JP2010132029A - Parking assistant device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking assistant device setting a going out parking position even if the peripheral circumstance is varied. <P>SOLUTION: In the parking assistant device 10, a parking space is detected by parking candidate area detection means 31-33 and a peripheral space of a parking space at going out of the one's own vehicle is presumed by environment variation presumption means 34-35. It is determined by a determination means 36 whether the own vehicle can go out at the peripheral space, and setting of the parking position is assisted by an assisting means 37 based on the determination result. Thereby, since determination of right or wrong of going out and setting of the parking position are performed taking into consideration how the peripheral environment is varied at going out, even if the peripheral circumstance is varied, the going out parking position can be set. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a parking assistance device that assists in setting a parking position of a vehicle.

2. Description of the Related Art Conventionally, as a device that assists in parking a vehicle in a parking lot or the like, for example, there is a parking assistance device described in Japanese Patent Application Laid-Open No. 2007-30700. In this parking assistance device, driving operation in parking of a vehicle is supported by guiding the vehicle to a parking position in consideration of a margin space with a surrounding parked vehicle that is necessary when the vehicle enters and leaves.
JP 2007-30700 A

  However, in the parking assistance apparatus described in Patent Document 1, the vehicle can be delivered when the surrounding situation changes while the vehicle is parked, for example, when there is not enough room with the surrounding parked vehicle. There was a risk of disappearing.

  Therefore, the present invention has been made to solve such a technical problem, and an object of the present invention is to provide a parking assist device that sets a parking position that can be delivered even if the surrounding situation changes.

  That is, the parking assistance device according to the present invention is a parking assistance device that assists in setting the parking position when the vehicle is parked, and includes a parking candidate region detection unit that detects a parking candidate region, and a parking candidate region when the vehicle leaves. An environmental change estimation unit that estimates the surrounding environment, a determination unit that determines whether or not the vehicle can leave the parking candidate area in the surrounding environment estimated by the environment change estimation unit, and a parking position based on a determination result by the determination unit And a support means for supporting the setting.

  According to the parking assist device of the present invention, the parking candidate area is detected by the parking candidate area detecting means, and the surrounding environment of the parking candidate area when the vehicle is leaving is estimated by the environment change estimating means. Further, it is determined by the determining means whether or not the vehicle can be delivered in the estimated surrounding environment, and the setting of the parking position is supported by the supporting means based on the determination result. Therefore, it is possible to set the parking position according to the change of the surrounding environment while parking because the surrounding environment changes at the time of leaving the car, and the possibility of leaving is determined and the parking position of the vehicle is set. Become. Therefore, it is possible to set a parking position that can be delivered even if the surrounding situation changes.

  Moreover, in the parking assistance apparatus according to the present invention, it is preferable that the assistance means sets a parking position in a parking candidate area that is determined by the determination means to be available.

  According to this invention, since a parking position is set to the parking candidate area | region determined with the determination means being able to leave, a vehicle can be parked in the parking position which can leave. Therefore, it is possible to avoid a situation in which the delivery is impossible due to a change in the situation during parking.

  Moreover, in the parking assistance apparatus according to the present invention, it is preferable that the environment change estimation means estimates the state of the parked vehicle around the parking candidate area.

  According to this invention, the state of the parked vehicle around the parking candidate area is estimated by the environment change estimating means. Further, it is determined whether or not the vehicle can be left in the state of the surrounding parked vehicle thus estimated, and the setting of the parking position is supported based on the determination result. Therefore, it is possible to set a parking position where the vehicle can be left even if the surrounding parked vehicle changes state. Here, the state of the parked vehicle refers to the presence, size, and shape of the parked vehicle. That is, according to the present invention, it is possible to avoid a situation in which the vehicle cannot be released due to a change in the situation such as a parked vehicle in the space that was vacant at the time of parking or a nearby parked vehicle becoming large.

  Moreover, in the parking assistance apparatus according to the present invention, it is preferable that the environment change estimation means estimates the state of the passage before and after the parking candidate area.

  According to this invention, the situation of the passage before and behind the parking candidate area is estimated by the environment change estimating means. In addition, it is determined whether or not the vehicle can be delivered in the situation of the passage before and after the parking candidate area thus estimated, and the setting of the parking position is supported based on the determination result. Therefore, it is possible to set a parking position that can be delivered even if the situation of the passages before and after the parking candidate area changes.

