WO2024033967A1

WO2024033967A1 - Parking assistance method and parking assistance device

Info

Publication number: WO2024033967A1
Application number: PCT/JP2022/030268
Authority: WO
Inventors: 康啓鈴木; 祐介武者
Original assignee: 日産自動車株式会社
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2024-02-15

Abstract

A parking assistance method and a parking assistance device according to the present invention calculate a travel route from a current position of a vehicle to a target parking position, and control a parking operation of the vehicle on the basis of the travel route. At this time, one or more parking position candidates around the vehicle are extracted. When backward movement is selected with a select lever in a state in which the vehicle is stopped, at least one parking position candidate located behind the vehicle among the parking position candidates is extracted as a target parking position candidate and presented to the user. Then, one of the target parking position candidates is set as the target parking position on the basis of input of an instruction of the user via an operation unit.

Description

Parking support method and parking support device

The present invention relates to a parking assistance method and a parking assistance device.

Based on the relative position of the target parking position where the automatic parking control is scheduled to park with respect to the vehicle, surrounding images are displayed so that a part or the entire range of the target parking position is preferentially displayed in a predetermined image display area of the display. A technique for displaying has been proposed (see Patent Document 1).

JP2021-062736A

According to the technology described in Patent Document 1, the target parking position presented to the user is not necessarily the parking position desired by the user. Therefore, if the target parking position presented to the user is not the parking position desired by the user, the user must operate the button corresponding to the parking position until the desired target parking position is displayed. The operation may become complicated.

The present invention has been made in view of the above problems. The purpose is to provide a parking support method and a parking support device that can simplify the user's operations by presenting a parking position that the user is likely to desire as a target parking position.

In order to solve the above-mentioned problem, a parking support method and a parking support device according to one aspect of the present invention calculate a travel route from the current position of the vehicle to a target parking position, and park the vehicle based on the travel route. Control behavior. At that time, one or more parking position candidates around the vehicle are extracted, and when the vehicle is stopped and the selector lever selects reverse, at least one parking position candidate located behind the vehicle is extracted. The position candidates are extracted as target parking position candidates and presented to the user. Then, one of the target parking position candidates is set as the target parking position based on the user's instruction input from the operation unit.

According to the present invention, a parking position that is highly likely to be desired by the user can be presented as a target parking position, and the user's operation can be simplified.

FIG. 1 is a block diagram showing the configuration of a parking assist device according to an embodiment of the present invention. FIG. 2 is a flowchart showing the processing of the parking assist device according to an embodiment of the present invention.

Next, embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same parts are given the same reference numerals and redundant description will be omitted.

[Configuration of parking assist device]
An example of the configuration of the parking assist device will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of a parking assistance device according to this embodiment. As shown in FIG. 1, the parking assistance device includes a select lever 71 of a vehicle (not shown), an operating section 73, a presentation section 75, and a controller 100. In addition, the parking assist device may include the sensor section 77 and the vehicle control device 400.

The parking assistance device may be installed in a vehicle that has an automatic driving function, or may be installed in a vehicle that does not have an automatic driving function. Further, the parking assist device may be installed in a vehicle that can switch between automatic driving and manual driving. Furthermore, even if the automatic driving function is a driving support function that automatically controls only some of the vehicle control functions such as steering control, braking force control, and driving force control to support the driver's driving. good. In this embodiment, the parking assist device will be described as being installed in a vehicle having an automatic driving function.

Although not shown in FIG. 1, the parking assist device may control various actuators included in the vehicle, such as a steering actuator, an accelerator pedal actuator, and a brake actuator. This makes it possible to realize highly accurate automated driving.

The select lever 71 is a lever that selects at least forward or backward movement of the vehicle. More specifically, it is a lever that is operated by the driver (user) of the vehicle to select one of a plurality of predetermined ranges. Ranges selectable by the select lever 71 include, for example, a drive range (D), a brake range (B), a reverse range (R), a neutral range (N), a parking range (P), and the like.

Note that the drive range (D) and brake range (B) are ranges used when moving the vehicle forward. For example, during manual operation, the brake range (B) is a range in which a stronger braking force than the drive range (D) occurs when the accelerator is released.

