JP2009096347A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device for enabling a driver to easily confirm the relative positional relationship between a vehicle and an object existing at the side of the vehicle from the vehicle interior when parking the vehicle. <P>SOLUTION: The parking support device senses the distances FLD, FRD, RLD, RRD to the object existing at the side of the vehicle by ultrasonic sensors disposed at four corners of the vehicle when a shift position is positioned (S101: YES) at P range (S103). According to the position of the sensed object (S105, S107, S115), the symbols of the other vehicle are displayed (S109, S113, S117) at either one side or both sides on the screen of a display device of the left side and the right side of the symbol of the own vehicle arranged apart by a detection distance. When the sensed objects exist at both sides, a straight line connecting "distance FRD + distance FLD + two equally-spaced points of the vehicle width W" and "distance RRD + distance RLD + two equally-spaced points of the vehicle width W" is displayed (S111). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a parking assistance device used for assisting a parking operation by a driver.

  2. Description of the Related Art Conventionally, as an apparatus for supporting a parking operation by a driver, an automatic parking / stopping apparatus that guides a vehicle to a target parking position and automatically parks / stops at the target parking position is known (for example, Patent Documents). 1).

By using this type of automatic parking and stopping device, the driver could easily perform the parking operation at the target parking position.
Japanese Patent No. 3903571

By the way, if the automatic parking / stopping device as described above is used, the vehicle can be parked in a parking space as expected.
However, the relative positional relationship between the vehicle on which the driver gets (hereinafter referred to as the own vehicle) and the vehicle parked next to the own vehicle (hereinafter referred to as the other vehicle) is truly as expected. There is no way for the driver to confirm from the passenger compartment whether the positional relationship has been reached.

  More specifically, for example, even if the driver wants to know whether or not the vehicle can be parked in parallel with other vehicles, there is no way to check it from the passenger compartment, and the driver can get off the vehicle. I could only open the door and check it visually.

  Also, for example, if there are other vehicles on both sides of the vehicle, even if the driver wants to know whether the vehicle is leaning to the left or right between other vehicles, There was no way to check the vehicle from inside the passenger compartment, and the driver could only confirm it visually by getting off the vehicle or opening the door.

  In addition, for example, even if the driver wants to know whether the vehicle and the other vehicle are very close or far apart, there is no way to check it from the passenger compartment. I could only open it and check it visually.

  Such a problem is not limited to the case where the object next to the host vehicle is a parked vehicle, but is also a problem that occurs in the same manner when, for example, a wall surface of a building exists. It is also a problem that occurs in vehicles other than those equipped with automatic parking and stopping devices.

  For example, if you want to know the relative positional relationship between your vehicle and other vehicles, and the relative positional relationship between your vehicle and the building, even when you park a vehicle that does not have an automatic parking and stopping device. The driver was only able to confirm visually by getting off the vehicle or opening the door.

  The present invention has been made in order to solve the above-described problems. The purpose of the present invention is to determine the relative positional relationship between a vehicle and an object existing on the side of the vehicle when the vehicle is parked. An object of the present invention is to provide a parking assistance device that can be easily confirmed from the room.

Hereinafter, the configuration employed in the present invention will be described.
In the parking assist apparatus according to claim 1, when the vehicle is parked, the measuring unit measures a distance between the vehicle and an object existing on the side of the vehicle. Such a measuring means is constituted by, for example, an ultrasonic sensor capable of detecting the presence or absence of an object existing in the vicinity of the vehicle and the distance to the object by transmitting an ultrasonic wave and receiving the reflected wave. be able to.

  In addition, although the object which exists in the side of a vehicle is not specifically limited, in a parking lot etc., another vehicle parked in the adjacent parking space is an object here. Equivalent to. In the case of parking near a building, the building corresponds to the object here.

  The information processing means uses at least one of the measurement result and the “information indicating the relative positional relationship between the vehicle and the object” calculated based on the measurement result by using the measurement result by such a measurement means. The process which alert | reports to a driver | operator is performed.

  As a specific notification method, a method of displaying and outputting information to be notified on a screen of a display device, a method of outputting information to be notified by voice, and the like can be employed. The display output is preferable in that the driver can check the information at a desired time at any time during the display period, so that the driver does not miss it like a voice. On the other hand, since it is not necessary to look at the screen of the display device for sound output, sound output is preferable in situations where other things must be seen. Therefore, either one of these notification methods may be adopted according to needs, or both may be adopted if there is no cost limitation.