  The parking support apparatus according to the present invention further includes an estimation unit that estimates whether or not another vehicle is parked in the parking candidate area before the vehicle is parked in the parking candidate area. It is preferable to set the parking position based on the estimation result by.

  According to this invention, it is estimated by an estimation means whether another vehicle parks in a parking candidate area | region before a vehicle parks in a parking candidate area | region. Moreover, the setting of a parking position is supported based on this estimation result. Therefore, it is possible to avoid a situation in which parking is impossible because the vehicle is parked first.

  According to the parking assistance apparatus according to the present invention, it is possible to set a parking position that can be left even if the surrounding situation changes.

  Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

(First embodiment)
FIG. 1 is a block diagram showing a parking assistance device according to the first embodiment. The parking assistance apparatus 10 according to the present embodiment is an apparatus that assists in setting a parking position of a vehicle in a parking lot or the like. The parking assist device 10 is provided in the host vehicle and assists in setting the parking position when the host vehicle is parked.

  As shown in FIG. 1, the parking assistance device 10 includes a parking space detection unit 1, a GPS (Global Positioning System) receiver 2, a parking assistance ECU (Electronic Control Unit) 3, and a vehicle control ECU 4. The parking space detector 1 and the GPS receiver 2 are each connected to a parking assistance ECU 3, and the vehicle control ECU 4 is connected to the parking assistance ECU 3.

  The parking space detection unit 1 includes a laser range finder, a camera, and the like, scans the laser beam toward a predetermined range, and detects the distance to each point on the measurement object by receiving the reflected light. In addition, it has a function of acquiring an image in a predetermined range around the host vehicle. The parking space detection unit 1 is attached to the host vehicle so that the laser beam can be scanned toward a predetermined range in front and side of the host vehicle. The distance detection and the image acquisition by the parking space detection unit 1 are performed every predetermined time until the engine is started and then stopped. The parking space detection unit 1 generates a signal indicating the detected distance and image, and sequentially outputs the signal to the parking assist ECU 3 as a parking space detection signal.

  The GPS receiver 2 includes an antenna attached to the host vehicle and has a function of detecting the position of the host vehicle using the GPS. This antenna is attached to two different places of the host vehicle. The position detection by the GPS receiver 2 is performed every predetermined time from when the engine is started to when it is stopped. The GPS receiver 2 generates a signal indicating the detected position of the host vehicle, and sequentially outputs the signal to the parking assist ECU 3 as the host vehicle position signal.

  In the present embodiment, when the host vehicle tries to park in the parking lot, the parking space detection unit 1 detects parking spaces and other vehicles in the parking lot, and detects the distance from these vehicles. Moreover, the position and direction of the own vehicle in a parking lot are detected by the GPS receiver 2.

  The parking assist ECU 3 is mainly configured by a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), for example, and sets a parking position of the host vehicle and determines a parking action. Is. That is, the parking assist ECU 3 supports the setting of the parking position for the host vehicle. The parking assist ECU 3 includes a candidate area detection unit 31, a current position detection unit 32, a parking availability determination unit 33, a parking position calculation unit 34, a virtual vehicle setting unit 35, an exit availability determination unit 36, and a parking action determination unit 37. Yes.

  The candidate area detection unit 31 has a function of detecting an empty parking space by acquiring the parking space detection signal output from the parking space detection unit 1 and performing image processing on the image indicated by the acquired parking space detection signal. is doing. Moreover, the candidate area | region detection part 31 has a function which detects the distance from the own vehicle of the detected parking space based on the acquired parking space detection signal.

  The current position detection unit 32 has a function of acquiring the own vehicle position signal output from the GPS receiver 2 and detecting the position and posture of the own vehicle in the parking lot based on the position signal in each antenna. Yes. Here, the posture of the host vehicle means “direction”.

  Based on the parking space detected by the candidate area detection unit 31 and the position and orientation of the host vehicle detected by the current position detection unit 32, the parking availability determination unit 33 determines whether or not the own vehicle can park in the parking space. It has a function to determine whether. Thus, the parking space determined to be able to park corresponds to a parking candidate area.

