CN112644467A - Parking assistance device, parking assistance method, and non-transitory storage medium - Google Patents

Abstract

A parking assistance device (34) is provided with an acquisition unit (71), a detection unit (72), and a parking assistance unit (74). The parking assist unit (74), when the vehicle (10) needs to be folded back in a state where a part of the vehicle (10) enters a parking area, folds back the vehicle (10) regardless of whether or not a condition for folding back the vehicle (10) is satisfied when a projection amount of an end portion of the vehicle (10) that has entered the parking area, the end portion being on an entrance side of the parking area, the projection amount being outside the parking area, is smaller than a threshold value.

Description

Parking assistance device, parking assistance method, and non-transitory storage medium

Technical Field

The invention relates to a parking assistance device, a parking assistance method, and a non-transitory storage medium.

Background

A parking assist apparatus that controls a vehicle to park the vehicle in a parking area is known. As a parking assistance system of this type, there is a parallel parking system.

In parallel parking, a vehicle following the vehicle to be parked is usually parked on a passage in front of the parking area before the parking is completed. However, when the turning-back position of the vehicle is set relatively far inside the parking area and the vehicle completely enters the parking area, the driver of the following vehicle may consider that the parking is completed and the following vehicle is advanced, and the following vehicle may pass ahead of the vehicle in the turning-back operation.

Disclosure of Invention

Accordingly, the present invention provides a parking assistance device, a parking assistance method, and a non-transitory storage medium that can improve the safety of parallel parking.

A parking assistance device according to a first aspect of the present invention includes: an acquisition unit that acquires peripheral information that is information on the periphery of the vehicle; a detection unit that detects a parking area of the vehicle based on the peripheral information acquired by the acquisition unit; and a parking assist unit that calculates a parking target position of the vehicle included in a parking area of the vehicle and a movement path for moving the vehicle to the parking target position, and moves the vehicle to the parking target position according to the movement path. The parking assist unit turns the vehicle back regardless of whether or not a condition for turning back the vehicle is satisfied, when a projection amount of an end portion of the vehicle on an entrance side of the parking area, the projection amount being out of the parking area, the end portion being in a state in which a portion of the vehicle enters the parking area, is smaller than a threshold value, in a case where the parking of the vehicle is parallel parking and the turning back of the vehicle is required in a state in which the portion of the vehicle enters the parking area.

According to this parking assist apparatus, for example, when the amount of protrusion of the parking assist unit out of the parking area from the end on the entrance side of the parking area is smaller than the threshold value, the parking assist unit turns the vehicle back regardless of whether or not the condition for turning back the vehicle is satisfied, and therefore, the parking assist unit can notify the periphery of the vehicle that the parking operation is being continued. This can improve the safety of parallel parking.

In the above aspect, the condition of the turning back of the vehicle may include that the reliability of the parking target position reaches a predetermined reference.

According to this parking assist apparatus, for example, even when the reliability of the parking target position does not reach a predetermined reference, the vehicle can be folded back.

In the above aspect, the condition for the vehicle to turn back may include that the vehicle reaches a turning-back position set in the moving path.

According to such a parking assist apparatus, for example, even when the vehicle does not reach a set turning-back position, the vehicle can be turned back.

A parking assistance method according to a second aspect of the present invention includes: an acquisition unit acquires peripheral information that is information on the periphery of the vehicle; a detection unit that detects a parking area of the vehicle based on the peripheral information acquired by the acquisition unit; a parking support unit that calculates a parking target position of the vehicle included in a parking area of the vehicle and a movement path for moving the vehicle to the parking target position, and moves the vehicle to the parking target position according to the movement path; and the parking assist unit, when the parking of the vehicle is parallel parking and the vehicle needs to be folded back in a state where a part of the vehicle enters the parking area, folds back the vehicle regardless of whether or not a condition for folding back the vehicle is satisfied when a protruding amount of an end portion of the vehicle, which is located on an entrance side of the parking area and a protruding amount of the vehicle, which protrudes outside the parking area from the end portion of the vehicle, which is located on the entrance side of the parking area, is smaller than a threshold value.

According to this parking assist method, for example, when the amount of protrusion of the end portion on the entrance side of the parking area out of the parking area is smaller than the threshold value, the parking assist unit turns the vehicle back regardless of whether or not the condition for turning back the vehicle is satisfied, and therefore, the parking assist unit can notify the periphery of the vehicle that the parking operation is being continued. This can improve the safety of parallel parking.

A non-transitory storage medium according to a third aspect of the present invention stores a command that can be executed by one or more processors and causes the one or more processors to execute: an acquisition unit acquires peripheral information that is information on the periphery of the vehicle; a detection unit that detects a parking area of the vehicle based on the peripheral information acquired by the acquisition unit; a parking support unit that calculates a parking target position of the vehicle and a movement path for moving the vehicle to the parking target position, the parking target position being included in a parking area of the vehicle, and moves the vehicle to the parking target position according to the movement path; and the parking assist unit, when the parking of the vehicle is parallel parking and the vehicle needs to be folded back in a state where a part of the vehicle enters the parking area, folds back the vehicle regardless of whether or not a condition for folding back the vehicle is satisfied when a protruding amount of an end portion of the vehicle, which is located on an entrance side of the parking area and a protruding amount of the vehicle, which protrudes outside the parking area from the end portion of the vehicle, which is located on the entrance side of the parking area, is smaller than a threshold value.

According to such a non-transitory storage medium, for example, when the amount of protrusion of the parking assist unit out of the parking area from the end portion on the entrance side of the parking area is smaller than the threshold value, the parking assist unit turns the vehicle back regardless of whether or not the condition for turning back the vehicle is satisfied, and therefore, the parking assist unit can notify the periphery of the vehicle that the parking operation is being continued. This can improve the safety of parallel parking.