  The information notified to the driver includes the measurement result itself by the measuring means and “information indicating the relative positional relationship between the vehicle and the object” calculated based on the measurement result. At least one of these may be notified to the driver, but both may be notified.

  As described above, the measurement result by the measurement means is the distance between the vehicle and the object that is present on the side of the vehicle. The “information indicating the relative positional relationship between the vehicle and the object” includes the degree of inclination of the vehicle with respect to the object, or the deviation of the vehicle to the left or right between the objects existing on both the left and right sides of the vehicle. Can be mentioned. These will be described in more detail in the description of other claims described later.

  According to the parking assist device configured as described above, when the vehicle is parked, the driver can check the contents notified by the information processing means in the passenger compartment. Therefore, the driver can determine the relative positional relationship between the vehicle and an object existing on the side of the vehicle from the passenger compartment without having to visually check by getting off the vehicle or opening the door as in the prior art. It can be easily confirmed. Further, if necessary, it is possible to make a fine adjustment of the parking position without having to get off the vehicle or open the door.

  Next, in the parking assist device according to claim 2, the measuring means sets a plurality of distances between the object existing on at least one of the left side and the right side of the vehicle in the longitudinal direction of the vehicle. It can be measured in position. Then, the information processing means obtains the degree of inclination of the vehicle with respect to the object based on the distances measured at a plurality of positions, and executes processing for notifying the driver of the degree of inclination.

  The degree of inclination of the vehicle with respect to the object may be notified of the inclination of the vehicle with respect to the object at a specific angle, and evaluations such as “large inclination”, “small inclination”, and “no inclination” are made for each predetermined angle range. It may be set and the degree of inclination may be notified by this evaluation.

  The angle may be calculated by using a mathematical method based on the relationship between the measurement result obtained by the measurement unit and the arrangement position of the measurement unit, or the vehicle manufacturer may determine the center of the vehicle. Using a wall surface whose angle with respect to the line is specified in advance, measurement is performed for each vehicle type by measurement means in advance, and data obtained by sampling the measurement values is stored in a memory. The key may be used as a key to search data in the memory, and the angle corresponding to the actually measured value may be read from the memory.

  According to the parking assist device configured as described above, when the vehicle is parked, the driver does not have to check the vehicle by getting off the vehicle or opening the door as in the past, and confirming the side of the vehicle. The degree of inclination of the vehicle relative to the object existing in the vehicle can be easily confirmed from the passenger compartment. Further, if necessary, it is possible to finely adjust the parking position and correct the inclination of the vehicle relative to the object without having to get off the vehicle or open the door.

  Next, when the parking assist device according to claim 3 notifies the degree of inclination of the vehicle with respect to the object, an image in which the degree of inclination is expressed by the inclination of the vehicle symbol with respect to the object symbol is displayed on the screen of the display means. Display.

  Therefore, according to the parking assist device configured as described above, when the vehicle is parked, the driver can display the display means without performing visual confirmation by getting off the vehicle or opening the door as in the prior art. By looking at the inclination of the vehicle symbol relative to the object symbol on the screen, it is possible to check the degree of inclination of the vehicle relative to the object existing on the side of the vehicle very intuitively. If necessary, the parking position can be fine-tuned by looking at the inclination of the vehicle symbol relative to the object symbol on the display means screen without having to get off the vehicle or open the door. It is possible to take measures such as correcting the tilt.

  Next, in the parking assist device according to the fourth aspect, the measuring means can measure the distance between each of the objects present on both the left and right sides of the vehicle. Then, the information processing means obtains the degree of the left or right deviation of the vehicle between the objects present on both the left and right based on the distances measured on the left and right of the vehicle, and calculates the degree of the deviation. A process of notifying the driver is executed.

  The degree of deviation of the vehicle to the left or right between the objects may be reported by a specific numerical value (for example, “20 cm leftward”), or “leftward” for each predetermined numerical range. Evaluations such as “large deviation”, “small deviation to the left”, and “no deviation” may be set, and the degree of inclination may be notified by this evaluation.

