CN112124095A - Parking assist system - Google Patents

Abstract

A parking assist system includes: a control device configured to control a vehicle; a vehicle position detecting device configured to detect a position of the vehicle, a shifting device configured to be operated to change a shift position; and a brake input member configured to be operated to drive the brake device. In a case where the vehicle is stopped at a position other than the target position and the switch position, the control device changes the shift position to the parking position or the neutral position unless a shift position maintaining condition is satisfied. The gear maintaining condition includes at least one of conditions (i) and (ii), the condition (i) being a condition that: the vehicle stops at a position outside a prescribed range in accordance with an operation of a brake input member, the condition (ii) being a condition that: the reason why the vehicle has stopped is removed.

Description

Parking assist system

Technical Field

The present invention relates to a parking assist system that autonomously moves a vehicle from a current position to a target position.

Background

JP2015-120403a discloses moving the shift position of the shift lever to the parking position at the end of the automatic parking process.

In such an automatic parking process, the control means may calculate a trajectory (moving path) including a switching position for switching the traveling direction of the vehicle. In the case where the vehicle is stopped at a position near the switching position and then the control mode of the vehicle is switched from the automatic drive mode to the manual drive mode, the driver starts manually driving the vehicle at a position near the switching position. In this case, the driver may intend to maintain the traveling direction of the vehicle, or may intend to switch the traveling direction of the vehicle. At this time, if the shift lever recognized by the driver has a gear different from the actual gear, the vehicle may move in a direction opposite to the intention of the driver. When the vehicle moves in this manner, the driver may be irritated even if the automatic stop function is active and thus safety around the vehicle is ensured. The same problem may occur even when the vehicle is stopped at a position away from the switching position.

Disclosure of Invention

In view of such problems in the prior art, a primary object of the present invention is to provide a parking assist system capable of preventing a vehicle from moving in a direction opposite to the intention of a driver without losing the convenience of the driver in the case where the driver takes over at least a part of a parking operation after an automatic parking process is cancelled.

In order to achieve the object, one embodiment of the present invention provides a parking assist system (1) for a vehicle including a powertrain (4), a brake device (5), and a steering device (6), the parking assist system including: a control device (15) configured to control the vehicle so as to execute an automatic movement process to autonomously move the vehicle from a current position to a target position; and a vehicle position detection device (7,10) configured to detect a position of the vehicle relative to a trajectory of the vehicle from the current position to the target position, wherein the vehicle includes: a gear shift device (25) configured to be operated by a driver to change a gear position; and a brake input member (24) configured to be operated by the driver to drive the brake device, wherein, in a case where the vehicle is stopped at a position other than a switching position for switching a traveling direction of the vehicle, the control device changes the shift position to a parking position or a neutral position unless a shift position maintaining condition is satisfied, and

the gear maintaining condition includes at least one of conditions (i) and (ii), the condition (i) being a condition that: the vehicle is stopped at a position outside a prescribed range in front of the switching position and the vehicle is stopped in accordance with the driver's operation of the brake input member, the condition (ii) being a condition that: the cause is removed within a prescribed period of time from occurrence of a cause that the vehicle has stopped or after the stop of the vehicle.

According to this arrangement, by normally switching the shift position to the parking position or the neutral position when the vehicle is stopped, the vehicle can be prevented from moving in a direction opposite to the intention of the driver. In addition, in a case where the vehicle is unlikely to move in the direction opposite to the driver's intention, by exceptionally not switching the shift position to the parking position or the neutral position, it is possible to improve the convenience of the driver.

Preferably, the gear maintaining condition does not include the following condition: the vehicle stops at a position within the prescribed range in front of the switching position and the vehicle stops in accordance with the operation of the brake input member by the driver.

In the case where the vehicle is stopped at a position within a prescribed range in front of the switching position in accordance with the driver's operation of the brake input member (hereinafter referred to as "brake operation"), the driver may have performed a brake operation in order to switch the traveling direction of the vehicle at the position or for other reasons. That is, in this case, the traveling direction (forward direction or backward direction) in which the driver intends to move the vehicle after the vehicle stops is unknown. In view of this, in the case where the vehicle is stopped within a prescribed range in front of the switch position in accordance with the driver's brake operation, the control device switches the shift position to the parking position or the neutral position to request the driver to operate the shift device so as to switch the shift position from the parking position or the neutral position to the drive position or the reverse position. Therefore, the vehicle can be prevented from moving in the direction opposite to the driver's intention.

Preferably, the gear position maintaining condition does not include a condition that the vehicle is stopped due to an abnormality of the parking assist system.

According to this arrangement, the control means switches the shift position to the parking position or the neutral position in the case where the vehicle is stopped due to an abnormality of the parking assist system. Therefore, the vehicle can be prevented from being started accidentally, thereby improving safety around the vehicle.

Preferably, the vehicle further includes an output device (32,33) configured to give a notification to the driver based on an instruction from the control device, and the control device causes the output device to notify that the shift position has been switched or maintained when the vehicle is stopped at a position other than the target position and the switching position.

According to this arrangement, it is possible to prevent the driver from misunderstanding the shift position by causing the output device to notify the shift position.

Preferably, the vehicle position detecting device includes: an external environment sensor (7) configured to detect an obstacle present in a traveling direction of the vehicle, and the gear maintaining condition includes a condition (ii) including a condition (ii-1) and a condition (ii-2), the condition (ii-1) being a condition that: the vehicle stops in accordance with the operation of the brake input member by the driver, and releases or relaxes the operation of the brake input member within the prescribed period, the condition (ii-2) being a condition that: the vehicle stops according to the external environment sensor detecting the obstacle in a collision possible area, and the obstacle moves out of the collision possible area within the prescribed period.

According to this arrangement, the shift position is maintained on the assumption that the driver intends to move the vehicle in the same direction as before, thereby improving the convenience of the driver.

Preferably, the vehicle further includes a parking brake device that determines whether a driving condition is satisfied in a case where the shift position maintaining condition is not satisfied so that the control device changes the shift position to a parking position or a neutral position, and drives the parking brake device in a case where the control device determines that the driving condition is satisfied.

Preferably, in a case where the control means determines that the driving condition is not satisfied, the control means determines whether a non-driving condition is satisfied, and in a case where the control means determines that the non-driving condition is satisfied, the control means does not drive the parking brake means.

Preferably, the control means determines whether or not a parking brake setting set by the driver is on in a case where the control means determines that the non-driving condition is not satisfied, drives the parking brake means in a case where the control means determines that the parking brake setting is on, and does not drive the parking brake means in a case where the control means determines that the parking brake setting is off.