  As described above, the candidate area detection unit 31, the current position detection unit 32, and the parking availability determination unit 33 function as a parking candidate area detection unit that detects a parking candidate area.

  The parking position calculation unit 34 has a function of calculating the parking position and posture when the host vehicle is parked in the parking space that is determined to be parking by the parking possibility determination unit 33.

  The virtual vehicle setting unit 35 acquires the parking space detection signal output from the parking space detection unit 1 and applies image processing to the image indicated by the acquired parking space detection signal, so that the parking availability determination unit 33 can park the vehicle. It has a function of detecting another parking space around the determined parking space. In the following description, a surrounding parking space detected by the virtual vehicle setting unit 35 is also referred to as a “peripheral parking space”.

  Further, the virtual vehicle setting unit 35 has a function of virtually arranging a parked vehicle (also referred to as a “peripheral parked vehicle” in the following description) in the detected surrounding parking space. This peripheral parking vehicle is set as another vehicle that can exist around the own vehicle when the own vehicle leaves the parking space. Further, the virtual vehicle setting unit 35 has a function of calculating the surrounding space of the host vehicle determined by the position of the surrounding parked vehicle as a surrounding environment.

  In this manner, the parking position calculation unit 34 and the virtual vehicle setting unit 35 function as an environment change estimation unit that estimates the surrounding environment of the parking candidate area when the host vehicle is leaving.

  Based on the parking position and posture of the host vehicle calculated by the parking position calculation unit 34 and the surrounding space of the host vehicle calculated by the virtual vehicle setting unit 35, the garage availability determination unit 36 parks the surrounding parked vehicles. In this state, the vehicle has a function of determining whether or not the own vehicle can be left. In other words, the exit possibility determination unit 36 functions as a determination unit that determines whether or not the host vehicle can exit from the parking candidate area in the surrounding environment estimated by the environment change estimation unit.

  The parking behavior determination unit 37 has a function of determining whether to start or stop parking of the own vehicle in the parking space based on the determination result by the determination of whether or not the vehicle can be released by the leaving / unloading determination unit 36. In addition, the parking behavior determination unit 37 has a function of generating a parking start signal that instructs parking in the parking space when the parking start is determined and outputting the parking start signal to the vehicle control ECU 4. That is, the parking action determination unit 37 functions as a support unit that supports the setting of the parking position based on the determination result by the determination unit.

  The vehicle control ECU 4 has a function of acquiring the parking start signal output from the parking action determining unit 37 of the parking assist ECU 3 and controlling the host vehicle in order to park the host vehicle in the parking space where parking is determined. Yes.

  Operation | movement of the parking assistance apparatus 10 provided with the above structure is demonstrated below. FIG. 2 is a flowchart showing a processing procedure performed by the parking assistance apparatus 10. The process in FIG. 2 starts when the host vehicle is parked in the parking lot, and is repeatedly executed by the parking assist ECU 3 at a predetermined cycle until the host vehicle completes parking or stops parking and returns to a normal running state. Is done. In addition, the parking posture of the host vehicle may be determined from the detection result by the parking space detection unit 1 or may be determined from the position information by the GPS receiver 2.

  First, in S1, the candidate area detection unit 31 detects an empty parking space. Here, the candidate area detection unit 31 acquires a parking space detection signal output from the parking space detection unit 1, and detects an empty parking space by performing image processing on the image indicated by the acquired parking space detection signal. . This detection is performed, for example, by detecting a white line or the like that delimits the parking space and the presence or absence of other vehicles in the area surrounded by the white line or the like. That is, in S1, the candidate area detection unit 31 detects a parking space where the absence of another vehicle is detected as an empty parking space.

  Next, the process proceeds to S2, and the current position detection unit 32 acquires the own vehicle position signal output from the GPS receiver 2, and based on the position signal in each antenna, the position and direction of the own vehicle in the parking lot. Is detected.

  Next, the process proceeds to S3, where the parking availability determination unit 33 determines whether the host vehicle can park in the parking space based on the parking space detected in S1 and the position and orientation of the host vehicle detected in S2. Determine whether. For example, the parking availability determination unit 33 sequentially calculates the area through which the host vehicle passes in the course of the parking action, and determines whether parking is possible depending on whether the passing area of the host vehicle obtained as a result of the calculation does not overlap the detected parking space. Determine.