Drawings

Features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

fig. 1 is a plan view of a vehicle equipped with a parking assist system according to an embodiment.

Fig. 2 is a block diagram showing the overall configuration of the parking assist system according to the embodiment.

Fig. 3 is a functional block diagram illustrating functions of the parking assist apparatus according to the embodiment.

Fig. 4 is a plan view of the periphery of the vehicle in the parking assist of the embodiment.

Fig. 5 is a plan view of the periphery of the vehicle in the parking assist of the embodiment.

Fig. 6 is a flowchart of a parking assist process executed by the parking assist apparatus according to the embodiment.

Fig. 7 is a flowchart of a process related to the turning back in the parking assist process performed by the parking assist apparatus according to the embodiment.

Fig. 8 is an explanatory diagram for explaining the reliability of the parking target position in the embodiment.

Fig. 9 is an explanatory diagram for explaining the reliability of the parking target position according to the embodiment.

Detailed Description

Hereinafter, exemplary embodiments of the present invention are disclosed. The structure of the embodiments described below, and the operation, result, and effect of the structure are examples. The present invention can be realized by a configuration other than the configurations disclosed in the following embodiments, and at least one of various effects and derived effects based on the basic configuration can be obtained.

Fig. 1 is a plan view of a vehicle 10 equipped with a parking assist system 20 according to an embodiment. The vehicle 10 may be, for example, an automobile (internal combustion engine) using an internal combustion engine (not shown) as a drive source, an automobile (electric vehicle, fuel cell vehicle, or the like) using an electric motor (not shown) as a drive source, or an automobile (hybrid vehicle) using both of them as drive sources. The vehicle 10 can be equipped with various transmission devices as well as various devices (systems, components, etc.) necessary for driving the internal combustion engine and the electric motor. The mode, number, layout, and the like of the devices related to driving of the wheels 13 in the vehicle 10 can be variously set.

As shown in fig. 1, the vehicle 10 includes a vehicle body 12, four wheels 13, one or a plurality of (four in the present embodiment) image pickup units 14a, 14b, 14c, and 14d, and one or a plurality of (eight in the present embodiment) distance measurement units 16a, 16b, 16c, 16d, 16e, 16f, 16g, 16h, 16i, 16j, 16k, and 16 l. The imaging units 14a, 14b, 14c, and 14d are referred to as the imaging unit 14 when there is no need to distinguish them. When it is not necessary to distinguish the distance measuring units 16a, 16b, 16c, 16d, 16e, 16f, 16g, 16h, 16i, 16j, 16k, and 16l, they are referred to as the distance measuring units 16.

The vehicle body 12 constitutes a cabin in which passengers ride. The vehicle body 12 houses or holds the wheels 13, the imaging unit 14, the distance measuring unit 16, and the like.

Four wheels 13 are provided on the front, rear, left, and right of the vehicle body 12. For example, the front two wheels 13 function as steered wheels, and the rear two wheels 13 function as drive wheels.

The imaging unit 14 is a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor), for example. The imaging unit 14 outputs data of a moving image or a still image including a plurality of frame images generated at a predetermined frame rate as data of a captured image. The imaging unit 14 has a wide-angle lens or a fisheye lens, and can image an image in a range of 140 ° to 190 ° in the horizontal direction, for example. The optical axis of the imaging unit 14 is set obliquely downward. Therefore, the imaging unit 14 outputs data for imaging the captured image of the periphery of the vehicle 10 including the road surface of the periphery.

The imaging unit 14 is provided on the outer periphery of the vehicle body 12. For example, the imaging unit 14a is provided at a center portion (for example, a front bumper) in the left-right direction of the front end portion of the vehicle body 12. The imaging unit 14a generates an image of the surroundings in front of the vehicle 10. The imaging unit 14b is provided at a center portion (e.g., a rear bumper) in the left-right direction of the rear end portion of the vehicle body 12. The imaging unit 14b generates an image of the periphery behind the vehicle 10. The imaging unit 14c is provided at the center in the front-rear direction of the left end portion of the vehicle body 12 (e.g., the left side mirror 12 a). The imaging unit 14c generates an image of the left periphery of the vehicle 10. The imaging unit 14d is provided at the center in the front-rear direction of the right end of the vehicle body 12 (e.g., the right side mirror 12 b). The imaging unit 14d generates an image of the right periphery of the vehicle 10.

The distance measuring unit 16 is, for example, a sonar that is provided in the outer periphery of the vehicle 10, transmits sound waves including ultrasonic waves as detection waves, and captures detection waves reflected by an object such as another vehicle present in the periphery of the vehicle 10. The distance measuring unit 16 may be a radar, a millimeter wave radar, or the like that outputs a detection wave such as a laser beam. The distance measuring unit 16 detects detection information, which is information on the periphery of the vehicle 10, and outputs the detection information to the parking assist device 34. For example, the distance measuring unit 16 detects a response time, which is a time from transmission of the detection wave to reception of the detection wave, as detection information for specifying the position of the object. In addition, when receiving a plurality of detection waves reflected by a plurality of portions of the object for transmission of the primary detection wave, the distance measuring unit 16 may include only the response time of the detection wave received earliest in the detection information. The parking assistance device 34 can measure the presence or absence of an object such as an obstacle around the vehicle 10 and the distance to the object, based on the detection result of the distance measuring unit 16. The distance measuring unit 16 is also referred to as a detection unit.

