JP3420581B2 - Vehicle parking assist device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle parking assistance device for assisting a driving operation of moving a vehicle forward from a parking start position to a traveling direction switching position and then moving the vehicle backward to a parking end position. .

[0002]

2. Description of the Related Art A parking assist device for such a vehicle is disclosed in Japanese Unexamined Patent Publication No.
It is already known from JP-A-74256 and JP-A-4-55168. The parking assist device for these vehicles utilizes an actuator of a conventionally known electric power steering device, and controls the actuator based on the relationship between the vehicle travel distance and the steered angle that is stored in advance, so that back parking or Parallel parking is done automatically.

[0003]

By the way, the conventional parking assist system for a vehicle described above is not limited to a section in which the vehicle moves forward from the parking start position to the traveling direction switching position, but also from the traveling direction switching position to the parking ending position. Since the steered wheels are automatically steered by the actuator even in the backward traveling section, high accuracy is required for the sensor for detecting the moving distance of the vehicle and the sensor for detecting the steered angle of the steered wheels, and a slight detection error may occur. In some cases, even if the vehicle exists, the locus of movement of the vehicle is deviated and the vehicle cannot be correctly guided to the parking end position.

The present invention has been made in view of the above circumstances, and enables the vehicle to be guided to the parking end position easily and accurately even if there is some error in the vehicle stop position at the traveling direction switching position. The purpose is to

[0005]

In order to achieve the above object, according to the invention described in claim 1, after the vehicle is moved forward from the parking start position to the traveling direction switching position,
A vehicle parking assistance device for assisting a driving operation of moving a vehicle backward to a parking end position, which is a movement locus setting means for presetting a forward movement locus of the vehicle from a parking start position to a traveling direction switching position , The vehicle switches the traveling direction
When the position is reached, stop and change the direction of travel to the driver
The forward movement locus reaches the parking end position by moving the vehicle backward while keeping the turning angle of the steered wheels at the traveling direction switching position at the limit turning angle. There is proposed a vehicle parking assist device characterized by being set as follows.

According to the above construction, while the vehicle is moved forward from the parking start position to the traveling direction switching position, the vehicle moves forward along the forward movement locus set by the movement locus setting means. it is electrically rather <br/> that the traveling direction switching position. And the vehicle reaches the traveling direction switching position
And the operation stage teaching device instructs the driver to stop and advance the vehicle.
Since the driver notifies the vehicle of the change of the traveling direction , the driver can move the vehicle backward only from the traveling direction switching position to the parking end position while keeping the steering angle at the traveling direction switching position at the limit steering angle. It is possible to stop the vehicle by driving it to, and the operating burden on the driver is greatly reduced.

Further, since the turning angle of the steered wheels at the traveling direction switching position is the limit steering angle, the turning radius is minimized while the vehicle is moving backward from the traveling direction switching position to the parking end position in a narrow place. Not only is it possible to put the vehicle in the garage, but also the driver holding the steering wheel can easily operate, and fluctuations in the steering angle can be prevented.

Even if there is a slight error in the stop position of the vehicle at the traveling direction switching position, the driver operates the steering wheel while the vehicle moves backward from the traveling direction switching position to the parking completion position. By finely adjusting the direction, the error can be compensated and the vehicle can be correctly guided to the parking end position.

According to the invention described in claim 2,
In addition to the configuration according to claim 1, a vehicle in which the parking start position is a position where a side surface of the vehicle is laterally attached to an entrance of a parking end position such that a vehicle center line and a parking position center line are orthogonal to each other. Parking assistance device is proposed.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below based on the embodiments of the present invention shown in the accompanying drawings.

FIGS. 1 to 4 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle equipped with a parking assist device, FIG. 2 is an explanatory diagram of operation in a back parking / left mode, and FIG. Is the reference turning angle θre for the travel distance X in the back parking / left mode
FIG. 4 is a table showing the relationship of f, and FIG. 4 is a view showing a mode selection switch and an automatic parking start switch.

