JP2011025895A - Parking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking support device which automatically starts the parking support function, when one's own vehicle enters a road side facility. <P>SOLUTION: This parking support device includes the parking support function 103 for providing information for supporting operation to a driver when the vehicle parks, a vehicle periphery imaging device 200 for imaging the road surface of the vehicle periphery, the travel state recognizing function 102 for determining that the vehicle enters the road side facility based on information provided from the pickup image of the vehicle periphery imaging device 200, and the parking support switching function 101 for starting the parking support function 103 when determining that the one's sown vehicle enters the road side facility by the travel state recognizing function 102. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parking assistance device.

  In Patent Document 1, a driver's intention of tandem parking is determined based on information such as whether or not an automobile is present in a parking prohibited area and whether or not the vehicle is traveling on a road edge of a roadway at a predetermined vehicle speed or less. A technique for automatically starting a parking assist function is disclosed.

JP 2007-76586 A

However, since the above prior art is intended for parking support for a parallel parking frame installed at the end of a road, parking is required when entering a roadside facility such as a roadside parking lot or a parking lot in a highway service area. There was a problem that the support function did not start.
The objective of this invention is providing the parking assistance apparatus which can start a parking assistance function automatically, when the own vehicle approachs a roadside facility.

  In the present invention, it is determined whether or not the vehicle has entered the roadside facility based on the information obtained from the captured image of the imaging means that images the road surface around the vehicle, and the vehicle has entered the roadside facility. If determined, the parking support means is activated.

  According to the present invention, the parking assist function can be automatically activated when the own vehicle enters the roadside facility.

It is a block diagram of the parking assistance apparatus of Example 1. 1 is a configuration diagram of a vehicle periphery imaging device 200 of Embodiment 1. FIG. It is a block diagram of the parking assistance function 103 of Example 1. FIG. 2 is a configuration diagram of a traveling state recognition function 102 according to the first embodiment. FIG. 3 is a flowchart illustrating a flow of parking support activation processing in the parking support control device 100 according to the first embodiment. This is an example in which the own vehicle 1 straddles the road white line 400 when entering the roadside facility 2 from a general road. This is an example in which the own vehicle 1 straddles the side groove 402 when entering the roadside facility 2 from a general road. It is a specific example of road markings near the intersection. This is an example in which the host vehicle 1 crosses a thick broken line 403 when entering the highway service area or parking area. 3 is a flowchart illustrating a flow of parking support end processing in the parking support control device 100 according to the first embodiment. This is an example in which the own vehicle 1 crosses the road white line 400 when leaving the roadside facility 2 on a general road and entering the roadway. This is an example in which the host vehicle 1 crosses a thick broken line 403 when leaving the highway service area or parking area and entering the main line. This is an example in which the own vehicle 1 crosses the degraded white road line 400 when entering the roadside facility 2 from a general road. This is an example in which the vehicle 1 makes a left turn at an intersection. It is a block diagram of the parking assistance apparatus of Example 2. It is a block diagram of the vehicle periphery imaging device of another Example.

  EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the parking assistance apparatus of this invention is demonstrated based on the Example shown on drawing.

First, the configuration will be described.
〔overall structure〕
FIG. 1 is a configuration diagram of a parking assistance device according to the first embodiment. The parking assistance device includes a parking assistance control device 100, a vehicle periphery imaging device (imaging means) 200, an information display device 210, and an information input device 220. And a vehicle control device 230 and a vehicle information acquisition device (vehicle information acquisition means) 240.
The parking assistance control device 100 includes a parking assistance switching function (parking assistance activation means, parking assistance ending means) 101, a traveling state recognition function (driving state determination means) 102, a parking assistance function (parking assistance means) 103, an external And an information receiving function 104.
The parking assistance switching function 101 includes a function for starting or ending the parking assistance function 103 based on information from the traveling state recognition function 102 and information from the external information reception function 104.
The traveling state recognition function 102 has a function of recognizing the traveling state of the host vehicle from the information obtained from the external information receiving function 104 and the video obtained from the vehicle periphery imaging device 200.
The parking support function 103 includes a function for searching a parking space, an interface function for inputting information from the driver and providing information to the driver, a function for calculating a route to the target parking position, and a target parking position of the vehicle. The vehicle has a function of outputting a vehicle control signal for guiding the vehicle to the vehicle, and performs parking guidance or automatic parking for the driver. Details of the parking support function 103 will be described later.
The external information receiving function 104 has a function of receiving information from various sensors mounted on the vehicle.

