WO2011132309A1 - Parking support device - Google Patents
Parking support device Download PDFInfo
- Publication number
- WO2011132309A1 WO2011132309A1 PCT/JP2010/057243 JP2010057243W WO2011132309A1 WO 2011132309 A1 WO2011132309 A1 WO 2011132309A1 JP 2010057243 W JP2010057243 W JP 2010057243W WO 2011132309 A1 WO2011132309 A1 WO 2011132309A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- parking
- parking frame
- stop position
- entrance
- Prior art date
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Classifications
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- 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
Definitions
- the present invention relates to a parking assist device, and more particularly to a parking assist device that parks the host vehicle in a parking frame by travel control that does not depend on an operation of a driver who is boarding the host vehicle or by remote operation from outside the host vehicle.
- Patent Document 1 discloses a parking assist device that displays an image of the rear of a vehicle on a display and superimposes parking guidance information on the display.
- This parking assistance apparatus includes passage width measuring means for measuring the passage width.
- an initial stop position required for parallel parking in the target parking frame is calculated based on the passage width measured by the passage width measuring means.
- a guide display for guiding the vehicle to the initial stop position is displayed on the display.
- the present invention has been made in consideration of such circumstances, and its purpose is to prevent the passage of other vehicles in the vicinity of the parking frame from being obstructed when the vehicle is parked in the parking frame by remote control or the like.
- the present invention is a parking assistance device that assists a driver when parking a host vehicle in a parking frame, and detects the size of an area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame.
- a possible area detection unit a traffic volume detection unit that detects the traffic volume of other vehicles in the vicinity of the parking frame, and a stop for the vehicle to temporarily stop near the entrance of the parking frame before parking the vehicle in the parking frame.
- a stop position determination unit for determining a position is a size of an area where the host vehicle and other vehicles can travel near the entrance of the parking frame detected by the travelable area detection unit, and a traffic volume detection unit
- This is a parking assist device that determines a stop position according to at least one of the traffic volumes of other vehicles in the vicinity of the entrance of the parking frame detected by.
- the parking assist device assists the operator when the host vehicle is parked in the parking frame.
- the stop position determination unit determines a stop position for the host vehicle to temporarily stop near the entrance of the parking frame before the host vehicle is parked in the parking frame. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking. Furthermore, the stop position determination unit determines the stop position according to at least one of the size of the area where the host vehicle and other vehicles can travel near the entrance of the parking frame and the traffic volume of other vehicles near the entrance of the parking frame. decide. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
- the stop position determination unit is outside the parking frame when the size of the area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame exceeds a predetermined threshold. A position where the vehicle can move without switching forward and backward from the stop position into the parking frame can be determined as the stop position.
- the stop position determination unit is outside the parking frame when the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or greater than a predetermined threshold.
- a position where the host vehicle can move from the stop position to the parking frame without switching between forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle from the stop position into the parking frame.
- the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When it is equal to or less than the threshold value, the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame before the entrance of the parking frame can be determined as the stop position.
- the stop position determination unit is located in front of the entrance of the parking frame, and the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame is set to the stop position. Determine as. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
- the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When the threshold value is exceeded, the position where at least a part of the host vehicle enters the parking frame can be determined as the stop position.
- the stop position determination unit determines the position where at least a part of the host vehicle enters the parking frame as the stop position. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
- the stop position determination unit loads and unloads the position and luggage from which the passenger can get off according to the arrangement of the passenger in the own vehicle and the luggage loaded in the own vehicle in the own vehicle. Any of the possible positions can be determined as the stop position.
- the stop position determination unit automatically determines the position and the luggage that the occupant can get off according to the arrangement of either the occupant who is boarding the host vehicle and the baggage that is mounted on the host vehicle.
- One of the positions where the vehicle can be unloaded from the vehicle is determined as the stop position. For this reason, even if it is difficult to get off the passenger or luggage in the parking frame because the parking frame is narrow, the passenger or the luggage can be removed from the own vehicle.
- the stop position determination unit can determine the stop position according to the amount of light near the entrance of the parking frame.
- a stop position determination unit determines a stop position according to the light quantity of the entrance vicinity of a parking frame. For this reason, it becomes easy to park the own vehicle in a parking frame by remote operation from the outside of the own vehicle.
- the parking assist device of the present invention it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
- the parking assist device of the present embodiment temporarily stops the vehicle outside the parking frame in a situation where the parking frame is narrow and it is difficult to open the door greatly when the vehicle is parked and it is difficult to get off the vehicle, and boarding
- the vehicle is parked in the parking frame by remote control or automatic control after the person or baggage is dismounted.
- the parking assistance device 100 mounted on a vehicle in the remote operation system of the present embodiment includes a communication unit 101, a GPS 102, a radar sensor 103, an ultrasonic sensor 104, a vehicle speed detection unit 105, and a steering angle detection unit.
- 106 a seat load sensor 107, a trunk load sensor 108, a light quantity sensor 109, an ECU 110, a display 112, a speaker 114, a steering control unit 122, a driving force control unit 124, and a braking force control unit 126.
- the communication unit 101 is a part for transmitting and receiving wireless signals to and from the mobile terminal. Moreover, the communication part 101 is a site
- roadside facilities such as an optical beacon
- a GPS (Global Positioning System) 102 is a part for measuring the position of the host vehicle.
- the GPS 102 is also used to acquire information on road shapes and facilities around the host vehicle from map information in the database and the position of the host vehicle.
- the radar sensor 103 and the ultrasonic sensor 104 are sensors for detecting obstacles around the host vehicle.
- the radar sensor 103 and the ultrasonic sensor 104 are also used to acquire information related to the road shape around the host vehicle.
- the vehicle speed detection unit 105 is a part for detecting the vehicle speed of the host vehicle from the rotational speed of the wheel.
- the rudder angle detector 106 is a part for detecting the rudder angle of the host vehicle.
- the seat load sensor 107 is for detecting the presence or absence of an occupant on the own vehicle and the arrangement of the occupant in the own vehicle by detecting the load on the seat of the own vehicle.
- the trunk load sensor 108 detects the load on the floor of the trunk of the host vehicle, thereby detecting the presence / absence of luggage loaded on the host vehicle and the arrangement of the luggage within the host vehicle.
- the light quantity sensor 109 is for detecting the difficulty of remote operation of the own vehicle according to the weather and the time zone of the day by detecting the light quantity around the own vehicle.
- ECU 110 is a part for comprehensively controlling each component of the parking support apparatus 100.
- ECU110 controls the own vehicle according to the command from a portable terminal.
- ECU110 runs the own vehicle by performing the parking program memorize
- the display 112 is for displaying an appropriate stop position, operation, and the like for dismounting passengers, luggage, and the like with a video to the driver of the host vehicle.
- the display 112 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems.
- the speaker 114 is used to notify the driver of the host vehicle by voice of an appropriate stop position, operation, and the like for dismounting passengers and luggage.
- the steering control unit 122 is a part for performing steering without changing the steering operation input to the steering wheel in accordance with a command signal from the main control unit 112 of the ECU 110 and changing the traveling direction of the vehicle.
- the driving force control unit 124 is a part for changing the driving force of the vehicle by opening and closing the throttle valve in accordance with the command signal from the main control unit 112 without depending on the acceleration operation input to the accelerator pedal.
- the braking force control unit 126 is a part for changing the braking force of the vehicle by controlling the brake hydraulic pressure without depending on the braking operation input to the brake pedal in accordance with the command signal from the main control unit 112.
- the steering control unit 122, the driving force control unit 124, and the braking force control unit 126 may be those that apply reaction force to the steering wheel, the accelerator pedal, and the brake pedal, respectively, and guide the driving operation of the driver.
- the mobile terminal 200 for the user to remotely operate the host vehicle outside the passenger compartment includes a communication unit 202, a user input unit 206, and an ECU 210.
- the communication unit 202 is a part for transmitting and receiving radio signals to and from the parking assist device 100 of the host vehicle.
- the user input unit 206 is a part for a user who remotely operates the host vehicle to input information for operation.
- the user input unit 206 includes operation keys and buttons that cause the parking support apparatus 100 to execute a parking program and change the setting information.
- ECU 210 is a part for controlling each operation of portable terminal 200.
- the parking assist device of the present embodiment has a narrow parking frame P, and it is difficult to open the door greatly when the host vehicle VM is parked in the injection frame P. Assume that it is difficult to get off from the VM.
- the parking assistance device of the present embodiment is used in a situation where the host vehicle VM is approaching the parking frame P.