As shown in FIG. 1, the vehicle V includes a pair of front wheels Wf and Wf that are driving wheels and steering wheels at the same time, and a pair of rear wheels Wr and Wr that are driven wheels and non-steering wheels at the same time. Equipped with. The steering wheel 1 and the front wheels Wf, Wf, which are steering wheels, a steering shaft 2 that rotates integrally with the steering wheel 1, a pinion 3 provided at the lower end of the steering shaft 2, a rack 4 that meshes with the pinion 3, and a rack 4. The left and right tie rods 5, 5 provided at both ends of the tie rods and the left and right knuckles 6, 6 connected to the tie rods 5, 5 are connected to each other. A steering actuator 7 composed of an electric motor is connected to the steering shaft 2 via a worm gear mechanism 8 in order to assist the operation of the steering wheel 1 by the driver or to perform steering for entering a garage described later.

The steering control device 21 includes a control unit 22 and a storage unit 2.
3 and 3. The control unit 22 controls the steering angle θ of the front wheels Wf, Wf based on the rotation angle of the steering wheel 1.
Steering angle detecting means S ₁ for detecting the steering torque and steering torque detecting means S for detecting the steering torque of the steering wheel 1.
₂ , rear wheel rotation angle detection means S ₃ and S ₃ for detecting the rotation angles of the left and right rear wheels Wr and Wr, which are driven wheels, and the shift range selected by the select lever 11 (“D” range,
The signals from the shift range detecting means S ₄ for detecting the “R” range, the “N” range, the “P” range, etc.) are input.

The rear wheel rotation angle detecting means S ₃ , S ₃ are connected to the rear wheel W.
A pulse is output each time r and Wr rotate by a predetermined angle, and the moving distance X of the vehicle V is calculated by multiplying the detected pulse number by a constant determined according to the radius of the rear wheels Wr and Wr. can do. The outputs of the pair of rear wheel rotation angle detecting means S ₃ , S ₃ are the high select value, the low select value, or the average value.

Further, the control section 22 is connected with a mode selection switch S ₆ and an automatic parking start switch S ₇ operated by a driver. As is apparent from FIG. 4, the mode selection switch S ₆ has two types of parking modes,
That is, it is operated when selecting one of the back parking / right mode and the back parking / left mode, and has two switch buttons corresponding to each mode. The automatic parking start switch S ₇ is operated to start automatic parking in any mode selected by the mode selection switch S ₆ .

The storage unit 23 constitutes the movement locus setting means of the present invention, in which the data of the two types of parking modes, that is, the relationship of the reference turning angle θref with respect to the movement distance X of the vehicle V, is stored. As shown in FIG. 3, it is stored in advance as a table.

Thus, the control unit 22 controls the detection means S ₁
Based on the signals from S ₄ and switches S ₆ and S ₇ and the parking mode data stored in the storage unit 23, the operation of the steering actuator 7 and the liquid crystal monitor, speaker, lamp, chime, buzzer, etc. And the operation of the operation stage teaching device 12 including.

Next, the operation of the embodiment of the present invention having the above construction will be described.

During normal times when the parking assist control is not performed (when the automatic parking start switch S ₇ is not turned on), the steering control device 21 functions as a general power steering control device. Specifically, when the driver operates the steering wheel 1 to turn the vehicle V, the steering torque detecting means S ₂ causes the steering wheel 1 to rotate.
The steering torque input to the control unit 22 is detected, and the control unit 22 controls the drive of the steering actuator 7 based on the steering torque. As a result, the left and right front wheels Wf, Wf are steered by the driving force of the steering actuator 7,
The driver's steering operation is assisted.

Next, the operation of the present embodiment will be described by taking the back parking / left mode (a mode in which the vehicle V is parked while being backed up in the garage on the left side) as an example.

First, as shown in FIG. 2, the vehicle V is moved to the vicinity of the garage where the vehicle is to be parked, and the left side surface of the vehicle body is brought as close as possible to the garage entrance line. A mark or a side mirror provided inside the door is stopped at the parking start position P ₁ which coincides with the center line of the garage. At this time, the center line of the vehicle V and the center line of the garage are set to be orthogonal to each other. When the mode selection switch S ₆ is operated to select the back parking / left mode, the operated switch button is lit, and the operation stage teaching device 12
Informs the driver with a speaker, "It is left back parking." When the driver, who confirms that the operated switch button is correct, releases the steering wheel 1 and turns on the automatic parking start switch S ₇ , the switch button lights up and the parking assist control is started. 12 notifies the driver with a speaker that "please move forward slowly".

