CN105741605A - Parking assisting apparatus - Google Patents
Parking assisting apparatus Download PDFInfo
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- CN105741605A CN105741605A CN201510993519.9A CN201510993519A CN105741605A CN 105741605 A CN105741605 A CN 105741605A CN 201510993519 A CN201510993519 A CN 201510993519A CN 105741605 A CN105741605 A CN 105741605A
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- parking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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Abstract
The invention discloses a parking assisting apparatus which can detect poor boundary line marking of park zoning and has a novel structure. According to the embodiments, the parking assisting apparatus is provided with: a boundary line mark detecting part which detects a boundary line mark corresponding to a boundary line of parking zoning within a set detection range; an object position determining part which determines an object position on the basis of a detected boundary line mark; and a detection range setting part which sets the detection range which is subject to changing.
Description
Technical field
Embodiments of the present invention relate to parking aid.
Background technology
Conventionally, there is known such parking aid, its no matter the position of vehicle or situation of movement how, all by the range set on detection parking stall near parking zoning.
Prior art literature
Patent documentation
Patent documentation 1: No. 4604703 publication of Japanese Patent
In this technology, if being obtained in that bad less new construction when setting the scope for detecting parking stall, then meaningful.
Summary of the invention
It is therefoie, for example, one of problem of the present invention is in that, it is thus achieved that the parking aid of bad less new construction of the boundary line labelling of parking zoning can be detected.
The parking aid of embodiments of the present invention has: marker detection portion, boundary line, the boundary line labelling that detection is corresponding with the boundary line of parking zoning in the detection range set；Target location determination section, according to the described boundary line labelling detected, determines target location；Detection range configuration part, in the way of can changing the size of described detection range, sets this detection range.
By such structure, owing to detection range can be suppressed to exceed desirably change big (broadening), so being such as obtained in that and suppressing invalidly execution with effects such as the computing of the detection of boundary line labelling, the error detections of minimizing boundary line labelling.
Additionally, such as, in above-mentioned parking aid, described detection range according to vehicle relative to the relative position of at least one in target location and described boundary line labelling, can be changed in described detection range configuration part.
Change along with the position of vehicle, it is possible to change with the scope of better accuracy detection boundary line labelling.Namely, for instance, by such structure, it is easier to set detection range rightly.
Additionally, such as, in above-mentioned parking aid, described detection range configuration part, it is possible to by vehicle in the way of the more near then described detection range in final position of auxiliary of stopping is more big, change described detection range.
Vehicle, then can be more wide with the scope of better accuracy detection boundary line labelling the closer to target location and boundary line labelling.Namely, for instance, by such structure, it is easier to set detection range rightly.
Additionally, such as, in above-mentioned parking aid, described detection range configuration part, described detection range is set as can a part in set point, described can the position of set point fix relative to vehicle.It is thus possible, for instance, it is easier to alteration detection scope.
Additionally, such as, in above-mentioned parking aid, described detection range configuration part, described detection range is set in described can the front side of direct of travel of vehicle in set point.
Along with vehicle is near target location, boundary line labelling from the front side of the direct of travel of vehicle relatively close to vehicle.Namely, for instance, by such structure, it is easier to set detection range rightly.
Additionally, such as, in above-mentioned parking aid, described detection range length on the fore-and-aft direction of vehicle is changed in described detection range configuration part.It is thus possible, for instance, it is easier to alteration detection scope.
Accompanying drawing explanation
Fig. 1 is the exemplary axonometric chart of the perspective of the part in the compartment of the vehicle illustrating embodiment.
Fig. 2 is the exemplary top view (aerial view) of the vehicle of embodiment.
Fig. 3 is the exemplary block diagram of the structure of the parking assistance system of embodiment.
Fig. 4 is the exemplary block diagram of the structure of a part of the ECU (parking aid) of the parking assistance system of embodiment.
Fig. 5 is the flow chart of an example of the step of the process of the parking aid illustrating embodiment.
Fig. 6 be shown through detection range that the parking aid of embodiment sets accordingly with vehicle location can the top view of an example of set point.
Fig. 7 be shown through the parking aid of embodiment guide the vehicle detection range when being positioned at initial position that controls can set point, parking zoning, target location and mobile route the top view of an example.
Fig. 8 be shown through the parking aid of embodiment guide the vehicle controlled when be positioned at mobile route turn back position detection range can set point, parking zoning and target location the top view of an example.
Fig. 9 be shown through the parking aid of embodiment guide the vehicle controlled detection range when near parking zoning can set point, detection range, parking zoning and target location the top view of an example.
Figure 10 be shown through the parking aid of embodiment guide the vehicle the controlled detection range when being positioned at compared with Fig. 9 to travel further into the position of parking zoning can set point, detection range, parking zoning and target location the top view of an example.
Figure 11 be shown through the parking aid of embodiment guide the vehicle detection range when being positioned at target location (final position) that controls can set point, detection range, parking zoning and target location the top view of an example.
Wherein, description of reference numerals is as follows:
1 vehicle (vehicle)
14ECU (parking aid)
143 parking zoning test sections (marker detection portion, boundary line)
145 target location determination sections
146 detection range configuration parts
AL, AR can set point
DL, DR boundary line labelling
Pa target location (final position)
SL, SR detection range
Detailed description of the invention
Below, the exemplary embodiment of the open present invention.The structure of the embodiment being illustrated below and effect, result and the effect brought by this structure are examples.The present invention also is able to be realized by the structure except the structure disclosed in embodiment below, and is obtained in that the various effects according to basic structure or derives from least one effect in effect.
