Parking support apparatus

Abstract

A parking support apparatus is provided with: a vehicle controller configured to park a vehicle by controlling behavior of the vehicle in accordance with the signal associated with the remote operation if a distance between a transmitter located outside of the vehicle and the vehicle is greater than or equal to a first distance and is less than or equal to a second distance. The vehicle controller performs a predetermined informing operation for an operator of the transmitter, instead of or in addition to controlling the behavior of the vehicle in accordance with the signal associated with the remote operation, if the distance is greater than or equal to the first distance and is less than or equal to a third distance or if the distance is greater than or equal to a fourth distance and is less than or equal to the second distance.

Claims

1. A parking support apparatus comprising: a receiver configured to receive a signal associated with a remote operation transmitted wirelessly to a vehicle from a transmitter located outside the vehicle; and a vehicle controller configured to control a behavior of the vehicle, wherein said vehicle controller being configured to perform a parking support control for parking the vehicle by controlling the behavior of the vehicle in accordance with the signal associated with the remote operation when the transmitter is in a predetermined area, wherein the predetermined area is an area that surrounds a circumference of the vehicle, a distance from the vehicle to an inner edge of the predetermined area is a first distance, which is greater than zero, and a distance from the vehicle to an outer edge of the predetermined area is a second distance, which is greater than the first distance, said vehicle controller being configured not to perform the parking support control if the transmitter is closer to the vehicle than the first distance, and said vehicle controller being configured not to perform the parking support control if the transmitter is farther from the vehicle than the second distance.

2. The parking support apparatus according to claim 1, wherein said vehicle controller is configured to stop the performance of the parking support control, thereby causing the vehicle to stop, if the transmitter is farther from the vehicle than the second distance, by moving the transmitter from within the predetermined area to out of the predetermined area during performing of the parking support control.

3. The parking support apparatus according to claim 1, wherein said vehicle controller is configured to reduce an upper limit of a velocity of the vehicle as a distance between the transmitter in the predetermined area and the vehicle becomes closer to the first distance, and said vehicle controller is configured to reduce the upper limit as the distance becomes closer to the second distance.

4. The parking support apparatus according to claim 2, wherein said vehicle controller is configured to reduce an upper limit of a velocity of the vehicle as a distance between the transmitter in the predetermined area and the vehicle becomes closer to the first distance, and said vehicle controller is configured to reduce the upper limit as the distance becomes closer to the second distance.

5. The parking support apparatus according to claim 1, wherein said vehicle controller is configured to reduce an upper limit of a velocity of the vehicle as a distance between the transmitter and the vehicle becomes closer to the first distance when the transmitter is in a first range where the distance is greater than or equal to the first distance and is less than or equal to a third distance, wherein the third distance is greater than the first distance and is less than the second distance, and said vehicle controller is configured to reduce the upper limit as the distance becomes closer to the second distance when the transmitter is in a second range where the distance is greater than or equal to a fourth distance and is less than or equal to the second distance, wherein the fourth distance is greater than the third distance and is less than the second distance.

6. The parking support apparatus according to claim 2, wherein said vehicle controller is configured to reduce an upper limit of a velocity of the vehicle as a distance between the transmitter and the vehicle becomes closer to the first distance when the transmitter is in a first range where the distance is greater than or equal to the first distance and is less than or equal to a third distance, wherein the third distance is greater than the first distance and is less than the second distance, and said vehicle controller is configured to reduce the upper limit as the distance becomes closer to the second distance when the transmitter is in a second range where the distance is greater than or equal to a fourth distance and is less than or equal to the second distance, wherein the fourth distance is greater than the third distance and is less than the second distance.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a block diagram illustrating a configuration of a vehicle according to an embodiment;

(2) FIG. 2 is a diagram illustrating one example of an area in which parking support control according to the embodiment can be performed;

(3) FIG. 3 is a diagram illustrating one example of a change in control vehicle speed with respect to distance according to the parking support control in the embodiment; and

(4) FIG. 4 is a flowchart illustrating an informing operation according to the embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(5) A parking support apparatus according to an embodiment of the present invention will be explained with reference to FIG. 1 to FIG. 4. The embodiment below exemplifies a vehicle 1 equipped with a parking support apparatus according to one specific example of embodiments of the present invention.

