JP2014024462A - Parking support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a set vehicle speed during parking support to prevent time required for parking from being prolonged.SOLUTION: A parking support device has a vehicle control information setting function for setting vehicle control information including a set vehicle speed when moving a vehicle V to a parking space 200 along a parking route calculated on the basis of a present position of the vehicle V and a position of the parking space 200 and a set steering angle of the vehicle V when moving the vehicle V at the set vehicle speed, and a parking support function for supporting a parking operation of the vehicle V on the basis of the vehicle control information. As a value of steering angle speed of a vehicle 200 detected when moving the vehicle V to the target parking space 200 (or a value of a steering angle deviation to be an absolute value of a difference between a steering angle and the set steering angle of the vehicle 200) becomes larger, the set vehicle speed is set to be lower. As the value of the detected steering angle speed (or the value of the steering angle deviation to be the absolute value of the difference between the steering angle and the set steering angle of the vehicle) becomes smaller, the set vehicle speed is set to be higher.

Description

  The present invention relates to a parking support device that supports a parking operation of a vehicle.

  For this type of device, the obstacle in the direction according to the parking path of the vehicle is detected, and the closer to the obstacle, the higher the vehicle control at the time of parking assistance compared to the far distance to the obstacle. A parking assistance device that sets a low vehicle speed is known (Patent Document 1).

JP 2006-335239 A

  In general, the upper limit vehicle speed in vehicle control at the time of parking assistance is limited by the maximum angular velocity calculated in advance according to the parking route, but further, according to the distance to the detected obstacle as in the prior art document When the control for lowering the upper limit speed is performed, there is a problem that the time required to complete parking becomes longer.

  The problem to be solved by the present invention is to support the driver's parking operation by controlling the vehicle speed at the time of parking support while suppressing an increase in the time required to complete the parking.

  The present invention actually detects when moving to the target parking space when assisting the parking operation of the vehicle V based on the vehicle control information including the set vehicle speed and the set steering angle for moving the vehicle to the parking space. The set vehicle speed is set lower as the value of the measured vehicle steering angular velocity (or the value of the steering angle deviation, which is the absolute value of the difference between the vehicle steering angle and the set steering angle) increases, and the actual detected steering angular velocity The above problem is solved by setting the set vehicle speed higher as the value of (or the value of the steering angle deviation, which is the absolute value of the difference between the steering angle of the vehicle and the set steering angle) becomes smaller.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress that the time required for parking completion becomes long, controlling the setting vehicle speed at the time of parking assistance appropriately, and can support a driver | operator's parking operation.

It is a lineblock diagram of a parking assistance system containing a parking assistance device of an embodiment concerning the present invention. It is a flowchart figure which shows the control procedure of the whole driving assistance operation | movement of the driving assistance system which concerns on embodiment of this invention. It is a figure which shows an example of the installation position of the vehicle-mounted camera of this embodiment. It is a figure which shows an example of the method of setting the target parking space. It is a figure for demonstrating an example of the movement path | route to a target parking space. It is a flowchart figure which shows an example of the control procedure of the driving assistance process of the 1st type parking assistance apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the relationship between a steering angular speed and setting vehicle speed (control vehicle speed). It is a flowchart figure which shows an example of the control procedure of the driving assistance process of the 2nd type parking assistance apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the relationship between a steering angle deviation and setting vehicle speed (control vehicle speed). It is a flowchart figure which shows an example of the control procedure of the driving assistance process of the 3rd type parking assistance apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the relationship between a steering angular speed and setting vehicle speed (warning vehicle speed). It is a flowchart figure which shows an example of the control procedure of the driving assistance process of the 4th type parking assistance apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the relationship between a steering angle deviation and setting vehicle speed (warning vehicle speed). FIG. 5 is a flowchart showing a control procedure of a driving support process according to an embodiment of the present invention when a process for correcting a set vehicle speed is performed. It is a figure for demonstrating the correction method of setting vehicle speed. It is a figure for demonstrating the calculation method of the corrected amount based on the value of the steering angular velocity with respect to a steering angle deviation.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the parking support apparatus according to the present invention is applied to an on-vehicle parking support system 1000 will be described as an example.

  FIG. 1 is a block configuration diagram of a parking assistance system 1000 including a parking assistance device 100 according to the present embodiment. The parking assistance device 100 supports a parking operation for moving the vehicle to a target parking space. As shown in FIG. 1, a parking assistance system 1000 according to the present embodiment relates to a parking assistance device 100, in-vehicle cameras 1 a to 1 d fixed outside the host vehicle, sonar 9, a vehicle controller 30, and driving assistance. A touch panel display 20 that inputs and outputs information, a driving device 40, a steering 50, a vehicle speed sensor 60, and a current position detection device 70 are provided. Each of these devices exchanges information with the parking assistance device 100 via the vehicle controller 30 or directly.

  The vehicle controller 30 described above includes a drive device 40 related to driving of the vehicle, a steering 50 related to steering of the vehicle, a steering angle sensor 51 that outputs steering angle information of the steering 50, and a torque sensor 52 that detects a steering force applied to the steering 50. Various information is exchanged with the steering controller 53 that controls the steering angle and torque during steering of the steering, and the vehicle speed sensor 60 that outputs vehicle speed information.

  As shown in FIG. 1, the control device 10 of the parking assistance device 100 according to the present embodiment includes a ROM (Read Only Memory) 12 in which a program that supports a parking operation for moving a vehicle to a target parking space is stored, By executing a program stored in the ROM 12, a CPU (Central Processing Unit) 11 as an operation circuit that functions as the parking assist device 100 of the present embodiment and a RAM (Random Access Memory) that functions as an accessible storage device 13). The devices constituting the parking assistance system 1000 shown in FIG. 1 are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

  The control device 10 of the parking assistance device 100 of the present embodiment includes a parking assistance control unit. The parking assist control unit includes shift range information from the AT / CVT control unit of the driving device 40, wheel speed information from the ABS control unit, rudder angle information from the steering control unit of the steering 50, engine speed information from the ECM, etc. Based on the above, it calculates and outputs instruction information regarding automatic turning to the EPS control unit, instruction information such as a warning to the meter control unit, and the like. The content and method of parking assistance are not particularly limited, and the parking assistance method known at the time of filing can be applied as appropriate.

  The drive device 40 is a drive mechanism of the vehicle V for performing parking assistance, and assists the operation of parking the vehicle V in the target parking space 200 by driving based on the control command signal acquired from the parking assistance device 100. To do. For example, the EPS motor of the electric power steering (EPS) included in the drive device 40 drives the power steering mechanism included in the steering 50 based on the control command signal acquired from the parking assist device 100 to place the vehicle V in the target parking space 200. Support the operation when moving to.

  The steering control unit 53 of the steering 50 executes control of a motor or the like attached to the steering column shaft in accordance with a control command of the control device 10. Specifically, the steering control unit 53 performs steering so as to follow the set steering angle based on the parking route, the set vehicle speed, and the set steering angle from the current position of the vehicle calculated by the parking assist device 100 to the parking space. It is equipped with an automatic function. In the present embodiment, a vehicle including an electric power steering will be described as an example. However, in addition to the EPS, a vehicle including a hydraulic power steering, a steer-by-wire, or the like can be realized.

  The control device 10 of the parking assistance device 100 according to the present embodiment includes at least a vehicle control information setting function and a parking assistance function. In addition, the control device 10 of the present embodiment includes a captured image acquisition function, a composite image generation function, a parking mode selection function, and a target parking space setting function in order to execute the parking support function. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

  Hereinafter, first, a basic parking support function of the parking support device 100 of the parking support system 1000 according to the present embodiment will be described, and then a vehicle control information setting function will be described.