  Next, the process proceeds to S4, and if it is determined that the passing area of the own vehicle does not overlap the parking space as a result of the determination in S3, it is determined that the own vehicle can be parked in the parking space, and the process proceeds to S5. . If it is determined that the passing area of the host vehicle overlaps the parking space, it is determined that the host vehicle cannot park in the parking space, and the process proceeds to S11.

  In S5, the parking position calculation part 34 calculates the parking position and attitude | position when the own vehicle parks in the parking space determined as parking possible in S4.

  Next, the process proceeds to S6, where the virtual vehicle setting unit 35 acquires the parking space detection signal output from the parking space detection unit 1, and performs image processing on the image indicated by the acquired parking space detection signal, thereby parking. The parking spaces on both sides of the parking space that is determined to be parking by the availability determining unit 33 are detected as surrounding parking spaces.

  Next, it transfers to S7 and the virtual vehicle setting part 35 arrange | positions a surrounding parking vehicle virtually in the detected surrounding parking space. That is, the virtual vehicle setting unit 35 estimates the state of the parked vehicle around the parking space. The state of the surrounding parked vehicle here refers to the presence, size, and shape of the parked vehicle. Further, the virtual vehicle setting unit 35 calculates the surrounding space of the host vehicle determined by the position of the surrounding parked vehicle as a surrounding environment.

  In FIG. 3, the example of the position of the own vehicle calculated in S5-S7 and arrangement | positioning of a surrounding parking vehicle is shown. As shown in FIG. 3, the host vehicle 5 is virtually arranged in a parking space A that is determined to be parkable in S <b> 3 to S <b> 4. Further, in the surrounding parking spaces B1 (left side) and B2 (right side) adjacent to the parking space A detected in S6, the other vehicles 6a and 6b are virtually arranged as surrounding parking vehicles, respectively.

  Here, in arrangement | positioning of the surrounding parked vehicle in S7, the other vehicle which may exist when the own vehicle 5 leaves the parking space A is arrange | positioned as there exists in multiple types of states. In the example shown in FIG. 3, the surrounding parked vehicle 6 a is a vehicle larger than the host vehicle 5 and is parked near the parking space A. The nearby parked vehicle 6b is a smaller vehicle than the host vehicle 5, and is parked such that the front portion of the vehicle protrudes from the surrounding parking space B2 and approaches the parking space A.

  In the state where the surrounding parked vehicles are arranged in this way, as shown in FIG. 4, the surrounding space A1 of the host vehicle 5 is calculated along the right side surface of the surrounding parked vehicle 6a and the left side surface of the surrounding parked vehicle 6b. The This surrounding space A1 is a surrounding space of the own vehicle 5 determined by the positions of the surrounding parked vehicles 6a and 6b, and becomes a criterion for determining whether or not the vehicle 5 can be released without contacting another vehicle when the vehicle 5 leaves. . As described above, in the calculation process in S7, a plurality of types of surrounding spaces are calculated according to a plurality of types of states of surrounding parked vehicles, assuming all surrounding environments.

  Next, the process proceeds to S8, and the garage availability determination unit 36 determines that the surrounding parked vehicle 6a is based on the parking position and posture of the host vehicle 5 calculated in S5 and the surrounding space A1 of the host vehicle 5 calculated in S7. , 6b is determined whether or not the own vehicle 5 can leave the parking space A. For example, the leaving possibility determination unit 36 sequentially calculates the area through which the host vehicle 5 passes during the leaving process, and determines whether or not the passing area of the own vehicle 5 obtained as a result of the calculation does not overlap with the surrounding space A1. Determine.

  Next, the process proceeds to S9. As a result of the determination in S8, when it is determined that the passing area of the own vehicle 5 does not overlap with the surrounding space A1, it is determined that the own vehicle 5 can leave the parking space A, and S10 Migrate to If it is determined that the passing area of the host vehicle 5 overlaps the surrounding space A1, it is determined that the host vehicle 5 cannot leave the parking space A, and the process proceeds to S11.