While the parking assist control is being performed, the current position of the vehicle, the parking start position P ₁ , the traveling direction switching position P ₂ and the parking end position P are displayed on the liquid crystal monitor of the operation stage teaching device 12.
_3. The expected forward movement locus of the vehicle from the parking start position P ₁ to the parking end position P ₃ is displayed.

By the parking assist control, the driver loosens the brake pedal 9 and creeps the vehicle V, or slightly depresses the accelerator pedal 10 to drive the vehicle V.
The front wheels Wf, Wf based on the back parking / left mode data selected by the mode selection switch S ₆ without operating the steering wheel 1
Is automatically steered. That is, as shown in FIG. 3, while the vehicle V is moving forward from the parking start position P ₁ to the traveling direction switching position P ₂ , the front wheels Wf, Wf are first automatically steered to the right and then to the left via the neutral position. When the vehicle V is automatically steered and reaches the traveling direction switching position P ₂ , the turning angle θ of the front wheels Wf and Wf becomes the left limit turning angle θmax.

During that time, the control unit 22 applies the moving distance X of the vehicle V calculated on the basis of the outputs of the rear wheel rotation angle detecting means S ₃ , S _{3 to} the data of the back parking / left mode read from the storage unit 23. Then, the reference turning angle θref is searched. Then, based on the reference turning angle θref and the turning angle θ input from the turning angle detection means S ₁ , a deviation E (= θref−
θ) is calculated, and the operation of the steering actuator 7 is controlled so that the deviation E becomes zero. At this time, since the data of the standard turning angle θref is set corresponding to the moving distance X of the vehicle V, the moving distance X is correctly detected even if there is some variation in the vehicle speed during the parking assist control. As long as the vehicle V is in this state, the vehicle V always moves on the forward movement locus.

The above-mentioned parking assist control is released when the driver turns off the mode selection switch S ₆ , but in addition to that, the driver operates the steering wheel 1.
When is operated, is released when the vehicle speed exceeds a predetermined value, and the normal power steering control is resumed.

Thus, the parking assistance assists the vehicle V in the traveling direction.
Switching position P₂Is reached, the operation stage teaching device 12
Ask the driver to stop and change gears.
Inform Iber. The driver stops the vehicle V
Rect lever select lever 11 from "D" range
The range is switched to the "R" range, and this is the rear wheel rotation angle detecting means S.
₃, S₃And shift range detecting means S_FourDetected by
Then, the operation stage teaching device 12 uses the speaker to “End.
To the driver.

When the parking support is completed in this way,
As described above, the steered angles θ of the front wheels Wf and Wf are the left limit steered angle θmax, and the driver holds the steering wheel 1 and sets the steered angle θ to the left steered limit angle θma.
The vehicle V can be correctly guided to the parking end position P ₃ simply by moving the vehicle V backward from the traveling direction switching position P ₂ while being fixed at x. In other words, if the vehicle V is moved backward while keeping the turning angle θ at the left limit turning angle θmax, the vehicle V is correctly guided to the parking end position P _3, and the forward movement locus of the vehicle V, That is, the traveling direction switching position P ₂ is preset.

Thus, the traveling direction switching position P₂From
Car end position P₃Parking support while moving vehicle V backward
Since assistance is not provided, the position of the vehicle V shifts and
Setting P ₃Driver when it is determined that the
-Voluntarily operating the steering wheel 1
Finely adjust the vehicle V to the parking end position P₃To lead to
You can Therefore, the traveling direction switching position P₂Vehicle in
The accuracy of the stop position of V is the parking start position P₁Parking ends
Position P₃Compared to when parking assistance is provided during the entire
The steering angle detection means S₁And rear wheel rotation angle inspection
Outgoing means S₃, S ₃Need to use extra high precision ones
It is possible to contribute to cost reduction because it is gone.

Further, since the turning angle θ is maintained at the limit turning angle θmax while the vehicle V is moving backward from the traveling direction switching position P ₂ , the turning radius of the vehicle V is minimized and the vehicle is put in a garage in a narrow space. Not only is this possible, but also the operation of the driver holding the steering wheel 1 is facilitated, and fluctuations in the steering angle θ can be prevented.