  In addition, as a method of obtaining the above-mentioned bias, it may be calculated using a mathematical method in consideration of the measurement result by the measurement unit, the arrangement position of the measurement unit, the vehicle width of the vehicle, or the vehicle manufacturer. However, using a wall whose distance from the vehicle is specified in advance, measurement is performed by the measurement means in advance for each vehicle type, data obtained by sampling the measurement value is stored in a memory, and when the measurement is performed by the user The data in the memory is searched using the actually measured value as a key, and the degree of bias corresponding to the actually measured value (for example, a specific numerical value indicating the distance or an evaluation for each numerical value range) is read from the memory. Good.

  According to the parking assist device configured as described above, when the vehicle is parked, the driver does not perform visual confirmation by getting off the vehicle or opening the door as in the conventional case. The degree of leftward or rightward bias can be easily confirmed from the passenger compartment. In addition, if necessary, it is possible to finely adjust the parking position and correct the left or right deviation of the vehicle between objects without having to get off the vehicle or open the door. Become.

  Next, when the parking assist device according to claim 5 reports the degree of leftward or rightward deviation of the vehicle between the objects, the degree of the deviation is between the left and right of the vehicle symbols. An image expressed by leftward or rightward deviation of the vehicle symbol is displayed on the screen of the display means.

  Therefore, according to the parking assist device configured as described above, when the vehicle is parked, the driver can display the display means without performing visual confirmation by getting off the vehicle or opening the door as in the prior art. By viewing the left or right deviation of the vehicle symbol between the object symbols on the screen, it is possible to check the degree of the left or right deviation of the vehicle very intuitively. If necessary, the parking position can be fine-tuned by looking at the deviation of the vehicle symbol between the object symbols on the display means screen without having to get off the vehicle or open the door. It is possible to take measures such as correcting the bias toward the right or the right.

Next, in the parking assist device according to the sixth aspect, the information processing means performs a process of notifying the driver of the distance between the vehicle and the object measured by the measuring means.
The distance between the vehicle and the object may be notified by a specific numerical value, and evaluations such as “long distance”, “short distance”, and “very short distance” are set for each predetermined numerical range. The distance may be notified by this evaluation.

  According to the parking assist device configured as described above, when the vehicle is parked, the driver does not have to check the vehicle by getting off the vehicle or opening the door as in the past, and confirming the side of the vehicle. It is possible to easily confirm the distance between the vehicle and the object existing in the vehicle interior. If necessary, it is possible to finely adjust the parking position and correct the distance to the object without having to get off the vehicle or open the door.

  Next, in the parking assist device according to claim 7, in informing the distance between the vehicle and the object, the distance between the vehicle and the object is expressed by the distance between the vehicle symbol and the object symbol. The image is displayed on the screen of the display means.

  Therefore, according to the parking assist device configured as described above, when the vehicle is parked, the driver can display the display means without performing visual confirmation by getting off the vehicle or opening the door as in the prior art. By looking at the distance between the object symbol and the vehicle symbol on the screen, the distance between the vehicle and the object can be confirmed very intuitively. If necessary, the parking position can be fine-tuned by looking at the distance between the vehicle and the object on the screen of the display means without having to get off the vehicle or open the door. It is possible to take measures such as correcting the distance between the two.

  Next, the parking support apparatus according to claim 8 displays the distance between the vehicle and the object on the screen of the display means by a numerical value. Therefore, according to the parking assist device configured as described above, when the vehicle is parked, the driver can display the display means without performing visual confirmation by getting off the vehicle or opening the door as in the prior art. The distance between the vehicle and the object can be confirmed with specific numerical values displayed on the screen. If necessary, the parking position can be fine-tuned by looking at the distance between the vehicle and the object on the screen of the display means without having to get off the vehicle or open the door. It is possible to take measures such as correcting the distance between the two.

  Next, in the parking assist device according to claim 9, when the determination unit determines that the preset parking determination condition is satisfied, the measurement by the measurement unit and the processing by the information processing unit are performed. Executed.

  Therefore, for example, unlike a configuration that operates when a switch is manually operated, at least when the vehicle is parked, the parking assist device is activated at that time. Therefore, even if the driver is devoted only to the operation for parking, the parking assistance device can be automatically operated, so that the parking assistance device can be made extremely easy to use.

  In the parking assist apparatus as described above, the parking determination condition may be a condition that the vehicle is stopped, as long as it is a condition that is satisfied at least when parking, or the vehicle can stop. It may be a condition that is assumed to be high.

  For example, it is obvious that the vehicle is stopped when the shift position is moved to the P range or N range, the brake or parking brake is operated, the vehicle speed is zero, the ignition switch For example, when is turned off.

