JP2004209997A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device capable of conducting a safe and accurate parking support even in case the driver has made an operation different from the operation according to a given guidance. <P>SOLUTION: The parking support device to conduct a support for the parking operation made by the driver is equipped with an instructing means 13 to give instruction to the driver about the driving operations to be made for parking along a guide path, a misoperation sensing means 71 to sense any misoperation made by the driver about the driving operations instructed by the instructing means 13, and an alarming means 70 to emit an alarm for promoting the driver to make a corrective operation when misoperation is sensed by the sensing means 71. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a parking assist device that assists a driver in a parking operation in parallel parking, parallel parking, or the like.
[0002]
[Prior art]
2. Description of the Related Art In recent years, parking assist devices have been developed that assist a driver in performing a parking operation when a vehicle is parked in parallel or in a garage.
As a conventional parking assist device, for example, a position in a predetermined positional relationship with respect to a position of a vehicle when a driver operates a parking assist switch is regarded as a parking position, and a recommended route from the current position to the parking position is considered. Is known, and information necessary for traveling along a recommended route is instructed to a driver by voice from a speaker (see Patent Document 1).
[0003]
For example, in the technique of Patent Document 1, when a driver is instructed to stop, a voice message such as “Please stop (the vehicle)” is given. ) Please cut it all the way to the right (or left) ".
Further, a parking section behind the vehicle is recognized from an image behind the vehicle obtained by the back monitor camera, a target steering angle required to allow the own vehicle to enter the parking section is calculated, and it is determined that the vehicle is stopped. In such a case, there is also known a technique in which a difference amount between a target steering angle and an actual steering angle obtained by a steering sensor is displayed on a display, and a driver is informed of the target steering angle by voice (see Patent Document 2).
[0004]
For example, in the technique of Patent Literature 2, when the error between the target route (entering route) and the current position of the vehicle is large, a “peep-peep” sound is output via a speaker in order to return the vehicle to the target route. A voice message tells the driver to stop the vehicle and adjust the current steering angle to the target steering angle with a voice message saying "You are slightly to the left (or right). Please stop and correct the vehicle." ing.
[0005]
[Patent Document 1]
JP 2000-118334 A
[Patent Document 2]
JP 2000-72019 A
[0006]
[Problems to be solved by the invention]
By the way, when attempting to park the vehicle in a parking space using the above-described parking assist device, the driver operates in accordance with the guidance of the parking assist device in a series of parking operation procedures (forward, backward, stop, steering, steering). ) To accurately trace the guide route obtained by the calculation is important for accurate parking in the parking space.
[0007]
However, the driver does not always perform the operation of the vehicle appropriately in response to the teaching of the parking assistance, and may perform an operation different from the guided operation.
In the conventional parking assist device, no countermeasure is taken against such a situation. For example, when the driver performs left steering despite "right steering" is taught, If the driver puts the shift in reverse (reverse) even though the "forward" was taught, it is assumed that the driver has not executed the process according to the teaching, and the next operation is performed forever. You will not be guided.
[0008]
Therefore, in spite of the instruction of “right steering”, if the driver performs left steering without noticing that the operation is erroneous and unintentionally moves forward or backward because the next operation is not guided, an unexpected direction may occur. The vehicle may run away.
Also, even if it is not reverse steering at all, the driver steers the steering wheel a little to the right even though he was instructed to "turn right all the way" and the next operation was not guided, so he proceeded without permission. Alternatively, when the vehicle retreats, a deviation from the guide route occurs, and the vehicle cannot be parked accurately in the parking space.
[0009]
Further, it is also assumed that the driver puts the shift in reverse (reverse) without noticing that the operation was incorrect, and stepped on the accelerator without permission because the next operation was not guided even though "forward" was taught. The vehicle runs in the wrong direction.
The present invention has been made in view of such a problem, and enables a driver to perform parking assistance more safely and accurately even when a driver performs an operation different from the guided operation. An object is to provide a support device.
[0010]
[Means for Solving the Problems]
For this reason, the parking assist device of the present invention (claim 1) is a parking assist device that assists the driver in parking operation, and provides the driver with necessary driving to park along the guide route. Teaching means for teaching an operation, erroneous operation detecting means for detecting an erroneous operation of the driver with respect to the driving operation taught by the teaching means, and corrective operation to the driver when the erroneous operation is detected by the erroneous operation detecting means Warning means for issuing a warning to urge the user.
