JP2020083184A - Parking support device and program - Google Patents

Abstract

To acquire a parking support device capable of reducing burdens on a driver in retreat parking of a vehicle, for example.SOLUTION: A parking support device of an embodiment includes: for example, a detection part that detects a parking enabled region in a periphery region of a vehicle including rearward of the vehicle during retreating of the vehicle; a route calculation part that calculates a movement route for guiding the vehicle to a parking target position included in the parking enabled region that has been detected by the detection part, from a current position of the vehicle; and a guiding control part that guides the vehicle to the parking target position according to the movement route that has been calculated by the route calculation part.SELECTED DRAWING: Figure 8

Description

Embodiments of the present invention relate to a parking assistance device and a program.

Conventionally, various sensors mounted on a vehicle search for a parking space in which the vehicle can be parked, calculate an optimal vehicle trajectory up to a parking target position set in the parking space, and then drive the vehicle according to the vehicle trajectory. A parking assistance device has been proposed that reduces the burden of parking operation on the driver by guiding.

JP, 2017-30567, A JP, 2009-96306, A

For example, when the vehicle is parked in the parking space at the back corner of the parking lot by retracting the vehicle, move the vehicle forward to the vicinity of the parking space and then park the vehicle in the parking space. However, parking may not be possible due to the limited space for turning vehicles. In this case, parking may be possible, for example, by moving the vehicle backward to the vicinity of the parking space. However, in the conventional technology, there is a problem in that the driver needs to move the vehicle backward to a position where the parking assist device can detect the parking space where the parking is possible, which imposes a burden on the driver.

The parking assistance device according to the embodiment includes, for example, a detection unit that detects a parkable region in a peripheral region of the vehicle including the rear of the vehicle while the vehicle is moving backward, and a detection unit that detects the current position of the vehicle by the detection unit. A route calculation unit that calculates a movement route for guiding the vehicle to a parking target position included in the parking available area, and guides the vehicle to the parking target position according to the movement route calculated by the route calculation unit. And a guidance control unit for

According to such a parking assist device, for example, since the detection unit detects the parking possible area in the peripheral area of the vehicle including the rear of the vehicle while the vehicle is moving backward, the detection unit drives the driver up to a position where the parking possible area is detected. There is no need to move the vehicle backward by driving. Therefore, the load on the driver can be reduced.

In addition, the parking assistance device may be, for example, a mileage of the vehicle when a predetermined time has elapsed after the detection unit starts the process of detecting the parking available area or after the detection unit starts the process. Is provided with a reverse control unit for stopping the reverse of the vehicle when the predetermined distance is exceeded.

According to such a parking assist device, for example, when a specified time has elapsed after the detection unit starts the process of detecting the parking available area or when the detection unit starts the process, the traveling distance of the vehicle is the specified distance. When it exceeds, the backward movement of the vehicle can be stopped.

Further, in the parking assistance device, for example, when the reverse control unit stops the reverse of the vehicle, the reverse control of the vehicle is restarted when an operation indicating an instruction to restart the reverse of the vehicle is given. ..

According to such a parking assist device, for example, the driver can restart the backward movement by performing an operation of restarting the backward movement of the vehicle.

In the parking assistance device, for example, the peripheral area includes a side of the vehicle and a front of the vehicle.

According to such a parking assistance device, for example, the detection unit can detect the parking available area on the side of the vehicle and on the front of the vehicle in addition to the area behind the vehicle.

The program of the embodiment includes, for example, a detection step of detecting a parking area in a peripheral area of the vehicle including the rear of the vehicle while the vehicle is moving backward, and the parking detected by the detection step from the current position of the vehicle. A route calculation step of calculating a movement route for guiding the vehicle to a parking target position included in the feasible region, and a guidance for guiding the vehicle to the parking target position according to the movement route calculated by the route calculation step. Causing the computer to perform the control steps.

According to such a program, for example, the parking step is detected in the peripheral area of the vehicle including the rear of the vehicle during the backward movement of the vehicle by the detection step, so that the driver can drive to the position where the parking step is detected by the detection step. There is no need to move the vehicle back. Therefore, the load on the driver can be reduced.