According to the present invention, it is possible to provide a parking assist system that can prevent a vehicle from moving in a direction opposite to the driver's intention without losing the driver's convenience in the case where the driver takes over at least a part of the parking operation after the automatic parking process is cancelled.

Drawings

Fig. 1 is a functional block diagram of a vehicle provided with a parking assist system according to an embodiment of the invention;

fig. 2 is a flowchart of an automatic parking process in the parking assist system according to the embodiment;

fig. 3A is a diagram showing a screen display of the touch panel during the target parking position reception process in the parking assist system according to the present embodiment;

fig. 3B is a diagram showing a screen display of the touch panel during the driving process in the parking assist system according to the present embodiment;

fig. 3C is a diagram showing a screen display of the touch panel when the automatic parking is completed in the parking assist system according to the present embodiment;

fig. 4 is a flowchart showing details of an automatic parking process in the parking assist system according to the present embodiment; and

fig. 5 is a plan view showing a trajectory of a vehicle during an automatic parking process in the parking assist system according to the present embodiment.

Detailed Description

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The parking assist system 1 is mounted on a vehicle such as an automobile, which is provided with a vehicle control system 2 configured to autonomously travel the vehicle.

As shown in fig. 1, the vehicle control system 2 includes a powertrain 4, a brake device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a navigation device 10, an operation input member 11, a driving operation sensor 12, a state detection sensor 13, a human-machine interface (HMI)14, and a control device 15. The above components of the vehicle control system 2 are connected to each other so that signals CAN be transmitted therebetween via a communication mechanism such as a Controller Area Network (CAN).

The powertrain 4 is a device configured to apply driving force to the vehicle. For example, the powertrain 4 includes a power source and a transmission. The power source includes at least one of an internal combustion engine such as a gasoline engine and a diesel engine and an electric motor. In the present embodiment, the powertrain 4 includes an automatic transmission 16 and a shift actuator 17 for changing a gear position of the automatic transmission 16 (a gear position of the vehicle). The brake device 5 is a device configured to apply a braking force to the vehicle. For example, the braking device 5 includes: a brake caliper configured to press a brake pad toward a brake rotor; and an electric cylinder configured to supply oil pressure to the caliper. The brake device 5 may include an electric parking brake device configured to restrict rotation of the wheel via a cable. The steering device 6 is a device for changing the steering angle of the wheels. For example, the steering device 6 includes: a rack-and-pinion mechanism configured to steer (rotate) wheels; and an electric motor configured to drive the rack-and-pinion mechanism. The drive train 4, the brake device 5 and the steering device 6 are controlled by a control device 15.

The external environment sensor 7 functions as an external environment information acquisition means for detecting electromagnetic waves, acoustic waves, and the like from the surroundings of the vehicle to detect an object outside the vehicle and acquire the surrounding information of the vehicle. The external environment sensor 7 includes a sonar 18 and an external camera 19. The external environment sensor 7 may also comprise a millimeter wave radar and/or a lidar. The external environment sensor 7 outputs the detection result to the control device 15.

Each sonar 18 is composed of a so-called ultrasonic sensor. Each sonar 18 emits an ultrasonic wave to the surroundings of the vehicle and captures an ultrasonic wave reflected by an object around the vehicle, thereby detecting the position (distance and direction) of the object. A plurality of sonars 18 are provided at each of the rear and front of the vehicle. In the present embodiment, two pairs of sonars 18 are provided on the rear bumper so as to be laterally spaced from each other, two pairs of sonars 18 are provided on the front bumper so as to be laterally spaced from each other, one pair of sonars 18 are provided on the front end portion of the vehicle such that two sonars 18 forming a pair are provided on the left and right side surfaces of the front end portion of the vehicle, and one pair of sonars 18 are provided on the rear end portion of the vehicle such that two sonars 18 forming a pair are provided on the left and right side surfaces of the rear end portion of the vehicle. That is, the vehicle is provided with six pairs of sonars 18 in total. The sonar 18 provided on the rear bumper mainly detects the position of an object behind the vehicle. The sonar 18 provided on the front bumper mainly detects the position of an object in front of the vehicle. The sonars 18 provided on the left and right side faces of the front end portion of the vehicle detect the positions of objects on the left and right outer sides of the front end portion of the vehicle, respectively. The sonars 18 provided on the left and right side faces of the rear end portion of the vehicle detect the positions of objects on the left and right outer sides of the rear end portion of the vehicle, respectively.

The external camera 19 is a device configured to capture an image of the surroundings of the vehicle. For example, each external camera 19 is composed of a digital camera using a solid-state imaging element such as a CCD or a CMOS. The external cameras 19 include a front camera for capturing an image in front of the vehicle and a rear camera for capturing an image behind the vehicle. The exterior cameras 19 may include a pair of left and right cameras disposed near a rear view mirror of the vehicle to capture images of both left and right sides of the vehicle.

The vehicle sensor 8 includes: a vehicle speed sensor configured to detect a speed of the vehicle; an acceleration sensor configured to detect an acceleration of the vehicle; a yaw rate sensor configured to detect an angular velocity about a vertical axis of the vehicle; and a direction sensor configured to detect a direction of the vehicle. For example, the yaw rate sensor is composed of a gyro sensor.

The navigation device 10 is a device configured to obtain a current position of a vehicle and provide route guidance to a destination or the like. The navigation device 10 includes a GPS receiving unit 20 and a map storage unit 21. The GPS receiving unit 20 identifies the position (latitude and longitude) of the vehicle based on a signal received from an artificial satellite (positioning satellite). The map storage unit 21 is constituted by a known storage device such as a flash memory or a hard disk, and stores map information.

The operation input member 11 is provided in the vehicle compartment to receive an input operation by an occupant (user) to control the vehicle. The operation input member 11 includes a steering wheel 22, an accelerator pedal 23, a brake pedal 24 (brake input member), and a shift lever 25 (shift member). The shift lever 25 is configured to receive an operation for switching a gear position of the vehicle.

The driving operation sensor 12 detects an operation amount of the operation input member 11. The driving operation sensor 12 includes: a steering angle sensor 26 configured to detect a steering angle of the steering wheel 22; a brake sensor 27 configured to detect a stepping amount of the brake pedal 24, and an acceleration sensor 28 configured to detect a stepping amount of the accelerator pedal 23. The driving operation sensor 12 outputs the detected operation amount to the control device 15.