Configuration of Vehicle

(6) A configuration of the vehicle 1 according to the embodiment will be explained with reference to FIG. 1. FIG. 1 is a block diagram illustrating the configuration of the vehicle 1 according to the embodiment. For convenience of explanation, two shift sensors 32 are drawn in FIG. 1, but they are the same sensor.

(7) In FIG. 1, the vehicle is provided with a parking support electronic control unit (ECU) 11, an engine ECU 12, a brake ECU 13, a steering ECU 14, a shift ECU 15, a human machine interface (HMI) output unit 16, a collation ECU 17, an engine 21, a brake actuator (or brake ACT) 22, a steering actuator (or steering ACT) 23, a shift actuator (or shift ACT) 24, a vehicle wheel speed sensor 31, a shift sensor 32, a surrounding monitoring sensor 33, an accelerator sensor 34, a master cylinder pressure (MC pressure) sensor 35, a steering sensor 36, and a receiver 40.

(8) The parking support ECU 11 is configured to receive via the receiver 40 a signal associated with remote operation transmitted from a remote terminal 2, which can be taken out from the vehicle by a user, such as a driver, and to control behavior of the vehicle 1, thereby performing parking support control, which is to park the vehicle 1. The “parking support ECU 11” and the “remote terminal 2” are respectively one example of the “Vehicle controller” and the “transmitter” according to embodiments of the present invention.

(9) In order to perform the parking support control, the parking support ECU 11 has a surrounding environment recognizer 111, a route generator 112, a terminal-to-vehicle distance/direction determinator 113 (hereinafter referred to as a “determinator 113” as occasion demands), a distance boundary vicinity arithmetic processor 114 (hereinafter referred to as an “arithmetic processor 114” as occasion demands), and a vehicle controller 115, as processing blocks logically realized therein or processing circuits physically realized therein.

(10) The vehicle controller 115 has therein a driving/braking controller 1151, a steering controller 1152, a shift controller 1153, a HMI controller 1154, and ignition (IG) controller 1155.

(11) The surrounding environment recognizer 111 is configured to detect a position of an obstacle around the vehicle 1, a white line indicating a parking space, or the like, from the output of the surrounding monitoring sensor 33, such as, for example, a camera, a sound wave sensor, a laser radar, an infrared sensor, and a global positioning system (GPS). The existing various aspects can be applied to a method of detecting the obstacle or the like, and an explanation of the details will be thus omitted.

(12) The route generator 112 is configured to generate a driving route from a current position of the vehicle 1 to a position in which the vehicle 1 is to be parked, on the basis of the output of the surrounding environment recognizer 111. The existing various aspects can be applied to a method of generating the driving route, and an explanation of the details will be thus omitted.

(13) The determinator 113 is configured to receive a signal from the remote terminal 2 and to specify distance between the remote terminal 2 and the vehicle 1 and a direction of the remote terminal 2 viewed from the vehicle 1 on the basis of, e.g., intensity of the received signal or the like. The existing various aspects can be applied to a method of specifying the distance between the remote terminal 2 and the vehicle 1 and the direction of the remote terminal 2 viewed from the vehicle 1, and an explanation of the details will be thus omitted.

(14) The driving/braking controller 1151 is configured to respectively control the engine 21 and the brake ACT 22 in cooperation with the engine ECU 12 and the brake ECU 13 in performing the parking support control. The steering controller 1152 is configured to control the steering ACT 23 in cooperation with the steering ECU 14 in performing the parking support control. The shift controller 1153 is configured to control the shift ACT 24 in cooperation with the shift ECU 15 in performing the parking support control. The HMI controller 1154 is configured to control the HMI controller 16 which is, for example, a display, a speaker, or the like, in performing the parking support control.