Such as, the vehicle 1 of present embodiment both can be using the not shown internal combustion engine automobile as drive source and internal-combustion engines vehicle, can also be using the not shown motor automobile as drive source and electric automobile or fuel cell car etc., can also be using these both sides hybrid vehicle as drive source, it is also possible to be the automobile with other drive sources.Additionally, vehicle 1 can either carry various speed change gear, can carry again to drive the various devices required for internal combustion engine or motor, for instance equipped system or part etc..Furthermore it is possible to set mode or quantity, the layout etc. of the device of the driving relating to wheel 3 in vehicle 1 in every way.
As illustrated in fig. 1, car body 2 constitutes the compartment 2a of not shown passenger riding.In compartment 2a, using the state of the seat 2b towards the driver as occupant, it is provided with steering portion 4, accelerates operating portion 5, brake operating portion 6, variable speed operation portion 7 etc..Such as, steering portion 4 is the steering wheel highlighted from instrumental panel 24；Such as, accelerate operating portion 5 and be in the accelerator pedal of driver underfooting；Such as, brake operating portion 6 is in the brake pedal of driver underfooting；Such as, variable speed operation portion 7 is the gear lever highlighted from central control board.Further, steering portion 4, accelerate operating portion 5, brake operating portion 6, variable speed operation portion 7 etc. be not limited to above-mentioned these.
Additionally, in compartment 2a, it is provided with the display device 8 as display output portion, voice output 9 as audio output unit.Such as, display device 8 is LCD (liquidcrystaldisplay: liquid crystal display), OELD (organicelectroluminescentdisplay: display of organic electroluminescence) etc..Such as, voice output 9 is speaker.Additionally, such as, the display device 8 transparent operation inputting part 10 such as panel that are touched cover.Occupant can be operated by input portion 10 with visual identity image of display on the display picture of display device 8.Additionally, occupant by using the touches such as finger, pressing or mobile operation inputting part 10 to be operated on the position corresponding with the image of display on the display picture of display device 8, it is possible to perform operation and input.Such as, these display devices 8, voice output 9, operation inputting part 10 etc. are arranged at monitoring arrangement 11, and described monitoring arrangement 11 is positioned at the overall width direction of instrumental panel 24 and the central part of left and right directions.Monitoring arrangement 11 can have the not shown operation inputting part of switch, graduated disc, stick, button etc..Furthermore it is possible to other positions different from monitoring arrangement 11 not shown voice output being arranged in compartment 2a, it is possible to from the voice output 9 of monitoring arrangement 11 and other voice outputs output sound.And, for instance, it is also possible to monitoring arrangement 11 is also used as navigation system or sound system.
Additionally, such as Fig. 1, as illustrated in 2, for instance, vehicle 1 is four-wheel automobile, has two, left and right front-wheel 3F and two, left and right trailing wheel 3R.These four wheels 3 can both can be constituted in the way of turning to.As illustrated in fig. 3, vehicle 1 has the steering control system 13 that two wheels 3 at least carry out steering.Steering control system 13 has actuator 13a, torque sensor 13b.Electronically control steering control system 13 by ECU14 (electroniccontrolunit: electronic control unit) etc., make actuator 13a action.Such as, steering control system 13 is electric boosted steering control system or SBW (steerbywire: line traffic control steering) system etc..Steering control system 13 applies moment of torsion by actuator 13a to steering portion 4 and auxiliary torque supplements steering force, or makes wheel 3 turn to by actuator 13a.In this case, actuator 13a both can make a wheel 3 turn to, it is possible to so that multiple wheel 3 turns to.Additionally, such as, torque sensor 13b detects the moment of torsion that driver provides to steering portion 4.
Additionally, as illustrated in fig. 2, on car body 2, as multiple shoot parts 15, for instance be provided with four shoot part 15a to 15d.Such as, shoot part 15 is the digital camera head of the capturing element such as in-built CCD (chargecoupleddevice: charge-coupled image sensor) or CIS (CMOSimagesensor: cmos image sensor).Shoot part 15 can with the frame frequency output animation data of regulation.Shoot part 15 is respectively provided with wide-angle lens or fish eye lens, for instance can the scope of photographs 140 ° to 190 ° in the horizontal direction.Additionally, the optical axis by shoot part 15 is set as obliquely downward.Therefore, shoot part 15 gradually shoots the external environment condition of car body 2 periphery including road surface that vehicle 1 can move or the region that vehicle 1 can stop, and is used as captured image data output.
Such as, shoot part 15a is positioned at the end 2e on rear side of car body 2, is arranged at the wall portion of the lower section of the door 2h of luggage boot.Such as, shoot part 15b is positioned at the end 2f on the right side of car body 2, is arranged at the rearview mirror 2g on right side.Such as, shoot part 15c is positioned at the front side of car body 2 and the end 2c of the front side of vehicle fore-and-aft direction, is arranged at front bumper etc..Such as, shoot part 15d is positioned at the end 2d on the left of the left side of car body 2 and overall width direction, is arranged at the rearview mirror 2g of the protuberance as left side.ECU14 performs computing or image procossing according to the view data obtained at multiple shoot parts 15, it is possible to generates the image of more Wide-angle, and can generate the imaginary eye view image of vehicle 1 viewed from above.Further, eye view image also is able to be called overhead view image.