  In S10, the parking action determination unit 37 determines the parking start of the host vehicle 5 in the parking space A based on the determination result that the car can be delivered in S8 to S9. In other words, the parking behavior determination unit 37 sets the parking position in the parking candidate area that is determined to be available for delivery by the delivery availability determination unit 36. And the parking action determination part 37 produces | generates the parking start signal which instruct | indicates the parking to the parking space A, and outputs it to vehicle control ECU4.

  On the other hand, in S11, the parking action determination unit 37 determines the parking stop of the host vehicle 5 in the parking space A based on the determination result indicating that the departure is not possible in S8 to S9, and ends the process.

  When the vehicle control ECU 4 acquires the parking start signal output from the parking action determination unit 37 of the parking assistance ECU 3 through the above series of processes, the vehicle control ECU 4 should park the host vehicle 5 in the parking space A where parking is determined. The own vehicle 5 is controlled.

  In this way, the parking assist device 10 assists in setting the parking position of the host vehicle 5 in a parking lot or the like.

  As described above, according to the parking assistance device 10 according to the present embodiment, the parking space A is detected by the candidate area detection unit 31, the current position detection unit 32, and the parking availability determination unit 33, and the parking position calculation unit 34 and The virtual vehicle setting unit 35 estimates the surrounding space A1 of the parking space A when the host vehicle 5 is leaving. Further, whether or not the own vehicle 5 can be issued in the surrounding space A1 thus estimated is determined by the output possibility determination unit 36, and the setting of the parking position is supported by the parking action determination unit 37 based on the determination result. Therefore, in consideration of how the surrounding environment changes at the time of delivery, it is determined whether the delivery is possible and the parking position of the host vehicle 5 is set. It becomes possible. Therefore, it is possible to set a parking position that can be delivered even if the surrounding situation changes.

  Moreover, according to the parking assistance apparatus 10 which concerns on this embodiment, since a parking position is set to the parking space A determined that the leaving possibility determination part 36 can leave, the own vehicle 5 is parked in the parking position which can be left. can do. Therefore, it is possible to avoid a situation in which the delivery is impossible due to a change in the situation during parking.

  Moreover, according to the parking assistance apparatus 10 which concerns on this embodiment, the state of the surrounding parking vehicles 6a and 6b in the circumference | surroundings of the parking space A is estimated by the parking position calculating part 34 and the virtual vehicle setting part 35. FIG. In addition, it is determined whether or not the host vehicle 5 can be left in the state of the surrounding parked vehicles 6a and 6b thus estimated, and the setting of the parking position is supported based on the determination result. Therefore, it is possible to set a parking position where the vehicle can be left even if the surrounding parked vehicle changes state. That is, according to the present invention, it is possible to avoid a situation in which the vehicle cannot be released due to a change in the situation such as a parked vehicle in the space that was vacant at the time of parking or a nearby parked vehicle becoming large.

  Next, another processing procedure by the parking assistance apparatus 10 of the present embodiment will be described with reference to FIGS. 5 and 6.

  S1 to S7 shown in FIG. 5 correspond to S1 to S7 shown in FIG. 2, but in S12, unlike the case of S3 in FIG. 2, the parking availability determination unit 33 determines whether the host vehicle 5 can park in the parking space. In determining whether or not, it is determined whether or not parking is possible for two types, a case where the vehicle is parked backward in the parking space and a case where the vehicle is parked forward. Other processing is the same as the processing procedure of FIG.

  And it transfers to S13 of FIG. 6, and the parking availability determination part 33 judges whether the parking in the backward direction was possible in the parking availability determination of S12, S4. When it is determined that the host vehicle 5 cannot park backward in the parking space, the process proceeds to S17.

  In S13, when the own vehicle 5 can be parked backward in the parking space, the process proceeds to S14, and the parking permission / inhibition determination unit 33 is calculated in S7 with the parking position and posture of the own vehicle 5 calculated in S5. Based on the surrounding space of the own vehicle 5, it is determined whether or not the own vehicle 5 can leave the parking space in a state where the surrounding parked vehicle is parked. This determination method is the same as S8 in FIG.

  Next, the process proceeds to S15, and if it is determined in S14 that the passing area of the host vehicle 5 does not overlap the surrounding space, it is determined that the host vehicle 5 can leave the parking space, and the process proceeds to S16. To do. When it is determined that the passing area of the host vehicle 5 overlaps the surrounding space, it is determined that the host vehicle 5 cannot leave the parking space, and the process proceeds to S17.