In addition, due to a delay in driver's brake operation, etc.
Therefore, the vehicle V moves in the traveling direction switching position P. ₂Stop past
In some cases, the traveling direction switching position P₂
The steering angle θ is the limit steering angle θ from the
held at max. Therefore, the vehicle V is at the actual stop position.
The driver limits the turning angle θ in the process of moving backward from
As long as the steering angle θmax is maintained, the vehicle V must advance.
Row direction switching position P₂Because it will pass through the final
At parking end position P₃The occurrence of misalignment in
It

Although the embodiments of the present invention have been described in detail above, the present invention can be modified in various ways without departing from the scope of the invention.

For example, in the embodiment, the forward movement locus of the vehicle V from the parking start position P ₁ to the traveling direction switching position P ₂ is stored in the storage unit 23 in advance, but the current position of the vehicle V and the traveling direction switching position are stored. It is also possible to calculate the forward movement locus from P ₂ .

[0033]

As described above, according to the invention described in claim 1, while the vehicle is moved forward from the parking start position to the traveling direction switching position, along the forward movement locus set by the movement locus setting means. because the vehicle moves forward Te, it can rather guiding exactly the traveling direction switching position of the vehicle. And
When the vehicle reaches the traveling direction switching position, the operation stage teaching device
Informs the driver that the vehicle has stopped or has changed direction.
Therefore, the driver can move the vehicle backward only from the traveling direction switching position to the parking end position while keeping the steering angle at the traveling direction switching position at the limit steering angle, and accurately guide the vehicle to the parking end position and stop it. This makes it possible to significantly reduce the driver's operational burden.

In addition, since the turning angle of the steered wheels at the traveling direction switching position is the limit steering angle, the turning radius is minimized while the vehicle is moving backward from the traveling direction switching position to the parking end position in a narrow place. Not only is it possible to put the vehicle in the garage, but also the driver holding the steering wheel can easily operate, and fluctuations in the steering angle can be prevented.

Even if there is some error in the stop position of the vehicle at the traveling direction switching position, the driver operates the steering wheel while the vehicle moves backward from the traveling direction switching position to the parking completion position. By finely adjusting the direction, the error can be compensated and the vehicle can be correctly guided to the parking end position.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a vehicle including a parking assistance device.

FIG. 2 is an explanatory diagram of the operation of the back parking / left mode.

FIG. 3 is a table showing a relationship between a reference turning angle θref and a moving distance X in the back parking / left mode.

FIG. 4 is a diagram showing a mode selection switch and an automatic parking start switch.

[Description of Codes] 12 Operation Stage Teaching Device 23 Storage Unit (Movement Trajectory Setting Means) P ₁ Parking Start Position P ₂ Travel Direction Switching Position P ₃ Parking End Position V Vehicle Wf Front Wheel (Steering Wheel) θ Steering Angle θmax Limit Roll Rudder angle

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B62D 6/00 B60R 21/00

Claims (2)

(57) [Claims] 1. An operation for moving a vehicle (V) forward from a parking start position (P ₁ ) to a traveling direction switching position (P ₂ ) and then moving the vehicle (V) backward to a parking end position (P ₃ ). A vehicle parking assistance device for assisting an operation, comprising: a movement locus setting means for presetting a forward movement locus of a vehicle (V) from a parking start position (P ₁ ) to a traveling direction switching position (P ₂ ). 23) and when the vehicle (V) reaches the traveling direction switching position (P ₂ ).
Operation stage that informs the driver of stop and direction change
The floor teaching device (12) is provided, and the forward movement locus defines the turning angle (θ) of the steered wheels (Wf) at the traveling direction switching position (P ₂ ) as the limit turning angle (θma).
A vehicle parking assist device, characterized in that it is set so as to reach a parking end position (P ₃ ) when the vehicle (V) is moved backward while being kept at x). 2. The parking start position (P ₁ ) is a position where the side surface of the vehicle (V) is laterally attached to the entrance of the parking end position (P ₃ ) so that the vehicle center line and the parking position center line are orthogonal to each other. The parking assistance device for a vehicle according to claim 1, wherein: