CN112124095B - Parking assist system - Google Patents

Abstract

A parking assist system comprising: a control device configured to control the vehicle; a vehicle position detecting device configured to detect a position of the vehicle, a shifting device configured to be operated to change a gear; and a brake input member configured to be operated to actuate the brake device. In the case where the vehicle is stopped at a position other than the target position and the switching 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 the following condition: the vehicle stops at a position out of a prescribed range according to an operation of a brake input member, the condition (ii) being the following condition: 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 displacing the gear of the shift lever to the parking position at the end of the automatic parking process.

In such an automatic parking process, the control device may calculate a trajectory (movement 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 to manually drive 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 driver recognizes that the shift position of the shift lever is different from the actual shift position, the vehicle may move in a direction opposite to the driver's intention. When the vehicle moves in this way, the driver may be annoyed 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 a problem 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 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 canceled.

To achieve the object, one embodiment of the present invention provides a parking assistance system (1) for a vehicle including a powertrain (4), a brake device (5), and a steering device (6), the parking assistance system including: a control device (15) configured to control the vehicle so as to perform 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; 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 a gear to a parking position or a neutral position unless a gear maintaining condition is satisfied, and

The gear maintaining condition includes at least one of conditions (i) and (ii), the condition (i) being the following condition: 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 operation of the brake input member by the driver, the condition (ii) being the following condition: the cause is removed within a prescribed period from the occurrence of the 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 park position or the neutral position when the vehicle is stopped, the vehicle can be prevented from moving in the direction opposite to the intention of the driver. In addition, in the case where the vehicle is unlikely to move in the direction opposite to the driver's intention, by not exceptionally switching the shift position to the parking position or the neutral position, the convenience of the driver can be improved.

Preferably, the gear maintaining condition does not include the following conditions: the vehicle is stopped at a position within the 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.

In the case where the vehicle stops at a position within a prescribed range in front of the switching position in accordance with the operation of the brake input member by the driver (hereinafter referred to as "brake operation"), the driver may perform a brake operation in order to switch the traveling direction of the vehicle or other reasons at the position. 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 is stopped is unknown. In view of this, in a case where the vehicle stops within a prescribed range in front of the switching position according to the brake operation of the driver, the control device switches the gear to the parking position or the neutral position to request the driver to operate the shift device, thereby switching the gear from the parking position or the neutral position to the running position or the reverse position. Therefore, the vehicle can be prevented from moving in the direction opposite to the driver's intention.

Preferably, the shift 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, in the case where the vehicle is stopped due to an abnormality of the parking assist system, the control device switches the shift position to the parking position or the neutral position. Therefore, accidental start of the vehicle can be prevented, thereby improving safety around the vehicle.

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

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

Preferably, the vehicle position detection device includes: an external environment sensor (7) configured to detect an obstacle present in a traveling direction of the vehicle, and the shift-stage maintaining condition includes a condition (ii) including a condition (ii-1) and a condition (ii-2), the condition (ii-1) being a condition of: the vehicle is stopped in accordance with the driver's operation of the brake input member, and the operation of the brake input member is released or relaxed within the prescribed period of time, the condition (ii-2) being the following condition: the vehicle stops according to the external environment sensor detecting the obstacle in the 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 under 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 the parking position or the neutral position, and drives the parking brake device in a case where the control device determines that the driving condition is satisfied.

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

Preferably, 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, 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 capable of preventing a vehicle from moving in a direction opposite to the intention of the driver without losing the convenience of the driver in the case where the driver takes over at least a part of the parking operation after the automatic parking process is canceled.

Drawings

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

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

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

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

Detailed Description

Hereinafter, an 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 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, 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 the automatic transmission 16 and the shift actuator 17 for changing the gear position of the automatic transmission 16 (the 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 brake caliper. The brake device 5 may include an electric parking brake device configured to restrict rotation of the wheels 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) the wheels; and an electric motor configured to drive the rack-and-pinion mechanism. The powertrain 4, the brake device 5 and the steering device 6 are controlled by a control device 15.