  Furthermore, in S16, the parking availability determination unit 33 determines whether or not the host vehicle 5 is likely to travel after leaving the parking space. That is, the parking availability determination unit 33 determines whether or not the host vehicle 5 can follow the target route after leaving the vehicle. FIG. 7 shows an example of the travel difficulty level determination after leaving in the parking assistance device 10. As illustrated in FIG. 7A, when the exit E of the parking lot is directly beside the parking space, it is determined that the vehicle 5 that is parked backwards can easily travel after leaving the vehicle, and the process proceeds to S10. . If it is determined from the positional relationship between the parking space and the exit that the host vehicle 5 is difficult to travel after leaving, the process proceeds to S17.

  In S17, the parking availability determination unit 33 determines whether or not forward parking is possible in the parking availability determination in S12 and S4. When it is determined that the host vehicle 5 has not been able to park forward in the parking space, the process proceeds to S11.

  Subsequently, in S18 to S20, in the same manner as in S14 to S16, the parking availability determination unit 33 determines whether or not the host vehicle 5 can exit from the parking space and whether or not traveling after leaving the vehicle is easy. For example, in S20, when the exit E of the parking lot is directly beside the parking space as illustrated in FIG. 7B, it is necessary to turn over for the own vehicle 5 that is parked forward, and traveling after leaving the vehicle is not possible. It is determined that it is difficult to carry out, and the process proceeds to S11. If it is determined from the positional relationship between the parking space and the exit that the vehicle 5 is likely to travel after leaving, the process proceeds to S10.

  In S10, when it is determined in S16 that it is easy to travel after leaving, the parking behavior determination unit 37 determines backward parking in the parking space. Moreover, when it is judged in S20 that it is easy to travel after leaving the vehicle, the parking behavior determination unit 37 determines forward parking in the parking space. And the parking action determination part 37 produces | generates the parking start signal which instruct | indicates the parking backward or forward to a parking space, and outputs it to vehicle control ECU4. Note that the processing in S11 is the same as the processing procedure of FIG.

  When the vehicle control ECU 4 acquires the parking start signal output from the parking action determination unit 37 of the parking assist ECU 3 through the above-described series of processing, the vehicle control ECU 4 faces backward or forward to the parking space A where parking is determined. The host vehicle 5 is controlled to park the vehicle 5. In this way, the parking assist device 10 assists in setting the parking position of the host vehicle 5 in a parking lot or the like.

  According to such support of the parking position, it is possible to provide parking support by a parking method in which the host vehicle 5 can easily travel after leaving the vehicle, considering the ease of traveling after the host vehicle 5 leaves the store.

(Second embodiment)
FIG. 8 is a block diagram showing a parking support apparatus according to the second embodiment, and FIG. 9 is a flowchart showing a processing procedure by the parking support apparatus.

  The parking support device 20 of the present embodiment shown in FIG. 8 is different from the parking support device 10 shown in FIG. 1 in that the numeric keypad 7 for inputting the scheduled departure time of the host vehicle and the passages before and after the parking space. The situation is that the parking environment DB 8 is stored as passage status information (this “DB” means “database”, and the same applies in the following description). Further, the parking assistance ECU 13 of the parking assistance device 20 does not include the virtual vehicle setting unit 35 in the parking assistance device 10 of FIG. In the parking assist device 20, the parking position calculation unit 34 functions as an environment change estimation unit that estimates the situation of the passage before and after the parking candidate area.

  As shown in FIG. 9, in the processing by the parking assist device 20, the process proceeds to S <b> 21 following the parking position calculation in S <b> 5, and the parking position calculation unit 34 is input by the driver of the host vehicle 5 using the numeric keypad 7. Get scheduled shipping time.

  Next, the process proceeds to S22, and the parking position calculation unit 34 acquires the situation of the passage in the direction of leaving in front of or behind the parking space at the planned leaving time of the host vehicle 5 acquired in S21 from the parking environment DB 8. Estimate based on situation information. Here, examples of the situation of the passage acquired from the parking environment DB 8 include a traffic jam at the time of commuting and a crowded situation of a store on a holiday.