Additionally, the reverse range (R) is a range used when moving the vehicle backwards.

The operation unit 73 receives user operations corresponding to various user instructions for the parking assistance device, and transmits information specifying the various instructions to the controller 100, which will be described later. Note that the operating section 73 is different from the select lever 71. For example, the operation unit 73 may be an input interface with a plurality of buttons, or may be a touch panel with a touch interface.

More specifically, the operation unit 73 receives user operations by displaying icons expressed as pictures or symbols on the screen so that the user can operate them, and by having the user touch or drag the displayed icons. It may be.

In particular, the operation unit 73 accepts a user's operation to designate at least one target parking position from among the target parking position candidates presented by the presentation unit 75, which will be described later. Further, the operation unit 73 may receive an instruction to start a parking operation from a user. In addition, the operation unit 73 may receive an instruction to switch target parking position candidates from the user.

The presentation unit 75 presents various information received from the controller 100, which will be described later, to the user of the parking assistance device. In particular, the presentation unit 75 presents target parking position candidates. In addition, the presenting unit 75 may present to the user of the parking assist device a moving route candidate for the vehicle to move to the target parking position candidate.

For example, the presentation unit 75 is a display that displays graphics and characters using a combination of a plurality of display pixels. Further, the presentation unit 75 may be a head-up display device, a head-mounted display, smart glasses, or a teleprompter.

Note that the presentation unit 75 is not limited to one that presents various types of information using visual information. The presentation unit 75 may present information to the user using auditory information, or may generate vibrations and present information to the user through stimulation by the vibrations.

The sensor section 77 detects the environment around the vehicle. For example, the sensor unit 77 may be a digital camera equipped with a solid-state imaging device such as a CCD or CMOS that captures images of the surroundings of the vehicle. A digital camera images the surroundings of a vehicle to obtain a digital image of the surrounding area. A digital camera images a predetermined range around a vehicle by setting the focal length, the angle of view of the lens, the vertical and horizontal angles of the camera, and the like.

Note that the captured image captured by the digital camera is output to the controller 100 and stored in a storage unit (not shown) for a predetermined period. For example, a digital camera acquires captured images at predetermined time intervals, and the captured images acquired at predetermined time intervals are stored in the storage unit as past images. The past image may be deleted after a predetermined period of time has elapsed from the time when the past image was captured.

Additionally, the sensor section 77 may be an object detection sensor mounted on the vehicle, such as a laser radar, millimeter wave radar, or camera, that detects objects existing around the vehicle. The sensor section 77 may include a plurality of different types of object detection sensors.

For example, the sensor unit 77 detects moving objects including other vehicles, motorbikes, bicycles, and pedestrians, and stationary objects including stopped vehicles, and detects the position, orientation, size, speed, and acceleration of moving objects and stationary objects with respect to the vehicle. , deceleration, yaw rate, etc. The sensor unit 77 may output, as a detection result, the behavior of a two-dimensional object in a zenith view (also referred to as a plan view) viewed from the air above the vehicle, for example. Further, the sensor section 77 may detect signs (road signs, signs displayed on the road surface), guide rails, etc. that are present around the vehicle.

Furthermore, the sensor unit 77 detects the state of the vehicle in addition to the environment around the vehicle. For example, the sensor unit 77 may detect the moving speed of the vehicle (moving speed in the front-rear direction, left-right direction, turning speed), the turning angle of the wheels of the vehicle, and the rate of change in the turning angle. .

In addition, the sensor unit 77 uses a position detection sensor that measures the absolute position of the vehicle, such as a position detection sensor that measures the absolute position of the vehicle, such as a GPS (global positioning system) or odometry, to determine the absolute position of the vehicle. , may include sensors that measure the position, attitude, and speed of the vehicle with respect to a predetermined reference point.