The external environment sensor 7 serves as external environment information acquisition means for detecting electromagnetic waves, acoustic waves, or 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 include millimeter wave radar and/or 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 ultrasonic waves to the surroundings of the vehicle and captures ultrasonic waves reflected by objects around the vehicle, thereby detecting the position (distance and direction) of the objects. A plurality of sonar 18 are provided at each of the rear and front of the vehicle. In the present embodiment, two pairs of sonar 18 are provided on the rear bumper so as to be laterally spaced apart from each other, two pairs of sonar 18 are provided on the front bumper so as to be laterally spaced apart from each other, one pair of sonar 18 is provided at the front end of the vehicle such that the two sonar 18 forming the pair are provided on the left and right sides of the front end of the vehicle, and one pair of sonar 18 is provided at the rear end of the vehicle such that the two sonar 18 forming the pair are provided on the left and right sides of the rear end of the vehicle. That is, the vehicle is provided with six pairs of sonar 18 in total. Sonar 18 provided on the rear bumper mainly detects the position of an object behind the vehicle. Sonar 18 provided on the front bumper mainly detects the position of an object in front of the vehicle. Sonar 18 provided on the left and right sides 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. Sonar 18 provided on the left and right sides 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 around 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 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 in rear of the vehicle. The external camera 19 may include a pair of left and right cameras disposed near a rear view mirror of the vehicle to capture images of 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 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 the current position of the 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 signals received from satellites (positioning satellites). 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.

An operation input member 11 is provided in the vehicle cabin 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 shifting the gear 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 the occupant. The operation of the occupant detected by the state detection sensor 13 includes an operation indicating the occupant's intention to get off (intention to get off from the vehicle) and an operation indicating that the occupant has no intention to check the surrounding environment of the vehicle during the autonomous parking operation or the 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 fastened state of a seat belt as sensors for detecting an operation indicating a get-off intention. The state detection sensor 13 includes a rear view mirror position sensor 31 configured to detect the position of the rear view mirror as a sensor for detecting an operation corresponding to the dislocation 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 the 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 configured to receive an input operation of an occupant; a sound generating means 33 such as a buzzer or a speaker; a park main switch 34; a selection input member 35. The parking master switch 34 receives an input operation of an occupant to perform a selected one of an automatic parking process (automatic parking operation) and an automatic travel-away process (automatic travel-away operation). The parking master switch 34 is a so-called momentary switch that is turned on only when the occupant performs a pressing operation (a pressing operation). The selection input member 35 receives a 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 constituted by a rotation selection 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 a 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 at least partially executed by hardware such as LSI, ASIC, and FPGA, or may be executed by a combination of software and hardware.

Further, the control device 15 performs arithmetic processing according to a program, thereby performing conversion processing of an 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 that portion of the vehicle and its surrounding area located in the traveling direction when viewed from above. The control device 15 may generate a top view image by combining images of the front camera, the rear camera, and the left and right cameras, and may generate a bird's-eye image by combining images captured by the front camera or the rear camera facing the traveling direction and images 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-off process, in which the vehicle autonomously moves to a prescribed target position (target parking position or target drive-off position) selected by an occupant to park or drive off the vehicle.

The parking assist system 1 includes: a control device 15; a brake pedal 24 as a brake input member; driving the 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 to autonomously move the vehicle to the target parking position and park the vehicle at the target parking position; and performing an autonomous off-drive operation to autonomously move the vehicle to the target off-drive position and to drive the vehicle off at the target off-drive position. In order to perform such an operation, the control device 15 includes an external environment recognition unit 41, a vehicle position recognition unit 42, an action planning unit 43, a travel control unit 44, a vehicle abnormality detection unit 45, and a vehicle state determination 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 the 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 signs 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 identifying 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 reception unit 20, and recognize the position and posture 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 based on the travel control instruction from the action planning unit 43 to cause the vehicle to travel.

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 malfunctions of various devices (e.g., the powertrain 4, the brake device 5, and the steering device 6) required to drive the vehicle, and malfunctions 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 failure of the HMI 14.

In the present embodiment, the vehicle abnormality detection unit 45 is able to 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 determining 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., autonomous parking operation or autonomous drive-off operation) should be prohibited. When the occupant performs a driving operation (resetting operation) of the operation input member 11, the vehicle state determining unit 46 determines that the vehicle is in the prohibition state. The reset operation is an operation of resetting (canceling) the autonomous movement of the vehicle (i.e., an autonomous parking operation or an autonomous driving-away operation).

More specifically, the vehicle state determining 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 (hereinafter referred to as "depression threshold"). Additionally or alternatively, the vehicle state determination unit 46 may determine to start the reset operation when the amount of depression of the accelerator pedal 23 acquired (detected) by the accelerator sensor 28 reaches or exceeds a prescribed threshold. 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.