- the ECU 110 of the parking assist device 100 is configured such that the facing space width (road width) W, which is the distance from the entrance of the parking frame P to the roadside where the vehicle cannot travel, near the entrance of the parking frame P Information such as the traffic volume T of the other vehicle, the arrangement of passengers and luggage in the host vehicle VM, and the amount of light near the entrance of the parking frame P is acquired (S11).
- These data can be acquired by the communication unit 101 or the GPS 102, or can be detected by the radar sensor 103, the ultrasonic sensor 104, the seat load sensor 107, the trunk load sensor 108, and the light amount sensor 109.
- the driver may store each data in a database in the ECU 110 in advance.
- operator etc. may input data from the portable terminal 200 from the user input part 206, and may transmit the said data to the parking assistance apparatus 100 side by the communication part 202.
- the ECU 110 determines whether or not the facing space width W is larger than a predetermined threshold value W th (S12). As shown in FIG. 4, when W 1 > W th , the facing space width W 1 is larger than W th and the host vehicle VM faces front and rear in the width direction of the road regardless of the amount of traffic T. Even if the road is blocked and stopped, the following vehicle VF can pass (S12). Therefore, in this case, the ECU 110 determines a position where the host vehicle VM can move from the stop position to the parking frame P without switching forward and backward as the stop position (S13).
- W th in this case can be, for example, the total length of the host vehicle VM + the total width of the following vehicle VF + a safety distance.
- W th can be set to the width that blocks the road at the stop position where the host vehicle VM can park in the parking frame P without switching between forward and backward + the total width of the following vehicle VF + the distance for safety.
- W 1 is the width that blocks the road at the stop position where the host vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the total width of the following vehicle VF + the distance for safety. 1 > W th .
- the ECU 110 gives an instruction to the driver through the display 112 and the speaker 114 or controls the traveling of the host vehicle VM through the steering control unit 122, the driving force control unit 124, and the braking force control unit 126, as shown in FIG.
- the host vehicle VM is moved forward so as to be inclined with respect to the parking frame P and then stopped (S13).
- the trajectory when the host vehicle VM is moving backward becomes simple, such as when the host vehicle VM is moving backward at a fixed steering angle. Can be improved.
- the facing space width W 2 is larger than the threshold value W th, but the width of the vehicle VM that blocks the road at the stop position where the vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the following vehicle VF in some cases is less than W 1 is the distance for the full width + safety.
- W th the width of the vehicle VM that blocks the road at the stop position where the vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the following vehicle VF in some cases is less than W 1 is the distance for the full width + safety.
- the ECU 110 changes the steering angle of the host vehicle VM to the stop position where the parking frame P can be parked by changing the rudder angle without switching forward and backward to the host vehicle VM, as indicated by the solid and broken arrows in FIG. To stop.
- ECU 110 is traffic T determines whether less than a predetermined threshold value T th ( S14). If facing the space width W 3 W th less narrow a predetermined threshold (S12), the traffic amount T at least is equal to or less than a predetermined threshold value T th (S14), the host vehicle VM is directed back and forth in the width direction of the road When the road is blocked and the vehicle stops, there is a risk of hindering the passage of the following vehicle VF. Therefore, in this case, the ECU 110 determines a position before the entrance of the parking frame P and where the host vehicle VM can move by switching forward and backward from the stop position into the parking frame P as the stop position ( S15).
- the W 3 in this case, the distance for the entire width + safety of the own vehicle VM full width + following vehicle VF. In this case, the passage of the following vehicle VF is hardly hindered.
- the ECU 110 determines that the traffic volume T is equal to or less than a predetermined threshold value Tth.
- Tth a predetermined threshold value
- the ECU 110 determines a position where at least a part of the host vehicle VF enters the parking frame P as a stop position (S17).
- the ECU 110 detects that the facing space width W is equal to or smaller than the predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th .
- a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
- a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
- the ECU 110 stops at a position where at least a part of the host vehicle VF enters the parking frame P and can be dismounted from a part of the host vehicle VF such as a driver's seat. The position is determined (S16).
- the stop position it is possible to open and close only the door of the driver's seat. Moreover, it is easy to confirm safety. Further, at least the amount of light is easy to remotely control the host vehicle VM from the mobile terminal 200 after getting off. In addition, it is possible to minimize the width of the own vehicle VM blocking the road when the vehicle is stopped.
- the ECU 110 when the seat load sensor 107 detects that an occupant is only in the driver's seat, the ECU 110 has a facing space width W that is equal to or smaller than a predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th. 8 may be a stop position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver's seat of the host vehicle VM.
- the stop position may be a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver seat of the host vehicle VM. .
- the ECU 110 When the ECU 110 detects the occupant and the unloading of the luggage by the seat load sensor 107 and the trunk load sensor 108 (S17), the ECU 110 can be operated remotely from the communication terminal 200, as shown by the broken line arrows in FIGS.
- the host vehicle VM is parked in the parking frame P by its own travel control (S108).
- ECU110 can determine a stop position in consideration of the weather, the time zone, the arrangement of other surrounding vehicles, the running pattern during parking of the host vehicle, etc. in addition to the above description.
- the ECU 110 of the parking assistance device 100 parks the host vehicle VM in the parking frame P by travel control not based on the operation of the driver who is boarding the host vehicle VM or by remote operation from the outside of the host vehicle VM. . For this reason, since the parking frame P is narrow, it is effective when it is difficult to get off passengers or luggage in the parking frame P. Further, the ECU 110 determines a stop position for the host vehicle VM to temporarily stop near the entrance of the parking frame P before the host vehicle VM is parked in the parking frame P. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking.
- the ECU 110 determines the stop position according to the facing space width W near the entrance of the parking frame P and the traffic volume T of other vehicles near the entrance of the parking frame P. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of the following vehicle VF in the vicinity of the parking frame P.
- ECU 110 when facing the space width W in the vicinity of the entrance of the parking frame P is the predetermined threshold W th or more is a outside the parking frame P, the host vehicle VM is stopped A position where the vehicle can move from the position to the parking frame P without switching forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle VM from the stop position into the parking frame P.
- the traffic volume T is small. If the host vehicle VM stops in such a way as to largely block the vicinity of the entrance of the parking frame P, there is a possibility that the passage of the following vehicle VF near the parking frame P may be hindered. For this reason, according to the present embodiment, the ECU 110 stops at a position that is in front of the entrance of the parking frame P and is movable when the host vehicle VM switches forward and backward from the stop position into the parking frame P. Determine as position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
- the ECU 110 determines a position where at least a part of the host vehicle VM enters the parking frame P as a stop position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
- the ECU 110 loads from the host vehicle a position at which the passenger can get off and the baggage according to the arrangement of the passenger boarding the host vehicle VM and the baggage loaded on the host vehicle in the host vehicle VM.
- a position where the vehicle can be lowered is determined as a stop position. For this reason, even if it is difficult for the passengers or luggage to get out of the parking frame P because the parking frame P is narrow, it is possible to get the passengers or luggage from the own vehicle VM.
- the ECU 110 determines the stop position according to the amount of light near the entrance of the parking frame P. For this reason, it becomes easy to park the own vehicle VM in the parking frame P by remote control from the outside of the own vehicle VM.
- the parking assist device of the present invention it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
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Abstract
An ECU (110) of a parking support device (100) parks a vehicle-under-consideration (VM) in a parking slot (P) by means of travel control which is not performed by a driver riding the vehicle-under-consideration (VM) or by means of remote control of the vehicle-under-consideration (VM) from the outside. For this reason, the parking support device (100) is effective in cases where the parking slot (P) is so narrow that it is difficult for the driver to get out in the parking slot (P) or for baggage to be unloaded therein. Furthermore, the ECU (110) decides a stop position where the vehicle-under-consideration (VM) is temporarily stopped in the vicinity of the entrance to the parking slot (P) prior to parking the vehicle-under-consideration (VM) in the parking slot (P). Due to the above, by temporarily stopping the vehicle-under-consideration (VM) at the stop position thus decided, the driver can get out and the baggage can be unloaded prior to parking. In this respect, the ECU (110) decides the stop position according to a facing space width (W) in the vicinity of the entrance to the parking slot (P) and the traffic volume (T) in the vicinity of the entrance to the parking slot (P). Consequently, it is possible to enhance convenience for the driver to get out and for the baggage to be unloaded, while preventing the obstruction of the passage of a following vehicle (VF) in the vicinity of the parking slot (P).
Description
本発明は、駐車支援装置に関し、特に自車両に搭乗中の運転者の操作によらない走行制御又は自車両の外部からの遠隔操作によって自車両を駐車枠に駐車させる駐車支援装置に関する。
The present invention relates to a parking assist device, and more particularly to a parking assist device that parks the host vehicle in a parking frame by travel control that does not depend on an operation of a driver who is boarding the host vehicle or by remote operation from outside the host vehicle.