  In addition, as a condition that the vehicle is likely to stop, a case where the vehicle speed is reduced to a predetermined value or less can be considered. That is, even if the vehicle is not strictly stopped, it is determined that the parking determination condition set in advance is satisfied before the vehicle completely stops, and the measurement by the measuring means and information You may be the structure by which the process by a process means is performed. With such a configuration, information can be notified early.

  On the other hand, after the vehicle has completely stopped, it is determined that the vehicle is in a state of satisfying the preset parking determination condition after some delay, and the measurement by the measurement unit and the processing by the information processing unit are executed. It may be. For example, after various conditions as described above are satisfied, when a predetermined time (for example, 5 seconds) elapses from the satisfaction of the conditions, it is determined that a predetermined parking determination condition is satisfied and measurement is performed. The measurement by the means and the processing by the information processing means may be executed. With such a configuration, it is possible to more reliably determine that the vehicle is in the parking state.

Next, an embodiment of the present invention will be described with an example.
[Configuration of parking assist device]
FIG. 1 is a block diagram illustrating a configuration of a parking assistance device.

  The parking assistance apparatus described below is mounted on the vehicle 1, and includes an ECU 11, four ultrasonic sensors 13FL, 13FR, 13RL, and 13RR (hereinafter, when the positions of the individual ultrasonic sensors 13 are not distinguished from each other). , Also referred to as an ultrasonic sensor 13), a shift position sensor 15, a display device 17, and the like.

  The ECU 11 is a well-known electronic control device configured around a microcomputer, and each part of the parking assist device is controlled by the ECU 11. The ECU 11 may be prepared exclusively for the control of the parking assistance device, or may be a general-purpose device that performs control other than the parking assistance device.

  Moreover, you may comprise with single ECU11 and a some ECU may cooperate and function. To give a specific example, for example, a configuration in which the ECU that controls the main function of the parking assist device is a main ECU, another ECU that controls the function of the display device 17 is subordinated, and the other ECU functions under the control of the main ECU. It is good.

  The ultrasonic sensor 13 transmits an ultrasonic wave toward the side of the vehicle (in the vehicle width direction), and receives the reflected wave reflected by the object existing in the transmission direction, thereby determining the presence or absence of the object. It detects and measures the distance to the detected object.

  The shift position sensor 15 is a sensor for detecting the position (shift position) of the shift lever operated by the driver. In the present embodiment, the ECU 11 determines whether or not the shift position is set to the P (parking) range based on an input from the shift position sensor 15 in the process described later.

  The display device 17 is a liquid crystal display capable of displaying an arbitrary image in color, and is incorporated in a meter panel. In the present embodiment, the display device 17 is not provided exclusively for the parking assistance device, but a display device that supports a multi-information function capable of displaying various information about the vehicle is also used for the parking assistance device. ing. However, such a display device 17 may be provided exclusively for the parking assistance device, or may be shared with other devices (for example, a car navigation system or an in-vehicle television).

  In the case of this embodiment among the above structures, there are four ultrasonic sensors 13, and each is attached near the corners of the front and rear bumpers. As shown in FIG. 2, each ultrasonic sensor 13 has a predetermined detection area, and when any object is present in the detection area, the distance to such an object is measured, and the measured value is described above. It transmits to ECU11.

  Specifically, for example, as shown in FIG. 2, when another vehicle 21 exists on the left side of the vehicle 1, if the vehicle 21 is within the detection area of the ultrasonic sensors 13 FL and 13 RL, The ultrasonic sensors 13FL and 13RL can measure the distances FLD and RLD to the vehicle 21 and transmit the measured values to the ECU 11 described above.

  If another vehicle 23 exists on the right side of the vehicle 1 and the vehicle 23 is within the detection area of the ultrasonic sensors 13FR and 13RR, each ultrasonic sensor 13FR and 13RR is connected to the vehicle 21. The distances FRD and RRD can be measured, and the measured values are transmitted to the ECU 11 described above.

[Processes executed by ECU]
Next, processing executed by the ECU 11 will be described based on the flowchart of FIG. FIG. 3 is a flowchart showing only the processes related to the parking assistance apparatus extracted from the processes that are always executed when the ECU 11 is operated.

