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Parking assistance device and parking assistance method

A technology for parking assistance, parking areas, applied in the direction of vehicle components, transportation and packaging, vehicle security arrangements, etc., can solve problems such as restrictions

Active Publication Date: 2018-02-23
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] However, in the parking assist device described in Patent Document 1, attention is paid only to collision avoidance in the path of the reverse from the reverse start position to the target parking position.
Therefore, when the width of the road facing the parking area is narrow, interference with an obstacle has already occurred at the reverse start position, so the situation where parking assistance can be performed is limited.

Method used

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  • Parking assistance device and parking assistance method
  • Parking assistance device and parking assistance method
  • Parking assistance device and parking assistance method

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no. 1 approach

[0032] Next, embodiments of the present invention will be described in detail with reference to the drawings.

[0033] refer to figure 1 The configuration of the parking assist device according to the first embodiment will be described. The parking assistance device is mounted on a vehicle, calculates a route for moving the vehicle from a parking start position (for example, a current position) to a parking area, and guides the vehicle along the route. Specifically, the parking assist device guides the vehicle by automatically controlling the steering of the vehicle. Such as figure 1 As shown, the parking assistance device includes: a parking assistance controller 10; four on-board cameras 1a-1d that capture images around the vehicle; laser range finders (LRF) 8a, 8b that detect obstacles around the vehicle; a display screen 2; A speaker 3 that outputs guidance sound; a steering actuator 4 that drives the steering of the vehicle; an operation input device 5 that receives an...

no. 2 approach

[0096] In the first embodiment, the width (W) of the road focusing on the parking frame (G) is shown R ) Example of Parking Assist ( Figure 4 ). In this embodiment, if Figure 15 As shown, it shows that not only the width of the road (W R ), also consider the depth of the road (road depth E), and generate 1 , Ob 2 , Ob 3 ) Interfering path parking assist device and method.

[0097] Parking aids are not only based on road width (W R ), and also based on the road depth (E), the search pose angle (θ M ) and the target parking position (Pc). At this time, the posture angle (θ M ) and the target parking position (Pc).

[0098] Such as image 3 As shown in (b), among the plurality of information processing circuits constituted by the parking assist controller 10b of the second embodiment, not only image 3 The circuits ( 21 to 25 ) shown in (a) further include a road depth acquisition circuit 26 for acquiring the road depth (E).

[0099] The road depth obtaining circui...

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Abstract

The invention discloses a parking assistance device and a parking assistance method. This parking assistance device generates a path for moving a vehicle to a parking frame (G) through a turnabout position (Pb). The parking assistance device searches for the orientation angle ([theta]M) of the vehicle in the turnabout position (Pb) on the basis of a driveway width (WR) so as to generate a path such that, in the turnabout position (Pb), the front of the vehicle does not interfere with an obstacle (Ob1) adjacent thereto in the width direction of the driveway.

Description

technical field [0001] The present invention relates to a parking assistance device and a parking assistance method for assisting a parking operation of parallel parking of vehicles in a parking area. Background technique [0002] There is known a parking assist device that assists a parking operation of parking a vehicle while moving backward from a reverse start position to a target parking position (see Patent Document 1). In Patent Document 1, parking assistance is performed so as to avoid an avoidance point set around a target parking position. [0003] prior art literature [0004] patent documents [0005] Patent Document 1: Japanese Patent Laid-Open No. 2011-001029 [0006] The problem to be solved by the invention [0007] However, in the parking assist device described in Patent Document 1, attention is paid only to collision avoidance in a route for the vehicle to reverse from the reverse start position to the target parking position. Therefore, when the widt...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60R21/00
CPCB60R21/00B62D15/0285B60W30/06B60W30/09G08G1/168B60Y2300/06B60Y2300/09B62D15/024B62D15/027B62D15/028
Inventor 御厨裕后藤明之田家智
Owner NISSAN MOTOR CO LTD
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