(15) The IG controller 1155 is configured to authenticate the remote terminal 2. If the authentication of the remote terminal 2 is succeeded, the IG controller 1155 is configured to output a signal indicating ignition-on or ignition-off to the collation ECU 17 in accordance with the signal associated with the remote operation from the remote terminal 2. The existing various aspects can be applied to the authentication of the remote terminal 2, and an explanation of the details will be thus omitted.

Parking Support Control

(16) The parking support control according to the embodiments has two modes, i.e. a mode in which the vehicle 1 travels along the driving route generated by the route generator 112 and a mode in which the vehicle 1 goes straight forward or goes straight backward.

(17) In the mode in which the vehicle 1 travels along the driving route, the vehicle 1 automatically travels along the driving route only when a not illustrated control button of the remote terminal 2 is ON. This mode is used mainly when the vehicle 1 enters a predetermined parking space and when the vehicle 1 leaves the parking space. In the mode in which the vehicle 1 goes straight forward or goes straight backward, the vehicle 1 goes straight forward or goes straight backward only when the control button of the remote terminal 2 is ON. This mode is used mainly when a parking position of the vehicle 1 is adjusted. The existing various aspects can be applied to the modes, and an explanation of the details will be thus omitted.

(18) Here, for example, from the viewpoint of ensuring safety in performing the parking support control or the like, a range in which the parking support control can be performed is set in advance. Specifically, only when the remote terminal 2 (i.e. the user who operates the remote terminal 2) is located in a range of an area B, the parking support control is performed on the basis of the signal associated with the remote operation from the remote terminal 2.

(19) In FIG. 2, an area A is an area with a distance X1 from a side of the vehicle 1, wherein the “side” conceptually includes a front surface and a rear surface. The area B is an area with a distance X1 to X2 from the side of the vehicle 1. An area C is an area with a distance greater than the distance X2 from the side of the vehicle 1.

(20) In FIG. 2, each of the distance X1 and the distance X2 varies between in a longitudinal direction of the vehicle and in a lateral direction of the vehicle. This is because the distance X1 and the distance X2 are set considering that a moving distance in the longitudinal direction of the vehicle 1 is greater than a moving distance in the lateral direction of the vehicle 1. Each of the distance X1 and the distance X2 may be set at a unique value in all directions.

(21) The “distance X1” as one example of the “first distance” according to embodiments of the present invention may be set, for example, as a distance at which the moving vehicle 1 is not in contact with the user who operates the remote terminal 2, in performing the parking support control 1. Specifically, for example, the distance X1 in the longitudinal direction of the vehicle 1 may be set as a value that is greater by a predetermined value than a stop distance associated with a moving speed of the vehicle 1 in performing the parking support control. Alternatively, the “distance X1” may be set as a distance at which an operation for avoiding collision with the obstacle detected by the surrounding environment recognizer 111 (or typically, braking) is performed.

(22) The “distance X2” as one example of the “second distance” according to embodiments of the present invention may be set, for example, as a maximum value of a distance at which the user who operates the remote terminal 2 can visually recognize safety around the vehicle 1, or the like. The distance X2 may be changed depending on, e.g., the number of obstacles that exist around the vehicle 1. The distance X2 is less than a maximum distance in which the remote terminal 2 and the vehicle 1 (or the receiver 40) can perform wireless communication.

(23) The arithmetic pi processor 114 (refer to FIG. 1) is configured to set an area B1 in the vicinity of an inner boundary of the area B (i.e. a boundary between the area B and the area) and to set an area B2 in the vicinity of an outer boundary of the area B (i.e. a bound between the B and the area C).

(24) Here, the user cannot visually recognize the area B. Thus, for example, if the remote terminal 2 moves from the area B to the area C due to the movement of the vehicle 1 or the movement of the user and the parking support control is then stopped and the vehicle 1 is stopped, the user hardly recognizes the reason of the stop of the vehicle 1.

(25) The arithmetic processor 114 is thus configured to perform an informing operation for informing the user of being close to the boundary of the area B if the remote terminal 2 is located in the area B1 or the area B2. The “informing operation” according to the embodiment not only includes an operation of giving some information to the user by using audio and images, but also conceptually includes an operation that enables the user to notice a change in the vehicle 1, such as, for example, a speed reduction of the vehicle 1.