車両を駐車枠に駐車させる際に運転者の運転を支援する装置が提案されている。例えば、特許文献1には、車両後方の映像をディスプレイに表示すると共に駐車案内情報をディスプレイ上に重畳表示する駐車支援装置が開示されている。この駐車支援装置では、通路幅を計測する通路幅計測手段を備える。また、この駐車支援装置では、通路幅計測手段で計測された通路幅に基づいて目標とする駐車枠に並列駐車するために必要な初期停止位置を演算する。また、この駐車支援装置では、その初期停止位置に車両を案内するためのガイド表示をディスプレイに表示させる。
A device has been proposed that assists the driver in driving the vehicle in the parking frame. For example, Patent Document 1 discloses a parking assist device that displays an image of the rear of a vehicle on a display and superimposes parking guidance information on the display. This parking assistance apparatus includes passage width measuring means for measuring the passage width. Moreover, in this parking assistance apparatus, an initial stop position required for parallel parking in the target parking frame is calculated based on the passage width measured by the passage width measuring means. Moreover, in this parking assistance apparatus, a guide display for guiding the vehicle to the initial stop position is displayed on the display.
ところで、駐車枠が狭く、車両を駐車枠に駐車させた状態ではドアを大きく開けることが困難なため、駐車枠に駐車させた後では搭乗者や荷物の降車が難しい状況が考えられる。このため、駐車枠の外で車両を一時停車させ、搭乗者や荷物を降車させた後に、遠隔操作等で車両を駐車枠に駐車させることが考えられる。しかし、上記の技術では、駐車枠外において搭乗者や荷物を降車させるために車両が停車した場合における他車両の通行への影響は考えられていない。そのため、遠隔操作等で車両を駐車枠に駐車させる際にも、駐車枠付近の他車両の通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが望まれている。
By the way, since the parking frame is narrow and it is difficult to open the door greatly when the vehicle is parked in the parking frame, it is difficult to get off the passengers and luggage after parking the parking frame. For this reason, it is conceivable to park the vehicle in the parking frame by remote control or the like after temporarily stopping the vehicle outside the parking frame and getting off the passenger or luggage. However, in the above-described technology, the influence on the traffic of other vehicles when the vehicle stops in order to get off the passengers and luggage outside the parking frame is not considered. Therefore, when parking a vehicle in a parking frame by remote control or the like, it is desired to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame. Yes.
本発明は、このような事情を考慮してなされたものであり、その目的は、遠隔操作等で車両を駐車枠に駐車させる際に、駐車枠付近の他車両の通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが可能な駐車支援装置を提供することにある。
The present invention has been made in consideration of such circumstances, and its purpose is to prevent the passage of other vehicles in the vicinity of the parking frame from being obstructed when the vehicle is parked in the parking frame by remote control or the like. On the other hand, it is an object of the present invention to provide a parking assistance device that can improve the convenience of getting off passengers and luggage.
本発明は、自車両を駐車枠内に駐車させる際に操縦者を支援する駐車支援装置であって、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さを検出する走行可能領域検出ユニットと、駐車枠付近における他車両の交通量を検出する交通量検出ユニットと、自車両を駐車枠に駐車させる前に、自車両が駐車枠の入口付近で一時停車するための停車位置を決定する停車位置決定ユニットを備え、停車位置決定ユニットは、走行可能領域検出ユニットが検出した駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さ、及び交通量検出ユニットが検出した駐車枠の入口付近における他車両の交通量の少なくともいずれかに応じて停車位置を決定する駐車支援装置である。
The present invention is a parking assistance device that assists a driver when parking a host vehicle in a parking frame, and detects the size of an area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame. A possible area detection unit, a traffic volume detection unit that detects the traffic volume of other vehicles in the vicinity of the parking frame, and a stop for the vehicle to temporarily stop near the entrance of the parking frame before parking the vehicle in the parking frame. A stop position determination unit for determining a position, the stop position determination unit is a size of an area where the host vehicle and other vehicles can travel near the entrance of the parking frame detected by the travelable area detection unit, and a traffic volume detection unit This is a parking assist device that determines a stop position according to at least one of the traffic volumes of other vehicles in the vicinity of the entrance of the parking frame detected by.
この構成よれば、駐車支援装置は、自車両を駐車枠内に駐車させる際に操縦者を支援する。停車位置決定ユニットは、自車両を駐車枠に駐車させる前に、自車両が駐車枠の入口付近で一時停車するための停車位置を決定する。このため、決定された停車位置に一時停車することにより、駐車前に乗員や荷物の降車を行うことができる。さらに、停車位置決定ユニットは、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さ、及び駐車枠の入口付近における他車両の交通量の少なくともいずれかに応じて停車位置を決定する。そのため、駐車枠付近の他車両の通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが可能となる。
According to this configuration, the parking assist device assists the operator when the host vehicle is parked in the parking frame. The stop position determination unit determines a stop position for the host vehicle to temporarily stop near the entrance of the parking frame before the host vehicle is parked in the parking frame. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking. Furthermore, the stop position determination unit determines the stop position according to at least one of the size of the area where the host vehicle and other vehicles can travel near the entrance of the parking frame and the traffic volume of other vehicles near the entrance of the parking frame. decide. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
この場合、停車位置決定ユニットは、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値を超えているときは、駐車枠の外であって、自車両が停車位置から駐車枠の中に前進及び後退を切り替えることなく移動可能な位置を停車位置として決定するものとできる。
In this case, the stop position determination unit is outside the parking frame when the size of the area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame exceeds a predetermined threshold. A position where the vehicle can move without switching forward and backward from the stop position into the parking frame can be determined as the stop position.
駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値を超えて広いときは、自車両が停車位置に一時停車したときに、駐車枠付近の他車両の通行を阻害する可能性が低い。このため、この構成によれば、停車位置決定ユニットは、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値以上であるときは、駐車枠の外であって、自車両が停車位置から駐車枠の中に前進及び後退を切り替えることなく移動可能な位置を停車位置として決定する。これにより、自車両を停車位置から駐車枠内に移動させることが容易となる。
When the area where the host vehicle and other vehicles can run near the entrance of the parking frame exceeds the predetermined threshold and the host vehicle temporarily stops at the stop position, traffic of other vehicles near the parking frame Is less likely to inhibit Therefore, according to this configuration, the stop position determination unit is outside the parking frame when the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or greater than a predetermined threshold. Thus, a position where the host vehicle can move from the stop position to the parking frame without switching between forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle from the stop position into the parking frame.
また、停車位置決定ユニットは、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値以下であり、且つ駐車枠の入口付近における他車両の交通量が所定の閾値以下であるときは、駐車枠の入口の前であって、自車両が停車位置から駐車枠の中に前進及び後退を切り替えることによって移動可能な位置を停車位置として決定するものとできる。
In addition, the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When it is equal to or less than the threshold value, the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame before the entrance of the parking frame can be determined as the stop position.
駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値以下と狭く、駐車枠の入口付近における交通量が所定の閾値以下と少ないときは、交通量は少ないものの、自車両が駐車枠の入口付近を大きく遮るような形で停車すると、駐車枠付近の他車両の通行を阻害する可能性がある。このため、この構成によれば、停車位置決定ユニットは、駐車枠の入口の前であって、自車両が停車位置から駐車枠の中に前進及び後退を切り替えることによって移動可能な位置を停車位置として決定する。このため、停車中の自車両が駐車枠付近の他車両の通行を阻害することを防止することができる。
When the area where the host vehicle and other vehicles can run near the entrance of the parking frame is as narrow as the predetermined threshold or less, and the traffic volume near the entrance of the parking frame is as low as the predetermined threshold or less, the traffic volume is small. If the vehicle stops in such a way as to largely block the vicinity of the entrance of the parking frame, there is a possibility that the passage of other vehicles near the parking frame may be obstructed. For this reason, according to this configuration, the stop position determination unit is located in front of the entrance of the parking frame, and the position where the own vehicle can move by switching forward and backward from the stop position into the parking frame is set to the stop position. Determine as. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
また、停車位置決定ユニットは、駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値以下であり、且つ駐車枠の入口付近における他車両の交通量が所定の閾値を超えているときは、駐車枠内に自車両の少なくとも一部が入る位置を停車位置として決定するものとできる。
In addition, the stop position determination unit is configured such that the area of the area where the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic volume of the other vehicle in the vicinity of the entrance of the parking frame is When the threshold value is exceeded, the position where at least a part of the host vehicle enters the parking frame can be determined as the stop position.