The state detection sensor 13 is a sensor configured to detect a state change of the vehicle according to an operation of an occupant. The operations of the occupant detected by the state detection sensor 13 include an operation indicating an intention of the occupant to get off the vehicle (intention to come from getting on or off the vehicle) and an operation indicating no intention of the occupant to check the environment around the vehicle during an autonomous parking operation or an autonomous driving-off operation. The state detection sensor 13 includes a door opening/closing sensor 29 configured to detect opening and/or closing of a vehicle door, and a seat belt sensor 30 configured to detect a fastening state of a seat belt as sensors for detecting an operation indicating an intention to get off the vehicle. The state detection sensor 13 includes a mirror position sensor 31 configured to detect the position of the mirror as a sensor for detecting an operation corresponding to the out-of-position intention. The state detection sensor 13 outputs a signal indicating the detected change in the vehicle state to the control device 15.

The HMI 14 is an input/output device for receiving an input operation of an occupant and notifying the occupant of various information via display and/or voice. The HMI 14 includes, for example: a touch panel 32, the touch panel 32 including a display screen such as a liquid crystal display or an organic EL display, and being configured to receive an input operation by an occupant; a sound generating device 33 such as a buzzer or a speaker; a parking main switch 34; and a selection input member 35. The parking owner switch 34 receives an input operation of the occupant to perform a selected one of an automatic parking process (automatic parking operation) and an automatic drive-off process (automatic drive-off operation). The parking owner switch 34 is a so-called momentary switch that is turned on only when the occupant performs a pressing operation (push operation). The selection input member 35 receives selection operation of the occupant regarding selection of the automatic parking process and the automatic drive-off process. The selection input member 35 may be composed of a rotary selector switch, which preferably requires pressing as a selection operation.

The control device 15 is composed of an Electronic Control Unit (ECU) including a CPU, a nonvolatile memory such as a ROM, a volatile memory such as a RAM, and the like. The CPU executes operation processing according to the program, so that the control device 15 executes various types of vehicle control. The control device 15 may be composed of one piece of hardware, or may be composed of a unit including a plurality of pieces of hardware. Further, the functions of the control device 15 may be performed at least partially by hardware such as LSI, ASIC, and FPGA, or may be performed by a combination of software and hardware.

Further, the control device 15 performs arithmetic processing in accordance with the program, thereby performing conversion processing of the image (video) captured by the external camera 19 to generate a top view image corresponding to a plan view of the vehicle and its surrounding area and a bird's eye view image corresponding to a three-dimensional image of the portion of the vehicle and its surrounding area located in the traveling direction when viewed from above. The control device 15 may generate the overhead view image by combining the images of the front camera, the rear camera, and the left and right cameras, and may generate the bird's-eye view image by combining the image captured by the front camera or the rear camera facing the traveling direction and the image captured by the left and right cameras.

The parking assist system 1 is a system for performing a so-called automatic parking process and a so-called automatic drive-away process in which a vehicle autonomously moves to a prescribed target position (target parking position or target drive-away position) selected by an occupant to park or drive away the vehicle.

The parking assist system 1 includes: a control device 15; a brake pedal 24 as a brake input member; the driving operation sensor 12; and a state detection sensor 13.

The control device 15 controls the powertrain 4, the brake device 5, and the steering device 6 to perform an autonomous parking operation, thereby autonomously moving the vehicle to a target parking position and parking the vehicle at the target parking position; and performing an autonomous drive-off operation, thereby autonomously moving the vehicle to the target drive-off position and driving the vehicle off at the target drive-off position. To perform such an operation, the control device 15 includes an external environment recognizing unit 41, a vehicle position identifying unit 42, an action planning unit 43, a travel control unit 44, a vehicle abnormality detecting unit 45, and a vehicle state determining unit 46.

The external environment recognition unit 41 recognizes an obstacle (e.g., a parked vehicle or a wall) existing around the vehicle based on the detection result of the external environment sensor 7, thereby obtaining information about the obstacle. Further, the external environment recognition unit 41 analyzes the image captured by the external camera 19 based on a known image analysis method such as pattern matching, thereby determining whether a wheel stopper or an obstacle is present, and obtains the size of the wheel stopper or the obstacle in the case where the wheel stopper or the obstacle is present. Further, the external environment recognition unit 41 may calculate a distance to the obstacle based on the signal from the sonar 18 to obtain the position of the obstacle.

Further, by analyzing the detection result of the external environment sensor 7 (more specifically, by analyzing the image captured by the external camera 19 based on a known image analysis method such as pattern matching), the external environment recognition unit 41 can acquire, for example, a lane on a road defined by road markings and a parking space defined by white lines or the like provided on the surface of the road, parking lot, or the like.

The vehicle position identification unit 42 identifies the position of the vehicle (own vehicle) based on the signal from the GPS receiving unit 20 of the navigation device 10. Further, the vehicle position recognition unit 42 may obtain the vehicle speed and yaw rate from the vehicle sensor 8 in addition to the signal from the GPS receiving unit 20, and recognize the position and attitude of the vehicle by means of so-called inertial navigation.

The travel control unit 44 controls the powertrain 4, the brake device 5, and the steering device 6 to cause the vehicle to travel based on the travel control command from the action planning unit 43.

The vehicle abnormality detection unit 45 detects an abnormality of the vehicle (hereinafter referred to as "vehicle abnormality") based on signals from various devices and sensors. The vehicle abnormality detected by the vehicle abnormality detection unit 45 includes a malfunction of various devices (e.g., the powertrain 4, the brake device 5, and the steering device 6) required to drive the vehicle and a malfunction of various sensors (e.g., the external environment sensor 7, the vehicle sensor 8, and the GPS receiving unit 20) required to autonomously travel the vehicle. Further, the vehicle abnormality includes a malfunction of the HMI 14.

In the present embodiment, the vehicle abnormality detection unit 45 can detect an abnormality in the screen display of the touch panel 32 based on at least one signal from the touch panel 32.

The vehicle state determination unit 46 acquires the state of the vehicle based on signals from various sensors provided in the vehicle, and determines whether the vehicle is in a prohibition state in which autonomous movement of the vehicle (i.e., an autonomous parking operation or an autonomous drive-away operation) should be prohibited. When the occupant performs a driving operation (reset operation) of the operation input member 11, the vehicle state determination unit 46 determines that the vehicle is in the prohibition state. The reset operation is an operation of resetting (canceling) autonomous movement of the vehicle (i.e., an autonomous parking operation or an autonomous drive-off operation).