Additionally, the image that ECU14 is according to shoot part 15, identify the ride etc. shown in the road surface of vehicle 1 periphery, the detection (extraction) parking zoning shown in ride etc..
Additionally, such as Fig. 1, as illustrated in 2, on car body 2, as multiple ranging unit 16,17, for instance be provided with four ranging unit 16a to 16d and eight ranging unit 17a to 17h.Such as, ranging unit 16,17 is to launch ultrasound wave and catch the sonar of its echo.Sonar also is able to be called sonar sensor or ultrasonic detector.The ECU14 testing result according to ranging unit 16,17, it is possible to measurement is positioned at the presence or absence of the objects such as the barrier around vehicle 1 or the distance of vehicle this object apart.That is, ranging unit 16,17 is an example of the test section of detection object.And, for instance, ranging unit 17 can be used in the detection of the in-plant object of comparison；Such as, ranging unit 16 can be used in the detection of the object of the long distance more remote than ranging unit 17.Additionally, such as, ranging unit 17 can be used in the detection of the object at vehicle 1 front and rear, and ranging unit 16 can be used in the detection of the object of vehicle 1 side.Additionally, ranging unit 16,17 can also be radar installations etc..
In addition, as illustrated in fig. 3, in parking assistance system 100, it is electrically connected with via the in-vehicle network 23 as electric communication line outside ECU14, monitoring arrangement 11, steering control system 13, ranging unit 16,17 etc., is also electrically connected with brakes 18, rotation angle sensor 19, throttle sensor 20, shift sensor 21, wheel speed sensor 22 etc..Such as, in-vehicle network 23 is configured to CAN (controllerareanetwork: controller local area network).ECU14 sends control signal by in-vehicle network 23, it is possible to control steering control system 13, brakes 18 etc..In addition, ECU14 is via in-vehicle network 23, it is possible to receive the operation signal etc. of testing result or the operation inputting part 10 etc. of torque sensor 13b, braking sensor 18b, rotation angle sensor 19, ranging unit 16, ranging unit 17, throttle sensor 20, shift sensor 21, wheel speed sensor 22 etc..
Such as, ECU14 has: CPU14a (centralprocessingunit: CPU), ROM14b (readonlymemory: read-only memorizer), RAM14c (randomaccessmemory: random access memory), display control unit 14d, sound control portion 14e, SSD14f (solidstatedrive: solid-state drive, flash memories) etc..Such as, CPU14a be able to carry out image procossing associate with the image of display on display device 8, the target location determining vehicle 1, calculate the mobile route of vehicle 1, judge whether to interfere with object, automatically control vehicle 1, various computings that releasing automatically controls etc. and control.CPU14a can read the program installed in non-volatile storage device of ROM14b etc. and store, and performs computing according to this program.RAM14c temporarily stores the various data for calculating in CPU14a.Additionally, in the computing of ECU14, display control unit 14d mainly uses the view data obtained by shoot part 15 to perform image procossing, or perform synthesis for the process etc. of the view data of display on display device 8.Additionally, in the computing of ECU14, sound control portion 14e mainly performs the process for the voice data that can be exported by voice output 9.Additionally, SSD14f is able to erasable non-volatile storage part, even if also be able to storage data when being disconnected the power supply of ECU14.Further, CPU14a, ROM14b, RAM14c etc. can be integrated in same packaging body.Additionally, ECU14 can also be that instead of CPU14a and use the structure of other logical operations processor or the logic circuits etc. of DSP (digitalsignalprocessor: digital signal processor) etc..In addition it is also possible to replace SSD14f and arrange HDD (harddiskdrive: hard disk drive), it is also possible to SSD14f or HDD and ECU14 is provided separately.ECU14 is an example of parking aid.
Such as, the anti-locking apparatus of sideslip (ESC:electronicstabilitycontrol: electronic stabilizing control system) that when brakes 18 is to suppress the ABS (anti-lockbrakesystem: anti-blocking brake system) of lock of controller or suppress to turn, vehicle 1 breaks away, brake force is made to strengthen the electrodynamic braking system of (perform braking auxiliary), BBW (brakebywire: brake-by-wire) etc..Brakes 18 provides brake force via actuator 18a to wheel 3 or even vehicle 1.Additionally, brakes 18 can detect the sign etc. of lock of controller, the idle running of wheel 3, sideslip according to the speed discrepancy of left and right wheels 3 etc., perform various control.Such as, braking sensor 18b is the sensor of the position of the movable part in detection brake operating portion 6.Braking sensor 18b can detect the position of the brake pedal as movable part.Braking sensor 18b includes shift sensor.
Such as, rotation angle sensor 19 is the sensor of the steering amount in the steering portion 4 of detection steering wheel etc..Such as, Hall element etc. is used to constitute rotation angle sensor 19.ECU14 from rotation angle sensor 19 obtain driver to the steering amount in steering portion 4 or auto-pilot time the steering amount etc. of each wheel 3 perform various control.Further, rotation angle sensor 19 detects the anglec of rotation of the rotating part included by steering portion 4.Rotation angle sensor 19 is an example of angular transducer.