  When this process is started, the ECU 11 first waits until the shift position is in the P range based on the input from the shift position sensor 15 (S101: NO). When the shift position is in the P range (S101: YES), the ultrasonic sensor 13 is controlled to start detecting the distances FLD, FRD, RLD, RRD (see FIG. 2) (S103). Whether or not the distances FLD, FRD, RLD, and RRD are detected may vary depending on whether or not some object (eg, another vehicle 21 or 23 shown in FIG. 2) is present on the side of the vehicle 1.

  Therefore, the ECU 11 first determines whether or not the distances FLD and RLD are detected (S105). That is, it is determined whether there is any object (for example, another vehicle 21 shown in FIG. 2) on the left side of the vehicle 1.

  If it is determined that there is some object on the left side of the vehicle 1 (S105: YES), it is subsequently determined whether or not the distances FRD and RRD are detected (S107). That is, it is determined whether or not any object (for example, another vehicle 23 shown in FIG. 2) exists on the right side of the vehicle 1.

  In the process of S107, when it is determined that there is some object on the right side of the vehicle 1 (S107: YES), the ECU 11 displays the other vehicle symbols on both sides of the own vehicle symbol separated by the detection distance (S109), A straight line connecting “distance FRD + distance FLD + bisecting point of vehicle width W” and “distance RRD + distance RLD + bisecting point of vehicle width W” is displayed as a line (S111).

  As a result of the processing of S109 and S111, as illustrated in FIG. 4A, the host vehicle symbol 31 is displayed on the screen of the display device 17, and the other vehicle symbols 32 and 33 are displayed on both sides thereof. Further, an inter-vehicle center line 34 is displayed.

  At this time, the vehicle width of the host vehicle symbol 31 is drawn with a width corresponding to the vehicle width W of the vehicle 1 in consideration of the scale on the screen of the display device 17. Further, the width of each of the other vehicle symbols 32 and 33 does not actually measure the width of the other vehicle, so in the present embodiment, it is drawn with the same vehicle width as the vehicle width of the own vehicle symbol 31.

  Further, the inclination of the other vehicle symbols 32 and 33 relative to the own vehicle symbol 31, the deviation of the own vehicle symbol 31 between the other vehicle symbols 32 and 33 to the left and right, and the distance between the own vehicle symbol 31 and each of the other vehicle symbols 32 and 33. Is drawn based on the measurement value of the ultrasonic sensor 13 in consideration of the scale on the screen of the display device 17.

  Therefore, the driver determines how much the parking position of the vehicle 1 is inclined with respect to other vehicles, how much the vehicle 1 is biased to the left or right with respect to the center of the parking space, and the distance from either of the left and right vehicles. Whether it is not too close or not can be confirmed by looking at the display on the display device 17.

  On the other hand, in the process of S107, when it is determined that there is no object on the right side of the vehicle 1 (S107: NO), the ECU 11 displays the other vehicle symbol on the left side of the own vehicle symbol separated by the detection distance (S113). .

By the processing of S113, as illustrated in FIG. 4B, the host vehicle symbol 31 is displayed on the screen of the display device 17, and the other vehicle symbol 32 is displayed on the left side thereof.
The vehicle width of the own vehicle symbol 31, the width of the other vehicle symbol 32, the inclination of the other vehicle symbol 32 with respect to the own vehicle symbol 31, and the distance between the own vehicle symbol 31 and the other vehicle symbol 32 are the same as those in the process of S109. In consideration of the scale on the screen, drawing is performed based on the measurement value of the ultrasonic sensor 13.

  Therefore, the driver indicates on the screen of the display device 17 how much the parking position of the vehicle 1 is inclined with respect to the other vehicles, whether the distance to the other vehicle on the left is not excessively close, or the like. You can check the display.

  The above is the process when an affirmative determination is made in the process of S105. However, in the process of S105, it may be determined that there is no object on the left side of the vehicle 1 (S105: NO). In this case, the ECU 11 subsequently determines whether or not the distances FRD and RRD are detected (S115). That is, it is determined whether or not any object (for example, another vehicle 23 shown in FIG. 2) exists on the right side of the vehicle 1.

  In the process of S115, when it is determined that there is some object on the right side of the vehicle 1 (S115: YES), the ECU 11 displays the other vehicle symbol on the right side of the own vehicle symbol separated by the detection distance (S117).