More specifically, the vehicle state determination unit 46 may determine to start the reset operation when the depression amount of the brake pedal 24 acquired (detected) by the brake sensor 27 reaches or exceeds a prescribed threshold value (hereinafter referred to as a "depression threshold value"). Additionally or alternatively, the vehicle state determination unit 46 may determine to start the reset operation when the depression amount of the accelerator pedal 23 acquired (detected) by the accelerator sensor 28 reaches or exceeds a prescribed threshold value. The vehicle state determination unit 46 may also determine to start the reset operation when the rate of change of the steering angle obtained (detected) by the steering angle sensor 26 reaches or exceeds a prescribed threshold value.

Further, when the vehicle is in a state reflecting the intention of the occupant to get off (intention to get on or off from the vehicle), the vehicle state determination unit 46 determines that the vehicle is in the prohibition state based on the detection result of the state detection sensor 13. More specifically, when the door open/close sensor 29 detects that the vehicle door is opened, the vehicle state determination unit 46 determines that the vehicle is in the prohibition state. Further, when the seatbelt sensor 30 detects that the seatbelt is released, the vehicle state determination unit 46 determines that the vehicle is in the prohibition state.

Further, when the vehicle is in a state reflecting the occupant's intention not to check the vehicle surroundings, the vehicle state determination unit 46 determines that the vehicle is in the prohibition state based on the detection result of the state detection sensor 13. More specifically, when the mirror position sensor 31 detects that the mirror is retracted, the vehicle state determination unit 46 determines that the vehicle is in the prohibition state.

In addition, when it is determined that the door is opened and the seatbelt is released based on the detection result of the state detection sensor 13, the vehicle state determination unit 46 determines that the intention of getting off the occupant is affirmative, and the vehicle is in a cancellation state in which the autonomous movement of the vehicle (i.e., the autonomous parking operation or the autonomous drive-away operation) should be cancelled. In addition, when there is an input to the cancel button displayed on the touch panel 32, the vehicle state determination unit 46 may determine that the vehicle is in the cancel state.

In the present embodiment, each vehicle seat provided in the vehicle compartment is provided with a seating sensor configured to detect seating of an occupant. The vehicle state determination unit 46 determines the seating position of the occupant based on the signal from the seating sensor (i.e., the vehicle state determination unit 46 identifies the vehicle seat in which the occupant is seated), and determines that the vehicle is in the cancellation state when the seat belt of the seating position is released and the door near the seating position is opened.

As described above, the driving operation sensor 12 and the state detection sensor 13 each correspond to a vehicle state detection device configured to detect a state of the vehicle (for example, a prohibition state in which an autonomous parking operation or an autonomous driving-away operation of the vehicle should be prohibited). The vehicle state determination unit 46 determines the state of the vehicle based on the detection results of the driving operation sensor 12 and the state detection sensor 13. By using the driving operation sensor 12, the reset operation of the occupant can be easily detected. By using the state detection sensor 13, the user's getting-off operation and the change in the state of the vehicle can be easily detected from the unfolding/folding operation of the rearview mirror.

When the vehicle is in a prescribed state and the HMI 14 or the parking master switch 34 receives a prescribed input of a user corresponding to a request for the automatic parking process or the automatic drive-off process, the action planning unit 43 executes the automatic parking process (autonomous parking operation) or the automatic drive-off process (autonomous drive-off operation). More specifically, when the vehicle is stopped or the vehicle is traveling at a low speed equal to or less than a prescribed vehicle speed (vehicle speed at which a candidate parking position can be searched for), the action planning unit 43 executes the automatic parking process in the case where a prescribed input corresponding to the automatic parking process is made. When the vehicle is stopped, the action planning unit 43 executes the automatic drive-off process (parallel drive-off process) when a prescribed input corresponding to the automatic drive-off process is performed. The process to be executed (automatic parking process or automatic drive-off process) may be selected by the action planning unit 43 based on the state of the vehicle. Alternatively, the above selection may also be made by the occupant via the touch panel 32 or the selection input member 35. When executing the automatic parking process, the action planning means 43 first displays a parking search screen for setting a target parking position on the touch panel 32. After the target parking position is set, the action planning means 43 causes the touch panel 32 to display a parking screen. When the automatic drive-away process is executed, the action planning unit 43 first causes the touch panel 32 to display a drive-away search screen for setting a target drive-away position. After the target drive-off position is set, the action planning section 43 displays the drive-off screen on the touch panel 32.

Hereinafter, the automatic parking process will be described with reference to fig. 2. The action planning unit 43 first performs an acquisition process (step ST1) to acquire one or more parking spots, if any. More specifically, in the case where the vehicle is stopped, the action planning unit 43 first causes the touch panel 32 of the HMI 14 to display a notification instructing the occupant to move the vehicle straight. When an occupant (hereinafter referred to as a "driver") sitting in a driver seat moves the vehicle straight, the external environment recognition unit 41 acquires the position and size of each detected obstacle and the position of a white line provided on the road surface based on a signal from the external environment sensor 7. The external environment recognition unit 41 extracts one or more undefined parking spaces and one or more defined parking spaces, if any, based on the acquired position and size of the obstacle and the acquired position of the white line (hereinafter, the undefined parking spaces and the defined parking spaces are collectively referred to as "parking spaces"). Each undefined parking space is a space which is not defined by a white line or the like, which is large enough to park the vehicle, and which is available (i.e., in which there are no obstacles). Each of the defined parking spaces is a space defined by a white line or the like, which is large enough to park the vehicle, and is available, i.e., to park another vehicle (a vehicle other than the own vehicle).

Next, the action planning unit 43 performs a trajectory calculation process (step ST2) to calculate the trajectory of the vehicle from the current position of the vehicle to each of the extracted parking spaces. In the case where the trajectory of the vehicle is calculated for a specific parking spot, the action planning unit 43 sets the parking spot as a parking candidate position where the vehicle can be parked, and causes the touch panel 32 to display the parking candidate position on the screen (parking search screen). In the case where the trajectory of the vehicle cannot be calculated due to the presence of the obstacle, the action planning unit 43 does not set the parking position as the parking position candidate and does not cause the touch panel 32 to display the parking position on the screen. When the action planning unit 43 sets a plurality of parking position candidates (i.e., a plurality of parking points at which the vehicle trajectory can be calculated), the action planning unit 43 causes the touch panel 32 to display these parking position candidates.

