Automatic parking device for automobile

• US 4,931,930 A
• Filed: 04/05/1988
• Issued: 06/05/1990
• Est. Priority Date: 04/19/1988
• Status: Expired due to Term

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chuang, Ching-Wang, Shyu, Jia-Ming
• Primary Examiner(s): Gruber, Felix D.
• Assistant Examiner(s): Trans, V.
• Application Number:
  US07/177,975
• Time in Patent Office: 791 Days
• Field of Search: 364/424.01, 364/449, 364/460, 340/51, 340/61, 180/167, 180/169, 180/204, 180/199
• US Class Current: 701/36
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• CPC Class Codes: G01S 2015/936 for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction
• CPC Class Codes: G01S 7/56 Display arrangements short-range imaging G01S7/52053

Abstract

A device to be mounted on a car for assisting a driver to make a parallel parking or a perpendicular parking, comprises displacement-sensing devices to measure specific distance that the car moves, obstacle-sensing devices for sensing the position of obstacles around a car, and a microcomputer that can, in accordance with the driver'"'"'s instructions and the data received from aforesaid displacement-sensing devices and obstacle-sensing devices, generate various signals to tell the driver to drive the car forwards, to stop the car, to turn the car left or right, or to back the car so as to park the car along a specific path, further more, the microcomputer may generate an output signal to control the steering mechanism the transmission, the accelerator, and the brake system for backing the car into a parking space automatically.

Claims

1. A device for assisting a vehicle operator to park a vehicle, comprising:

displacement-sensing means for measuring the moving distance of the car and providing a signal indicative thereof;

obstacle-sensing means including several distance-measuring units mounted at suitable parts of the vehicle and pointing in certain directions for measuring distances between a body of the vehicle and obstacles along those directions, and providing signals indicative thereof;

mode selection means for allowing the vehicle operator to select a desired parking mode from left-side parallel, left-side perpendicular, right-side parallel and right-side perpendicular, and providing a signal indicative thereof; and

a microcomputer for receiving said signals from said displacement-sensing means, said obstacle-sensing means and said mode selection means, for sensing a parking space at one side of the vehicle during forward movement of the vehicle, for calculating parameters needed in executing said parking mode, and for providing instruction signals to display on an indicating unit for informing the operator how to manipulate controls of the vehicle to park it, the instruction signals including signals for a steering operation, a transmission operation, remaining displacement of the vehicle, and parking space conditions.

2. A device as in claim 1, wherein said indicating signals from said microcomputer include signals for steering operation, transmission operation, remained displacement of the vehicle, and space conditions.

3. A device as in claim 1, wherein said parameters for executing a parallel parking mode comprise:

a length L₁ and a depth D₁ of a required parking space;

a first position where the vehicle should stop from moving forward to start moving backward with a first direction maximum turning;

a second position where the vehicle should continue moving backward with a second direction maximum turning; and

a third position where the vehicle finishes parking;

said first, second and third positions represented by a center point of a rear wheel shaft of the vehicle forming a S-shaped path by an arc at a suitable angle β and

with a radius R and an opposite arc at the same angle β and

same radius R;

supposing said first position being indicated with a center point of said rear wheel shaft, and said center point having a distance l₀ from a front edge of said length L₁ of said parking space, and when the vehicle reaches said third point, the body of the vehicle and an outer edge of the obstacle align next to each other, then said arc angle β

, length L₁, depth D₁ and distance l₀ can be obtained with the following formulas;

##EQU3## in which;

C=the distance between the body of the vehicle and the outer edge of an obstacle on the parking side when the vehicle is at said first position;

W=the width of the vehicle;

f=the distance between the rear wheel shaft axis and the front edge of the vehicle;

b=the distance between the rear wheel shaft axis and the rear edge of the vehicle;

l₁ =clearance distance in the front of the parking space when the vehicle is at said third position;

l₂ =clearance distance in the rear of the parking space;

l₃ =clearance distance on one side of the parking space;

R minimum turn radius on said center point of the rear wheel shaft.