駐車枠の入口付近における自車両及び他車両が走行可能な領域の広さが所定の閾値以下と狭く、且つ駐車枠の入口付近における他車両の交通量が所定の閾値を超えて多いときは、自車両の全体が駐車枠外に出る位置で停車すると、駐車枠付近の他車両の通行を阻害する可能性がある。このため、この構成によれば、停車位置決定ユニットは、駐車枠内に自車両の少なくとも一部が入る位置を停車位置として決定する。このため、停車中の自車両が駐車枠付近の他車両の通行を阻害することを防止することができる。
When the area of the area where the host vehicle and other vehicles can run in the vicinity of the entrance of the parking frame is as narrow as a predetermined threshold or less and the traffic volume of other vehicles in the vicinity of the entrance of the parking frame exceeds the predetermined threshold, If the host vehicle stops at a position where the entire vehicle goes out of the parking frame, there is a possibility that traffic of other vehicles in the vicinity of the parking frame is obstructed. For this reason, according to this configuration, the stop position determination unit determines the position where at least a part of the host vehicle enters the parking frame as the stop position. For this reason, it is possible to prevent the stopped own vehicle from obstructing the passage of other vehicles near the parking frame.
また、停車位置決定ユニットは、自車両に搭乗中の乗員及び自車両に搭載中の荷物のいずれかの自車両内における配置に応じ、乗員が降車可能である位置及び荷物を自車両から積み降ろすことが可能な位置のいずれかを停車位置として決定するものとできる。
In addition, the stop position determination unit loads and unloads the position and luggage from which the passenger can get off according to the arrangement of the passenger in the own vehicle and the luggage loaded in the own vehicle in the own vehicle. Any of the possible positions can be determined as the stop position.
この構成によれば、停車位置決定ユニットは、自車両に搭乗中の乗員及び自車両に搭載中の荷物のいずれかの自車両内における配置に応じ、乗員が降車可能である位置及び荷物を自車両から積み降ろすことが可能な位置のいずれかを停車位置として決定する。このため、駐車枠が狭いために駐車枠内での乗員や荷物の降車が困難である場合であっても、自車両から乗員や荷物を降車させることができる。
According to this configuration, the stop position determination unit automatically determines the position and the luggage that the occupant can get off according to the arrangement of either the occupant who is boarding the host vehicle and the baggage that is mounted on the host vehicle. One of the positions where the vehicle can be unloaded from the vehicle is determined as the stop position. For this reason, even if it is difficult to get off the passenger or luggage in the parking frame because the parking frame is narrow, the passenger or the luggage can be removed from the own vehicle.
また、停車位置決定ユニットは、駐車枠の入口付近の光量に応じて停車位置を決定するものとできる。
Also, the stop position determination unit can determine the stop position according to the amount of light near the entrance of the parking frame.
自車両の外部からの遠隔操作によって自車両を駐車枠に駐車させる場合は、駐車枠の入口付近の光量が少ない場合、自車両を複雑な操作で長い距離移動させることが難しい場合がある。このため、この構成によれば、停車位置決定ユニットは、駐車枠の入口付近の光量に応じて停車位置を決定する。このため、自車両の外部からの遠隔操作によって自車両を駐車枠に駐車させることが容易となる。
When the host vehicle is parked in the parking frame by remote control from the outside of the host vehicle, it may be difficult to move the host vehicle for a long distance by a complicated operation when the amount of light near the entrance of the parking frame is small. For this reason, according to this structure, a stop position determination unit determines a stop position according to the light quantity of the entrance vicinity of a parking frame. For this reason, it becomes easy to park the own vehicle in a parking frame by remote operation from the outside of the own vehicle.
本発明の駐車支援装置によれば、駐車枠付近の他車両の通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが可能となる。
According to the parking assist device of the present invention, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
以下、図面を参照して本発明の実施形態について説明する。本実施形態の駐車支援装置は、駐車枠が狭く、車両を駐車させた状態ではドアを大きく開けることが困難で車両からの降車が難しい状況において、駐車枠の外で車両を一時停車させ、搭乗者や荷物を降車させた後に、遠隔操作又は自動制御により車両を駐車枠に駐車させるためのものである。
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The parking assist device of the present embodiment temporarily stops the vehicle outside the parking frame in a situation where the parking frame is narrow and it is difficult to open the door greatly when the vehicle is parked and it is difficult to get off the vehicle, and boarding The vehicle is parked in the parking frame by remote control or automatic control after the person or baggage is dismounted.
図1に示すように、本実施形態の遠隔操作システムにおいて車両に搭載される駐車支援装置100は、通信部101、GPS102、レーダセンサ103、超音波センサ104、車速検出部105、舵角検出部106、シート荷重センサ107、トランク荷重センサ108、光量センサ109、ECU110、ディスプレイ112、スピーカ114、操舵制御部122、駆動力制御部124及び制動力制御部126を備えている。
As shown in FIG. 1, the parking assistance device 100 mounted on a vehicle in the remote operation system of the present embodiment includes a communication unit 101, a GPS 102, a radar sensor 103, an ultrasonic sensor 104, a vehicle speed detection unit 105, and a steering angle detection unit. 106, a seat load sensor 107, a trunk load sensor 108, a light quantity sensor 109, an ECU 110, a display 112, a speaker 114, a steering control unit 122, a driving force control unit 124, and a braking force control unit 126.
通信部101は、携帯端末と無線信号を送受信するための部位である。また、通信部101は、光ビーコン等の路側施設との路車間通信や、他車両との車車間通信によって、周囲の道路や交通状況に関する情報を取得するための部位である。
The communication unit 101 is a part for transmitting and receiving wireless signals to and from the mobile terminal. Moreover, the communication part 101 is a site | part for acquiring the information regarding a surrounding road and traffic condition by road-to-vehicle communication with roadside facilities, such as an optical beacon, and vehicle-to-vehicle communication with another vehicle.
GPS(Global Positioning System)102は、自車両の位置を測位するための部位である。また、GPS102は、データベース中の地図情報と自車両の位置とから、自車両周辺の道路形状や施設に関する情報を取得するためにも用いられる。
A GPS (Global Positioning System) 102 is a part for measuring the position of the host vehicle. The GPS 102 is also used to acquire information on road shapes and facilities around the host vehicle from map information in the database and the position of the host vehicle.
レーダセンサ103及び超音波センサ104は、自車両周辺の障害物を検出するためのセンサである。レーダセンサ103及び超音波センサ104は、自車両周辺の道路形状に関する情報を取得するためにも用いられる。
The radar sensor 103 and the ultrasonic sensor 104 are sensors for detecting obstacles around the host vehicle. The radar sensor 103 and the ultrasonic sensor 104 are also used to acquire information related to the road shape around the host vehicle.
車速検出部105は、自車両の車速を車輪の回転速度から検出するための部位である。舵角検出部106は、自車両の舵角を検出するための部位である。
The vehicle speed detection unit 105 is a part for detecting the vehicle speed of the host vehicle from the rotational speed of the wheel. The rudder angle detector 106 is a part for detecting the rudder angle of the host vehicle.
シート荷重センサ107は、自車両のシートの荷重を検出することにより、自車両に搭乗している乗員の有無や、自車両の内部における乗員の配置を検出するためのものである。トランク荷重センサ108は、自車両のトランクの床にかかる荷重を検出することにより、自車両に積載されている荷物の有無や、自車両内部における荷物の配置を検出するためのものである。
The seat load sensor 107 is for detecting the presence or absence of an occupant on the own vehicle and the arrangement of the occupant in the own vehicle by detecting the load on the seat of the own vehicle. The trunk load sensor 108 detects the load on the floor of the trunk of the host vehicle, thereby detecting the presence / absence of luggage loaded on the host vehicle and the arrangement of the luggage within the host vehicle.
光量センサ109は、自車両周囲の光量を検出することにより、天候や一日における時間帯による自車両の遠隔操作の難易度を検知するためのものである。
The light quantity sensor 109 is for detecting the difficulty of remote operation of the own vehicle according to the weather and the time zone of the day by detecting the light quantity around the own vehicle.
ECU(Electronic Control Unit)110は、駐車支援装置100の各構成要素を統括的に制御するための部位である。ECU110は、携帯端末からの指令に従い、自車両を制御する。また、ECU110は、内部に記憶されている駐車プログラムを実行することにより、自車両に搭乗した運転者や携帯端末からの遠隔操作によらず、自車両を走行させる。
ECU (Electronic Control Unit) 110 is a part for comprehensively controlling each component of the parking support apparatus 100. ECU110 controls the own vehicle according to the command from a portable terminal. Moreover, ECU110 runs the own vehicle by performing the parking program memorize | stored inside, irrespective of the remote operation from the driver who boarded the own vehicle, or a portable terminal.