Next, the action planning unit 43 executes a target parking position receiving process (step ST3) to receive a selection operation by the occupant to select a target parking position, which is a parking position at which the occupant wants to park the vehicle and is selected from the one or more parking position candidates displayed on the touch panel 32. More specifically, the action planning unit 43 causes the touch panel 32 to display a overhead image and a bird's eye image in the traveling direction on the parking search screen shown in fig. 3A. When the action planning unit 43 acquires at least one parking position candidate, the action planning unit 43 causes the touch panel 32 to display a frame indicating the parking position candidate and an icon corresponding to the frame in an overlapping manner in at least one of the overhead view image and the bird's eye view image (the overhead view image in fig. 3A). The icon is composed of a symbol (see "P" in fig. 3A) indicating a parking position candidate. In addition, the action planning unit 43 causes the touch panel 32 to display a parking search screen including a notification instructing the driver to stop the vehicle and select the target parking position, so that the touch panel 32 receives the selection operation of the target parking position. The selection operation of the target parking position may be performed via the touch panel 32, or may be performed via the selection input member 35.

After the vehicle is stopped and the driver selects the target parking position, the action planning unit 43 causes the touch panel 32 to switch the screen from the parking search screen to the parking screen. As shown in fig. 3B, the parking screen is a screen in which an image in the traveling direction of the vehicle (hereinafter referred to as "traveling direction image") is displayed on the left half of the touch panel 32, and a top view image including the vehicle and its surrounding area is displayed on the right half of the touch panel 32. At this time, the action planning unit 43 may cause the touch panel 32 to display a thick frame indicating the target parking position selected from the parking candidate positions and an icon corresponding to the thick frame so that the thick frame and the icon overlap the overhead view image. The icon is composed of a symbol indicating a target parking position and is displayed in a color different from the symbol indicating a candidate parking position.

After the target parking position is selected and the screen of the touch panel 32 is switched to the parking screen, the action planning unit 43 executes a driving process (step ST4) to cause the vehicle to travel along the calculated trajectory. At this time, the action planning unit 43 controls the vehicle so that the vehicle travels along the calculated trajectory based on the position of the vehicle acquired by the GPS receiving unit 20 and signals from the external camera 19, the vehicle sensor 8, and the like. At this time, the action planning unit 43 controls the powertrain 4, the brake device 5, and the steering device 6 to perform a switching operation for switching the traveling direction of the vehicle (a reversing operation for reversing the traveling direction of the vehicle). The switching operation may be repeatedly performed or may be performed only once.

In the driving process, the action planning unit 43 may acquire a traveling direction image from the external camera 19 and cause the touch panel 32 to display the acquired traveling direction image on the left half portion thereof. For example, as shown in fig. 3B, when the vehicle moves backward, the action planning unit 43 may cause the touch panel 32 to display an image behind the vehicle captured by the external camera 19 on the left half portion thereof. When the action planning unit 43 is executing the driving process, the surrounding image of the vehicle (own vehicle) in the overhead image displayed on the right half of the touch panel 32 changes as the vehicle moves. When the vehicle reaches the target parking position, the action planning unit 43 stops the vehicle and ends the driving process.

When the driving process ends, the action planning unit 43 executes the parking process (step ST 5). In the parking process, the action planning unit 43 first drives the shift actuator 17 to set the shift position (shift range) to the parking position (parking range). Thereafter, the action planning unit 43 drives the parking brake device, and causes the touch panel 32 to display a pop-up window indicating that the automatic parking of the vehicle has been completed (see fig. 3C). The pop-up window may be displayed on the screen of the touch panel 32 for a prescribed period of time. Thereafter, the action planning section 43 may cause the touch panel 32 to switch the screen to the operation screen or the map screen of the navigation device 10.

In the parking process, there may be a case where the shift position cannot be changed to the parking position due to an abnormality of the shift actuator 17, or a case where the parking brake device 53 cannot be driven due to an abnormality of the parking brake device 53. In these cases, the action planning unit 43 may cause the touch panel 32 to display the cause of the abnormality on the screen thereof.

Next, with reference to fig. 1, 4, and 5, details of the automatic parking process will be described with respect to a case where the vehicle is stopped during the automatic parking process. Hereinafter, an automatic parking process in which the vehicle is moved from the current position to the target parking position will be described as an embodiment of the automatic parking process. However, the present invention may be applied to an automatic drive-off process to move a vehicle from a current position to a target drive-off position in the vicinity thereof. Incidentally, the brake device 5 includes a main brake device 51 (a commonly used brake device) and the above-described electric parking brake device 53. The service brake device 51 is configured to be driven to apply a braking force to the vehicle in accordance with stepping of the brake pedal 24 by the driver. The parking brake device 53 is configured to be driven to apply a braking force to the vehicle in accordance with a driver's pull of the parking brake lever 52 (an embodiment of the operation input member 11). That is, the brake device 5 (the main brake device 51 and/or the parking brake device 53) is driven to apply a braking force to the vehicle, which will be simply referred to as "the brake device 5 is driven". The control device 15 can actuate the main brake device 51 and the parking brake device 53.

In the present embodiment, the action planning unit 43 of the control device 15 calculates the trajectory (movement route) of the vehicle such that the vehicle moves forward from the current position to the switching position, then stops at the switching position, then moves backward from the switching position to the target parking position, and then stops at the target parking position (see step ST2 in fig. 2). First, the travel control unit 44 of the control device 15 moves the vehicle forward along the trajectory at the normal moving speed (step ST 11). When the vehicle is moved in this manner, the control device 15 determines whether the vehicle is stopped unexpectedly (step ST 12). In the case where the vehicle is stopped at the switch position, the determination in step ST12 becomes no because the vehicle is stopped as intended. In this case, the control device 15 switches the shift lever 25 and/or the shift position of the automatic transmission 16 (hereinafter simply referred to as "shift position") from "D" (drive position) to "R" (reverse position) after the vehicle stops at the switch position, and continues to move the vehicle according to the automatic parking process. Thereafter, the control device 15 determines whether the vehicle has reached the target parking position (step ST 13). In the case where the control device 15 determines that the vehicle has not reached the target parking position (no in step ST13), the control device 15 returns to step ST 12. In the case where the control device 15 determines that the vehicle has reached the target parking position (yes in step ST13), the control device 15 stops the vehicle, performs the parking process (step ST 14; see step ST5 in fig. 2), and ends the automatic parking process.