The vehicle control device 400 controls the vehicle based on the results obtained by the controller 100. For example, the vehicle control device 400 automatically controls acceleration/deceleration and the turning angle of the steered wheels by controlling the accelerator opening of the vehicle and the braking force of the braking device according to a predetermined driving route, and also controlling the steering angle of the steering wheel. The vehicle may also be operated automatically. Alternatively, at least part of the acceleration/deceleration, the turning angle of the steered wheels, and the steering force of the steering wheel can be controlled by controlling part of the accelerator opening of the vehicle, the braking force of the braking device, or the steering angle and steering reaction force of the vehicle. It may be possible to support the driving operation of the vehicle occupant by controlling the vehicle. Further, the predetermined driving route may be displayed on a display device or the like to assist the driver in driving along the driving route.

The controller 100 (an example of a control unit or a processing unit) is a general-purpose computer that includes a CPU (central processing unit), memory, and an input/output unit. A computer program (parking assistance program) is installed in the controller 100 for functioning as a part of the parking assistance device. By executing the computer program, the controller 100 functions as a plurality of information processing circuits (110, 112, 114, 116, 118, 120) included in the parking assistance device.

Here, an example will be shown in which a plurality of information processing circuits (110, 112, 114, 116, 118, 120) included in the parking assistance device are realized by software. However, it is also possible to configure the information processing circuits (110, 112, 114, 116, 118, 120) by preparing dedicated hardware for executing each information processing described below. Further, the plurality of information processing circuits (110, 112, 114, 116, 118, 120) may be configured with individual hardware. Further, the information processing circuits (110, 112, 114, 116, 118, 120) may also be used as an electronic control unit (ECU) used for other controls related to the own vehicle.

The controller 100 includes a plurality of information processing circuits (110, 112, 114, 116, 118, 120) including a candidate extraction section 110, a relative position calculation section 112, a distance calculation section 114, a travel route calculation section 116, and a display setting section 118. , a parking position setting section 120.

The candidate extraction unit 110 extracts one or more parking position candidates around the vehicle based on the information from the sensor unit 77. For example, the candidate extracting unit 110 detects a parking space in which a vehicle can park around the vehicle in a parking lot. The candidate extracting unit 110 may detect other vehicles, obstacles, parking spaces, etc. from images taken by the sensor unit 77, which is a camera, through image processing, and detect possible parking spaces.

The relative position calculation unit 112 calculates the relative position of the parking position candidate extracted by the candidate extraction unit 110 with respect to the vehicle. More specifically, the relative position calculation unit 112 obtains the coordinates of the parking position candidate in the stationary system of the vehicle.

In addition, if the parking position candidate extracted by the candidate extraction unit 110 is a parking position where the vehicle has been parked in the past (memorized parking position), a relative It may also be something that calculates the position.

For example, the relative position calculation unit 112 acquires first relative position information indicating the positional relationship between the vehicle and targets around the parking position when the vehicle is parked at the parking position (stored parking position). It's okay. The acquired first relative position information is stored in a storage unit (not shown).

When the vehicle approaches the stored parking position again after a period of time has elapsed since the transmission from the stored parking position, the relative position calculation unit 112 generates a second signal indicating the positional relationship between the vehicle and targets around the vehicle. It may also be one that obtains relative position information. In this case, the relative position calculation unit 112 may calculate the relative position of the vehicle with respect to the parking position candidate by comparing the first relative position information and the second relative position information.

When comparing the first relative position information and the second relative position information, the relative position of the vehicle and the relative position of the stored parking position can be determined with reference to targets around the vehicle. Therefore, by calculating the difference between both relative positions, the relative position calculation unit 112 can obtain the coordinates of the parking position candidate in the stationary system of the vehicle.

The distance calculation unit 114 calculates the distance from the vehicle to the parking position candidate extracted by the candidate extraction unit 110. The distance calculation unit 114 calculates the distance between the parking position candidate and the vehicle for each parking position candidate. The distance calculation unit 114 may calculate the distance between the parking position candidate and the vehicle based on the relative position calculated by the relative position calculation unit 112.

The travel route calculation unit 116 calculates a travel plan (travel route candidate) for the vehicle until the vehicle is parked at the parking position candidate extracted by the candidate extraction unit 110. That is, the travel route calculation unit 116 calculates a travel route candidate from the current position of the vehicle to the parking position candidate. The travel route calculation unit 116 calculates a vehicle travel route candidate for each parking position candidate.

Note that the driving route calculation unit 116 may calculate the travel distance of the vehicle when moving the vehicle according to the calculated travel route candidate. The calculated travel route candidate may be presented to the user via the presentation unit 75.