  Next, it transfers to S23 and the leaving decision | availability determination part 36 determines the decision | availability of leaving according to the condition of the channel | path estimated in S22. Here, for example, when it is estimated that the passage ahead is difficult due to traffic jams from other vehicles in the scheduled delivery time of the host vehicle 5, it is determined that the delivery is not possible.

  Processing other than the above in the parking assistance device 20 is the same as the processing in the first embodiment.

  According to such a parking assist device 20, the parking position calculation unit 34 estimates the state of the passage before and after the parking space. Further, it is determined whether or not the host vehicle 5 can leave the vehicle in the situation of the passage before and after the parking space thus estimated, and the setting of the parking position is supported based on the determination result. Therefore, it is possible to set a parking position that can be delivered even if the situation of the passage before and after the parking space changes. In addition, it is possible to avoid a situation in which the delivery is impossible due to an increase in the degree of congestion in the passage.

(Third embodiment)
FIG. 10 is a block diagram showing a parking assistance device according to the third embodiment, FIG. 11 is a flowchart showing a processing procedure by the parking assistance device, and FIG. 12 is a flowchart showing a processing procedure following FIG.

  The parking support device 30 of the present embodiment shown in FIG. 10 is different from the parking support device 10 shown in FIG. 1 in that the map DB 9 storing the map information of the parking lot and the own vehicle 5 are parked from the current position. An arrival time calculation unit 38 that calculates the time required to reach the vehicle, a detection range calculation unit 39 that calculates a distance d that other vehicles can reach the parking space within the arrival time, and a distance d from the parking space. It is the point provided with the other vehicle detection part 40 which detects the other vehicle in the range. In the parking assistance device 30, the arrival time calculation unit 38, the detection range calculation unit 39, and the other vehicle detection unit 40 determine whether the other vehicle parks in the parking space before the own vehicle 5 parks in the parking space. It functions as an estimation means for estimating whether or not.

  Moreover, S1-S9 of FIG. 11 in the process by the parking assistance apparatus 30 is the same as S1-S9 shown in FIG. In the parking assistance apparatus 30, when it is determined in FIG. 9 that the own vehicle 5 can be delivered from the parking space, the process proceeds to S31 illustrated in FIG.

  In S31, the arrival time calculation unit 38 calculates the time required for the host vehicle 5 to reach the parking space from the current position based on the distance of the route from the host vehicle 5 to the parking space. In other words, the arrival time calculation unit 38 calculates the arrival time to the parking space. Here, the arrival time calculation unit 38 calculates the arrival time based on, for example, the distance to the parking space and the planned traveling speed of the host vehicle 5. This arrival time does not need to be calculated strictly, and may be a longer arrival time.

  Next, the process proceeds to S32, and the detection range calculation unit 39 calculates the distance d that the other vehicle can reach the parking space during the arrival time calculated in S31. Here, the detection range calculation unit 39 calculates the distance d based on, for example, the assumed speed in the parking lot of the other vehicle and the arrival time calculated in S31. This distance d need not be calculated strictly, and may be a longer distance.

  Next, it transfers to S33 and the other vehicle detection part 40 detects the other vehicle in the range of this distance d from a parking space using the distance d calculated in S32. The other vehicle detected here means the other vehicle that can park in the parking space before the own vehicle 5 parks in the parking space. What is necessary is just to detect the other vehicle here using the parking space detection part 1 grade | etc.,.

  Next, it transfers to S34 and the other vehicle detection part 40 judges whether the other vehicle was detected in S33. The other vehicle detection part 40 transfers to S35, when an other vehicle is not detected within the range of the distance d from a parking assistance apparatus space. If another vehicle is detected within the distance d from the parking assistance device space, the process proceeds to S36. That is, in S34, the other vehicle detection unit 40 estimates whether or not the other vehicle is parked in the parking space before the host vehicle 5 is parked in the parking space.

  S35 to S36 in the parking assist device 30 are the same as the processes of S10 to S11 shown in FIG. That is, in the parking assistance device 30 of the present embodiment, the parking behavior determination unit 37 sets the parking position based on the estimation results by the arrival time calculation unit 38, the detection range calculation unit 39, and the other vehicle detection unit 40.

