Source: https://patents.google.com/patent/US8130120?oq=6526440
Timestamp: 2018-06-22 18:01:02
Document Index: 608362832

Matched Legal Cases: ['art\n12', 'art\n12', 'art\n13', 'art\n13', 'art\n13', 'art\n70', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 13', 'art 13', 'art 13', 'art 12', 'art 13', 'art 13', 'art 13', 'art 12', 'art 13', 'art 13', 'art 13', 'art 12', 'art 13', 'art 13', 'art 13', 'art 12', 'art 13', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12']

US8130120B2 - Parking assistance device - Google Patents
US8130120B2
US8130120B2 US12525732 US52573208A US8130120B2 US 8130120 B2 US8130120 B2 US 8130120B2 US 12525732 US12525732 US 12525732 US 52573208 A US52573208 A US 52573208A US 8130120 B2 US8130120 B2 US 8130120B2
US12525732
US20100019935A1 (en )
A parking assistance device includes a guiding unit to perform guidance of a vehicle to a parking initial position from which the vehicle can be parked into a parking space located adjacent to and on a far side of an object existing around the vehicle with respect to a running direction of the vehicle; an obstacle detecting unit to detect an obstacle around the vehicle in response to a reflected wave of a wave emitted from the vehicle in a predetermined direction; and a timing setting unit configured to set a timing to start the guidance in response to a detection result of the obstacle detecting unit, which is related to an obstacle existing in a predetermined distance from the object in the parking space.
The present invention relates to a parking assistance device to assist parking.
Conventionally, as a parking assistance device to assist parking of a vehicle into a parking space, there has been a known parking assistance device (for example, see Patent Document 1) which includes a detecting unit to detect a parking space, a recording unit to record information about the detected parking space, and a controlling unit to execute parking operation assistance that is required to guide the vehicle into the parking space. When a new parking space is recorded in the recording unit of this parking assistance device, existence of the parking space has been addressed to a driver in a recognizable way.
[Patent Document 1] Japanese Patent Application Publication No. 2003-81041
However, by the above-described conventional technique in which the existence of the parking space is addressed in the recognizable way to the driver when a new parking space is recorded, it has been sometimes impossible to appropriately perform the parking operation assistance depending on a condition of detecting the parking space. For example, when the detection of the parking space is delayed, a vehicle sometimes cannot stop at a parking initial position from which the vehicle can be appropriately parked into the parking space. As a result, even though the appropriate parking operation assistance cannot be executed in actuality, the existence of the detected parking space has been addressed to the driver.
To achieve the above-described object, according to a first aspect of the present invention, a parking assistance device includes a guiding unit to perform guidance of a vehicle to a parking initial position from which the vehicle can be parked into a parking space located adjacent to and on a far side of an object existing around the vehicle with respect to a running direction of the vehicle; and a timing setting unit to set a timing to start the guidance in response to a speed of the vehicle.
According to the present invention, such a situation can be suppressed where a vehicle cannot be guided to a parking initial position from which the vehicle can be appropriately parked into a parking space.
FIG. 1 is a system configuration diagram showing an embodiment of a parking assistance device 10 according to the present invention;
10 parking assistance device
12 parking assistance ECU
12A parking space detecting part
12B assistance start timing setting part
12D parking assistance part
13A rotation correction processing part
13B parabola approximation part
13C oval approximation part
70 ranging sensor
A description is given below, with reference to the drawings, of the best mode for carrying out the present invention. Since the present invention is especially effective for an application for perpendicular parking, the description below will be made of the perpendicular parking.
FIG. 1 is a system configuration diagram showing an embodiment of a parking assistance device 10 according to the present invention. As shown in FIG. 1, the parking assistance device 10 is configured including an electronic control unit 12 (hereinafter, referred to as “parking assistance ECU 12”) as a center of the configuration. The parking assistance ECU 12 is a computer having a CPU, a ROM, a RAM, and the like mutually connected via a bus which is not shown. The ROM stores a program and data executed by the CPU.
As shown in FIG. 2, the ranging sensor 70 emits distance measuring waves such as sound waves in a predetermined direction having a direction of a vehicle width as a center, and receives reflected waves. Accordingly, the ranging sensor 70 detects a distance to an object existing on a lateral side of the vehicle (including a forward oblique direction with respect to a running direction of the vehicle). The ranging sensor 70 is mounted on a front part or a side part of the vehicle. Further, the ranging sensor 70 is mounted so that distance measuring waves are emitted in a front oblique direction at a predetermined angle with respect to a lateral direction of the vehicle. For example, the ranging sensor 70 may be mounted near a bumper in the front part of the vehicle to emit sound waves and the like, for example, in a front oblique direction at 17° to 20° with respect to the lateral direction of the vehicle. Moreover, the predetermined angle may be variable so that the emitting direction can be adjusted.
FIG. 10 is a plan view showing a situation of a parking lot for the perpendicular parking. In this situation, there are plural available parking spaces (indicated by squares of dotted lines) on both sides of the vehicle. Objects (vehicles Z) are parked adjacent to the parking spaces. In FIG. 10, the vehicle (host vehicle) passes by sides of the objects (and the adjacent parking spaces) in a direction indicated by an arrow shown in the drawing. Note that a “far side” and a “near side” are based on the running direction of the vehicle (host vehicle).
When the vehicle passes by a side of a certain object, a detection area (length of a sequence of points) of the object detected by the ranging sensor 70 increases as the vehicle moves. The parking space detecting part 12A of this embodiment is an obstacle detecting unit to detect an obstacle around the host vehicle according to the detection result (sequence of the points) of the ranging sensor 70. That is, the parking space detecting part 12A detects the detection result (sequence of the points) by the ranging sensor 70 as an “object”, and detects an object as an “obstacle” when the sequence of points corresponding to the object has a predetermined reference length or greater (or a predetermined length). The parking space detecting part 12A may be started when the parking switch 52 is turned on.
The parking space detecting part 12A sets a flag (hereinafter referred to as a “provisional flag”) indicating that an obstacle has been provisionally detected, in a stage where the sequence of points has a predetermined reference length Lb (for example, 1 m) or longer. In a stage where the sequence of points with the predetermined reference length Lb or greater is detected, and then the sequence of points is not detected in a predetermined reference length Lc (for example, 50 cm) or greater, the parking space detecting part 12A detects an object corresponding to the sequence of points with the predetermined reference length Lb or greater as an “obstacle”. At the same time, the parking space detecting part 12A sets a flag (hereinafter referred to as a “completion flag”) indicating that the obstacle exists on a lateral side of the vehicle and detection of the obstacle is completed.
In a stage where the sequence of points is not detected in a predetermined reference length Ld (for example, 1.5 m) or greater after setting the completion flag, the parking space detecting part 12A estimates that there is an available parking space on the lateral side of the vehicle and sets a flag (hereinafter referred to as a “parking space available flag”) indicating the existence. When a minimum required open width (available space width) as a parking space for the perpendicular parking is Le, the predetermined reference length Ld is greater than Lc and less than Le. The effective space width Le is a value which is to be determined depending on a vehicle width and the like of the host vehicle (Le=2.5 m in this embodiment). In this embodiment, in a stage where the sequence of points with the predetermined reference length Lb or greater is detected and then the sequence of points is not detected in the predetermined reference length Ld or greater, the vehicle space detecting part 12A estimates that there is an available parking space on a far side of the obstacle related to the completion flag, and sets a parking space available flag.
On the other hand, in the case where the sequence of points is detected before the length where the sequence of points is not detected reaches the predetermined reference length Ld after setting the completion flag, it is not soon determined that there is no parking space available on the lateral side of the vehicle, in consideration of a detection error by a receiving error of the reflected waves related to the sequence of points, and the like. The parking space detecting part 12A detects an object corresponding to the sequence of the predetermined number N1 (for example, two) of points, which points have started to be detected before the length where the sequence of points is not detected reaches the predetermined reference length Ld, as a “second obstacle”, and at the same time, estimates a position of the second obstacle. The sequence of the predetermined number N1 of points may be also called a sequence of points included in a predetermined reference length L1. The estimation of the position of the second obstacle according to the sequence of the predetermined number N1 of points is performed by the rotation correction processing part 13A (the estimation of the position of the second obstacle according to the sequence of the predetermined number N1 of points by the rotation correction processing part 13A is described below). In the case where there is a distance of the effective space width Le or wider between an end part of the obstacle related to the completion flag and an end part of the second obstacle of which position is estimated by the rotation correction processing part 13A, the parking space detecting part 12A estimates that there is an available parking space on the far side of the obstacle related to the completion flag and sets the parking space available flag.
When there is a distance of the effective space width Le or greater between the end part of the obstacle related to the completion flag and an end part of the second obstacle of which position is estimated by the rotation correction processing part 13A, the parabola approximation part 13B, and the oval approximation part 13C, the parking space detecting part 12A estimates that there is an available parking space on a far side of the obstacle related to the completion flag, and thereby sets a parking space available flag. On the other hand, when there is a distance less than the effective space width Le between the end part of the obstacle related to the completion flag and the end part of the second obstacle of which position is estimated by the rotation correction processing part 13A, the parabola approximation part 13B, and the oval approximation part 13C, the parking space detecting part 12A determines that there is no available parking space on the lateral side of the vehicle, and thereby sets a flag (hereinafter referred to as a “parking space unavailable flag”) indicating the determination.