The vehicle periphery imaging device 200 is an imaging device that can capture a range including a lane in which the host vehicle travels as an image. As shown in FIG. 2, the vehicle periphery imaging device 200 includes four imaging devices 200Fr (front), 200Rr (rear), 200R (right), and 200L (left) attached to the front, rear, left and right of the vehicle. In FIG. 2, 201Fr is the imaging range of the front imaging device 200Fr, 201Rr is the imaging range of the rear imaging device 200Rr, 201R is the imaging range of the right imaging device 200R, 201L is the imaging range of the left imaging device 200L, and the vehicle periphery imaging device 200 can image a road surface in the vicinity of the own vehicle in a 360 ° range.
The information display device 210 is used for operation guidance from the parking assistance control device 100 to the driver and for providing various information.
The information input device 220 has a function of receiving instructions and operations from the driver.
The vehicle control device 230 has a function for controlling the vehicle based on the output result from the parking support function 103 in the parking support control device 100. Specifically, it is a device that performs vehicle control such as steering control, engine output control, and brake control for guiding the vehicle to the target parking position.
The vehicle information acquisition device 240 has a function of acquiring vehicle information from various sensors mounted on the vehicle. Specifically, a vehicle speed sensor 241 for measuring the ground speed of the vehicle, an acceleration sensor 242 capable of measuring the acceleration acting on the vehicle three-dimensionally, and a steering wheel steering angle (or a tire turning angle may be measured) Information from ranging sensor 245 for measuring distance, such as steering angle sensor 243, direction indicator 244 used when the driver makes a right or left turn, ultrasonic sensor used to detect obstacles around the vehicle, etc. Can be obtained. In addition to the information from the various sensors described above, all the information can be acquired as long as it is a sensor or device connected to the vehicle network.

[Configuration of parking support function]
FIG. 3 is a configuration diagram of the parking support function 103 according to the first embodiment. The parking support function 103 includes an integrated management unit 800 and a plurality of single function units. When the integrated management unit 800 receives a signal from the parking support switching function 101, parking support is started or ended. When parking support is started, information of various sensors mounted on the vehicle is received by the external information receiving unit 801, and processing necessary for parking support is selected by the integrated management unit 800 to execute each single function. A signal for guiding the vehicle to the target parking position and performing vehicle control such as steering and vehicle speed is output from the vehicle control signal output unit 808.
In addition to the external information receiving unit 801 and the vehicle control signal output unit 808 described above, the single function in the parking support function 103 includes an HMI control unit 802, an obstacle detection unit 803, a parking frame detection unit 804, a parking space detection unit 805, parking The route calculation unit 806 and the ambient illumination control unit 807 are configured.
The HMI control unit 802 has a function of providing information to the driver and receiving an operation from the driver.
The obstacle detection unit 803 has a function of detecting obstacles, structures, and persons existing around the vehicle and around the target parking position.
The parking frame detection unit 804 has a function of detecting a parking frame from an image obtained by the vehicle periphery imaging device 200.
The parking space detection unit 805 has a function of detecting a space in which the host vehicle can be parked from information obtained from the distance measuring sensor 245 mounted on the vehicle and information obtained from the parking frame detection unit 804.
The parking route calculation unit 806 has a function of calculating a guidance route from the current position of the host vehicle to the target parking position.
The ambient illumination control unit 807 has a function of turning on auxiliary illumination attached to a side mirror or the like when the periphery of the vehicle is dark.

[Configuration of running state recognition function]
FIG. 4 is a configuration diagram of the traveling state recognition function 102 according to the first embodiment. The traveling state recognition function 102 includes an image capture unit 701, an image correction / combination unit 702, an edge pattern extraction unit 703, and learning data 704. A pattern recognition unit 705, an image recognition result storage unit 706, an external information reception result storage unit 707, and a running state determination unit 708.
The image capture unit 701 stores the front, rear, left, and right images captured by the imaging devices 200Fr, 200Rr, 200R, and 200L of the vehicle periphery imaging device 200 in an internal memory.
An image correction / combination unit 702 performs distortion correction and viewpoint conversion on the front, back, left, and right images captured by the image capture unit 701. Furthermore, an image is synthesized as an image (top view image) in a state of looking down from the viewpoint above the vehicle.
The edge pattern extraction unit 703 extracts an edge pattern from the top view image.
The learning data 704 is a database of recognition target edge patterns.
The pattern recognition unit 705 collates the extracted edge pattern with the learning data 704, and paints on the road such as white roads and road markings near the intersection, and structures on the road such as sidewalks and gutters. Recognize
The image recognition result storage unit 706 accumulates information recognized from the image for a predetermined time in the internal memory.
The external information reception result storage unit 707 accumulates sensor information obtained by the external information reception function 104 in the internal memory for a predetermined time. That is, the value of each sensor at an arbitrary past time can be read.
Based on the data of the image recognition result storage unit 706 and the data of the external information reception result storage unit 707, the running state determination unit 708 provides parking support start / end information as a final result for the parking support switching function 101. Is output. Note that details regarding the parking assistance activation or termination information output will be described later.