Such as, throttle sensor 20 is the sensor that the position of the movable part of operating portion 5 is accelerated in detection.Throttle sensor 20 can detect the position of the accelerator pedal as movable part.Throttle sensor 20 includes shift sensor.
Such as, shift sensor 21 is the sensor of the position of the movable part in detection variable speed operation portion 7.Shift sensor 21 can detect the position as the bar of movable part, arm, button etc..Shift sensor 21 both can include displacement transducer, it is also possible to is configured to switch.
Wheel speed sensor 22 is the sensor of the rotation amount of detection wheel 3 or rotation number in the unit interval.The wheel rapid pulse strokes per minute illustrating the rotation number detected is exported by wheel speed sensor 22 as sensor values.For instance, it is possible to use Hall element etc. to constitute wheel speed sensor 22.ECU14 calculates the amount of movement etc. of vehicle 1 according to the sensor values obtained from wheel speed sensor 22, performs various control.Further, there is also the situation that wheel speed sensor 22 is arranged in brakes 18.In this case, ECU14 obtains the testing result of wheel speed sensor 22 by brakes 18.
Further, above-mentioned various sensor or the structure of actuator, configuration, electric connection mode etc. are examples, it is possible to carry out various setting (change).
In addition, as shown in Figure 4, ECU14 has: acquisition unit 141, detection of obstacles portion 142, parking zoning test section 143, display position determination section 144, target location determination section 145, detection range configuration part 146, output information control portion 147, route configuration part 148, guiding control portion 149, storage part 150 etc..CPU14a is by performing process according to program, thus as acquisition unit 141, detection of obstacles portion 142, parking zoning test section 143, display position determination section 144, target location determination section 145, detection range configuration part 146, output information control portion 147, route configuration part 148, guiding control portion 149 etc. to play a role.Additionally, storage has the data etc. of the result of data or the computing used in the computing in each portion in storage part 150.And, it is also possible to function at least some of in above-mentioned each portion is realized by hardware.
Acquisition unit 141 obtains various data or signal etc..Such as, acquisition unit 141 obtains the testing result of each sensor, operation input, the data indicating input, view data etc. or signal etc..Acquisition unit 141 can obtain the signal of the operation input of operating portion 14g.Such as, operating portion 14g is button or switch etc..
Detection of obstacles portion 142 detection hinders the barrier that vehicle 1 travels.Such as, barrier is other vehicles, wall, pillar, fence, projection, step, scotch block, object etc..Presence or absence or height, the size etc. of barrier can detect by various methods in detection of obstacles portion 142.Such as, barrier can detect according to the testing result of ranging unit 16,17 in detection of obstacles portion 142.Additionally, ranging unit 16,17 can detect the object corresponding with the height of its acoustic beam, it is impossible to detect the object lower than the height of this acoustic beam.Therefore, the height of barrier according to the height of the testing result of ranging unit 16,17 Yu the acoustic beam of each of which, can detect in detection of obstacles portion 142.Additionally, presence or absence or the height of barrier according to the testing result of the testing result of wheel speed sensor 22 or not shown acceleration transducer and ranging unit 16,17, can also detect in detection of obstacles portion 142.Additionally, such as, the image procossing that detection of obstacles portion 142 can also be undertaken by the image shot according to shoot part 15, detects the height of barrier.
Parking zoning test section 143 detects parking zoning.Parking zoning is the zoning as substantially target or benchmark set to make vehicle 1 stop in this position, is the region being carried out zoning by parking boundary line.Parking boundary line is boundary line or the outer rim of parking zoning, for instance ride or wire, straight line, band, step, their edge etc..That is, parking boundary line is labelling or object etc..Below, the labelling of the boundary line of parking zoning is expressed as boundary line labelling.Such as, the image procossing that parking zoning test section 143 is undertaken by the image shot according to shoot part 15, it is possible to detection parking zoning and parking boundary line.Parking zoning test section 143 is an example in marker detection portion, boundary line.
Such as, display position determination section 144, according at least one result in the testing result in detection of obstacles portion 142 and the testing result of parking zoning test section 143, is decided to become the display position of the display key element of substantially benchmark or the target guiding vehicle 1.Display position both can be corresponding with the terminal of mobile route, it is also possible to corresponding with the midway part of mobile route.For instance, it is possible to display key element to be set as point or line, frame, the region etc. of display on display device 8.
Such as, target location determination section 145, according at least one result in the testing result in detection of obstacles portion 142 and the testing result of parking zoning test section 143, determines the target location as the position becoming substantially benchmark or the target guiding vehicle 1.Target location both can be the terminal of mobile route, it is also possible to be the midway part of mobile route.For instance, it is possible to target location is set as a little or line, frame, region etc..Target location can also be identical with display position.
Detection range configuration part 146 is set by parking zoning test section 143 and detects the detection range of parking zoning (boundary line labelling).Parking zoning test section 143 is detection parking zoning (boundary line labelling) in the detection range set.Additionally, in the present embodiment, detection range configuration part 146 can the size of alteration detection scope.Such as, by the size of alteration detection scope, it is possible to suppress to detect the noise of also nonboundary line labelling.The process of detection range configuration part 146 described below.