The distance measuring units 16a, 16b, 16c, and 16d are also called side sonars, and are provided on the left and right sides of the vehicle 10. The distance measuring units 16a, 16b, 16c, and 16d detect objects on the side of the vehicle 10 and output detection information. The distance measuring units 16e and 16f are also called angular sonars, and are provided at the rear of the vehicle 10 (for example, near the corners of the vehicle 10) with respect to the distance measuring units 16a, 16b, 16c, and 16d, and are directed rearward (for example, outward of the rear) with respect to the distance measuring units 16a, 16b, 16c, and 16 d. The distance measuring units 16e and 16f detect an object diagonally behind the vehicle 10 and output detection information. The distance measuring units 16g and 16h are also called angular sonars, and are provided at the front portion of the vehicle 10 (for example, near the corners of the vehicle 10) with respect to the distance measuring units 16a, 16b, 16c, and 16d, and are directed forward (for example, outward in the front) with respect to the distance measuring units 16a, 16b, 16c, and 16 d. The distance measuring units 16g and 16h detect an object in the oblique front direction of the vehicle 10 and output detection information. The distance measuring units 16i and 16j are also referred to as rear sonars and are provided at the rear end portion of the vehicle 10. The distance measuring units 16i and 16j detect an object behind the vehicle 10 and output detection information. The distance measuring units 16k and 16l are also called front sonars and are provided at the front end portion of the vehicle 10. The distance measuring units 16k and 16l detect an object in front of the vehicle 10 and output detection information.

Specifically, the distance measuring unit 16a is provided at a position on the front side of the left side surface of the vehicle 10. The distance measuring section 16a faces leftward. The distance measuring unit 16a outputs detection information on an object in a detection area located on the left side of the front side of the vehicle 10.

The distance measuring unit 16b is provided at a position on the rear side of the left side surface of the vehicle 10. The distance measuring unit 16b faces leftward. The distance measuring unit 16b outputs detection information on an object in a detection area located on the left side of the rear side of the vehicle 10.

The distance measuring unit 16c is provided at a front position on the right side surface of the vehicle 10. The distance measuring unit 16c faces the right direction. The distance measuring unit 16c outputs detection information on an object in a detection area located on the right side of the front side of the vehicle 10.

The distance measuring unit 16d is provided at a position rearward of the right side surface of the vehicle 10. The distance measuring unit 16d faces the right direction. The distance measuring unit 16d outputs detection information on an object in a detection area located on the right side of the rear side of the vehicle 10.

The distance measuring unit 16e is provided at a position on the left side of the rear end portion of the vehicle 10. The distance measuring unit 16e faces the left rear. The distance measuring unit 16e outputs detection information on an object existing in a detection area on the left rear side of the vehicle 10.

The distance measuring unit 16f is provided at a position on the right side of the rear end portion of the vehicle 10. The distance measuring unit 16f faces the rear right. The distance measuring unit 16f outputs detection information on an object existing in the detection area on the rear right side of the vehicle 10.

The distance measuring unit 16g is provided at a position on the left side of the front end portion of the vehicle 10. The distance measuring unit 16g faces the front left. The distance measuring unit 16g outputs detection information on an object existing in a detection area in the left front of the vehicle 10.

The distance measuring unit 16h is provided at a position on the right side of the front end portion of the vehicle 10. The distance measuring unit 16h faces the front right. The distance measuring unit 16h outputs detection information on an object existing in a detection area on the front right of the vehicle 10.

The distance measuring units 16i, 16j are provided between the distance measuring units 16e, 16f at the rear end portion of the vehicle 10 with a distance therebetween in the left-right direction. The distance measuring units 16i and 16j face rearward. The distance measuring units 16i and 16j output detection information on an object existing in a detection area behind the vehicle 10.

The distance measuring units 16k, 16l are provided in front of the distance measuring units 16g, 16h at a distance from each other in the left-right direction at the front end portion of the vehicle 10. The distance measuring units 16k and 16l face forward. The distance measuring units 16k and 16l output detection information on an object existing in a detection area in front of the vehicle 10.

Fig. 2 is a block diagram showing the overall configuration of the parking assist system 20 according to the embodiment. The parking support system 20 is mounted on the vehicle 10, and supports the driving of the vehicle 10 by automatic driving (including partial automatic driving) in accordance with an object in the vicinity of the vehicle 10.

As shown in fig. 2, the parking assist system 20 includes an imaging unit 14, a distance measuring unit 16, a brake system 22, an accelerator system 24, a steering system 26, a transmission system 28, a vehicle speed sensor 30, a monitoring device 32, a parking assist device 34, and an in-vehicle network 36.

The braking system 22 controls the deceleration of the vehicle 10. The brake system 22 includes a brake unit 40, a brake control unit 42, and a brake unit sensor 44.

The brake unit 40 is a device for decelerating the vehicle 10, including a brake, a brake pedal, and the like, for example.

The brake control unit 42 is a computer such as a microcomputer having a hardware processor such as a CPU (central processing unit). The brake control unit 42 controls the brake unit 40 based on an instruction from the parking assist apparatus 34 to decelerate the vehicle 10.

The brake section sensor 44 is, for example, a position sensor, and detects the position of the brake section 40 when the brake section 40 is a brake pedal. The brake section sensor 44 outputs the detected position of the brake section 40 to the in-vehicle network 36.

The acceleration system 24 controls acceleration of the vehicle 10. The acceleration system 24 has an acceleration section 46, an acceleration control section 48, and an acceleration section sensor 50.

The accelerator 46 is a device for accelerating the vehicle 10, including an accelerator pedal and the like, for example.

The acceleration control unit 48 is a computer such as a microcomputer having a hardware processor such as a cpu (central processing unit). The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the parking assist apparatus 34, and controls acceleration of the vehicle 10.

The accelerator sensor 50 is, for example, a position sensor, and detects the position of the accelerator 46 when the accelerator 46 is an accelerator pedal. The acceleration unit sensor 50 outputs the detected position of the acceleration unit 46 to the in-vehicle network 36.

The steering system 26 controls the direction of travel of the vehicle 10. The steering system 26 has a steering section 52, a steering control section 54, and a steering section sensor 56.

