a motor vehicle and associated device
US9738277B2 (en) 2015-08-12 2017-08-22 Hyundai Motor Company Method and apparatus for remote parking
US10392009B2 (en) 2015-08-12 2019-08-27 Hyundai Motor Company Automatic parking system and automatic parking method
US11691619B2 (en) 2015-08-12 2023-07-04 Hyundai Motor Company Automatic parking system and automatic parking method

Also Published As

Publication number Publication date
JP2010095027A (en) 2010-04-30

Similar Documents

Publication Publication Date Title
WO2010043944A1 (en) Parking assistance apparatus and control method thereof
US7598887B2 (en) Parking assist apparatus
CN109109781B (en) Vehicle operation device
US8937558B2 (en) Image generating apparatus and image display system
JP4899627B2 (en) Vehicle input device
WO2010137684A1 (en) Image generation device and image display system
JP4997988B2 (en) Switch control device and switch control method
CN114750826A (en) Rotation control system and method for steering wheel
WO2014073193A1 (en) Parking assist device
JP7176421B2 (en) parking assist device
WO2010071053A1 (en) Display apparatus
EP2827321B1 (en) Driving simulator apparatus and method of driver rehabilitation training using the same
JP5852076B2 (en) Vehicle periphery display device
JP6107168B2 (en) Parking assistance device and parking assistance method
JP5790306B2 (en) Parking assistance device and parking assistance method
JP5071738B2 (en) Display device
JP2007145207A (en) Steering control device for vehicle
US20200081608A1 (en) Display control device
CN113386783B (en) Method and apparatus for an automatic trailer reversing system in a motor vehicle
JP6040766B2 (en) Parking assistance device
JP5233644B2 (en) Input device
JP4840332B2 (en) Remote control device
CN115123377B (en) Steering device for an autonomous vehicle and autonomous vehicle provided with such a steering device
JP2010143401A (en) Display device
CN113119954A (en) Method and device for controlling parking assistance

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09748471

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09748471

Country of ref document: EP

Kind code of ref document: A1