PARKING ASSIST DEVICE

• US 20090091475A1
• Filed: 11/16/2006
• Published: 04/09/2009
• Est. Priority Date: 11/16/2005
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamauchi, Hiroshi, Sato, Kosuke, Watanabe, Kazuya
• Granted Patent: US 7,825,828 B2
• Time in Patent Office: Days
• US Class Current: 340/932.2
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 19/483 with obstacle sensors of electric or electronic type
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A parking assist device includes a monitor (10) for displaying a captured image from a camera (12), assist information output means for providing assistance during introduction of a vehicle into a parking position, and correction control means (31) for correcting an inappropriate operation performed when the vehicle is introduced into the parking position. When a steering operation, an accelerator operation, or a brake operation is inappropriate, the correction control means (31) performs control to correct the travel course and the stop position. Thus, even if the driver performs an inappropriate operation when introducing the vehicle into the parking position, the driver can appropriately introduce the vehicle into the parking position according to the display on the monitor (10).

Claims

1. A parking assist device comprising:

a monitor for displaying captured images from a camera provided to a vehicle body; and

assist information output means for displaying assist information for assisting parking on said monitor;

wherein said camera captures a forward image, and said assist information output means performs routines for calculating a travel course for introducing the vehicle into a predetermined parking position, setting a target position on the travel course, displaying guide information corresponding to the target position over a ground surface displayed on said monitor during forward travel, and displaying an indicator corresponding to a current position of said vehicle on said monitor; and

an auxiliary control means is provided for assisting a driving operation of a driver so as to guide said indicator to a position of said guide information when said vehicle is moved to a stopping position.

2. The parking assist device according to claim 1, wherein

said assist information output means includes travel course update means for calculating a positional error between said travel course and the vehicle based on a positional relationship between said guide information and the indicator, or a positional relationship between said target position and the vehicle, and newly calculating a travel course for introducing the vehicle from a current position to said parking position based on the positional error.

3. The parking assist device according to claim 1, further comprising:

a steering unit for steering a steered wheel of the vehicle based on operation of a steering wheel; and

a steering sensor for measuring a steering angle of said steered wheel;

wherein said auxiliary control means controls said steering unit and corrects the steering angle of said steered wheel to a correct direction when a steering angle from the steering sensor differs from a target value that is set based on said travel course.

4. The parking assist device according to claim 1, further comprising:

a brake unit for applying a braking force to a wheel of said vehicle based on a brake pedal operation; and

a brake sensor for detecting operation of said brake pedal;

wherein said auxiliary control means performs braking control of said brake unit when said vehicle approaches a stopping position set in said travel course while said brake sensor detects that the brake pedal is being operated.

5. The parking assist device according to claim 1, further comprising:

a speed setting unit for setting a travel speed of the vehicle based on operation of an accelerator operation member; and

an accelerator sensor for measuring an amount of operation of said accelerator operation member;

wherein said auxiliary control means controls said speed setting unit to reduce a travel speed of the vehicle to a value less than a travel speed set by said accelerator operation member when said vehicle approaches a stopping position set in said travel course.

6. The parking assist device according to claim 1, wherein

said guide information is displayed on said monitor in a bar form, and said indicator is displayed on said monitor as a rectangular frame in which said guide information is accommodated.

7. The parking assist device according to claim 1, wherein

said assist information output means sets a plurality of target positions located at intermediate positions within said travel course.

8. The parking assist device according to claim 1, wherein

said assist information output means sets four target positions on said travel course and sets guide information for the four target positions when providing assistance during garage parking in which the vehicle is introduced into a parking position in an orientation orthogonal to the stopping orientation.

9. The parking assist device according to claim 8, wherein

said camera comprises a front camera provided to a front end of said vehicle, and a rear camera provided to a rear end of said vehicle;

guide information that is set for a first and second of said four target positions is displayed on a ground surface image captured by said front camera during forward travel of said vehicle; and

guide information that is set for a third and fourth of said four target positions is displayed on a ground surface image captured by said rear camera during reverse travel of said vehicle.

10. The parking assist device according to claim 6, wherein

said guide information and said indicator are displayed in different colors on said monitor.

11. The parking assist device according to claim 2, further comprising:

a steering unit for steering a steered wheel of the vehicle based on operation of a steering wheel; and

a steering sensor for measuring a steering angle of said steered wheel;

wherein said auxiliary control means controls said steering unit and corrects the steering angle of said steered wheel to a correct direction when a steering angle from the steering sensor differs from a target value that is set based on said travel course.

12. The parking assist device according to claim 2, further comprising:

a brake unit for applying a braking force to a wheel of said vehicle based on a brake pedal operation; and

a brake sensor for detecting operation of said brake pedal;

wherein said auxiliary control means performs braking control of said brake unit when said vehicle approaches a stopping position set in said travel course while said brake sensor detects that the brake pedal is being operated.

13. The parking assist device according to claim 2, further comprising:

a speed setting unit for setting a travel speed of the vehicle based on operation of an accelerator operation member; and

an accelerator sensor for measuring an amount of operation of said accelerator operation member;

wherein said auxiliary control means controls said speed setting unit to reduce a travel speed of the vehicle to a value less than a travel speed set by said accelerator operation member when said vehicle approaches a stopping position set in said travel course.