For example, in the case where the external environment sensor 7 detects an obstacle that may collide with the vehicle, or in the case where the driver steps on the brake pedal 24 (i.e., in the case where the driver performs a braking operation), the vehicle may be stopped at a position other than the switching position. In these cases, the control device 15 determines that the vehicle is unexpectedly stopped during the automatic parking process (yes in step ST12), and then determines whether a prescribed shift position maintaining condition is satisfied (step ST 15). If the control device 15 determines that the shift position maintaining condition is not satisfied (no in step ST15), the action planning unit 43 of the control device 15 switches the shift position to "P" (parking position) (step ST 16). That is, in the case where the control device 15 determines that the vehicle is stopped unexpectedly, the action planning unit 43 normally switches the shift position to "P". If the control device 15 determines that the shift position maintaining condition is satisfied (yes in step ST15), the action planning unit 43 maintains the shift position (step ST 17). That is, in the case where the control device 15 determines that the vehicle is stopped unexpectedly, the action planning unit 43 maintains the shift position exceptionally.

The gear maintaining conditions include the following conditions (i) to (iii). The condition (i) is as follows: the vehicle stops at a position outside the prescribed range ahead of the switching position, and the vehicle stops in accordance with the depression of the brake pedal 24 by the driver (operation of the brake input member). The condition (ii) is the following condition: the cause of the vehicle stop is removed from the cause of the vehicle stop occurring or within a prescribed period of time after the vehicle is stopped. Condition (iii) is the following condition: the travel control unit 44 stops the vehicle in accordance with the operation of the steering wheel 22 by the driver. On the other hand, the gear maintaining condition does not include the following conditions (iv) and (v). Condition (iv) is the following condition: the vehicle stops within a prescribed range ahead of the switch position, and the vehicle stops in accordance with the driver depressing the brake pedal 24. The condition (v) is the following condition: the vehicle is stopped due to an abnormality of the parking assist system 1. Therefore, even if the condition (iv) or the condition (v) is satisfied, the action planning unit 43 switches the shift position to "P".

The control device 15 recognizes the position of the vehicle relative to the trajectory including the switch position based on information from the vehicle position detection device including the external environment sensor 7, the navigation device 10, and/or the odometer. The above-mentioned "prescribed range in front of the switching position" refers to a range within a prescribed distance (e.g., 1m to 3m) from the switching position when the vehicle approaches the switching position, and does not refer to a range within a prescribed distance from the switching position when the vehicle moves away from the switching position.

The above condition (ii) includes the following conditions (ii-1) and (ii-2). The condition (ii-1) is such that: the vehicle is stopped in accordance with the stepping on the brake pedal 24 by the driver, and the stepping on the brake pedal 24 by the driver is released or relaxed within a prescribed period. The condition (ii-2) is such that: the travel control unit 44 stops the vehicle in accordance with the external environment sensor 7 detecting an obstacle in a collision possible area (an area where a collision between the vehicle and the obstacle is likely) and the action planning unit 43 determines that the obstacle has moved out of the collision possible area within a prescribed period of time based on information from the external environment sensor 7.

Incidentally, the case where the vehicle is stopped in accordance with the stepping of the brake pedal 24 by the driver includes the following cases (1) and (2). Case (1) is the case: the control device 15 determines that the driver has depressed the brake pedal 24 (the driver has made an override operation of the brake pedal 24) based on the information from the brake sensor 27 and thereby drives the main brake device 51 to stop the vehicle. Case (2) is the case: the main brake device 51 is directly driven in accordance with depression of the brake pedal 24, thereby stopping the vehicle.

After the action planning unit 43 switches the shift position to "P" (step ST16), the control device 15 determines whether the driving condition is satisfied (step ST 18). In the case where the control device 15 determines that the driving condition is not satisfied (no in step ST18), the control device 15 determines whether or not the non-driving condition is satisfied (step ST 19). In the case where the control device 15 determines that the non-driving condition is not satisfied (no in step ST19), the control device 15 determines whether the parking brake setting is on (step ST 20). In the parking assist system 1 of the present embodiment, when the vehicle is stopped during the automatic parking process and the shift position is switched to "P" by the action planning unit 43, the control device 15 determines whether to actuate the parking brake device 53 according to the parking brake setting, which may be set in advance by the driver (step ST 20). In addition, in the parking assist system 1 of the present embodiment, the driving condition that the parking brake device 53 is forcibly driven regardless of the parking brake setting is provided (step ST18), and the non-driving condition that the parking brake device 53 is not forcibly driven regardless of the parking brake setting is provided (step ST 19). When the shift position is switched to "P", the action planning unit 43 further determines whether the parking brake device 53 is actuated (step ST18 to step ST 20). Incidentally, the driving condition and the non-driving condition are not included in the shift position maintaining condition. In the case where the driving condition or the non-driving condition is satisfied, the action planning unit 43 switches the shift position to "P" (step ST 16).

In the case where the driving condition is satisfied (yes in step ST18), or in the case where the non-driving condition is not satisfied (no in step ST19) and the parking brake setting is turned on (yes in step ST20), the action planning unit 43 pulls the parking brake lever 52 to drive the parking brake device 53 (step ST 21). In the case where the non-driving condition is satisfied (yes in step ST19) or in the case where the driving condition is not satisfied (no in step ST18) and the parking brake setting is turned off (no in step ST20), the action planning unit 43 does not drive the parking brake device 53 (step ST 22). Incidentally, even in the case where the action planning unit 43 does not drive the parking brake device 53, the parking brake device 53 can be driven when the driver pulls the parking brake lever 52.

The driving conditions include the following conditions (a) and (B). The condition (a) is a condition: the automatic parking process is not ended even after a prescribed period (e.g., 10 minutes) has elapsed since the start of the automatic parking process, and thus the travel control unit 44 stops the vehicle. The condition (B) is a condition: the parking assist system 1 malfunctions during the automatic parking process, so that the travel control unit 44 stops the vehicle. The condition (B) is satisfied in a case where the automatic parking process cannot be safely executed due to an abnormality of the parking assist system 1. For example, the condition (B) is satisfied in a case where the parking assist system 1 cannot detect an obstacle due to an abnormality of the external environment sensor 7, or in a case where the parking assist system 1 cannot transmit information to the driver due to an abnormality of the touch panel 32.