[0011]
It is preferable that the erroneous operation is traveling in a direction opposite to the traveling direction taught by the teaching means (claim 2).
Preferably, the erroneous operation is a steering in a direction opposite to the steering direction taught by the teaching means (claim 3).
Further, the erroneous operation is preferably a steering angle different from the target steering angle taught by the teaching means (claim 4).
[0012]
Preferably, when the vehicle deviates from the guide route by a predetermined value or more, the parking operation support is terminated (claim 5).
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIGS. 1 to 5 show a parking assist device as an embodiment of the present invention. FIG. 1 is a block diagram showing the configuration of the parking assist device, and FIG. 2 is a schematic diagram for explaining parking assist of parallel parking. 3 is a schematic diagram for explaining the parking assistance of the parallel parking, FIG. 4 is a flowchart showing a process for a driver's erroneous operation (running or steering in the opposite direction), and FIG. 5 is a flowchart showing a process for a stop position deviation. .
[0014]
As shown in FIG. 1, a parking assist device according to the present embodiment includes a steering wheel angle sensor 3, a wheel speed sensor 4, a shift position sensor 5 as a shift position detecting unit, and a parking guide switch as an instruction unit. 6, an electronic control unit (ECU) 8, a teaching means 13, and a warning means 70.
The steering wheel angle sensor 3 detects the steering angle of the steering wheel, and thereby can provide steering angle position information for teaching whether or not the steering angle of the vehicle 1 has reached a predetermined steering angle. .
[0015]
The wheel speed sensor 4 detects a rotation speed of a wheel (not shown), and can provide information on a moving distance of the vehicle based on the rotation speed and the circumference of the wheel.
The shift position sensor 5 detects a selected gear position. The shift position sensor 5 determines whether the speed detected by the wheel speed sensor 4 corresponds to forward or reverse, and allows the driver to perform a correct operation for guidance. It can be used to confirm whether or not the vehicle is engaged, or can be used for controlling the gear position.
[0016]
The parking guide switch 6 is provided in the vicinity of the driver's seat where the driver can easily operate, and the driver operates the parking guide switch 6 to turn on the parking assist device (that is, instruct the start of parking assist). Or the parking assist device can be turned off.
In addition, the parking guide switch 6 allows selection of parking assistance, which is required from among "left side parallel parking", "right side parallel parking", "left side parallel parking", and "right side parallel parking". Parking assistance can be selected.
[0017]
By the way, the present parking assist apparatus first has the vehicle 1 temporarily stop at a position (reference position) near the area to be parked (target parking position), and then moves along a predetermined trajectory (guide route). This assists the parking operation from the reference position to the target parking position.
Therefore, for example, as shown in FIG. 2, when performing parking assistance for parallel parking, the driver turns on the parking guide switch 6 at the reference position a1 and selects “left side parallel parking”, thereby setting the reference position a1. The guide to the target parking position a3 is started with the start point as a start point.
[0018]
That is, the vehicle 1 moves forward from the reference position a1 by a predetermined distance, stops at the initial stop position a2, and then moves backward toward the target parking position a3. At the time of this retreat, first, the steering operation is performed so that the rear of the vehicle 1 faces the direction of the target parking position a3. Then, when the vehicle 1 retreats in this state and the rear of the vehicle 1 faces the required direction (first reverse turning), the steering is performed. In the neutral state, the vehicle is further retreated (neutral retreat). Finally, the vehicle is steered in the reverse direction to retreat to the target parking position a3 so that the direction of the vehicle 1 is also adjusted (second reverse turn).
[0019]
In the present embodiment, the required travel distance (predetermined distance) D1 from the current position (reference position) a1 of the vehicle 1 to the forward position (initial stop position) a2, and the first travel distance D1 from the initial stop position a2 to the target parking position a3. The reverse turning distance Db1, the neutral reverse distance Dc, and the second reverse turning distance Db2 are predetermined. Therefore, the target parking position a3 is inevitably determined once the reference position a1 is determined.