4. A device as in claim 1, wherein said parameters for executing a perpendicular parking mode comprise:

a length L₂ and depth D₂ of a required parking space;

a first position where the vehicle should stop moving forward and start moving backward with certain direction maximum turning;

a second position where the vehicle should continue moving straight back; and

a third position where the vehicle finishes parking;

said first, second and third positions represented by a center point of a rear wheel shaft of the vehicle forming a L-shaped path including a quarter arc of a circle around a radius R and a line Δ

d extending tangentially on the end point of said arc;

supposing said first position being indicated with said center point of the rear wheel shaft, and having a distance equal to the aforesaid radius R from a center line of said required parking space, a space between a body of the vehicle and the outer edge of an obstacle being at least equal to a minimum gap Cmin, and when the vehicle reaches said third position, the outer edge of the body and the outer edge of said obstacle being aligned next to each other, then said line d, length L₂, width D₂ and minimum gap Cmin can be obtained with the following formulas;

##EQU4## Cx=distance between the body and the outer edge of an obstacle on the parking side (should be Cmin);

W=width of the vehicle;

l=length of the vehicle;

b=distance between the rear wheel shaft of the vehicle and the rear edge thereof;

d₁ =clearance distance on the outer edge of said parking space;

d₂ =clearance distance between the bottom side of said parking space;

d₃ =clearance distances maintained on the both sides of the vehicle from both sides of parking space;

R=minimum turn radius of the vehicle on said center point of the rear wheel shaft.

5. A device for automatically parking a vehicle, comprising:

displacement-sensing means for measuring a moving distance of the vehicle and providing a signal indicative thereof;

obstacle-sensing means including several distance-measuring units mounted at suitable parts of the vehicle and pointing in certain directions for measuring distances between a body of the vehicle and obstacles along those directions, and providing signals indicative thereof;

mode selection means for allowing an vehicle operator to select a desired parking mode from left-side parallel, left-side perpendicular, right-side parallel and right-side perpendicular, and providing a signal indicative therreof; and

a microcomputer for receiving said signals from said displacement-sensing means, obstacle-sensing means, and mode selection means, and for sensing a parking space at one side of the vehicle during forward movement of the vehicle, and for calculating parameters needed in executing the selected parking mode, and providing control signals to control driving mechanisms of the vehicle with control devices so as to achieve desired control of the vehicle, said control signals including signals for controlling actuators of a direction mechanism, a clutch, a transmission, an accelerator and a brake.

6. A device as in claim 5, wherein said control signals from said microcomputer include the signals for controlling actuators of direction mechanism transmission, clutch, accelerator, and brake.

7. A device as in claim 5, wherein said parameters for executing a parallel parking mode comprise:

a length L₁ and a depth D₁ of a required parking space;

a first position where the vehicle should stop from moving forward to start moving backward with a first direction maximum turning;

a second position where the vehicle should continue moving backward with a second direction maximum turning; and

a third position where the vehicle finishes parking;

said first, second and third positions represented by a center point of a rear wheel shaft of the vehicle forming a S-shaped path by an arc at a suitable angle β and

with a radius R and an opposite arc at the same angle β and

same radius R;

supposing said first position being indicated with a center point of said rear wheel shaft, and said center point having a distance l₀ from a front edge of said length L₁ of said parking space, and when the vehicle reaches said third point, the body of the vehicle and an outer edge of the obstacle align next to each other, then said arc angle β

, length L₁, depth D₁ and distance l₀ can be obtained with the following formulas;

##EQU5## in which;

C=the distance between the body of the vehicle and the outer edge of an obstacle on the parking side when the vehicle is at said first position;

W=the width of the vehicle;

f=the distance between the rear wheel shaft axis and the front edge of the vehicle;

b=the distance between the rear wheel shaft axis and the rear edge of the vehicle;

l₁ =clearance distance in the front of the parking space when the vehicle is at said third position;

l₂ =clearance distance in the rear of the parking space;

l₃ =clearance distance on one side of the parking space;

R minimum turn radius on said center point of the rear wheel shaft.

8. A device as in claim 5, wherein said parameters for executing a perpendicular parking mode comprise:

a length L₂ and depth D₂ of a required parking space;

a first position where the vehicle should stop moving forward and start moving backward with certain direction maximum turning;

a second position where the vehicle should continue moving straight back; and

a third position where the vehicle finishes parking;

said first, second and third positions represented by a center point of a rear wheel shaft of the vehicle forming a L-shaped path including a quarter arc of a circle around a radius R and a line Δ

d extending tangentially on the end point of said arc;

supposing said first position being indicated with said center point of the rear wheel shaft, and having a distance equal to the aforesaid radius R from a center line of said required parking space, a space between a body of the vehicle and the outer edge of an obstacle being at least equal to a minimum gap Cmin, and when the vehicle reaches said third position, the outer edge of the body and the outer edge of said obstacle being aligned next to each other, then said line d, length L₂, width D₂ and minimum gap Cmin can be obtained with the following formulas;

##EQU6## Cx=distance between the body and the outer edge of an obstacle on the parking side (should be Cmin);

W=width of the vehicle;

l=length of the vehicle;

b=distance between the rear wheel shaft of the vehicle and the rear edge thereof;

d₂ =clearance distance on the outer edge of said parking space;

d₂ =clearance distance between the bottom side of said parking space;

d₃ =clearance distances maintained on the both sides of the vehicle from both sides of parking space;

R=minimum turn radius of the vehicle on said center point of the rear wheel shaft.