Further, when the vehicle is in a state reflecting the occupant's intention to get off (intention to get off from the vehicle), the vehicle state determining 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 opening/closing sensor 29 detects that the vehicle door is opened, the vehicle state determining unit 46 determines that the vehicle is in the prohibition state. Further, when the webbing sensor 30 detects that the webbing is released, the vehicle state determining unit 46 determines that the vehicle is in the prohibition state.

Further, when the vehicle is in a state reflecting the intention of the occupant not to check the surrounding environment of the vehicle, the vehicle state determining 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 determining unit 46 determines that the vehicle is in the prohibition state.

In addition, when it is determined that the door is opened and the seat belt 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 cancel state in which autonomous movement of the vehicle (i.e., an autonomous parking operation or an autonomous drive-off operation) should be canceled. In addition, when there is an input of a 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 cabin is provided with a seating sensor configured to detect seating of an occupant. The vehicle state determining unit 46 determines the seating position of the occupant (i.e., the vehicle state determining unit 46 identifies the vehicle seat on which the occupant is seated) based on the signal from the seating sensor, and determines that the vehicle is in the cancellation state when the seat belt of the seating position is released and the door in the vicinity of 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, an inhibition state in which an autonomous parking operation or an autonomous travel-away operation of the vehicle should be inhibited). The vehicle state determining 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 get-off operation and the state change of the vehicle can be easily detected from the deployment/retraction operation of the rear view mirror.

When the vehicle is in a prescribed state and the HMI 14 or the parking main switch 34 receives a prescribed input by the user corresponding to a request for an automatic parking process or an 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 (a 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 of performing a prescribed input corresponding to the automatic parking process. When the vehicle is stopped, the action planning unit 43 executes the automatic travel-away process (parallel travel-away process) in the case where a prescribed input corresponding to the automatic travel-away process is made. 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 unit 43 first causes the touch panel 32 to display a parking search screen for setting the target parking position. After the target parking position is set, the action planning unit 43 causes the touch panel 32 to display a parking screen. When the automatic travel-away process is performed, the action planning unit 43 first causes the touch panel 32 to display a travel-away search screen for setting the target travel-away position. After the target travel-away position is set, the action planning unit 43 causes the touch panel 32 to display a travel-away screen.

Hereinafter, the automatic parking process will be described with reference to fig. 2. The action planning unit 43 first performs an acquisition process (step ST 1) to acquire one or more parking spaces (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 make the vehicle travel straight. When an occupant sitting in the driver's seat (hereinafter referred to as "driver") makes the vehicle straight, the external environment recognition unit 41 acquires the position and size of each obstacle detected 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 places and one or more defined parking places (if any) based on the acquired position and size of the obstacle and the acquired position of the white line (hereinafter, undefined parking places and defined parking places are collectively referred to as "parking places"). Each undefined parking spot is a space that is not defined by a white line or the like, is large enough to park the vehicle, and is available (i.e., in which there are no obstacles). Each defined parking spot is defined by a white line or the like, which is large enough to park the vehicle, and available (i.e., space in which another vehicle (a vehicle other than the host vehicle) is not parked).

Next, the action planning unit 43 performs a trajectory calculation process (step ST 2) to calculate a trajectory of the vehicle from the current position of the vehicle to each extracted parking space. In the case of calculating the trajectory of the vehicle for a specific parking place, the action planning unit 43 sets the parking place as a parking candidate position where the vehicle can be parked, and causes the touch panel 32 to display the parking candidate position on a screen (parking search screen). In the case where the trajectory of the vehicle cannot be calculated due to the presence of an obstacle, the action planning unit 43 does not set the parking position as a candidate parking position, 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 candidate parking positions (i.e., a plurality of parking places where the vehicle trajectory can be calculated), the action planning unit 43 causes the touch panel 32 to display these candidate parking positions.