The steering unit 52 is a device that includes, for example, a handle, a steering wheel, and the like, and steers the steered wheels of the vehicle 10 to steer the traveling direction of the vehicle 10.

The steering control unit 54 is a computer such as a microcomputer having a hardware processor such as a cpu (central processing unit). The steering control unit 54 controls the steering unit 52 based on an instruction from the parking assist apparatus 34, and controls the traveling direction of the vehicle 10.

The steering unit sensor 56 is an example of the third detecting unit, and is an angle sensor including, for example, a hall element, and detects a steering angle, which is a rotation angle of the steering unit 52. The steering section sensor 56 outputs the detected steering angle of the steering section 52 to the in-vehicle network 36.

The transmission system 28 controls the gear ratio of the vehicle 10. The transmission system 28 has a transmission portion 58, a transmission control portion 60, and a transmission portion sensor 62.

The transmission unit 58 is a device that includes a shift lever, for example, and changes the gear ratio of the vehicle 10.

The shift control unit 60 is a computer such as a microcomputer having a hardware processor such as a cpu (central processing unit). The shift control unit 60 controls the shift unit 58 based on an instruction from the parking assist apparatus 34 to control the gear ratio of the vehicle 10.

The transmission unit sensor 62 is, for example, a position sensor, and detects the position of the transmission unit 58 when the transmission unit 58 is a shift lever. The transmission unit sensor 62 outputs the detected position of the transmission unit 58 to the in-vehicle network 36.

The vehicle speed sensor 30 is a sensor that has hall elements provided in the vicinity of the wheels 13 of the vehicle 10, for example, and detects the rotation amount of the wheels 13 or the rotation speed per unit time. The vehicle speed sensor 30 outputs the detected rotation amount or the wheel speed pulse number indicating the rotation speed to the in-vehicle network 36 as a sensor value for calculating the vehicle speed. The parking assist apparatus 34 can calculate the speed (vehicle speed), the movement amount, and the like of the vehicle 10 based on the sensor values obtained from the wheel speed sensor 30.

The monitoring device 32 is provided in an instrument panel or the like in the cabin of the vehicle 10. The monitor device 32 has a display unit 64, a sound output unit 66, and an operation input unit 68.

The display unit 64 displays an image based on the image data transmitted from the parking assist apparatus 34. The display unit 64 is a display device such as a Liquid Crystal Display (LCD) or an organic electroluminescent display (OELD). The display unit 64 displays, for example, an image for receiving an operation instruction for instructing switching between automatic driving and manual driving.

The sound output unit 66 outputs sound based on the sound data transmitted from the parking assist apparatus 34. The sound output unit 66 is, for example, a speaker. The sound output unit 66 outputs sound related to an operation instruction instructing switching between automatic driving and manual driving, for example.

The operation input unit 68 receives an input from the occupant. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to be capable of transmitting the image displayed on the display unit 64. Thus, the operation input unit 68 enables the occupant to visually confirm the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input by the occupant touching a position corresponding to the image displayed on the display screen of the display unit 64, and transmits the instruction to the parking assist apparatus 34. The operation input unit 68 is not limited to a touch panel, and may be a hard switch such as a button.

The parking assist apparatus 34 is a computer including a microcomputer such as an electronic control unit (electronic control unit), and performs parking assist of the vehicle 10.

The parking support device 34 includes a CPU (central processing unit) 34a, a ROM (read only memory) 34b, a RAM (random access memory) 34c, a display control unit 34d, a sound control unit 34e, and an SSD (solid state drive) 34 f. The CPU34a, ROM34b, and RAM34c may also be integrated within the same package.

The CPU34a is an example of a hardware processor, and reads a program stored in a nonvolatile storage device such as the ROM34b, and executes various kinds of arithmetic processing and control in accordance with the program. The CPU34a executes, for example, parking assistance based on automatic driving of the vehicle 10.

The ROM34b stores programs, parameters necessary for the execution of the programs, and the like. The RAM34c temporarily stores various data used for operations by the CPU34 a. The display control unit 34d mainly performs image processing of an image obtained by the imaging unit 14, data conversion of an image for display displayed on the display unit 64, and the like in the arithmetic processing by the parking assist device 34. The sound control unit 34e mainly executes processing of the sound to be output by the sound output unit 66 in the arithmetic processing by the parking assist apparatus 34. The SSD34f is a rewritable nonvolatile storage device that maintains data even when the power supply of the parking assist apparatus 34 is turned off.

The in-vehicle network 36 includes, for example, CAN (controller area network) and LIN (local interconnect network). The in-vehicle network 36 connects the acceleration system 24, the brake system 22, the steering system 26, the transmission system 28, the distance measuring unit 16, the vehicle speed sensor 30, the operation input unit 68 of the monitoring device 32, and the parking assist device 34 to be able to transmit and receive information to and from each other.

Fig. 3 is a functional block diagram illustrating the function of the parking assist apparatus 34. As shown in fig. 3, the parking support apparatus 34 includes an acquisition unit 71, a detection unit 72, an operation receiving unit 73, and a parking support unit 74. The parking assist unit 74 includes a target position calculation unit 74a, a route calculation unit 75b, and a movement control unit 76 c. The acquisition unit 71, the detection unit 72, the operation reception unit 73, and the parking support unit 74 are realized by the CPU34a reading and executing programs (parking programs) stored in a storage device such as the ROM34 b. Part or all of the acquisition unit 71, the detection unit 72, the operation reception unit 73, and the parking assist unit 74 may be configured by hardware such as a circuit including an ASIC (application specific integrated circuit).

The acquisition unit 71 acquires the peripheral information, which is information on the periphery of the vehicle 10. Specifically, the acquisition unit 71 acquires the captured image from the imaging unit 14 and the detection information from the imaging unit 14 as the peripheral information.

The detection unit 72 detects an obstacle around the vehicle, a parking section, a parking area PA (fig. 5) of the vehicle 10, and the like based on the peripheral information acquired by the acquisition unit 71.