  The flowchart of FIG. 2 shows the process procedure of the parking assistance function of the parking assistance apparatus 100 of this embodiment. When the parking assistance apparatus 100 of this embodiment starts, the parking assistance process shown in FIG. 2 will be started. The activation of the parking assistance device 100 is not particularly limited, and it may be triggered when the activation switch of the parking assistance device 100 is operated, or may be triggered when a predetermined speed (for example, 10 km / h or less) is reached. .

  Specifically, the image acquisition function of the control device 10 of the parking assist device 100 according to the present embodiment acquires captured images captured by the cameras 1a to 1d attached to a plurality of locations of the vehicle V in step 101, respectively. . The cameras 1a to 1d are composed of CCD cameras or the like. FIG. 3 is a diagram illustrating an arrangement example of the cameras 1 a to 1 d mounted on the vehicle V. In the example shown in FIG. 3, the camera 1a is arranged on the front grille of the vehicle V, the camera 1d is arranged near the rear bumper, and the cameras 1b and 1c are arranged below the left and right door mirrors. The cameras 1a to 1d use wide-angle cameras with a wide viewing angle.

  In step 102, the composite image generation function of the control device 10 of the parking assistance device 100 causes the image processing device 2 to generate an overhead image. The image processing apparatus 2 viewed the surrounding state including the vehicle V and the parking space 200 in which the vehicle V is parked from the viewpoint P (see FIG. 3) above the vehicle V based on the acquired plurality of captured images. An overhead image is generated. Image processing performed by the image processing apparatus 2 is, for example, “Masayasu Suzuki, Satoshi Chimino, Teruhisa Takano, Development of a bird's-eye view system, Preprints of the Society of Automotive Engineers of Japan, 116-07 (2007-10), 17- 22. "etc. can be used.

  FIG. 4 is a diagram illustrating an example of a display mode of the generated overhead image 21. It is a figure which shows the example of a display of the bird's-eye view image (top view) 21 around the own vehicle, and the monitoring image | video (normal view) 22 around the own vehicle. As shown in FIG. 4, a bird's-eye view image (top view) 21 converted into the virtual viewpoint P of FIG. 3 is displayed on the left side of the screen of the display 20, and a monitoring image (taken by any of the cameras 1 a to 1 d). Normal view) 22 is displayed on the right side of the screen. The overhead view image (top view) 21 displayed on the left side of the screen of the display 20 includes an image showing the parking space 200. The monitoring images (normal view) can be taken images of different cameras 1a to 1d depending on the operation state of the vehicle V. In the example shown in FIG. 4, the captured image of the camera 1a is displayed on the front grille portion of the vehicle V. When the vehicle V moves backward, the captured image of the camera 1d disposed near the rear bumper is displayed. Also good.

  Returning to FIG. 2, in step 103, parking mode selection information is received. The parking mode of the present embodiment includes at least six modes including a right side or left side parallel parking mode, a right side or left side parallel parking mode, and a right side or left side diagonal parking mode. The driver inputs selection information for selecting any parking mode that matches the positional relationship between the vehicle V and the parking space 200 where parking is desired. And the parking assistance apparatus 100 acquires the selection information of the parking mode which selects any one parking mode from the several parking modes including right and left parallel parking and left and right parallel parking. The parking mode may be selected by touching any of the parking modes displayed on the touch panel display 20, or may be selected by a switch operation associated with each parking mode. Note that the selection of the parking mode in step 103 can be performed prior to acquisition of the captured image (S101) and generation of the overhead image 21 (S102). Further, after step S102, the setting auxiliary information is presented in step S104 and the target parking space 200 is set in step S105, and then the parking mode is selected in step 103, and then the process proceeds to step S106. It is also possible to configure the procedure.

  In step 104, setting auxiliary information F is presented. In the present embodiment, the setting auxiliary information F is generated in the image processing apparatus 2 of the on-vehicle parking support apparatus 100 and is displayed on the display 20 in a manner superimposed on the overhead image 21 of FIG. The setting auxiliary information F includes a parking space setting frame F1 and an obstacle avoidance frame F2. The parking space setting frame F2 is displayed at a predetermined position with respect to the vehicle V. That is, when the vehicle V is moved, the position of the parking space setting frame F2 moves with the movement of the vehicle V in the overhead image 21 shown in FIG. The driver can select the target parking space 200 in which the vehicle V is parked by superimposing the parking space setting frame F2 on the parking space 200 in which the vehicle V is desired to be parked. The parking space setting frame F <b> 2 can be displayed as a rectangular figure corresponding to the shape of the parking space 200.

  In subsequent step S105, the control device 10 of the parking assist device 100 of the present embodiment corresponds to the position of the parking space setting frame F2 included in the setting auxiliary information F (F2, F3) presented on the touch panel display 20. The parking space 200 is set as the target parking space 200 in which the vehicle V is parked. The driver may operate the determination button or the like at the timing when the adjustment of the position of the parking space setting frame F2 is completed, and input to the parking assistance device 100 that the selection of the parking space 200 is completed. Note that the driver can finely adjust the position of the parking space setting frame F2 for parking the vehicle V by operating an adjustment button (not shown) while the vehicle is stopped.

  Similarly, the obstacle avoidance frame F3 superimposed on the bird's-eye view image 21 is arranged at a predetermined position with respect to the vehicle V outside the parking space setting frame F2, and the position changes as the vehicle V moves. The obstacle avoidance frame F3 is a sign indicating a boundary between a region having a high possibility of contact with the obstacle and a region having a low possibility of contact with the obstacle. The driver can park the vehicle V so that the vehicle V does not come into contact with the obstacle by operating the vehicle V so that there is no solid object in the obstacle avoidance frame F3. When the position of the parking space setting frame F2 is finely adjusted using the adjustment button described above, the obstacle avoidance frame F3 moves on the screen while maintaining a relative positional relationship with the parking space setting frame F2.

  In the next step S106, the control device 10 of the parking assistance device 100 calculates a parking route for moving the vehicle V to the selected target parking space 200 in the selected parking mode. Specifically, the parking assistance device 100 activates the parking assistance control unit, calculates the parking route based on the positional relationship between the current position where the vehicle V stops and parking assistance starts and the position of the target parking space 200. To do. The parking route is stored in a memory (ROM) one by one corresponding to each of parallel parking, parallel parking, and oblique parking, the route corresponding to the selected parking mode is read, and the vehicle at the start of the parking assist process A parking route is calculated based on the positional relationship between the position of V and the position of the target parking space 200. Although not particularly limited, the parking assistance control unit calculates the parking position of the vehicle V, that is, the curve from the parking assistance start position to the return position and the curve from the return position to the target parking space 200 as the parking route. In addition, the control device 10 calculates vehicle control information including a set steering angle and a set vehicle speed necessary for the vehicle V to move on the parking route based on vehicle performance such as a turning radius stored in the vehicle controller 30. . The vehicle control information is stored in association with each position (point) on the calculated parking route.

  Although not particularly limited, the parking assistance device 100 selects the target parking space 200, and when the driver relaxes the brake pedal pressure and the predetermined brake pressure is released, the acquired position and parking mode of the target parking space 200 are acquired. The execution of the parking support process based on the selection information is determined, and when the driver depresses the accelerator pedal, the execution of the support for the operation of parking the vehicle V in the target parking space 200 along the calculated parking route is started.

  In step S107, the parking assistance apparatus 100 of the present embodiment executes a parking assistance process. The parking assist device 100 according to the present embodiment calculates a parking route based on the current position of the vehicle V and the target position of the parking space 200, and moves the vehicle V to the parking space 200 along the calculated parking route. The vehicle control information including the set vehicle speed when moving and the set steering angle of the vehicle V when moving at the set vehicle speed is set.