By the process of S117, as illustrated in FIG. 4C, the host vehicle symbol 31 is displayed on the screen of the display device 17, and the other vehicle symbol 33 is displayed on the right side thereof.
The vehicle width of the own vehicle symbol 31, the width of the other vehicle symbol 33, the inclination of the other vehicle symbol 33 relative to the own vehicle symbol 31, and the distance between the own vehicle symbol 31 and the other vehicle symbol 33 are the same as those in the process of S109. In consideration of the scale on the screen, drawing is performed based on the measurement value of the ultrasonic sensor 13.

  Therefore, the driver indicates on the screen of the display device 17 how much the parking position of the vehicle 1 is inclined with respect to the other vehicles, whether the distance to the other vehicle on the right is not excessively close, or the like. You can check the display.

  In the process of S115, when it is determined that there is no object on the right side of the vehicle 1 (S115: NO), the process shown in FIG. Moreover, also when the process in any of S111, S113, or S117 is complete | finished, the process shown in FIG. 3 is complete | finished.

  When the process shown in FIG. 3 is completed, the display on the screen of the display device 17 disappears thereafter when the ignition switch is turned off or the vehicle 1 starts running again. However, it is not a main part of the present invention that the display is turned off, so the explanation is omitted. In addition, after the display on the screen of the display device 17 disappears, the processing shown in FIG. 3 is executed again, and the process waits until the shift position becomes the P range again.

[Specific display example]
Next, specific display examples of the host vehicle symbol 31 and the other vehicle symbols 32 and 33 will be described.

  The above-mentioned own vehicle symbol 31, the other vehicle symbols 32 and 33, and the inter-vehicle center line 34 are only determined in relative positional relationship with each other. Therefore, when drawing these, as shown in FIG. 5A, the inter-vehicle center line 34 is drawn as a straight vertical line, and the vehicle symbol 31 or Other vehicle symbols 32 and 33 can be drawn.

  If each symbol is drawn in such a positional relationship, the other vehicle symbols 32 and 33 are not drawn in parallel (for example, when the vehicles 21 and 23 on both sides of the vehicle 1 are not parked in parallel). However, the driver can easily grasp the position of the vehicle 1 with respect to the inter-vehicle center line 34.

  Further, as shown in FIG. 5B, the other vehicle symbol 32 on the left side is drawn straight, and the own vehicle symbol 31 and the other vehicle symbol 33 can be drawn based on the other vehicle symbol 32. it can.

  Such a drawing method is effective when the left vehicle 21 is parked relatively straight, while the right vehicle 23 is not parked straight. In such a case, the inter-vehicle center line 34 is meaningless, so that the inter-vehicle center line 34 shown in FIG. 5A is not displayed by the drawing method shown in FIG. is there.

  Similarly, as shown in FIG. 5C, the other vehicle symbol 33 on the right side is drawn straight, and the own vehicle symbol 31 and the other vehicle symbol 32 are drawn based on the other vehicle symbol 33. You can also. Such a drawing method is effective when the right vehicle 23 is parked relatively straight, while the left vehicle 21 is not parked straight.

  Furthermore, as shown in FIG. 5D, the other vehicle symbols 32 and 33 can be drawn based on the own vehicle symbol 31 so that the own vehicle symbol 31 is drawn straight. Such a drawing method is effective for comparing only the distance between the left and right vehicles 21 and 23 with respect to the vehicle 1.

  As described above, various methods can be considered as to which symbol is used as a reference to determine the relative position of which symbol. Therefore, if any one of the methods shown in FIGS. 5A to 5D is particularly important, only that method may be adopted. For example, several methods are properly used depending on the situation. In such a case, for example, the system may be configured such that each method illustrated in FIGS. 5A to 5D can be switched to any one by performing a switch operation by the driver.

  Although not mentioned in the above-described processing, some auxiliary information may be displayed when displaying the own vehicle symbol 31 and the other vehicle symbols 32 and 33. For example, as shown in FIG. 6A, a numerical value display area 35 may be provided to display the distance between the vehicle 1 and the object with specific numerical values.

  Such numerical values may be displayed corresponding to all the ultrasonic sensors 13, but in order to avoid complicated information on the screen, as shown in FIG. Only the portion with the shortest may be displayed.

  Further, as shown in FIG. 6B, a danger display area 36 is provided, and an area where the distance from the object is closer than a predetermined threshold is displayed in a different color area or blinking display area. It may be expressed as

  Further, as shown in FIG. 6C, a grid 37 may be displayed as a background image of the own vehicle symbol 31 and the other vehicle symbols 32 and 33. If such a grid 37 is displayed, it becomes easier to understand the perspective of the host vehicle symbol 31 and the other vehicle symbols 32 and 33 more accurately.