  According to such a parking assist device 30, whether or not another vehicle is parked in the parking space before the own vehicle 5 is parked in the parking space is determined by the arrival time calculating unit 38, the detection range calculating unit 39, and It is estimated by the other vehicle detection unit 40. Moreover, the setting of a parking position is supported based on this estimation result. Therefore, it is possible to avoid a situation in which parking is impossible because the vehicle is parked first.

  As mentioned above, although preferred embodiment of this invention was described in detail, the parking assistance apparatus which concerns on this invention is not restricted to the said embodiment. In the above embodiment, the case where a laser range finder or a camera is used for detecting an empty parking space or detecting another vehicle has been described. However, any device that can detect a parking space or other vehicle may be used, for example, a parking lot You may use the information from the camera etc. which were provided in the management center or parking lot. Moreover, in the said embodiment, in the estimation of the state of the parked vehicle in the vicinity of the parking space, the surrounding parking spaces on both sides of the parking space were detected. Also good.

  Further, in the above-described embodiment, the case where the support unit determines whether to start or stop the parking has been described. However, when the host vehicle is already parked, the support unit moves from the current parking space to another parking space. Support may be provided to determine whether or not to do so. Moreover, although the said embodiment demonstrated the case where it controlled to park the own vehicle in a parking space by vehicle control ECU, for example, the setting result of the parking position by parking assistance ECU was notified to a driver, and the driver was notified. You may park after confirming the parking position.

It is a block block diagram which shows the parking assistance apparatus which concerns on 1st embodiment. It is a flowchart which shows the process sequence by the parking assistance apparatus of FIG. It is explanatory drawing of the own vehicle position and virtual vehicle arrangement | positioning by the parking assistance apparatus of FIG. It is explanatory drawing of the surrounding space calculation by the parking assistance apparatus of FIG. It is a flowchart which shows the other process sequence by the parking assistance apparatus of FIG. It is a flowchart which shows the process sequence following FIG. It is explanatory drawing of the travel difficulty judgment after leaving by the parking assistance apparatus of FIG. It is a block block diagram which shows the parking assistance apparatus which concerns on 2nd embodiment. It is a flowchart which shows the process sequence by the parking assistance apparatus of FIG. It is a block block diagram which shows the parking assistance apparatus which concerns on 3rd embodiment. It is a flowchart which shows the process sequence by the parking assistance apparatus of FIG. 12 is a flowchart illustrating a processing procedure following FIG.

Explanation of symbols

  5 ... Own vehicle, 6a, 6b ... Other vehicle, 10, 20, 30 ... Parking assist device, 31 ... Candidate area detector (parking candidate area detector), 32 ... Current position detector (parking candidate area detector), 33 ... Parking availability determination unit (parking candidate area detection unit), 34 ... Parking position calculation unit (environment change estimation unit), 35 ... Virtual vehicle setting unit (environment change estimation unit), 36 ... Cargo availability determination unit (determination unit) , 37 ... parking action determination unit (support means), 38 ... arrival time calculation part (estimation means), 39 ... detection range calculation part (estimation means), 40 ... other vehicle detection part (estimation means), A ... parking space ( Parking candidate area), A1 .. surrounding space (peripheral environment).

Claims (5)

A parking assistance device for assisting in setting a parking position when a vehicle is parked,
Parking candidate area detecting means for detecting a parking candidate area;
An environmental change estimating means for estimating the surrounding environment of the parking candidate area at the time of leaving the vehicle;
Determining means for determining whether or not the vehicle can leave the parking candidate area in the surrounding environment estimated by the environment change estimating means;
Support means for supporting the setting of the parking position based on the determination result by the determination means;
A parking assistance device comprising: The support means sets the parking position in a parking candidate area that has been determined to be available for removal by the determination means.
The parking assistance device according to claim 1. The environment change estimation means estimates a state of a parked vehicle around the parking candidate area.
The parking assistance device according to claim 1 or 2. The environment change estimation means estimates the situation of the passage before and after the parking candidate area,
The parking assistance device according to claim 1 or 2. Before the vehicle parks in the parking candidate area, further comprising estimation means for estimating whether another vehicle parks in the parking candidate area;
The support means sets the parking position based on an estimation result by the estimation means.
The parking assistance device according to claim 1.

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