Obstacles are for example other vehicles, walls, pillars, fences, protrusions, steps, wheel brakes, objects, etc. The obstacle includes, for example, a person walking in a parking lot. The detection unit 72 can detect the presence, height, size, and the like of an obstacle by various methods. The detector 72 can detect an obstacle based on the detection result of the distance measuring unit 16, for example. The distance measuring unit 16 can detect an object corresponding to the height of the beam, and cannot detect an object lower than the height of the beam. Thus, the detector 72 can detect the height of the obstacle based on the detection result of the distance measuring unit 16 and the height of each beam. The detection unit 72 may detect the presence or absence of an obstacle or the height of the obstacle based on the detection result of the vehicle speed sensor 30, the detection result of an acceleration sensor, not shown, and the detection result of the distance measurement unit 16. The detection unit 72 may detect the shape such as the height of the obstacle by image processing based on the image captured by the imaging unit 14, for example.

The parking section is a sign or an object. The parking section is a standard or reference section set to stop the vehicle 10 at the position. The parking boundary is a boundary or an outer edge of a parking section, and is, for example, a parking section line, a frame line, a straight line, a belt, a step, an edge thereof, or the like. That is, the parking boundary is a sign, an object, or the like. The detection unit 72 can detect the parking section and the parking boundary by, for example, image processing based on the image captured by the imaging unit 14. The detection unit 72 can determine whether the detected parking section allows the vehicle 10 to park by various methods. For example, when an obstacle that inhibits the parking of the vehicle 10 is not detected in the parking section, the detection unit 72 determines that the parking section is possible to park. That is, the detection unit 72 can detect a parking section in which parking is possible as a parking area. The detection unit 72 can detect a parking section in which the vehicle 10 can be parked at the rear, the left and right sides of the vehicle 10, and the front of the vehicle 10. That is, the detection unit 72 can detect a parking section in the periphery of the vehicle 10 over the entire circumference of the vehicle 10, in which the vehicle can be parked. Here, the rear of the vehicle 10 means a region located rearward of the vehicle 10 in the front-rear direction of the vehicle 10. The entire circumference of the vehicle 10 is an area around the vehicle 10 around a center line of the vehicle 10 extending in the vertical direction of the vehicle 10.

The operation receiving unit 73 acquires (receives) a signal from the operation input unit 68 according to an operation on the operation input unit 68.

The parking support unit 74 calculates a parking target position of the vehicle 10 included in the parking area of the vehicle 10 and a movement path for moving the vehicle 10 to the parking target position based on the automatic driving of the vehicle 10 for controlling all or a part of the systems 22, 24, 26, and 28 in accordance with the specified object, and moves the vehicle 10 to the parking target position in accordance with the movement path. That is, the parking assist section 74 assists the parking of the vehicle 10.

The target position calculating unit 74a of the parking assistance unit 74 calculates (determines), for example, a movement target position of the vehicle 10, that is, a parking target position, which is a standard for guiding the vehicle 10 or a target position, by a known method or the like based on the detection result of the detecting unit 72. The parking target position may be an end point of the movement path or may be in the middle of the movement path. The target position may be set to, for example, a point, a line, a frame, an area, and the like. The target position may also be the same as the display position. The target position calculating unit 74a is also referred to as a target position determining unit.

The path calculation unit 75b of the parking assist unit 74 calculates a movement path for moving the vehicle 10 from the current position of the vehicle 10 to the parking target position included in the parking area. The route calculation unit 75b sets a movement route by a known method or the like, for example, based on the current position of the vehicle 10, that is, the own vehicle, the determined parking target position, the detection result of the obstacle, and the like.

The movement control unit 76c controls each unit of the vehicle 10 to control the movement of the vehicle 10. Specifically, the movement control unit 76c controls all or a part of the systems 22, 24, 26, and 28, thereby controlling the movement of the vehicle 10. The movement control unit 76c moves the vehicle 10 to the parking target position PP according to the movement path. At this time, the movement control unit 76c moves the vehicle 10 so that the reference point 10a (fig. 1) of the vehicle 10 coincides with the parking target position PP. The reference point 10a of the vehicle 10 is, for example, the center of the rear wheel axle of the vehicle 10.

The movement control unit 76c may control the monitoring device 32 and the sound output unit 66 to guide the movement of the vehicle 10 along the movement path to the driver by a display output and a sound output corresponding to the position of the vehicle 10.

Next, a parallel parking assist process, which is one of the parking assist processes performed by the parking assist apparatus 34, will be described. The parallel parking assist process is a process for assisting parallel parking as a parking method of the vehicle 10, and here, is an example of parking in a parking area by moving the vehicle 10 backward in the parking area.

Fig. 4 and 5 are plan views of the periphery of the vehicle 10 in the parking assist of the embodiment. In fig. 4 and 5, the arrow indicates the traveling direction of the vehicle 10.

As shown in fig. 4, a state is assumed in which the vehicle 10 crosses an obstacle around the vehicle 10, that is, in front of the other vehicles 201 and 202. The other vehicle 201 is parked at an interval where the vehicle 10 can be parked, with respect to the other vehicle 202. Further, a wall 300 is disposed in front of the other vehicles 201 and 202. Between the other vehicles 201, 202 and the wall 300 is a passage way for the vehicle 10. In this state, the operation of the vehicle 10 when the vehicle 10 is parked in parallel between the other vehicles 201 and 202a is as follows. That is, the vehicle 10 stops after passing in front of the other vehicles 201, 202. Next, the vehicle 10 enters between the other vehicles 201, 202 by backing up. Then, the vehicle 10 stops between the other vehicles 201, 202. In this case, as shown in fig. 5, the vehicle 10 may need to be folded back.