Such as, stop in beginning or end and assist, determine each stage of target location, calculating route, guiding control etc. in output information control portion 147, by making display device 8 or voice output 9 in the way of the information that desired form output is desired, control display control unit 14d or sound control portion 14e or even control display device 8 or voice output 9.
Such as, route configuration part 148 according to the current position of vehicle 1 i.e. vehicle, the target location determined, barrier testing result etc., by known method etc., set the mobile route played till target location from the position that vehicle 1 is current.
Guide control portion 149 to control each portion, make the mobile route that vehicle 1 realizes along calculating move.Such as, even if guiding control portion 149 in not operating the vehicle 1 that accelerator pedal moves also by modes such as idling (creep), by the position control steering control system 13 according to vehicle 1, it is possible to make vehicle 1 move along route and move.Additionally, guide control portion 149 to be possible not only to control steering control system 13, but also the driving mechanism of electromotor or motor etc. can be controlled or as the brakes 18 etc. of arrestment mechanism.In addition, such as, guide control portion 149 can also control output information control portion 147, display control unit 14d, sound control portion 14e or even display device 8 or voice output 9, the display output of the position according to vehicle 1 or voice output, move thus guiding driver to make vehicle 1 move along route.
Data that storage part 150 is stored in the calculating of ECU14 to use or the data that calculate in the calculating of ECU14.
Additionally, in parking assistance system 100, perform process with the step illustrated in Figure 5.First, acquisition unit 141 obtains the data (S1) of the state of the vehicle 1 (vehicle) being shown in this time point.Illustrate that the data of the state of the vehicle 1 in S1 refer to, the data of the physical quantity (parameter) that movement to vehicle 1 is relevant, specifically, for instance include the position of vehicle 1, vehicle 1 and the relative position relation of at least one in target location and boundary line labelling, the speed of vehicle 1, the acceleration of vehicle 1, the rudder angle of wheel 3 (front-wheel 3F), operation signal etc. to operating portion.And, for instance, the relative position relation of the position of the position of vehicle 1 and target location or boundary line labelling refers to, the difference of they bipartite position coordinateses or relative to the wherein direction of the opposing party of a side, bipartite distance etc..Then, detection range configuration part 146 sets detection range (S2) according to the data obtained in acquisition unit 141, barrier (S3) is detected in detection of obstacles portion 142, detects parking zoning (parking boundary line, boundary line labelling) (S4) in the detection range that parking zoning test section 143 sets in S2.Then, the target location determination section 145 testing result according to S3 or S4, determine the target location (S5) of the mobile route of vehicle 1.Then, route configuration part 148 calculates the mobile route (S6) started to the target location determined from the position that vehicle 1 is current.Then, control portion 149 is guided to control each portion to make vehicle 1 realize the movement (S7) along the mobile route calculated.Further, at vehicle 1 on mobile route in the way of movement, it is possible to suitably revise or more new target location or movement route etc..In parking assist control process, perform the flow process of Fig. 5 according to each time step (timestep) set with predetermined time interval.And, it is not necessary to it is carried out the institute of S1 to S7 in steps in all time steps, for instance, the setting (S2) of detection range etc. can also perform once every multiple time steps.
Then, with reference to Fig. 6 to 11, illustrate that the detection range configuration part 146 of the parking assistance system 100 by present embodiment carries out an example of the order of the setting of detection range.
In Fig. 6 exemplified with in vehicle 1 detection range can set point AL, AR.Set point AL, AR can being able to set the scope of detection range, detection range when maximum with size (size) is identical.Such as, can set point AL, AR be arranged respectively at vehicle 1 the left and right sides at a distance of the closer position of end 2d, 2f, in the oblong-shaped (quadrilateral shape) slenderly extended along the fore-and-aft direction Cv of vehicle 1.Can the long limit of set point AL, AR namely along the limit of the above-below direction of Fig. 6, parallel with the fore-and-aft direction Cv of vehicle 1；Can the minor face of set point AL, AR namely along the limit of the left and right directions of Fig. 6, parallel with the overall width direction of vehicle 1, i.e. to be parallel to the direction orthogonal with fore-and-aft direction Cv.Along can the length of fore-and-aft direction of set point AL, AR be L, the length along overall width direction be W.This can set point AL, AR be relatively fixed relative to vehicle 1.Therefore, set point AL, AR can not move but static with vehicle 1 in the coordinate system being fixed on vehicle 1, move along with the movement of vehicle 1 in being fixed on ground coordinate system.Further, set point AL, AR can be set as variously-shaped or be set in various position, for instance, it is also possible to it not rectangle.Further, ECU14 utilizes the coordinate transform etc. based on calibration (calibration), by the position of the parking zoning detected or parking boundary line, is transformed into the position in top view when from above vehicle 1 being observed as illustrated in figure 6.
Additionally, as illustrated in fig. 7, route configuration part 148 sets route R1, R2 that vehicle 1 moves to target location Paf, Pa from the Ps of position through switch-back point Pt.In this case, for instance, target location Paf as the position corresponding with the entrance of parking zoning, is set in end d1, d1 of entrance side with two boundary lines labelling DL, DR detecting at a distance of equidistant midpoint；Such as, with the terminal of the route R2 of vehicle 1 target setting position Pa accordingly.Such as, target location Pa being set as vehicle 1 position in a particular state, and makes target location Pa with two boundary lines labelling DL, DR detecting at a distance of equidistant, under this particular state, the front end of vehicle 1 is target location Paf.Further, position Ps also can be called initial position or start position, and target location Paf, Pa also can be called final position or final position.