9. A device for assisting a vehicle operator to park a vehicle, said device comprising:

displacement-sensing means for measuring the moving distance of the vehicle and providing a signal indicative thereof;

obstacle-sensing means including several distance-measuring units mounted at suitable parts of the vehicle and pointing in certain directions for measuring distances between a body of the vehicle and obstacles along those directions, and providing signals indicative thereof; and

a microcomputer for receiving said signals from said displacement-sensing means and said obstacle-sensing means, and for sensing a parking space at one side of the vehicle during forward movement of the vehicle, and for calculating data to control the vehicle moving backward along a suitable path, said data including a stop point where the vehicle stops moving forward and begins moving backward, said microcomputer sending out signals to display on an indicating unit for informing the operator how to manipulate controls of the vehicle to park it;

wherein the backing path of the vehicle begins from said stop point to form a S-shaped path until the vehicle reaches a final point where it is parked completely in a parallel position, said S-shaped path being formed with an arc at a suitable angle β and

with a radius R and an opposite arc at the same said angle and same said radius R, a parking space required by the vehicle is determined with a length L₁ and a depth D₁, and said stop point of the vehicle in moving forwards is determined in the length direction of the required parking space, supposing said stop point being indicated with a center point of a rear wheel shaft and said central point having a distance l₀ from a front edge of said parking space, and when the vehicle reaches said final point, the body and an outer edge of the obstacle align next to each other, then said arc angle β

, said length L₁, said depth D₁ and said distance l₀ can be obtained with the following formulas;

##EQU7## C=the distance between the body and the outer edge of the obstacle on the parking side (when the vehicle is at said stop point);

W=width of the vehicle;

f=distance between the rear wheel shaft axis and the front edge of the vehicle;

b=the distance between the rear wheel shaft axis and the rear edge of the vehicle;

l₁ =clearance distance in the front of the parking space (when the vehicle is at said final point);

l₂ =clearance distance in the rear of the parking space;

l₃ =clearance distance on one side of the parking space;

R the minimum turn radius on the center point of the rear wheel shaft.

10. A device for assisting a vehicle operator to park a vehicle, said device comprising:

displacement-sensing means for measuring the moving distance of the car and providing a signal indicative thereof;

obstacle-sensing means including several distance-measuring units mounted at suitable parts of the vehicle and pointing in certain directions for measuring distances between a body of the vehicle and obstacles along those directions, and providing signals indicative thereof; and

a microcomputer for receiving said signals from said displacement-sensing means and said obstacle-sensing means, and for sensing a parking space at one side of the vehicle during forward movement of the vehicle, and for calculating data to control the vehicle moving backward along a suitable path, said data including a stop point where the vehicle stops moving forward and commences backward movement, said microcomputer sending out signals to display on an indicating unit for informing the operator how to manipulate controls of the vehicle to park it;

wherein the backing path of the vehicle during a perpendicular parking maneuver is from said stop point to a final point and forms an L-shaped path that includes a quarter arc of a circle and a line Δ

d extending tangentially on the end of said arc, the required parking space being expressed with its length L₂ and width D₂, said stop point being determined on a point along the center line of the vehicle and at least a specific distance between said stop point and the outer edge of an obstacle being maintained, supposing said stop point being indicated with the center point of the rear wheel shaft, and having a distance equal to the aforesaid radius R from the center line of said required parking space, a space between a body of the vehicle and the outer edge of the obstacle being at least equal to a minimum gap, Cmin, and when the vehicle reaches said final point, the outer edge of the body and the outer edge of said obstacle being aligned, then said line Δ

d, said length L₂, said width D₂ and said minimum gap Cmin can be obtained with the following formulas;

##EQU8## Cx=distance between the body and the outer edge of an obstacle on the parking side (should be minimal);

W=width of vehicle;

l=length of vehicle;

b=distance between the rear wheel shaft axis of the vehicle and the rear edge thereof;

d₁ =clearance distance on the outer edge of the required parking space;

d₂ =clearance distance between the bottom side of said parking space and the rear edge of the parked vehicle;

d₃ =clearance distances maintained on the both sides of the vehicle from both sides of the required parking space;

R the minimum turn radius on the center point of the rear wheel shaft.