Patent Application
20200156703
The present invention relates to a driving support device that supports driving operation of a vehicle.
A driving support device, such as a parking support device, that supports, when a driver parks a vehicle, any or all of the driver's steering wheel operation, accelerator operation, brake operation, and the like in order to support the guidance of the vehicle to a target parking position is widely known.
The above parking support device, first, by analyzing environmental information around the own vehicle acquired by an in-vehicle sonar or in-vehicle camera in a parking lot, detects a place (space) where the own vehicle can be parked and notifies an in-vehicle display device, such as a navigation system, that an available parking place has been detected. After stopping the own vehicle, the driver uses input means of the in-vehicle display device to select a desired parking place as the target parking position from among the available parking places displayed on the in-vehicle display device (screen), and when the parking support device starts parking support, can receive the parking support in parking the own vehicle at the target parking position.
In the above parking support device, a method for determining the ease of parking at the target parking position is known. PTL 1 proposes a technique of determining, when the driver manually parks the own vehicle at the target parking position, the ease of vehicle operation during parking (that is, the operation burden on the driver) by using an indicator such as a small steering amount of the steering wheel or a small number of turnovers.
PTL 1: JP 2011-046335 A
However, in the above-described conventional parking support device, the vehicle is running by manual operation when an available parking space is found. Therefore, when the vehicle driver stops the vehicle for parking, there is a possibility that the parking route cannot be drawn from the vehicle stop position to the target parking position and parking support cannot be received. Further, it is difficult to calculate the parking route in real time while the vehicle is running because the processing load increases, and the position of the own vehicle constantly changes.
The present invention has been made in view of the above problems and has an object to provide a driving support device that performs a simple determination of a parking route to a target parking position in the driving support device while the vehicle is running and can improve the convenience of a driver of the vehicle.
In order to solve the above problem, the driving support device according to the present invention is a driving support device including: an external world information acquisition unit that acquires external world information; an available parking position calculation unit that calculates an available parking position of an own vehicle from the external world information acquired by the external world information acquisition unit; an own vehicle stop position estimation unit that detects a position of the own vehicle and estimates an estimated stop position at which the own vehicle is estimated stop from the position of the own vehicle; and a parking route evaluation unit that evaluates a parking route from the estimated stop position to one or more of the available parking positions, in which the parking route evaluation unit evaluates the parking route on a basis of an arc having a turning radius greater than or equal to the minimum rotation radius of the own vehicle from the estimated stop position and an arc having a turning radius greater than or equal to the minimum rotation radius of the own vehicle from the available parking position.
In addition, the driving support device according to the present invention is a driving support device including: an external world information acquisition unit that acquires external world information; an available parking position calculation unit that calculates an available parking position of an own vehicle from the external world information acquired by the external world information acquisition unit; an own vehicle stop position estimation unit that detects a position of the own vehicle and estimates an estimated stop position at which the own vehicle is estimated to stop from the position of the own vehicle; and a parking route evaluation unit that evaluates a parking route from the estimated stop position to one or more of the available parking positions, in which the parking route evaluation unit evaluates the parking route on a basis of the estimated stop position, the available parking position, and an evaluation determination result stored in advance for the estimated stop position and the available parking position.
According to the present invention, it is possible for a driver to know relative merits of a parking route in parking support before starting parking support and to determine whether to perform parking using the parking support to a target parking position by analyzing environmental information (external world information) around the vehicle acquired using, for example, sensing means mounted on the vehicle, and by evaluating, while the vehicle is running, the parking route to follow when performing parking support from a position (estimated stop position) at which the vehicle is estimated to stop to the target parking position for the driver of the vehicle to park and notifying it to the driver. Therefore, the convenience of the driver of the vehicle can be improved.
The problems, configurations, and effects other than those described above will be clarified from the description of the embodiments below.
Hereinafter, an embodiment of driving support device according to the present invention will be described with reference to the drawings.
The driving support device according to the present embodiment can be applied to a moving body such as a passenger car, a truck, and a bus. The driving support device according to the present embodiment can support a driving operation when, for example, a vehicle is parked in a parking area in a parking lot. Hereinafter, a vehicle on which the driving support device according to the present embodiment is mounted may be referred to as an own vehicle.