Fig. 8 in 11 exemplified with the setting of the detection range in each position arrived from the Ps of position at vehicle 1 the Pa of target location.
Figure 8 illustrates the state that vehicle 1 is in the switch-back point Pt of route R1, R2.As shown in Figure 8, in this condition, detection range can not set in set point AL, AR.In the present embodiment, detection range configuration part 146, more than vehicle 1 with target location Pa or boundary line labelling DL, DR predetermined distance apart or when exceeding well over predetermined distance, does not set detection range.Distance till playing boundary line labelling DL, DR from vehicle 1 is more remote, and the accuracy of detection of boundary line labelling DL, DR is more easily reduced.If it is assumed that come target setting position Pa, Paf according to boundary line labelling DL, DR that the accuracy of detection of position is not high, then there is the situation that actual parking zoning is big with the deviation of target location Pa, Paf.This point, pass through present embodiment, because more than vehicle 1 with target location Pa or boundary line labelling DL, DR predetermined distance apart, do not carry out the detection of boundary line labelling DL, DR and the renewal of target location Pa, the Paf according to this testing result, it is possible to suppress the bad phenomenon caused owing to the accuracy of detection of boundary line labelling DL, DR is less high.
Figure 9 illustrates the vehicle 1 state near the entrance of parking zoning.As it is shown in figure 9, in this condition, although can set detection range SL1 (SL) in set point AL on the left of vehicle 1, but detection range can not set in set point AR on the right side of vehicle 1.According to Fig. 9 it is clear that boundary line labelling DR be introduced on the right side of vehicle 1 can in set point AR.In such a state, even if detection range can be set in set point AR, having carried out the detection of boundary line labelling DR in this detection range, being also otiose.It is therefoie, for example, by such setting, it is possible to suppress to perform useless computing.
By the route calculation of the vehicle 1 in the process guiding (auxiliary of stopping) such as the guiding controls that carries out of control portion 149, ECU14 can relative position relation between the position of the position that each opportunity obtains vehicle 1 and boundary line labelling DL, DR of detecting according to target location Pa and position Ps.Therefore, detection range configuration part 146 predicted boundary wire tag DL, DR can relatively enter (the timing on opportunity in detection range SL, the SR corresponding with vehicle 1, moment) or position, and start to set detection range SL, SR from the opportunity (moment) shifting to an earlier date the stipulated time than the opportunity of this prediction, or start to set detection range SL, SR from the position of predetermined distance more forward than the position of this prediction.In this case, it is possible to by detection range SL, SR set sart point in time the length along vehicle 1 fore-and-aft direction Cv be set to Fig. 9,10 length M.
Additionally, as it is shown in figure 9, be set in by detection range SL can in set point AL in detection range configuration part 146.If all independently setting detection range SL with the scope (can set point AL) predetermined on each opportunity, then there is the situation that the load of computing uprises.This point, because in the present embodiment, detection range configuration part 146 can set detection range SL in set point AL what predetermine, so such as can suppress to increase along with the computing load setting or changing and cause of detection range SL.Further, can the setting of detection range SR (with reference to Figure 10) in set point AR also identical with this.
Additionally, as it is shown in figure 9, detection range SL be set in can the front side of direct of travel of vehicle 1 in set point AL.As shown in the example of Fig. 6 to 11, the front side of the direct of travel of vehicle 1, it is the rear side of the fore-and-aft direction Cv of vehicle 1 when vehicle 1 retreats, is namely sitting in the rear side of the driver of driver's seat.And, although not shown, but when vehicle 1 advances, it is the front side of the fore-and-aft direction Cv of vehicle 1.When vehicle 1 towards cursor position Pa (final position) mobile, if observing from vehicle 1, then boundary line labelling DL, DR from the front side of the direct of travel of this vehicle 1 relatively close to vehicle 1.It is therefoie, for example, by such setting, it is possible to more efficient, more rapidly or more reliably detection boundary line labelling DL, DR.Further, can the setting of detection range SR (with reference to Figure 10) in set point AR also identical with this.
Additionally, as it is shown in figure 9, under the state that the rudder angle of such front-wheel 3F is relatively larger when entering before parking zoning, being partly into of this front-wheel 3F can in set point AL, AR.In such a state, it is assumed that the whole region of set point AL, AR will can be set to detection range SL, SR, then exist situation that front-wheel 3F error detection is boundary line labelling.This point, as it is shown in figure 9, by present embodiment, be positioned at the rear side of the fore-and-aft direction Cv of vehicle 1 due to detection range SL, SR, avoid front-wheel 3F and sets the scope of detection range SL, SR, so such error detection will not be there is.Therefore, detection range configuration part 146 can also when the steering angle of front-wheel 3F (wheel 3) and predetermined angular (threshold value) identical or bigger than predetermined angular, in the way of this front-wheel 3F (wheel 3) does not enter in detection range SL, SR, set the size of this detection range SL, SR.