First, as shown in FIG. 5, the parabola approximation part 13B defines a parabolic coordinate system (X, Z). In the parabolic coordinates, a running direction of the vehicle corresponds to an X axis while a direction perpendicular to the running direction corresponds to a Z axis. The origin of the coordinates is set as a center point (the point C4 in this embodiment) among all the points of the data of the sequence of points used for approximation. Note that the running direction of the vehicle may be determined according to the orientation (a deviation angle α to be described below) of the vehicle of the time when the provisional flag is set. Subsequently, the parabola approximation part 13B performs parabola approximation (quadratic curve) on the data of the sequence of points by a least squares method and the like in the parabolic coordinate system set as described above. That is, coefficients a, b, and c in a formula: a*x2+b*z+c=0 which best fits the data of the sequence of points are calculated (note that * indicates a multiplication). Next, the parabola approximation part 13B corrects the data of the sequence of points so that the points C1 through C7 of the data of the sequence of points are set on the obtained parabola. For example, as for the point C6, intersection points C6′ and C6″ (normally two points) between the parabola and a straight line R6 connecting the point C6 and the sonar position S6 are obtained. The point C6 is corrected into the intersection point C6′ which is closer to the sonar position C6, as shown in FIG. 5. In this manner, corrections are performed on all the points C1 to C7. Note that the correction may be performed by projecting in a normal line direction with respect to the parabola. Data of the sequence of points (C1′ to C7′) obtained in this manner are called “parabola approximation data” for convenience.
The data of the sequence of points obtained in this manner are called “oval approximation data” for convenience. The oval approximation data include D1 through D12 when there is an intersection point with respect to the endmost point C1, include D2 through D12 when intersection points start appearing from the next point C2, and include D3 through D12 when intersection points start appearing from the next point C3. The intersection point with respect to the point provided at the end sometimes does not exist because the ranging sensor 70 attached to the bumper and the like of the vehicle emits the detection waves in the front oblique direction. Thus, when the vehicle approaches the obstacle, data of a distance with a side surface of the obstacle can also be included.
In step 320, when the parking space available flag is set, the parking assistance part 12D outputs a ping sound via a speaker 24 (see FIG. 1), and at the same time makes a steering instruction for guiding the vehicle to the parking initial position. Note that the ping sound may be outputted from one of the left and right speakers 24, which is provided on a side where the parking space exists. Accordingly, the driver can aurally recognize the side where the parking space exists. Further, the steering instruction may be made by a voice output or a steering instruction display, meaning, for example, “Please run forward slowly by turning the steering wheel, until you hear a ding-dong sound”. This steering instruction display is made on a display 22 with the ping sound when the parking space available flag is set as described above. Accordingly, the driver can easily understand a point to start turning the steering wheel and also easily understand to run the vehicle forward slowly by turning the steering wheel until a notification by the ding-dong sound, informing the driver that the vehicle has reached the parking initial position, is outputted.
Next, according to the data of the start point and the end point of the obstacle obtained by the parabola approximation part 13B, the parking assistance part 12D calculates a parking initial position suitable for parking into the parking space to which the vehicle is guided. Various methods can be employed to calculate the parking initial position. For example, a target parking position (for example, the position of the center of a rear axle of the vehicle in the parking space) is determined at a predetermined relative position with respect to the start point of the obstacle. By considering a maximum turning curvature and the like of the vehicle, a parking initial position from which the vehicle can be parked into the determined target parking position is calculated and determined. Note that the parking initial position where the assistance into the parking space is possible does not include one point but a range. Thus, the parking initial position may be defined as an allowable position range. Next, according to output signals of the steering angle sensor 16 and the vehicle speed sensor 18, the parking assistance part 12D calculates a change amount of the orientation of the vehicle (this change amount is hereinafter referred to as an “orientation angle α”) with respect to a predetermined reference direction in a predetermined section. By this orientation angle α, the trajectory of a subsequent movement of the vehicle is estimated. Note that the orientation angle α is defined by the clockwise direction being a positive direction and the counterclockwise direction being a negative direction. Here, the orientation angle α can be generally calculated by formula 1, when a micro-movement distance of the vehicle is ds and γ is a road surface curvature (corresponding to an inverse number of a turning radius R of the vehicle). By formula 1, the orientation angle α is obtained as a change of the orientation of the vehicle, which is caused for the vehicle to reach the current position from a position that is at βm (β=7 in this embodiment) on the near side.