[0020]
As shown in FIG. 3, when performing parking support for parallel parking, the driver turns on the parking guide switch 6 at the reference position b1 and selects “left side parallel parking”, thereby changing the reference position b1. The guidance to the target parking position b3 is started as a start point.
That is, first, the vehicle 1 is advanced by a predetermined distance from the reference position b1, and guided to the initial stop position b2. Then, in the forward movement from the initial stop position b2 to the target parking position b3, first, a steering operation is performed so that the rear of the vehicle 1 faces the direction of the target parking position b3, and if the vehicle 1 turns forward to a predetermined position in this state. Then, the vehicle 1 is steered in the reverse direction to turn the vehicle 1 backward to the target parking position b3.
[0021]
In the present embodiment, the required travel distance (predetermined distance) D2 from the current position (reference position) b1 of the vehicle 1 to the forward position (initial stop position) b2, and the forward turn from the initial stop position b2 to the target parking position b3. The distance Df and the reverse turning distance Db3 are predetermined. Therefore, the target parking position b3 is inevitably determined once the reference position b1 is determined.
[0022]
As shown in FIG. 1, the ECU 8 is provided with functions corresponding to a moving distance estimating means 9, a current position calculating means 10, a teaching control means 18, and an erroneous operation detecting means 71.
The moving distance estimating means 9 estimates the moving distance of the vehicle 1 from the rotational speed of the wheel detected by the wheel speed sensor 4 and the circumference of the wheel.
[0023]
The current position calculating means 10 integrates the behavior of the vehicle 1 after the start of parking assistance based on the output of the moving distance estimating means 9 and the output of the steering wheel angle sensor 3 to determine whether the vehicle 1 is at a reference position (or a target parking position). To estimate the current position.
It should be noted that a yaw rate sensor is provided in place of the moving distance estimating means 9 and the steering wheel angle sensor 3, and the yaw angle of the vehicle is calculated by integrating the detected value of the yaw rate sensor. May be estimated.
[0024]
The teaching control means 18 controls the contents of teaching by the teaching means 13 described later, and provides appropriate teaching contents to the driver at appropriate timing during the parking operation.
The teaching means 13 is for guiding the driving operation of the driver so that the vehicle 1 travels along the guide route from the reference position to the target parking position, and controls the display 15 and the speaker 14 provided in the vehicle interior. Through this, the driver is instructed to the driver on the forward, backward and stop of the vehicle 1, and further, the direction in which the steering wheel is turned (steering).
[0025]
After the start of parking assistance, the display 15 displays text information such as "Please move forward", "Please stop", "Turn the steering wheel all the way to the right".
[0026]
In addition, the speaker 14 emits a guide sound such as "Pipon", and voice messages such as "Please move forward", "Please stop", and "Turn the steering wheel all the way to the right". I have.
Therefore, the driver can take the vehicle 1 to the target parking position by operating the steering wheel, operating forward or backward, etc., based on the teaching from both the display 15 and the speaker 14. . Of course, the driver can receive sufficient teaching only with the speaker 14.
[0027]
The erroneous operation detection means 71 determines whether or not the driver is performing the operation as guided by the driving operation taught by the teaching means 13 based on the output of the steering wheel angle sensor 3 and the output of the shift position sensor 5. In addition, an erroneous operation of the driver is detected.
For example, in the case where the shift is reversed (that is, the driver tries to travel in the opposite direction to the traveled direction instructed) even though "forward" has been taught by the teaching means 13, Is detected as an erroneous operation.
[0028]
In addition, when the driver operates the steering wheel to the left despite the instruction "Turn the steering wheel all the way to the right" by the teaching means 13 (that is, the driver operates the steering wheel in a direction opposite to the steering direction instructed). When the steering wheel is not turned all the way to the right (that is, when the driver stops the steering wheel at a steering angle different from the taught target steering angle), this is detected as an erroneous operation.
[0029]
When the erroneous operation of the driver is detected by the erroneous operation detecting means 71, the warning means 70 issues a warning sound or a voice message such as "Please correct the operation according to the teaching contents" via the speaker 14. I have.
Note that the same teaching content may be re-issued as a voice message. In addition to the warning by the speaker 14, the display 15 displays character information such as “Please correct the operation according to the teaching contents” or blinks the screen of the display 15 to visually warn the driver. You may give it.