Next, the flow of the parking assist process will be described with reference to fig. 6. Fig. 6 is a flowchart of a parking assist process (parking assist method) executed by the parking assist apparatus 34 according to the present embodiment.

As shown in fig. 6, the acquisition unit 71 acquires the captured image of the imaging unit 14 and the detection information of the distance measuring unit 16, that is, the information on the periphery of the vehicle 10 (S1). The acquisition unit 71 repeatedly acquires the peripheral information of the vehicle 10 at predetermined intervals.

Next, the detection unit 72 detects an object such as an obstacle or a parking space line based on the peripheral information (the captured image of the imaging unit 14 or the detection information of the imaging unit 14) acquired by the acquisition unit 71, and detects a parking area PA (fig. 5) (S2). The detection by the detection unit 72 is repeated at predetermined intervals. In fig. 5, the parking area PA is shown by four sides of a broken line.

Returning to fig. 6, when the operation accepting unit 73 accepts an instruction for parking assistance or the like from the occupant via the operation input unit 68 (S3), the target position calculating unit 74a calculates the parking target position PP included in the parking area PA based on the detection result of the detecting unit 72 (S4). In fig. 5, the parking target position PP is shown with an x mark.

Next, the route calculation unit 75b calculates a movement route for moving the vehicle 10 from the current position of the vehicle 10 to the parking target position included in the parking area (S5).

Next, the movement control unit 76c controls all or a part of the systems 22, 24, 26, and 28 to move the vehicle 10 to the parking target position PP along the movement path. That is, the movement control unit 76c performs automatic driving.

In the process of S6, the vehicle 10 may need to be folded back in a state where a part of the vehicle 10 enters the parking area PA on the moving route. The process related to the folding back will be described in detail.

Fig. 7 is a flowchart of a process related to the turning back in the parking assist process performed by the parking assist apparatus 34 according to the embodiment. The process of fig. 7 is started when the vehicle 10 moves backward toward the parking area PA. In this case, as described above, the acquisition of the peripheral information by the acquisition unit 71 and the detection of the object (reference object) such as an obstacle or a parking space line by the detection unit 72 are repeated at predetermined intervals.

As shown in fig. 7, the parking assist unit 74 determines whether the vehicle 10 can reach the parking target position PP without turning back (S11). Here, in the parking support unit 74, the target position calculation unit 74a and the route calculation unit 75b correct the parking target position PP, the parking area PA, and the movement route as necessary based on the peripheral information acquired by the acquisition unit 71, respectively. That is, the parking target position PP, the parking area PA, and the movement path are updated based on the peripheral information. Therefore, the determination of whether the vehicle 10 can reach the parking target position PP without turning back, which is performed by the parking assist unit 74, can be performed when the latest moving path is calculated. In other words, when the turning-back position RP (fig. 5) is set in the latest moving path, turning-back is necessary, and when the turning-back position RP is not set in the latest moving path, turning-back is unnecessary. Here, in fig. 5, the turning-back position RP of the vehicle 10 is shown by a black dot.

Returning to fig. 7, if it is determined that the vehicle 10 can reach the parking target position PP without turning back (yes in S11), the parking assist unit 74 ends the processing. On the other hand, when the parking assist unit 74 determines that the vehicle 10 cannot reach the parking target position PP without turning back (no in S11), the process proceeds to S12.

At S12, the parking assist unit 74 determines whether the amount of protrusion of the vehicle 10 forward of the parking area PA is smaller than a threshold (S12). Specifically, as shown in fig. 5, the amount of projection of the vehicle forward of the parking area PA is the amount of projection T1 of the end portion PAa on the inlet side of the parking area PA to the outside of the parking area PA. That is, the projection amount T1 is the projection amount T1 of the vehicle 10 from the parking area PA in the first direction D1 from the end PAb on the rear side of the parking area PA toward the end PAa on the entrance side. The projection amount T1 is also called a pop-out amount.

Here, the end PAa on the entrance side of the parking area RA is, in other words, the end on the side where the vehicle 10 enters when the vehicle parks in parallel in the parking area RA. That is, the end portion PAa is one end portion in the longitudinal direction of the parking area PA. The vehicle 10 is parked in the parking area PA such that the front-rear direction of the vehicle 10 is along the longitudinal direction of the parking area PA. The end portion PAa is located at the same position in the first direction D1 as at least one of the front end portions 201a, 201b of the other vehicles 201, 202 in the short-side direction (width direction) of the parking area RA, for example. Accordingly, the projection amount T1 can be said to be a projection amount in the first direction D1 with respect to the reference object (vehicles 201 and 202) for calculating the parking area RA.

The threshold value of the projection amount T1 is set to a value that makes it easy for a driver of the following vehicle 203 of the vehicle 10 to recognize that the vehicle 10 is being stopped continuously. For example, the threshold value is set to be the same as the length between the front end portion of the vehicle 10 and the front wheels in the vehicle front-rear direction, 1.5m as an example. The threshold value may be a value other than the above. In addition, the projecting amount T1 is the same as the distance between the parking target position PP and the first direction D1 of the reference point 10a of the vehicle 10. The parking assist unit 74 calculates the position of the vehicle 10 with respect to the parking area PA (parking target position PP) by a known method.

When the parking assist unit 74 determines that the projecting amount T1 of the vehicle 10 is not less than the threshold value (no in S12), the process proceeds to S13.

At S13, the parking assist unit 74 determines whether or not the reliability of the parking target position PP is equal to or higher than a threshold value and a moving path is provided through which the vehicle 10 can reach the parking target position PP in a folded state. The condition that the reliability of the parking target position PP is equal to or higher than the threshold value and that the vehicle 10 has a moving path that can reach the parking target position PP with turning back is one of the turning back conditions of the vehicle 10. When this condition is satisfied (yes in S13), the parking assist unit 74 performs the returning of the vehicle 10 even if the vehicle 10 does not reach the returning position RP (S14). The reason why the vehicle is turned back earlier than set is because the reliability of the parking target position PP is equal to or higher than the threshold value, and thus the information of the other vehicles 201 and 202 as the obstacles may not be continuously obtained. This reduces the time required for parking.