The non-driving conditions include the following conditions (a) to (f). The condition (a) is a condition: the travel control unit 44 stops the vehicle in accordance with the operation of the shift lever 25 by the driver. The condition (b) is a condition: the driver operates the shift lever 25 after the occurrence of an event to stop the vehicle and before the vehicle is stopped. The condition (c) is a condition: the gear is set to "N" (neutral position) when the vehicle is stopped. The condition (d) is a condition: the travel control unit 44 stops the vehicle in accordance with the external environment sensor 7 detecting an obstacle in the collision possible area and does not remove the obstacle for a prescribed period of time from the detection of the obstacle or the stop of the vehicle. For example, the condition (d) is satisfied when an automatic emergency brake system (AEB system) is actuated. The condition (e) is a condition: the travel control unit 44 stops the vehicle according to the operation of a vehicle stability assist system (VSA system). The condition (f) is a condition that the parking assist system 1 is temporarily inoperable.

The above-described vehicle stability assist system includes an anti-lock brake system (ABS) for preventing wheel locking and a Traction Control System (TCS) for preventing wheel spin, and controls sideslip (turning) of the vehicle to ensure stability of the vehicle in all ranges of "traveling, turning, and stopping". For example, during the automatic parking process, the vehicle stability assist system may be operated in a case where traction control is performed while the drive wheels are spinning or in a case where the antilock brake system is operated while the wheels are locked while the vehicle is braking. In the case where the device such as the brake device 5 or the sensor such as the external environment sensor 7 cannot continue to operate or cannot receive an operation request from the control device 15, the parking assist system 1 becomes temporarily inoperable even if an abnormality thereof cannot be detected with certainty. For example, in the case where the above-described devices or sensors are turned off and then restarted in the automatic parking process due to some abnormality in the power supply, the parking assist system 1 may become temporarily inoperable.

When step ST17, step ST21, or step ST22 is completed, the action planning unit 43 causes an output device such as the touch panel 32 or the sound generating device 33 to notify the shift position (step ST 23). That is, the action planning unit 43 causes the output device to notify the shift position regardless of whether the shift position is switched to "P" or maintained. Specifically, the action planning unit 43 causes the touch panel 32 to display the shift position and/or causes the sound generating device 33 such as a speaker to notify the shift position by voice. In addition, the action planning unit 43 may also cause the output device to notify the reason why the vehicle has stopped. Thereafter, when the driver steps on the brake pedal 24 to drive the main brake device 51, the control device 15 cancels the automatic parking process (step ST24), and gives the driving authority of the vehicle to the driver.

Hereinafter, the effect of this processing will be described.

During the automatic parking process, in a case where the driver determines that the vehicle has reached a position suitable for switching the traveling direction of the vehicle (hereinafter referred to as "former case") or in a case where the driver finds an obstacle (hereinafter referred to as "latter case"), the driver may depress the brake pedal 24 within a prescribed range in front of the switching position (i.e., the driver may perform a braking operation). In the former case, the driver who has been given the driving authority of the vehicle may intend to reverse the traveling direction of the vehicle, and in the latter case, may intend to move the vehicle further in the same direction as before after the obstacle disappears, and then switch the traveling direction. Immediately after the driving authority of the vehicle is given to the driver, the driver may erroneously believe that the shift position corresponds to the direction in which the driver intends to move the vehicle. In particular, in the former case, with the shift position maintained as before, the vehicle may be able to move in the direction opposite to the driver's intention immediately after the start of the manual driving. In addition, in the case where the vehicle is stopped due to the detection of the obstacle and the automatic parking process is thereafter canceled and the driving authority of the vehicle is given to the driver because the obstacle does not move, the driver may intend to move the vehicle in the direction opposite to the previous traveling direction of the vehicle to avoid the obstacle regardless of the position where the vehicle is stopped. Even in this case, the actual traveling direction of the vehicle according to the gear and the traveling direction of the vehicle estimated by the driver may be opposite to each other. In addition, after the vehicle has stopped, the control device 15 may be able to calculate a new trajectory (travel path) that can move the vehicle to the target parking position while avoiding the obstacle. In this case, the control device 15 may resume the automatic parking process and switch the shift position according to the new trajectory. Otherwise, the control device 15 may cancel the automatic parking process. Such a large number of situations make it difficult for the driver to grasp the gear. Therefore, the control device 15 normally switches the shift position to "P" to request the driver to operate the shift lever 25 at the start of manual driving. Therefore, the vehicle can be prevented from moving in the direction opposite to the driver's intention. In addition, in the case where the parking assist system 1 has an abnormality, the control device 15 switches the shift position to "P". Therefore, the vehicle can be prevented from being started accidentally, thereby improving safety around the vehicle.

On the other hand, in a case where the actual traveling direction of the vehicle according to the shift position and the traveling direction of the vehicle estimated by the driver may correspond to each other, the parking assist system 1 exceptionally maintains the shift position, thereby improving the convenience of the driver. In the case where the condition (i) included in the shift position maintaining condition is satisfied (i.e., in the case where the vehicle is stopped at a position outside the prescribed range in front of the switch position and the vehicle is stopped in accordance with the driver's depression of the brake pedal 24), the vehicle is sufficiently distant from the switch position. Therefore, it is impossible for the driver to judge that the vehicle has reached the switching position, but the driver may intend to move the vehicle in the same direction as before immediately after switching the vehicle to the manual drive. Therefore, the convenience of the driver can be improved by not changing the shift position.

In the case where the condition (ii-1) as an example of the condition (ii) included in the shift position maintaining condition is satisfied (i.e., in the case where the vehicle is stopped in accordance with the driver's depression of the brake pedal 24 and the depression of the brake pedal 24 by the driver is released or relaxed within a prescribed period of time), there is a possibility that the driver finds an obstacle that may collide with the vehicle, but the possibility of collision disappears within a short period of time. In this case, the driver may intend to move the vehicle in the same direction as before. Therefore, it is possible to improve the convenience of the driver by not changing the shift position. Further, in the case where the condition (ii-2) as another embodiment of the condition (ii) included in the shift maintenance condition is satisfied (i.e., in the case where the travel control unit 44 stops the vehicle in accordance with the external environment sensor 7 detecting an obstacle in the collision possible area and the action planning unit 43 determines that the obstacle moves out of the collision possible area within a prescribed period of time based on information from the external environment sensor 7), there is a possibility that the driver finds an obstacle that may collide with the vehicle but the possibility of collision disappears within a short period of time. In this case, the driver may intend to move the vehicle in the same direction as before. Therefore, the convenience of the driver can be improved by not changing the shift position.

In the case where the condition (iii) included in the shift position maintaining condition is satisfied (i.e., in the case where the travel control unit 44 stops the vehicle in accordance with the operation of the steering wheel 22 by the driver), the driver may not intend to switch the traveling direction of the vehicle between the forward direction and the backward direction because the operation of the steering wheel 22 is performed in order to change the steering angle of the vehicle. Thus, the driver may intend to move the vehicle in the same direction as before immediately after the vehicle is switched to manual drive. Therefore, the convenience of the driver can be improved by not changing the shift position.