  And the parking assistance apparatus 100 of this embodiment performs a parking assistance process. The parking assist device 100 of the present embodiment controls the operations of the driving device 40 and the steering 50 of the vehicle V so that the vehicle V moves along the parking path at the set vehicle speed and the set steering angle. The parking assist device 100 drives the vehicle V such as an EPS motor while feeding back the output values of the steering angle sensor 51 and the steering direction sensor 52 of the steering 50 so that the movement locus of the vehicle V coincides with the calculated parking route. A command signal to the device 40 is calculated, and this command signal is sent to the drive device 40 or the vehicle controller 30 that controls the drive device 40.

  The parking assistance process in the present embodiment is executed so that the vehicle V does not exceed a predetermined release vehicle speed. The release vehicle speed is an upper limit value of a vehicle speed range that is considered to be appropriate when the parking operation is performed, and can be set to about 4 km / h to 7 km / h, for example. The parking assistance device 100 sets the set vehicle speed to be lower than the release vehicle speed, and stops the parking assistance process when the detected vehicle speed is equal to or higher than the release vehicle speed.

  Of course, the calculated parking route is displayed on the display 20 or the like, and the steering amount of the steering wheel 50, the steering timing of the steering 500, and the operation timing of the brake or accelerator are instructed so that the movement locus of the vehicle V coincides with the parking route. Driving assistance can also be provided. In addition, the content of the driving assistance can be appropriately applied the method disclosed or devised at the time of filing.

  FIG. 5 shows an example of the parking route Q. First, the host vehicle V stops at a position V0 next to the parking space 200, moves diagonally forward along the parking path Q1, temporarily stops at the position V1, and then moves backward along the parking path Q2, and moves to the position V2. Pass through the parking space 200 and stop at the position V3. Parking is completed at this time. The parking assist device 100 of the present embodiment controls the drive device 40 based on a preset vehicle speed calculated in advance so that the vehicle V moves along the parking route Q1, and also steers 50 based on a preset steering angle calculated in advance. To control. S1 and S2 shown in FIG. 5 are diagrams showing the steering direction and the steering angle amount of the vehicle V during the parking operation. As indicated by the arrow in the S1 frame, the direction of the steering angle at the position V1 is the right side, and the amount of the steering angle is relatively larger than the amount of the steering angle at the position V2. As indicated by the arrow in the S2 frame, the direction of the steering angle at the position V2 is the left side, and the amount of the steering angle is relatively smaller than the amount of the steering angle at the position V1. During the movement from the position V0 through the position V1 to the position V2, the sonar 9 is operated to detect the presence of the surrounding obstacle and the distance to the obstacle, and to monitor the approach to the obstacle. it can.

  The parking assistance apparatus 100 of the present embodiment controls the steering of the steering wheel 50 of the vehicle V based on the set vehicle control information so that the vehicle V moves along the parking route. The parking assist device 100 sends a command signal to the driving device 40 of the vehicle V such as an EPS motor while feeding back the output value of the steering angle sensor 51 of the steering 50 so that the movement locus of the vehicle V coincides with the calculated parking route. And the command signal is sent to the drive device 40 or the vehicle controller 30 that controls the drive device 40.

  Moreover, the parking assistance apparatus 100 of this embodiment controls the drive of the vehicle V based on the set vehicle control information so that the vehicle V can move along a parking route. The drive device 40 is a drive mechanism of the vehicle V, and automatically controls or supports driving of the vehicle V moving to the target parking space 200 based on a drive command according to the vehicle control information acquired from the parking support device 100. The parking assist device 100 drives the vehicle V moving to the target parking space 200 by controlling the opening degree of the throttle, the gear ratio control, the stability control system control such as VDC (Vehicle Dynamics Control) and / or the brake braking force. To assist. Further, the drive device 40 automatically controls or supports an operation when the vehicle V is moved to the target parking space 200 by driving the power steering mechanism provided in the steering 50 based on the control command signal acquired from the parking assistance device 100. .

  The parking assistance device 100 of the present embodiment automatically controls the operation of the steering wheel 50 and assists the operation so that the driver operates the accelerator / brake at a set vehicle speed or less (a type that does not require a steering operation). In addition, the operation of the steering 50 is automatically controlled, and the operation of the accelerator / brake is automatically controlled based on the designated set vehicle speed (accelerator / brake and steering). It can also be configured as a device of a type that does not require operation.

  When the parking assist device 100 is a device that automatically performs both steering and accelerator / brake operations (no accelerator / brake and steering operations are required), the “set vehicle speed” preset by the parking assist device 100 is the parking This is a “control vehicle speed” for the support device 100 to control the operation of the drive device 40 of the vehicle V during the parking operation. The parking assistance device 100 controls the driving device 40 and the steering 50 to move the vehicle V along the parking route at the control vehicle speed (set vehicle speed) and the set steering angle.

  When the speed of the vehicle V detected when the host vehicle V is moved to the target parking space 200 is equal to or higher than the “set vehicle speed (control vehicle speed)”, the parking assist device 100 according to the present embodiment has the vehicle V. Reduce vehicle speed. That is, the parking assist device 100 reduces the speed of the vehicle V by a control or the like that lowers the throttle opening (increases the closing degree), lowers the gear ratio, and improves the brake braking force. To control.

  On the other hand, when the parking assist device 100 automatically operates the steering 50 and the driver performs the accelerator / brake operation of the driving device 40 (accelerator / brake and steering operation unnecessary), the parking assist device 100 sets in advance. The “set vehicle speed” is an upper limit value of a vehicle speed range suitable when the vehicle V that is controlled by steering based on the set steering angle moves along the parking route, and the vehicle speed of the vehicle V traveling by the operation of the driver is When the vehicle speed exceeds the upper limit of the vehicle speed range, the “warning vehicle speed” warns the driver that the vehicle may not be able to move along the parking route. Although not particularly limited, a vehicle speed of 2 to 4 km / h can be set as the “warning vehicle speed”. The parking assistance device 100 guides the driver so that the vehicle V travels at a warning vehicle speed (set vehicle speed) or less by moving the vehicle V at the set steering angle while the vehicle travels by the driver's operation.

  When the speed of the vehicle V detected when the host vehicle V is moved to the target parking space 200 is equal to or higher than the “set vehicle speed (warning vehicle speed)”, the parking assistance device 100 according to the present embodiment Warning information that prompts the driver to perform an operation to reduce the speed is output.

  Further, in the present embodiment, the upper limit value of the vehicle speed range allowed when performing the parking assistance process is set as the “release vehicle speed”. The parking assistance apparatus 100 stops the parking assistance processing itself when the vehicle speed of the vehicle V becomes equal to or higher than the release vehicle speed. Although not particularly limited, a vehicle speed of 4 to 7 km / h can be set as the “release vehicle speed”. The release vehicle speed is higher than the warning vehicle speed.

  In order to move the vehicle V along the parking route from the current position of the vehicle V to the parking space 200, the parking support device 100 of the present embodiment sets the set vehicle speed and the set steering angle before starting the parking support process. Then, the set vehicle speed corresponding to the steering state of the steering 50 of the host vehicle V actually detected after the start of the parking support process is calculated. As described above, the set vehicle speed of the present embodiment is determined based on the “control vehicle speed” for controlling the operation of the drive device 40 of the vehicle V when the parking assist device 100 performs the parking operation, or the steering control based on the set steering angle. Any of the “warning vehicle speeds”, which is the upper limit value of the vehicle speed range allowed for the vehicle V to be moved along the parking route, is included.