[Parking assistance activation process]
FIG. 5 is a flowchart showing the flow of the parking support activation process in the parking support control apparatus 100 of the first embodiment, and each step will be described below. This process is executed when the ignition switch is turned on or when the vehicle starts.
In step S101, based on the information from the vehicle speed sensor 241, it is determined whether or not the current vehicle speed is a predetermined vehicle speed (for example, 40 km / h) or less. If YES, the process proceeds to step S110, and if NO, the process proceeds to step S130.
In step S110, the operation mode is set to “general road mode”, and the process proceeds to step S111.
In step S111, information on the rudder angle sensor 243 is acquired, and it is determined whether or not the rudder angle obtained from the rudder angle sensor 243 is equal to or greater than a predetermined angle. If YES, the process proceeds to step S112, and if NO, the process proceeds to step S101. Here, the predetermined angle is the minimum value of the steering angle assumed when entering a parking lot installed on the road side while traveling on a general road.
In step S112, a line for dividing the roadway and the sidewalk painted on the road surface by the traveling state recognition function 102 (for example, the roadway and the sidewalk 410 as shown in FIG. Road white line 400) or road edge (for example, a side gutter 402 disposed between the roadway and the sidewalk 410 as shown in FIG. 7), and the vehicle 1 detects the road white line 400 or the road edge. It is judged whether it straddled. If YES, the process moves to step S150, and if NO, the process moves to step S113.

In step S113, it is determined based on information from the acceleration sensor 242 whether or not a step having a predetermined height or more has been detected. If YES, the process moves to step S150, and if NO, the process moves to step S114. Here, the predetermined height is assumed to be a height at which it can be determined that the own vehicle has run on the sidewalk from the roadway.
In step S114, based on the image acquired from the vehicle periphery imaging device 200, it is determined whether or not road markings near the intersection are detected by the traveling state recognition function 102. If YES, the process moves to step S101, and if NO, the process moves to step S115. Here, the road markings near the intersection are road signs (signs painted on the road) that are likely to exist near the intersection. For example, a crosswalk 501, an arrow 502, a bicycle crossing band 503, a cross 504, a T-shape 505, a stop line 506, a “stop” character 507 as shown in FIG.
In step S115, based on the information of the steering angle sensor 243 obtained in step S111 and the output result of the direction indicator 244, it is determined whether or not the signal of the direction indicator 244 is ON in the same direction as the steering direction. judge. If YES, the process moves to step S150, and if NO, the process moves to step S101.

In step S130, the operation mode is set to “highway mode”, and the process proceeds to step S131.
In step S131, based on the image acquired from the vehicle periphery imaging device 200, a thick broken line painted on the road surface is detected by the traveling state recognition function 102, and it is determined whether or not the host vehicle straddles the thick broken line. If YES, the process moves to step S133, and if NO, the process moves to step S132. As shown in FIG. 9, a thick broken line 403 is painted on a branch portion that branches from the main line on the expressway to the service area or parking area 3, an interchange, a junction, and the like. The service area or parking area 3 is also a roadside facility for the main road of the expressway, but in Example 1, the roadside facility of the general road is referred to as a roadside facility, and the roadside facility of the expressway is referred to as a service area or a parking area.
In step S132, based on the image acquired from the vehicle periphery imaging device 200, a zebra band (zebra paint) painted on the road surface by the traveling state recognition function 102 is detected, and the detection direction is detected from the steering angle sensor 243. It is determined whether or not the obtained steering direction is the opposite side (right side of the own vehicle when steered in the left direction and left side of the own vehicle when steered in the right direction). If YES, the process moves to step S133, and if NO, the process moves to step S101.
In step S133, immediately after determining that the vehicle has crossed the thick broken line in step S131, or immediately after the zebra band is detected in step S132, a predetermined distance (for example, 40 km / h) or more (for example, Judge whether or not you have run more than 300m). For this determination, for example, the integrated value of the travel distance and the average speed immediately after the determination in step S131 or step S132 can be used. If YES, the process moves to step S101, and if NO, the process moves to step S150.
In step S150, the parking support function 103 is activated, and the process proceeds to step S151.
In step S151, the current operation mode (general road / highway) is stored, and this control is terminated.