FIG. 1 is an exemplary perspective view showing a state in which a part of a vehicle interior of a vehicle according to an embodiment is seen through. FIG. 2 is an exemplary plan view of the vehicle of the embodiment. FIG. 3 is an example of the dashboard of the vehicle of the embodiment, and is a view from the rear of the vehicle. FIG. 4 is an exemplary block diagram of a configuration of the parking assistance system of the embodiment. FIG. 5 is an exemplary block diagram of the configuration of the ECU of the parking assistance system of the embodiment. FIG. 6 is a diagram illustrating a vehicle and a parkable area in a parking lot in order to describe the backward parking process of the parking assistance system of the embodiment. FIG. 7 is a diagram illustrating the behavior of the vehicle and the parking available area in the parking lot of FIG. 7 in order to describe the backward parking process of the parking assistance system of the embodiment. FIG. 8 is a flowchart illustrating a backward parking assistance process (parking assistance process) of the parking assistance system of the embodiment. FIG. 9 is an example of a screen of a display device that displays a resumption button for backward movement and a stop button for processing in the parking assistance system of the embodiment. FIG. 10 is a diagram illustrating a vehicle and a parkable area in a parking lot in order to describe the backward parking process of the parking assistance system of the embodiment. FIG. 11 is a diagram illustrating a vehicle and a parkable area in a parking lot in order to describe the backward parking process of the parking assistance system of the embodiment.

Hereinafter, exemplary embodiments of the present invention will be disclosed. The configurations of the embodiments shown below and the actions, results, and effects provided by the configurations are examples. The present invention can be realized by a configuration other than the configurations disclosed in the following embodiments, and at least one of various effects based on the basic configuration and derivative effects can be obtained. ..

In the present embodiment, the vehicle 1 equipped with the parking assistance device may be, for example, a vehicle having an internal combustion engine (not shown) as a drive source, that is, an internal combustion engine vehicle, or a vehicle having an electric motor (not shown) as a drive source. That is, it may be an electric vehicle, a fuel cell vehicle, etc., a hybrid vehicle using both of them as drive sources, or a vehicle provided with another drive source. Further, the vehicle 1 can be equipped with various transmission devices, and can be equipped with various devices necessary for driving the internal combustion engine and the electric motor, such as systems and parts. Further, the method, the number, the layout, etc. of the devices relating to the driving of the wheels 3 in the vehicle 1 can be set variously.

As illustrated in FIG. 1, the vehicle body 2 configures a vehicle interior 2a in which an occupant (not shown) rides. A steering section 4, an acceleration operation section 5, a braking operation section 6, a shift operation section 7, and the like are provided in the vehicle interior 2a in a state of facing the seat 2b of the driver as an occupant. The steering unit 4 is, for example, a steering wheel protruding from the dashboard 24, the acceleration operation unit 5 is, for example, an accelerator pedal located under the driver's foot, and the braking operation unit 6 is, for example, for the driver. The brake pedal is located under the foot, and the gear shift operation unit 7 is, for example, a shift lever protruding from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the shift operation unit 7, and the like are not limited to these.

A display device 8 as a display output unit and a voice output device 9 as a voice output unit are provided in the vehicle interior 2a. The display device 8 is, for example, an LCD (liquid crystal display), an OELD (organic electroluminescent display), or the like. The audio output device 9 is, for example, a speaker. The display device 8 is covered with a transparent operation input unit 10 such as a touch panel. The occupant can visually recognize the image displayed on the display screen of the display device 8 through the operation input unit 10. In addition, the occupant can perform an operation input by touching, pushing, or moving the operation input unit 10 with a finger or the like at a position corresponding to an image displayed on the display screen of the display device 8. .. The display device 8, the audio output device 9, the operation input unit 10, and the like are provided on, for example, a monitor device 11 located at the center of the dashboard 24 in the vehicle width direction, that is, the left-right direction. The monitor device 11 can include an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button. Further, an audio output device (not shown) can be provided at another position in the vehicle interior 2a different from the monitor device 11, and audio is output from the audio output device 9 of the monitor device 11 and another audio output device. be able to. The monitor device 11 can also be used as, for example, a navigation system or an audio system.

A display device 12 different from the display device 8 is provided in the vehicle interior 2a. As illustrated in FIG. 3, the display device 12 is provided, for example, on the instrument panel section 25 of the dashboard 24, and is located substantially at the center of the instrument panel section 25 between the speed display section 25a and the rotation speed display section 25b. Is located in. The size of the screen 12a of the display device 12 is smaller than the size of the screen 8a (FIG. 3) of the display device 8. On the display device 12, an image mainly showing information regarding parking assistance of the vehicle 1 can be displayed. The amount of information displayed on the display device 12 may be smaller than the amount of information displayed on the display device 8. The display device 12 is, for example, an LCD, an OELD, or the like. The information displayed on the display device 12 may be displayed on the display device 8.

Further, as illustrated in FIG. 1 and FIG. 2, the vehicle 1 is, for example, a four-wheeled vehicle, and has two left and right front wheels 3F and two left and right rear wheels 3R. All of these four wheels 3 can be configured to be steerable. As illustrated in FIG. 4, the vehicle 1 has a steering system 13 that steers at least two wheels 3. The steering system 13 has an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an ECU 14 (electronic control unit) or the like to operate the actuator 13a. The steering system 13 is, for example, an electric power steering system, an SBW (steer by wire) system, or the like. The steering system 13 supplements the steering force by adding torque, that is, assist torque to the steering section 4 by the actuator 13a, and steers the wheels 3 by the actuator 13a. In this case, the actuator 13a may steer one wheel 3 or a plurality of wheels 3. Further, the torque sensor 13b detects, for example, the torque applied to the steering unit 4 by the driver.