A driving support device 100 is mounted on a vehicle 1 and mainly includes a front camera 2F mounted on the front side of the vehicle, a right camera 2R mounted on the right side of the vehicle, a rear camera 2B mounted on the rear side of the vehicle, a left camera 2L mounted on the left side of the vehicle, a sonar 3, an electric power steering device 6, a right front wheel speed sensor 8FR that detects a wheel speed of a right front wheel 7FR, a right rear wheel speed sensor 8RR that detects a wheel speed of a right rear wheel 7RR, a left rear wheel speed sensor 8RL that detects a wheel speed of a left rear wheel 7RL, a left front wheel speed sensor 8FL that detects a wheel speed of a left front wheel 7FL, an in-vehicle display device 9, a driving support electronic control unit (ECU) 10, a vehicle control ECU 11, and the like.
Each of the front camera 2F, the right camera 2R, the rear camera 2B, and the left camera 2L includes a lens and an image sensor, and is appropriately arranged so that the surrounding environment of the own vehicle 1 can be imaged. The captured images of the cameras 2F, 2R, 2B, and 2L are transmitted to the driving support ECU 10 for image processing. Hereinafter, a camera 2 is referred to unless otherwise distinguished. The camera 2 may be a monocular camera or a stereo camera. When the camera 2 is a stereo camera, the accuracy of environmental information (external world information) can be increased.
A plurality of sonars 3 is installed at the front, rear, and side portions of the vehicle 1, and each sonar 3 transmits ultrasonic waves and receives reflected waves that are the ultrasonic waves reflected from surrounding obstacles. Thus, the distance to the obstacle around the vehicle 1 is measured, and the measurement result is transmitted to the driving support ECU 10. The driving support ECU 10 stores obstacle information around the own vehicle 1 that is a measurement result transmitted from each sonar 3.
The camera 2 and the sonar 3 constitute an external world information acquisition unit that acquires external world information around the own vehicle 1. It should be noted that external world information around the own vehicle 1 may be acquired using sensing means other than the camera 2 and the sonar 3.
The right front wheel 7FR, the right rear wheel 7RR, the left rear wheel 7RL, and the left front wheel 7FL are arranged on the front, rear, left and right of the vehicle body of the vehicle 1, and the right front wheel speed sensor 8FR, the right rear wheel speed sensor 8RR, the left rear wheel speed sensor 8RL, and the left front wheel speed sensor 8FL are provided on the wheels 7FR, 7RR, 7RL, and 7FL, respectively. Each wheel speed sensor SFR, 8RR, 8RL, 8FL detects each wheel speed and transmits each wheel speed to the driving support ECU 10. The driving support ECU 10 calculates the speed of the own vehicle 1 based on the information on each wheel speed. Hereinafter, unless otherwise distinguished, the right front wheel 7FR, the right rear wheel 7RR, the left rear wheel 7RL, the left front wheel 7FL is referred to as a wheel 7, and the right front wheel speed sensor 8FR, the right rear wheel speed sensor 8RR, the left rear wheel speed sensor SRL, the left front wheel speed sensor 8FL may be referred to as a wheel speed sensor 8.
The electric power steering device 6 changes the direction of the wheel 7 in accordance with the operation amount (steering angle) of a steering wheel 5 provided in a cab of the vehicle 1.
The electric power steering device 6 includes, for example, a steering angle sensor that detects the steering angle of the steering wheel 5, a motor that assists the steering torque that becomes a torque for changing the direction of each wheel 7, and an electric power steering ECU that controls the steering torque (any of which is not shown), and controls the steering torque so as to assist the driver in operating the steering wheel 5 to change the direction of the wheel 7. The steering angle detected by the steering angle sensor of the electric power steering device 6 is transmitted to the driving support ECU 10. The driving support ECU 10 calculates the traveling direction of the own vehicle 1 based on the information on the steering angle.