In addition, when moving the vehicle according to the calculated travel route candidate, the travel route calculation unit 116 may determine whether the vehicle can move to the parking position candidate only by backing up.

The display setting unit 118 extracts at least one parking position candidate from among the parking position candidates as a target parking position candidate based on the user's operation on the select lever 71 or the operation unit 73. The extracted target parking position candidates are presented to the user via the presentation unit 75.

When the vehicle is stopped and the select lever 71 selects reverse (when the select lever 71 is changed to the reverse range), the display setting unit 118 selects at least one of the parking position candidates located behind the vehicle. The two parking position candidates are extracted as target parking position candidates. Note that "the rear of the vehicle" means the direction in which the vehicle is moving backward. For example, "the rear of the vehicle" may be the range imaged by a rear camera attached to the rear of the vehicle.

In addition, when the start instruction is received and a mode other than reverse is selected by the select lever 71 (when the select lever 71 is in a position other than the reverse range), the display setting unit 118 selects a position on the side of the vehicle among the parking position candidates. At least one parking position candidate located at may be extracted as the target parking position candidate. Note that "the side of the vehicle" refers to an area facing the side of the vehicle other than in the forward and backward directions of the vehicle. For example, "the side of the vehicle" may be the range imaged by a side camera attached to the side of the vehicle.

Furthermore, when the vehicle is stopped and the select lever 71 selects reverse (when the select lever 71 is changed to reverse range), the display setting unit 118 selects a position behind the vehicle among the parking position candidates. In addition, one parking position candidate that can be moved only by moving backward from the current position of the vehicle may be extracted as the target parking position candidate.

When the vehicle is stopped and the select lever 71 selects reverse (when the select lever 71 is changed to the reverse range), the display setting unit 118 selects a parking position that is located behind the vehicle and located behind the vehicle among the parking position candidates. The one parking position candidate closest to the target parking position candidate may be extracted as the target parking position candidate.

In addition, each time the display setting unit 118 receives a switching instruction, the display setting unit 118 selects one of the parking position candidates, in order from the parking position candidates located behind the vehicle and having the smallest distance to the vehicle. The position candidates may be extracted as target parking position candidates.

Furthermore, when the vehicle is stopped and the select lever 71 selects reverse (when the select lever 71 is changed to reverse range), the display setting unit 118 selects a position behind the vehicle among the parking position candidates. In addition, one parking position candidate having the smallest moving distance from the current position of the vehicle may be extracted as the target parking position candidate.

In addition, each time the display setting unit 118 receives a switching instruction, the display setting unit 118 selects one of the parking position candidates selected from among the parking position candidates as the target parking position candidate in order of decreasing moving distance from the current position of the vehicle. It may be extracted as Note that the presenting unit 75 may present the target parking position candidate to the user every time the display setting unit 118 extracts the target parking position candidate.

The parking position setting unit 120 sets one of the target parking position candidates as the target parking position based on the user's instruction (operation) input from the operation unit 73. Specifically, the target parking position candidate selected by the user from among the target parking position candidates presented to the user via the presentation unit 75 is set as the target parking position.

In addition, the parking position setting unit 120 may transmit the travel route from the current position of the vehicle to the target parking position to the vehicle control device 400. The vehicle control device 400 may control the parking operation of the vehicle based on the transmitted travel route. As a result, the vehicle is parked at the set target parking position.

[Parking support device processing procedure]
Next, the processing procedure of the parking assist device according to this embodiment will be explained with reference to the flowchart of FIG. 2. FIG. 2 is a flowchart showing the processing of the parking assist device according to this embodiment. The processing of the parking assist device shown in FIG. 2 may be repeatedly executed at a predetermined period.

In step S101, the candidate extraction unit 110 extracts one or more parking position candidates around the vehicle based on information from the sensor unit 77.

In step S103, the relative position of the parking position candidate extracted by the candidate extraction unit 110 with respect to the vehicle is calculated. For example, the relative position calculation unit 112 calculates the relative position of the parking position candidate with respect to the vehicle. Further, the distance calculation unit 114 may calculate the distance from the vehicle to the parking position candidate extracted by the candidate extraction unit 110. Further, the driving route calculation unit 116 may calculate a driving plan (travel route candidate) for the vehicle until the vehicle is parked at the parking position candidate extracted by the candidate extraction unit 110.