ディスプレイ112は、自車両の運転者に対して、乗員や荷物等を降車させるための適切な停車位置や操作等を映像により表示するためのものである。ディスプレイ112は、駐車支援用として独立した液晶ディスプレイ等とできる。あるいはディスプレイ22は、ナビゲーションシステム用のディスプレイと兼用としても良い。スピーカ114は、自車両の運転者に対して、乗員や荷物等を降車させるための適切な停車位置や操作等を音声により報知するためのものである。
The display 112 is for displaying an appropriate stop position, operation, and the like for dismounting passengers, luggage, and the like with a video to the driver of the host vehicle. The display 112 can be an independent liquid crystal display or the like for parking assistance. Or the display 22 is good also as a display for navigation systems. The speaker 114 is used to notify the driver of the host vehicle by voice of an appropriate stop position, operation, and the like for dismounting passengers and luggage.
操舵制御部122は、ECU110の主制御部112からの指令信号に従い、ステアリングホイールに入力される操舵操作によらずに操舵を行ない、車両の進行方向を変えるための部位である。駆動力制御部124は、主制御部112からの指令信号に従い、アクセルペダルに入力される加速操作によらずにスロットルバルブの開閉を行い、車両の駆動力を変えるための部位である。制動力制御部126は、主制御部112からの指令信号に従い、ブレーキペダルに入力される制動操作によらずにブレーキ油圧を制御し、車両の制動力を変えるための部位である。操舵制御部122、駆動力制御部124及び制動力制御部126は、ステアリングホイール、アクセルペダル及びブレーキペダルにそれぞれ反力を与え、運転者の運転操作を誘導する物であっても良い。
The steering control unit 122 is a part for performing steering without changing the steering operation input to the steering wheel in accordance with a command signal from the main control unit 112 of the ECU 110 and changing the traveling direction of the vehicle. The driving force control unit 124 is a part for changing the driving force of the vehicle by opening and closing the throttle valve in accordance with the command signal from the main control unit 112 without depending on the acceleration operation input to the accelerator pedal. The braking force control unit 126 is a part for changing the braking force of the vehicle by controlling the brake hydraulic pressure without depending on the braking operation input to the brake pedal in accordance with the command signal from the main control unit 112. The steering control unit 122, the driving force control unit 124, and the braking force control unit 126 may be those that apply reaction force to the steering wheel, the accelerator pedal, and the brake pedal, respectively, and guide the driving operation of the driver.
一方、図2に示すように、ユーザが車室外において自車両を遠隔操作するための携帯端末200は、通信部202、ユーザ入力部206及びECU210を備えている。
On the other hand, as shown in FIG. 2, the mobile terminal 200 for the user to remotely operate the host vehicle outside the passenger compartment includes a communication unit 202, a user input unit 206, and an ECU 210.
通信部202は、自車両の駐車支援装置100と無線信号を送受信するための部位である。ユーザ入力部206は、自車両を遠隔操作するユーザが操作のための情報を入力するための部位である。ユーザ入力部206は、駐車支援装置100に駐車プログラムを実行させ、その設定情報を変更する操作キーやボタンから構成される。ECU210は、携帯端末200の各動作を制御するための部位である。
The communication unit 202 is a part for transmitting and receiving radio signals to and from the parking assist device 100 of the host vehicle. The user input unit 206 is a part for a user who remotely operates the host vehicle to input information for operation. The user input unit 206 includes operation keys and buttons that cause the parking support apparatus 100 to execute a parking program and change the setting information. ECU 210 is a part for controlling each operation of portable terminal 200.
以下、本実施形態の駐車支援装置の動作について説明する。本実施形態の駐車支援装置は、図4に示すように、駐車枠Pが狭く、自車両VMを注射枠Pに駐車させた状態ではドアを大きく開けることが困難で、乗員や荷物の自車両VMからの降車が難しい状況を想定する。本実施形態の駐車支援装置は、駐車枠Pに向かって自車両VMが接近している状況で用いられる。
Hereinafter, the operation of the parking support apparatus of this embodiment will be described. As shown in FIG. 4, the parking assist device of the present embodiment has a narrow parking frame P, and it is difficult to open the door greatly when the host vehicle VM is parked in the injection frame P. Assume that it is difficult to get off from the VM. The parking assistance device of the present embodiment is used in a situation where the host vehicle VM is approaching the parking frame P.
図3に示すように、駐車支援装置100のECU110は、駐車枠Pの入口から車両の走行が不可能となる路側までの距離である対面スペース幅(道路幅)W、駐車枠Pの入口付近の他車両の交通量T、自車両VMの中における乗員や荷物の配置、及び駐車枠Pの入口付近の光量等の情報を取得する(S11)。
As shown in FIG. 3, the ECU 110 of the parking assist device 100 is configured such that the facing space width (road width) W, which is the distance from the entrance of the parking frame P to the roadside where the vehicle cannot travel, near the entrance of the parking frame P Information such as the traffic volume T of the other vehicle, the arrangement of passengers and luggage in the host vehicle VM, and the amount of light near the entrance of the parking frame P is acquired (S11).
これらのデータは、通信部101やGPS102により取得したり、レーダセンサ103、超音波センサ104、シート荷重センサ107、トランク荷重センサ108及び光量センサ109により検出することができる。あるいは、運転者が予め各データをECU110内のデータベースに記憶させておいても良い。あるいは、運転者等が携帯端末200からユーザ入力部206よりデータを入力し、当該データを通信部202により駐車支援装置100側に送信しても良い。
These data can be acquired by the communication unit 101 or the GPS 102, or can be detected by the radar sensor 103, the ultrasonic sensor 104, the seat load sensor 107, the trunk load sensor 108, and the light amount sensor 109. Alternatively, the driver may store each data in a database in the ECU 110 in advance. Or a driver | operator etc. may input data from the portable terminal 200 from the user input part 206, and may transmit the said data to the parking assistance apparatus 100 side by the communication part 202. FIG.
ECU110は、対面スペース幅Wが所定の閾値であるWthよりも大きいか否か判定する(S12)。図4に示すように、W1>Wthのときは、対面スペース幅W1がWthよりも大きく、交通量Tの多少によらず、自車両VMが道路の幅方向に前後を向けて道路を塞いで停車しても後続車両VFが通行可能である(S12)。そこで、この場合、ECU110は、自車両VMが停車位置から駐車枠Pの中に前進及び後退を切り替えることなく移動可能な位置を停車位置として決定する(S13)。
The ECU 110 determines whether or not the facing space width W is larger than a predetermined threshold value W th (S12). As shown in FIG. 4, when W 1 > W th , the facing space width W 1 is larger than W th and the host vehicle VM faces front and rear in the width direction of the road regardless of the amount of traffic T. Even if the road is blocked and stopped, the following vehicle VF can pass (S12). Therefore, in this case, the ECU 110 determines a position where the host vehicle VM can move from the stop position to the parking frame P without switching forward and backward as the stop position (S13).
この場合のWthは、例えば、自車両VMの全長+後続車両VFの全幅+安全のための距離とすることができる。あるいは、Wthは、自車両VMが前進及び後退を切り替えることなく駐車枠Pに駐車可能な停車位置における道路を塞ぐ幅+後続車両VFの全幅+安全のための距離とすることができる。図4の例では、W1は、自車両VMが一定舵角により駐車枠Pの入口に到達可能な停車位置における道路を塞ぐ幅+後続車両VFの全幅+安全のための距離であり、W1>Wthとなる。
W th in this case can be, for example, the total length of the host vehicle VM + the total width of the following vehicle VF + a safety distance. Alternatively, W th can be set to the width that blocks the road at the stop position where the host vehicle VM can park in the parking frame P without switching between forward and backward + the total width of the following vehicle VF + the distance for safety. In the example of FIG. 4, W 1 is the width that blocks the road at the stop position where the host vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the total width of the following vehicle VF + the distance for safety. 1 > W th .
この場合、ECU110はディスプレイ112及びスピーカ114により運転者に指示を与えるか、操舵制御部122、駆動力制御部124及び制動力制御部126により自車両VMの走行を制御することにより、図4に実線の矢印で示すように自車両VMを駐車枠Pに対して斜めになるように前進させてから停車させる(S13)。
In this case, the ECU 110 gives an instruction to the driver through the display 112 and the speaker 114 or controls the traveling of the host vehicle VM through the steering control unit 122, the driving force control unit 124, and the braking force control unit 126, as shown in FIG. As shown by the solid line arrow, the host vehicle VM is moved forward so as to be inclined with respect to the parking frame P and then stopped (S13).