  As a value that quantitatively indicates the steering state of the steering wheel 50 in this embodiment, a “steering angular velocity value” or a “steering angle deviation value” can be used. In other words, the parking assist device 100 according to the present embodiment determines the “control vehicle speed” based on the “steering angle speed value” or “steering angle deviation value” detected when the host vehicle V moves to the target parking space. And “set vehicle speed” including “warning vehicle speed”.

  In the present embodiment, the “steer angular velocity” is the amount of steering angle detected per unit time [deg / sec] when moving to the target parking space, and the “value of the steering angle deviation” This is the absolute value [deg] of the difference between the steering angle of the vehicle V detected when moving to the target parking space and the set steering angle. According to the “steer angle speed”, the steering state can be quantitatively evaluated by the change (increase / decrease amount) of the steering amount during the parking operation, and according to the “steer angle deviation value”, the parking assistance process The steering state can be quantitatively evaluated based on the amount of deviation from the “set steering angle” in the vehicle control information set before the start.

  Specifically, the parking assist device 100 of the present embodiment sets the set vehicle speed (control vehicle speed or warning vehicle speed) to be lower as the value of the steering angular speed of the vehicle V detected when moving to the target parking space 200 increases. The set vehicle speed (control vehicle speed or warning vehicle speed) is set higher as the detected steering angular speed value decreases.

  That is, the parking assistance device 100 according to the present embodiment calculates a parking route calculated based on the current position of the vehicle V and the position of the parking space 200 before starting the parking assistance processing, and the vehicle along the parking route. In order to move V to the parking space 200, allowable values for the set vehicle speed and the set steering angle of the vehicle V are set. In this process, the set steering angle is calculated on the assumption that the vehicle V moves at the set vehicle speed, and the set vehicle speed is calculated on the assumption that the vehicle V moves at the set steering angle. Thereafter, the parking assist device 100 of the present embodiment sets the set vehicle speed lower as the current steering angular speed value of the vehicle V detected when moving to the target parking space 200 increases after the parking assist process starts. As the rudder angular velocity value decreases, the set vehicle speed is set higher.

  Thus, since the set vehicle speed is changed based on the current steering angular speed of the vehicle V on which the parking operation is performed, an appropriate set vehicle speed corresponding to the actual behavior of the vehicle V can be set. Specifically, when the driver performs an operation of turning (faster) the steering wheel 50 of the vehicle V at a certain timing, the set vehicle speed (control vehicle speed / warning vehicle speed) is set lower as the rudder angular speed is faster.

  By the way, when the vehicle V is steered by the same steering angle, the turning radius tends to increase as the vehicle speed increases. That is, when the vehicle speed is high, depending on the performance of the vehicle V, it may be difficult to cope with a large steering amount (steering angle). For this reason, in this embodiment, when turning with a small turning radius, that is, when steering with a large steering angle, the set vehicle speed is set low.

  In the present embodiment, when the driver turns the steering wheel 50 large (fast), that is, when the turning amount is large, the set vehicle speed (control vehicle speed / warning vehicle speed) is changed lower as the steering angular speed is higher. It is possible to prevent the movement route of the vehicle from expanding more than a preset parking route. As a result, a quick parking operation is possible. When the driver turns the steering wheel 50 of the vehicle V small (slowly), that is, when the steering amount is small, the set vehicle speed (control vehicle speed / warning vehicle speed) is set higher as the steering angular speed is slower.

  As described above, in the present embodiment, when the steering 50 is turned down (slowly), the set vehicle speed is changed to be high, so that a quick parking operation can be performed during a gentle turn. By the way, during parking operation, if the steering angular speed is fast (the steering amount is large), the vehicle speed is lowered, and if the steering angular speed is slow (the steering amount is small), the vehicle speed is increased. Since it is operation, the driver who performs parking operation under such control can perform or learn appropriate parking operation.

  In addition, the change aspect of the set vehicle speed with respect to the value of the rudder angular speed is not particularly limited, and may be continuously changed linearly or curvedly, or discontinuously changed stepwise (stepwise). Also good. When the set vehicle speed is continuously changed, the uncomfortable feeling felt by the driver can be reduced. When the set vehicle speed is changed discontinuously, a change in the set vehicle speed according to the steering state can be recognized by the driver.

  Further, the parking assist device 100 of the present embodiment increases as the value of the steering angle deviation, which is the absolute value of the difference between the steering angle of the vehicle detected when moving to the target parking space 200 and the set steering angle, increases. The set vehicle speed (control vehicle speed or warning vehicle speed) is set low, and the set vehicle speed (control vehicle speed or warning vehicle speed) is set higher as the steering angle deviation value decreases.

  The value of the steering angle deviation can be obtained based on the difference between the set steering angle at a predetermined position on the parking route and the steering angle of the vehicle V detected when passing through the predetermined position. However, since the actual movement route of the vehicle V that performs the parking operation does not necessarily match the pre-calculated parking route, the detected steering angle and the parking route closest to the point where the steering angle is detected The value of the steering angle deviation can be obtained based on the difference from the set steering angle associated with the point. Since the vehicle control information including the set steering angle and the set vehicle speed is stored in association with the position of the parking route, the difference between the detected steering angle and the distance from the position V1, V2 or V3 shown in FIG. The value of the steering angle deviation can be obtained based on the difference from the set steering angle associated with the point on the parking route with the smallest. Note that the current position of the vehicle V can be measured using autonomous navigation in which cumulative calculation is performed based on positioning data input from a gyro sensor and a distance sensor attached to a wheel.

  Specifically, the parking assistance device 100 of the present embodiment calculates a parking route calculated based on the current position of the vehicle V and the position of the parking space 200 before starting the parking assistance processing, and follows this parking route. In order to move the vehicle V to the parking space 200, an allowable value of the set vehicle speed and the set steering angle of the vehicle V is set. In this process, the set steering angle is calculated on the assumption that the vehicle V moves at the set vehicle speed, and the set vehicle speed is calculated on the assumption that the vehicle V moves at the set steering angle. Thereafter, the parking assist device 100 of the present embodiment is the absolute value of the difference between the current steering angle and the set steering angle of the vehicle V detected when moving to the target parking space 200 after the start of the parking assist process. The set vehicle speed is set lower as the steering angle deviation value increases, and the set vehicle speed is set higher as the steering angle deviation value decreases.

  Thus, since the set vehicle speed is changed based on the steering angle deviation at each timing of the vehicle V in which the parking operation is performed, it corresponds to the amount of deviation between the current steering angle of the vehicle V and the previously set steering angle. The set vehicle speed can be set. Specifically, when the driver performs an operation of turning the steering wheel 50 of the vehicle V larger than the set steering angle (or smaller than the set steering angle) at a certain timing, the larger the difference (deviation), the higher the set vehicle speed (control). Set the vehicle speed and warning vehicle speed low.

  The case where the steering angle deviation is large includes a case where the steering state is the same as that in the case where the steering angular velocity is large (the turning amount is large). For this reason, in the present embodiment, when the steering angle deviation of the steering 50 is large, the set vehicle speed is changed to be low, so that the actual movement route of the vehicle V can be prevented from expanding more than the preset parking route. . As a result, a quick parking operation is possible. Further, when the steering is performed with a small steering angle deviation of the steering 50 at a certain timing, the set vehicle speed is changed to be high, so that a quick parking operation can be performed while executing the steering of the driver. By the way, during parking operation, it is appropriate to lower the vehicle speed when the steering angle deviation is large (the steering amount is large) and to increase the vehicle speed when the steering angle deviation is small (the steering amount is small). Since it is a simple parking operation, an appropriate parking operation can be learned by performing the parking operation under such control.