  In addition, if the repetitive interval of the grid 37 corresponds to a specific actual measurement value, it is also understood how much the interval between the own vehicle symbol 31 and the other vehicle symbols 32 and 33 is actually. become able to.

  In addition, as the other vehicle symbols 32 and 33, square symbols are exemplified, but as shown in FIG. 6D, the positions of the objects may be expressed by linear symbols 38 and 39. That is, the other vehicle symbols 32 and 33 are used to make it easier for the driver to imagine another vehicle next to the vehicle. Car symbols 32 and 33 are displayed.

  A driver who feels uncomfortable with such a display may be able to eliminate the uncomfortable feeling by expressing other objects with the linear symbols 38 and 39. Note that the other vehicle symbols 32 and 33 and the linear symbols 38 and 39 may be arbitrarily selected and set by the driver according to his / her preference.

[Effect of the embodiment]
As described above, according to the parking assist device, when the vehicle is parked, the driver looks at the information displayed on the screen of the display device 17 and tilts the vehicle 1 or biases in the parking space. You can know the distance from other cars. Therefore, the driver can grasp the parking position of the vehicle 1 without having to get off the vehicle 1 or open the door and perform visual confirmation as before, and finely adjust the parking position if necessary. It becomes possible to handle such as.

  Further, since the inclination of the vehicle 1, the deviation in the parking space, the distance from other vehicles, and the like are specifically visualized and displayed by the own vehicle symbol 31 and the other vehicle symbols 32 and 33, it is extremely intuitive. The parking position can be confirmed.

  Furthermore, since the above display is made in conjunction with the shift position being set to the P range, the driver does not have to perform any special operation other than the normal parking operation, and is very convenient to use. It becomes.

[Modifications, etc.]
As mentioned above, although embodiment of this invention was described, this invention is not limited to said specific one Embodiment, In addition, it can implement with a various form.

  For example, in the above embodiment, when there are objects on both sides of the vehicle 1, it has been described that both of them are displayed. However, if necessary, only one of them is displayed by, for example, manual operation. Thus, the display may be switchable.

  Moreover, although the example which arrange | positions the ultrasonic sensor 13 2 each on the one side of the vehicle 1 was shown in the said embodiment, the number and position of the ultrasonic sensor 13 are not limited. For example, when the driver's seat is on the right side of the vehicle 1, the ultrasonic sensor 13 may be disposed only on the left side of the vehicle 1 so that the presence of an object can be confirmed only on the left side of the vehicle 1. However, in this case, the situation on the right side of the vehicle 1 cannot be detected, and accordingly, the deviation in the parking space cannot be notified.

  Incidentally, when it is sufficient to notify only the degree of bias in the parking space, the expected function can be realized simply by arranging the ultrasonic sensors 13 one by one on one side of the vehicle 1. However, in this case, the inclination of the vehicle 1 cannot be notified.

  In the above embodiment, the vehicle symbol 31 or the like is displayed in conjunction with the shift position being set to the P range. However, the vehicle symbol 31 or the like is triggered by another event. May be configured to be displayed. For example, when the shift position is moved to the N range, the brake or the parking brake is operated, the vehicle speed is zero, or the ignition switch is turned off, the above-described display is made. It may be.

  Alternatively, when the vehicle speed drops below a predetermined value (for example, 2 km / h) or when a certain period of time has passed after such a condition is satisfied, the display as described above is performed and an early display is performed. Or a late display.

  Furthermore, in the above-described embodiment, a configuration in which relatively accurate inclinations and intervals are specifically visualized and displayed by the own vehicle symbol 31 and the other vehicle symbols 32 and 33 has been adopted. ”,“ Small tilt ”,“ No tilt ”may be displayed step by step, and the bias may be displayed in steps such as“ Large bias ”,“ Small bias ”,“ No bias ”. .

  In the above-described embodiment, an example in which only abstract figures such as the own vehicle symbol 31 and the other vehicle symbols 32 and 33 are displayed on the display device 17 is shown. However, an image obtained by actually capturing the vehicle periphery is displayed on the background side. It may be displayed in a superimposed manner. Specifically, the vehicle periphery is actually photographed by a wide-angle camera arranged on all four sides of the vehicle 1, coordinate conversion is performed on the image to generate a bird's-eye image around the vehicle, and the bird's-eye image is used as a background image. Abstract figures such as the car symbol 31 and other car symbols 32 and 33 are displayed. Such display makes it easier to grasp the actual situation around the vehicle.