Here, the reliability of the parking target position PP will be described. Fig. 8 and 9 are explanatory views for explaining the reliability of the parking target position PP according to the embodiment.

The reliability of the parking target position PP is determined based on, for example, the amount of data (data amount) for calculating the parking target position PP. For example, as shown in fig. 8, when the parking target position PP is calculated based on the other vehicle 201, the data for calculating the parking target position PP is the measurement points M1 and M2 of the side surfaces (side portions) of the other vehicles 201 and 202 by the distance measuring unit 16. In this case, the reliability is based on the lengths L1, L2 of the columns of the plurality of measurement points M1, M2. Specifically, the lengths L1 and L2 of the rows of the measurement points M1 and M2 are the lengths of straight lines obtained by approximating the plurality of measurement points M1 and M2 to straight lines. The reliability when at least one of the lengths L1 and L2 of the rows of the measurement points M1 and M2 is a predetermined length is set as a threshold value of reliability. Accordingly, the reliability when at least one of the lengths L1 and L2 of the rows of the measurement points M1 and M2 is longer than the predetermined length is larger than the threshold value. On the other hand, when both the lengths L1 and L2 of the rows of the measurement points M1 and M2 are shorter than the predetermined length, the reliability is less than the threshold value.

For example, as shown in fig. 9, when the parking target position PP is calculated based on the parking space bars 301 and 302 (reference objects), the data for calculating the parking target position PP is the data of the parking space bars 301 and 302 in the captured images of the imaging units 14c and 14 d. Here, in fig. 9, the imaging ranges Dc, Db, and Dd of the imaging units 14c, 14b, and 14d are indicated by dashed-dotted lines. Fig. 9 shows the vehicle 10 in a state where the reference point 10a is located in front of the parking target position PP. The reliability of the parking target position PP in this case is based on the lengths of the parking area delimiting lines 301 and 302 that can be detected from the captured images captured by the imaging units 14c and 14 d. The reliability when at least one of the lengths of the parking space lines 301 and 302 is a predetermined length is set as a threshold value of the reliability. Accordingly, the reliability when at least one of the lengths of the parking area delimiting lines 301 and 302 detected from the captured images captured by the imaging units 14c and 14d is longer than the predetermined length can be larger than the threshold value. On the other hand, the reliability when both the lengths of the parking area delimiting lines 301 and 302 detected from the captured images captured by the imaging units 14c and 14d are shorter than the predetermined length is smaller than the threshold value. In the case of the example of fig. 9, for example, when the distance L3 between the parking target position PP and the reference point 10a of the vehicle 10 becomes a predetermined distance, the reliability becomes the reference value. The prescribed distance is, for example, 2 m. The predetermined distance may be a distance other than the above. In addition, the setting of the reliability is not limited to the above.

Returning to fig. 7, when determining that the reliability of the parking target position PP is not equal to or higher than the threshold value and that there is no moving path along which the vehicle 10 can return to the parking target position PP (no in S13), the parking assist unit 74 determines whether or not the vehicle 15 has reached the return position RP (S15). The condition that the vehicle 10 reaches the turning-back position RP is one of the turning-back conditions of the vehicle 10. When this condition is satisfied (yes in S15), the parking assist unit 74 performs the returning of the vehicle 10 even if the reliability of the parking target position PP is not less than the threshold value and there is no moving path through which the vehicle 10 can return to the parking target position PP (S14).

As is clear from the above, the parking assist unit 74 performs the returning of the vehicle 10 if any one of a plurality of conditions is satisfied, the condition being that the reliability of the parking target position PP is equal to or higher than the threshold value and that the vehicle 10 has a moving path to reach the parking target position PP so as to be able to return and the condition being that the vehicle 15 has reached the returning position. Further, the turning back condition of the vehicle is not limited to the above.

When it is determined that the vehicle 15 has not reached the turning-back position (no in S15), the parking assist unit 74 continues the backward movement of the vehicle 10 (S16), returns to S11, and repeats the processing after S11.

If it is determined at S12 that the projection amount T1 of the vehicle 10 is smaller than the threshold value (S12: yes), the parking assist unit 74 turns the vehicle 10 back (S14) regardless of whether or not the condition for turning back the vehicle 10 is satisfied. Specifically, when determining that the projection amount T1 of the vehicle 10 is smaller than the threshold value (S12: yes), the parking assist unit 74 turns the vehicle 10 back even if the reliability of the parking target position PP is equal to or higher than the threshold value and the condition that the vehicle 10 has a moving path that can reach the parking target position PP to be turned back and the condition that the vehicle 15 has reached the turn-back position are both not satisfied.

As described above, the parking assist apparatus 34 according to the embodiment includes, for example: an acquisition unit 71 that acquires peripheral information, which is information on the periphery of the vehicle 10; a detection unit 72 that detects the parking area PA of the vehicle 10 based on the peripheral information acquired by the acquisition unit 71; and a parking assist unit 74 that calculates a parking target position PP of the vehicle 10 included in the parking area PA of the vehicle 10 and a movement path for moving the vehicle 10 to the parking target position PP, and moves the vehicle 10 to the parking target position PP according to the movement path. When the parking of the vehicle 10 is parallel parking and the vehicle 10 needs to be folded back in a state where a part of the vehicle 10 enters the parking area PA, the parking assist unit 74 folds back the vehicle 10 regardless of whether or not a condition for folding back the vehicle 10 is satisfied when a projection amount T1 of an end portion PAa on the entrance side of the vehicle 10, which has a part of the vehicle entered the parking area PA, out of the parking area PA is smaller than a threshold value. That is, the re-entry of the vehicle 10 with respect to the parking area PA is performed early.