The in-vehicle display device 9 is provided in the cab of the vehicle 1 and provides various information to the driver. The information provided to the driver includes, for example, an image captured by the camera 2 and processed by the driving support ECU 10. Further, as will be described later, the in-vehicle display device 9 presents an available parking place to the driver. For example, the in-vehicle display device 9 may be configured as a touch panel in which a display and an input device are integrated, may be a part of a car navigation system, or may be configured as a head-up display. The in-vehicle display device 9 may include an information input device such as a keyboard, a voice instruction device, and a switch. In addition, a pressure-sensitive or electrostatic touch panel is mounted on the screen of the in-vehicle display device 9 to enable various input operations, and the driver can transmit the input content to the driving support ECU 10 by performing the input operation with a touch panel.
The driving support ECU 10 calculates a place (position) where the own vehicle 1 can be parked based on the environmental information data received from the camera 2 and the sonar 3 (external world information acquisition unit). Further, the driving support ECU 10 estimates the place (estimated stop position) where the driver of the own vehicle 1 is estimated to stop the vehicle in order to park in the available parking place by receiving the parking support, evaluates a parking route that is calculated for performing the driving support from the estimated stop position to the available parking place, based on the environmental information and the vehicle information such as the minimum rotation radius of the own vehicle 1 (to be detailed later), and transmits the evaluation result and the available parking place to the in-vehicle display device 9. The in-vehicle display device 9 displays the available parking place transmitted from the driving support ECU 10 superimposed on the surrounding information of the own vehicle 1 being displayed, and when the evaluation result shows that the parking route for the available parking place is highly evaluated, displays a screen as recommended to the driver. The driver can park the own vehicle 1 quickly or can receive parking support that follows a comfortable parking route by performing parking for which parking support to the recommended target parking position (the target parking position selected from among the available parking places) has been received. In addition, if the evaluation result is low, the parking route to follow in the parking support cannot be calculated, and there is a possibility that parking support cannot be received. Therefore, the driver can determine not to park at the parking position where the evaluation is low.
Next, the driver selects an appropriate available parking place displayed on the in-vehicle display device 9 after the own vehicle 1 stops, and thus the driving support ECU 10, based on that information, calculates a parking route from the position of the own vehicle (the stop position of the own vehicle 1) to the selected place and transmits the calculated parking route to the vehicle control ECU 11. Here, the calculation of the parking route can be performed by a conventionally known calculation method.
The vehicle control ECU 11, in order to support guidance of the own vehicle 1 to the available parking place based on the parking route transmitted from the driving support ECU 10, supports any one or all of the driver's steering wheel operation, accelerator operation, brake operation, and the like.
For example, the vehicle control ECU 11 controls the speed of the own vehicle 1 by outputting target steering angle information to the electric power steering device 6, outputting a required driving force to the driving force control ECU (not shown) that controls the driving force of the own vehicle 1, and outputting a required braking force to the braking force control ECU (not shown) that controls the braking force of the own vehicle 1, and controls a shift range of the own vehicle 1 by outputting a request for a drive range or a reverse range or a parking range to a shift-by-wire control device (not shown) that controls the shift range of the automatic transmission. The driver can receive appropriate parking support during an operation for parking in the available parking place by controlling the own vehicle 1 with the vehicle control ECU 11.
The driving support ECU 10 includes an I/O LSI 10a including an A/D converter, a CPU 10b, and the like. As described above, signals are input from the camera 2, the sonar 3, the electric power steering device 6, the wheel speed sensor 8, and the in-vehicle display device 9. The driving support ECU 10 evaluates a parking route when parking support is started by a predetermined calculation process, transmits the evaluation result to the in-vehicle display device 9, and displays the result on the in-vehicle display device 9. The driver of the own vehicle 1 determines whether to perform parking support based on the display content.