[0030]
Further, in the present parking assist device, after a warning is issued by the warning unit 70, the distance (deviation) between the current position of the vehicle 1 estimated by the current position calculation unit 10 and the guidance route is a predetermined value (first predetermined value). Value) or more, parking assistance is terminated.
In other words, if the driver ignores the warning and continues to operate arbitrarily without erroneous operation and the vehicle 1 greatly deviates from the guidance route, the driver deems that it does not need any more parking assistance and ends the parking assistance. . When ending the parking support, it is preferable to notify the driver of the end of the parking support by issuing a voice message such as “the parking support is terminated because the vehicle is out of the guidance route”. Thereby, it is possible to perform safer parking assistance for the driver.
[0031]
To explain with reference to the flowchart shown in FIG. 4, if any one of forward, backward, and steering is guided after parking assistance is started (step S10), the driver performs a shift operation or a steering operation.
At this time, it is determined by the erroneous operation detecting means 71 whether or not the driver has performed an erroneous operation (step S20). If no erroneous operation is detected, the process proceeds to the next guidance. A warning is issued (step S30).
[0032]
Then, it is determined whether or not the driver has performed a correction operation (whether or not the operation has been returned to the guidance operation) (step S40). If the correction operation has been performed, the process proceeds to the next guidance.
On the other hand, if the driver has traveled without performing the correction operation, it is determined whether or not the above-described deviation is equal to or more than a predetermined value (step S50). If the deviation is smaller than the predetermined value, the process proceeds to the next guidance. If the deviation is equal to or more than the predetermined value, the parking support is ended.
[0033]
As described above, when the driver performs a different operation in response to the taught driving operation (forward, backward, steering), the warning unit 70 prompts the driver to perform a corrective operation. By modifying the operation in accordance with the driving operation, it is possible to guide a safer and more accurate parking operation.
Further, in the present parking assist device, "stop" is instructed to the driver, and when the driver stops the vehicle 1, the deviation between the correct stop position on the guide route and the current position of the vehicle 1 is calculated. If the value is equal to or more than a predetermined value (a second predetermined value), guidance of a correction operation is provided.
[0034]
For example, if the vehicle has gone too far in front of the correct stop position, character information such as "I have crossed the stop position. Please go back a little" is displayed on the display 15 or a voice message is issued via the speaker 14. I do.
Explaining with reference to the flowchart shown in FIG. 5, after the parking assistance is started, when a stop is guided (step T10), the current position of the vehicle 1 is periodically calculated by the current position calculation means 10 (step T10). T20).
[0035]
Then, it is determined whether or not the vehicle 1 has stopped (step T30), and when the vehicle 1 has stopped, the deviation between the correct stop position and the current position of the vehicle 1 (the latest position calculated in step T20) is calculated. (Step T40).
It is determined whether or not the deviation is equal to or more than a predetermined value (step T50). If the deviation is smaller than the predetermined value, the process proceeds to the next guidance. The correction operation is guided to the driver via the display 15.
[0036]
As described above, when "stop" is taught and the driver stops the vehicle 1, if the difference between the correct stop position on the guide route and the current position of the vehicle 1 is equal to or greater than a predetermined value, the driver performs a corrective operation. Is taught, the driver notices the deviation of the stop position, and stops at the correct stop position based on the taught driving operation, so that safer and more accurate parking operation is possible.
[0037]
Since the parking assistance device in one embodiment of the present invention is configured as described above, parking assistance for parallel parking and parallel parking is performed in the following procedure.
(1) Parking support for parallel parking
Hereinafter, parking support for left side parallel parking will be described.
As shown in FIG. 2, first, the driver turns on the parking guide switch 6 at a position on the right side in front of the area to be parked and selects “left parallel parking”.
[0038]
When this operation is performed, a voice message “Please proceed slowly and stop beside the position where you want to park” flows, and the driver is instructed to stop.
Then, when the driver stops the vehicle 1 at the side of the area to be parked (that is, the reference position a1; the position of the vehicle 1 indicated by a solid line in FIG. 2), a voice message saying "Please move forward by D1 (m)" is issued. Flows, and the driver is guided to advance to the initial stop position a2.