  Moreover, when the steering angle deviation is large, it can be said that there is a high possibility that the actual movement route will deviate from the previously calculated parking route. In this embodiment, since the set vehicle speed is set lower as the steering angle deviation is larger, the actual movement route of the vehicle V can be prevented from expanding more than a preset parking route. As a result, a quick parking operation is possible. On the other hand, when the steering angle deviation is small, it is highly possible that the actual movement route matches the previously calculated parking route, and it can be said that the parking operation is appropriate. In the present embodiment, the set vehicle speed is set higher as the rudder angle deviation is smaller. Therefore, when the driver performs an appropriate parking operation, a higher set vehicle speed is allowed. As a result, a quick parking operation is possible.

  In addition, the change aspect of the set vehicle speed with respect to the value of the rudder angular speed is not particularly limited, and may be continuously changed linearly or curvedly, or discontinuously changed stepwise (stepwise). Also good. When the set vehicle speed is continuously changed, the uncomfortable feeling felt by the driver can be reduced. When the set vehicle speed is changed discontinuously, a change in the set vehicle speed according to the steering state can be recognized by the driver.

  By the way, in the control to increase the warning vehicle speed as the distance from the obstacle increases as in the parking assist device in the prior art document, the warning vehicle speed is set uniformly regardless of the steering state, so the distance from the obstacle is If it is away, the driver can move the vehicle V at a high vehicle speed. As the speed of the vehicle V increases, the moving path of the vehicle V that is steered at the set steering angle is more likely to swell than the previously calculated parking path (located outside the parking path). That is, the vehicle V moves along a route deviated from the pre-calculated parking route, and cannot be parked in the center of the target parking space 200, so that it may be necessary to perform a turnover operation again.

  On the other hand, the parking assist device 100 of the present embodiment sets the vehicle speed that is set as the value of the steering angular velocity or the steering angle deviation of the vehicle V that moves along the parking route calculated in advance increases. The control vehicle speed or warning vehicle speed) is set low, and the set vehicle speed (control vehicle speed or warning vehicle speed) is set higher as the value of the steering angular speed actually detected becomes smaller. An appropriate set vehicle speed (control vehicle speed or warning vehicle speed) can be set in real time according to the steering state. As a result, the host vehicle V can be moved along the parking path from the preset current position to the parking space 200, and the host vehicle V can be parked in the parking space 200.

  Furthermore, the parking assist device 100 according to the present embodiment is configured to set the vehicle speed (control vehicle speed / speed) based on the steering angle speed value and the steering angle deviation value detected when the vehicle V moves to the target parking space 200. (Including warning vehicle speed) can be corrected. The parking assistance apparatus 100 according to the present embodiment corrects the set vehicle speed based on the value of the steering angular speed with respect to the steering angle deviation. The correction of the set vehicle speed in this embodiment may be an increase correction or a decrease correction.

  Although not particularly limited, the parking assist device 100 of the present embodiment sets a reference value of the steering angular speed with respect to the reference steering angle deviation in advance, the parking support process is started, and the vehicle V moves to the target parking space 200. When the value of the steering angular velocity with respect to the steering angle deviation of the vehicle V detected at the time is greater than or equal to the reference value, the set vehicle speed is corrected to decrease, while the vehicle V is detected when moving to the target parking space 200. When the value of the steering angular speed with respect to the steering angle deviation of the vehicle V is less than the reference value, the set vehicle speed is corrected to increase. Although the amount of correction is not particularly limited, it can be set to -20% or more and + 20% or less of the set vehicle speed, preferably -10% or more and + 10% or less of the set vehicle speed. In addition, the reference value of the rudder angular velocity with respect to the rudder angle deviation as a reference is set experimentally for each vehicle V having different parking performance. Further, the specific correction amount of the set vehicle speed can be set experimentally according to the parking performance of the vehicle V.

  Thus, in this embodiment, the set vehicle speed is corrected based on the value of the steering angular speed with respect to the steering angle deviation. Since the steering angle deviation is the absolute value of the difference between the preset steering angle (ideal steering angle) calculated in advance and the actual steering angle, the actual steering angular speed relative to the steering angle deviation considering the ideal steering angle. The real-time steering state of the vehicle V can be evaluated by the value. For this reason, the set vehicle speed suitable for the actual steering state of the vehicle V can be obtained by correcting the set vehicle speed according to the evaluation of the steering state.

  In the parking assistance device 100 of the present embodiment, when the value of the steering angular speed with respect to the steering angle deviation calculated after the start of the parking assistance process is equal to or greater than a preset reference value, the set vehicle speed is corrected to decrease. Specifically, when the driver steers at a large rudder angle or rudder angular speed with respect to a large set rudder angle, or when the driver steers at a large rudder angle or rudder angular speed with respect to a small set rudder angle, the rudder angle deviation There is a tendency for the value of the rudder angular velocity to increase. When the driver steers at a large steering angle or steering angular speed, setting the set vehicle speed to a small value in accordance with this also matches the parking operation of a skilled driver. In the present embodiment, an appropriate set vehicle speed according to the actual steering state can be obtained using the steering angular speed with respect to the steering angle deviation as an evaluation index.

  Moreover, in the parking assistance apparatus 100 of this embodiment, when the value of the steering angular speed with respect to the steering angle deviation calculated after the parking assistance process is started is less than the reference value, the set vehicle speed is increased and corrected. Specifically, when the driver steers at a small rudder angle or rudder angular speed with respect to a small set rudder angle, or when the driver steers at a small rudder angle or rudder angular speed with respect to a large set rudder angle, the rudder angle deviation There is a tendency for the value of the rudder angular velocity to decrease. Thus, when the driver steers at a small steering angle or steering angular speed, it is an appropriate parking operation to set the set vehicle speed to a large value in accordance with this. In the present embodiment, an appropriate set vehicle speed according to the actual steering state can be obtained using the steering angular speed with respect to the steering angle deviation as an evaluation index.

  Thus, when the rudder angular speed with respect to the rudder angle deviation is equal to or higher than the reference value, the set value is reduced by subtracting the correction value from the standard set vehicle speed calculated in advance, and the rudder angular speed with respect to the rudder angle deviation is less than the reference value. In this case, the correction value is added to the standard set vehicle speed to increase the set vehicle speed, so that the corrected set vehicle speed suitable for the actual situation can be obtained.

  Then, based on FIGS. 6-16, operation | movement of the four types of parking assistance apparatuses 100 of this embodiment is each demonstrated. The basic parking support process of each type of parking support apparatus 100 is executed according to the common operation procedure shown in FIG. Below, the specific content of the parking assistance process in step S107 of FIG. 2 is demonstrated for every type of the parking assistance apparatus 100, respectively.

  First, parking support processing of the first type parking support apparatus 100 will be described. When the first type parking assist apparatus 100 moves the vehicle V to the parking space 200 along the parking route Q (see FIG. 5) calculated based on the current position of the vehicle V and the position of the parking space 200. In addition, the accelerator / brake operation is automatically controlled based on the designated control vehicle speed (set vehicle speed), and the operation of the steering wheel 50 is automatically controlled when moving at the control vehicle speed (set vehicle speed). This type of device (accelerator / brake and steering operation unnecessary device). Moreover, the first type parking assist apparatus 100 sets the control vehicle speed (set vehicle speed) based on the steering angular speed.

  FIG. 6 is a flowchart showing the control procedure of the first type parking assist system 1000 according to the embodiment of the present invention, and FIG. 7 is a diagram showing an example of the relationship between the steering angular speed and the set vehicle speed.

  As shown in FIG. 6, when the parking assistance process that is Step 107 in FIG. 2 starts, the parking assistance device 100 acquires the steering angular velocity from the steering angle sensor 51 of the steering 50 in Step 201.

  Next, in step 202, the parking assistance apparatus 100 calculates a control vehicle speed (set vehicle speed) based on the steering angular speed with reference to a correspondence relation that defines a relation between the steering angular speed and the control vehicle speed.