Next, the action planning unit 43 executes a target parking position receiving process (step ST 3) to receive a selection operation by the occupant to select a target parking position that is a parking position at which the occupant wants to park the vehicle, and is selected from the one or more candidate parking positions displayed on the touch panel 32. More specifically, the action planning unit 43 causes the touch panel 32 to display a top view image and a bird's eye view image in the traveling direction on the parking search screen shown in fig. 3A. When the action planning unit 43 acquires at least one candidate parking position, the action planning unit 43 causes the touch panel 32 to display a frame indicating the candidate parking position and an icon corresponding to the frame in at least one of the overhead image and the bird's-eye view image (overhead image in fig. 3A) in an overlapping manner. The icon is composed of a symbol indicating the parking position candidate (see "P" in fig. 3A). 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 a 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 candidate parking positions and an icon corresponding to the thick frame such that the thick frame and the icon overlap with the overhead image. The icon is composed of a symbol indicating the target parking position and is displayed in a different color from the symbol indicating the 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 performs driving processing (step ST 4) 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 travel direction image from the external camera 19, and cause the touch panel 32 to display the acquired travel direction image on the left half thereof. For example, as shown in fig. 3B, when the vehicle moves rearward, the action planning unit 43 may cause the touch panel 32 to display an image of the rear of the vehicle captured by the external camera 19 on the left half thereof. When the action planning unit 43 is executing the driving process, the surrounding image of the vehicle (own vehicle) in the overhead view image displayed on the right half of the touch panel 32 changes with the movement of the vehicle. 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 is ended, 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 gear (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 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. After that, the action planning unit 43 may cause the touch panel 32 to switch the screen to the operation screen or the map screen of the navigation apparatus 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 its screen.

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 moves 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 brake device that is commonly used) and the above-described electric parking brake device 53. The main brake device 51 is configured to be driven to apply a braking force to the vehicle in accordance with depression 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 pulling 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 may drive the service 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 (moving route) of the vehicle so 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 way, the control device 15 determines whether the vehicle is stopped accidentally (step ST 12). In the case where the vehicle is stopped at the switching position, the determination in step ST12 becomes no because the vehicle is stopped predictably. In this case, the control device 15 switches the shift position of the shift lever 25 and/or the automatic transmission 16 (hereinafter simply referred to as "shift position") from "D" (driving position) to "R" (reversing position) after the vehicle stops at the switching 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 ST 13), the control device 15 returns to step ST12. In the case where the control device 15 determines that the vehicle has reached the target parking position (yes in step ST 13), the control device 15 stops the vehicle, performs the parking process (step ST14; 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 depresses 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 has been stopped accidentally during the automatic parking process (yes in step ST 12), and then determines whether or not the prescribed gear maintaining condition is satisfied (step ST 15). When the control device 15 determines that the shift position maintaining condition is not satisfied (no in step ST 15), 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 has stopped unexpectedly, the action planning unit 43 normally switches the gear to "P". When the control device 15 determines that the shift position maintaining condition is satisfied (yes in step ST 15), the action planning unit 43 maintains the shift position (step ST 17). That is, when the control device 15 determines that the vehicle has stopped unexpectedly, the action planning unit 43 maintains the gear position exceptionally.

The shift-stage maintaining conditions include the following conditions (i) to (iii). The condition (i) is the following condition: the vehicle is stopped at a position outside the prescribed range in front of the switching position, and the vehicle is stopped in accordance with the depression of the brake pedal 24 by the driver (the operation of the brake input member). The condition (ii) is the following condition: the cause of stopping the vehicle is removed from the cause of stopping the vehicle or a prescribed period after stopping the vehicle. The condition (iii) is the following condition: the travel control unit 44 stops the vehicle according to 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). The condition (iv) is the following condition: the vehicle is stopped within a prescribed range in front of the switching position, and the vehicle is stopped by 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 shifts the gear to "P".

The control device 15 recognizes the position of the vehicle relative to the trajectory including the switching position based on information from a vehicle position detection device including the external environment sensor 7, the navigation device 10, and/or the odometer. The above-described "predetermined range in front of the switching position" refers to a range within a predetermined distance (for example, 1m to 3 m) from the switching position when the vehicle approaches the switching position, and does not refer to a range within a predetermined 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 according to the driver's depression of the brake pedal 24, and the driver's depression of the brake pedal 24 is released or relaxed within a prescribed period of time. The condition (ii-2) is such that: the travel control unit 44 stops the vehicle in accordance with the detection of the obstacle by the external environment sensor 7 in the collision possible area (area where the collision between the vehicle and the obstacle is likely to occur), and the action planning unit 43 determines that the obstacle has moved out of the collision possible area within the prescribed period of time based on the information from the external environment sensor 7.