[0039]
When the vehicle 1 reaches the initial stop position a2, a voice message "Please stop" flows, and the driver is guided to stop.
Then, turn the steering wheel all the way to the left, retreat Db1 (m), stop the car, return the steering wheel to neutral, and retreat Dc (m). "Please stop,""Turn the steering wheel all the way to the right,""Db2 (m) retreat," and "Stop." The guidance from a2 to the target parking position a3 is performed.
[0040]
In addition, the parking support of the left side parallel parking is performed by the above-mentioned procedure, but the parking support of the right side parallel parking is the same as the case of the left side parallel parking, except that the direction in which the steering wheel is turned is reversed. Is the same as the procedure for parallel parking on the left side.
[0041]
(2) Parking support for parallel parking
Hereinafter, parking support of left side parallel parking will be described.
As shown in FIG. 3, first, the driver turns on the parking guide switch 6 at a position on the right side in front of the area to be parked, and selects “left side parallel parking”.
When this operation is performed, a voice message “Please proceed slowly and stop beside the position where you want to park” flows, and the driver is instructed to stop.
[0042]
Then, when the driver stops the vehicle 1 at the side of the area to be parked (that is, the reference position b1; the position of the vehicle 1 indicated by a solid line in FIG. 3), a voice message saying "Please move forward by D2 (m)" is issued. Flows, and the driver is guided to advance to the initial stop position b2.
When the vehicle 1 reaches the initial stop position b2, a voice message "Please stop" flows, and the driver is guided to stop.
[0043]
Then, turn the steering wheel all the way to the right, move forward Df (m), stop the vehicle, turn the steering wheel all the way to the left, and retreat Db3 (m) Voice messages such as "please" and "please stop" are played, and the driver is guided from the initial stop position b2 to the target parking position b3.
In addition, although the parking support of the left side parallel parking is performed by the above-mentioned procedure, the parking support of the right side parallel parking is different from that of the left side parallel parking only in the direction of turning the steering wheel. The procedure is the same as the procedure for left side parallel parking.
[0044]
As described above, parallel parking and parallel parking assistance are performed, but during parking assistance, the driver steers in a direction opposite to the taught steering direction, or does not steer to the target steering angle, or If the vehicle travels in a direction opposite to the taught traveling direction, a warning is issued to the driver according to the flowchart shown in FIG. 4, and the driver is instructed to perform a correction operation.
[0045]
As a result, the driver becomes aware of the erroneous operation and performs the correction operation, so that the vehicle does not largely deviate from the guide route, and the driver can perform a safer and more accurate parking operation.
In addition, when the vehicle 1 is deviated from the guide route by a predetermined value or more while traveling with an erroneous operation, the parking support is terminated, so that it is possible to perform safer parking support for the driver.
[0046]
Further, when the vehicle 1 is stopped in response to the instruction of "stop", the deviation between the correct stop position on the guide route and the current position of the vehicle 1 is calculated according to the flowchart shown in FIG. In the case described above, the driver is instructed to perform the correction operation.
As a result, the deviation from the correct stop position on the guide route is reduced, and the guide route can be accurately traced, so that the parking accuracy is improved and the danger of colliding with a parked vehicle or the like around the vehicle 1 is reduced, and the safety is improved. The performance is improved.
[0047]
Further, since the corrective operation up to the correct stop position is explicitly taught, the driver is not confused by the corrective operation, and the convenience is improved.
[0048]
Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and can be variously modified and implemented without departing from the spirit of the present invention.
[0049]
For example, when the driver performs an erroneous operation, the steering actuator may be controlled to vibrate the steering wheel to urge the driver to perform a corrective operation. In particular, if a warning is given by the steering wheel vibration when the steering operation is performed in the reverse direction (erroneous steering operation), the target of the erroneous operation is explicitly indicated. It is easier to grasp and the convenience is improved. In this case, it is preferable to increase the steering wheel vibration as the steering angle in the reverse direction increases.
[0050]
Further, the vehicle 1 is provided with a rear-view camera (not shown) that captures an image of the situation behind the vehicle 1. When the vehicle 1 retreats (that is, when the shift is put in reverse), an image captured by the rear-view camera is displayed on the display 15. May be displayed. Thus, the driver can clearly grasp the situation behind the vehicle 1 that is difficult to see from the driver's seat during the reverse operation, and can perform the parking operation more safely.