[Parking support end processing]
FIG. 10 is a flowchart showing the flow of the parking support end process in the parking support control apparatus 100 of the first embodiment, and each step will be described below. This process is executed after the parking support function 103 is activated.
In step S201, it is determined whether or not the ignition switch of the own vehicle has been turned off since the parking support function 103 is activated as a system. If YES, the process moves to step S206, and if NO, the process moves to step S202. When the ignition switch is OFF, it means that parking is completed after the parking support function 103 is activated. Conversely, if the ignition switch is not OFF, it means that parking is not completed after the parking support function 103 is activated, and that the vehicle is traveling inside the service area or parking area on the roadside facility or highway. .
In step S202, it is determined whether or not the vehicle has traveled at a predetermined vehicle speed (for example, 50 km / h) or more for a predetermined distance (for example, 100 m). If YES, the process moves to step S206, and if NO, the process moves to step S203. This is because it can be predicted that parking is completed when the vehicle travels over a predetermined distance at a speed equal to or higher than a predetermined vehicle speed after the parking support function 103 is activated.
In step S203, it is determined whether or not the activation state of the parking support function 103 has continued for a predetermined time (for example, 5 minutes) or longer. If YES, the process moves to step S206, and if NO, the process moves to step S204. If the parking support function 103 has been activated for a predetermined period of time, after entering the roadside facility or service area or parking area on the expressway, stop without completing parking support and stop the engine without turning it off. This is because it can be expected that it has passed.
In step S204, the operation mode (general road / highway) stored in the memory immediately after the parking assist function 103 is activated (step S151) is read, and the process proceeds to step S205.
In step S205, it is determined whether the operation mode read in step S204 is “general road mode” or “highway mode”. In the case of the general road mode, the process proceeds to step S211. In the case of the expressway mode, the process proceeds to step S231.

In step S211, information of the rudder angle sensor 243 is acquired, and it is determined whether or not the rudder angle obtained from the rudder angle sensor 243 is equal to or greater than a predetermined angle. If YES, the process moves to step S212, and if NO, the process moves to step S201. Here, let the predetermined angle be the minimum value of the steering angle assumed when exiting from the roadside facility to the roadway.
In step S212, a line (for example, a white road line 400 as shown in FIG. 11) or a road edge that distinguishes a roadway and a sidewalk painted on the road surface from the image acquired from the vehicle periphery imaging device 200 by the traveling state recognition function 102. (For example, the side groove 402 at the road edge as shown in FIG. 7) is detected, and it is determined whether or not the vehicle 1 straddles the road white line 400 or the road edge. If YES, the process moves to step S206, and if NO, the process moves to step S213.
In step S213, based on the information from the acceleration sensor 242, it is determined whether or not a step having a predetermined height or more is detected. If YES, the process moves to step S206, and if NO, the process moves to step S214. The predetermined height is a height at which it can be determined that the vehicle has descended from the sidewalk to the roadway.
In step S214, based on the information of the steering angle sensor 243 obtained in step S211 and the output result of the direction indicator 244, it is determined whether or not the signal of the direction indicator 244 is ON in the same direction as the steering direction. judge. If YES, the process moves to step S215. If NO, the process moves to step S201.
In step S215, it is determined whether or not a road white line on which the vehicle is traveling is detected for a predetermined vehicle speed (for example, 10 km / h) or more and for a predetermined distance (for example, 30 m) or more. If YES, the process moves to step S206, and if NO, the process moves to step S201.
In step S231, based on the image acquired from the vehicle periphery imaging device 200, a thick broken line painted on the road surface by the traveling state recognition function 102 is detected, and it is determined whether or not the own vehicle straddles the thick broken line. If YES, the process moves to step S206, and if NO, the process moves to step S232. As shown in FIG. 12, the thick broken line 403 is also painted on the joining part where the service area and the parking area 3 join the main line in addition to the branching part shown in FIG. 9.
In step S232, based on the image acquired from the vehicle periphery imaging device 200, the zebra belt (zebra paint) painted on the road surface by the traveling state recognition function 102 is detected, and the detection direction is detected from the steering angle sensor 243. It is determined whether or not the obtained steering direction is the opposite side (right side of the own vehicle when steered in the left direction and left side of the own vehicle when steered in the right direction). If YES, the process moves to step S206, and if NO, the process moves to step S233.
In step S233, it is determined whether or not a road white line has been detected while traveling at a speed equal to or higher than a predetermined vehicle speed (for example, 50 km / h) at a predetermined distance (for example, 100 m). If YES, the process moves to step S206, and if NO, the process moves to step S201.
In step S216, the parking support function 103 is terminated, and the process proceeds to step S207.
In step S207, the operation mode is cleared and this control is terminated.