Figure 10 illustrates the state that vehicle 1 travels further into the inner side of parking zoning compared with the state of Fig. 9.According to Fig. 9,10 it is clear that vehicle 1 is the closer to target location Pa (final position), can the area of set point AL, AR part overlapping with boundary line labelling DL, DR more big.Therefore, in the present embodiment, detection range configuration part 146, in the way of vehicle 1 is more big with the more near then detection range SL of target location Pa (final position), SR, sets this detection range SL, SR.Specifically, compared with the area of the detection range SL1 of Fig. 9, the area of the detection range SL2 of Figure 10 is bigger.Such as, by such setting, it is possible to detection boundary line labelling DL, DR more reliably.Additionally, the load of the computing of detection range SL, SR more wide then detection range configuration part 146 is more high, and the error detection of boundary line labelling DL, DR easily becomes many.This point, pass through present embodiment, position according to vehicle 1 sets detection range SL, SR more rightly, it is suppressed that detection range SL, SR invalidly become and (broaden) greatly, so the load of computing such as can be suppressed to increase or the bad phenomenon of error detection etc. of boundary line labelling.
Specifically, such as, detection range configuration part 146 sets detection range SL, SR as follows, in this approach, make end m1, m2 of detection range SL, the SR rear side on the direct of travel of vehicle 1, end d1, d2 of boundary line labelling DL, the DR detected with last time rear side on the direct of travel of vehicle 1, the fore-and-aft direction Cv at vehicle 1 can only distance M on the length direction of set point AL, AR.It can be seen that distance M is the excess length corresponding with various errors etc..Therefore, by such setting, it is possible to detection boundary line labelling DL, DR more reliably.In addition, by such setting, can the such fairly simple computing of the length along the fore-and-aft direction Cv of vehicle 1 in set point AL, AR by changing, it becomes possible to alteration detection scope SL, SR, therefore, it is possible to suppress the load of the computing of detection range configuration part 146 to increase.And, in the present embodiment, in the calculating (S2 of Fig. 5) setting detection range SL, SR, although employing the testing result of boundary line labelling DL, DR of last time step and the testing result of the state of the vehicle 1 (vehicle) of current time step (being calculated the opportunity processed), but be not restricted to that this, it is possible to use the testing result of the state of the testing result of boundary line labelling DL, DR in upper time step once and the vehicle 1 in upper time step once.Namely, the calculating of detection range SL, SR can also be set after detection boundary line labelling DL, DR (same to S4), the detection range SL of setting, SR are stored in storage part 150, will be stored in the detection range SL in storage part 150, SR as object, carry out the calculating of parking zoning (boundary line labelling DL, DR) for detecting future time step-length.End m1, m2 are examples of first end, and end d1, d2 are examples of the second end.
Then, as shown in figure 11, vehicle 1 arrives target location Pa (final position).At this time point or the time point before this, detection range SL, SR with can set point AL, AR identical.Additionally, the detection range SL3 of Figure 11 is bigger than the detection range SL1 of Fig. 9 and Figure 10, SL2, the detection range SR3 of Figure 11 is bigger than the detection range SR2 of Figure 10.Further, when vehicle 1 near more than target location Pa to predetermined distance, it is also possible to target location Pa (point midway) is modified to the position different from initial target location Pa.In this case, it is possible to use the position etc. of end d3, d3 of the front side of the direct of travel of the vehicle 1 of boundary line labelling DL, DR sets (calculating) target location Pa.
As described above, in the present embodiment, detection range configuration part 146 by can the detection range SL of alteration detection boundary line labelling DL, DR (parking zoning, parking boundary line), SR size in the way of, set this detection range SL, SR.Therefore, owing to detection range SL, SR can be suppressed beyond desirably becoming big (broadening), so for instance, it is possible to obtaining suppression invalidly perform the effects such as the computing of the detection along with boundary line labelling DL, DR, the error detection of minimizing boundary line labelling DL, DR.
Additionally, in the present embodiment, alteration detection scope SL, SR according to vehicle 1 (vehicle) relative to the relative position of at least one in target location Pa and boundary line labelling DL, DR, can be come in detection range configuration part 146.Change along with the position of vehicle 1, it is possible to detect that the scope of boundary line labelling DL, DR changes.Namely, for instance, by such structure, it is easier to set detection range SL, SR rightly.
Additionally, in the present embodiment, this detection range SL, SR so that vehicle 1 is the closer to target location Pa (final position) then detection range SL, mode more big for SR, can be changed in detection range configuration part 146.Vehicle 1 the closer to target location Pa and boundary line labelling DL, DR, is then capable of detecting when that the scope of boundary line labelling DL, DR is more wide.Namely, for instance, by such structure, it is easier to set detection range SL, SR rightly.
Additionally, in the present embodiment, detection range SL, SR are set as by detection range configuration part 146, fixing relative to the relative position of vehicle 1 (vehicle) can a part in set point AL, AR.It is thus possible, for instance, it is easier to alteration detection scope SL, SR.
Additionally, in the present embodiment, detection range SL, SR are set in by detection range configuration part 146 can the front side of direct of travel of vehicle 1 (vehicle) in set point AL, AR.Along with vehicle 1 is near target location Pa (final position), boundary line labelling DL, DR from the front side of the direct of travel of vehicle 1 relatively close to vehicle 1.Namely, for instance, by such structure, it is easier to set detection range SL, SR rightly.