Further, as illustrated in FIG. 2, the vehicle body 2 is provided with, for example, four image capturing units 15a to 15d as the plurality of image capturing units 15. The image capturing unit 15 is, for example, a digital camera including an image capturing element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging unit 15 can output moving image data at a predetermined frame rate. The image capturing units 15 each have a wide-angle lens or a fish-eye lens, and can capture an image in the range of 140° to 190° in the horizontal direction. In addition, the optical axis of the image pickup unit 15 is set obliquely downward. Therefore, the image capturing unit 15 sequentially captures the external environment around the vehicle body 2 including the road surface on which the vehicle 1 can move and the area where the vehicle 1 can be parked, and outputs the captured image data.

The imaging unit 15a is located, for example, at the rear end 2e of the vehicle body 2 and is provided on the wall below the door 2h of the rear trunk. The imaging unit 15b is located, for example, on the right end 2f of the vehicle body 2 and is provided on the right door mirror 2g. The imaging unit 15c is located, for example, on the front side of the vehicle body 2, that is, on the front end 2c in the vehicle front-rear direction, and is provided on the front bumper or the like. The imaging unit 15d is located, for example, on the left side of the vehicle body 2, that is, on the left end 2d in the vehicle width direction, and is provided on the door mirror 2g as a left side protruding portion. The ECU 14 performs arithmetic processing and image processing based on the image data obtained by the plurality of image capturing units 15 to generate an image with a wider viewing angle, and a virtual bird's-eye view image of the vehicle 1 viewed from above. Can be generated. The bird's-eye view image may also be referred to as a flat image.

Further, as illustrated in FIGS. 1 and 2, the vehicle body 2 includes, as the plurality of distance measuring units 16 and 17, for example, four distance measuring units 16a to 16d and eight distance measuring units 17a to 17h. It is provided. The distance measuring units 16 and 17 are, for example, sonars that emit ultrasonic waves and capture the reflected waves. Sonar may also be referred to as a sonar sensor or an ultrasonic detector. The ECU 14 can measure the presence or absence of an object such as an obstacle located around the vehicle 1 and the distance to the object based on the detection results of the distance measuring units 16 and 17. That is, the distance measuring units 16 and 17 are an example of a detecting unit that detects an object. The distance measuring unit 17 can be used, for example, to detect an object at a relatively short distance, and the distance measuring unit 16 can be used to detect, for example, an object at a relatively long distance farther than the distance measuring unit 17. Further, the distance measuring unit 17 can be used, for example, to detect an object in front of and behind the vehicle 1, and the distance measuring unit 16 can be used to detect an object on the side of the vehicle 1.

As illustrated in FIG. 4, in the parking assistance system 100, in addition to the ECU 14, the monitor device 11, the steering system 13, the distance measuring units 16 and 17, the braking system 18, the steering angle sensor 19, the accelerator sensor 20. , A shift sensor 21, a wheel speed sensor 22 and the like are electrically connected via an in-vehicle network 23 as an electric communication line. The in-vehicle network 23 is configured as a CAN (controller area network), for example. The ECU 14 can control the steering system 13, the brake system 18, etc. by sending a control signal through the in-vehicle network 23. Further, the ECU 14 detects the torque sensor 13b, the brake sensor 18b, the steering angle sensor 19, the distance measuring unit 16, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22 and the like via the in-vehicle network 23. The result, the operation signal of the operation input unit 10 and the like can be received.

The ECU 14 has, for example, a CPU 14a (central processing unit), a ROM 14b (read only memory), a RAM 14c (random access memory), a display controller 14d, a voice controller 14e, an SSD 14f (solid state drive, flash memory), and the like. ing. The CPU 14a, for example, performs image processing related to the images displayed on the display devices 8 and 12, determines a moving target position (parking target position) of the vehicle 1, calculates a moving route (parking guide route) of the vehicle 1, an object. It is possible to execute various kinds of arithmetic processing and control such as determination of the presence or absence of interference, automatic control of the vehicle 1, cancellation of automatic control, and the like. The CPU 14a can read a program installed and stored in a non-volatile storage device such as the ROM 14b, and execute arithmetic processing according to the program. The RAM 14c temporarily stores various data used in the calculation by the CPU 14a. Further, the display control unit 14d mainly executes image processing using image data obtained by the image pickup unit 15 in the arithmetic processing in the ECU 14, composition of image data displayed on the display device 8, and the like. Further, the voice control unit 14e mainly executes the process of the voice data output from the voice output device 9 in the calculation process of the ECU 14. Further, the SSD 14f is a rewritable non-volatile storage unit and can store data even when the power of the ECU 14 is turned off. The CPU 14a, the ROM 14b, the RAM 14c and the like can be integrated in the same package. Further, the ECU 14 may be configured to use another logic operation processor such as a DSP (digital signal processor) or a logic circuit instead of the CPU 14a. Further, a HDD (hard disk drive) may be provided instead of the SSD 14f, or the SSD 14f and the HDD may be provided separately from the ECU 14. The ECU 14 is an example of a parking assistance device. The parking assistance device may also be referred to as a vehicle control device.