  FIG. 7 is a diagram illustrating an example of a correspondence relationship that defines a relationship between the steering angular speed and the control vehicle speed. As shown in FIG. 7, the value of the control vehicle speed, which is the set vehicle speed, decreases as the steering angular speed [deg / sec] increases. The mode of reduction of the control vehicle speed is not particularly limited, and may be reduced stepwise (discontinuously) as shown by a broken line, or may be reduced linearly (continuously) as shown by a two-dot broken line. Moreover, the cancellation | release vehicle speed shown in FIG. 7 is an upper limit of the vehicle speed range in which execution of a parking assistance process is accept | permitted. The release vehicle speed is higher than the warning vehicle speed, and can be set to 4 to 7 km / h. The parking assistance device 100 stops the parking assistance processing when the vehicle speed becomes equal to or higher than the release vehicle speed.

  Returning to FIG. 6, in step 203, the parking assistance device 100 acquires the current vehicle speed of the vehicle V moving to the target parking space. In step 204, when the current vehicle speed is equal to or higher than the control vehicle speed, the parking assistance apparatus 100 proceeds to step 205 and performs a process of reducing the control vehicle speed. Specifically, the parking assist device 100 sets the speed of the vehicle V by a control or the like that lowers the throttle opening of the vehicle V (increases the closing degree), decreases the gear ratio, or improves the brake braking force. Control below vehicle speed (control vehicle speed). Further, in step 206, it is determined whether or not the vehicle speed acquired in step 203 is equal to or higher than the release vehicle speed. If the vehicle speed is higher than or equal to the release vehicle speed, the process proceeds to step 207 to stop the parking support process (other types). The same applies to the parking assistance device of the same).

  On the other hand, if it is determined in step 204 that the vehicle speed is less than the control vehicle speed, the parking support device 100 does not perform the speed control as shown in step 208 until the parking support process is completed. Repeat the process.

  Thus, according to the parking assist device 100 of this example that does not require the accelerator / brake and the steering operation, the lower the steering angular speed, the higher the control vehicle speed is set, so that the vehicle V is moved along the calculated parking route. And the time required for parking can be shortened.

  Next, parking assistance processing of the second type parking assistance device 100 will be described. Similar to the first type parking assist device, the second type parking assist device 100 is automatically controlled based on the control vehicle speed (set vehicle speed) at which the operation of the accelerator / brake is specified. When moving at the vehicle speed (set vehicle speed), this is a device of a type in which the operation of the steering wheel 50 is automatically controlled (device that does not require an accelerator / brake and steering operation). Further, the second type parking assist apparatus 100 sets the control vehicle speed (set vehicle speed) based on the steering angle deviation.

  FIG. 8 is a flowchart showing the control procedure of the second type parking assist system 1000 according to the embodiment of the present invention, and FIG. 9 is a diagram showing an example of the relationship between the steering angular speed and the set vehicle speed.

  As shown in FIG. 8, when the parking support process which is Step 107 in FIG. 2 is started, in Step 201 ′, the parking support device 100 detects the steering angle sensor of the steering wheel 50 when the vehicle V moves to the target parking space. The steering angle detected by 51 is acquired, and the setting steering angle at the time of moving the vehicle V to the parking space 200 along the pre-calculated parking route is acquired. And the parking assistance apparatus 100 acquires the absolute value of the difference of the present steering angle actually detected and the setting steering angle as a steering angle deviation.

  Next, in step 202, the parking assistance device 100 refers to the correspondence relationship that defines the relationship between the steering angle deviation and the control vehicle speed, and calculates the control vehicle speed (set vehicle speed) based on the steering angle deviation.

  FIG. 9 is a diagram illustrating an example of a correspondence relationship that defines the relationship between the steering angle deviation and the control vehicle speed. As shown in FIG. 9, the value of the control vehicle speed, which is the set vehicle speed, decreases as the steering angle deviation [deg] increases. The mode of reduction of the control vehicle speed is not particularly limited, and may be reduced stepwise (discontinuously) as shown by a broken line, or may be reduced linearly (continuously) as shown by a two-dot broken line.

  The processing after step 203 in FIG. 8 is the same as the processing after step 203 in FIG.

  As described above, according to the parking assist device 100 of this example that does not require the accelerator / brake and the steering operation, the lower the steering angle deviation, the higher the control vehicle speed is set, so the vehicle V is moved along the calculated parking route. And the time required for parking can be shortened.

  Then, the parking assistance process of the 3rd type parking assistance apparatus 100 is demonstrated. When the third type parking assist device 100 moves the vehicle V to the parking space 200 along the parking route Q (see FIG. 5) calculated based on the current position of the vehicle V and the position of the parking space 200. In addition, the accelerator / brake operation is performed by the driver based on the warning vehicle speed (set vehicle speed) (as an upper limit), and the steering of the steering 50 is automatically controlled (a device that does not require a steering operation). In addition, the third type parking assist apparatus 100 sets the warning vehicle speed (set vehicle speed) based on the steering angular speed.

  FIG. 10 is a flowchart showing a control procedure of the third type parking assist system 1000 according to the embodiment of the present invention, and FIG. 11 is a diagram showing an example of the relationship between the steering angular speed and the set vehicle speed.

  As shown in FIG. 10, when the parking assistance process that is Step 107 in FIG. 2 starts, the parking assistance device 100 acquires the steering angular velocity from the steering angle sensor 51 of the steering 50 in Step 301.

  Next, in step 202, the parking assistance apparatus 100 calculates a warning vehicle speed (set vehicle speed) based on the steering angular speed with reference to the correspondence relationship that defines the relationship between the steering angular speed and the warning vehicle speed.

  FIG. 11 is a diagram illustrating an example of a correspondence relationship that defines a relationship between the steering angular speed and the warning vehicle speed. As shown in FIG. 11, as the steering angular speed [deg / sec] increases, the value of the warning vehicle speed, which is the set vehicle speed, decreases. The reduction mode of the warning vehicle speed is not particularly limited, and may be reduced stepwise (discontinuously) as indicated by a broken line, or may be reduced linearly (continuously) as indicated by a two-dot broken line.

  Returning to FIG. 10, in step 203, the parking assistance device 100 acquires the current vehicle speed of the vehicle V moving to the target parking space. In step 204, if the current vehicle speed is equal to or higher than the warning vehicle speed, the parking assistance apparatus 100 proceeds to step 305 and performs warning processing. Specifically, the parking assistance apparatus 100 displays (outputs) warning information for notifying the driver that the vehicle speed is too high on the display, or performs guidance (output) by voice to prompt the driver to perform a brake operation. In addition, the parking assist device 100 of the present example lowers the throttle opening of the vehicle V (increases the closing degree), decreases the gear ratio, or brakes to warn the driver that the vehicle speed is too high. The speed of the vehicle V can be controlled to be lower than the set vehicle speed (warning vehicle speed) by control for improving the braking force. Further, in step 206, it is determined whether or not the vehicle speed acquired in step 203 is equal to or higher than the release vehicle speed. If the vehicle speed is higher than or equal to the release vehicle speed, the process proceeds to step 207 to stop the parking support process (other types The same applies to the parking assistance device of the same).

  On the other hand, if it is determined in step 204 that the vehicle speed is less than the warning vehicle speed, the parking support apparatus 100 does not perform the warning process as shown in step 208 and does not perform the warning process until the parking support process ends. Repeat the process.

  As described above, according to the parking assist device 100 of the present example that does not require the steering operation, the lower the steering angular speed, the higher the warning vehicle speed is set, so that the vehicle V can be moved along the calculated parking route. Can be shortened.