(26) The informing operation, however, is partially different from an operation performed due to the movement of the remote terminal 2 from the area B to the area A or C (which is, in this case, an operation of stopping the vehicle 1). The reason is as below. The informing operation is intended to inform the user of the fact that the remote terminal 2 is still located in the area B but is particularly located in the area B1 or B2 with a relatively high possibility that the remote terminal 2 moves to the area A or C from the area B. If the operation performed when the remote terminal 2 moves to the area A or C from the area B is the same as the operation performed when the remote terminal 2 is located in the area B1 or B2, the user cannot recognize whether the remote terminal 2 is still located in the area B or is located in the area A or C.

(27) Specifically, for example, the arithmetic processor 114 is configured to decelerate the vehicle 1 by reducing an upper limit value of a control vehicle speed associated with the parking support control (refer to FIG. 3) or to blink a hazard lamp when the remote terminal 2 is located in the area B1 or the area B2.

(28) In FIG. 3, a “distance X3” is one example of the “third distance” according to embodiments of the present invention, and is a value for defining the width of the area B1. A “distance X4” is one example of the “fourth distance” according to embodiments of the present invention, and is a value for defining the width of the area B2. Each of the “distance X3” and the “distance X4” may be appropriately set. If, however, the width of the area B1 or the width of the area B2 is relatively large, the user possibly recognizes the area B to be narrower than an actual width due to the implementation of the informing operation. Thus, each of the “distance X3” and the “distance X4” is desirably set at a value in which a period from entrance into the area B1 or the area B2 to exit from the area B1 or the area B2 caused by the movement of the vehicle 1 is slightly longer than a period front the start of the informing operation to the user's recognition of the informing operation, for example, if the vehicle 1 moves while the user 4 who operates the remote terminal 2 is standing.

(29) Next, the informing operation according to the embodiment will be explained with reference to a flow chart in FIG. 4.

(30) In FIG. 4, after an application associated with the parking support control is started due to the operation of the remote terminal 2 (Step S101), the determinator 113 of the parking support ECU 11 receives, e.g., the signal from the remote terminal 2, and specify the distal between the remote terminal 2 and the vehicle 1 on the basis of the intensity of the received signal or the like (step S102). At this time, the determinator 113 also specifies the direction of the remote terminal 2 viewed from the vehicle 1.

(31) Next, the arithmetic processor 114 determines in which of the area A, the area B, and the area C the remote terminal 2 is located, on the basis of the specified distance between the remote terminal and the vehicle 1 (step S103). In this determination, if it is determined that the remote terminal 2 is located in the area B (the step S103: In area B), the arithmetic processor 114 determines in which area of the area B the remote terminal 2 is located, on the basis of the specified distance between the remote terminal 2 and the vehicle 1 (step S104).

(32) In the determination in the step S104, if it is determined that the remote terminal 2 is located in the area B1 (the step S104: area B1), the arithmetic processor 114 determines whether or not the position of the obstacle detected by the surrounding environment recognizer 111 matches the position of the remote terminal 2, which is based on the distance between the remote terminal 2 and the vehicle 1 specified by the determinator 113 and which is based on the direction of the remote terminal 2 viewed from the vehicle 1 (step S105).

(33) Here, the expression “the position of the obstacle matches the position of the remote terminal 2” conceptually includes not only that the position of the obstacle perfectly matches the position of the remote terminal 2, but also that the position of the obstacle and the position of the remote terminal 2 are shifted to an extent that the remote terminal 2 is practically considered to exist in the position of the obstacle detected by the surrounding environment recognizer 111.

(34) In the determination in the step S105, if it is determined that the position of the obstacle matches the position of the remote terminal 2 (the step S105: Yes), the arithmetic processor 114 transmits signals indicating that the upper limit value of the control vehicle speed associated with the parking support control is reduced (step S106) and that, the hazard lamp etc. is blinked (step S109), to the vehicle controller 115. In the step S106, as illustrated in FIG. 3, as the remote terminal 2 and the vehicle 1 approach each other, the upper limit value of the control vehicle speed becomes lower. As a result, the vehicle controller 115 decelerates the vehicle 1 and blinks the hazard lamp etc (step S118).