[0051]
A function corresponding to a teaching timing learning means (not shown) for learning the teaching timing of “stop” by the teaching means 13 based on the reaction time of the driver is incorporated in the ECU 8, and the teaching control means 18 controls the teaching timing learning. A configuration may be employed in which the subsequent “stop” teaching timing is corrected based on learning of the means.
[0052]
For example, the response time from when "stop" is taught to when the driver depresses the brake and the vehicle 1 stops is accumulated and evaluated, and teaching is performed at the teaching timing according to the driver's response time. In the simplest case, "stop" is taught at a timing corresponding to an average response time obtained by simply averaging the accumulated time, or at a timing corresponding to a response time obtained by a weighted average emphasizing the latest response time. .
With this configuration, the vehicle 1 can be more accurately parked at the target parking position.
[0053]
【The invention's effect】
As described in detail above, according to the parking assist device of the present invention, when the driving operation is taught by the teaching unit and the erroneous operation of the driver is detected by the erroneous operation detecting unit, the warning unit notifies the driver. Since a warning is issued to prompt the driver to perform the correction operation, the driver can recognize that the operation is an erroneous operation and perform the correction operation. That is, it is possible to perform safer and more accurate parking assistance for the driver.
[0054]
According to the parking assist device of the present invention, when the erroneous operation detecting means detects that the vehicle is traveling in the direction opposite to the traveling direction taught by the teaching means, the erroneous operation is detected as an erroneous operation. The parking operation can be performed without making a mistake in the traveling direction.
According to the parking assist device of the present invention, the erroneous operation detecting means detects the erroneous operation when the steering is performed in the direction opposite to the steering direction taught by the teaching means. The parking operation can be performed without mistake of the steering direction.
[0055]
According to the parking assist device of the present invention, when the steering angle is different from the target steering angle taught by the teaching unit, the erroneous operation detecting unit detects this as an erroneous operation. The parking operation can be performed without making a mistake in the corner.
According to the parking assist device of the present invention, since the assist of the parking operation is terminated when the vehicle deviates from the guide route by a predetermined value or more, it is possible to perform safer parking assist for the driver. .
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a parking assistance device as one embodiment of the present invention.
FIG. 2 is a plan view for explaining a parking assist device as one embodiment of the present invention and illustrating an operation for parallel parking from a reference position to a target parking position.
FIG. 3 is a plan view for explaining an operation for parallel parking from a reference position to a target parking position, illustrating the parking assist device as one embodiment of the present invention.
FIG. 4 is a flowchart for explaining a parking assist device as one embodiment of the present invention, showing processing for a driver's erroneous operation.
FIG. 5 is a flowchart for explaining a parking assist device as one embodiment of the present invention, and showing a process for a stop position shift of a driver.
[Explanation of symbols]
1 vehicle
3 Handle angle sensor (steering angle detection means)
4 Wheel speed sensor
5 shift position sensor (shift position detecting means)
6 parking guide switch (instruction means)
8 ECU (electronic control unit)
9 Moving distance estimation means
10 Current position calculation means
13 Teaching means
14 Speaker
15 Display
18 Teaching control means
70 Warning Means
71 Error operation detection means

Claims (5)

A parking assist device that assists a driver with a parking operation,
Teaching means for teaching the driver a necessary driving operation for parking along the guide route;
Erroneous operation detecting means for detecting erroneous operation of the driver with respect to the driving operation taught by the teaching means;
A parking assist device comprising: a warning unit that issues a warning to urge the driver to perform a correction operation when the erroneous operation is detected by the erroneous operation detection unit. The parking assist device according to claim 1, wherein the erroneous operation is traveling in a direction opposite to a traveling direction taught by the teaching means. The parking assist device according to claim 1, wherein the erroneous operation is steering in a direction opposite to a steering direction taught by the teaching unit. The parking assist device according to any one of claims 1 to 3, wherein the erroneous operation is a steering angle different from a target steering angle taught by the teaching means. The parking assistance device according to any one of claims 1 to 4, wherein the assistance of the parking operation is terminated when the vehicle deviates from the guidance route by a predetermined value or more.

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