Next, the operation will be described.
[Parking support function]
In the parking assistance device described in the above-mentioned patent document, since it is intended for parking assistance for a parallel parking frame installed at the end of a road, a roadside facility such as an off-street parking lot, a parking lot in a highway service area, etc. When entering the vehicle, the parking support function is not automatically activated, and the driver is forced to operate a switch to activate the parking support function. Further, in the invention described in the above-mentioned patent document, the parking assistance function is not automatically terminated when exiting the roadside facility and entering the roadway, so the driver needs a switch operation to terminate the parking assistance function.
On the other hand, the parking assistance control apparatus 100 according to the first embodiment is based on road surface information (road white line, road edge, road marking near intersection, thick broken line, zebra band) obtained from the captured image of the vehicle periphery imaging apparatus 200. When the driving state recognition function 102 determines that the vehicle has entered the roadside facility and the driving state recognition function 102 determines that the vehicle has entered the roadside facility, the parking support function 103 activates the parking support function 103. A switching function 101. Therefore, when entering the roadside facility, the parking support function 103 can be automatically activated without bothering the driver. In addition, the parking support switching function 101 determines that the vehicle has left the roadside facility based on information (road white line, road edge, thick broken line, zebra band) obtained from the captured image of the vehicle periphery imaging device 200. When the driving state recognition function 102 and the driving state recognition function 102 determine that the vehicle has left the roadside facility, the parking support function 103 is terminated, and the driver's hand is bothered when leaving the roadside facility. The parking assistance function 103 can be automatically terminated without causing
Here, in the first embodiment, the vehicle periphery imaging device 200 is composed of four imaging devices 200Fr (front), 200Rr (rear), 200R (right), and 200L (left) attached to the front, rear, left and right of the vehicle. The entire circumference of the vicinity can be imaged, and the recognition accuracy of structures on the road such as road white lines and road markings near intersections can be improved.

Further, in the traveling state recognition function 102, not only the information from the vehicle periphery imaging device 200 but also the vehicle information acquired from the vehicle information acquisition device 240 (vehicle speed, travel distance, travel time, rudder angle, direction indicator 244 signal, step Therefore, it is possible to accurately determine whether the vehicle has entered the roadside facility, service area or parking area and whether the vehicle has left the roadside facility, service area or parking area. The parking support function 103 can be activated and terminated at an appropriate timing. In addition, the vehicle information acquisition device 240 typically uses only information from various sensors installed in the vehicle to determine the driving state (entrance to the roadside facility or exit from the roadside facility) with respect to the roadside facility. The addition of a special device is not necessary, and the introduction cost can be kept low.
Further, when the activation and termination of the parking support function 103 are determined, the operation mode is divided into “general road mode” and “highway mode”, and the parking support function 103 is based on road surface and vehicle information corresponding to both modes. Executes start and end determination. In other words, the road mode (type of road structure and paint), running conditions (step presence / absence, vehicle speed), etc. are different between ordinary roads and expressways, so the operation modes are "normal road mode" and "highway mode". By classifying into the above, it is possible to accurately determine entry into or exit from the roadside facility.