  In addition, in the above embodiment, by displaying on the screen of the display device 17, the inclination of the vehicle 1, the deviation in the parking space, the distance from other vehicles, etc. were reported. The same kind of information may be notified by voice. In this way, it is possible to know information about the tilt of the vehicle 1, the deviation in the parking space, the distance from other vehicles, and the like without looking at the display device 17. However, since the voice may be missed, it is preferable to display on the screen of the display device 17 in this respect. In addition, either display on the screen of the display device 17 or notification by voice may be employed alternatively, or both may be employed.

The block diagram which shows the structure of a parking assistance apparatus. Explanatory drawing about the detection area of an ultrasonic sensor. The flowchart of the process which ECU performs. Explanatory drawing of the display state (the 1) of the own vehicle symbol and another vehicle symbol. Explanatory drawing of the display state (the 2) of the own vehicle symbol and another vehicle symbol. Explanatory drawing of the display state (the 3) of the own vehicle symbol and another vehicle symbol.

Explanation of symbols

  1, 2, 23 ... Vehicle, 11 ... ECU, 13 (13FL, 13FR, 13RL, 13RR) ... Ultrasonic sensor, 15 ... Shift position sensor, 17 ... Display device, 31. ..Vehicle symbol, 32, 33 ... Other vehicle symbol, 34 ... Inter-vehicle center line, 35 ... Numerical value display area, 36 ... Risk level display area, 37 ... Grid, 38, 39 ... Linear symbols.

Claims (9)

A measuring means capable of measuring a distance between the vehicle and an object present on a side of the vehicle when the vehicle is parked;
Information for executing a process of notifying the driver of at least one of the measurement result by the measurement means and the information indicating the relative positional relationship between the vehicle and the object calculated based on the measurement result A parking support apparatus comprising: a processing means. The measuring means is capable of measuring the distance between an object existing on at least one of the left side and the right side of the vehicle at a plurality of positions separated in the front-rear direction of the vehicle,
The information processing means calculates a degree of inclination of the vehicle relative to the object based on distances measured at the plurality of positions, and executes a process of notifying the driver of the degree of inclination. The parking support apparatus according to claim 1, wherein The information processing means is capable of executing a process of displaying a vehicle symbol representing the vehicle and an object symbol representing the object on a screen of a display means, and as a process of notifying the driver of the degree of inclination, The parking assistance device according to claim 2, wherein a process of displaying an image in which the degree of the inclination is expressed by an inclination of the vehicle symbol with respect to the object symbol is displayed on the screen of the display means. The measuring means can measure the distance between each of the objects present on both the left and right sides of the vehicle,
The information processing means obtains the degree of the leftward or rightward bias of the vehicle between the objects present on both the left and right based on the distances measured on the left and right of the vehicle, and The parking assistance device according to any one of claims 1 to 3, wherein a process of notifying the driver of the degree is executed. The information processing means can execute a process of displaying a vehicle symbol representing the vehicle and an object symbol representing the object on a screen of a display means, and as a process of notifying the driver of the degree of the bias, A process of displaying on the screen of the display means an image expressed by the left or right bias of the vehicle symbol between the object symbols having the degree of bias present on both the left and right sides of the vehicle symbol is executed. The parking support device according to claim 4, wherein The said information processing means performs the process which alert | reports the distance between the said vehicle measured by the said measurement means and the said object with respect to a driver | operator. Any one of Claims 1-5 characterized by the above-mentioned. The parking assist device according to any one of the above. The information processing means can execute a process of displaying a vehicle symbol representing the vehicle and an object symbol representing the object on a screen of a display means, and determines a distance between the vehicle and the object to the driver. Performing a process of displaying on the screen of the display means an image in which the distance between the vehicle and the object is expressed by the distance between the vehicle symbol and the object symbol. The parking support apparatus according to claim 6. The information processing means displays the distance between the vehicle and the object as a numerical value on the screen of the display means as a process for notifying the driver of the distance between the vehicle and the object. The parking assist device according to claim 6 or 7, wherein the processing is executed. A determination means for determining whether or not a predetermined parking determination condition is satisfied;
The measurement by the measurement means and the processing by the information processing means are executed when it is determined by the determination means that the parking condition has been satisfied. The parking assist device according to any one of the above.

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