As shown in
The available parking position calculation unit 301 analyzes the environmental information (external world information) around the own vehicle 1 acquired by the camera 2 or the sonar 3 (external world information acquisition unit), and determines whether there is a position where the own vehicle 1 can be parked. As to the available parking position, there are cases where no positions are found, only one position is found, and a plurality of positions is found. As an example of the analysis content, the available parking position calculation unit 301, when there is a parking space having a width equal to or more than the full width of the own vehicle 1, a length equal to or more than the full length thereof, and a height equal to or more than the full height thereof around the own vehicle 1, sets the space as a parking candidate, and transmits the coordinate position of the parking candidate and the analysis result of the parking candidate surrounding environment to the own vehicle stop position estimation unit 302, the parking route evaluation unit 303, the in-vehicle display device 9, and the like. In the present embodiment, environmental information around the own vehicle 1 acquired by the camera 2 or the sonar 3 is given as an example of input, but analysis may be performed based on information of a sensor using light. Further, in the above embodiment, when there is a parking space that is larger than the width, length, and height of the own vehicle I, the space is set as a parking candidate, but the parking candidate (position where the own vehicle 1 can be parked) may be detected by a parking frame, a parking lot guide sign, or the like.
The own vehicle stop position estimation unit 302 calculates the speed of the own vehicle 1 from the wheel speed of each wheel 7 received from the wheel speed sensor 8, calculates the traveling direction of the own vehicle from the steering angle of the steering wheel 5 received from the steering angle sensor of the electric power steering device 6, and calculates a coordinate position of the own vehicle 1 from the vehicle speed and the traveling direction of the own vehicle 1. Note that, the method for detecting the coordinate position of the own vehicle 1 is not limited to this. In addition, from the results collected in advance through experiments, etc., a stop position (estimated stop position) at which the own vehicle will stop is calculated (estimated) from the current position of the own vehicle 1 by data or the like indicating after how many seconds the driver will brake and stop the vehicle since the parking candidate calculated by the available parking position calculation unit 301 is displayed on the in-vehicle display device 9. The calculated result is transmitted to the parking route evaluation unit 303.
The parking route evaluation unit 303 evaluates the parking route from the stop position to the available parking space, based on the coordinate position of the available parking space calculated by the available parking position calculation unit 301 and the surrounding environment information, the stop position (estimated stop position) at which the own vehicle 1 will stop calculated by the own vehicle stop position estimation unit 302, and the like (detailed later). Note that, when a plurality of available parking spaces is found, the parking route to each available parking space is evaluated. The evaluation result is transmitted to the in-vehicle display device 9.
The in-vehicle display device 9 displays the available parking place (space) acquired by the camera 2 superimposed on the surrounding information of the own vehicle 1 being displayed on the in-vehicle display device 9, and when the evaluation of the parking route to the available parking space is high according to the evaluation result of the parking route evaluation unit 303, displays a screen that recommends the available parking space (target parking position) of the parking route. If the evaluation of the parking route to the available parking space is low according to the evaluation result of the parking route evaluation unit 303, the in-vehicle display device 9 displays a screen that does not recommend the available parking space (target parking position) of the parking route. In addition, when there are multiple available parking spaces, depending on the evaluation result (for example, priority) of the parking route to each available parking space, each available parking space display screen (for example, color, shade, display contents such as text display) may be changed. Based on the screen display of the in-vehicle display device 9, the driver of the own vehicle 1 selects a place where the own vehicle 1 is parked from an available parking space and inputs a parking support start by a button or voice, and thus the information is transmitted to the parking route calculation unit 304 of the driving support ECU 10.
For example, the parking route calculation unit 304, when having received a signal indicating that the parking support start button is pressed from the in-vehicle display device 9, calculates the parking route from the stop position of the own vehicle 1 to the selected target parking position. Here, the stop position of the own vehicle 1 may be calculated by using the wheel speed of each wheel 7 received from the wheel speed sensor 8, the steering angle of the steering wheel 5 received from the steering angle sensor of the electric power steering device 6, or the like, or by using a calculation result in the own vehicle stop position estimation unit 302. The calculated result is transmitted to the vehicle control ECU 11.
In the vehicle control ECU 11, by controlling the own vehicle 1 so that the own vehicle 1 travels along the parking route calculated by the parking route calculation unit 304, the driver can receive appropriate parking support during vehicle operation for parking the own vehicle 1 to the target parking position.