The brake system 18 includes, for example, an ABS (anti-lock brake system) that suppresses a lock of a brake, a skid prevention device (ESC: electronic stability control) that suppresses a skid of the vehicle 1 at the time of cornering, and enhances a braking force ( An electric brake system that executes brake assist, a BBW (brake by wire), and the like. The brake system 18 applies braking force to the wheels 3 and thus the vehicle 1 via the actuator 18a. Further, the brake system 18 can execute various controls by detecting the lock of the brake, the idling of the wheels 3, the sign of skidding, and the like from the rotation difference between the left and right wheels 3. The brake sensor 18b is, for example, a sensor that detects the position of the movable portion of the braking operation unit 6. The brake sensor 18b can detect the position of a brake pedal as a movable part. The brake sensor 18b includes a displacement sensor.

The steering angle sensor 19 is, for example, a sensor that detects a steering amount of the steering unit 4 such as a steering wheel. The steering angle sensor 19 is configured using, for example, a hall element. The ECU 14 acquires the amount of steering of the steering unit 4 by the driver, the amount of steering of each wheel 3 during automatic steering, and the like from the steering angle sensor 19, and executes various controls. The steering angle sensor 19 detects a rotation angle of a rotating portion included in the steering unit 4. The steering angle sensor 19 is an example of an angle sensor.

The accelerator sensor 20 is, for example, a sensor that detects the position of the movable portion of the acceleration operation unit 5. The accelerator sensor 20 can detect the position of an accelerator pedal as a movable part. The accelerator sensor 20 includes a displacement sensor.

The shift sensor 21 is, for example, a sensor that detects the position of the movable portion of the shift operation unit 7. The shift sensor 21 can detect the position of a lever, an arm, a button, or the like as a movable portion. The shift sensor 21 may include a displacement sensor or may be configured as a switch.

The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs a wheel speed pulse number indicating the detected rotation speed as a sensor value. The wheel speed sensor 22 can be configured using, for example, a hall element. The ECU 14 calculates the amount of movement of the vehicle 1 based on the sensor value acquired from the wheel speed sensor 22, and executes various controls. The wheel speed sensor 22 may be provided in the brake system 18. In that case, the ECU 14 acquires the detection result of the wheel speed sensor 22 via the brake system 18.

Note that the configurations, arrangements, electrical connection forms, and the like of the various sensors and actuators described above are merely examples, and can be set (changed) in various ways.

In addition, as shown in FIG. 5, the ECU 14 includes a CPU 14a and a storage unit 30 that stores data used by the calculation in the CPU 14a or data calculated by the calculation in the CPU 14a. Further, the CPU 14a includes various modules realized by reading out a program installed and stored in a storage device such as the ROM 14b and executing the program. For example, the CPU 14a includes a detection unit 32, an operation reception unit 34, a target position determination unit 36, a route calculation unit 38, a movement control unit 40, and the like. The movement control unit 40 includes a retreat control unit 40a and a guidance control unit 40b.

The detection unit 32 detects obstacles, parking areas, and the like around the vehicle 1 based on the information provided from the imaging unit 15 and the distance measuring units 16 and 17.

The obstacle is, for example, another vehicle, a wall, a pillar, a fence, a protrusion, a step, a wheel clasp, an object, or the like. The obstacle includes, for example, a person walking in the parking lot. The detection unit 32 can detect the presence/absence, height, size, etc. of an obstacle by various methods. The detection unit 32 can detect an obstacle based on the detection results of the distance measuring units 16 and 17, for example. Further, the distance measuring units 16 and 17 can detect an object corresponding to the height of the beam and cannot detect an object lower than the height of the beam. Therefore, the detection unit 32 can detect the height of the obstacle based on the detection results of the distance measuring units 16 and 17 and the heights of the respective beams. Further, the detection unit 32 may detect the presence or absence of an obstacle or the height thereof based on the detection results of the wheel speed sensor 22 and an acceleration sensor (not shown) and the detection results of the distance measuring units 16 and 17. Further, the detection unit 32 may detect a shape such as the height of an obstacle by image processing based on the image captured by the image capturing unit 15, for example.