この場合は、自車両VMの全ての座席から降車可能である。トランクから荷物を積み降ろすことも容易である。また、図4中に破線の矢印で示すように、一定舵角による後退等のように、自車両VMの後退時の軌跡が単純になるため、駐車位置の認識や駐車のための制御の精度を向上させることができる。
In this case, it is possible to get off from all seats of the host vehicle VM. It is easy to load and unload luggage from the trunk. In addition, as shown by the broken arrow in FIG. 4, the trajectory when the host vehicle VM is moving backward becomes simple, such as when the host vehicle VM is moving backward at a fixed steering angle. Can be improved.
図5に示すように、対面スペース幅W2が閾値Wthよりは大きいが、自車両VMが一定舵角により駐車枠Pの入口に到達可能な停車位置における道路を塞ぐ幅+後続車両VFの全幅+安全のための距離であるW1よりは小さい場合がある。この場合は、自車両VMが一定舵角により駐車枠Pの入口に到達可能な停車位置に停車すると、後続車両VFの通行を阻害する恐れがある。そのため、ECU110は、図5の実線の矢印及び破線の矢印で示すように、自車両VMに前進及び後退を切替えずに舵角を変更して駐車枠Pに駐車可能な停車位置に自車両VMを停車させる。
As shown in FIG. 5, the facing space width W 2 is larger than the threshold value W th, but the width of the vehicle VM that blocks the road at the stop position where the vehicle VM can reach the entrance of the parking frame P with a certain steering angle + the following vehicle VF in some cases is less than W 1 is the distance for the full width + safety. In this case, if the host vehicle VM stops at a stop position where the vehicle VM can reach the entrance of the parking frame P with a certain rudder angle, there is a risk of hindering the passage of the following vehicle VF. Therefore, the ECU 110 changes the steering angle of the host vehicle VM to the stop position where the parking frame P can be parked by changing the rudder angle without switching forward and backward to the host vehicle VM, as indicated by the solid and broken arrows in FIG. To stop.
この場合は、自車両VMの全ての座席から降車可能である。トランクから荷物を積み降ろすことも容易である。対面スペース幅Wが狭くても乗車及び降車が可能である。後続車両VFが通行可能な幅はあるため、後続車両VFの通行を阻害することもない。
In this case, it is possible to get off from all seats of the host vehicle VM. It is easy to load and unload luggage from the trunk. Even if the facing space width W is narrow, it is possible to get on and off the vehicle. Since there is such a width that the following vehicle VF can pass, the passage of the following vehicle VF is not hindered.
図6に示すように、対面スペース幅W3が所定の閾値であるWth以下である場合は(S12)、ECU110は、交通量Tが所定の閾値Tth以下であるか否か判定する(S14)。対面スペース幅W3が所定の閾値であるWth以下と狭い場合は(S12)、交通量Tが所定の閾値Tth以下と少なくとも(S14)、自車両VMが道路の幅方向に前後を向けて道路を塞いで停車した場合、後続車両VFの通行を阻害する恐れがある。そこで、この場合、ECU110は、駐車枠Pの入口の前であって、自車両VMが停車位置から駐車枠Pの中に前進及び後退を切り替えることによって移動可能な位置を停車位置として決定する(S15)。
As shown in FIG. 6, when the facing space width W 3 or less W th is a predetermined threshold value (S12), ECU 110 is traffic T determines whether less than a predetermined threshold value T th ( S14). If facing the space width W 3 W th less narrow a predetermined threshold (S12), the traffic amount T at least is equal to or less than a predetermined threshold value T th (S14), the host vehicle VM is directed back and forth in the width direction of the road When the road is blocked and the vehicle stops, there is a risk of hindering the passage of the following vehicle VF. Therefore, in this case, the ECU 110 determines a position before the entrance of the parking frame P and where the host vehicle VM can move by switching forward and backward from the stop position into the parking frame P as the stop position ( S15).
この場合のW3は、自車両VMの全幅+後続車両VFの全幅+安全のための距離である。この場合は、後続車両VFの通行が妨げられることはほとんどない。なお、ECU110は、シート荷重センサ107により駐車枠Pとは反対方向の側の座席にのみ乗員が搭乗していることを検出した場合は、交通量Tが所定の閾値Tth以下であることを条件として、対面スペース幅Wの大小によらず、図6のように、駐車枠Pの入口の前であって、自車両VMが停車位置から駐車枠Pの中に前進及び後退を切り替えることによって移動可能な位置を停車位置として決定しても良い。
The W 3 in this case, the distance for the entire width + safety of the own vehicle VM full width + following vehicle VF. In this case, the passage of the following vehicle VF is hardly hindered. Note that when the seat load sensor 107 detects that an occupant is only in the seat on the side opposite to the parking frame P, the ECU 110 determines that the traffic volume T is equal to or less than a predetermined threshold value Tth. As a condition, regardless of the size of the facing space width W, as shown in FIG. 6, in front of the entrance of the parking frame P, the host vehicle VM switches between forward and backward from the stop position into the parking frame P. A movable position may be determined as the stop position.
図7に示すように、対面スペース幅W3が所定の閾値であるWth以下と狭く(S12)、交通量Tが所定の閾値Tthを越えて多いときは(S14)、自車両VMが道路の幅方向に前後を向けて停車しなくとも、後続車両VFの通行が阻害される恐れがある。そこで、この場合、ECU110は、駐車枠P内に自車両VFの少なくとも一部が入る位置を停車位置として決定する(S17)。
As shown in FIG. 7, when the facing space width W 3 is as narrow as a predetermined threshold value W th or less (S 12) and the traffic volume T exceeds the predetermined threshold value T th (S 14), the host vehicle VM is Even if the vehicle does not stop in the width direction of the road, the subsequent vehicle VF may be blocked. Therefore, in this case, the ECU 110 determines a position where at least a part of the host vehicle VF enters the parking frame P as a stop position (S17).
この場合の停車位置では、自車両VMの全ての座席から降車可能である。また、安全確認がし易い。さらに、光量が少なくとも、降車後、携帯端末200から自車両VMの遠隔操作がし易い。
In this case, it is possible to get off from all seats of the host vehicle VM at the stop position. Moreover, it is easy to confirm safety. Further, at least the amount of light is easy to remotely control the host vehicle VM from the mobile terminal 200 after getting off.
なお、ECU110は、シート荷重センサ107により全座席に乗員が搭乗していることを検出した場合は、対面スペース幅Wが所定の閾値Wth以下であり、交通量Tが所定の閾値Tthを越えていることを条件として、図7に示すような駐車枠P内に自車両VFの少なくとも一部が入り、自車両VMの全ての座席から降車可能である位置を停車位置としても良い。
If the seat load sensor 107 detects that an occupant is on all seats, the ECU 110 detects that the facing space width W is equal to or smaller than the predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th . On the condition that it exceeds the limit, a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
あるいは、ECU110は、光量センサ109により駐車枠Pの周囲の光量が所定の閾値以下であり、シート荷重センサ107により全座席に乗員が搭乗していることを検出した場合は、対面スペース幅W及び交通量Tの大小に関わらず、図7に示すような駐車枠P内に自車両VFの少なくとも一部が入り、自車両VMの全ての座席から降車可能である位置を停車位置としても良い。
Alternatively, when the ECU 110 detects that the amount of light around the parking frame P is equal to or less than a predetermined threshold value by the light amount sensor 109 and the seat load sensor 107 detects that passengers are on all seats, the facing space width W and Regardless of the magnitude of the traffic volume T, a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 7 and can get off from all seats of the host vehicle VM may be set as the stop position.
図8に示すように対面スペース幅W4が図7のW3よりも狭いときは、駐車枠P内に自車両VFの少なくとも一部が入り、自車両VMの全ての座席から降車可能である位置に自車両VFが停車しても、後続車両VFの通行を阻害する恐れがある。そこで、この場合は、ECU110は、ECU110は、駐車枠P内に自車両VFの少なくとも一部が入る位置であって、運転席等の自車両VFの一部の座席から降車可能な位置を停車位置として決定する(S16)。
When facing the space width W 4, as shown in FIG. 8 is narrower than W 3 in FIG. 7, at least a portion of the vehicle VF to the parking frame in the P enters, be getting off from all seats of the host vehicle VM Even if the host vehicle VF stops at the position, there is a risk that the passage of the following vehicle VF may be hindered. Therefore, in this case, the ECU 110 stops at a position where at least a part of the host vehicle VF enters the parking frame P and can be dismounted from a part of the host vehicle VF such as a driver's seat. The position is determined (S16).