Hereinafter, the operation in each step of the parking support activation process of the first embodiment will be described.
(When driving on general roads)
If the rudder angle is greater than or equal to the predetermined angle in step S111, either the vehicle has entered the roadside facility, has turned right or left at the intersection, or is traveling on a sharp curve. Accordingly, the process proceeds to step S112, and it is determined whether or not the own vehicle has straddled the road white line or road edge painted on the road surface. When the own vehicle crosses the road white line or the road edge, it can be determined that the vehicle has entered the roadside facility, so the parking support function 103 is activated.
On the other hand, if it is not determined in step S112 that the vehicle has crossed the road white line or the road edge, the process proceeds to step S113, and it is determined whether or not a step having a predetermined height or more is detected. For example, when the road white line is faint or dirty (in the case of the deteriorated road white line 401) as in the example of FIG. 13, the road white line is straddled from the image obtained by the vehicle peripheral imaging device 200. May not be recognized. Therefore, if it is not possible to recognize from the image that the white road 400 has been crossed, it is possible to determine that the vehicle 1 has entered the roadside facility 2 by detecting the step when the vehicle 1 rides on the sidewalk 410, and at an appropriate timing. The parking support function 103 can be activated. The step determination in step S112 is also effective when there is no white road line between the roadway and the sidewalk.
If no step is detected in step S113, the process proceeds to step S114, and it is determined whether road markings near the intersection are detected when the vehicle is traveling on a general road. As in the example shown in FIG. 14, when turning left at an intersection, arrows 502, a pedestrian crossing 501, a stop line 506, a cross 504, and a bicycle crossing zone 503 are detected as road markings near the intersection. As described above, when at least one of the roads near the intersection is detected, the parking assist function 103 is not activated because the own vehicle 1 is likely to turn right or left at the intersection. Thereby, the erroneous determination of approaching the roadside facility can be prevented, and unnecessary activation of the parking support function 103 can be suppressed.
If no road markings near the intersection are detected in step S114, the process proceeds to step S114, and it is determined whether the signal of the direction indicator 244 is ON in the same direction as the steering direction. If the turn indicator 244 is turned on in the same direction as the steering direction without turning right or left at the intersection, it is highly likely that the vehicle has entered the roadside facility. In this case, the parking support function 103 is activated. To do. Accordingly, even when no road white line or road edge is detected and there is no sidewalk step, it is possible to determine the approach to the roadside facility and to activate the parking support function 103 at an appropriate timing. Conversely, if the direction indicator 244 is OFF in step S114, it can be determined that the vehicle has traveled a sharp curve other than an intersection where the rudder angle is equal to or greater than a predetermined angle. In this case, the parking assist function 103 is activated. do not do.

(When driving on a highway)
If it is determined in step S131 that the vehicle has crossed the thick broken line, there is a possibility that the vehicle has entered the service area or parking area 3 or has entered an interchange or junction as shown in FIG. Therefore, proceeding to Step S133, if the vehicle is not traveling at a distance of 300m or more at a speed of 40km / h or more, there is a high possibility that the vehicle 1 has entered the service area or parking area 3 from the main line. The parking support function 103 is activated. Therefore, when the own vehicle enters the service area or the parking area 3 from the main line, the parking support function 103 can be activated at an appropriate timing. On the other hand, if the vehicle travels over a distance of 300m or more at a speed of 40km / h or more in step S133, it is highly likely that the vehicle has entered an interchange or junction. In this case, the parking support function 103 is activated. do not do.
If it is determined in step S131 that the vehicle does not cross the thick broken line, the process proceeds to step S132, and the zebra band detection direction is compared with the steering direction. As shown in FIG. 9, since the zebra band 404 is arranged in front of the thick broken line 403, it is not detected that the thick broken line 403 is straddled. When the zebra band 404 is detected, the thick broken line 403 is faint. For the reasons described above, there is a high possibility that the user has not been able to recognize crossing the thick broken line 403. Therefore, when the detection direction of the zebra band 404 is opposite to the steering direction, even when it is not detected that the thick broken line 403 is straddled, it is possible to determine the approach from the main line to the service area or the parking area 3, and at an appropriate timing. The parking support function 103 can be activated.