(35) If it is determined that the position of the obstacle in matches the position of the remote terminal 2, the obstacle is the user who operates the remote terminal 2. The user operates the vehicle 1 by remote control, and the user can thus easily avoid contact or collision with the vehicle 1 by predicting the movement of the vehicle 1 or by stopping the vehicle 1. Thus, in the step S106, the vehicle 1 is not stopped even though the upper limit value of the control vehicle speed associated with the parking support control is reduced. By virtue of such a configuration, for example, it is possible to prevent that the vehicle 1 is stopped without the user's intention every time the user approaches the vehicle 1 to confirm in the parking position.

(36) In the step S109, instead of or in addition to blinking the hazard lamp, the following may be adopted: for example, momentarily flashing a headlight upward (so-called high beam), sounding a horn, changing a volume and a tone of an attention-drawing sound, such as a pseudo-engine sound, when the vehicle 1 is a hybrid vehicle and travels only with a driving motor in performing the parking support control or when the vehicle 1 is an electric vehicle, vibrating the remote terminal 2, changing screen display or blinking a screen of the remote terminal 2, and the like.

(37) After the step S118, the parking support ECU 11 determines whether or not a control end condition is satisfied (step S119). Here, the “control end condition” includes, for example, receiving a signal indicating the end of the control from the remote terminal 2, not receiving any signal from the remote terminal 2 for a predetermined time after a change from ON to OFF of the control button, or the like.

(38) In the determination in the step S119, if it is determined that the control end condition is not satisfied (the step S119: No), the process after the step S102 is performed again. On the other hand, if it is determined that the control end condition is satisfied (the step S119: Yes), the parking support ECU 11 ends the parking support control (step S120).

(39) In the determination in the step S105, if it is determined that the position of the obstacle does not match the position of the remote terminal 2 (the step S105: No), the arithmetic processor 114 transmits a signal indicating a countermeasure in detecting the obstacle (or typically a signal indicating the stop of the vehicle 1) to the vehicle controller 115 (step S107). As a result, the vehicle controller 115 controls the vehicle 1 in accordance with the signal indicating the countermeasure in detecting the obstacle (step S118).

(40) In the determination in the step S104, if it is determined that the remote terminal 2 is located in the area B2 (the step S104: area B2), the arithmetic processor 114 transmits signals indicating that the upper limit value of the control vehicle speed associated with the parking support control is reduced (step S108) and that the hazard lamp etc. is blinked (the step S109), to the vehicle controller 115. In the step S108, as illustrated in FIG. 3, as the remote terminal 2 is separated further from the vehicle 1, the upper limit, value of the control vehicle speed becomes lower. As a result, the vehicle controller 115 decelerates the vehicle 1 and blinks the hazard lamp etc (the step S118).

(41) In the determination in the step S104, if it is determined that the remote terminal 2 is located in a part of the area B other than the area B1 and the area B2 (the step S104: ≠area B1 and ≠area B2), the arithmetic processor 114 maintains the upper limit value of the control vehicle speed associated with the parking support control or returns the upper limit value to an initial value if the upper limit value is changed in the step S106 or S108 (step S110), and turns off the hazard lamp or performs similar actions if the blinking of the hazard lamp etc. is performed in the step S109 (step S111).

(42) Then, the arithmetic processor 114 determines whether or not the remote terminal 2 was in the area A or the area C at a previous time (step S112). In this determination, if it is determined that the remote terminal 2 was not in the area A or the area C at the previous time (the step S112: No), the arithmetic processor 114 transmits signals indicating that the upper limit value of the control vehicle speed associated with the parking support control is maintained and that the hazard lamp etc, is turned off, to the vehicle controller 115. As a result, the vehicle controller 115 controls the vehicle 1 in accordance with the transmitted signals.