In addition, the parking section is provided as a sign or a thing. The parking section is a standard or standard section that is set to park the vehicle 1 at that location. Further, the parking boundary is a boundary or an outer edge of the parking section, and is, for example, a division line, a frame line, a straight line, a band, a step, or their edges. That is, the parking boundary is a sign, an object, or the like. The detection unit 32 can detect the parking section and the parking boundary by image processing based on the image captured by the imaging unit 15, for example. Further, the detection unit 32 can determine whether or not the vehicle 1 can be parked in the detected parking section by various methods. For example, when the detection unit 32 does not detect an obstacle that interferes with the parking of the vehicle 1 in the parking section, the detection section 32 determines that the parking section can be parked. That is, the detection unit 32 can detect a parking section in which parking is possible as a parking available area. The detection unit 32 can detect a parking section where the vehicle 1 can be parked behind, on the left and right sides of the vehicle 1, and in front of the vehicle 1. That is, the detection unit 32 can detect a parking section in which the vehicle 1 can be parked around the entire circumference of the vehicle 1. Here, in other words, the rear side of the vehicle 1 is an area located behind the vehicle 1 in the front-back direction of the vehicle 1. Further, the entire circumference of the vehicle 1 is a region around the center line of the vehicle 1 extending in the vertical direction of the vehicle 1 and surrounding the vehicle 1.

The operation reception unit 34 acquires (receives) a signal from the operation unit 14g according to an operation on the operation unit 14g. The operation unit 14g is, for example, a push button or a switch, and can request or cancel parking assistance. The operation receiving unit 34 also acquires (receives) a signal from the operation input unit 10 in response to an operation on the operation input unit 10.

The target position determination unit 36, for example, based on the detection result of the detection unit 32, a movement target position of the vehicle 1 as a guide or a target position for guiding the vehicle 1, in other words, a parking target position is a known method or the like. Determined by The parking target position may be the end point of the movement route or may be in the middle of the movement route. The target position can be set as, for example, a point, a line, a frame, a region, or the like. The target position may be the same as the display position.

The route calculation unit 38 calculates a movement route (movement route) for guiding the vehicle 1 from the current position of the vehicle 1 to a parking target position included in the parking available area. The route calculation unit 38 sets the movement route by a known method or the like based on the current position of the vehicle 1, that is, the own vehicle, the determined parking target position, the detection result of the obstacle, and the like.

The movement control unit 40 controls each unit of the vehicle 1 to control the movement of the vehicle 1. The guidance control unit 40b controls each unit of the vehicle 1 so that the vehicle 1 moves to the parking target position along the movement route. For example, in the vehicle 1 that moves by creep or the like without operating the accelerator pedal, the guidance control unit 40b controls the steering system 13 according to the position of the vehicle 1 to move the vehicle 1 along the movement route. Can be made The guidance control unit 40b may control not only the steering system 13 but also a drive mechanism such as an engine and a motor, a brake system 18 as a braking mechanism, and the like. Further, the guidance control unit 40b controls the display device 8 and the voice output device 9 to guide the driver to move the vehicle 1 along the movement route by the display output and the voice output according to the position of the vehicle 1. You may. Further, the reverse control unit 40a controls a drive mechanism such as an engine and a motor, a brake system 18 as a braking mechanism, and the like so that the vehicle 1 moves backward or the vehicle 1 stops moving backward.

The backward parking assist process of the parking assist process performed by the ECU 14 will be described below. The backward parking assist process is a process of detecting a parking feasible region while the vehicle 1 is moving backward and guiding the vehicle 1 to a parking target position included in the parking feasible region.

Prior to a detailed description of this backward parking assistance process, the behavior of the vehicle 1 equipped with the parking assistance system 100 in the parking lot 90 and the state of detection of a parking feasible region will be described with reference to FIGS. In the example shown in FIG. 6, the parking lot 90 is divided into parking spaces 104 by a plurality of dividing lines 102 drawn on the plane road 101. The parking lot 90 is provided with a plurality of parking section rows 105 configured by arranging a plurality of parking sections 104 in parallel. A wall 103 is provided on the outer peripheral portion of the parking lot 90. Further, an example is shown in which another vehicle 110 is present in each of the parking sections 104 other than the parking section 104A at the back corner of the parking lot 90. That is, in the example of FIG. 6, the parking section 104A is a parking area in which the vehicle 1 can be parked. In the case of the situation shown in FIG. 6, when the vehicle 1 is moved backward to the parking section 104A and the vehicle 1 is parked in the parking section 104A, that is, when the vehicle 1 is parked backward, the vehicle 1 is moved backward. It is better to move backward toward the parking area 104A. In this case, the driver stops the vehicle 1 so that the parking section 104A is located at the rear of the vehicle 1, specifically, diagonally rearward, and performs the reverse assist processing on the operation units such as the operation unit 14g and the operation input unit 10. Perform the operation for starting. When the CPU 14a receives the input of the signal based on this operation, the CPU 14a starts the backward parking assist process. The above parking is also referred to as parallel backward parking. The driver is an example of an occupant or a user.