Hereinafter, the operation in each step of the parking support end process of the first embodiment will be described.
(When driving on general roads)
If the rudder angle is greater than or equal to the predetermined angle in step S211, the vehicle may have exited the roadside facility to the roadway, but it may be assumed that the vehicle is still traveling on the roadside facility. Accordingly, the process proceeds to step S212, and it is determined whether or not the own vehicle straddles the road white line or road edge painted on the road surface. If the vehicle crosses the road white line or the road edge, it can be determined that the vehicle has left the roadside facility, and therefore the parking support function 103 is terminated. Thereby, when the own vehicle leaves the roadside facility to the roadway, the parking support function 103 can be terminated at an appropriate timing.
On the other hand, if it is not determined in step S212 that the vehicle has crossed the road white line or the road edge, the process proceeds to step S213, and it is determined whether a step having a predetermined height or more is detected. By detecting the level difference when the host vehicle goes down from the sidewalk to the roadway, it is possible to determine the exit from the roadside facility even if the road white line or the road edge cannot be detected, and the parking support function 103 can be terminated at an appropriate timing. .
If no step is detected in step S213, the process proceeds to step S214, and it is determined whether the signal of the direction indicator 244 is ON in the same direction as the steering direction. If the direction indicator 244 signal is ON in the same direction as the steering direction, it is likely that the vehicle has left the roadside facility, so the road white line is not detected and there is no step on the sidewalk. Even if it exists, the exit from the roadside facility can be determined, and the parking support function 103 can be terminated at an appropriate timing.
On the other hand, if the direction indicator 244 is OFF in step S214, it is unlikely that the vehicle has left the roadside facility. In this case, the process proceeds to step S215, where the vehicle speed is equal to or higher than the predetermined vehicle speed and equal to or higher than the predetermined distance. In the meantime, it is determined whether or not a road white line on which the vehicle is traveling is detected. In general, roadside facilities are limited in size and travel speed is low. Accordingly, when the vehicle travels over a predetermined distance at a speed equal to or higher than the predetermined vehicle speed, it can be determined that the user has left the roadside facility and is traveling on a general road. Thereby, the parking assistance function 103 can be terminated at an appropriate timing.

(When driving on a highway)
If it is determined in step S231 that the vehicle has crossed the thick broken line, the parking support function 103 is terminated because there is a high possibility that the vehicle has left the service area or the parking area 3 as shown in FIG. Therefore, the parking support function 103 can be terminated at an appropriate timing. On the other hand, if it is not determined in step S231 that the vehicle has crossed the thick broken line, the process proceeds to step S232, and the zebra band detection direction is compared with the steering direction. If the zebra band detection direction and the steering direction are opposite, it can be determined that there is a high possibility that the zebra belt has left the service area or the parking area, and therefore the parking support function 103 is terminated. Therefore, even if it is not possible to recognize that the thick broken line has been straddled due to faint paint or faint weather, the parking support function 103 can be terminated at an appropriate timing when leaving the service area or parking area. .
If a zebra belt is not detected in step S232, the process proceeds to step S233, and if a white road line is detected while traveling a predetermined distance or more at a speed equal to or higher than the predetermined vehicle speed, the parking support function 103 is terminated. To do. When the vehicle travels over a predetermined distance at a speed equal to or higher than the predetermined vehicle speed, the vehicle leaves the service area or the parking area, and the road white line detected at that time can be determined to be the main white line. Therefore, even if a zebra band is not detected, the parking support function 103 can be terminated at an appropriate timing.

Next, the effect will be described.
The parking assistance device according to the first embodiment has the following effects.
(1) A parking assistance function 103 that provides information for assisting driving to the driver when the vehicle is parked, a vehicle periphery imaging device 200 that images a road surface around the vehicle, and a vehicle periphery imaging device Based on the information obtained from the 200 captured images, it is determined that the vehicle has entered the roadside facility by the driving state recognition function 102 that determines that the vehicle has entered the roadside facility and the driving state recognition function 102. A parking assistance switching function 101 that activates the parking assistance function 103. Thereby, when the own vehicle enters the roadside facility, the service area or the parking area, the parking assist function 103 can be automatically activated without bothering the driver.

  (2) A parking support function 103 that provides information for assisting driving when the vehicle is parked, a vehicle periphery imaging device 200 that images a road surface around the vehicle, and a vehicle periphery imaging device Based on the information obtained from the 200 captured images, the driving state recognition function 102 for determining that the host vehicle has left the roadside facility and the driving state recognition function 102 have determined that the host vehicle has left the roadside facility. A parking assistance switching function 101 for ending the parking assistance function 103. Thereby, when the own vehicle leaves the roadside facility, service area, or parking area, the parking assist function 103 can be automatically terminated without bothering the driver.

  (3) A vehicle information acquisition device 240 that acquires vehicle information is provided, and the traveling state recognition function 102 determines that the own vehicle has entered the roadside facility based on the vehicle information obtained by the vehicle information acquisition device 240. . Accordingly, it can be accurately determined whether or not the vehicle has entered the roadside facility, service area, or parking area, and the parking support function 103 can be activated at an appropriate timing.

  (4) The vehicle information acquisition device 240 that acquires vehicle information is provided, and the traveling state recognition function 102 determines that the own vehicle has left the roadside facility based on the vehicle information obtained by the vehicle information acquisition device 240. . As a result, it can be accurately determined whether or not the vehicle has left the roadside facility, service area, or parking area, and the parking support function 103 can be terminated at an appropriate timing.