α = ∫ - β 0 ⁢ γ · ⁢ ⅆ s [ Formula ⁢ ⁢ 1 ]
According to formula 2 below obtained by transforming formula 1, the parking assistance part 12D calculates a small orientation angle αi caused in every predetermined moving distance (0.5 m in this embodiment), and calculates the orientation angle α by summing the obtained small orientation angles α1 through αk.
α = ∑ i = 1 k ⁢ α i , α i = ∫ - 0.5 0 ⁢ γ · ⁢ ⅆ s [ Formula ⁢ ⁢ 2 ]
At this time, the predetermined movement distance (0.5 m in this embodiment) is monitored by time-integrating the output signals (wheel speed pulses) of the vehicle speed sensor 18. Further, the road surface curvature γ is determined according to a steering angle Ha obtained by the steering angle sensor 16. For example, the road surface curvature γ is obtained by a formula: γ=Ha/L·η (L indicates a wheel base length, and η indicates an overall gear ratio of the vehicle (a ratio of the steering angle Ha to a wheel turning angle)). Note that the small orientation angle αi may be calculated by multiplying the small movement distance of 0.01 with the road surface curvature γ which is obtained in every small movement distance of 0.01 m, and integrating the multiplied values of the movement distance of 0.5 m. Note that a relationship between the road surface curvature γ and the steering angle Ha may be stored, as a map formed according to correlation data acquired for each vehicle in advance, in the ROM of the parking assistance ECU 12. Note that the orientation angle α may be calculated at all times. In this case, the obtained orientation angle α may be used to estimate the above-described running direction of the vehicle.
The parking assistance part 12D performs the steering instruction for guiding the vehicle to the parking initial position, according to a relationship between the current vehicle position estimated as described above and the parking initial position. For example, the parking assistance part 12D may output a message by display and/or voice, meaning “Please start at a position a little closer to the parking space”, “Please start at a position a little further from the parking space”, or “Please turn the vehicle a little more” via the speaker 24 or the display 22 (see FIG. 1) as required.
In step 370, with the parking space unavailable flag set, the parking assistance part 12D outputs a ping sound via the speaker 24 (see FIG. 1) (the ping sound here is preferably different from that used when the parking space available flag is set, to let the driver recognize the difference aurally), and to notify the driver that there is no available parking space, instead of executing the steering instruction for guiding the vehicle to the parking initial position. Accordingly, the driver can aurally understand which is the side where no available parking space exists. Further, there may be, for example, a sound output or a steering instruction display meaning “Please run forward slowly by keeping the steering wheel straight until you hear a ding-dong sound” as the steering instruction. This steering instruction display is made on the display 22 with the ping sound when the parking space unavailable flag is set as described above. Accordingly, the driver can easily understand that there is no need to turn the steering wheel, and understand to run the vehicle forward slowly by keeping the steering wheel straight until the notification of a ding-dong sound, informing the driver that a new available parking space is detected, is outputted. It is preferable that the presence or absence of the notifying operation such as the ping sound output in the case where the parking space unavailable flag is set, can be selected by a user so as to reflect the user's intention.
When the current position of the vehicle corresponds to the parking initial position as a result of the process as shown in FIG. 9, the parking assistance part 12D outputs a ding-dong sound via the speaker 24 and at the same time outputs a message meaning “Assistance in backing up can be started by moving the shift lever into R” by display and/or voice, thereby the guidance to the parking initial position is finished.
US12525732 2007-02-27 2008-02-20 Parking assistance device Active US8130120B2 (en)
JP2007-047545 2007-02-27
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US20100019935A1 true US20100019935A1 (en) 2010-01-28
US8130120B2 true US8130120B2 (en) 2012-03-06
ID=39721117
US12525732 Active US8130120B2 (en) 2007-02-27 2008-02-20 Parking assistance device
US (1) US8130120B2 (en)
EP (1) EP2127986B1 (en)
JP (1) JP4386083B2 (en)
CN (1) CN101616833B (en)
WO (1) WO2008105282A1 (en)
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Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KAWABATA, YUKIKO;MAKINO, YASUSHI;IWAKIRI, HIDEYUKI;AND OTHERS;REEL/FRAME:023063/0212;SIGNING DATES FROM 20090427 TO 20090513
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KAWABATA, YUKIKO;MAKINO, YASUSHI;IWAKIRI, HIDEYUKI;AND OTHERS;SIGNING DATES FROM 20090427 TO 20090513;REEL/FRAME:023063/0212