FIG. 7 shows how the vehicle 1 moves backward in the parking lot 90. The vehicle 1 starts moving backward from the initial position P1, for example. In the example of FIG. 7, the detection unit 32 detects the parking section 104A when the vehicle 1 is located at the position P2. Then, the route calculation unit 38 calculates the movement route for guiding the vehicle 1 to the parking target position 200 included in the detected parking available area. Next, the guidance control unit 40b guides the vehicle 1 to the parking target position 200 according to the calculated travel route. That is, the guidance control unit 40b moves the vehicle 1 to the parking target position 200 according to the calculated movement route. In this way, the vehicle 1 may be moved forward in the parking section 104A and the vehicle 1 may be parked in the parking section 104A. You can easily leave. The guidance control unit 40b may also be referred to as a parking control unit.

Next, details of the backward parking assistance process will be described. FIG. 8 is a flowchart illustrating an outline of the backward parking assist process (parking assist process) of the parking assist system 100 of the present embodiment.

As shown in FIG. 8, the reverse control unit 40a causes the vehicle 1 to start moving backward, and the detection unit 32 causes the surroundings of the vehicle 1 based on the information provided from the imaging unit 15 and the distance measuring units 16 and 17. The detection of the situation is started (S1). At this time, the imaging unit 15 allows the vehicle 1 to park in the entire area of the vehicle 1 including the rear of the vehicle 1 from the detected obstacle, the road frame line, the lane marking, and the like (the vehicle parking area). ) Is detected.

When detecting the obstacle (S2: Yes), the detecting unit 32 determines whether the obstacle and the vehicle 1 moving backward may come into contact with each other (S11). When the detection unit 32 determines that there is no possibility of contact between the obstacle and the vehicle 1 (S11: No), the process proceeds to S3.

Moreover, when the detection unit 32 does not detect an obstacle (S2: No) and detects the parking section 104 (S3: Yes), the retreat control unit 40a stops the retreat of the vehicle 1 (temporary stop). (S4). In addition, in FIG. 8, the determination of presence/absence of detection of an obstacle (S2) and the determination of presence/absence of detection of the parking section 104 (S3) are shown in serial processing, but these processing are parallel processing. May be done.

Next, when there are no plural parking sections 104 that can be parked detected by the detection section 32 (S5: No), that is, when there is one parking section 104 that can be parked, the target position determination section 36 causes the detection section 32 to One detected parking section 104 that can be parked is determined as the parking target position (S6). In this case, the target position determination unit 36 may display the parking section 104 on the display device 8 and ask the driver to confirm whether the parking section 104 may be set to the target parking position. In this case, for example, when it is confirmed that the target parking position may be set by the driver's operation of the operation input unit 10, the target position determination unit 36 determines the parking section 104 as the target parking position. When it is confirmed that the target parking position is not set by the operation of the operation input unit 10 of the driver, the target position determination unit 36 may return to S1 or cancel the reverse assist process, for example.

On the other hand, when there are a plurality of parking sections 104 that can be parked by the detection section 32 (S5: Yes), the target position determination section 36 selects any one of the parking sections 104 (S10). For example, the target position determination unit 36 causes the display device 8 to display a selection screen on which any one of the plurality of parking sections 104 can be selected. Then, the target position determination unit 36 determines, as the target parking position, the parking section 104 selected by the operation of the operation input unit 10 such as a driver among the parking sections 104 displayed on the selection screen.

When the target parking position is determined, the route calculation unit 38 calculates the movement route from the current position of the vehicle 1 to the target parking position (S7).

When the movement route is calculated, the guidance control unit 40b starts parking control (guidance control) (S8). That is, the guidance control unit 40b controls each unit of the vehicle 1 so that the vehicle 1 moves along the calculated movement route. At this time, the route calculation unit 38 may constantly correct the moving route, and the guidance control unit 40b may control each unit of the vehicle 1 so that the vehicle 1 moves along the corrected moving route. That is, feedback control may be performed.

When parking control (guidance control) by the guidance control unit 40b is completed, that is, when parking is completed (S9), the guidance control unit 40b notifies the driver of the completion of parking by the display device 8 and the voice output device 9.

When the detection unit 32 determines in S11 that the obstacle may come into contact with the vehicle 1 (S11: Yes), the reverse control unit 40a stops the backward movement of the vehicle 1 (temporary stop). (S13). This avoids contact between the obstacle and the vehicle 1, which is safe.