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

After the action planning unit 43 shifts the gear to "P" (step ST 16), the control device 15 determines whether or not the driving condition is satisfied (step ST 18). When the control device 15 determines that the driving condition is not satisfied (no in step ST 18), the control device 15 determines whether the non-driving condition is satisfied (step ST 19). When the control device 15 determines that the non-driving condition is not satisfied (no in step ST 19), the control device 15 determines whether the parking brake setting is turned 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 action planning unit 43 switches the gear to "P", the control device 15 determines whether to drive the parking brake device 53 according to the parking brake setting, which may be preset by the driver (step ST 20). In addition, in the parking assist system 1 of the present embodiment, the driving condition is provided in which the parking brake device 53 is forcibly driven regardless of the parking brake setting (step ST 18), and the non-driving condition is provided in which the parking brake device 53 is not forcibly driven regardless of the parking brake setting (step ST 19). When the gear is shifted to "P", the action planning unit 43 further determines whether or not to drive the parking brake device 53 (step ST18 to step ST 20). Incidentally, the drive condition and the non-drive condition are not included in the shift stage maintaining condition. When the driving condition or the non-driving condition is satisfied, the action planning unit 43 shifts the gear to "P" (step ST 16).

In the case where the driving condition is satisfied (yes in step ST 18), or in the case where the non-driving condition is not satisfied (no in step ST 19) and the parking brake setting is turned on (yes in step ST 20), 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 ST 19) or in the case where the driving condition is not satisfied (no in step ST 18) and the parking brake setting is turned off (no in step ST 20), 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, when the driver pulls the parking brake lever 52, the parking brake device 53 may be driven.

The driving conditions include the following conditions (a) and (B). The condition (a) is such that: the automatic parking process is not ended even after a prescribed period of time (for example, 10 minutes) has elapsed from the start of the automatic parking process, and thus the travel control unit 44 stops the vehicle. The condition (B) is such that: the parking assist system 1 malfunctions during the automatic parking process, so that the travel control unit 44 stops the vehicle. In the case where the automatic parking process cannot be safely performed due to an abnormality of the parking assist system 1, the condition (B) is satisfied. For example, 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 condition (B) is satisfied.

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

The above-described vehicle stability assist system includes an anti-lock brake system (ABS) for preventing locking of wheels and a Traction Control System (TCS) for preventing spin of wheels, and controls sideslip (cornering) of the vehicle to ensure stability of the vehicle in all ranges of "running, cornering, and stopping". For example, during the automatic parking process, the vehicle stability assist system may be operated in the case where traction control is performed while the driving wheels spin or in the case where the antilock brake system is operated while the vehicle is braked. 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 an operation request cannot be received from the control device 15, the parking assist system 1 becomes temporarily inoperable even if abnormality thereof cannot be positively detected. For example, in the case where the above-described device or sensor is 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.

Upon completion of step ST17, step ST21 or step ST22, the action planning unit 43 causes an output device such as the touch panel 32 or the sound generating device 33 to notify of the gear (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 gear and/or causes the sound generating device 33 such as a speaker to notify the gear 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 depresses the brake pedal 24 to drive the main brake device 51, the control device 15 cancels the automatic parking process (step ST 24), and gives the driving permission 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 step on 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 right of the vehicle may intend to reverse the traveling direction of the vehicle, and in the latter case, after the obstacle disappears, the vehicle may intend to further move in the same direction as before, and then the traveling direction is switched. Immediately after the drive permission of the vehicle is given to the driver, the driver may erroneously consider that the gear corresponds to the direction in which the driver intends to move the vehicle. In particular, in the former case, the vehicle may be able to move in a direction opposite to the driver's intention immediately after the manual drive is started, with the gear maintained as before. 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 driver is given the vehicle driving authority because the obstacle does not move, the driver may intend to move the vehicle in a 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 gear according to the new trajectory. Otherwise, the control device 15 may cancel the automatic parking process. Such many situations make it difficult for the driver to grasp the gear. Therefore, the control device 15 generally switches the gear to "P" to require 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, accidental start of the vehicle can be prevented, thereby improving safety around the vehicle.