In the case where the condition (B) included in the driving conditions is satisfied (i.e., in the case where the parking assist system 1 is malfunctioning during the automatic parking process, so that the travel control unit 44 stops the vehicle), the driver may need to know a point in time that the vehicle is stopped due to the malfunction of the parking assist system 1 and then decide the next action. Therefore, the parking assist system 1 not only sets the shift position to "P", but also drives the parking brake device 53 so that the vehicle can be reliably fixed, whereby the safety around the vehicle can be improved.

In the case where the condition (a) included in the driving conditions is satisfied (i.e., in the case where the automatic parking process is not ended even after a prescribed time has elapsed from the start of the automatic parking process, and thus the travel control unit 44 stops the vehicle), there is a high possibility that the vehicle cannot be moved to the target parking position due to the presence of an obstacle, or the driver continues to depress the brake pedal 24 for a long time. In the former case, the driver may need a spot time to know the cause of the vehicle stop and then decide on the next action. Therefore, the parking assist system 1 not only sets the shift position to "P", but also drives the parking brake device 53, so that the vehicle can be reliably fixed and the safety around the vehicle can be improved. In the latter case, the parking assist system 1 not only sets the shift position to "P", but also drives the parking brake device 53, thereby reliably fixing the vehicle even if the driver falls into an accident. In addition, in the case where the service brake device 51 is a hydraulic brake device, even if the hydraulic pressure of the service brake device 51 is reduced due to continuous use, the vehicle can be reliably fixed, and the service brake device 51 can be protected.

In the case where the non-driving condition is satisfied, even though the actual traveling direction of the vehicle according to the shift position and the traveling direction of the vehicle estimated by the driver may be opposite to each other, the driver can start the driving operation of the vehicle earlier than in the case where the driving condition is satisfied. Therefore, the control device 15 makes the two traveling directions coincide with each other by requesting the driver to operate the shift lever 25. In addition, the driver does not need to operate the parking brake lever 52, so that the convenience of the driver can be improved.

In the case where the driving condition is satisfied, safety around the vehicle should be emphasized, and in the case where the non-driving condition is satisfied, convenience of the driver should be emphasized. When the driving condition or the non-driving condition is satisfied, the control according to the driving condition or the non-driving condition is prioritized over the control according to the parking brake setting preset by the driver, so that the safety around the vehicle or the convenience of the driver can be improved.

Further, the output device notifies the shift position regardless of whether the shift position is switched or maintained, so that the convenience of the driver can be improved.

The specific embodiments of the present invention have been described above, but the present invention should not be limited by the foregoing embodiments, and various modifications and alterations can be made within the scope of the present invention. In other embodiments, the shift device may not be the shift lever 25 (i.e., the shift device may be formed in a shape other than a lever). In other embodiments, the action planning unit 43 may switch the shift position to "N" (neutral position) instead of switching the shift position to "P" (parking position). In other embodiments, even if the vehicle is unexpectedly stopped, the parking assist system 1 may not cancel but resume the automatic parking process. In this case, the action planning unit 43 may cause the touch panel 32 to display a cancel button and a resume button so that the driver can select whether to cancel or resume the automatic parking process.

Claims (8)

1. A parking assist system for a vehicle including a powertrain, a braking device, and a steering device, the parking assist system comprising:

a control device configured to control the vehicle so as to execute an automatic movement process to autonomously move the vehicle from a current position to a target position; and

a vehicle position detection device configured to detect a position of the vehicle with respect to a trajectory of the vehicle from the current position to the target position,

wherein the vehicle includes:

a shifting device configured to be operated by a driver to change a gear position; and

a brake input member configured to be operated by the driver to drive the brake device,

wherein, in a case where the vehicle is stopped at a position other than a switching position for switching a traveling direction of the vehicle, the control device changes the shift position to the parking position or the neutral position unless a shift position maintaining condition is satisfied, and

the gear maintaining condition includes at least one of conditions i and ii, the condition i being a condition that: the vehicle is stopped at a position outside a prescribed range in front of the switching position and the vehicle is stopped in accordance with the driver's operation of the brake input member, the condition ii being a condition that: the cause is removed within a prescribed period of time from occurrence of a cause that the vehicle has stopped or after the stop of the vehicle.

2. The parking assist system according to claim 1, wherein the gear maintaining condition does not include the following condition: the vehicle stops at a position within the prescribed range in front of the switching position and the vehicle stops in accordance with the operation of the brake input member by the driver.

3. The parking assist system according to claim 1 or 2, wherein the gear position maintaining condition does not include a condition that the vehicle is stopped due to an abnormality of the parking assist system.

4. The parking assist system according to claim 1 or 2, wherein the vehicle further includes an output device configured to issue a notification to the driver based on a command from the control device,

and the control means causes the output means to notify the shift position that has been switched or maintained when the vehicle is stopped at a position other than the target position and the switching position.

5. The parking assist system according to claim 1 or 2, wherein the vehicle position detection means includes: an external environment sensor configured to detect an obstacle existing in a traveling direction of the vehicle, and

the gear maintaining condition includes a condition ii including a condition ii-1 and a condition ii-2, the condition ii-1 being a condition: the vehicle stops in accordance with the operation of the brake input member by the driver, and releases or relaxes the operation of the brake input member within the prescribed period, the condition ii-2 being a condition that: the vehicle stops according to the external environment sensor detecting the obstacle in a collision possible area, and the obstacle moves out of the collision possible area within the prescribed period.

6. The parking assist system according to claim 1 or 2, wherein the vehicle further includes a parking brake device,

in a case where the gear maintaining condition is not satisfied and thus the control device changes the gear to the parking position or the neutral position, the control device determines whether a driving condition is satisfied, and

in a case where the control means determines that the driving condition is satisfied, the control means drives the parking brake means.

7. The parking assist system according to claim 6, wherein in a case where the control means determines that the driving condition is not satisfied, the control means determines whether a non-driving condition is satisfied, and

in a case where the control means determines that the non-driving condition is satisfied, the control means does not drive the parking brake means.

8. The parking assist system according to claim 7, wherein the control means determines whether a parking brake setting set by the driver is on in a case where the control means determines that the non-driving condition is not satisfied,

in a case where the control means determines that the parking brake setting is on, the control means drives the parking brake means, and

in the case where the control means determines that the parking brake setting is off, the control means does not drive the parking brake means.

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