Further, while the detection unit 32 does not detect the parking section 104 in which parking is possible in S3 (S3: No), the detection section 32 starts the process of detecting the parking section 104 in which parking is possible, that is, the specified time from S1. Even when the time has elapsed (S12: Yes), the reverse control unit 40a stops the reverse of the vehicle 1 (S13). That is, even when the detection unit 32 does not detect the parking section 104 in which parking is possible within the specified time, the reverse control unit 40a stops the reverse of the vehicle 1 (S13). The specified time can be measured by a timer or the like. At this time, the reverse control unit 40a outputs a message indicating that the specified time has elapsed, that the vehicle has traveled a specified distance, that the vehicle 1 has stopped moving backward, that the vehicle 1 has stopped moving backward, etc. The device 9 may notify the driver. When the specified time has not elapsed since the detection unit 32 started the process of detecting the parking section 104 in which parking is possible (S12: No), S2 and S3 are repeated. In addition, in the above process, even if the backward movement of the vehicle 1 is stopped when the traveling distance of the vehicle 1 exceeds the specified distance after the detection unit 32 starts the process of detecting the parking section 104 in which parking is possible. Good. That is, the backward movement of the vehicle 1 may be stopped when the detection unit 32 does not detect the parking section 104 in which the vehicle 1 can travel while traveling the specified distance. The traveling distance is calculated based on the output value of the wheel speed sensor 22 and the like.

When the reverse control of the vehicle 1 is stopped in S15, the reverse control unit 40a receives an instruction to restart the reverse of the vehicle 1. Specifically, the reverse control unit 40a causes the display device 8 to display the screen shown in FIG. In the screen example of FIG. 9, a restart button 301 and a stop button 302 are displayed. When the restart button 301 is selected by the driver's operation on the operation input unit 10, the reverse control unit 40a determines that an instruction to restart the backward movement of the vehicle 1 has been issued (S14: Yes). On the other hand, when the cancel button 302 is selected by the driver's operation on the operation input unit 10, the reverse control unit 40a determines that the cancellation of the backward parking assist process including the cancellation of the backward movement of the vehicle 1 is instructed ( S14: No). Incidentally. The instruction to restart the backward movement of the vehicle 1 is not limited to the above. For example, the instruction to restart the backward movement of the vehicle 1 may be given by a switch or the like.

When it is determined that the instruction to restart the backward movement of the vehicle 1 is given (S14: Yes), the backward movement control unit 40a restarts the backward movement of the vehicle 1 (S15). That is, the reverse control unit 40a restarts the backward movement of the vehicle 1 when the backward movement of the vehicle 1 is stopped and there is an operation indicating an instruction to restart the backward movement of the vehicle 1. When the backward movement of the vehicle 1 is restarted, the processing from S2 is repeated. On the other hand, when the reverse control unit 40a determines that the cancellation of the reverse parking assistance process is instructed (S14: No), the reverse parking is performed without restarting the reverse of the vehicle 1, that is, in the state where the vehicle 1 is stopped. Stop the support process.

Next, another example of the state of the parking lot 90 will be described with reference to FIGS. In the example of FIG. 10, when the backward parking assist process does not detect the parking section 104 in which the vehicle 1 can be parked, another vehicle 110A may come out of the parking section 104B in front of the vehicle 1, specifically, diagonally forward. It is shown. In this case, the vehicle 1 can be parked in the parking section 104B. Therefore, after the driver performs a predetermined operation to stop (end) the backward parking assist process, the driver passes the front of the parking section 104B (on the right side in FIG. 10) and the parking section 104 is positioned diagonally behind the vehicle 1. The vehicle 1 is moved so that the vehicle 1 is stopped. Then, at the position, the driver performs a predetermined operation to start the backward parking assist process. As a result, the backward parking assist process is started, and the vehicle 1 is guided (moved) to the parking section 104B by the process shown in FIG. In the case of FIG. 8, the detection unit 32 can detect the parking section 104B diagonally in front of the vehicle 1 as the parking available area during the backward parking assist process (during the backward movement of the vehicle 1). Therefore, as another example, when the detection unit 32 detects the parking section 104B diagonally ahead of the vehicle 1 as the vehicle feasible region, the CPU 14a stops the backward parking assistance process. Then, the CPU 14a (movement control unit 40) moves the vehicle 1 so that the parking section 104 is located diagonally rearward of the vehicle 1 by passing the front side (the right side in FIG. 10) of the parking section 104B to move the vehicle 1 Stop. Then, at the position, the CPU 14a may start the backward parking assistance process.