According to the parking assist apparatus 34, for example, when the amount of projection T1 of the end portion PAa on the entrance side of the parking area PA to the outside of the parking area PA is smaller than the threshold value, the parking assist section 74 can turn back the vehicle 10 regardless of whether or not the condition for turning back the vehicle 10 is satisfied, and therefore can notify the periphery of the vehicle 10 (for example, the following vehicle 203 of the vehicle 10) that the parking operation is being continued. This can improve the safety of parallel parking. This can suppress a collision between the vehicle 10 in the parallel parking and the following vehicle 203.

In the parking assist apparatus 34 according to the present embodiment, for example, the conditions for returning the vehicle 10 include that the reliability of the parking target position PP reaches a predetermined standard.

According to the parking assist apparatus 34, for example, even when the reliability of the parking target position PP does not reach a predetermined reference, the vehicle 10 can be folded back.

In the parking assist apparatus 34 of the present embodiment, for example, the condition for the returning of the vehicle 10 includes that the vehicle 10 reaches the returning position RP set in the travel path.

According to the parking assist apparatus 34, for example, even when the vehicle 10 does not reach the set turning-back position RP, the vehicle 10 can be turned back.

The program for executing the processing described above executed by the parking assist apparatus 34 may be provided as a computer program product by storing a file in an installable or executable format in a computer-readable storage medium (non-transitory storage medium) such as a CD-ROM, a CD-R, a memory card, a DVD (digital versatile disc), or a Flexible Disk (FD). Further, the program for executing the above-described processing executed by the parking support apparatus 34 may be stored in a computer connected to a network such as the internet and may be provided by being downloaded via the network. Further, the program for executing the above-described processing executed by the parking assistance device 34 may be provided or distributed via a network such as the internet.

In the flowchart of fig. 7, when the parking assist unit 74 determines that the projecting amount T1 of the vehicle 10 is smaller than the threshold value (yes in S12), the vehicle 10 may be folded back (S14) regardless of whether or not the condition for folding back the vehicle 10 is satisfied, only when the following vehicle 203 is detected by the detection unit 72. That is, if the following vehicle 203 is not detected by the detection unit 72, the process of S12 may not be performed. Here, the following vehicle 203 is, for example, a vehicle located in a passage in front of the parking area PA.

The embodiments of the present invention have been described above, but the above embodiments are illustrative and are not intended to limit the scope of the present invention. The new embodiment can be implemented in other various forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. The embodiment and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

Claims (5)

1. A parking assist apparatus (34) comprising:

an acquisition unit (71) that acquires peripheral information, which is information on the periphery of the vehicle (10);

a detection unit (72) that detects a parking area of the vehicle (10) on the basis of the peripheral information acquired by the acquisition unit (71); and

a parking assist unit (74) that calculates a parking target position of the vehicle (10) included in a parking area of the vehicle (10) and a movement path for moving the vehicle (10) to the parking target position, and moves the vehicle (10) to the parking target position according to the movement path,

the parking assist unit (74) folds the vehicle (10) regardless of whether or not a folding condition of the vehicle (10) is satisfied, when the amount of protrusion of the vehicle (10) from the end portion on the entrance side of the parking area out of the parking area in the state where a portion of the vehicle (10) enters the parking area is smaller than a threshold value, when the parking of the vehicle (10) is parallel parking and folding of the vehicle (10) is required in the state where the portion of the vehicle (10) enters the parking area.

2. Parking assist apparatus (34) according to claim 1,

the condition for the turning back of the vehicle (10) includes that the reliability of the parking target position reaches a prescribed reference.

3. Parking assist apparatus (34) according to claim 1 or 2,

the condition for the turning back of the vehicle (10) includes that the vehicle reaches a turning back position set at the moving path.

4. A parking assist method, comprising:

an acquisition unit (71) acquires peripheral information, which is information on the periphery of the vehicle (10);

a detection unit (72) that detects a parking area of the vehicle (10) on the basis of the peripheral information acquired by the acquisition unit (71);

a parking assist unit (74) that calculates a parking target position of the vehicle (10) and a movement path for moving the vehicle (10) to the parking target position, the parking target position being included in a parking area of the vehicle (10), and that moves the vehicle (10) to the parking target position according to the movement path; and

the parking assist unit (74) folds the vehicle (10) regardless of whether or not a folding condition of the vehicle (10) is satisfied, when the amount of protrusion of the vehicle (10) from the end portion on the entrance side of the parking area out of the parking area in the state where a portion of the vehicle (10) enters the parking area is smaller than a threshold value, when the parking of the vehicle (10) is parallel parking and folding of the vehicle (10) is required in the state where the portion of the vehicle (10) enters the parking area.

5. A non-transitory storage medium storing commands executable by one or more processors and causing the one or more processors to perform functions of:

an acquisition unit (71) acquires peripheral information, which is information on the periphery of the vehicle (10);

a detection unit (72) that detects a parking area of the vehicle on the basis of the peripheral information acquired by the acquisition unit (71);

a parking assist unit (74) that calculates a parking target position of the vehicle (10) and a movement path for moving the vehicle (10) to the parking target position, the parking target position being included in a parking area of the vehicle (10), and that moves the vehicle (10) to the parking target position according to the movement path; and

the parking assist unit (74) folds the vehicle (10) regardless of whether or not a folding condition of the vehicle (10) is satisfied, when the amount of protrusion of the vehicle (10) from the end portion on the entrance side of the parking area out of the parking area in the state where a portion of the vehicle (10) enters the parking area is smaller than a threshold value, when the parking of the vehicle (10) is parallel parking and folding of the vehicle (10) is required in the state where the portion of the vehicle (10) enters the parking area.

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