In step S105, the display setting unit 118 obtains the user's operation details from the select lever 71 and the operation unit 73.

In step S107, the display setting unit 118 determines whether reverse has been selected with the select lever 71 while the vehicle is stopped (whether the select lever 71 has been changed to reverse range).

When reversing is selected (YES in step S107), in step S109, the display setting unit 118 extracts at least one parking position candidate located behind the vehicle from among the parking position candidates as a target parking position candidate. do.

If reverse is not selected (NO in step S107), in step S113, the display setting unit 118 determines whether a start instruction has been received.

When the start instruction is received (YES in step S113), in step S115, the display setting unit 118 selects at least one parking position candidate located on the side of the vehicle among the parking position candidates as a target parking position candidate. Extract.

If the start instruction has not been received (NO in step S113), then the flowchart in FIG. 2 ends.

After the target parking position candidates are extracted in steps S109 and S115, the presentation unit 75 presents the extracted target parking position candidates to the user in step S111.

In step S117, the display setting unit 118 determines whether a switching instruction has been received.

If the switching instruction is received (YES in step S117), the process returns to step S107.

If the switching instruction has not been received (NO in step S117), in step S119, the parking position setting unit 120 sets one of the target parking position candidates to the target parking position based on the user's operation on the operation unit 73. Set as position. After that, the flowchart of FIG. 2 ends.

[Effects of embodiment]
As explained in detail above, the parking assistance method and parking assistance device according to the present embodiment calculates the travel route from the current position of the vehicle to the target parking position, and controls the parking operation of the vehicle based on the travel route. do. At that time, one or more parking position candidates around the vehicle are extracted, and when the vehicle is stopped and the selector lever selects reverse, at least one parking position candidate located behind the vehicle is extracted. The position candidates are extracted as target parking position candidates and presented to the user. Then, one of the target parking position candidates is set as the target parking position based on the user's instruction input from the operation unit.

As a result, a parking position that the user is likely to desire can be presented as the target parking position, and the user's operations can be simplified. In particular, since only the parking position candidates located behind the vehicle among the extracted parking position candidates are presented to the user as target parking position candidates, excessive information presentation to the user is suppressed. Since the user only has to set the target parking position from among limited options, the user's operations can be simplified. Therefore, user convenience is also improved.

Furthermore, since the select lever has already been changed to the reverse range, there is no need to change the select lever again when starting the parking operation of the vehicle to the target parking position located at the rear of the vehicle. Therefore, it is possible to suppress the number of times the range is changed, and wear of mechanical parts can be suppressed.

Further, the parking support method and the parking support device according to the present embodiment accept a user's instruction to start a parking operation from the operation unit, and when a mode other than backward is selected with the select lever while the start instruction is received, At least one parking position candidate located on the side of the vehicle among the parking position candidates may be extracted as a target parking position candidate and presented via the presentation unit.

As a result, a parking position that the user is likely to desire can be presented as the target parking position, and the user's operations can be simplified. In particular, since only the parking position candidates located on the side of the vehicle among the extracted parking position candidates are presented to the user as target parking position candidates, excessive information presentation to the user is suppressed. Since the user only has to set the target parking position from among limited options, the user's operations can be simplified.

Further, in the parking support method and parking support device according to the present embodiment, when the vehicle is stopped and reverse is selected by the select lever, a parking position that is located behind the vehicle and away from the vehicle's current position among the parking position candidates is provided. One parking position candidate that can be moved only by backing up may be extracted as a target parking position candidate and presented via the presentation unit. This prevents excessive information from being presented to the user. Since the user only has to set the target parking position from among limited options, the user's operations can be simplified.

Further, in the parking support method and parking support device according to the present embodiment, when the vehicle is stopped and reverse is selected by the select lever, one of the parking position candidates that is located behind the vehicle and closest to the vehicle is selected. The parking position candidates may be extracted as target parking position candidates and presented via the presentation unit. As a result, the user only has to check whether there is a parking operation at the presented target parking position candidate, and the task of selecting a target parking position candidate from among a plurality of parking position candidates is omitted. As a result, user operations can be simplified.