In the example of FIG. 11, the case where the backward parking assist process is not executed and the other vehicle 110A exits from the parking section 104B diagonally rearward of the vehicle 1 while the vehicle 1 is moving forward by the driver's driving is shown. .. In this case, for example, the driver stops the vehicle 1 and performs a predetermined operation to start the backward parking assistance process. As a result, the backward parking assist process is started, and the vehicle 1 is guided (moved) to the parking section 104B.

As described above, in the embodiment, for example, the detection unit 32 detects the parking available area in the peripheral area of the vehicle 1 including the rear of the vehicle 1 while the vehicle 1 is moving backward. The route calculation unit 38 calculates a movement route for guiding the vehicle 1 from the current position of the vehicle 1 to the parking target position 200 included in the parking available area detected by the detection unit 32. The guidance control unit 40b guides the vehicle 1 to the parking target position 200 according to the movement route calculated by the route calculation unit 38.

Therefore, according to the embodiment, for example, since the detection unit 32 detects the parking available area in the peripheral area of the vehicle 1 including the rear of the vehicle 1 while the vehicle 1 is moving backward, the detection unit 32 detects the parking available area. It is not necessary to move the vehicle 1 backward by driving the driver to the position. Therefore, the load on the driver can be reduced. Further, during the parking guidance process, the driver does not have to perform the backward driving, so that the driver can concentrate on the safety confirmation around the vehicle 1, which is safe.

In addition, in the embodiment, for example, the reverse control unit 40a may detect the vehicle 1 when a predetermined time has elapsed after the detection unit 32 starts the process of detecting the parking available area or after the detection unit 32 starts the process. When the traveling distance exceeds the specified distance, the backward movement of the vehicle 1 is stopped.

Therefore, according to the embodiment, for example, the mileage of the vehicle 1 is defined when the specified time has elapsed after the detection unit 32 starts the process of detecting the parkable area or when the detection unit 32 starts the process. When the distance is exceeded, the backward movement of the vehicle 1 can be stopped.

Further, in the embodiment, for example, the reverse control unit 40a restarts the backward movement of the vehicle 1 when the backward movement of the vehicle 1 is stopped and there is an operation indicating an instruction to restart the backward movement of the vehicle 1.

Therefore, according to the embodiment, for example, the driver can restart the backward movement by performing an operation to restart the backward movement of the vehicle 1.

Further, in the embodiment, for example, the peripheral region includes the side of the vehicle 1 and the front of the vehicle 1.

Therefore, according to the embodiment, for example, the detection unit 32 can detect the parking available area on the side of the vehicle 1 and on the front of the vehicle 1 in addition to the area behind the vehicle 1.

The program (parking assistance program) executed by the CPU 14a of the present embodiment is a file in an installable format or an executable format such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), and the like. May be recorded in a computer-readable recording medium and provided.

Furthermore, the program (parking support program) executed by the CPU 14a of the present embodiment may be stored in a computer connected to a network such as the Internet and provided by being downloaded via the network. Further, the parking assistance program executed by the program (parking assistance program) of the present embodiment may be provided or distributed via a network such as the Internet.

Although the embodiments and modifications of the present invention have been described, these embodiments and modifications are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are also included in the invention described in the claims and the scope equivalent thereto.

DESCRIPTION OF SYMBOLS 1... Vehicle, 32... Detection part, 38... Route calculation part, 14... ECU (parking assistance device), 40a... Back control part, 40b... Guidance control part, 104... Parking section, 104A, 104B... Parking section (parkable) Area), 200... Parking target position.

Claims (5)

A detection unit that detects a parking area in a peripheral area of the vehicle including the rear of the vehicle while the vehicle is moving backward;
A route calculation unit that calculates a movement route for guiding the vehicle to a parking target position included in the parking feasible region detected by the detection unit from the current position of the vehicle;
A guidance control unit that guides the vehicle to the parking target position according to the movement route calculated by the route calculation unit,
Parking assistance device. When a specified time has elapsed after the detection unit starts the process of detecting the parking area, or when the traveling distance of the vehicle exceeds the specified distance after the detection unit starts the process, The parking assistance device according to claim 1, further comprising a reverse control unit that stops the reverse of the vehicle. The parking assist apparatus according to claim 2, wherein the reverse control unit restarts the backward movement of the vehicle when the backward movement of the vehicle is stopped and an operation indicating an instruction to restart the backward movement of the vehicle is given. .. The parking assistance device according to claim 1, wherein the peripheral region includes a side of the vehicle and a front of the vehicle. A detection step of detecting a parking possible area in a peripheral area of the vehicle including the rear of the vehicle while the vehicle is moving backward;
A route calculation step of calculating a movement route for guiding the vehicle to a parking target position included in the parking feasible region detected by the detection step from the current position of the vehicle;
A guidance control step of guiding the vehicle to the parking target position according to the movement route calculated by the route calculation step;
A program that causes a computer to execute.

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