Additionally, in the present embodiment, detection range configuration part 146 alteration detection scope SL, SR length on the fore-and-aft direction at vehicle 1.It is thus possible, for instance be easier to alteration detection scope SL, SR.
Above, although exemplified with embodiments of the present invention, but above-mentioned embodiment is an example, it is intended that do not lie in restriction scope of invention.Embodiment also is able to implement in other various modes, without departing from the spirit and scope of the invention, it is possible to carry out various omission, displacement, combination, change.It is further possible to partly replace the structure of each example or shape to implement the present invention.Furthermore it is possible to suitably change each structure or shape etc. specification (structure or kind, direction, shape, size, length, width, highly, quantity, configuration, position etc.) implement the present invention.Furthermore it is possible to by the present invention suitable in assisting in the parking in the parking lot of various modes or parking stall.Additionally, the present invention can be applicable to set multiple candidate target locations.Additionally, in the present invention, be not limited in the structure that can set detection range in set point, it is also possible to be not according to can set point and set the structure that (calculatings) meets the detection range of the condition specified.
Additionally, the parking aid of embodiment can also be the structure shown in following [7], [8].
[7] in the parking aid according to any one of above-mentioned first～the 6th technical scheme, above-mentioned detection range configuration part, it is possible in the way of making the varying in size of the above-mentioned detection range on the left side of vehicle and right side, change above-mentioned detection range.
Turn while when being close to target location Pa (final position) at vehicle 1 (vehicle), in the left and right sides of vehicle 1, from the distance of boundary line labelling DL, DR or to be positioned at the length of part near vehicle 1 in boundary line labelling DL, DR different.Therefore, by such structure, it is easier to set detection range SL, SR rightly.
[8] in the parking aid according to any one of above-mentioned first～the 6th, [7] technical scheme, above-mentioned detection range configuration part, can in the way of making first end be positioned at the rear side of the second end on the direct of travel of vehicle, change above-mentioned detection range, above-mentioned first end is the end of above-mentioned detection range rear side on above-mentioned direct of travel, and above-mentioned the second end is the end of the rear side that the above-mentioned boundary line detected is marked on above-mentioned direct of travel.
Compared with end d1, d2 of rear side on direct of travel of boundary line labelling DL, DR, end m1, m2 of detection range SL, the SR rear side on direct of travel is positioned at the more rear side of direct of travel, therefore, this end d1, d2 of boundary line labelling DL, DR, detection range SL, SR are relative to being securely positioned in rear side.Therefore, by such structure, it is easier to set detection range SL, SR rightly.
Claims (6)
1. a parking aid, it is characterised in that have:
Marker detection portion, boundary line, the boundary line labelling that detection is corresponding with the boundary line of parking zoning in the detection range set；
Target location determination section, according to the described boundary line labelling detected, determines target location；
Detection range configuration part, in the way of can changing the size of described detection range, sets this detection range.
2. parking aid as claimed in claim 1, it is characterised in that
Described detection range configuration part, it is possible to according to vehicle relative to the relative position of at least one in target location and described boundary line labelling, change described detection range.
3. parking aid as claimed in claim 1 or 2, it is characterised in that
Described detection range configuration part, it is possible to by vehicle in the way of the more near then described detection range in final position of auxiliary of stopping is more big, change described detection range.
4. parking aid as claimed any one in claims 1 to 3, it is characterised in that
Described detection range configuration part, described detection range is set as can a part in set point, described can the position of set point fix relative to vehicle.
5. parking aid as claimed in claim 4, it is characterised in that
Described detection range configuration part, described detection range is set in described can the front side of direct of travel of vehicle in set point.
6. the parking aid as described in claim 4 or 5, it is characterised in that
Described detection range configuration part, changes described detection range length on the fore-and-aft direction of vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014266511A JP6500435B2 (en) | 2014-12-26 | 2014-12-26 | Parking assistance device |
| JP2014-266511 | 2014-12-26 |
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| CN105741605A true CN105741605A (en) | 2016-07-06 |
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| CN201510993519.9A Active CN105741605B (en) | 2014-12-26 | 2015-12-25 | Parking assist apparatus |
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| CN112758083A (en) * | 2019-10-21 | 2021-05-07 | 爱信精机株式会社 | Parking assist apparatus |
| CN113903190A (en) * | 2021-10-21 | 2022-01-07 | 江苏食品药品职业技术学院 | Wisdom parking area management device based on thing networking |
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| JP6467310B2 (en) * | 2015-07-23 | 2019-02-13 | Ｋｙｂ株式会社 | Parking guidance device |
| JP6824759B2 (en) * | 2017-01-19 | 2021-02-03 | 株式会社デンソーテン | Bound line detection device, lane marking system, and lane marking method |
| JP7288793B2 (en) * | 2019-04-25 | 2023-06-08 | フォルシアクラリオン・エレクトロニクス株式会社 | Image processing device and image processing method |
| JP7380058B2 (en) * | 2019-10-11 | 2023-11-15 | 株式会社アイシン | parking assist device |
| JP7427907B2 (en) * | 2019-10-15 | 2024-02-06 | 株式会社アイシン | parking assist device |
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Also Published As
| Publication number | Publication date |
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| JP2016124398A (en) | 2016-07-11 |
| CN105741605B (en) | 2020-01-24 |
| JP6500435B2 (en) | 2019-04-17 |
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