  Next, the parking assistance process of the 4th type parking assistance apparatus 100 is demonstrated. Similar to the third type parking assist device, the fourth type parking assist device 100 operates the accelerator / brake with the designated warning vehicle speed (set vehicle speed) as the upper limit, and the warning vehicle speed (set vehicle speed). ) Is a type of device that automatically operates the steering wheel 50 when moving (a device that does not require steering operation). Further, the fourth type parking assist apparatus 100 sets the warning vehicle speed (set vehicle speed) based on the steering angle deviation.

  FIG. 12 is a flowchart showing a control procedure of the fourth type parking assist system 1000 according to the embodiment of the present invention, and FIG. 13 is a diagram showing an example of the relationship between the steering angle deviation and the set vehicle speed.

  As shown in FIG. 12, when the parking support process which is step 107 in FIG. 2 is started, in step 301 ′, the parking support apparatus 100 detects the steering angle sensor of the steering wheel 50 when the vehicle V moves to the target parking space. The steering angle detected by 51 is acquired, and the setting steering angle at the time of moving the vehicle V to the parking space 200 along the parking path calculated beforehand is acquired. And the parking assistance apparatus 100 acquires the absolute value of the difference of the present steering angle actually detected and the setting steering angle as a steering angle deviation.

  Next, in step 202, the parking assistance apparatus 100 calculates a control vehicle speed (set vehicle speed) based on the steering angle deviation with reference to the correspondence relationship that defines the relationship between the steering angle deviation and the warning vehicle speed.

  FIG. 13 is a diagram illustrating an example of a correspondence relationship that defines the relationship between the steering angle deviation and the warning vehicle speed. As shown in FIG. 14, the value of the warning vehicle speed, which is the set vehicle speed, decreases as the steering angle deviation [deg] increases. The reduction mode of the warning vehicle speed is not particularly limited, and may be reduced stepwise (discontinuously) as indicated by a broken line, or may be reduced linearly (continuously) as indicated by a two-dot broken line.

  The processing after step 203 in FIG. 12 is the same as the processing after step 203 in FIG.

  Thus, according to the parking assist device 100 of this example that does not require a steering operation, since the higher warning vehicle speed is set as the rudder angle deviation is lower, the vehicle V can be moved along the calculated parking route, The time required for parking can be shortened.

  Next, based on FIGS. 14 to 16, the correction processing for the set vehicle speed in the present embodiment will be described. The setting vehicle speed correction process described below can be applied to the above-described first to fourth types of parking assistance devices 100.

  FIG. 14 is a flowchart showing a control procedure of the parking assistance system 1000 that performs correction processing according to the embodiment of the present invention, FIG. 15 is a diagram showing an example of the relationship between the steering angle deviation or the steering angular velocity and the set vehicle speed, and FIG. It is a figure for demonstrating the calculation method of the corrected amount based on the steering angular velocity with respect to a steering angle deviation.

  As shown in FIG. 14, after the parking assistance process shown in FIG. 2 is started, the parking assistance device 100 is detected by the steering angle sensor 51 of the steering wheel 50 when the vehicle V moves to the target parking space in step 501. In addition to acquiring the steering angle to be set, a setting steering angle when moving the vehicle V to the parking space 200 along the previously calculated parking route is acquired. And the parking assistance apparatus 100 acquires the absolute value of the difference of the present steering angle actually detected and the setting steering angle as a steering angle deviation.

  In the subsequent step 502, the parking assist device 100 acquires the steering angular velocity from the steering angle sensor 51. Thereafter, the routine proceeds to step 511, where the set vehicle speed is corrected. First, in step 511, the parking assist device 100 according to the present embodiment preliminarily determines the reference value of the steering angular speed with respect to the reference steering angle deviation, and the vehicle V detected when the vehicle V moves to the target parking space 200. The value of the rudder angular speed with respect to the rudder angle deviation is compared. When the rudder angular speed is a value larger than the reference value, the routine proceeds to step 512, where the set vehicle speed is corrected to be reduced. Specifically, the center set vehicle speed indicated by the broken line in FIG. 15 is shifted to the reduction side (the lower vehicle speed direction in the figure), and the process proceeds to step 202.

  In step 513, when the steering angular speed is less than the reference value, the parking assist apparatus 100 of the present embodiment proceeds to step 514 and corrects the set vehicle speed to be increased. Specifically, the center set vehicle speed indicated by a broken line in FIG. 15 is shifted to the increasing side (the higher vehicle speed on the upper side in the figure), and the process proceeds to step 202.

  In step 515, the parking assistance apparatus 100 of the present embodiment proceeds to step 202 without performing correction when the steering angular speed with respect to the steering angle deviation is equal to the reference value.

  Since the processing after step 202 is common to the processing shown in FIGS. 6, 8, 10, and 12, redundant description is omitted here.

  Since this invention is comprised as mentioned above and acts as mentioned above, there exist the following effects.

[1] According to the parking assistance device 100 of the embodiment of the present invention, the parking operation of the vehicle V is supported based on the vehicle control information including the set vehicle speed and the set steering angle for moving the vehicle V to the parking space 200. When the vehicle is moved to the target parking space 200, the set vehicle speed is set lower as the value of the detected steering angular velocity of the vehicle increases, and the set vehicle speed is set higher as the detected steering angular velocity value decreases. Therefore, while appropriately controlling the set vehicle speed at the time of parking assistance, it is possible to suppress an increase in the time required to complete parking, and to assist the driver's parking operation.
Specifically, when the steering amount that turns the steering wheel 50 large (fast) is large, by setting the set vehicle speed (including the control vehicle speed and the warning vehicle speed) low, the actual movement route of the vehicle V is parked in advance. It can be prevented from expanding more than the path. As a result, a quick parking operation is possible.
In addition, when the steering amount is small (slowly) and the turning amount is small, by setting the set vehicle speed (control vehicle speed / warning vehicle speed) high, the vehicle can move at a high vehicle speed during steering. As a result, a quick parking operation is possible.
By the way, as in this embodiment, at the time of parking operation, the vehicle speed is lowered when the steering angular speed is fast (the steering amount is large), and the vehicle speed is increased when the steering angular speed is slow (the steering amount is small). The control to do is in line with an appropriate parking operation. By performing the parking operation under the control of the present embodiment, an appropriate parking operation can be executed and learned.

[2] According to the parking assist device 100 of the embodiment of the present invention, the parking operation of the vehicle V is supported based on the vehicle control information including the set vehicle speed and the set steering angle for moving the vehicle V to the parking space 200. When the vehicle is moved to the target parking space 200, the vehicle speed is set lower as the value of the steering angle deviation, which is the absolute value of the difference between the steering angle of the vehicle and the set steering angle, increases. Since the set vehicle speed is set higher as the value of the steering angle deviation, which is the absolute value of the difference between the rudder angle and the set rudder angle, becomes smaller, the parking speed is properly controlled while the set vehicle speed is properly controlled. It is possible to suppress the time required for the vehicle from becoming long, and to assist the driver's parking operation.
Specifically, when the steering angle deviation of the steering 50 is large, by setting the set vehicle speed (control vehicle speed / warning vehicle speed) low, the actual movement route of the vehicle V is prevented from expanding more than the preset parking route. can do. As a result, a quick parking operation is possible.
Further, when steering is performed with a small steering angle deviation of the steering 50, the set vehicle speed (control vehicle speed / warning vehicle speed) is changed to be high so that the vehicle can move at a high vehicle speed during steering. As a result, a quick parking operation is possible.
When the steering angle deviation is large, it is highly possible that the actual movement route is deviated from the previously calculated parking route, and it can be said that the parking operation is different from the set steering angle. In the present embodiment, the set vehicle speed is set lower as the rudder angle deviation is larger, so that the actual movement route of the vehicle V can be prevented from deviating from a preset parking route. As a result, a quick parking operation is possible.
On the other hand, if the rudder angle deviation is small, the actual movement route is likely to approximate the previously calculated parking route, and it can be said that the parking operation is appropriate. In the present embodiment, the set vehicle speed is set higher as the rudder angle deviation is smaller. Therefore, a higher set vehicle speed can be allowed when the driver performs an appropriate parking operation. As a result, a quick parking operation is possible.