この場合の停車位置では、運転席のドアのみを開閉して降車可能である。また、安全確認がし易い。さらに、光量が少なくとも、降車後、携帯端末200から自車両VMの遠隔操作がし易い。加えて、停車時に自車両VMが道路を塞ぐ幅を最小限とすることができる。
In this case, at the stop position, it is possible to open and close only the door of the driver's seat. Moreover, it is easy to confirm safety. Further, at least the amount of light is easy to remotely control the host vehicle VM from the mobile terminal 200 after getting off. In addition, it is possible to minimize the width of the own vehicle VM blocking the road when the vehicle is stopped.
なお、ECU110は、シート荷重センサ107により運転席にのみ乗員が搭乗していることを検出した場合は、対面スペース幅Wが所定の閾値Wth以下であり、交通量Tが所定の閾値Tthを越えていることを条件として、図8に示すような駐車枠P内に自車両VFの少なくとも一部が入り、自車両VMの運転席のみから降車可能である位置を停車位置としても良い。
Note that when the seat load sensor 107 detects that an occupant is only in the driver's seat, the ECU 110 has a facing space width W that is equal to or smaller than a predetermined threshold value W th and the traffic volume T is equal to the predetermined threshold value T th. 8 may be a stop position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver's seat of the host vehicle VM.
あるいは、ECU110は、光量センサ109により駐車枠Pの周囲の光量が所定の閾値以下であり、シート荷重センサ107により運転席にのみ乗員が搭乗していることを検出した場合は、対面スペース幅W及び交通量Tの大小に関わらず、図8に示すような駐車枠P内に自車両VFの少なくとも一部が入り、自車両VMの運転席のみから降車可能である位置を停車位置としても良い。
Alternatively, when the ECU 110 detects that the amount of light around the parking frame P is equal to or less than a predetermined threshold by the light amount sensor 109 and the passenger is only in the driver's seat by the seat load sensor 107, the facing space width W Regardless of the magnitude of the traffic volume T, the stop position may be a position where at least a part of the host vehicle VF enters the parking frame P as shown in FIG. 8 and can get off only from the driver seat of the host vehicle VM. .
ECU110がシート荷重センサ107及びトランク荷重センサ108により乗員及び荷物の降車を検出したときは(S17)、図4~図8の破線矢印に示すように、ECU110は通信端末200からの遠隔操作又はECU110自体の走行制御により駐車枠Pに自車両VMを駐車させる(S108)。
When the ECU 110 detects the occupant and the unloading of the luggage by the seat load sensor 107 and the trunk load sensor 108 (S17), the ECU 110 can be operated remotely from the communication terminal 200, as shown by the broken line arrows in FIGS. The host vehicle VM is parked in the parking frame P by its own travel control (S108).
ECU110は、以上説明した他、天候、時間帯、周囲の他車両の配置及び自車両のよく行われる駐車時の走行パターン等を考慮して停車位置を決定することができる。
ECU110 can determine a stop position in consideration of the weather, the time zone, the arrangement of other surrounding vehicles, the running pattern during parking of the host vehicle, etc. in addition to the above description.
本実施形態では、駐車支援装置100のECU110は、自車両VMに搭乗中の運転者の操作によらない走行制御又は自車両VMの外部からの遠隔操作によって自車両VMを駐車枠Pに駐車させる。このため、駐車枠Pが狭いために駐車枠P内での乗員や荷物の降車が困難である場合に有効である。また、ECU110は、自車両VMを駐車枠Pに駐車させる前に、自車両VMが駐車枠Pの入口付近で一時停車するための停車位置を決定する。このため、決定された停車位置に一時停車することにより、駐車前に乗員や荷物の降車を行うことができる。さらに、ECU110は、駐車枠Pの入口付近における対面スペース幅W及び駐車枠Pの入口付近における他車両の交通量Tに応じて停車位置を決定する。そのため、駐車枠P付近の後続車両VFの通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが可能となる。
In the present embodiment, the ECU 110 of the parking assistance device 100 parks the host vehicle VM in the parking frame P by travel control not based on the operation of the driver who is boarding the host vehicle VM or by remote operation from the outside of the host vehicle VM. . For this reason, since the parking frame P is narrow, it is effective when it is difficult to get off passengers or luggage in the parking frame P. Further, the ECU 110 determines a stop position for the host vehicle VM to temporarily stop near the entrance of the parking frame P before the host vehicle VM is parked in the parking frame P. For this reason, by stopping temporarily at the determined stop position, it is possible to get off passengers or luggage before parking. Further, the ECU 110 determines the stop position according to the facing space width W near the entrance of the parking frame P and the traffic volume T of other vehicles near the entrance of the parking frame P. Therefore, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of the following vehicle VF in the vicinity of the parking frame P.
駐車枠Pの入口付近における対面スペース幅Wが所定の閾値Wthを超えて広いときは、自車両VMが停車位置に一時停車したときに、駐車枠P付近の後続車両VFの通行を阻害する可能性が低い。このため、本実施形態によれば、ECU110は、駐車枠Pの入口付近における対面スペース幅Wが所定の閾値Wth以上であるときは、駐車枠Pの外であって、自車両VMが停車位置から駐車枠Pの中に前進及び後退を切り替えることなく移動可能な位置を停車位置として決定する。これにより、自車両VMを停車位置から駐車枠P内に移動させることが容易となる。
When the facing space width W in the vicinity of the entrance of the parking frame P exceeds a predetermined threshold value Wth , the passage of the following vehicle VF in the vicinity of the parking frame P is obstructed when the host vehicle VM temporarily stops at the stop position. Less likely. Thus, according to the present embodiment, ECU 110, when facing the space width W in the vicinity of the entrance of the parking frame P is the predetermined threshold W th or more is a outside the parking frame P, the host vehicle VM is stopped A position where the vehicle can move from the position to the parking frame P without switching forward and backward is determined as the stop position. Thereby, it becomes easy to move the own vehicle VM from the stop position into the parking frame P.
駐車枠Pの入口付近における対面スペース幅Wが所定の閾値Wth以下と狭く、駐車枠Pの入口付近における交通量Tが所定の閾値Tth以下と少ないときは、交通量Tは少ないものの、自車両VMが駐車枠Pの入口付近を大きく遮るような形で停車すると、駐車枠P付近の後続車両VFの通行を阻害する可能性がある。このため、本実施形態によれば、ECU110は、駐車枠Pの入口の前であって、自車両VMが停車位置から駐車枠Pの中に前進及び後退を切り替えることによって移動可能な位置を停車位置として決定する。このため、停車中の自車両VMが駐車枠P付近の後続車両VFの通行を阻害することを防止することができる。
When the facing space width W in the vicinity of the entrance of the parking frame P is as narrow as a predetermined threshold value W th and the traffic volume T in the vicinity of the entrance of the parking frame P is as small as a predetermined threshold value T th or less, the traffic volume T is small, If the host vehicle VM stops in such a way as to largely block the vicinity of the entrance of the parking frame P, there is a possibility that the passage of the following vehicle VF near the parking frame P may be hindered. For this reason, according to the present embodiment, the ECU 110 stops at a position that is in front of the entrance of the parking frame P and is movable when the host vehicle VM switches forward and backward from the stop position into the parking frame P. Determine as position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
駐車枠Pの入口付近における対面スペース幅Wが所定の閾値Wth以下と狭く、且つ駐車枠Pの入口付近における交通量Tが所定の閾値Tthを超えて多いときは、自車両VMの全体が駐車枠P外に出る位置で停車すると、駐車枠P付近の後続車両VFの通行を阻害する可能性がある。このため、本実施形態によれば、ECU110は、駐車枠P内に自車両VMの少なくとも一部が入る位置を停車位置として決定する。このため、停車中の自車両VMが駐車枠P付近の後続車両VFの通行を阻害することを防止することができる。
When the facing space width W in the vicinity of the entrance of the parking frame P is as narrow as a predetermined threshold value W th and the traffic volume T in the vicinity of the entrance of the parking frame P exceeds the predetermined threshold value T th , the entire vehicle VM If the vehicle stops at a position where it goes out of the parking frame P, there is a possibility that the passage of the following vehicle VF near the parking frame P may be obstructed. Therefore, according to the present embodiment, the ECU 110 determines a position where at least a part of the host vehicle VM enters the parking frame P as a stop position. For this reason, it is possible to prevent the host vehicle VM being stopped from obstructing the passage of the following vehicle VF near the parking frame P.