On the other hand, in the case where the actual traveling direction of the vehicle according to the gear and the traveling direction of the vehicle estimated by the driver may correspond to each other, the parking assist system 1 maintains the gear exceptionally, thereby improving the convenience of the driver. In the case where 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 switching position and the vehicle is stopped according to the driver's depression of the brake pedal 24), the vehicle is sufficiently far from the switching position. Therefore, the driver cannot determine 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 manual driving. Therefore, the convenience of the driver can be improved by not changing the gear.

In the case where condition (ii-1) that is an embodiment of condition (ii) included in the gear-stage maintaining condition is satisfied (i.e., in the case where the vehicle is stopped according to the driver stepping on the brake pedal 24 and the driver stepping on the brake pedal 24 is released or relaxed within a prescribed period of time), it is possible that the driver finds an obstacle that is likely to 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 gear. Further, in the case where the condition (ii-2) that is another embodiment of the condition (ii) included in the shift range maintaining condition is satisfied (i.e., in the case where the travel control unit 44 stops the vehicle according to 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 based on information from the external environment sensor 7), it is possible that the driver finds an obstacle that is likely to collide with the vehicle but the possibility of collision disappears within a short period. 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 gear.

In the case where condition (iii) included in the gear 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 driving. Therefore, the convenience of the driver can be improved by not changing the gear.

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

In the case where the condition (a) included in the driving condition is satisfied (i.e., in the case where the automatic parking process is not ended even after a prescribed time has elapsed since the start of the automatic parking process, and thus the travel control unit 44 stops the vehicle), it is likely that the vehicle cannot be moved to the target parking position due to the presence of an obstacle, or that the driver continues to step on the brake pedal 24 for a long period of time. In the former case, the driver may need to spend time learning the cause of the vehicle stop and then decide on the next action. Therefore, the parking assist system 1 not only sets the gear to "P", but also drives the parking brake device 53, so that the vehicle can be reliably fixed and safety around the vehicle can be improved. In the latter case, the parking assist system 1 not only sets the gear to "P" but also drives the parking brake device 53, so that the vehicle can be reliably fixed even if the driver falls into an unexpected situation. In addition, in the case where the main brake device 51 is a hydraulic brake device, even if the hydraulic pressure of the main brake device 51 is reduced due to continuous use, the vehicle can be reliably fixed, and the main 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 gear 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 is not required 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.

In addition, 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 changes may be made within the scope of the present invention. In other embodiments, the shifting device may not be the shift lever 25 (i.e., the shifting device may be formed in a shape other than a lever). In other embodiments, the action planning unit 43 may switch the gear to "N" (neutral position), instead of switching the gear to "P" (park position). In other embodiments, the parking assist system 1 may not cancel but resume the automatic parking process even if the vehicle is stopped accidentally. 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 park assist system for a vehicle including a powertrain, a brake device, and a steering device, the park assist system comprising:

a control device configured to control the vehicle so as to perform an automatic movement process to autonomously move the vehicle from a current position to a target position, the control device calculating a trajectory of the vehicle from the current position to the target position; and

a vehicle position detection device configured to detect information for the control device to recognize a position of the vehicle with respect to the trajectory, and output the information to the control device,

wherein the vehicle includes:

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

a brake input member configured to be operated by the driver to actuate 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 the following condition: 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 operation of the brake input member by the driver, the condition ii being the following condition: the cause of the vehicle stop is removed after the occurrence of the cause or within a prescribed period after the vehicle stop.

2. The parking assist system according to claim 1, wherein the gear maintaining condition does not include the following conditions: the vehicle is stopped at a position within the 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.

3. The parking assist system according to claim 1 or 2, wherein the shift position maintaining condition does not include a condition that the vehicle is stopped due to 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 an instruction from the control device,

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

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

The gear maintaining conditions include a condition ii including a condition ii-1 and a condition ii-2, the condition ii-1 being the following condition: the vehicle is stopped in accordance with the operation of the brake input member by the driver, and the operation of the brake input member is released or relaxed within the prescribed period, the condition ii-2 being the following condition: the vehicle stops according to the external environment sensor detecting the obstacle in the 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 the case where the shift position maintaining condition is not satisfied, so that the control device changes the shift position to the park position or the neutral position, the control device determines whether the drive condition is satisfied, and

In the case where the control device determines that the driving condition is satisfied, the control device drives the parking brake device.

7. The parking assist system according to claim 6, wherein in the 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 the case where the control device determines that the non-driving condition is satisfied, the control device does not drive the parking brake device.

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

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

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