Furthermore, the parking assistance method and parking assistance device according to the present embodiment accepts an instruction to switch target parking position candidates from a user, and each time a switching instruction is received, a parking position candidate located behind the vehicle is selected from among the parking position candidates. One parking position candidate selected from among the parking position candidates may be extracted as a target parking position candidate and presented via the presentation unit in order of decreasing distance. As a result, the user only has to check whether there is a parking operation at the presented target parking position candidate, and the task of selecting a target parking position candidate from among a plurality of parking position candidates is omitted. As a result, user operations can be simplified.

Further, in the parking support method and parking support device according to the present embodiment, when reverse is selected by the select lever while the vehicle is stopped, a parking position that is located behind the vehicle and away from the current position of the vehicle is provided. The one parking position candidate with the smallest movement distance may be extracted as the target parking position candidate and presented via the presentation unit. As a result, the user only has to check whether there is a parking operation at the presented target parking position candidate, and the task of selecting a target parking position candidate from among a plurality of parking position candidates is omitted. As a result, user operations can be simplified. In particular, since a target parking position with a short travel distance is set, the time required for parking operations can also be shortened. Therefore, user convenience is also improved.

Furthermore, the parking assistance method and parking assistance device according to the present embodiment accepts an instruction to switch the target parking position candidates from the user, and each time a switching instruction is received, the parking assistance method and the parking assistance device according to the present embodiment select the target parking position candidates in descending order of the distance traveled from the current position of the vehicle. One parking position candidate selected from among the parking position candidates may be extracted as a target parking position candidate and presented via the presentation unit. As a result, the user only has to check whether there is a parking operation at the presented target parking position candidate, and the task of selecting a target parking position candidate from among a plurality of parking position candidates is omitted. As a result, user operations can be simplified. In particular, since parking position candidates are presented in order from the shortest travel distance, the user's operation can be simplified. Furthermore, the time required for parking operations can also be shortened. Therefore, user convenience is also improved.

The parking support method and parking support device according to the present embodiment also provide, for each parking position candidate where the vehicle has parked in the past, first relative position information indicating the positional relationship between the vehicle and the target around the parking position candidate. It may also be something that obtains. Then, second relative position information indicating the positional relationship between the target objects around the vehicle and the vehicle is acquired, and the first relative position information and the second relative position information are compared to determine the relative position of the vehicle with respect to the parking position candidate. It may also be something that calculates. As a result, even if a sign such as a white line indicating a parking slot corresponding to the extracted parking position cannot be recognized, the relative position of the vehicle with respect to the parking position candidate can be calculated based on the targets around the vehicle. As a result, the accuracy regarding the parking operation of the vehicle can be improved. Furthermore, it is possible to realize a parking operation that is less affected by changes in the environment around the vehicle (for example, rainy weather, snowfall, etc.).

Furthermore, the parking support method and parking support device according to the present embodiment calculate a travel route candidate from the current vehicle position to the target parking position candidate for each target parking position candidate, and present the travel route candidate to the user. It may be. Thereby, the user can confirm the travel route candidates scheduled for each target parking position candidate. Furthermore, one target parking position can be set while referring to the presented travel route candidates. Therefore, the user's preferences can be reflected in the parking operation of the vehicle.

Each function shown in the embodiments described above may be implemented by one or more processing circuits. Processing circuits include programmed processors, electrical circuits, and other devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Also included.

Although the content of the present invention has been described above in accordance with the embodiments, it is obvious to those skilled in the art that the present invention is not limited to these descriptions, and that various modifications and improvements can be made. The discussion and drawings that form part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, implementations, and operational techniques will be apparent to those skilled in the art from this disclosure.

It goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is determined only by the matters specifying the invention in the claims that are reasonable from the above description.