(43) On the other hand, in the determination in the step S112, if it is determined that the remote terminal 2 was in the area A or the area C at the previous time (the step S112: Yes), the arithmetic processor 114 transmits a signal indicating a buffer operation in area change, to the vehicle controller 115, in addition to the signals indicating that the upper limit value of the control vehicle speed associated with the parking support control is maintained and that the hazard lamp etc. is turned off (step S113). As a result, the vehicle controller 115 controls the vehicle 1 in accordance with the transmitted signals.

(44) As illustrated in FIG. 3, the control vehicle speed in the area A or the area C is “0”; namely, the vehicle 1 is stopped. On the other hand, the control vehicle speed in the part of the area B other than the area B1 and the area B2 is, for example, a low speed. For example, if the user relatively quickly moves from the area A to the part of the area B other than the area B1 and the area B2, it may not be determined that the remote terminal 2 is in the area B1. In this case, if the speed of the vehicle 1 is suddenly increased, the behavior of the vehicle 1 possibly becomes unnatural. Therefore, in the embodiment, the buffer operation in the area change, such as, for example, vehicle speed averaging, is performed.

(45) Back in FIG. 4, in the determination in the step S103, if it is determined that the remote terminal 2 is located in the area A or the area C (the step S103: In area A or area C), the arithmetic processor 114 sets the control vehicle speed associated with the parking support control to 0 km/h (step S114), and turns off the hazard lamp etc. if the blinking of the hazard lamp etc. is performed in the step S109 (step S115).

(46) Then, the arithmetic processor 114 determines whether or not the remote terminal 2 was in the part of the area B other than the area B1 and the area B2 at a previous time (step S116). In this determination, if it is determined that the remote terminal 2 was not in the part of the area B other than the area B1 and the area B2 at the previous time (the step S116: No), the arithmetic processor 114 transmits signals indicating that the control vehicle speed associated with the parking support control is set to 0 km/h and that the hazard lamp etc. is turned off, to the vehicle controller 115. As a result, the vehicle controller 115 controls the vehicle 1 in accordance with the transmitted signals.

(47) On the other hand, in the determination in the step S116, if it is determined that the remote terminal 2 was in the part of the area B other than the area B1 and the area B2 at the previous time (the step S116: Yes), the arithmetic processor 114 transmits the signal indicating the buffer operation in area change, to the vehicle controller 115, in addition to the signals indicating that the control vehicle speed associated with the parking support control is set to 0 km/h and that the hazard lamp etc. is turned off (step S117). As a result, the vehicle controller 115 controls the vehicle 1 in accordance with the transmitted signals.

Technical Effect

(48) In the embodiment, if the remote terminal 2 is in the area B1 or the area 132, i.e. if the user who operates the remote terminal 2 is in the vicinity of the boundary of the area B in which the parking support control can be performed, the informing operation such as, for example, decelerating the vehicle 1 and blinking the hazard lamp is performed. The user is notified of a change in the vehicle 1 caused by the informing operation, by which it is possible to make the user recognize the range of the area B. As a result, if the user takes an action of staying in the area B, it is possible to prevent that the vehicle 1 is stopped without the user's intention due to the fact that the user leaves the area B.

(49) In the embodiment, if it is determined that the position of the obstacle detected by the surrounding environment recognizer 111 matches the position of the remote terminal 2, the upper limit value of the control vehicle speed associated with the parking support control is reduced, but the vehicle 1 is not stopped. It is thus possible to prevent that the vehicle 1 is stopped without the user's intention every time the user approaches the vehicle 1, for example, to confirm the parking position.

Modified Example

(50) If the upper limit value of the control vehicle speed associated with the parking support control is set low to perform fine adjustment of the parking position of the vehicle 1, there is almost no room for deceleration when the remote terminal 2 is in the area B1 or the area B2. Even if the vehicle 1 is decelerated, the user who operates the remote terminal 2 highly likely does not notice the deceleration of the vehicle 1. In this case, the steps S106 and S108 may not be performed.

(51) The invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments and examples are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.