  [3] According to the parking assist device 100 of the embodiment of the present invention, the speed of the vehicle V detected when the host vehicle V is moved to the target parking space 200 is equal to or higher than the “set vehicle speed (control vehicle speed)”. In some cases, the vehicle speed of the vehicle V is reduced, so that parking assistance can be executed based on the set vehicle speed according to the steering state. In particular, the parking assist device 100 is a type in which the operation of the accelerator / brake is automatically executed based on the designated set vehicle speed (accelerator / brake and steering operation unnecessary) while the operation of the steering 50 is automatic. In the case of the device, the parking assistance can be executed based on the control vehicle speed corresponding to the steering state.

  [4] According to the parking assist device 100 of the embodiment of the present invention, the speed of the vehicle V detected when the host vehicle V is moved to the target parking space 200 is equal to or higher than the “set vehicle speed (warning vehicle speed)”. In some cases, warning information that prompts the driver to perform an operation to reduce the speed of the vehicle V is output, so that warning information based on the set vehicle speed corresponding to the steering state can be output and appropriate parking assistance can be executed. . In particular, when the parking assist device 100 is a type of device in which the steering 50 is automatically operated and the accelerator / brake operation by the driver is performed at a set vehicle speed or less (no steering operation is required), the warning vehicle speed corresponding to the steering state Based on this, the driver's parking operation can be assisted.

  [5] According to the parking assistance apparatus 100 of the embodiment of the present invention, the set vehicle speed is corrected based on the value of the steering angular speed with respect to the steering angle deviation. Since the steering angle deviation is the absolute value of the difference between the preset steering angle (ideal steering angle) calculated in advance and the actual steering angle, the actual steering angular speed relative to the steering angle deviation considering the ideal steering angle. The real-time steering state of the vehicle V can be evaluated by the value. For this reason, the set vehicle speed suitable for the actual steering state in the vehicle V can be obtained by appropriately correcting the set vehicle speed based on the evaluation of the steering state.

[6] According to the parking assist device 100 of the embodiment of the present invention, when the value of the steering angular speed with respect to the steering angle deviation calculated after the start of the parking support process is equal to or greater than a preset reference value, the set vehicle speed Correct the decrease. Specifically, when the driver steers at a large rudder angle or rudder angular speed with respect to a large set rudder angle, or when the driver steers at a large rudder angle or rudder angular speed with respect to a small set rudder angle, the rudder angle deviation There is a tendency for the value of the rudder angular velocity to increase. Thus, when the driver steers at a large steering angle or steering angular speed, it is an appropriate parking operation to set the set vehicle speed to a small value accordingly. In the present embodiment, an appropriate set vehicle speed according to the actual steering state can be obtained using the steering angular speed with respect to the steering angle deviation as an evaluation index.
Moreover, in the parking assistance apparatus 100 of this embodiment, when the value of the steering angular speed with respect to the steering angle deviation calculated after the parking assistance process is started is less than the reference value, the set vehicle speed is increased and corrected. Specifically, when the driver steers at a small rudder angle or rudder angular speed with respect to a small set rudder angle, or when the driver steers at a small rudder angle or rudder angular speed with respect to a large set rudder angle, the rudder angle deviation There is a tendency for the value of the rudder angular velocity to decrease. Thus, when the driver steers at a small steering angle or steering angular speed, it is an appropriate parking operation to set the set vehicle speed to a large value in accordance with this. In the present embodiment, an appropriate set vehicle speed according to the actual steering state can be obtained using the steering angular speed with respect to the steering angle deviation as an evaluation index.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, although the parking assistance apparatus 100 is demonstrated to an example as one aspect | mode of the parking assistance apparatus which concerns on this invention, this invention is not limited to this.

  In this specification, as an example of the parking assistance device according to the present invention, the parking assistance device 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example. However, the present invention is not limited to this.

  Moreover, in this specification, the control apparatus 10 which performs a vehicle control information setting function and a parking assistance function as one aspect | mode of the parking assistance apparatus which has a vehicle control information setting means based on this invention, and a parking assistance means. The parking assistance device 100 provided will be described as an example, but the present invention is not limited to this.

1000 ... Parking support system 1a-1d ... Cameras 9a-9d ... Sonar 2 ... Image processing device 100 ... Parking support device 10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Touch panel type display 30 ... Vehicle controller 40 ... Drive apparatus 50 ... Steering 51 ... Rudder angle sensor 60 ... Vehicle speed sensor 70 ... Current position detection apparatus V ... Position of own vehicle 200 ... Parking space

Claims (6)

A parking assistance device for assisting a parking operation for moving a vehicle to a target parking space,
Setting vehicle speed when moving the vehicle to the parking space along the parking path calculated based on the current position of the vehicle and the position of the parking space, and setting of the vehicle when moving at the set vehicle speed Vehicle control information setting means for setting vehicle control information including a steering angle;
Parking support means for supporting a parking operation of the vehicle based on the calculated vehicle control information;
The vehicle control information setting means sets the set vehicle speed lower as the value of the steering angular speed of the vehicle detected when moving to the target parking space increases, and the detected steering angular speed value decreases. The parking assist device is characterized in that the set vehicle speed is set higher as the time goes. A parking assistance device for assisting a parking operation for moving a vehicle to a target parking space,
Setting vehicle speed when moving the vehicle to the parking space along the parking path calculated based on the current position of the vehicle and the position of the parking space, and setting of the vehicle when moving at the set vehicle speed Vehicle control information setting means for setting vehicle control information including a steering angle;
Parking support means for supporting a parking operation of the vehicle based on the calculated vehicle control information;
The vehicle control information setting means sets the setting as the value of the steering angle deviation, which is an absolute value of the difference between the steering angle of the vehicle detected when moving to the target parking space and the set steering angle, increases. A parking assist device, wherein a vehicle speed is set low, and the set vehicle speed is set higher as the steering angle deviation value becomes smaller.   The said parking assistance means reduces the vehicle speed of the said vehicle, when the speed of the said vehicle detected when moving to the said target parking space is more than the said setting vehicle speed. 2. The parking assistance device according to 2.   The parking assist means outputs warning information for reducing the speed of the vehicle when the speed of the vehicle detected when moving to the target parking space is equal to or higher than the set vehicle speed. The parking support apparatus according to claim 1 or 2, characterized in that The vehicle control information setting means includes
The value of the steering angle deviation, which is the absolute value of the difference between the steering angle of the vehicle and the set steering angle detected when moving to the target parking space, and when the vehicle moves to the target parking space And the value of the rudder angular velocity of the vehicle detected in
The parking assist device according to any one of claims 1 to 4, wherein the set vehicle speed is corrected based on a value of the steering angular speed with respect to the steering angle deviation. The vehicle control information setting means includes
Set a reference value of the rudder angular velocity with respect to the rudder angle deviation as a reference in advance,
When the value of the rudder angular speed with respect to the rudder angle deviation of the vehicle detected when moving to the target parking space is a value larger than the reference value, the set vehicle speed is corrected to decrease,
The set vehicle speed is corrected to be increased when a value of the steering angular velocity with respect to the steering angle deviation of the vehicle detected when moving to the target parking space is less than the reference value. 5. The parking assistance device according to 5.

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