本実施形態によれば、ECU110は、自車両VMに搭乗中の乗員及び自車両に搭載中の荷物の自車両VM内における配置に応じ、乗員が降車可能である位置及び荷物を自車両から積み降ろすことが可能な位置を停車位置として決定する。このため、駐車枠Pが狭いために駐車枠P内での乗員や荷物の降車が困難である場合であっても、自車両VMから乗員や荷物を降車させることができる。
According to the present embodiment, the ECU 110 loads from the host vehicle a position at which the passenger can get off and the baggage according to the arrangement of the passenger boarding the host vehicle VM and the baggage loaded on the host vehicle in the host vehicle VM. A position where the vehicle can be lowered is determined as a stop position. For this reason, even if it is difficult for the passengers or luggage to get out of the parking frame P because the parking frame P is narrow, it is possible to get the passengers or luggage from the own vehicle VM.
自車両VMの外部からの遠隔操作によって自車両VMを駐車枠Pに駐車させる場合は、駐車枠Pの入口付近の光量が少ない場合、自車両VMを複雑な操作で長い距離移動させることが難しい場合がある。このため、本実施形態によれば、ECU110は、駐車枠Pの入口付近の光量に応じて停車位置を決定する。このため、自車両VMの外部からの遠隔操作によって自車両VMを駐車枠Pに駐車させることが容易となる。
When the host vehicle VM is parked in the parking frame P by remote control from the outside of the host vehicle VM, it is difficult to move the host vehicle VM for a long distance by a complicated operation when the amount of light near the entrance of the parking frame P is small. There is a case. For this reason, according to the present embodiment, the ECU 110 determines the stop position according to the amount of light near the entrance of the parking frame P. For this reason, it becomes easy to park the own vehicle VM in the parking frame P by remote control from the outside of the own vehicle VM.
以上、本発明の実施の形態について説明したが、本発明は、上記実施形態に限定されるものではなく種々の変形が可能である。
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made.
本発明の駐車支援装置によれば、駐車枠付近の他車両の通行を阻害することを防止しつつ、乗員や荷物の降車の利便性を向上させることが可能となる。
According to the parking assist device of the present invention, it is possible to improve the convenience of getting off passengers and luggage while preventing the passage of other vehicles near the parking frame.
100 駐車支援装置
101 通信部
102 GPS
103 レーダセンサ
104 超音波センサ
105 車速検出部
106 舵角検出部
107 シート荷重センサ
108 トランク荷重センサ
109 光量センサ
110 ECU
112 ディスプレイ
114 スピーカ
122 操舵制御部
124 駆動力制御部
126 制動力制御部
200 携帯端末
202 通信部
206 ユーザ入力部
210 ECU 100Parking support device 101 Communication unit 102 GPS
103Radar sensor 104 Ultrasonic sensor 105 Vehicle speed detection unit 106 Rudder angle detection unit 107 Seat load sensor 108 Trunk load sensor 109 Light quantity sensor 110 ECU
112Display 114 Speaker 122 Steering control unit 124 Driving force control unit 126 Braking force control unit 200 Portable terminal 202 Communication unit 206 User input unit 210 ECU
101 通信部
102 GPS
103 レーダセンサ
104 超音波センサ
105 車速検出部
106 舵角検出部
107 シート荷重センサ
108 トランク荷重センサ
109 光量センサ
110 ECU
112 ディスプレイ
114 スピーカ
122 操舵制御部
124 駆動力制御部
126 制動力制御部
200 携帯端末
202 通信部
206 ユーザ入力部
210 ECU 100
103
112
Claims (6)
- 自車両を駐車枠内に駐車させる際に操縦者を支援する駐車支援装置であって、
前記駐車枠の入口付近における前記自車両及び他車両が走行可能な領域の広さを検出する走行可能領域検出ユニットと、
前記駐車枠付近における前記他車両の交通量を検出する交通量検出ユニットと、
前記自車両を前記駐車枠に駐車させる前に、前記自車両が駐車枠の入口付近で一時停車するための停車位置を決定する停車位置決定ユニットを備え、
前記停車位置決定ユニットは、前記走行可能領域検出ユニットが検出した前記駐車枠の入口付近における前記自車両及び前記他車両が走行可能な領域の広さ、及び前記交通量検出ユニットが検出した前記駐車枠の入口付近における前記他車両の交通量の少なくともいずれかに応じて前記停車位置を決定する、駐車支援装置。 A parking assistance device that assists the operator when the vehicle is parked in the parking frame,
A travelable area detection unit that detects the size of the area in which the host vehicle and other vehicles can travel in the vicinity of the entrance of the parking frame;
A traffic volume detection unit for detecting the traffic volume of the other vehicle in the vicinity of the parking frame;
A parking position determination unit that determines a stop position for the vehicle to temporarily stop near the entrance of the parking frame before the vehicle is parked in the parking frame;
The stop position determining unit is configured such that the area where the host vehicle and the other vehicle can travel in the vicinity of the entrance of the parking frame detected by the travelable area detection unit, and the parking detected by the traffic detection unit. A parking assistance device that determines the stop position according to at least one of the traffic volumes of the other vehicles in the vicinity of the entrance of the frame. - 前記停車位置決定ユニットは、前記駐車枠の入口付近における前記自車両及び前記他車両が走行可能な領域の広さが所定の閾値を超えているときは、前記駐車枠の外であって、前記自車両が前記停車位置から前記駐車枠の中に前進及び後退を切り替えることなく移動可能な位置を前記停車位置として決定する、請求項1に記載の駐車支援装置。 The stop position determination unit is outside the parking frame when the area of the area where the host vehicle and the other vehicle can travel in the vicinity of the entrance of the parking frame exceeds a predetermined threshold, The parking assistance device according to claim 1, wherein a position where the own vehicle can move from the stop position to the parking frame without switching between forward and backward is determined as the stop position.
- 前記停車位置決定ユニットは、前記駐車枠の入口付近における前記自車両及び前記他車両が走行可能な領域の広さが所定の閾値以下であり、且つ前記駐車枠の入口付近における交通量が所定の閾値以下であるときは、前記駐車枠の入口の前であって、前記自車両が前記停車位置から前記駐車枠の中に前進及び後退を切り替えることによって移動可能な位置を前記停車位置として決定する、請求項1又は2に記載の駐車支援装置。 The stop position determining unit is configured such that the area of the vehicle and the other vehicle in the vicinity of the entrance of the parking frame is equal to or smaller than a predetermined threshold, and the traffic volume in the vicinity of the entrance of the parking frame is predetermined. When it is equal to or less than the threshold value, the position where the host vehicle can move by switching forward and backward from the stop position into the parking frame before the entrance of the parking frame is determined as the stop position. The parking assistance device according to claim 1 or 2.
- 前記停車位置決定ユニットは、前記駐車枠の入口付近における前記自車両及び前記他車両が走行可能な領域の広さが所定の閾値以下であり、且つ前記駐車枠の入口付近における前記他車両の交通量が所定の閾値を超えているときは、前記駐車枠内に前記自車両の少なくとも一部が入る位置を前記停車位置として決定する、請求項1~3のいずれか1項に記載の駐車支援装置。 The stop position determination unit is configured such that the area of the vehicle and the other vehicle in the vicinity of the entrance of the parking frame is equal to or less than a predetermined threshold, and the traffic of the other vehicle in the vicinity of the entrance of the parking frame The parking support according to any one of claims 1 to 3, wherein when the amount exceeds a predetermined threshold, a position where at least a part of the host vehicle enters the parking frame is determined as the stop position. apparatus.
- 前記停車位置決定ユニットは、前記自車両に搭乗中の乗員及び前記自車両に搭載中の荷物のいずれかの前記自車両内における配置に応じ、前記乗員が降車可能である位置及び前記荷物を前記自車両から積み降ろすことが可能な位置のいずれかを前記停車位置として決定する、請求項1~4のいずれか1項に記載の駐車支援装置。 The stop position determination unit is configured to determine the position at which the occupant can get off and the luggage according to the arrangement of the occupant who is boarding the own vehicle and the luggage loaded on the own vehicle in the own vehicle. The parking assistance device according to any one of claims 1 to 4, wherein any one of positions at which the vehicle can be loaded / unloaded is determined as the stop position.
- 前記停車位置決定ユニットは、前記駐車枠の入口付近の光量に応じて前記停車位置を決定する、請求項1~5のいずれか1項に記載の駐車支援装置。 The parking assistance device according to any one of claims 1 to 5, wherein the stop position determining unit determines the stop position according to a light amount near an entrance of the parking frame.
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