First, the configuration will be described. In addition, about the structure same as Example 1, illustration and description are abbreviate | omitted and only a different part from Example 1 is demonstrated.
〔overall structure〕
FIG. 15 is a configuration diagram of the parking support device of the second embodiment. The parking support device of the second embodiment has a current value information acquisition device 250, a map database 251 in addition to the configuration of the first embodiment shown in FIG. And have.
The current value information acquisition device 250 has a function of identifying the current value of the host vehicle from the GPS information and the map database 251. The map database 251 also includes the type of road on which the vehicle is traveling (whether it is a highway or a general road). Furthermore, the location information of the parking lot may be included.
The external information receiving function 104 according to the second embodiment includes a function of acquiring information from the current value information acquisition device 250 in addition to a function of receiving information of various sensors mounted on the vehicle.

[Parking assistance activation process]
Since the parking support activation process according to the second embodiment is different from the first embodiment only in steps S101 and S133 in FIG. 5, only different steps will be described with reference to FIG.
In step S101, based on the information from the current value information acquisition device 250 and the map database 251, it is determined whether the type of road on which the vehicle is traveling is a general road or a highway. If it is a general road, the process proceeds to step S110, and if it is a highway, the process proceeds to step S130.
In step S133, based on information from the current value information acquisition device 250 and the map database 251, whether a service area or a parking area exists within a predetermined distance (for example, 300 m) of the branch portion where the vehicle is traveling Determine whether or not. If there is a service area or parking area, the process proceeds to step S150, and if there is an interchange or junction, the process proceeds to step S101.

Next, the operation will be described.
In the second embodiment, the road type is specified based on the information obtained by the current value information acquisition device 250 and the map database 251. Therefore, compared with the first embodiment, the determination accuracy of the operation mode is improved.
In addition, since the type of the branch portion where the vehicle is traveling is determined based on the information obtained from the current value information acquisition device 250 and the map database 251, whether or not the service area or the parking area is accurately determined. I can judge.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

(Other examples)
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the specific structure of this invention is not limited to the structure shown in the Example, and does not deviate from the summary of invention. Any change in the design of the range is included in the present invention.
The imaging means may have any imaging form as long as at least the road white line and the road edge on the road surface on which the vehicle is traveling are within the imaging range. For example, as shown in FIG. 16, the rear imaging device 200Rr may be attached only to the rear of the vehicle.
The parking assistance means may implement only one of parking guidance for the driver or automatic parking.

101 Parking support switching function (parking support start means, parking support end means)
102 Running state recognition function (running state judgment means)
103 Parking support function (parking support means)
200 Vehicle periphery imaging device (imaging means)
240 Vehicle information acquisition device (vehicle information acquisition means)

Claims (5)

A parking support device for supporting parking of a car,
A parking support means for providing information for assisting driving when the host vehicle parks;
Imaging means for imaging the road surface around the vehicle;
Based on the information obtained from the captured image of the imaging means, traveling state determination means for determining that the vehicle has entered the roadside facility,
When it is determined that the vehicle has entered the roadside facility by the traveling state determination unit, a parking support activation unit that activates the parking support unit;
A parking assistance device comprising: A parking support device for supporting parking of a car,
A parking support means for providing information for assisting driving when the host vehicle parks;
Imaging means for imaging the road surface around the vehicle;
Based on information obtained from the captured image of the imaging means, traveling state determination means for determining that the vehicle has left the roadside facility;
When it is determined by the traveling state determination means that the vehicle has left the roadside facility, parking support end means for ending the parking support means;
A parking assistance device comprising: In the parking assistance device according to claim 1,
Vehicle information acquisition means for acquiring vehicle information,
The parking assistance device according to claim 1, wherein the traveling state determination unit determines that the own vehicle has entered the roadside facility based on the vehicle information obtained by the vehicle information acquisition unit. In the parking assistance device according to claim 2,
Vehicle information acquisition means for acquiring vehicle information,
The parking support apparatus according to claim 1, wherein the traveling state determination unit determines that the own vehicle has left the roadside facility based on the vehicle information obtained by the vehicle information acquisition unit. In the parking assistance device according to claim 3 or 4,
As the vehicle information, information from a vehicle speed sensor that detects the speed of the vehicle, information from an acceleration sensor that detects acceleration acting on the vehicle, information from a steering angle sensor that detects the steering angle of the steering wheel, and driving A parking assistance device using any one of information from a direction indicator operated by a person and information from an ignition switch.

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