First, in step S401, environmental information around the own vehicle 1 acquired by the camera 2 or the sonar 3 is analyzed to determine whether there is a position where the own vehicle 1 can be parked. If an available parking position is found, the process proceeds to the next step S402. If not found, the processing of step S401 is performed again.
Next, in step S402, the speed of the own vehicle 1 is calculated from the wheel speed of each wheel 7 received from the wheel speed sensor 8, a traveling direction of the own vehicle 1 is calculated from the steering angle of the steering wheel 5 received from the steering angle sensor of the electric power steering device 6, and the coordinate position of the own vehicle 1 is calculated from the vehicle speed and the traveling direction of the own vehicle 1. In addition, from the results collected in advance through experiments, etc., a stop position (estimated stop position) at which the own vehicle 1 will stop is calculated from the current position of the own vehicle 1 by data or the like indicating after how many seconds the driver will brake and stop the vehicle since the parking candidate found in step S401 is displayed on the in-vehicle display device 9.
In step S403, the parking route is evaluated based on the parking candidate found in step S401 and the surrounding environment, the estimated stop position of the own vehicle calculated in step S402, and the vehicle specifications such as the minimum rotation radius, full length, full width, etc. of the own vehicle 1.
In
Here, the turning radii R1 and R2 are set based on the minimum rotation radius of the own vehicle 1. Specifically, each turning radius R1, R2 is equal to or greater than the minimum rotation radius of the own vehicle 1 and can be set to a value desired by the driver of the own vehicle 1, for example. Further, each turning radius R1, R2 may be constant or may not be constant (for example, in consideration of the steering operation of the steering wheel 5). Further, the turning radius R1 and the turning radius R2 may be the same or different.
In the parking route evaluation process in step S403, the number of intersections of the arc 506 having the turning center 503 and the turning radius R1 and the arc 507 having the turning center 504 and the turning radius R2 is calculated, and a parking route to the available parking position is evaluated according to the number of intersections. In the example shown in
Next, the example shown in
As an example of the above determination method, for example, when there are no intersections as shown in
Since the parking route when moving forward is considered to be an arc portion from the estimated stop position 702 to the contact point 709, and the parking route when moving backward is considered to be an arc portion from the contact point 709 to the target parking position 705, in the parking route evaluation process of step S403, it is determined whether an obstacle 710 exists in each of the arc portions. When there is the obstacle 710, it is necessary to draw a parking route that avoids the obstacle 710, and thus there is a high possibility that the driver will feel uncomfortable in the parking route. Therefore, such a parking route is evaluated to be low (or, impossible to park).
As shown in
In the parking route evaluation process in step S403, the parking route to the target parking position 805 may be evaluated only from the evaluation determination result shown in
The evaluation result in step S403 of
As described above, the driving support device 100 of the present embodiment calculates the estimated stop position where the vehicle 1 will stop for the driver of the vehicle 1 to park, makes a simple evaluation determination of the parking route in advance (while the vehicle 1 is running) which is calculated after the vehicle 1 is stopped by the driver of the vehicle 1, and informs the driver of the vehicle 1 in advance by the in-vehicle display device 9, and thereby the driver can know the superiority or inferiority (for example, priority) of the parking route in the parking support before the parking support is started and determine whether to perform parking using the parking support to the target parking position. Therefore, when parking support is actually received, it becomes less likely that the parking route will not be drawn, or the parking route that makes the driver feel uncomfortable will be drawn, and the convenience of the driver of the vehicle 1 can be improved.
It should be noted that the present invention is not limited to the above-described embodiments, but includes various modified examples. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations.
Further, each of the configurations, functions, processing units, processing means, etc. described above may be realized by hardware, for example, by designing part or all of them with an integrated circuit. Further, each configuration, function, etc. described above may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as a program, a table, and a file for realizing each function can be placed in a memory, a hard disk, a storage device such as a solid state drive (SSD), or a recording medium such as an IC card, an SD card, or a DVD.
Further, control lines and information lines indicate what is considered to be necessary for the description, and not all control lines and information lines in the product are necessarily shown. In practice, almost all configurations may be considered to be mutually connected.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-123859 | Jun 2017 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/012665 | 3/28/2018 | WO | 00 |