71 Select lever 73 Operation section 75 Presentation section 77 Sensor section 100 Controller 110 Candidate extraction section 112 Relative position calculation section 114 Distance calculation section 116 Driving route calculation section 118 Display setting section 120 Parking position setting section 400 Vehicle control device

Claims

A parking assistance method for a controller that calculates a travel route from a current position of a vehicle to a target parking position, and controls a parking operation of the vehicle based on the travel route, the method comprising:
The vehicle includes at least a select lever that selects forward or reverse, an operation unit that inputs user instructions, and a presentation unit that presents target parking position candidates,
The controller includes:
extracting one or more parking position candidates around the vehicle;
When reversing is selected by the select lever while the vehicle is stopped, at least one parking position candidate located behind the vehicle among the parking position candidates is extracted as the target parking position candidate and the present through the presentation section;
A parking assistance method characterized in that one of the target parking position candidates is set as the target parking position based on a user's instruction input from the operation unit.
The parking assistance method according to claim 1,
The controller includes:
receiving an instruction from the user to start the parking operation from the operation unit;
When the start instruction is received and a mode other than reverse is selected by the select lever, at least one parking position candidate located to the side of the vehicle among the parking position candidates is selected as the target parking position candidate. A parking assistance method characterized by extracting the information and presenting it via the presentation unit.
The parking assistance method according to claim 1 or 2,
The controller includes:
When reversing is selected by the select lever while the vehicle is stopped, one of the parking position candidates is located behind the vehicle and is movable from the current position of the vehicle only by reversing. A parking assistance method, characterized in that: is extracted as the target parking position candidate and presented via the presentation unit.
The parking assistance method according to any one of claims 1 to 3,
The controller includes:
When the vehicle is stopped and reverse is selected by the select lever, one of the parking position candidates located behind the vehicle and closest to the vehicle is selected as the target parking position candidate. A parking assistance method characterized in that the parking assistance method is characterized in that:
The parking assistance method according to any one of claims 1 to 4,
The controller includes:
receiving an instruction to switch the target parking position candidate from the user via the operation unit;
Each time the switching instruction is received, one parking position candidate selected from among the parking position candidates is selected in order from the parking position candidates located behind the vehicle and having the smallest distance to the vehicle. , a parking assistance method characterized in that the target parking position candidate is extracted and presented via the presentation unit.
The parking assistance method according to any one of claims 1 to 3,
The controller includes:
When the vehicle is stopped and reverse is selected by the select lever, one of the parking position candidates is located behind the vehicle and has the smallest distance traveled from the current position of the vehicle. A parking assistance method, characterized in that: is extracted as the target parking position candidate and presented via the presentation unit.
The parking assistance method according to any one of claims 1 to 3,
The controller includes:
receiving an instruction to switch the target parking position candidate from the user via the operation unit;
Each time the switching instruction is received, one parking position candidate selected from among the parking position candidates is extracted as the target parking position candidate in order of decreasing travel distance from the current position of the vehicle. A parking assistance method characterized by presenting the information via the presentation unit.
The parking assistance method according to any one of claims 1 to 7,
The controller includes:
For each of the parking position candidates where the vehicle has parked in the past, first relative position information indicating a positional relationship between the vehicle and a target around the parking position candidate is obtained;
obtaining second relative position information indicating a positional relationship between a target around the vehicle and the vehicle;
A parking assistance method, comprising comparing the first relative position information and the second relative position information to calculate a relative position of the vehicle with respect to the parking position candidate.
The parking assistance method according to any one of claims 1 to 8,
The controller includes:
Calculating a travel route candidate from the current position of the vehicle to the target parking position candidate for each target parking position candidate;
A parking assistance method characterized by presenting the travel route candidate to the user via the presentation unit.
A parking assistance device comprising a controller that calculates a moving route from a current position of a vehicle to a target parking position and controls a parking operation of the vehicle based on the moving route,
The vehicle includes at least a select lever that selects forward or reverse, an operation unit that inputs user instructions, and a presentation unit that presents target parking position candidates,
The controller includes:
extracting one or more parking position candidates around the vehicle;
When reversing is selected by the select lever while the vehicle is stopped, at least one parking position candidate located behind the vehicle among the parking position candidates is extracted as the target parking position candidate and the Present through the presentation section,
A parking assistance device characterized in that one of the target parking position candidates is set as the target parking position based on a user's instruction input from the operation unit.